feat(system_error_monitor): manual modules (#793)

* feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (#587) * feat(tier4_planning/vehicle_plugin): make plugins size scalable Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove space Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * scaling Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * change diag message Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * fix module name Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * add manual module and ignoring modules Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * Revert "feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (#587)" This reverts commit f96169c. * Revert "change diag message" This reverts commit dff01ce. * ci(pre-commit): autofix * fix spell check Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * Revert "fix spell check" This reverts commit 208aa1e. * Revert "fix module name" This reverts commit cec7653. * revert ignore module Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * current_mode check update Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> * ci(pre-commit): autofix * delete margin Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> --------- Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: asa-naki <akihisa.nagata@tier4.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
tier4 · Aug 14, 2024 · edcca74 · edcca74
1 parent b9824e4
commit edcca74
Show file tree

Hide file tree

Showing 4 changed files with 26 additions and 0 deletions.
diff --git a/system/system_error_monitor/config/system_error_monitor.param.yaml b/system/system_error_monitor/config/system_error_monitor.param.yaml
@@ -41,6 +41,15 @@
 
         /autoware/vehicle/node_alive_monitoring: default
 
+      manual_control:
+        /autoware/control/control_command_gate/node_alive_monitoring: default
+        /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false"}
+
+        /autoware/system/node_alive_monitoring: default
+        /autoware/system/emergency_stop_operation: default
+
+        /autoware/vehicle/node_alive_monitoring: default
+
       external_control:
         /autoware/control/control_command_gate/node_alive_monitoring: default
         /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false"}

diff --git a/system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml b/system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml
@@ -41,6 +41,16 @@
 
         /autoware/vehicle/node_alive_monitoring: default
 
+      manual_control:
+        /autoware/control/control_command_gate/node_alive_monitoring: default
+        /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false"}
+        /autoware/control/external_control/external_command_selector/node_alive_monitoring: default
+
+        /autoware/system/node_alive_monitoring: default
+        /autoware/system/emergency_stop_operation: default
+
+        /autoware/vehicle/node_alive_monitoring: default
+
       external_control:
         /autoware/control/control_command_gate/node_alive_monitoring: default
         /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false"}

diff --git a/system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp b/system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp
@@ -56,6 +56,7 @@ struct KeyName
 {
   static constexpr const char * autonomous_driving = "autonomous_driving";
   static constexpr const char * external_control = "external_control";
+  static constexpr const char * manual_control = "manual_control";
 };
 
 class AutowareErrorMonitor : public rclcpp::Node

diff --git a/system/system_error_monitor/src/system_error_monitor_core.cpp b/system/system_error_monitor/src/system_error_monitor_core.cpp
@@ -232,6 +232,7 @@ AutowareErrorMonitor::AutowareErrorMonitor()
 
   loadRequiredModules(KeyName::autonomous_driving);
   loadRequiredModules(KeyName::external_control);
+  loadRequiredModules(KeyName::manual_control);
 
   using std::placeholders::_1;
   using std::placeholders::_2;
@@ -460,6 +461,11 @@ void AutowareErrorMonitor::onTimer()
   current_mode_ = current_gate_mode_->data == tier4_control_msgs::msg::GateMode::AUTO
                     ? KeyName::autonomous_driving
                     : KeyName::external_control;
+  if (
+    current_gate_mode_->data == tier4_control_msgs::msg::GateMode::AUTO &&
+    control_mode_->mode == autoware_auto_vehicle_msgs::msg::ControlModeReport::MANUAL) {
+    current_mode_ = KeyName::manual_control;
+  }
 
   updateHazardStatus();
   publishHazardStatus(hazard_status_);