From 8d3c9c09ccf1f79507a192f4b3eaacb054c734af Mon Sep 17 00:00:00 2001 From: asa-naki Date: Mon, 23 Oct 2023 09:50:11 +0900 Subject: [PATCH 1/8] add ignore hartbeat timeout in initializing state Signed-off-by: asa-naki --- .../system_error_monitor/src/system_error_monitor_core.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/system/system_error_monitor/src/system_error_monitor_core.cpp b/system/system_error_monitor/src/system_error_monitor_core.cpp index 1a90a55c73187..a13b8dde2c2af 100644 --- a/system/system_error_monitor/src/system_error_monitor_core.cpp +++ b/system/system_error_monitor/src/system_error_monitor_core.cpp @@ -480,6 +480,12 @@ void AutowareErrorMonitor::onTimer() } if (isDataHeartbeatTimeout()) { + if ((autoware_state_->state == autoware_auto_system_msgs::msg::AutowareState::INITIALIZING)) { + RCLCPP_WARN_THROTTLE( + get_logger(), *get_clock(), std::chrono::milliseconds(1000).count(), + "ignore hartbeat timeout in initializing state"); + return; + } updateTimeoutHazardStatus(); publishHazardStatus(hazard_status_); return; From 47637c152b386e1d0cda76053fc50aad02db2b6b Mon Sep 17 00:00:00 2001 From: Akihisa Nagata <54956813+asa-naki@users.noreply.github.com> Date: Mon, 23 Oct 2023 13:18:11 +0900 Subject: [PATCH 2/8] fix typo --- system/system_error_monitor/src/system_error_monitor_core.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/system_error_monitor/src/system_error_monitor_core.cpp b/system/system_error_monitor/src/system_error_monitor_core.cpp index a13b8dde2c2af..d9341d78d8d02 100644 --- a/system/system_error_monitor/src/system_error_monitor_core.cpp +++ b/system/system_error_monitor/src/system_error_monitor_core.cpp @@ -483,7 +483,7 @@ void AutowareErrorMonitor::onTimer() if ((autoware_state_->state == autoware_auto_system_msgs::msg::AutowareState::INITIALIZING)) { RCLCPP_WARN_THROTTLE( get_logger(), *get_clock(), std::chrono::milliseconds(1000).count(), - "ignore hartbeat timeout in initializing state"); + "ignore heartbeat timeout in initializing state"); return; } updateTimeoutHazardStatus(); From 69fe57eb90128b7d785744005d68ccd70935b20b Mon Sep 17 00:00:00 2001 From: Akihisa Nagata <54956813+asa-naki@users.noreply.github.com> Date: Mon, 23 Oct 2023 14:35:42 +0900 Subject: [PATCH 3/8] Update comment --- system/system_error_monitor/src/system_error_monitor_core.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/system_error_monitor/src/system_error_monitor_core.cpp b/system/system_error_monitor/src/system_error_monitor_core.cpp index d9341d78d8d02..d5fac29607527 100644 --- a/system/system_error_monitor/src/system_error_monitor_core.cpp +++ b/system/system_error_monitor/src/system_error_monitor_core.cpp @@ -478,7 +478,7 @@ void AutowareErrorMonitor::onTimer() } return; } - +// If the processing load is high during AutowareState INITIALZING,add a disable function to avoid Emergencies in isDataHeartbeatTimeout(). if (isDataHeartbeatTimeout()) { if ((autoware_state_->state == autoware_auto_system_msgs::msg::AutowareState::INITIALIZING)) { RCLCPP_WARN_THROTTLE( From bfd7da6691293ba756921433852e5f83419dc6fb Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon, 23 Oct 2023 05:36:29 +0000 Subject: [PATCH 4/8] ci(pre-commit): autofix --- system/system_error_monitor/src/system_error_monitor_core.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/system/system_error_monitor/src/system_error_monitor_core.cpp b/system/system_error_monitor/src/system_error_monitor_core.cpp index d5fac29607527..2d421d40884c1 100644 --- a/system/system_error_monitor/src/system_error_monitor_core.cpp +++ b/system/system_error_monitor/src/system_error_monitor_core.cpp @@ -478,7 +478,8 @@ void AutowareErrorMonitor::onTimer() } return; } -// If the processing load is high during AutowareState INITIALZING,add a disable function to avoid Emergencies in isDataHeartbeatTimeout(). + // If the processing load is high during AutowareState INITIALZING,add a disable function to avoid + // Emergencies in isDataHeartbeatTimeout(). if (isDataHeartbeatTimeout()) { if ((autoware_state_->state == autoware_auto_system_msgs::msg::AutowareState::INITIALIZING)) { RCLCPP_WARN_THROTTLE( From 7f318cc321eb30bc86740ba31c476bd2b197f696 Mon Sep 17 00:00:00 2001 From: Akihisa Nagata <54956813+asa-naki@users.noreply.github.com> Date: Mon, 23 Oct 2023 14:48:13 +0900 Subject: [PATCH 5/8] fix typo --- system/system_error_monitor/src/system_error_monitor_core.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/system_error_monitor/src/system_error_monitor_core.cpp b/system/system_error_monitor/src/system_error_monitor_core.cpp index 2d421d40884c1..09af8ff5b755f 100644 --- a/system/system_error_monitor/src/system_error_monitor_core.cpp +++ b/system/system_error_monitor/src/system_error_monitor_core.cpp @@ -478,7 +478,7 @@ void AutowareErrorMonitor::onTimer() } return; } - // If the processing load is high during AutowareState INITIALZING,add a disable function to avoid + // If the processing load is high during AutowareState INITIALIZING,add a disable function to avoid // Emergencies in isDataHeartbeatTimeout(). if (isDataHeartbeatTimeout()) { if ((autoware_state_->state == autoware_auto_system_msgs::msg::AutowareState::INITIALIZING)) { From 8d0d1455965abb9f66e9bb8c48cb33e8359b383a Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon, 23 Oct 2023 05:48:56 +0000 Subject: [PATCH 6/8] ci(pre-commit): autofix --- system/system_error_monitor/src/system_error_monitor_core.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/system_error_monitor/src/system_error_monitor_core.cpp b/system/system_error_monitor/src/system_error_monitor_core.cpp index 09af8ff5b755f..e8c74190c58b3 100644 --- a/system/system_error_monitor/src/system_error_monitor_core.cpp +++ b/system/system_error_monitor/src/system_error_monitor_core.cpp @@ -478,8 +478,8 @@ void AutowareErrorMonitor::onTimer() } return; } - // If the processing load is high during AutowareState INITIALIZING,add a disable function to avoid - // Emergencies in isDataHeartbeatTimeout(). + // If the processing load is high during AutowareState INITIALIZING,add a disable function to + // avoid Emergencies in isDataHeartbeatTimeout(). if (isDataHeartbeatTimeout()) { if ((autoware_state_->state == autoware_auto_system_msgs::msg::AutowareState::INITIALIZING)) { RCLCPP_WARN_THROTTLE( From 85b27a76d25b2635db4298f18e6113544f38de40 Mon Sep 17 00:00:00 2001 From: Akihisa Nagata <54956813+asa-naki@users.noreply.github.com> Date: Mon, 23 Oct 2023 15:00:54 +0900 Subject: [PATCH 7/8] update comment --- system/system_error_monitor/src/system_error_monitor_core.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/system_error_monitor/src/system_error_monitor_core.cpp b/system/system_error_monitor/src/system_error_monitor_core.cpp index e8c74190c58b3..b497fba33586c 100644 --- a/system/system_error_monitor/src/system_error_monitor_core.cpp +++ b/system/system_error_monitor/src/system_error_monitor_core.cpp @@ -478,8 +478,8 @@ void AutowareErrorMonitor::onTimer() } return; } - // If the processing load is high during AutowareState INITIALIZING,add a disable function to - // avoid Emergencies in isDataHeartbeatTimeout(). + // Heartbeat in AutowareState,diag_array times out during AutowareState INITIALIZING due to high processing load,add a disable function to + // avoid Emergencies in isDataHeartbeatTimeout() in AutowareState INITIALIZING. if (isDataHeartbeatTimeout()) { if ((autoware_state_->state == autoware_auto_system_msgs::msg::AutowareState::INITIALIZING)) { RCLCPP_WARN_THROTTLE( From d16f3655390e1881ac6bc93e26eb9fd33bf49a38 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon, 23 Oct 2023 06:01:58 +0000 Subject: [PATCH 8/8] ci(pre-commit): autofix --- .../system_error_monitor/src/system_error_monitor_core.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/system/system_error_monitor/src/system_error_monitor_core.cpp b/system/system_error_monitor/src/system_error_monitor_core.cpp index b497fba33586c..434009eb69d30 100644 --- a/system/system_error_monitor/src/system_error_monitor_core.cpp +++ b/system/system_error_monitor/src/system_error_monitor_core.cpp @@ -478,8 +478,9 @@ void AutowareErrorMonitor::onTimer() } return; } - // Heartbeat in AutowareState,diag_array times out during AutowareState INITIALIZING due to high processing load,add a disable function to - // avoid Emergencies in isDataHeartbeatTimeout() in AutowareState INITIALIZING. + // Heartbeat in AutowareState,diag_array times out during AutowareState INITIALIZING due to high + // processing load,add a disable function to avoid Emergencies in isDataHeartbeatTimeout() in + // AutowareState INITIALIZING. if (isDataHeartbeatTimeout()) { if ((autoware_state_->state == autoware_auto_system_msgs::msg::AutowareState::INITIALIZING)) { RCLCPP_WARN_THROTTLE(