Merge branch 'tier4/universe' into feature/add-mrm-pull-over-msgs

tier4 · Mar 22, 2024 · 39f7a7f · 39f7a7f
2 parents 4ac6e31 + dd006f2
commit 39f7a7f
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diff --git a/tier4_system_msgs/CMakeLists.txt b/tier4_system_msgs/CMakeLists.txt
@@ -19,6 +19,14 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/DiagnosticGraph.msg"
   "msg/DiagnosticLink.msg"
   "msg/DiagnosticNode.msg"
+  "msg/DiagGraphStruct.msg"
+  "msg/DiagGraphStatus.msg"
+  "msg/DiagNodeStruct.msg"
+  "msg/DiagNodeStatus.msg"
+  "msg/DiagLeafStruct.msg"
+  "msg/DiagLeafStatus.msg"
+  "msg/DiagLinkStruct.msg"
+  "msg/DiagLinkStatus.msg"
   "msg/OperationModeAvailability.msg"
   "msg/EmergencyGoalsClearCommand.msg"
   "msg/EmergencyGoalsStamped.msg"

diff --git a/tier4_system_msgs/README.md b/tier4_system_msgs/README.md
@@ -0,0 +1,14 @@
+# tier4_system_msgs
+
+## Diagnostic graph messages
+
+See [this page](./doc/diagnostic-graph.md) for the following diagnostic graph messages.
+
+- DiagGraphStatus
+- DiagGraphStruct
+- DiagLeafStatus
+- DiagLeafStruct
+- DiagLinkStatus
+- DiagLinkStruct
+- DiagNodeStatus
+- DiagNodeStruct
diff --git a/tier4_system_msgs/doc/diagnostic-graph-data.drawio.svg b/tier4_system_msgs/doc/diagnostic-graph-data.drawio.svg
diff --git a/tier4_system_msgs/doc/diagnostic-graph-tree.drawio.svg b/tier4_system_msgs/doc/diagnostic-graph-tree.drawio.svg
diff --git a/tier4_system_msgs/doc/diagnostic-graph.md b/tier4_system_msgs/doc/diagnostic-graph.md
@@ -0,0 +1,14 @@
+# Diagnostic graph messages
+
+These are messages that represent aggregated diagnostic graphs.
+Diagnostic graph structure is static, so it is published only once as the DiagGraphStruct.
+And diagnostic status that changes dynamically is periodically published as the DiagGraphStatus.
+The DiagGraphStruct and DiagGraphStatus have the list of nodes and links, and their indices correspond.
+
+## Sample graph
+
+![diagnostic-graph-tree](./diagnostic-graph-tree.drawio.svg)
+
+## Sample message
+
+![diagnostic-graph-data](./diagnostic-graph-data.drawio.svg)
diff --git a/tier4_system_msgs/msg/DiagGraphStatus.msg b/tier4_system_msgs/msg/DiagGraphStatus.msg
@@ -0,0 +1,4 @@
+builtin_interfaces/Time stamp
+tier4_system_msgs/DiagNodeStatus[] nodes
+tier4_system_msgs/DiagLeafStatus[] diags
+tier4_system_msgs/DiagLinkStatus[] links
diff --git a/tier4_system_msgs/msg/DiagGraphStruct.msg b/tier4_system_msgs/msg/DiagGraphStruct.msg
@@ -0,0 +1,4 @@
+builtin_interfaces/Time stamp
+tier4_system_msgs/DiagNodeStruct[] nodes
+tier4_system_msgs/DiagLeafStruct[] diags
+tier4_system_msgs/DiagLinkStruct[] links
diff --git a/tier4_system_msgs/msg/DiagLeafStatus.msg b/tier4_system_msgs/msg/DiagLeafStatus.msg
@@ -0,0 +1,4 @@
+byte level
+string message
+string hardware_id
+diagnostic_msgs/KeyValue[] values
diff --git a/tier4_system_msgs/msg/DiagLeafStruct.msg b/tier4_system_msgs/msg/DiagLeafStruct.msg
@@ -0,0 +1,2 @@
+string path
+string name
diff --git a/tier4_system_msgs/msg/DiagLinkStatus.msg b/tier4_system_msgs/msg/DiagLinkStatus.msg
@@ -0,0 +1 @@
+bool used
diff --git a/tier4_system_msgs/msg/DiagLinkStruct.msg b/tier4_system_msgs/msg/DiagLinkStruct.msg
@@ -0,0 +1,6 @@
+# The index of nodes/diags in the graph struct message.
+uint32 parent
+uint32 child
+
+# Whether the child is a leaf, The parent is always not.
+bool is_leaf
diff --git a/tier4_system_msgs/msg/DiagNodeStatus.msg b/tier4_system_msgs/msg/DiagNodeStatus.msg
@@ -0,0 +1 @@
+byte level
diff --git a/tier4_system_msgs/msg/DiagNodeStruct.msg b/tier4_system_msgs/msg/DiagNodeStruct.msg
@@ -0,0 +1 @@
+string path