From 736b9f014cc267a67abee8897781a6a36a2b15c7 Mon Sep 17 00:00:00 2001
From: Hiroki OTA <hiroki.ota@tier4.jp>
Date: Wed, 8 May 2024 17:18:26 +0800
Subject: [PATCH] feat: add dummy diag (#641)

* tmp: dummy diag

* add dummy diags

* dummy diag publisher is true
---
 .../dummy_diag_publisher.param.yaml           | 166 +++++++++++++++++-
 .../tier4_system_component.launch.xml         |   2 +-
 .../launch/planning_simulator.launch.xml      |   2 +-
 3 files changed, 167 insertions(+), 3 deletions(-)

diff --git a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml
index 43edd109b5..02c6d305eb 100644
--- a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml
+++ b/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml
@@ -14,4 +14,168 @@
 /**:
   ros__parameters:
     required_diags:
-      dummy_diag_empty: default
+      # hardware
+
+      ## /hardware/cpu/001-temperature
+      "cpu_monitor: CPU Temperature": default
+
+      ## /hardware/cpu/002-usage
+      "cpu_monitor: CPU Usage": default
+
+      ## /hardware/cpu/003-load_average
+      "cpu_monitor: CPU Load Average": default
+
+      ## /hardware/cpu/004-throttling
+      "cpu_monitor: CPU Thermal Throttling": default
+
+      ## /hardware/cpu/005-frequency
+      "cpu_monitor: CPU Frequency": default
+
+      ## /hardware/hdd/001-temperature
+      "hdd_monitor: HDD Temperature": default
+
+      ## /hardware/hdd/002-usage
+      "hdd_monitor: HDD Usage": default
+
+      ## /hardware/hdd/003-connection
+      "hdd_monitor: HDD Connection": default
+
+      ## /hardware/hdd/004-total_written
+      "hdd_monitor: HDD TotalDataWritten": default
+
+      ## /hardware/hdd/005-warranty_period
+      "hdd_monitor: HDD PowerOnHours": default
+
+      ## /hardware/hdd/006-soft_error
+      "hdd_monitor: HDD RecoveredError": default
+
+      ## /hardware/hdd/007-load
+      "hdd_monitor: HDD ReadDataRate": default
+      "hdd_monitor: HDD WriteDataRate": default
+      "hdd_monitor: HDD ReadIOPS": default
+      "hdd_monitor: HDD WriteIOPS": default
+
+      ## /hardware/memory/001-usage
+      "mem_monitor: Memory Usage": default
+
+      ## /hardware/memory/002-ecc
+      "mem_monitor: Memory ECC": default
+
+      ## /hardware/network/001-usage
+      "net_monitor: Network Usage": default
+
+      ## /hardware/network/002-traffic
+      "net_monitor: Network Traffic": default
+
+      ## /hardware/network/003-crc
+      "net_monitor: Network CRC Error": default
+
+      ## /hardware/network/004-packet_reassembles
+      "net_monitor: IP Packet Reassembles Failed": default
+
+      ## /hardware/ntp/001-sync
+      "ntp_monitor: NTP Offset": default
+
+      ## /hardware/process/001-summary
+      "process_monitor: Tasks Summary": default
+
+      ## /hardware/process/002-load
+      "process_monitor: High-load Proc[0]": default
+      "process_monitor: High-load Proc[1]": default
+      "process_monitor: High-load Proc[2]": default
+      "process_monitor: High-load Proc[3]": default
+      "process_monitor: High-load Proc[4]": default
+
+      ## /hardware/process/003-memory
+      "process_monitor: High-mem Proc[0]": default
+      "process_monitor: High-mem Proc[1]": default
+      "process_monitor: High-mem Proc[2]": default
+      "process_monitor: High-mem Proc[3]": default
+      "process_monitor: High-mem Proc[4]": default
+
+      ## /hardware/bios/001-battery
+      "voltage_monitor: CMOS Battery Status": default
+
+      ## /hardware/gpu/001-temperature
+      "gpu_monitor: GPU Temperature": default
+
+      ## /hardware/gpu/002-usage
+      "gpu_monitor: GPU Usage": default
+
+      ## /hardware/gpu/003-memory
+      "gpu_monitor: GPU Memory Usage": default
+
+      ## /hardware/gpu/004-throttling
+      "gpu_monitor: GPU Thermal Throttling": default
+
+      ##  /hardware/gpu/005-frequency
+      "gpu_monitor: GPU Frequency": default
+
+      ## /hardware/mot/001-connection
+      "mot: /system/mot_connection : mot heartbeat": default
+
+      ## /hardware/signage/001-connection
+      "signage: /system/signage_connection : signage heartbeat": default
+
+      ## /hardware/voice/001-connection
+      "vehicle_voice_alert_system: /system/voice_alert_system_connection : voice alert system heartbeat": default
+
+      # localization
+      ## /localization/001-topic_status/initialpose
+      "topic_state_monitor_initialpose3d: localization_topic_status": default
+
+      ## /localization/001-topic_status/pose_twist_fusion_filter
+      "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default
+
+      ## /localization/002-tf
+      "topic_state_monitor_transform_map_to_base_link: localization_topic_status": default
+
+      ## /localization/003-matching_score
+      ndt_scan_matcher: default
+
+      ## /localization/004-accuracy
+      "localization: localization_error_monitor": default
+
+      # map
+      ## /map/001-topic_status/pointcloud_map
+      "topic_state_monitor_pointcloud_map: map_topic_status": default
+
+      # perception
+      ## /perception/001-topic_status/traffic_signals
+      "topic_state_monitor_traffic_light_recognition_traffic_signals: perception_topic_status": default
+
+      ## /perception/001-topic_status/objects
+      "topic_state_monitor_object_recognition_objects: perception_topic_status": default
+
+      ## /perception/001-topic_status/pointcloud
+      "topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status": default
+
+      ## /perception/002-detection_delay
+      "multi_object_tracker: Perception delay check from original header stamp": default
+
+      # system
+      ## /system/003-bagpacker_status
+      rosbag_status: default
+
+      ## /system/004-bagpacker_disk_space
+      disk_status: default
+
+      ## /system/005-fms_connection
+      edge_core_internet_connection: default
+
+      # vehicle
+      ## /vehicle/001-topic_status/velocity
+      "topic_state_monitor_vehicle_status_velocity_status: vehicle_topic_status": default
+
+      ## /vehicle/001-topic_status/steering
+      "topic_state_monitor_vehicle_status_steering_status: vehicle_topic_status": default
+
+      ## /vehicle/005-vehicle_heartbeat
+      "j6_interface: vehicle_heartbeat_errors": default
+
+      ## /vehicle/006-vehicle_errors
+      "j6_interface: vehicle_errors": default
+
+      # others
+      ## /others/010-emergency_vehicle
+      "emergency_vehicle_detector: emergency_vehicle": default
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index 017bddd39b..255f8ba467 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -31,6 +31,6 @@
     <arg name="mrm_handler_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_handler/mrm_handler.param.yaml"/>
     <arg name="diagnostic_graph_aggregator_param_path" value="$(find-pkg-share diagnostic_graph_aggregator)/config/default.param.yaml"/>
     <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware.yaml"/>
-    <arg name="diagnostic_graph_aggregator_planning_simulator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware.planning_simulator.yaml"/>
+    <arg name="diagnostic_graph_aggregator_planning_simulator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware.yaml"/>
   </include>
 </launch>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index ba38aa965c..4a74fd7519 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -15,7 +15,7 @@
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
-  <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
+  <arg name="launch_dummy_diag_publisher" default="true" description="launch dummy diag publisher"/>
   <!-- Scenario simulation -->
   <arg name="initial_engage_state" default="true" description="/vehicle/engage state after starting Autoware"/>
   <arg name="perception/enable_detection_failure" default="true" description="enable to simulate detection failure when using dummy perception"/>