Merge branch 'nobleo-ros2' into HARVEY-1380-ROS2-report-stale-on-no-e…

…rror-but-stale

.github/workflows/lint.yaml

@@ -22,7 +22,7 @@ jobs:
             uncrustify,
             xmllint,
           ]
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
     env:
       AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: 1
     steps:

.github/workflows/test.yaml

@@ -24,18 +24,15 @@ jobs:
         distro: [humble, iron, rolling]
         include:
           - distro: humble
-            os: ubuntu-22.04
+            os: 22.04
           - distro: iron
-            os: ubuntu-22.04
+            os: 22.04
           - distro: rolling
-            os: ubuntu-22.04
-    runs-on: ${{ matrix.os }}
+            os: 24.04
+    runs-on: ubuntu-latest
+    container: ubuntu:${{ matrix.os }}
     steps:
       - uses: ros-tooling/setup-ros@master
-      - run: |
-          sudo pip install pydocstyle==6.1.1  # downgrade to fix https://github.com/ament/ament_lint/pull/428
-          sudo pip install pip --upgrade
-          sudo pip install pyopenssl --upgrade  # fix for AttributeError: module 'lib' has no attribute 'X509_V_FLAG_CB_ISSUER_CHECK'
       - uses: ros-tooling/action-ros-ci@master
         with:
           target-ros2-distro: ${{ matrix.distro }}

README.md

@@ -2,7 +2,7 @@
 
 # Overview
 
-The diagnostics system collects information about hardware drivers and robot hardware to make them availaible to users and operators.
+The diagnostics system collects information about hardware drivers and robot hardware to make them available to users and operators.
 The diagnostics system contains tools to collect and analyze this data.
 
 The diagnostics system is build around the `/diagnostics` topic. The topic is used for `diagnostic_msgs/DiagnosticArray` messages.
@@ -37,7 +37,11 @@ Diagnostics messages that are not aggregated can be visualized by [`rqt_runtime_
 The [`ros2` branch](https://github.com/ros/diagnostics/tree/ros2) targets
 
 - *Humble Hawksbill*
-- *Iron Irwini* and
+- *Iron Irwini*
+
+The [`ros2-jazzy` branch](https://github.com/ros/diagnostics/tree/ros2-jazzy) targets
+
+- *Jazzy Jalisco*
 - *Rolling Ridley*
 
 # License

diagnostic_aggregator/CHANGELOG.rst

@@ -2,6 +2,16 @@
 Changelog for package diagnostic_aggregator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.2.0 (2024-03-22)
+------------------
+* Avoid rolling up an ERROR state when empty GenericAnalyzer blocks are marked discard_stale, or when all of their items are STALE. (`#315 <https://github.com/ros/diagnostics/issues/315>`_)
+* formatting fixes from PR324 (`#327 <https://github.com/ros/diagnostics/issues/327>`_)
+* Debugging instability introduced by `#317 <https://github.com/ros/diagnostics/issues/317>`_  (`#323 <https://github.com/ros/diagnostics/issues/323>`_)
+* feat: publish top level msg when error is received (`#317 <https://github.com/ros/diagnostics/issues/317>`_)
+* Empty default aggregator base_path (`#305 <https://github.com/ros/diagnostics/issues/305>`_)
+* using defined state for stale (`#298 <https://github.com/ros/diagnostics/issues/298>`_)
+* Contributors: Andrew Symington, Christian Henkel, outrider-jhulas
+
 3.1.2 (2023-03-24)
 ------------------
 

diagnostic_aggregator/CMakeLists.txt

@@ -155,6 +155,11 @@ if(BUILD_TESTING)
     test/test_critical_pub.py
     TIMEOUT 30
   )
+
+  ament_add_pytest_test(test_discard_behavior
+    "${CMAKE_CURRENT_SOURCE_DIR}/test/test_discard_behavior.py"
+    TIMEOUT 60
+  )
 endif()
 
 install(

diagnostic_aggregator/README.md

@@ -14,7 +14,7 @@ The robot has two of each, one on each side.
 The robot also 4 camera sensors, one left and one right and one in the front and one in the back.
 These are all the available diagnostic sources:
 
-``` 
+```
 /arms/left/motor
 /arms/right/motor
 /legs/left/motor
@@ -119,6 +119,9 @@ Additional parameters depend on the type of the analyzer.
 Any diagnostic item that is not matched by any analyzer will be published by an "Other" analyzer.
 Items created by the "Other" analyzer will go stale after 5 seconds.
 
+The `critical` parameter makes the aggregator react immediately to a degradation in diagnostic state.
+This is useful if the toplevel state is parsed by a watchdog for example.
+
 ## Launching
 You can launch the `aggregator_node` like this (see [example.launch.py.in](example/example.launch.py.in)):
 ``` python
@@ -213,4 +216,4 @@ This means that things that are ignored by the `IgnoreAnalyzer` will still be pu
 - `analyzers` (map, default: {}) - The analyzers that will be used to aggregate the diagnostics
 
 # Tutorials
-TODO: Port tutorials #contributions-welcome
+TODO: Port tutorials #contributions-welcome

diagnostic_aggregator/include/diagnostic_aggregator/generic_analyzer_base.hpp

@@ -178,7 +178,7 @@ class GenericAnalyzerBase : public Analyzer
 
     auto header_status = std::make_shared<diagnostic_msgs::msg::DiagnosticStatus>();
     header_status->name = path_;
-    header_status->level = 0;
+    header_status->level = diagnostic_msgs::msg::DiagnosticStatus::OK;
     header_status->message = "OK";
 
     std::vector<std::shared_ptr<diagnostic_msgs::msg::DiagnosticStatus>> processed;
@@ -224,22 +224,28 @@ class GenericAnalyzerBase : public Analyzer
 
     // Header is not stale unless all subs are
     if (all_stale) {
-      header_status->level = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+      // If we elect to discard stale items, then it signals that the absence of an item
+      // is not considered problematic, so we should allow empty queues to roll up as OK.
+      if (discard_stale_) {
+        header_status->level = diagnostic_msgs::msg::DiagnosticStatus::OK;
+      } else {
+        header_status->level = diagnostic_msgs::msg::DiagnosticStatus::STALE;
+      }
     } else if (header_status->level == diagnostic_msgs::msg::DiagnosticStatus::STALE) {
-      header_status->level = 2;
+      header_status->level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
     }
 
     header_status->message = valToMsg(header_status->level);
 
     // If we expect a given number of items, check that we have this number
     if (num_items_expected_ == 0 && items_.empty()) {
-      header_status->level = 0;
+      header_status->level = diagnostic_msgs::msg::DiagnosticStatus::OK;
       header_status->message = "OK";
     } else if (  // NOLINT
       num_items_expected_ > 0 &&
       static_cast<int8_t>(items_.size()) != num_items_expected_)
     {  // NOLINT
-      int8_t lvl = 2;
+      int8_t lvl = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
       header_status->level = std::max(lvl, static_cast<int8_t>(header_status->level));
 
       std::stringstream expec, item;

diagnostic_aggregator/include/diagnostic_aggregator/other_analyzer.hpp

@@ -145,7 +145,7 @@ class OtherAnalyzer : public GenericAnalyzerBase
         processed.begin();
       for (; it != processed.end(); ++it) {
         if ((*it)->name == path_) {
-          (*it)->level = 2;
+          (*it)->level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
           (*it)->message = "Unanalyzed items found in \"Other\"";
           break;
         }

diagnostic_aggregator/mainpage.dox

@@ -16,7 +16,7 @@ See Analyzer for more information on the base class.
 
 \subsubsection generic_analyzer GenericAnalyzer
 
-\b generic_analyzer holds the GenericAnalyzer class, which is the most basic of the Analyzer's. It is used by the diagnostic_aggregator/Aggregator to store, process and republish diagnostics data. The GenericAnalyzer is loaded by the pluginlib as a Analyzer plugin. It is the most basic of all Analyzer's. 
+\b generic_analyzer holds the GenericAnalyzer class, which is the most basic of the Analyzer's. It is used by the diagnostic_aggregator/Aggregator to store, process and republish diagnostics data. The GenericAnalyzer is loaded by the pluginlib as a Analyzer plugin. It is the most basic of all Analyzer's.
 
 \subsubsection analyzer_group AnalyzerGroup
 
@@ -37,10 +37,10 @@ aggregator_node subscribes to "/diagnostics" and publishes an aggregated set of
 \subsubsection topics ROS topics
 
 Subscribes to:
-- \b "/diagnostics": [diagnostics_msgs/DiagnosticArray] 
+- \b "/diagnostics": [diagnostics_msgs/DiagnosticArray]
 
 Publishes to:
-- \b "/diagnostics_agg": [diagnostics_msgs/DiagnosticArray] 
+- \b "/diagnostics_agg": [diagnostics_msgs/DiagnosticArray]
 
 \subsubsection parameters ROS parameters
 
@@ -49,6 +49,7 @@ Reads the following parameters from the parameter server
 - \b "~pub_rate" : \b double [optional] Rate that output diagnostics published
 - \b "~base_path" : \b double [optional] Prepended to all analyzed output
 - \b "~analyzers" : \b {} Configuration for loading analyzers
+- \b "~critical" : \b bool [optional] React immediately to a degradation in diagnostic state
 
 \subsection analyzer_loader analyzer_loader
 
@@ -61,4 +62,4 @@ Reads the following parameters from the parameter server
 - \b "~analyzers" : \b {} Configuration for loading and testing analyzers
 
 
-*/
+*/

diagnostic_aggregator/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>diagnostic_aggregator</name>
-  <version>3.1.2</version>
+  <version>3.2.0</version>
   <description>diagnostic_aggregator</description>
   <maintainer email="[email protected]">Austin Hendrix</maintainer>
   <maintainer email="[email protected]">Brice Rebsamen</maintainer>
@@ -32,6 +32,7 @@
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>launch_pytest</test_depend>
   <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>launch_testing_ros</test_depend>