From a1f670300dc246d01bcd064f0d14199a7187dfa0 Mon Sep 17 00:00:00 2001
From: kotaro-hihara <kotaro.hihara@tier4.jp>
Date: Mon, 26 Aug 2024 14:45:34 +0900
Subject: [PATCH] chore(system_diagnostic_monitor): fix sensing lidar diag
 (#767)

* fix lidar diag in sensing.yaml

* enable sensing.yaml

* style(pre-commit): autofix

---------

Co-authored-by: kotaro-hihara <kotaro-hihara@users.noreply.github.com>
---
 .../autoware-main.yaml                        |   2 +-
 .../system_diagnostic_monitor/sensing.yaml    | 133 +++++++++++++++++-
 2 files changed, 132 insertions(+), 3 deletions(-)

diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml b/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml
index 371b866497..2e224e6573 100644
--- a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml
+++ b/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml
@@ -6,7 +6,7 @@ files:
   - { path: $(dirname)/perception.yaml }
   - { path: $(dirname)/planning.yaml }
   - { path: $(dirname)/others.yaml }
-  # - { path: $(dirname)/sensing.yaml }
+  - { path: $(dirname)/sensing.yaml }
   - { path: $(dirname)/system.yaml }
   - { path: $(dirname)/vehicle.yaml }
 
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/sensing.yaml b/autoware_launch/config/system/system_diagnostic_monitor/sensing.yaml
index f2d628901a..9641633a3c 100644
--- a/autoware_launch/config/system/system_diagnostic_monitor/sensing.yaml
+++ b/autoware_launch/config/system/system_diagnostic_monitor/sensing.yaml
@@ -49,8 +49,9 @@ units:
   # Intermediate paths
   - path: /sensing/lidar/pndr/002-temperature-error
     type: warn-to-ok
-    list:
-      - { type: link, link: /sensing/lidar/pndr/002-temperature }
+    item:
+      type: link
+      link: /sensing/lidar/pndr/002-temperature
 
   # - path: /sensing/imu/001-monitor-error
   #   type: warn-to-ok
@@ -207,3 +208,131 @@ units:
     node: topic_state_monitor_radar_rear_right
     name: radar_rear_right_topic_status
     timeout: 1.0
+
+  - path: /sensing/lidar/front_lower/connection
+    type: diag
+    node: "pandar_monitor: /sensing/lidar/front_lower:"
+    name: pandar_connection
+    timeout: 5.0
+  - path: /sensing/lidar/front_lower/ptp
+    type: diag
+    node: "pandar_monitor: /sensing/lidar/front_lower:"
+    name: pandar_ptp
+    timeout: 5.0
+  - path: /sensing/lidar/front_lower/temperature
+    type: diag
+    node: "pandar_monitor: /sensing/lidar/front_lower:"
+    name: pandar_temperature
+    timeout: 5.0
+
+  - path: /sensing/lidar/front_upper/connection
+    type: diag
+    node: "pandar_monitor: /sensing/lidar/front_upper:"
+    name: pandar_connection
+    timeout: 5.0
+  - path: /sensing/lidar/front_upper/ptp
+    type: diag
+    node: "pandar_monitor: /sensing/lidar/front_upper:"
+    name: pandar_ptp
+    timeout: 5.0
+  - path: /sensing/lidar/front_upper/temperature
+    type: diag
+    node: "pandar_monitor: /sensing/lidar/front_upper:"
+    name: pandar_temperature
+    timeout: 5.0
+
+  - path: /sensing/lidar/left_lower/connection
+    type: diag
+    node: "pandar_monitor: /sensing/lidar/left_lower:"
+    name: pandar_connection
+    timeout: 5.0
+  - path: /sensing/lidar/left_lower/ptp
+    type: diag
+    node: "pandar_monitor: /sensing/lidar/left_lower:"
+    name: pandar_ptp
+    timeout: 5.0
+  - path: /sensing/lidar/left_lower/temperature
+    type: diag
+    node: "pandar_monitor: /sensing/lidar/left_lower:"
+    name: pandar_temperature
+    timeout: 5.0
+
+  - path: /sensing/lidar/left_upper/connection
+    type: diag
+    node: "pandar_monitor: /sensing/lidar/left_upper:"
+    name: pandar_connection
+    timeout: 5.0
+  - path: /sensing/lidar/left_upper/ptp
+    type: diag
+    node: "pandar_monitor: /sensing/lidar/left_upper:"
+    name: pandar_ptp
+    timeout: 5.0
+  - path: /sensing/lidar/left_upper/temperature
+    type: diag
+    node: "pandar_monitor: /sensing/lidar/left_upper:"
+    name: pandar_temperature
+    timeout: 5.0
+
+  - path: /sensing/lidar/right_lower/connection
+    type: diag
+    node: "pandar_monitor: /sensing/lidar/right_lower:"
+    name: pandar_connection
+    timeout: 5.0
+  - path: /sensing/lidar/right_lower/ptp
+    type: diag
+    node: "pandar_monitor: /sensing/lidar/right_lower:"
+    name: pandar_ptp
+    timeout: 5.0
+  - path: /sensing/lidar/right_lower/temperature
+    type: diag
+    node: "pandar_monitor: /sensing/lidar/right_lower:"
+    name: pandar_temperature
+    timeout: 5.0
+
+  - path: /sensing/lidar/right_upper/connection
+    type: diag
+    node: "pandar_monitor: /sensing/lidar/right_upper:"
+    name: pandar_connection
+    timeout: 5.0
+  - path: /sensing/lidar/right_upper/ptp
+    type: diag
+    node: "pandar_monitor: /sensing/lidar/right_upper:"
+    name: pandar_ptp
+    timeout: 5.0
+  - path: /sensing/lidar/right_upper/temperature
+    type: diag
+    node: "pandar_monitor: /sensing/lidar/right_upper:"
+    name: pandar_temperature
+    timeout: 5.0
+
+  - path: /sensing/lidar/rear_lower/connection
+    type: diag
+    node: "pandar_monitor: /sensing/lidar/rear_lower:"
+    name: pandar_connection
+    timeout: 5.0
+  - path: /sensing/lidar/rear_lower/ptp
+    type: diag
+    node: "pandar_monitor: /sensing/lidar/rear_lower:"
+    name: pandar_ptp
+    timeout: 5.0
+  - path: /sensing/lidar/rear_lower/temperature
+    type: diag
+    node: "pandar_monitor: /sensing/lidar/rear_lower:"
+    name: pandar_temperature
+    timeout: 5.0
+
+  - path: /sensing/lidar/rear_upper/connection
+    type: diag
+    node: "pandar_monitor: /sensing/lidar/rear_upper:"
+    name: pandar_connection
+    timeout: 5.0
+  - path: /sensing/lidar/rear_upper/ptp
+    type: diag
+    node: "pandar_monitor: /sensing/lidar/rear_upper:"
+    name: pandar_ptp
+    timeout: 5.0
+  - path: /sensing/lidar/rear_upper/temperature
+    type: diag
+    node: "pandar_monitor: /sensing/lidar/rear_upper:"
+    name: pandar_temperature
+    timeout: 5.0