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feat(pointcloud preprocessor): add hysteresis to diag #1309

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merged 5 commits into from
May 23, 2024
Merged

feat(pointcloud preprocessor): add hysteresis to diag #1309

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7d89dcf
remove diagnostics_updater
0x126 May 20, 2024
7919ad7
add counter
0x126 May 20, 2024
58e4781
change node name
0x126 May 20, 2024
0656ecf
rename
0x126 May 23, 2024
67da8eb
style(pre-commit): autofix
pre-commit-ci[bot] May 23, 2024
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2 changes: 1 addition & 1 deletion ...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -435,7 +435,7 @@ def get_additional_lidars_concatenated_component(input_topics, output_topic):
return ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::PointCloudConcatenationComponent",
name="concatenate_data",
name="concatenate_ground",
remappings=[
("output", output_topic),
],
Expand Down
8 changes: 5 additions & 3 deletions ...or/include/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp
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Expand Up @@ -63,11 +63,11 @@
// ROS includes
#include "autoware_point_types/types.hpp"

#include <diagnostic_updater/diagnostic_updater.hpp>
#include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>
#include <tier4_autoware_utils/ros/debug_publisher.hpp>
#include <tier4_autoware_utils/system/stop_watch.hpp>

#include <diagnostic_msgs/msg/diagnostic_array.hpp>
#include <diagnostic_msgs/msg/diagnostic_status.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
Expand Down Expand Up @@ -138,7 +138,7 @@ class PointCloudConcatenateDataSynchronizerComponent : public rclcpp::Node
rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr sub_odom_;

rclcpp::TimerBase::SharedPtr timer_;
diagnostic_updater::Updater updater_{this};
rclcpp::Publisher<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr diagnostics_pub_;

const std::string input_twist_topic_type_;

Expand Down Expand Up @@ -180,7 +180,9 @@ class PointCloudConcatenateDataSynchronizerComponent : public rclcpp::Node
void odom_callback(const nav_msgs::msg::Odometry::ConstSharedPtr input);
void timer_callback();

void checkConcatStatus(diagnostic_updater::DiagnosticStatusWrapper & stat);
void checkConcatStatus();
int consecutive_concatenate_failures{0};

std::string replaceSyncTopicNamePostfix(
const std::string & original_topic_name, const std::string & postfix);

Expand Down
53 changes: 38 additions & 15 deletions sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -211,9 +211,8 @@ PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchro

// Diagnostic Updater
{
updater_.setHardwareID("concatenate_data_checker");
updater_.add(
"concat_status", this, &PointCloudConcatenateDataSynchronizerComponent::checkConcatStatus);
diagnostics_pub_ =
this->create_publisher<diagnostic_msgs::msg::DiagnosticArray>("/diagnostics", 10);
}
}

Expand Down Expand Up @@ -463,7 +462,7 @@ void PointCloudConcatenateDataSynchronizerComponent::publish()
}
}

updater_.force_update();
checkConcatStatus();

cloud_stdmap_ = cloud_stdmap_tmp_;
std::for_each(std::begin(cloud_stdmap_tmp_), std::end(cloud_stdmap_tmp_), [](auto & e) {
Expand Down Expand Up @@ -684,21 +683,45 @@ void PointCloudConcatenateDataSynchronizerComponent::odom_callback(
twist_ptr_queue_.push_back(twist_ptr);
}

void PointCloudConcatenateDataSynchronizerComponent::checkConcatStatus(
diagnostic_updater::DiagnosticStatusWrapper & stat)
void PointCloudConcatenateDataSynchronizerComponent::checkConcatStatus()
{
diagnostic_msgs::msg::DiagnosticStatus diag_status_msg;
diag_status_msg.name = std::string(this->get_name()) + ": concat_status";
diag_status_msg.hardware_id = "concatenate_data_checker";

for (const std::string & e : input_topics_) {
const std::string subscribe_status = not_subscribed_topic_names_.count(e) ? "NG" : "OK";
stat.add(e, subscribe_status);
diagnostic_msgs::msg::KeyValue key_value_msg;
key_value_msg.key = e;
key_value_msg.value = not_subscribed_topic_names_.count(e) ? "NG" : "OK";
diag_status_msg.values.push_back(key_value_msg);
}

if (not_subscribed_topic_names_.size() > 0) {
consecutive_concatenate_failures += 1;
} else {
consecutive_concatenate_failures = 0;
}

const int8_t level = not_subscribed_topic_names_.empty()
? diagnostic_msgs::msg::DiagnosticStatus::OK
: diagnostic_msgs::msg::DiagnosticStatus::WARN;
const std::string message = not_subscribed_topic_names_.empty()
? "Concatenate all topics"
: "Some topics are not concatenated";
stat.summary(level, message);
{
diagnostic_msgs::msg::KeyValue key_value_msg;
key_value_msg.key = "consecutiveConcatenateFailures";
key_value_msg.value = std::to_string(consecutive_concatenate_failures_);
diag_status_msg.values.push_back(key_value_msg);
}

if (consecutive_concatenate_failures > 1) {
diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
diag_status_msg.message = "Some topics are not concatenated";
} else {
diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::OK;
diag_status_msg.message = "Concatenate all topics";
}

diagnostic_msgs::msg::DiagnosticArray diag_msg;
diag_msg.header.stamp = this->now();
diag_msg.status.push_back(diag_status_msg);

diagnostics_pub_->publish(diag_msg);
}
} // namespace pointcloud_preprocessor

Expand Down
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