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satoshi-otasatoshi-ota
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chore(tools): move system tools
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
1 parent d4d1119 commit ad35c13

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‎system/rqt_diagnostic_graph_monitor/CMakeLists.txt

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cmake_minimum_required(VERSION 3.14)
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project(rqt_diagnostic_graph_monitor)
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find_package(autoware_cmake REQUIRED)
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autoware_package()
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ament_python_install_package(${PROJECT_NAME} PACKAGE_DIR python)
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install(FILES plugin.xml DESTINATION share/${PROJECT_NAME})
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install(PROGRAMS script/rqt_diagnostic_graph_monitor DESTINATION lib/${PROJECT_NAME})
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ament_auto_package(INSTALL_TO_SHARE script)

‎system/rqt_diagnostic_graph_monitor/README.md

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# System diagnostic monitor

‎system/rqt_diagnostic_graph_monitor/package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>rqt_diagnostic_graph_monitor</name>
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<version>0.1.0</version>
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<description>The rqt_diagnostic_graph_monitor package</description>
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<maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake_auto</buildtool_depend>
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<buildtool_depend>autoware_cmake</buildtool_depend>
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<exec_depend>python_qt_binding</exec_depend>
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<exec_depend>rqt_gui</exec_depend>
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<exec_depend>rqt_gui_py</exec_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>autoware_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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<rqt_gui plugin="${prefix}/plugin.xml"/>
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</export>
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</package>

‎system/rqt_diagnostic_graph_monitor/plugin.xml

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<library path="python">
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<class name="DiagnosticGraphMonitor" type="rqt_diagnostic_graph_monitor.MonitorPlugin" base_class_type="rqt_gui_py::Plugin">
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<description>
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</description>
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<qtgui>
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<group>
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<label>Robot Tools</label>
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<icon type="theme">folder</icon>
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<statustip></statustip>
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</group>
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<label>Diagnostic Graph Monitor</label>
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<icon type="theme">utilities-system-monitor</icon>
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<statustip></statustip>
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</qtgui>
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</class>
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</library>

‎system/rqt_diagnostic_graph_monitor/python/__init__.py

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# Copyright 2023 The Autoware Contributors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from rqt_gui_py.plugin import Plugin
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from .module import MonitorModule
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from .widget import MonitorWidget
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class MonitorPlugin(Plugin):
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def __init__(self, context):
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super().__init__(context)
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self.widget = MonitorWidget()
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self.module = MonitorModule(context.node)
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self.module.append_struct_callback(self.widget.on_graph)
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context.add_widget(self.widget)
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def shutdown_plugin(self):
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self.module.shutdown()
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self.widget.shutdown()
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def save_settings(self, plugin_settings, instance_settings):
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pass
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def restore_settings(self, plugin_settings, instance_settings):
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pass

‎system/rqt_diagnostic_graph_monitor/python/graph.py

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# Copyright 2023 The Autoware Contributors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from diagnostic_msgs.msg import DiagnosticStatus
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from rclpy.time import Time
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class DummyStatus:
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def __init__(self):
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self.level = DiagnosticStatus.STALE
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class BaseUnit:
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def __init__(self, status=DummyStatus()):
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self._parents = []
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self._children = []
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self._path = None
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self._type = None
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self._status = status
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@property
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def parents(self):
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return self._parents
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@property
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def children(self):
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return self._children
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@property
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def path(self):
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return self._path
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@property
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def kind(self):
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return self._type
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class NodeUnit(BaseUnit):
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def __init__(self, struct):
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super().__init__()
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self._path = struct.path
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self._type = struct.type
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def update(self, status):
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self._status = status
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@property
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def level(self):
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return self._status.level
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class DiagUnit(BaseUnit):
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def __init__(self, struct):
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super().__init__()
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self._path = struct.path
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self._name = struct.name
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self._type = "diag"
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def update(self, status):
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self._status = status
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@property
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def level(self):
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return self._status.level
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class UnitLink:
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def __init__(self, parent: BaseUnit, child: BaseUnit):
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self._parent = parent
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self._child = child
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parent._children.append(self)
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child._parents.append(self)
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def update(self, status):
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self.status = status
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@property
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def parent(self):
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return self._parent
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@property
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def child(self):
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return self._child
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class Graph:
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def __init__(self, msg):
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self._struct_stamp = Time.from_msg(msg.stamp)
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self._status_stamp = None
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self._id = msg.id
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self._nodes = [NodeUnit(struct) for struct in msg.nodes]
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self._diags = [DiagUnit(struct) for struct in msg.diags]
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self._units = self._nodes + self._diags
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self._links = []
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for struct in msg.links:
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units = self._diags if struct.is_leaf else self._nodes
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nodes = self._nodes
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self._links.append(UnitLink(nodes[struct.parent], units[struct.child]))
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def update(self, msg):
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if msg.id == self._id:
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self._status_stamp = Time.from_msg(msg.stamp)
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for node, status in zip(self._nodes, msg.nodes):
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node.update(status)
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for diag, status in zip(self._diags, msg.diags):
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diag.update(status)
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for link, status in zip(self._links, msg.links):
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link.update(status)
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@property
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def units(self):
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return self._units
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@property
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def links(self):
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return self._links

‎system/rqt_diagnostic_graph_monitor/python/items.py

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# Copyright 2024 The Autoware Contributors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from diagnostic_msgs.msg import DiagnosticStatus
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from python_qt_binding import QtGui
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from python_qt_binding import QtWidgets
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from .graph import BaseUnit
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from .graph import UnitLink
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class MonitorIcons:
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def __init__(self):
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self.disable = QtGui.QIcon.fromTheme("dialog-question")
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self.unknown = QtGui.QIcon.fromTheme("system-search")
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self.ok = QtGui.QIcon.fromTheme("emblem-default")
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self.warn = QtGui.QIcon.fromTheme("emblem-important")
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self.error = QtGui.QIcon.fromTheme("dialog-error")
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self.stale = QtGui.QIcon.fromTheme("appointment-missed")
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self._levels = {}
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self._levels[DiagnosticStatus.OK] = self.ok
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self._levels[DiagnosticStatus.WARN] = self.warn
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self._levels[DiagnosticStatus.ERROR] = self.error
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self._levels[DiagnosticStatus.STALE] = self.stale
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def get(self, level):
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return self._levels.get(level, self.unknown)
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class MonitorItem:
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icons = MonitorIcons()
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def __init__(self, link: UnitLink, unit: BaseUnit):
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item_text = f"{unit.path} ({unit.kind})" if unit.path else f"({unit.kind})"
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self.item = QtWidgets.QTreeWidgetItem([item_text])
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self.link = link
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self.unit = unit
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self.item.setIcon(0, self.icons.stale)
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def update(self):
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self.item.setIcon(0, self.icons.get(self.unit.level))

‎system/rqt_diagnostic_graph_monitor/python/module.py

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# Copyright 2023 The Autoware Contributors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from rclpy.node import Node
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from tier4_system_msgs.msg import DiagGraphStatus
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from tier4_system_msgs.msg import DiagGraphStruct
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from .graph import Graph
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from .utils import default_qos
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from .utils import durable_qos
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from .utils import foreach
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class MonitorModule:
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def __init__(self, node: Node):
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self.graph = None
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self.struct_callbacks = []
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self.status_callbacks = []
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self.node = node
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self.sub_struct = self.subscribe_struct()
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self.sub_status = self.subscribe_status()
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def append_struct_callback(self, callback):
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self.struct_callbacks.append(callback)
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def append_status_callback(self, callback):
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self.status_callbacks.append(callback)
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def on_struct(self, msg):
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self.graph = Graph(msg)
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foreach(self.struct_callbacks, lambda callback: callback(self.graph))
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def on_status(self, msg):
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self.graph.update(msg)
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foreach(self.status_callbacks, lambda callback: callback(self.graph))
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def subscribe_struct(self):
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return self.node.create_subscription(
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DiagGraphStruct, "/diagnostics_graph/struct", self.on_struct, durable_qos(1)
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)
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def subscribe_status(self):
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return self.node.create_subscription(
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DiagGraphStatus, "/diagnostics_graph/status", self.on_status, default_qos(1)
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)
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def shutdown(self):
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self.node.destroy_subscription(self.sub_struct)
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self.node.destroy_subscription(self.sub_status)

‎system/rqt_diagnostic_graph_monitor/python/utils.py

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# Copyright 2024 The Autoware Contributors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from rclpy.qos import QoSDurabilityPolicy
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from rclpy.qos import QoSProfile
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def default_qos(depth):
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return QoSProfile(depth=depth)
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def durable_qos(depth):
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return QoSProfile(depth=depth, durability=QoSDurabilityPolicy.TRANSIENT_LOCAL)
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def foreach(iterable, function):
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for item in iterable:
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function(item)

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