feat: remake diagnostic graph packages (#6715)

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

Author: isamu-takagi

system/diagnostic_graph_aggregator/CMakeLists.txt

@@ -5,32 +5,27 @@ find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/common/graph/error.cpp
+  src/common/graph/data.cpp
   src/common/graph/config.cpp
-  src/common/graph/debug.cpp
+  src/common/graph/loader.cpp
   src/common/graph/graph.cpp
   src/common/graph/units.cpp
 )
 
 ament_auto_add_executable(aggregator
   src/node/aggregator.cpp
-  src/node/plugin/modes.cpp
+  src/node/availability.cpp
 )
 target_include_directories(aggregator PRIVATE src/common)
 
-ament_auto_add_executable(converter
-  src/node/converter.cpp
-)
-target_include_directories(converter PRIVATE src/common)
-
 ament_auto_add_executable(tree
   src/tool/tree.cpp
-  src/tool/utils/loader.cpp
 )
 target_include_directories(tree PRIVATE src/common)
 
 ament_auto_add_executable(plantuml
   src/tool/plantuml.cpp
-  src/tool/utils/loader.cpp
 )
 target_include_directories(plantuml PRIVATE src/common)
 
@@ -45,10 +40,4 @@ if(BUILD_TESTING)
   target_include_directories(gtest_${PROJECT_NAME} PRIVATE src/common)
 endif()
 
-install(PROGRAMS
-  script/dump.py
-  RENAME dump
-  DESTINATION lib/${PROJECT_NAME}
-)
-
 ament_auto_package(INSTALL_TO_SHARE config example launch)

system/diagnostic_graph_aggregator/README.md

@@ -3,20 +3,25 @@
 ## Overview
 
 The diagnostic graph aggregator node subscribes to diagnostic array and publishes aggregated diagnostic graph.
-As shown in the diagram below, this node introduces extra diagnostic status for intermediate functional unit.
-Diagnostic status dependencies will be directed acyclic graph (DAG).
+As shown in the diagram below, this node introduces extra diagnostic status for intermediate functional units.
 
 ![overview](./doc/overview.drawio.svg)
 
-## Diagnostics graph message
+## Diagnostic graph structures
 
-The diagnostics graph that this node outputs is a combination of diagnostic status and connections between them.
-This graph consists of an array of diagnostic nodes, and each node has a status and links.
-This link contains an index indicating the position of the node in the graph.
-Therefore, the graph can be reconstructed from the array of nodes using links.
-The following is an example of a message representing the graph in the overview section.
+The diagnostic graph is actually a set of fault tree analysis (FTA) for each operation mode of Autoware.
+Since the status of the same node may be referenced by multiple nodes, the overall structure is a directed acyclic graph (DAG).
+Each node in the diagnostic graph represents the diagnostic status of a specific functional unit, including the input diagnostics.
+So we define this as "unit", and call the unit corresponding to the input diagnosis "diag unit" and the others "node unit".
 
-![message](./doc/message.drawio.svg)
+Every unit has an error level that is the same as DiagnosticStatus, a unit type, and optionally a unit path.
+In addition, every diag unit has a message, a hardware_id, and values that are the same as DiagnosticStatus.
+The unit type represents how the unit status is calculated, such as AND or OR.
+The unit path is any unique string that represents the functionality of the unit.
+
+NOTE: This feature is currently under development.
+The diagnostic graph also supports "link" because there are cases where connections between units have additional status.
+For example, it is natural that many functional units will have an error status until initialization is complete.
 
 ## Operation mode availability
 
@@ -34,11 +39,13 @@ This feature breaks the generality of the graph and may be changed to a plugin o
 
 ## Interfaces
 
-| Interface Type | Interface Name                        | Data Type                                         | Description        |
-| -------------- | ------------------------------------- | ------------------------------------------------- | ------------------ |
-| subscription   | `/diagnostics`                        | `diagnostic_msgs/msg/DiagnosticArray`             | Diagnostics input. |
-| publisher      | `/diagnostics_graph`                  | `tier4_system_msgs/msg/DiagnosticGraph`           | Diagnostics graph. |
-| publisher      | `/system/operation_mode/availability` | `tier4_system_msgs/msg/OperationModeAvailability` | mode availability. |
+| Interface Type | Interface Name                        | Data Type                                         | Description                        |
+| -------------- | ------------------------------------- | ------------------------------------------------- | ---------------------------------- |
+| subscription   | `/diagnostics`                        | `diagnostic_msgs/msg/DiagnosticArray`             | Diagnostics input.                 |
+| publisher      | `/diagnostics_graph/unknowns`         | `diagnostic_msgs/msg/DiagnosticArray`             | Diagnostics not included in graph. |
+| publisher      | `/diagnostics_graph/struct`           | `tier4_system_msgs/msg/DiagGraphStruct`           | Diagnostic graph (static part).    |
+| publisher      | `/diagnostics_graph/status`           | `tier4_system_msgs/msg/DiagGraphStatus`           | Diagnostic graph (dynamic part).   |
+| publisher      | `/system/operation_mode/availability` | `tier4_system_msgs/msg/OperationModeAvailability` | Operation mode availability.       |
 
 ## Parameters
 
@@ -49,7 +56,6 @@ This feature breaks the generality of the graph and may be changed to a plugin o
 | `input_qos_depth`                 | `uint`    | QoS depth of input array topic.            |
 | `graph_qos_depth`                 | `uint`    | QoS depth of output graph topic.           |
 | `use_operation_mode_availability` | `bool`    | Use operation mode availability publisher. |
-| `use_debug_mode`                  | `bool`    | Use debug output to stdout.                |
 
 ## Examples
 
@@ -73,13 +79,12 @@ ros2 launch diagnostic_graph_aggregator example-edit.launch.xml
 
 ## Debug tools
 
-- [dump](./doc/tool/dump.md)
-- [converter](./doc/tool/converter.md)
 - [tree](./doc/tool/tree.md)
+- [diagnostic_graph_utils](../diagnostic_graph_utils/README.md)
 
 ## Graph file format
 
 - [graph](./doc/format/graph.md)
 - [path](./doc/format/path.md)
-- [node](./doc/format/node.md)
+- [unit](./doc/format/unit.md)
 - [edit](./doc/format/edit.md)

system/diagnostic_graph_aggregator/config/default.param.yaml

@@ -1,7 +1,6 @@
 /**:
   ros__parameters:
     use_operation_mode_availability: true
-    use_debug_mode: false
     rate: 10.0
     input_qos_depth: 1000
     graph_qos_depth: 1

system/diagnostic_graph_aggregator/doc/format/edit/remove.md

@@ -1,10 +1,10 @@
 # Remove
 
-The `remove` object is a edit that removes other nodes.
+The `remove` object is a edit that removes other units.
 
 ## Format
 
 | Name   | Type     | Required | Description                              |
 | ------ | -------- | -------- | ---------------------------------------- |
 | `type` | `string` | yes      | Specify `remove` when using this object. |
-| `path` | `string` | yes      | The path of the node to remove.          |
+| `path` | `string` | yes      | The path of the unit to remove.          |

system/diagnostic_graph_aggregator/doc/format/graph.md

@@ -7,5 +7,5 @@ The graph object is the top level structure that makes up the configuration file
 | Name    | Type                                   | Required | Description                                       |
 | ------- | -------------------------------------- | -------- | ------------------------------------------------- |
 | `files` | <code>list\[[path](./path.md)\]</code> | no       | List of path objects for importing subgraphs.     |
-| `nodes` | <code>list\[[node](./node.md)\]</code> | no       | List of node objects that make up the graph.      |
+| `units` | <code>list\[[unit](./unit.md)\]</code> | no       | List of unit objects that make up the graph.      |
 | `edits` | <code>list\[[edit](./edit.md)\]</code> | no       | List of edit objects to partially edit the graph. |

system/diagnostic_graph_aggregator/doc/format/node/remap.md

@@ -1,24 +1,24 @@
-# Node
+# Unit
 
-The `node` is a base object that makes up the diagnostic graph.
-Any derived object can be used where a node object is required.
+The `unit` is a base object that makes up the diagnostic graph.
+Any derived object can be used where a unit object is required.
 
 ## Format
 
 | Name   | Type     | Required | Description                                       |
 | ------ | -------- | -------- | ------------------------------------------------- |
 | `type` | `string` | yes      | The string indicating the type of derived object. |
-| `path` | `string` | no       | Any string to reference from other nodes.         |
+| `path` | `string` | no       | Any string to reference from other units.         |
 
 ## Derived objects
 
-- [diag](./node/diag.md)
-- [and](./node/and.md)
-- [or](./node/or.md)
-- [remapping](./node/remap.md)
+- [diag](./unit/diag.md)
+- [and](./unit/and.md)
+- [or](./unit/or.md)
+- [remapping](./unit/remap.md)
   - warn-to-ok
   - warn-to-error
-- [constant](./node/const.md)
+- [constant](./unit/const.md)
   - ok
   - warn
   - error

system/diagnostic_graph_aggregator/doc/format/node.md system/diagnostic_graph_aggregator/doc/format/unit.md

@@ -1,14 +1,14 @@
 # And
 
-The `and` object is a node that is evaluated as the maximum error level of the input nodes.
+The `and` object is a unit that is evaluated as the maximum error level of the input units.
 Note that error level `stale` is treated as `error`.
 
 ## Format
 
 | Name   | Type                                   | Required | Description                                                  |
 | ------ | -------------------------------------- | -------- | ------------------------------------------------------------ |
 | `type` | <code>string</code>                    | yes      | Specify `and` or `short-circuit-and` when using this object. |
-| `list` | <code>list\[[node](../node.md)]</code> | yes      | List of input node objects.                                  |
+| `list` | <code>list\[[unit](../unit.md)]</code> | yes      | List of input unit objects.                                  |
 
 ## Short-circuit evaluation
 

system/diagnostic_graph_aggregator/doc/format/node/and.md system/diagnostic_graph_aggregator/doc/format/unit/and.md

@@ -1,6 +1,6 @@
 # Constant
 
-The constant object is a node with a fixed error level.
+The constant object is a unit with a fixed error level.
 
 ## Format
 

system/diagnostic_graph_aggregator/doc/format/node/const.md system/diagnostic_graph_aggregator/doc/format/unit/const.md

@@ -1,6 +1,6 @@
 # Diag
 
-The `diag` object is a node that refers to a specific status within the source diagnostics.
+The `diag` object is a unit that refers to a specific status within the source diagnostics.
 
 ## Format
 

system/diagnostic_graph_aggregator/doc/format/node/diag.md system/diagnostic_graph_aggregator/doc/format/unit/diag.md

@@ -1,10 +1,10 @@
 # Link
 
-The `link` object is a node that refers to other nodes.
+The `link` object is a unit that refers to another unit.
 
 ## Format
 
 | Name   | Type     | Required | Description                            |
 | ------ | -------- | -------- | -------------------------------------- |
 | `type` | `string` | yes      | Specify `link` when using this object. |
-| `link` | `string` | yes      | The path of the node to reference.     |
+| `link` | `string` | yes      | The path of the unit to reference.     |

system/diagnostic_graph_aggregator/doc/format/node/link.md system/diagnostic_graph_aggregator/doc/format/unit/link.md

@@ -1,11 +1,11 @@
 # Or
 
-The `or` object is a node that is evaluated as the minimum error level of the input nodes.
+The `or` object is a unit that is evaluated as the minimum error level of the input units.
 Note that error level `stale` is treated as `error`.
 
 ## Format
 
 | Name   | Type                                   | Required | Description                          |
 | ------ | -------------------------------------- | -------- | ------------------------------------ |
 | `type` | <code>string</code>                    | yes      | Specify `or` when using this object. |
-| `list` | <code>list\[[node](../node.md)]</code> | yes      | List of input node objects.          |
+| `list` | <code>list\[[unit](../unit.md)]</code> | yes      | List of input unit objects.          |

system/diagnostic_graph_aggregator/doc/format/node/or.md system/diagnostic_graph_aggregator/doc/format/unit/or.md

@@ -0,0 +1,21 @@
+# Constant
+
+!!! warning
+
+    This object is under development. It may be removed in the future.
+
+The remapping object is a unit that converts error levels.
+
+## Format
+
+| Name   | Type                            | Required | Description                                    |
+| ------ | ------------------------------- | -------- | ---------------------------------------------- |
+| `type` | `string`                        | yes      | Specify remapping type when using this object. |
+| `item` | <code>[unit](../unit.md)</code> | yes      | Input unit object.                             |
+
+## Remapping types
+
+The supported remapping types are as follows.
+
+- `warn-to-ok`
+- `warn-to-error`