feat(system_diagnostic_graph): unify units and add file path substitution (#5447)

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

Author: isamu-takagi

system/system_diagnostic_graph/CMakeLists.txt

@@ -4,23 +4,27 @@ project(system_diagnostic_graph)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_executable(aggregator
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/core/config.cpp
   src/core/debug.cpp
   src/core/graph.cpp
-  src/core/nodes.cpp
-  src/core/exprs.cpp
+  src/core/units.cpp
   src/core/modes.cpp
+)
+
+ament_auto_add_executable(aggregator
   src/main.cpp
 )
 
 ament_auto_add_executable(converter
   src/tool.cpp
 )
 
-install(
-  PROGRAMS util/debug.py
-  DESTINATION lib/${PROJECT_NAME}
-)
+if(BUILD_TESTING)
+  get_filename_component(RESOURCE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/test/files ABSOLUTE)
+  ament_auto_add_gtest(gtest_${PROJECT_NAME} test/src/test.cpp)
+  target_compile_definitions(gtest_${PROJECT_NAME} PRIVATE TEST_RESOURCE_PATH="${RESOURCE_PATH}")
+  target_include_directories(gtest_${PROJECT_NAME} PRIVATE src)
+endif()
 
 ament_auto_package(INSTALL_TO_SHARE config example launch)

system/system_diagnostic_graph/example/example_0.yaml

@@ -1,32 +1,37 @@
 files:
-  - { package: system_diagnostic_graph, path: example/example_1.yaml }
-  - { package: system_diagnostic_graph, path: example/example_2.yaml }
+  - { path: $(find-pkg-share system_diagnostic_graph)/example/example_1.yaml }
+  - { path: $(find-pkg-share system_diagnostic_graph)/example/example_2.yaml }
 
 nodes:
   - path: /autoware/modes/stop
-    type: debug-ok
+    type: ok
 
   - path: /autoware/modes/autonomous
     type: and
     list:
-      - { type: link, path: /functions/pose_estimation }
-      - { type: link, path: /functions/obstacle_detection }
+      - { type: link, link: /functions/pose_estimation }
+      - { type: link, link: /functions/obstacle_detection }
 
   - path: /autoware/modes/local
     type: and
     list:
-      - { type: link, path: /external/joystick_command }
+      - { type: link, link: /external/joystick_command }
 
   - path: /autoware/modes/remote
     type: and
     list:
-      - { type: link, path: /external/remote_command }
+      - { type: link, link: /external/remote_command }
 
   - path: /autoware/modes/emergency-stop
-    type: debug-ok
+    type: ok
 
   - path: /autoware/modes/comfortable-stop
-    type: debug-ok
+    type: and
+    list:
+      - { type: link, link: /functions/obstacle_detection }
 
   - path: /autoware/modes/pull-over
-    type: debug-ok
+    type: and
+    list:
+      - { type: link, link: /functions/pose_estimation }
+      - { type: link, link: /functions/obstacle_detection }

system/system_diagnostic_graph/example/example_1.yaml

@@ -2,22 +2,22 @@ nodes:
   - path: /functions/pose_estimation
     type: and
     list:
-      - { type: link, path: /sensing/lidars/top }
+      - { type: link, link: /sensing/lidars/top }
 
   - path: /functions/obstacle_detection
     type: or
     list:
-      - { type: link, path: /sensing/lidars/front }
-      - { type: link, path: /sensing/radars/front }
+      - { type: link, link: /sensing/lidars/front }
+      - { type: link, link: /sensing/radars/front }
 
   - path: /sensing/lidars/top
     type: diag
-    name: "lidar_driver/top: status"
+    diag: "lidar_driver/top: status"
 
   - path: /sensing/lidars/front
     type: diag
-    name: "lidar_driver/front: status"
+    diag: "lidar_driver/front: status"
 
   - path: /sensing/radars/front
     type: diag
-    name: "radar_driver/front: status"
+    diag: "radar_driver/front: status"

system/system_diagnostic_graph/example/example_2.yaml

@@ -1,8 +1,8 @@
 nodes:
   - path: /external/joystick_command
     type: diag
-    name: "external_command_checker: joystick_command"
+    diag: "external_command_checker: joystick_command"
 
   - path: /external/remote_command
     type: diag
-    name: "external_command_checker: remote_command"
+    diag: "external_command_checker: remote_command"

system/system_diagnostic_graph/package.xml

@@ -15,6 +15,7 @@
   <depend>tier4_system_msgs</depend>
   <depend>yaml_cpp_vendor</depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>