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feat(system error monitor): use polling subscriber #7486

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feat(system error monitor): use polling subscriber #7486

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224153f
fix: add maintainer
masahiro-kubota Jun 13, 2024
34c506a
fix: replace subscription
masahiro-kubota Jun 13, 2024
1e3261c
style(pre-commit): autofix
pre-commit-ci[bot] Jun 13, 2024
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15 changes: 9 additions & 6 deletions system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
#define SYSTEM_ERROR_MONITOR__SYSTEM_ERROR_MONITOR_CORE_HPP_

#include "tier4_autoware_utils/ros/logger_level_configure.hpp"
#include "tier4_autoware_utils/ros/polling_subscriber.hpp"

#include <rclcpp/create_timer.hpp>
#include <rclcpp/rclcpp.hpp>
Expand Down Expand Up @@ -101,12 +102,14 @@ class AutowareErrorMonitor : public rclcpp::Node

// Subscriber
rclcpp::Subscription<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr sub_diag_array_;
rclcpp::Subscription<autoware_system_msgs::msg::AutowareState>::SharedPtr sub_autoware_state_;
rclcpp::Subscription<tier4_control_msgs::msg::GateMode>::SharedPtr sub_current_gate_mode_;
rclcpp::Subscription<autoware_vehicle_msgs::msg::ControlModeReport>::SharedPtr sub_control_mode_;
void onAutowareState(const autoware_system_msgs::msg::AutowareState::ConstSharedPtr msg);
void onCurrentGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg);
void onControlMode(const autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr msg);
// polling subscribers
tier4_autoware_utils::InterProcessPollingSubscriber<autoware_system_msgs::msg::AutowareState>
sub_autoware_state_{this, "~/input/current_gate_mode"};
tier4_autoware_utils::InterProcessPollingSubscriber<tier4_control_msgs::msg::GateMode>
sub_current_gate_mode_{this, "~/input/autoware_state"};
tier4_autoware_utils::InterProcessPollingSubscriber<autoware_vehicle_msgs::msg::ControlModeReport>
sub_control_mode_{this, "~/input/control_mode"};

void onDiagArray(const diagnostic_msgs::msg::DiagnosticArray::ConstSharedPtr msg);

const size_t diag_buffer_size_ = 100;
Expand Down
1 change: 1 addition & 0 deletions system/system_error_monitor/package.xml
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Expand Up @@ -5,6 +5,7 @@
<version>0.1.1</version>
<description>The system_error_monitor package in ROS 2</description>
<maintainer email="fumihito.ito@tier4.jp">Fumihito Ito</maintainer>
<maintainer email="masahiro.kubota@tier4.jp">Masahiro Kubota</maintainer>
<license>Apache License 2.0</license>

<buildtool_depend>ament_cmake_auto</buildtool_depend>
Expand Down
33 changes: 24 additions & 9 deletions system/system_error_monitor/src/system_error_monitor_core.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2020 Tier IV, Inc.

Check notice on line 1 in system/system_error_monitor/src/system_error_monitor_core.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 4.15 to 4.26, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -232,15 +232,6 @@
// Subscriber
sub_diag_array_ = create_subscription<diagnostic_msgs::msg::DiagnosticArray>(
"input/diag_array", rclcpp::QoS{1}, std::bind(&AutowareErrorMonitor::onDiagArray, this, _1));
sub_current_gate_mode_ = create_subscription<tier4_control_msgs::msg::GateMode>(
"~/input/current_gate_mode", rclcpp::QoS{1},
std::bind(&AutowareErrorMonitor::onCurrentGateMode, this, _1));
sub_autoware_state_ = create_subscription<autoware_system_msgs::msg::AutowareState>(
"~/input/autoware_state", rclcpp::QoS{1},
std::bind(&AutowareErrorMonitor::onAutowareState, this, _1));
sub_control_mode_ = create_subscription<autoware_vehicle_msgs::msg::ControlModeReport>(
"~/input/control_mode", rclcpp::QoS{1},
std::bind(&AutowareErrorMonitor::onControlMode, this, _1));

// Publisher
pub_hazard_status_ = create_publisher<autoware_system_msgs::msg::HazardStatusStamped>(
Expand Down Expand Up @@ -440,6 +431,30 @@

void AutowareErrorMonitor::onTimer()
{
const auto autoware_state_msg = sub_autoware_state_.takeData();
const auto current_gate_msg = sub_current_gate_mode_.takeData();
const auto control_mode_msg = sub_control_mode_.takeData();

if (autoware_state_msg) {
autoware_state_ = autoware_state_msg;
// for Heartbeat
autoware_state_stamp_ = this->now();
}

if (current_gate_msg) {
current_gate_mode_ = current_gate_msg;
// for Heartbeat
current_gate_mode_stamp_ = this->now();
}

if (control_mode_msg) {
control_mode_ = control_mode_msg;
// for Heartbeat
control_mode_stamp_ = this->now();
}

// for Heartbeat
current_gate_mode_stamp_ = this->now();
if (!isDataReady()) {
if ((this->now() - initialized_time_).seconds() > params_.data_ready_timeout) {
RCLCPP_WARN_THROTTLE(
Expand Down
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