Revert "implement safe fault handling for hazard status converter"

This reverts commit 08a64be.

launch/tier4_system_launch/launch/system.launch.xml

@@ -39,10 +39,6 @@
   <arg name="launch_rqt_robot_monitor" default="false"/>
   <arg name="launch_rqt_runtime_monitor_err" default="false"/>
 
-  <!-- Hazard Status Converter -->
-  <arg name="report_only_diag" default="false"/>
-  <arg name="report_safe_fault" default="false"/>
-
   <group>
     <push-ros-namespace namespace="/system"/>
 
@@ -124,10 +120,7 @@
 
     <!-- Hazard Status Converter -->
     <group unless="$(var use_emergency_handler)">
-      <include file="$(find-pkg-share hazard_status_converter)/launch/hazard_status_converter.launch.xml">
-        <arg name="report_only_diag" value="$(var report_only_diag)"/>
-        <arg name="report_safe_fault" value="$(var report_safe_fault)"/>
-      </include>
+      <include file="$(find-pkg-share hazard_status_converter)/launch/hazard_status_converter.launch.xml"/>
     </group>
 
     <!-- MRM Handler -->

system/hazard_status_converter/launch/hazard_status_converter.launch.xml

@@ -1,10 +1,6 @@
 <launch>
-  <arg name="report_only_diag" default="false"/>
-  <arg name="report_safe_fault" default="false"/>
   <node pkg="hazard_status_converter" exec="converter" name="hazard_status_converter">
     <remap from="~/diagnostics_graph" to="/diagnostics_graph"/>
     <remap from="~/hazard_status" to="/system/emergency/hazard_status"/>
-    <param name="report_only_diag" value="$(var report_only_diag)"/>
-    <param name="report_safe_fault" value="$(var report_safe_fault)"/>
   </node>
 </launch>

system/hazard_status_converter/src/converter.cpp

@@ -27,9 +27,6 @@ Converter::Converter(const rclcpp::NodeOptions & options) : Node("converter", op
   sub_graph_.register_create_callback(std::bind(&Converter::on_create, this, _1));
   sub_graph_.register_update_callback(std::bind(&Converter::on_update, this, _1));
   sub_graph_.subscribe(*this, 1);
-
-  report_only_diag_ = declare_parameter<bool>("report_only_diag", false);
-  report_safe_fault_ = declare_parameter<bool>("report_safe_fault", false);
 }
 
 void Converter::on_create(DiagGraph::ConstSharedPtr graph)
@@ -110,7 +107,6 @@ void Converter::on_update(DiagGraph::ConstSharedPtr graph)
   HazardStatusStamped hazard;
   for (const auto & unit : graph->units()) {
     if (unit->path().empty()) continue;
-    if (report_only_diag_ && unit->type() != "diag") continue;
     const bool is_auto_tree = auto_mode_tree_.count(unit);
     const auto root_level = is_auto_tree ? auto_mode_root_->level() : DiagnosticStatus::OK;
     const auto unit_level = unit->level();
@@ -121,8 +117,6 @@ void Converter::on_update(DiagGraph::ConstSharedPtr graph)
   hazard.stamp = graph->updated_stamp();
   hazard.status.level = get_system_level(hazard.status);
   hazard.status.emergency = hazard.status.level == HazardStatus::SINGLE_POINT_FAULT;
-  if (report_safe_fault_)
-    hazard.status.emergency &= hazard.status.level == HazardStatus::SAFE_FAULT;
   hazard.status.emergency_holding = false;
   pub_hazard_->publish(hazard);
 }

system/hazard_status_converter/src/converter.hpp

@@ -41,8 +41,6 @@ class Converter : public rclcpp::Node
 
   DiagUnit * auto_mode_root_;
   std::unordered_set<DiagUnit *> auto_mode_tree_;
-  bool report_only_diag_;
-  bool report_safe_fault_;
 };
 
 }  // namespace hazard_status_converter