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Merge pull request #1192 from tier4/update-diagnostic-agg
feat(diagnostic_graph_aggregator): update documents and tools
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‎system/diagnostic_graph_aggregator/CMakeLists.txt

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)
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target_include_directories(converter PRIVATE src/common)
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ament_auto_add_executable(tool
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src/tool/tool.cpp
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ament_auto_add_executable(tree
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src/tool/tree.cpp
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src/tool/utils/loader.cpp
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)
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target_include_directories(tool PRIVATE src/common)
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target_include_directories(tree PRIVATE src/common)
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ament_auto_add_executable(plantuml
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src/tool/plantuml.cpp
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src/tool/utils/loader.cpp
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)
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target_include_directories(plantuml PRIVATE src/common)
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if(BUILD_TESTING)
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get_filename_component(RESOURCE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/test/files ABSOLUTE)

‎system/diagnostic_graph_aggregator/README.md

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## Examples
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- [example_0.yaml](./example/example_0.yaml)
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- [example_1.yaml](./example/example_1.yaml)
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- [example_2.yaml](./example/example_2.yaml)
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This is an example of a diagnostic graph configuration. The configuration can be split into multiple files.
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- [main.yaml](./example/graph/main.yaml)
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- [module1.yaml](./example/graph/module1.yaml)
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- [module2.yaml](./example/graph/module2.yaml)
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```bash
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ros2 launch diagnostic_graph_aggregator example-main.launch.xml
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```
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You can reuse the graph by making partial edits. For example, disable hardware checks for simulation.
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- [edit.yaml](./example/graph/edit.yaml)
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```bash
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ros2 launch diagnostic_graph_aggregator example.launch.xml
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ros2 launch diagnostic_graph_aggregator example-edit.launch.xml
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```
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## Debug tools
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- [dump](./doc/tool/dump.md)
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- [converter](./doc/tool/converter.md)
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- [tree](./doc/tool/tree.md)
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## Graph file format
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- [GraphFile](./doc/format/graph-file.md)
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- [Path](./doc/format/path.md)
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- [Node](./doc/format/node.md)
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- [Diag](./doc/format/diag.md)
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- [Unit](./doc/format/unit.md)
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- [And](./doc/format/and.md)
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- [Or](./doc/format/or.md)
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- [graph](./doc/format/graph.md)
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- [path](./doc/format/path.md)
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- [node](./doc/format/node.md)
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- [edit](./doc/format/edit.md)

‎system/diagnostic_graph_aggregator/doc/format/and.md

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‎system/diagnostic_graph_aggregator/doc/format/diag.md

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‎system/diagnostic_graph_aggregator/doc/format/edit.md

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# Edit
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The `edit` is a base object that edits the existing diagnostic graph.
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Any derived object can be used where a edit object is required.
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## Format
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| Name | Type | Required | Description |
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| ------ | -------- | -------- | ------------------------------------------------- |
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| `type` | `string` | yes | The string indicating the type of derived object. |
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## Derived objects
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- [remove](./edit/remove.md)

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

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

‎system/diagnostic_graph_aggregator/doc/format/graph-file.md

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‎system/diagnostic_graph_aggregator/doc/format/graph.md

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

‎system/diagnostic_graph_aggregator/doc/format/node.md

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

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

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

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

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# Constant
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The constant object is a node with a fixed error level.
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## Format
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| Name | Type | Required | Description |
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| ------ | -------- | -------- | ------------------------------------------- |
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| `type` | `string` | yes | Specify error level when using this object. |
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## Error levels
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The supported error levels are as follows.
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- `ok`
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- `warn`
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- `error`
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- `stale`

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

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# Diag
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The `diag` object is a node that refers to a specific status within the source diagnostics.
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## Format
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| Name | Type | Required | Description |
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| ------ | -------- | -------- | -------------------------------------- |
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| `type` | `string` | yes | Specify `diag` when using this object. |
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| `diag` | `string` | yes | The name of the diagnostic status. |

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

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

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

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

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

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# Constant
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!!! warning
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This object is under development. It may be removed in the future.
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The remapping object is a node that converts error levels.
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## Format
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| Name | Type | Required | Description |
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| ------ | -------------------------------------- | -------- | ---------------------------------------------------- |
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| `type` | `string` | yes | Specify remapping type when using this object. |
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| `list` | <code>list\[[node](../node.md)]</code> | yes | List of input node objects. The list size must be 1. |
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## Remapping types
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The supported remapping types are as follows.
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- `warn-to-ok`
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- `warn-to-error`

‎system/diagnostic_graph_aggregator/doc/format/or.md

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‎system/diagnostic_graph_aggregator/doc/format/path.md

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# Path
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Path is an object that indicates the path of the file to include.
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The path object specifies the file path of the subgraph to be imported.
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The structure of the subgraph file should be [graph object](./graph.md).
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## Format
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| Name | Type | Required | Description |
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| ------- | ------ | -------- | ----------------------------- |
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| package | string | yes | Package name. |
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| path | string | yes | Relative path in the package. |
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| Name | Type | Required | Description |
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| ------ | -------- | -------- | ------------------------------ |
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| `path` | `string` | yes | The file path of the subgraph. |
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## Substitutions
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File paths can contain substitutions like ROS 2 launch. The supported substitutions are as follows.
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| Substitution | Description |
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| ----------------------------- | -------------------------------- |
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| `$(dirname)` | The path of this file directory. |
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| `$(find-pkg-share <package>)` | The path of the package. |

‎system/diagnostic_graph_aggregator/doc/format/unit.md

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‎system/diagnostic_graph_aggregator/doc/tool/converter.md

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# Converter tool
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This tool converts `/diagnostics_graph` to `/diagnostics_agg` so it can be read by tools such as `rqt_runtime_monitor` and `rqt_robot_monitor`.
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## Usage
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```bash
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ros2 launch diagnostic_graph_aggregator converter.launch.xml complement:=false
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```
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The `complement` argument specifies whether to add an intermediate path that does not exist.
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This means that if the graph contains paths `/A/B` and `/A/B/C/D/E`, the intermediate paths `/A`, `/A/B/C` and `/A/B/C/D` will be added.
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This is useful for tree view in `rqt_robot_monitor`. The completed node has an error level of `STALE`.
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## Examples
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```bash
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ros2 launch diagnostic_graph_aggregator example-main.launch.xml complement:=false
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ros2 run rqt_runtime_monitor rqt_runtime_monitor --ros-args -r diagnostics:=diagnostics_agg
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```
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![rqt_runtime_monitor](./images/rqt_runtime_monitor.png)
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```bash
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ros2 launch diagnostic_graph_aggregator example-main.launch.xml complement:=true
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ros2 run rqt_robot_monitor rqt_robot_monitor
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```
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![rqt_robot_monitor](./images/rqt_robot_monitor.png)

‎system/diagnostic_graph_aggregator/doc/tool/dump.md

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# Dump tool
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This tool displays `/diagnostics_graph` in table format.
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## Usage
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```bash
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ros2 run diagnostic_graph_aggregator dump
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```
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## Examples
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```bash
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ros2 launch diagnostic_graph_aggregator example-main.launch.xml
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ros2 run diagnostic_graph_aggregator dump
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```
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```txt
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| ----- | ----- | -------------------------------- | ----- |
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| index | level | name | links |
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| ----- | ----- | -------------------------------- | ----- |
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| 0 | OK | /sensing/radars/front | |
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| 1 | OK | /sensing/lidars/front | |
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| 2 | ERROR | /sensing/lidars/top | |
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| 3 | OK | /functions/obstacle_detection | 1 0 |
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| 4 | ERROR | /functions/pose_estimation | 2 |
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| 5 | OK | /external/remote_command | |
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| 6 | OK | /external/joystick_command | |
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| 7 | ERROR | /autoware/modes/pull_over | 4 3 |
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| 8 | OK | /autoware/modes/comfortable_stop | 3 |
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| 9 | OK | /autoware/modes/emergency_stop | |
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| 10 | OK | /autoware/modes/remote | 5 |
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| 11 | OK | /autoware/modes/local | 6 |
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| 12 | ERROR | /autoware/modes/autonomous | 4 3 |
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| 13 | OK | /autoware/modes/stop | |
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```

‎system/diagnostic_graph_aggregator/doc/tool/images/rqt_robot_monitor.png

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‎system/diagnostic_graph_aggregator/doc/tool/images/rqt_runtime_monitor.png

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