planning.yaml

units:
  - path: /autoware/planning
    type: short-circuit-and
    list:
      - type: link
        link: /autoware/planning/routing/state
      - type: and
        list:
          - { type: link, link: /autoware/planning/topic_rate_check/route }
          - { type: link, link: /autoware/planning/topic_rate_check/trajectory }
          - { type: link, link: /autoware/planning/trajectory_validation }
          - { type: link, link: /autoware/planning/emergency_stop }

  - path: /autoware/planning/trajectory_validation
    type: and
    list:
      - { type: link, link: /autoware/planning/trajectory_validation/finite }
      - { type: link, link: /autoware/planning/trajectory_validation/interval }
      - { type: link, link: /autoware/planning/trajectory_validation/curvature }
      - { type: link, link: /autoware/planning/trajectory_validation/angle }
      - { type: link, link: /autoware/planning/trajectory_validation/lateral_acceleration }
      - { type: link, link: /autoware/planning/trajectory_validation/acceleration }
      - { type: link, link: /autoware/planning/trajectory_validation/deceleration }
      - { type: link, link: /autoware/planning/trajectory_validation/steering }
      - { type: link, link: /autoware/planning/trajectory_validation/steering_rate }
      - { type: link, link: /autoware/planning/trajectory_validation/velocity_deviation }

  - path: /autoware/planning/routing/state
    type: diag
    node: component_state_diagnostics
    name: route_state

  - path: /autoware/planning/topic_rate_check/route
    type: diag
    node: topic_state_monitor_mission_planning_route
    name: planning_topic_status

  - path: /autoware/planning/topic_rate_check/trajectory
    type: diag
    node: topic_state_monitor_scenario_planning_trajectory
    name: planning_topic_status

  - path: /autoware/planning/trajectory_validation/finite
    type: diag
    node: planning_validator
    name: trajectory_validation_finite

  - path: /autoware/planning/trajectory_validation/interval
    type: diag
    node: planning_validator
    name: trajectory_validation_interval

  - path: /autoware/planning/trajectory_validation/curvature
    type: diag
    node: planning_validator
    name: trajectory_validation_curvature

  - path: /autoware/planning/trajectory_validation/angle
    type: diag
    node: planning_validator
    name: trajectory_validation_relative_angle

  - path: /autoware/planning/trajectory_validation/lateral_acceleration
    type: diag
    node: planning_validator
    name: trajectory_validation_lateral_acceleration

  - path: /autoware/planning/trajectory_validation/acceleration
    type: diag
    node: planning_validator
    name: trajectory_validation_acceleration

  - path: /autoware/planning/trajectory_validation/deceleration
    type: diag
    node: planning_validator
    name: trajectory_validation_deceleration

  - path: /autoware/planning/trajectory_validation/steering
    type: diag
    node: planning_validator
    name: trajectory_validation_steering

  - path: /autoware/planning/trajectory_validation/steering_rate
    type: diag
    node: planning_validator
    name: trajectory_validation_steering_rate

  - path: /autoware/planning/trajectory_validation/velocity_deviation
    type: diag
    node: planning_validator
    name: trajectory_validation_velocity_deviation

  - path: /autoware/planning/emergency_stop
    type: warn-to-ok
    item:
      type: link
      link: /planning/path_optimizer_emergency_stop

  - path: /planning/path_optimizer_emergency_stop
    type: diag
    node: path_optimizer
    name: path_optimizer_emergency_stop
    timeout: 1.0