implement safe fault handling for hazard status converter

Author: saka1-s

launch/tier4_system_launch/launch/system.launch.xml

@@ -39,6 +39,10 @@
   <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"/>
 
@@ -120,7 +124,10 @@
 
     <!-- Hazard Status Converter -->
     <group unless="$(var use_emergency_handler)">
-      <include file="$(find-pkg-share hazard_status_converter)/launch/hazard_status_converter.launch.xml"/>
+      <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>
     </group>
 
     <!-- MRM Handler -->

system/hazard_status_converter/launch/hazard_status_converter.launch.xml

@@ -1,6 +1,10 @@
 <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

@@ -27,6 +27,9 @@ 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)
@@ -107,6 +110,7 @@ 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();
@@ -117,6 +121,8 @@ 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

@@ -41,6 +41,8 @@ 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