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| 1 | +// Copyright 2024 TIER IV, Inc. |
| 2 | +// |
| 3 | +// Licensed under the Apache License, Version 2.0 (the "License"); |
| 4 | +// you may not use this file except in compliance with the License. |
| 5 | +// You may obtain a copy of the License at |
| 6 | +// |
| 7 | +// http://www.apache.org/licenses/LICENSE-2.0 |
| 8 | +// |
| 9 | +// Unless required by applicable law or agreed to in writing, software |
| 10 | +// distributed under the License is distributed on an "AS IS" BASIS, |
| 11 | +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 12 | +// See the License for the specific language governing permissions and |
| 13 | +// limitations under the License. |
| 14 | + |
| 15 | +/********************************************************************* |
| 16 | + * Software License Agreement (BSD License) |
| 17 | + * |
| 18 | + * Copyright (c) 2008, Willow Garage, Inc. |
| 19 | + * All rights reserved. |
| 20 | + * |
| 21 | + * Redistribution and use in source and binary forms, with or without |
| 22 | + * modification, are permitted provided that the following conditions |
| 23 | + * are met: |
| 24 | + * |
| 25 | + * * Redistributions of source code must retain the above copyright |
| 26 | + * notice, this list of conditions and the following disclaimer. |
| 27 | + * * Redistributions in binary form must reproduce the above |
| 28 | + * copyright notice, this list of conditions and the following |
| 29 | + * disclaimer in the documentation and/or other materials provided |
| 30 | + * with the distribution. |
| 31 | + * * Neither the name of the Willow Garage nor the names of its |
| 32 | + * contributors may be used to endorse or promote products derived |
| 33 | + * from this software without specific prior written permission. |
| 34 | + * |
| 35 | + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| 36 | + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
| 37 | + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
| 38 | + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
| 39 | + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
| 40 | + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
| 41 | + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
| 42 | + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| 43 | + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| 44 | + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
| 45 | + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 46 | + * POSSIBILITY OF SUCH DAMAGE. |
| 47 | + *********************************************************************/ |
| 48 | + |
| 49 | +#ifndef FAULT_INJECTION__FAULT_INJECTION_DIAG_UPDATER_HPP_ |
| 50 | +#define FAULT_INJECTION__FAULT_INJECTION_DIAG_UPDATER_HPP_ |
| 51 | + |
| 52 | +#include <diagnostic_updater/diagnostic_updater.hpp> |
| 53 | + |
| 54 | +#include <memory> |
| 55 | +#include <string> |
| 56 | +#include <utility> |
| 57 | +#include <vector> |
| 58 | + |
| 59 | +namespace fault_injection |
| 60 | +{ |
| 61 | +class FaultInjectionDiagUpdater : public diagnostic_updater::DiagnosticTaskVector |
| 62 | +{ |
| 63 | +public: |
| 64 | + template <class NodeT> |
| 65 | + explicit FaultInjectionDiagUpdater(NodeT node, double period = 1.0) |
| 66 | + : FaultInjectionDiagUpdater( |
| 67 | + node->get_node_base_interface(), node->get_node_clock_interface(), |
| 68 | + node->get_node_logging_interface(), node->get_node_timers_interface(), |
| 69 | + node->get_node_topics_interface(), period) |
| 70 | + { |
| 71 | + } |
| 72 | + |
| 73 | + FaultInjectionDiagUpdater( |
| 74 | + const std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> & base_interface, |
| 75 | + const std::shared_ptr<rclcpp::node_interfaces::NodeClockInterface> & clock_interface, |
| 76 | + const std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface> & logging_interface, |
| 77 | + std::shared_ptr<rclcpp::node_interfaces::NodeTimersInterface> timers_interface, |
| 78 | + std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface> topics_interface, |
| 79 | + double period = 1.0) |
| 80 | + : base_interface_(base_interface), |
| 81 | + timers_interface_(std::move(timers_interface)), |
| 82 | + clock_(clock_interface->get_clock()), |
| 83 | + period_(rclcpp::Duration::from_nanoseconds(static_cast<rcl_duration_value_t>(period * 1e9))), |
| 84 | + publisher_(rclcpp::create_publisher<diagnostic_msgs::msg::DiagnosticArray>( |
| 85 | + topics_interface, "/diagnostics", 1)), |
| 86 | + logger_(logging_interface->get_logger()), |
| 87 | + node_name_(base_interface->get_name()) |
| 88 | + { |
| 89 | + reset_timer(); |
| 90 | + } |
| 91 | + |
| 92 | + /** |
| 93 | + * \brief Returns the interval between updates. |
| 94 | + */ |
| 95 | + [[nodiscard]] auto get_period() const { return period_; } |
| 96 | + |
| 97 | + /** |
| 98 | + * \brief Sets the period as a rclcpp::Duration |
| 99 | + */ |
| 100 | + void set_period(const rclcpp::Duration & period) |
| 101 | + { |
| 102 | + period_ = period; |
| 103 | + reset_timer(); |
| 104 | + } |
| 105 | + |
| 106 | + /** |
| 107 | + * \brief Sets the period given a value in seconds |
| 108 | + */ |
| 109 | + void set_period(double period) |
| 110 | + { |
| 111 | + set_period(rclcpp::Duration::from_nanoseconds(static_cast<rcl_duration_value_t>(period * 1e9))); |
| 112 | + } |
| 113 | + |
| 114 | + /** |
| 115 | + * \brief Forces to send out an update for all known DiagnosticStatus. |
| 116 | + */ |
| 117 | + void force_update() { update(); } |
| 118 | + |
| 119 | + /** |
| 120 | + * \brief Output a message on all the known DiagnosticStatus. |
| 121 | + * |
| 122 | + * Useful if something drastic is happening such as shutdown or a |
| 123 | + * self-test. |
| 124 | + * |
| 125 | + * \param lvl Level of the diagnostic being output. |
| 126 | + * |
| 127 | + * \param msg Status message to output. |
| 128 | + */ |
| 129 | + void broadcast(int lvl, const std::string & msg) |
| 130 | + { |
| 131 | + std::vector<diagnostic_msgs::msg::DiagnosticStatus> status_vec; |
| 132 | + |
| 133 | + const std::vector<DiagnosticTaskInternal> & tasks = getTasks(); |
| 134 | + for (const auto & task : tasks) { |
| 135 | + diagnostic_updater::DiagnosticStatusWrapper status; |
| 136 | + |
| 137 | + status.name = task.getName(); |
| 138 | + status.summary(lvl, msg); |
| 139 | + |
| 140 | + status_vec.push_back(status); |
| 141 | + } |
| 142 | + |
| 143 | + publish(status_vec); |
| 144 | + } |
| 145 | + |
| 146 | + void set_hardware_id_f(const char * format, ...) |
| 147 | + { |
| 148 | + va_list va; |
| 149 | + const int k_buffer_size = 1000; |
| 150 | + char buff[1000]; // @todo This could be done more elegantly. |
| 151 | + va_start(va, format); |
| 152 | + if (vsnprintf(buff, k_buffer_size, format, va) >= k_buffer_size) { |
| 153 | + RCLCPP_DEBUG(logger_, "Really long string in diagnostic_updater::setHardwareIDf."); |
| 154 | + } |
| 155 | + hardware_id_ = std::string(buff); |
| 156 | + va_end(va); |
| 157 | + } |
| 158 | + |
| 159 | + void set_hardware_id(const std::string & hardware_id) { hardware_id_ = hardware_id; } |
| 160 | + |
| 161 | +private: |
| 162 | + void reset_timer() |
| 163 | + { |
| 164 | + update_timer_ = rclcpp::create_timer( |
| 165 | + base_interface_, timers_interface_, clock_, period_, |
| 166 | + std::bind(&FaultInjectionDiagUpdater::update, this)); |
| 167 | + } |
| 168 | + |
| 169 | + /** |
| 170 | + * \brief Causes the diagnostics to update if the inter-update interval |
| 171 | + * has been exceeded. |
| 172 | + */ |
| 173 | + void update() |
| 174 | + { |
| 175 | + if (rclcpp::ok()) { |
| 176 | + std::vector<diagnostic_msgs::msg::DiagnosticStatus> status_vec; |
| 177 | + |
| 178 | + std::unique_lock<std::mutex> lock( |
| 179 | + lock_); // Make sure no adds happen while we are processing here. |
| 180 | + const std::vector<DiagnosticTaskInternal> & tasks = getTasks(); |
| 181 | + for (const auto & task : tasks) { |
| 182 | + diagnostic_updater::DiagnosticStatusWrapper status; |
| 183 | + |
| 184 | + status.name = task.getName(); |
| 185 | + status.level = 2; |
| 186 | + status.message = "No message was set"; |
| 187 | + status.hardware_id = hardware_id_; |
| 188 | + |
| 189 | + task.run(status); |
| 190 | + |
| 191 | + status_vec.push_back(status); |
| 192 | + } |
| 193 | + |
| 194 | + publish(status_vec); |
| 195 | + } |
| 196 | + } |
| 197 | + |
| 198 | + /** |
| 199 | + * Publishes a single diagnostic status. |
| 200 | + */ |
| 201 | + void publish(diagnostic_msgs::msg::DiagnosticStatus & stat) |
| 202 | + { |
| 203 | + std::vector<diagnostic_msgs::msg::DiagnosticStatus> status_vec; |
| 204 | + status_vec.push_back(stat); |
| 205 | + publish(status_vec); |
| 206 | + } |
| 207 | + |
| 208 | + /** |
| 209 | + * Publishes a vector of diagnostic statuses. |
| 210 | + */ |
| 211 | + void publish(std::vector<diagnostic_msgs::msg::DiagnosticStatus> & status_vec) |
| 212 | + { |
| 213 | + diagnostic_msgs::msg::DiagnosticArray msg; |
| 214 | + msg.status = status_vec; |
| 215 | + msg.header.stamp = clock_->now(); |
| 216 | + publisher_->publish(msg); |
| 217 | + } |
| 218 | + |
| 219 | + /** |
| 220 | + * Causes a placeholder DiagnosticStatus to be published as soon as a |
| 221 | + * diagnostic task is added to the Updater. |
| 222 | + */ |
| 223 | + void addedTaskCallback(DiagnosticTaskInternal & task) override |
| 224 | + { |
| 225 | + diagnostic_updater::DiagnosticStatusWrapper stat; |
| 226 | + stat.name = task.getName(); |
| 227 | + stat.summary(0, "Node starting up"); |
| 228 | + publish(stat); |
| 229 | + } |
| 230 | + |
| 231 | + rclcpp::node_interfaces::NodeBaseInterface::SharedPtr base_interface_; |
| 232 | + rclcpp::node_interfaces::NodeTimersInterface::SharedPtr timers_interface_; |
| 233 | + rclcpp::Clock::SharedPtr clock_; |
| 234 | + rclcpp::Duration period_; |
| 235 | + rclcpp::TimerBase::SharedPtr update_timer_; |
| 236 | + rclcpp::Publisher<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr publisher_; |
| 237 | + rclcpp::Logger logger_; |
| 238 | + |
| 239 | + std::string hardware_id_; |
| 240 | + std::string node_name_; |
| 241 | +}; |
| 242 | +} // namespace fault_injection |
| 243 | + |
| 244 | +#endif // FAULT_INJECTION__FAULT_INJECTION_DIAG_UPDATER_HPP_ |
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