refactor(system_error_monitor): hide error log in no-fault condition (a…

…utowarefoundation#5522) Signed-off-by: Takamasa Horibe <[email protected]>
kyoichi-sugahara · Nov 9, 2023 · 63c1dd6 · 63c1dd6
1 parent 5797ee5
commit 63c1dd6
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Showing 2 changed files with 25 additions and 8 deletions.
diff --git a/system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp b/system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp
@@ -148,6 +148,8 @@ class AutowareErrorMonitor : public rclcpp::Node
   bool canAutoRecovery() const;
   bool isEmergencyHoldingRequired() const;
 
+  void loggingErrors(const autoware_auto_system_msgs::msg::HazardStatus & diag_array);
+
   std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
 };
 

diff --git a/system/system_error_monitor/src/system_error_monitor_core.cpp b/system/system_error_monitor/src/system_error_monitor_core.cpp
@@ -140,17 +140,9 @@ diagnostic_msgs::msg::DiagnosticArray convertHazardStatusToDiagnosticArray(
     diag_array.status.push_back(decorateDiag(hazard_diag, "[Safe Fault]"));
   }
   for (const auto & hazard_diag : hazard_status.diag_latent_fault) {
-    const std::string logger_name = "system_error_monitor " + hazard_diag.name;
-    logThrottledNamed<DebugLevel::WARN>(
-      logger_name, clock, 5000, "[Latent Fault]: " + hazard_diag.message);
-
     diag_array.status.push_back(decorateDiag(hazard_diag, "[Latent Fault]"));
   }
   for (const auto & hazard_diag : hazard_status.diag_single_point_fault) {
-    const std::string logger_name = "system_error_monitor " + hazard_diag.name;
-    logThrottledNamed<DebugLevel::ERROR>(
-      logger_name, clock, 5000, "[Single Point Fault]: " + hazard_diag.message);
-
     diag_array.status.push_back(decorateDiag(hazard_diag, "[Single Point Fault]"));
   }
 
@@ -688,6 +680,9 @@ void AutowareErrorMonitor::publishHazardStatus(
   hazard_status_stamped.stamp = this->now();
   hazard_status_stamped.status = hazard_status;
   pub_hazard_status_->publish(hazard_status_stamped);
+
+  loggingErrors(hazard_status_stamped.status);
+
   pub_diagnostics_err_->publish(
     convertHazardStatusToDiagnosticArray(this->get_clock(), hazard_status_stamped.status));
 }
@@ -703,3 +698,23 @@ bool AutowareErrorMonitor::onClearEmergencyService(
 
   return true;
 }
+
+void AutowareErrorMonitor::loggingErrors(
+  const autoware_auto_system_msgs::msg::HazardStatus & hazard_status)
+{
+  if (isInNoFaultCondition(*autoware_state_, *current_gate_mode_)) {
+    RCLCPP_DEBUG(get_logger(), "Autoware is in no-fault condition.");
+    return;
+  }
+
+  for (const auto & hazard_diag : hazard_status.diag_latent_fault) {
+    const std::string logger_name = "system_error_monitor " + hazard_diag.name;
+    logThrottledNamed<DebugLevel::WARN>(
+      logger_name, get_clock(), 5000, "[Latent Fault]: " + hazard_diag.message);
+  }
+  for (const auto & hazard_diag : hazard_status.diag_single_point_fault) {
+    const std::string logger_name = "system_error_monitor " + hazard_diag.name;
+    logThrottledNamed<DebugLevel::ERROR>(
+      logger_name, get_clock(), 5000, "[Single Point Fault]: " + hazard_diag.message);
+  }
+}