feat: サイネージの生存判定のためdiagnosticを出力する

src/signage/src/signage/autoware_diagnostic.py

@@ -0,0 +1,28 @@
+# -*- coding: utf-8 -*-
+# Copyright (c) 2020 Tier IV, Inc. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# ========================================================================
+# This code is used to public the diagnostic to autoware and let autoware
+# to decide the hazard level
+# ========================================================================
+
+import diagnostic_updater
+
+class AutowareDiagnostic():
+    def init_updater(self, node, name, update_function, hardware_id):
+        updater = diagnostic_updater.Updater(node, 1)
+        updater.setHardwareID(hardware_id)
+        updater.add(name, update_function)
+        return updater

src/signage/src/signage/heartbeat.py

@@ -0,0 +1,20 @@
+# !/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+from signage.autoware_diagnostic import AutowareDiagnostic
+from diagnostic_msgs.msg import DiagnosticStatus
+
+class Heartbeat:
+    def __init__(self, node):
+        self._node = node
+
+        self._diagnostic_updater = AutowareDiagnostic().init_updater(
+            self._node,
+            "/system/signage_connection : signage heartbeat",
+            self.handle_heartbeat_diagnostics,
+            "none",
+        )
+
+    def handle_heartbeat_diagnostics(self, stat):
+        stat.summary(DiagnosticStatus.OK, "signage is working")
+        return stat

src/signage/src/signage/signage.py

@@ -7,6 +7,7 @@
 import rclpy
 from rclpy.node import Node
 
+from signage.heartbeat import Heartbeat
 from signage.view_controller import ViewControllerProperty
 from signage.announce_controller import AnnounceControllerProperty
 from signage.autoware_interface import AutowareInterface
@@ -25,6 +26,8 @@ def main(args=None):
     app = QApplication(sys.argv)
     engine = QQmlApplicationEngine()
 
+    heartbeat = Heartbeat(node)
+    autoware_interface = AutowareInterface(node)
     autoware_interface = AutowareInterface(node)
     parameter_interface = ParameterInterface(node)
     ros_service_interface = RosServiceInterface(node, parameter_interface)