From f0a641d2996a6d224b5ac06b47e3bad3c5149770 Mon Sep 17 00:00:00 2001
From: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com>
Date: Mon, 7 Aug 2023 15:26:06 +0900
Subject: [PATCH] feat(aip_x2_launch): update sensor diag (#158)

---
 .../sensor_kit.param.yaml                     | 84 ++++++++++---------
 .../sensor_kit.param.yaml                     | 16 ++--
 2 files changed, 50 insertions(+), 50 deletions(-)

diff --git a/aip_x2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_x2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
index f2908e85..4809876b 100644
--- a/aip_x2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
+++ b/aip_x2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
@@ -22,58 +22,60 @@
               type: diagnostic_aggregator/AnalyzerGroup
               path: performance_monitoring
               analyzers:
+                blockage:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: blockage
+                  contains: [": blockage_validation"]
+                  timeout: 1.0
                 visibility:
                   type: diagnostic_aggregator/GenericAnalyzer
                   path: visibility
                   contains: ["left_upper: visibility_validation"]
                   timeout: 1.0
-
-                blockage:
+                concat_status:
                   type: diagnostic_aggregator/GenericAnalyzer
-                  path: blockage
-                  contains: [": blockage_validation"]
+                  path: concat_status
+                  contains: [": concat_status"]
                   timeout: 1.0
+            pandar:
+              type: diagnostic_aggregator/AnalyzerGroup
+              path: pandar
+              analyzers:
+                health_monitoring:
+                  type: diagnostic_aggregator/AnalyzerGroup
+                  path: health_monitoring
+                  analyzers:
+                    connection:
+                      type: diagnostic_aggregator/GenericAnalyzer
+                      path: connection
+                      contains: [": pandar_connection"]
+                      timeout: 5.0
+                    temperature:
+                      type: diagnostic_aggregator/GenericAnalyzer
+                      path: temperature
+                      contains: [": pandar_temperature"]
+                      timeout: 5.0
+                    ptp:
+                      type: diagnostic_aggregator/GenericAnalyzer
+                      path: ptp
+                      contains: [": pandar_ptp"]
+                      timeout: 5.0
 
         gnss:
           type: diagnostic_aggregator/AnalyzerGroup
           path: gnss
           analyzers:
-            health_monitoring:
+            septentrio:
               type: diagnostic_aggregator/AnalyzerGroup
-              path: health_monitoring
+              path: septentrio
               analyzers:
-                data:
-                  type: diagnostic_aggregator/GenericAnalyzer
-                  path: data
-                  contains: [": gnss_data"]
-                  timeout: 3.0
-
-                antenna:
-                  type: diagnostic_aggregator/GenericAnalyzer
-                  path: antenna
-                  contains: [": gnss_antenna"]
-                  timeout: 3.0
-
-                tx_usage:
-                  type: diagnostic_aggregator/GenericAnalyzer
-                  path: tx_usage
-                  contains: [": gnss_tx_usage"]
-                  timeout: 3.0
-
-                spoofing:
-                  type: diagnostic_aggregator/GenericAnalyzer
-                  path: spoofing
-                  contains: [": gnss_spoofing"]
-                  timeout: 3.0
-
-                jamming:
-                  type: diagnostic_aggregator/GenericAnalyzer
-                  path: jamming
-                  contains: [": gnss_jamming"]
-                  timeout: 3.0
-
-                fix_topic_status:
-                  type: diagnostic_aggregator/GenericAnalyzer
-                  path: fix_topic_status
-                  contains: [": fix topic status"]
-                  timeout: 3.0
+                health_monitoring:
+                  type: diagnostic_aggregator/AnalyzerGroup
+                  path: health_monitoring
+                  analyzers:
+                    gnss:
+                      type: diagnostic_aggregator/GenericAnalyzer
+                      path: gnss
+                      startswith: ["gnss"]
+                      contains: [": gnss"]
+                      timeout: 5.0
diff --git a/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml b/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
index 04311e2c..8865be67 100644
--- a/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
+++ b/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
@@ -13,16 +13,14 @@
   ros__parameters:
     required_diags:
       # gnss
-      gnss_connection: default
-      gnss_data: default
-      gnss_antenna: default
-      gnss_tx_usage: default
-      gnss_spoofing: default
-      gnss_jamming: default
-      fix topic status: default
+      gnss: default
 
       # lidar
-      #"left_upper: visibility_validation": default
-      #blockage_validation: default
+      pandar_connection: default
+      pandar_temperature: default
+      pandar_ptp: default
+      "left_upper: visibility_validation": default
+      blockage_validation: default
+      concat_status: default
 
       sensing_topic_status: default