From 596f775c7bb2d9ad0e41c902a195193eeba68f3f Mon Sep 17 00:00:00 2001
From: Kosuke Murakami <kosuke.murakami@tier4.jp>
Date: Wed, 24 Feb 2021 13:54:47 +0900
Subject: [PATCH] V0.8 system launch (#51)

* tmp rename launch file

Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp>

* Add system_monitor to system.launch (#72)

* Add system_monitor to system.launch

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix typo

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add config file of system_monitor (#115)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add config of diagnostic_aggregator (#128)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add vehicle cmd gate config (#136)

* Add config_file of vehicle_cmd_gate

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add use_emergency_stop

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Rename emergency_stop to external_emergency_stop

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix command_gate diag

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add use_emergency_hold arg (#142)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix system.launch (#161)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Revert "tmp rename launch file"

This reverts commit d1bb989eac90f43bab2af6669b00638fd2147eeb.

* fix launch file

Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp>

* fix minor bug

Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp>

* rename .yaml -> .param.yaml

Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp>

* fix invalid way to use eval

Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp>

* Add new line in yaml

* add num_disks

Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp>

* rename .yaml to .param.yaml

Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp>

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
---
 system_launch/CMakeLists.txt                  |  1 +
 .../config/system_monitor.param.yaml          | 45 +++++++++++++++++++
 system_launch/launch/system.launch.xml        | 39 ++++++++++++----
 system_launch/package.xml                     |  1 +
 4 files changed, 78 insertions(+), 8 deletions(-)
 create mode 100644 system_launch/config/system_monitor.param.yaml

diff --git a/system_launch/CMakeLists.txt b/system_launch/CMakeLists.txt
index 1d58a6107..656e60c6d 100644
--- a/system_launch/CMakeLists.txt
+++ b/system_launch/CMakeLists.txt
@@ -16,4 +16,5 @@ endif()
 
 ament_auto_package(INSTALL_TO_SHARE
   launch
+  config
 )
diff --git a/system_launch/config/system_monitor.param.yaml b/system_launch/config/system_monitor.param.yaml
new file mode 100644
index 000000000..1dcc35d73
--- /dev/null
+++ b/system_launch/config/system_monitor.param.yaml
@@ -0,0 +1,45 @@
+cpu_monitor:
+  ros__parameters:
+    temp_warn: 90.0
+    temp_error: 95.0
+    usage_warn: 0.90
+    usage_error: 1.00
+    usage_avg: true
+    load1_warn: 0.90
+    load5_warn: 0.80
+    msr_reader_port: 7634
+hdd_monitor:
+  ros__parameters:
+    hdd_reader_port: 7635
+    num_disks: 2
+    disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1}
+      disk0:
+        name: /dev/sda
+        temp_warn: 55.0
+        temp_error: 70.0
+    usage_warn: 0.95
+    usage_error: 0.99
+mem_monitor:
+  ros__parameters:
+    usage_warn: 0.95
+    usage_error: 0.99
+net_monitor:
+  ros__parameters:
+    devices: ["*"]
+    usage_warn: 0.95
+ntp_monitor:
+  ros__parameters:
+    server: ntp.nict.jp
+    offset_warn: 0.1
+    offset_error: 5.0
+process_monitor:
+  ros__parameters:
+    num_of_procs: 5
+gpu_monitor:
+  ros__parameters:
+    temp_warn: 90.0
+    temp_error: 95.0
+    gpu_usage_warn: 0.90
+    gpu_usage_error: 1.00
+    memory_usage_warn: 0.95
+    memory_usage_error: 0.99
diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml
index d13998a65..cea10f657 100644
--- a/system_launch/launch/system.launch.xml
+++ b/system_launch/launch/system.launch.xml
@@ -3,21 +3,44 @@
   <arg name="run_mode" default="online" doc="options: online, planning_simulation"/>
 
   <group>
-    <!-- State Monitor -->
     <push-ros-namespace namespace="/system"/>
-    <include file="$(find-pkg-share autoware_state_monitor)/launch/autoware_state_monitor.launch.xml">
-      <arg name="config_file" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)" value="$(find-pkg-share autoware_state_monitor)/config/autoware_state_monitor.yaml" />
-      <arg name="config_file" if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)" value="$(find-pkg-share autoware_state_monitor)/config/autoware_state_monitor.planning_simulation.yaml" />
-    </include>
+
+    <!-- System Monitor -->
+    <group>
+      <push-ros-namespace namespace="system_monitor"/>
+      <include file="$(find-pkg-share system_monitor)/launch/system_monitor.launch.xml">
+        <arg name="config_file" value="$(find-pkg-share system_launch)/config/system_monitor.param.yaml"/>
+      </include>
+    </group>
+
+    <!-- State Monitor -->
+    <group if="$(eval &quot;'$(var run_mode)'=='online'&quot;)">
+      <include file="$(find-pkg-share autoware_state_monitor)/launch/autoware_state_monitor.launch.xml">
+        <arg name="config_file" value="$(find-pkg-share autoware_state_monitor)/config/autoware_state_monitor.yaml" />
+      </include>
+    </group>
+    <group if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)">
+      <include file="$(find-pkg-share autoware_state_monitor)/launch/autoware_state_monitor.launch.xml">
+        <arg name="config_file" value="$(find-pkg-share autoware_state_monitor)/config/autoware_state_monitor.planning_simulation.yaml" />
+      </include>
+    </group>
 
     <!-- Error Monitor -->
-    <include file="$(find-pkg-share autoware_error_monitor)/launch/autoware_error_monitor.launch.xml">
-      <arg name="config_file" value="$(find-pkg-share autoware_error_monitor)/config/autoware_error_monitor.param.yaml" />
-    </include>
+    <group if="$(eval &quot;'$(var run_mode)'=='online'&quot;)">
+      <include file="$(find-pkg-share autoware_error_monitor)/launch/autoware_error_monitor.launch.xml">
+        <arg name="config_file" value="$(find-pkg-share autoware_error_monitor)/config/autoware_error_monitor.param.yaml" />
+      </include>
+    </group>
+    <group if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)">
+      <include file="$(find-pkg-share autoware_error_monitor)/launch/autoware_error_monitor.launch.xml">
+        <arg name="config_file" value="$(find-pkg-share autoware_error_monitor)/config/autoware_error_monitor.planning_simulation.param.yaml" />
+      </include>
+    </group>
 
     <!-- Emergency Handler -->
     <include file="$(find-pkg-share emergency_handler)/launch/emergency_handler.launch.xml">
       <arg name="config_file" value="$(find-pkg-share emergency_handler)/config/emergency_handler.param.yaml" />
+      <arg name="use_emergency_hold" value="false" />
     </include>
   </group>
 </launch>
diff --git a/system_launch/package.xml b/system_launch/package.xml
index cd1a54517..1946cb677 100644
--- a/system_launch/package.xml
+++ b/system_launch/package.xml
@@ -10,6 +10,7 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>system_monitor</exec_depend>
   <exec_depend>autoware_state_monitor</exec_depend>
   <exec_depend>autoware_error_monitor</exec_depend>
   <exec_depend>emergency_handler</exec_depend>