ipa-vsp
commented
1 year ago Added diagnostic messages for the Proxy and cia402 drivers in PR #117. Also utilized a diagnostics aggregator to analyze the state of the device.
Example message data:
- Proxy driver:
header: stamp: sec: 1684321506 nanosec: 189701989 frame_id: '' status: - level: "\0" # 0: OK | 1: WARN | 2: ERROR | 3: STALE
name: proxy_device_1
message: 'Device is in operational state.'
hardware_id: '2' # Node ID
values: # Key values recorder while the device is running
- key: Add to master value: OK
- key: NMT value: START
- key: EMCY value: 'Emergency message received. eec: 4369 er: 17 msef: 17 0 0 0 0 '
- key: NMT
value: START
- CiA402 driver:
header: stamp: sec: 1684486270 nanosec: 689278892 frame_id: '' status: - level: "\0"
name: cia402_device_1
message: Operation enabled
hardware_id: '2'
values:
- key: Add to master value: OK
- key: CiA402 value: 'State transition: 2 -> 3'
- key: CiA402 value: 'State transition: 3 -> 4'
- key: CiA402 value: 'State transition: 4 -> 5'
- key: CiA402 value: 'Mode selected: 6'
- key: CiA402 value: 'No mode selected: 0'
- key: CiA402
value: 'Mode selected: 1'
Either each driver node or the device container should publish diagnostic_msgs. These should at least indicate the state of each device (nmt, cia402, ...).