Us 1538 document driver diagnostics strategy

doc/Boards/ConnectBoard/elec/ConnectBoard/pcb/gerber/ConnectBoard-NPTH.drl

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doc/Nodes/SonarArrayNode/SonarArrayNode.md

@@ -46,4 +46,24 @@ Examples:
 
 ### Sequence Diagrams
 ![](../../../nodes/SonarArrayDriverNode/driver/doc/output/SonarArrayNodeDriverSequenceDiagram.png)
-![](../../../nodes/SonarArrayDriverNode/doc/output/SonarArrayDriverNodeSequenceDiagram.png)
+![](../../../nodes/SonarArrayDriverNode/doc/output/SonarArrayDriverNodeSequenceDiagram.png)
+
+## Diagnostics Strategy
+| Status | Diagnostic Type | Message | Level | Description |
+| --- | --- | --- | --- | --- |
+| READY | COMMUNICATIONS | INITIALIZING | INFO | Set when Comms with Sonar Array are initializing. |
+| READY | COMMUNICATIONS | INITIALIZING_ERROR | ERROR | Set when the Comms port to the Sonar Array can't be initialized. |
+| READY | COMMUNICATIONS | DEVICE_NOT_AVAILABLE | ERROR | Set when Comm Port becomes unavailable. |
+| READY | COMMUNICATIONS | NODATA | ERROR | Set when Comm Port never received data. |
+| READY | COMMUNICATIONS | NOERROR | INFO | Set when no error is present. |
+| READY | DATA_STORAGE | INITIALIZING | INFO | Set when Driver is initializing configuration. |
+| READY | DATA_STORAGE | INITIALIZING_ERROR | ERROR | Set when Driver can't initialize configuration. |
+| READY | DATA_STORAGE | NOERROR | INFO | Set when no error is found with Data Storage. |
+| READY | SENSORS | INITIALIZING | INFO | Set when Sensors are Initializing. |
+| READY | SENSORS | DROPPING_PACKETS | WARN | Set when Sensor Array is missing data. |
+| READY | SENSORS | DEVICE_NOT_AVAILABLE | ERROR | Set when Sonar Array becomes unavailable. |
+| READY | SENSORS | NODATA | ERROR | Set when no Sensor data has been received. |
+| READY | SENSORS | NOERROR | INFO  | Set when no error is present with Sensors. |
+| READY | SYSTEM_RESOURCE | INITIALIZING | INFO | Set when Driver is initializing System Resource monitoring. |
+| READY | SYSTEM_RESOURCE | INITIALIZING_ERROR | ERROR | Set when Driver can't initialize System Resource monitoring. |
+| READY | SYSTEM_RESOURCE | NOERROR | INFO | Set when no error is present with System Resource monitoring. |

nodes/SonarArrayDriverNode/doc/SonarArrayDriverNodeSequenceDiagram.puml

@@ -15,6 +15,8 @@ alt initialize
     node -> process: enable_diagnostics()
     node -> process++: finish_initialization()
     process -> driver++: init()
+    activate driver
+    driver --> process--: diagnostic[]
     process --> node--
     node -> node: finish_initialization()
     node -> node: rescan_nodes()
@@ -30,8 +32,8 @@ alt loops
         node -> node++: run_loop1
         node -> process++: update(0.02, now)
         process -> driver++: update(0.02)
-        driver --> process--: diag
-        process --> node--: diag
+        driver --> process--: diagnostic[]
+        process --> node--: diagnostic[]
         node -> process++: get_sonar_data()
         process -> driver++: get_sonar_data()
         driver --> process--: sonar_data

nodes/SonarArrayDriverNode/driver/doc/SonarArrayNodeDriverClassDiagram.puml

@@ -15,19 +15,19 @@ package sensor_msgs {
 }
 namespace sonar_array {
     interface ISonarArrayNodeDriver #LimeGreen {
-        +{abstract} bool init(Diagnostic diagnostic,Logger logger,sensor_msgs::Range[] sonars)
+        +{abstract} Diagnostic[] init(Diagnostic diagnostic,Logger logger,sensor_msgs::Range[] sonars)
         +{abstract} bool is_fully_initialized()
         +{abstract} bool set_comm_device(std::string comm_device, int speed)
-        +{abstract} Diagnostic update(double current_time_sec, double dt)
+        +{abstract} Diagnostic[] update(double current_time_sec, double dt)
         +{abstract} bool finish()
         +{abstract} string pretty(string mode)
         +{abstract} sensor_msgs::Range[] get_sonar_data()
         +{abstract} std::string pretty(sensor_msgs::Range[] sonar_data)
     }
     abstract BaseSonarArrayNodeDriver #LimeGreen {
-        +bool init(Diagnostic diagnostic,Logger logger,sensor_msgs::Range[] sonars)
+        +Diagnostic[] init(Diagnostic diagnostic,Logger logger,sensor_msgs::Range[] sonars)
         +bool is_fully_initialized()
-        +Diagnostic update(double current_time_sec, double dt)
+        +Diagnostic[] update(double current_time_sec, double dt)
         +string pretty(string mode)
         +sensor_msgs::Range[] get_sonar_data()
         +std::string pretty(sensor_msgs::Range[] sonar_data)
@@ -37,9 +37,9 @@ namespace sonar_array {
     }
     ISonarArrayNodeDriver <|.. BaseSonarArrayNodeDriver
     class SonarArrayNodeDriver #LimeGreen {
-        +bool init(Diagnostic diagnostic,Logger logger,sensor_msgs::Range[] sonars)
-        +bool set_comm_device(std::string comm_device, int speed)
-        +Diagnostic update(double current_time_sec, double dt)
+        +Diagnostic[] init(Diagnostic diagnostic,Logger logger,sensor_msgs::Range[] sonars)
+        +Diagnostic[] set_comm_device(std::string comm_device, int speed)
+        +Diagnostic[] update(double current_time_sec, double dt)
         +string pretty(string mode)
         +bool finish()
         +int readFromSerialPort(char[] buffer, int size)
@@ -48,9 +48,9 @@ namespace sonar_array {
     }
     BaseSonarArrayNodeDriver <|-- SonarArrayNodeDriver
     class MockSonarArrayNodeDriver #LimeGreen {
-        +bool init(Diagnostic diagnostic,Logger logger,sensor_msgs::Range[] sonars)
-        +bool set_comm_device(std::string comm_device, int speed)
-        +Diagnostic update(double current_time_sec, double dt)
+        +Diagnostic[] init(Diagnostic diagnostic,Logger logger,sensor_msgs::Range[] sonars)
+        +Diagnostic[] set_comm_device(std::string comm_device, int speed)
+        +Diagnostic[] update(double current_time_sec, double dt)
         +string pretty(string mode)
         +bool finish()
     }

nodes/SonarArrayDriverNode/driver/doc/SonarArrayNodeDriverSequenceDiagram.puml

@@ -11,26 +11,26 @@ activate user
 user -> interface++: init(Diagnostic diagnostic, Logger logger,sensor_msgs::Range[] sonars)
 interface -> driver++: init(Diagnostic diagnostic,Logger logger,sensor_msgs::Range[] sonars)
 driver -> base++: init(Diagnostic diagnostic, Logger, logger,sensor_msgs::Range[] sonars)
-base --> driver--: status
-driver --> interface--: status
-interface --> user--: status
+base --> driver--: diagnostic[]
+driver --> interface--: diagnostic[]
+interface --> user--: diagnostic[]
 
 user -> driver++: set_comm_device(string port_name, int baud_rate)
 driver -> driver: fully_initialized = true
-driver --> user--: status
+driver --> user--: diagnostic[]
 end
 
 alt update
 user -> interface++: update(double current_time, double dt)
 interface -> driver++: update(double current_time, double dt)
 driver -> base++: update(double current_time, doublt dt)
-base --> driver--: diagnostic
+base --> driver--: diagnostic[]
 driver -> driver: buffer = readFromSerialPort()
 driver -> parser++: parsePacket(buffer)
 parser --> driver--: packet
 driver -> driver:  updateSonarData(packet)
-driver --> interface--: diagnostic
-interface --> user--: diagnostic
+driver --> interface--: diagnostic[]
+interface --> user--: diagnostic[]
 end
 
 @enduml