feat: update documentation from user perspective

docs/integrators-guide.md

@@ -6,8 +6,11 @@ and has access to [Autoware ECU System Setup][autoware-ecu-system-setup] Ansible
 [pilot-auto]: https://github.com/tier4/pilot-auto
 [autoware-ecu-system-setup]: https://github.com/tier4/autoware_ecu_system_setup
 
+
 ## Pre-Requisites
 
+### Setup ECU IP Configuration and PTP
+
 The ECU, sensor and network architecture has been decided and set up. This includes things like
 Netplan configuration and IP address assignments.
 
@@ -17,6 +20,12 @@ PTP profiles.
 The [PTP Architecture Guide](ptp-architecture-guide.md) has been followed to set up the
 PTP architecture, including all PTP4L and PHC2SYS configuration.
 
+### Setup Diagnostics in Sensor Driver
+
+Setup `nebula>=v0.2.8` and sensor configuration to output synchronization meta data on `/sync_diag/graph_updates`.
+
+Please check the configuration example in [this PR](https://github.com/tier4/aip_launcher/pull/529)
+
 ## SYNC.DIAG
 
 Once a PTP architecture is set up, SYNC.DIAG can be configured to monitor synchronization

docs/usage.md

@@ -81,7 +81,7 @@ diagnostics:
 2. The reference graph has to be located under the `clock_tree` key.
 3. The pattern `<hostname>.ptp<n>` is used to identify a hardware clock device of an ECU.
 4. The pattern `<hostname>.sys` is used to identify the system clock of an ECU.
-5. The pattern `<tf2/frame/id>` is used to identify a sensor.
+5. The pattern `sensor@<frame_id>` is used to identify a sensor.
 6. Even entries with no children need a `:` at the end.
 7. These are customizable thresholds to diagnose reported time differences.
 8. For a PTP link, the PTP master reports the time difference to a child clock, as calculated
@@ -92,13 +92,31 @@ diagnostics:
     less accurate and more variable than the other two.
 
 !!! warning
-    Special care needs to be taken to define hardware and software time stamping correctly:
-    If PTP4L is using software time stamping `-S`, the corresponding clock is the ECU's system
-    clock.
+    **Handling software time stamping**
 
-    If hardware time stamping is used on a given `-i <interface>`, find the clock e.g.
-    using `ethtool -T <interface>`. E.g., if `ethtool -T eno1` prints 
-    `[...] PTP Hardware Clock: 0 [...]`, the clock is `ptp0`.
+    If a client-ECU is synchronizing in PTP4l using software time stamping with `-S`,
+      the tree structure would look like:  (but check the [warning on mixing hardware-software stamping](./ptp-architecture-guide.md/#ptpv2))
+
+    ```
+    main_ecu.ptp0:
+      client_ecu.sys
+    ```
+
+    **Handling hardware time stamping**
+
+    The typical structure would be 
+
+    ```
+    main_ecu.ptp0:
+      client_ecu.ptp1:
+        client_ecu.sys:
+    ```
+
+    **Hardware PTP clock Index**
+
+    To determine what is the index `<n>` for the pattern `<hostname>.ptp<n>` in hardware PTP,
+     find the clock e.g. using `ethtool -T <interface>`. E.g., if `ethtool -T eno1` prints 
+      `[...] PTP Hardware Clock: 0 [...]`, the clock is `ptp0`.
 
 !!! tip
     Refer to the