feat(ad-api): mrm description api

docs/design/autoware-interfaces/ad-api/features/fail-safe.md

@@ -3,6 +3,7 @@
 ## Related API
 
 - {{ link_ad_api('/api/fail_safe/rti_state') }}
+- {{ link_ad_api('/api/fail_safe/mrm_description') }}
 - {{ link_ad_api('/api/fail_safe/mrm_state') }}
 - {{ link_ad_api('/api/fail_safe/mrm_request/send') }}
 - {{ link_ad_api('/api/fail_safe/mrm_request/list') }}
@@ -22,6 +23,11 @@ The fail-safe module selects the behavior of MRM according to the abnormality an
 
 The RTI state indicates whether RTI is requested. If for some reason autonomous driving cannot continue, Autoware will request a change to manual driving. As a side note, RTI is sometimes called Take Over Request (TOR).
 
+## MRM description
+
+Autoware supports various MRM implementation to provide appropriate behavior for each use case.
+Therefore, use this API when detailed information about MRM behavior is required. The MRM behavior ID listed by this API is used in MRM state API.
+
 ## MRM state
 
 The MRM state indicates whether MRM is operating and its current behavior.
@@ -36,6 +42,7 @@ This state also provides success or failure of the operation. Generally, MRM wil
 | SUCCEEDED | MRM succeeded. The vehicle is in a safe condition.         |
 | FAILED    | MRM failed. The vehicle is still in an unsafe condition.   |
 
+**[v1.9.0] Deprecated: Use the MRM behavior ID instead of following constants.**
 There is a dependency between MRM behaviors. For example, it switches from a comfortable stop to a emergency stop, but not the other way around.
 This is service dependent. Autoware supports the following transitions by default.
 

docs/design/autoware-interfaces/ad-api/list/api/fail_safe/mrm_description.md

@@ -0,0 +1,23 @@
+---
+title: /api/fail_safe/mrm_description
+status: not released
+method: function call
+type:
+  name: autoware_adapi_v1_msgs/srv/ListMrmDescription
+  req:
+    - name: descriptions.behavior
+      text: The behavior ID of the MRM.
+    - name: descriptions.name
+      text: The name of the MRM.
+    - name: descriptions.description
+      text: The description of the MRM.
+  res:
+    - name: status
+      text: response status
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Get the list of MRM description.
+For details, see the [fail-safe](../../../features/fail-safe.md).
+{% endblock %}

docs/design/autoware-interfaces/ad-api/list/api/fail_safe/mrm_request/list.md

@@ -5,7 +5,7 @@ method: notification
 type:
   name: autoware_adapi_v1_msgs/msg/MrmRequestList
   msg:
-    - name: requests.user
+    - name: requests.sender
       text: The sender name of the MRM request.
     - name: requests.strategy
       text: The strategy of the MRM request.

docs/design/autoware-interfaces/ad-api/list/api/fail_safe/mrm_request/send.md

@@ -5,7 +5,7 @@ method: function call
 type:
   name: autoware_adapi_v1_msgs/srv/SendMrmRequest
   req:
-    - name: request.user
+    - name: request.sender
       text: The sender name of the MRM request.
     - name: request.strategy
       text: The strategy of the MRM request.

docs/design/autoware-interfaces/ad-api/list/index.md

@@ -2,6 +2,7 @@
 
 | API                                                                                              | Release      | Method          |
 | ------------------------------------------------------------------------------------------------ | ------------ | --------------- |
+| [/api/fail_safe/mrm_description](./api/fail_safe/mrm_description.md)                             | not released | function call   |
 | [/api/fail_safe/mrm_request/list](./api/fail_safe/mrm_request/list.md)                           | not released | notification    |
 | [/api/fail_safe/mrm_request/send](./api/fail_safe/mrm_request/send.md)                           | not released | function call   |
 | [/api/fail_safe/mrm_state](./api/fail_safe/mrm_state.md)                                         | v1.1.0       | notification    |

docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/MrmDescription.md

@@ -0,0 +1,17 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/MrmDescription
+used:
+  - autoware_adapi_v1_msgs/srv/ListMrmDescription
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+uint16 behavior
+string name
+string description
+```
+
+{% endblock %}

docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/MrmState.md

@@ -18,7 +18,7 @@ uint16 MRM_OPERATING = 2
 uint16 MRM_SUCCEEDED = 3
 uint16 MRM_FAILED = 4
 
-# For behavior
+# For behavior. Deprecated: use description API.
 uint16 NONE = 1
 uint16 EMERGENCY_STOP = 2
 uint16 COMFORTABLE_STOP = 3

docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md

@@ -11,6 +11,7 @@ used:
   - autoware_adapi_v1_msgs/srv/GetVehicleSpecs
   - autoware_adapi_v1_msgs/srv/InitializeLocalization
   - autoware_adapi_v1_msgs/srv/ListManualControlMode
+  - autoware_adapi_v1_msgs/srv/ListMrmDescription
   - autoware_adapi_v1_msgs/srv/SelectManualControlMode
   - autoware_adapi_v1_msgs/srv/SendMrmRequest
   - autoware_adapi_v1_msgs/srv/SetCooperationCommands

docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/ListMrmDescription.md

@@ -0,0 +1,18 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/srv/ListMrmDescription
+uses:
+  - autoware_adapi_v1_msgs/msg/MrmDescription
+  - autoware_adapi_v1_msgs/msg/ResponseStatus
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+autoware_adapi_v1_msgs/MrmDescription[] descriptions
+---
+autoware_adapi_v1_msgs/ResponseStatus status
+```
+
+{% endblock %}

docs/design/autoware-interfaces/ad-api/types/index.md

@@ -28,6 +28,7 @@
 - [autoware_adapi_v1_msgs/msg/ManualControlModeStatus](./autoware_adapi_v1_msgs/msg/ManualControlModeStatus.md)
 - [autoware_adapi_v1_msgs/msg/ManualOperatorHeartbeat](./autoware_adapi_v1_msgs/msg/ManualOperatorHeartbeat.md)
 - [autoware_adapi_v1_msgs/msg/MotionState](./autoware_adapi_v1_msgs/msg/MotionState.md)
+- [autoware_adapi_v1_msgs/msg/MrmDescription](./autoware_adapi_v1_msgs/msg/MrmDescription.md)
 - [autoware_adapi_v1_msgs/msg/MrmRequest](./autoware_adapi_v1_msgs/msg/MrmRequest.md)
 - [autoware_adapi_v1_msgs/msg/MrmRequestList](./autoware_adapi_v1_msgs/msg/MrmRequestList.md)
 - [autoware_adapi_v1_msgs/msg/MrmState](./autoware_adapi_v1_msgs/msg/MrmState.md)
@@ -64,6 +65,7 @@
 - [autoware_adapi_v1_msgs/srv/GetVehicleSpecs](./autoware_adapi_v1_msgs/srv/GetVehicleSpecs.md)
 - [autoware_adapi_v1_msgs/srv/InitializeLocalization](./autoware_adapi_v1_msgs/srv/InitializeLocalization.md)
 - [autoware_adapi_v1_msgs/srv/ListManualControlMode](./autoware_adapi_v1_msgs/srv/ListManualControlMode.md)
+- [autoware_adapi_v1_msgs/srv/ListMrmDescription](./autoware_adapi_v1_msgs/srv/ListMrmDescription.md)
 - [autoware_adapi_v1_msgs/srv/SelectManualControlMode](./autoware_adapi_v1_msgs/srv/SelectManualControlMode.md)
 - [autoware_adapi_v1_msgs/srv/SendMrmRequest](./autoware_adapi_v1_msgs/srv/SendMrmRequest.md)
 - [autoware_adapi_v1_msgs/srv/SetCooperationCommands](./autoware_adapi_v1_msgs/srv/SetCooperationCommands.md)

yaml/autoware-interfaces.yaml

@@ -116,6 +116,11 @@ types:
     msg:
       stamp: builtin_interfaces/msg/Time
       state: uint16
+  autoware_adapi_v1_msgs/msg/MrmDescription:
+    msg:
+      behavior: uint16
+      description: string
+      name: string
   autoware_adapi_v1_msgs/msg/MrmRequest:
     msg:
       sender: string
@@ -291,6 +296,11 @@ types:
     res:
       modes: autoware_adapi_v1_msgs/msg/ManualControlMode[]
       status: autoware_adapi_v1_msgs/msg/ResponseStatus
+  autoware_adapi_v1_msgs/srv/ListMrmDescription:
+    req:
+      descriptions: autoware_adapi_v1_msgs/msg/MrmDescription[]
+    res:
+      status: autoware_adapi_v1_msgs/msg/ResponseStatus
   autoware_adapi_v1_msgs/srv/SelectManualControlMode:
     req:
       mode: autoware_adapi_v1_msgs/msg/ManualControlMode