From 4d0ebfb74db6674d25c9a51eabf507886c23a61b Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Fri, 13 Jun 2025 19:03:36 +0900 Subject: [PATCH 1/2] feat(autoware_adapi_v1_msgs): add mrm description Signed-off-by: Takagi, Isamu --- autoware_adapi_v1_msgs/CMakeLists.txt | 2 ++ autoware_adapi_v1_msgs/system/msg/MrmDescription.msg | 3 +++ autoware_adapi_v1_msgs/system/msg/MrmState.msg | 2 +- autoware_adapi_v1_msgs/system/srv/ListMrmDescription.srv | 3 +++ 4 files changed, 9 insertions(+), 1 deletion(-) create mode 100644 autoware_adapi_v1_msgs/system/msg/MrmDescription.msg create mode 100644 autoware_adapi_v1_msgs/system/srv/ListMrmDescription.srv diff --git a/autoware_adapi_v1_msgs/CMakeLists.txt b/autoware_adapi_v1_msgs/CMakeLists.txt index bdef13a..7b2bec9 100644 --- a/autoware_adapi_v1_msgs/CMakeLists.txt +++ b/autoware_adapi_v1_msgs/CMakeLists.txt @@ -53,9 +53,11 @@ rosidl_generate_interfaces(${PROJECT_NAME} planning/srv/GetCooperationPolicies.srv system/msg/RtiState.msg system/msg/MrmState.msg + system/msg/MrmDescription.msg system/msg/MrmRequest.msg system/msg/MrmRequestList.msg system/srv/SendMrmRequest.srv + system/srv/ListMrmDescription.srv system/msg/Heartbeat.msg system/msg/DiagGraphStruct.msg system/msg/DiagGraphStatus.msg diff --git a/autoware_adapi_v1_msgs/system/msg/MrmDescription.msg b/autoware_adapi_v1_msgs/system/msg/MrmDescription.msg new file mode 100644 index 0000000..cd79ce3 --- /dev/null +++ b/autoware_adapi_v1_msgs/system/msg/MrmDescription.msg @@ -0,0 +1,3 @@ +uint16 behavior +string name +string description diff --git a/autoware_adapi_v1_msgs/system/msg/MrmState.msg b/autoware_adapi_v1_msgs/system/msg/MrmState.msg index 5df3416..15ecc18 100644 --- a/autoware_adapi_v1_msgs/system/msg/MrmState.msg +++ b/autoware_adapi_v1_msgs/system/msg/MrmState.msg @@ -9,7 +9,7 @@ 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 diff --git a/autoware_adapi_v1_msgs/system/srv/ListMrmDescription.srv b/autoware_adapi_v1_msgs/system/srv/ListMrmDescription.srv new file mode 100644 index 0000000..b43d341 --- /dev/null +++ b/autoware_adapi_v1_msgs/system/srv/ListMrmDescription.srv @@ -0,0 +1,3 @@ +autoware_adapi_v1_msgs/MrmDescription[] descriptions +--- +autoware_adapi_v1_msgs/ResponseStatus status From 5e3f83def8035ce3dd8ac129016154e3f7b2d92d Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Tue, 17 Jun 2025 11:43:38 +0900 Subject: [PATCH 2/2] add deprecated api url Signed-off-by: Takagi, Isamu --- autoware_adapi_v1_msgs/system/msg/MrmState.msg | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_adapi_v1_msgs/system/msg/MrmState.msg b/autoware_adapi_v1_msgs/system/msg/MrmState.msg index 15ecc18..74b1493 100644 --- a/autoware_adapi_v1_msgs/system/msg/MrmState.msg +++ b/autoware_adapi_v1_msgs/system/msg/MrmState.msg @@ -10,6 +10,7 @@ uint16 MRM_SUCCEEDED = 3 uint16 MRM_FAILED = 4 # For behavior. Deprecated: use description API. +# https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/fail-safe/ uint16 NONE = 1 uint16 EMERGENCY_STOP = 2 uint16 COMFORTABLE_STOP = 3