feat(ad-api): add request to intervene (RTI) (#444)

* add rti api Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * simplify message Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * move section Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> --------- Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
autowarefoundation · Mar 10, 2025 · a84a2f1 · a84a2f1
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diff --git a/docs/design/autoware-interfaces/ad-api/features/fail-safe.md b/docs/design/autoware-interfaces/ad-api/features/fail-safe.md
@@ -2,6 +2,7 @@
 
 ## Related API
 
+- {{ link_ad_api('/api/fail_safe/rti_state') }}
 - {{ link_ad_api('/api/fail_safe/mrm_state') }}
 
 ## Description
@@ -15,10 +16,14 @@ The fail-safe module selects the behavior of MRM according to the abnormality an
 
 ![fail-safe-architecture](./fail-safe/architecture.drawio.svg)
 
-## States
+## RTI state
 
-The MRM state indicates whether MRM is operating. This state also provides success or failure.
-Generally, MRM will switch to another behavior if it fails.
+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 state
+
+The MRM state indicates whether MRM is operating and its current behavior.
+This state also provides success or failure of the operation. Generally, MRM will switch to another behavior if it fails.
 
 ![mrm-state](./fail-safe/mrm-state.drawio.svg)
 
@@ -29,8 +34,6 @@ Generally, MRM will switch to another behavior if it fails.
 | SUCCEEDED | MRM succeeded. The vehicle is in a safe condition.         |
 | FAILED    | MRM failed. The vehicle is still in an unsafe condition.   |
 
-## Behavior
-
 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.
 

diff --git a/docs/design/autoware-interfaces/ad-api/list/api/fail_safe/rti_state.md b/docs/design/autoware-interfaces/ad-api/list/api/fail_safe/rti_state.md
@@ -0,0 +1,18 @@
+---
+title: /api/fail_safe/rti_state
+status: not released
+method: notification
+type:
+  name: autoware_adapi_v1_msgs/msg/RtiState
+  msg:
+    - name: request
+      text: The flag for whether RTI is requested.
+    - name: message
+      text: The message such as reasons for RTI.
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Get the RTI state.
+For details, see the [fail-safe](../../../features/fail-safe.md).
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/index.md b/docs/design/autoware-interfaces/ad-api/list/index.md
@@ -3,6 +3,7 @@
 | API                                                                                              | Release      | Method          |
 | ------------------------------------------------------------------------------------------------ | ------------ | --------------- |
 | [/api/fail_safe/mrm_state](./api/fail_safe/mrm_state.md)                                         | v1.1.0       | notification    |
+| [/api/fail_safe/rti_state](./api/fail_safe/rti_state.md)                                         | not released | notification    |
 | [/api/interface/version](./api/interface/version.md)                                             | v1.0.0       | function call   |
 | [/api/local/command/acceleration](./api/local/command/acceleration.md)                           | not released | realtime stream |
 | [/api/local/command/gear](./api/local/command/gear.md)                                           | not released | notification    |

diff --git a/.../design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RtiState.md b/.../design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RtiState.md
@@ -0,0 +1,15 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/RtiState
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+builtin_interfaces/Time stamp
+bool request
+string message
+```
+
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/types/index.md b/docs/design/autoware-interfaces/ad-api/types/index.md
@@ -39,6 +39,7 @@
 - [autoware_adapi_v1_msgs/msg/RoutePrimitive](./autoware_adapi_v1_msgs/msg/RoutePrimitive.md)
 - [autoware_adapi_v1_msgs/msg/RouteSegment](./autoware_adapi_v1_msgs/msg/RouteSegment.md)
 - [autoware_adapi_v1_msgs/msg/RouteState](./autoware_adapi_v1_msgs/msg/RouteState.md)
+- [autoware_adapi_v1_msgs/msg/RtiState](./autoware_adapi_v1_msgs/msg/RtiState.md)
 - [autoware_adapi_v1_msgs/msg/SteeringCommand](./autoware_adapi_v1_msgs/msg/SteeringCommand.md)
 - [autoware_adapi_v1_msgs/msg/SteeringFactor](./autoware_adapi_v1_msgs/msg/SteeringFactor.md)
 - [autoware_adapi_v1_msgs/msg/SteeringFactorArray](./autoware_adapi_v1_msgs/msg/SteeringFactorArray.md)

diff --git a/yaml/autoware-interfaces.yaml b/yaml/autoware-interfaces.yaml
@@ -169,6 +169,11 @@ types:
     msg:
       stamp: builtin_interfaces/msg/Time
       state: uint16
+  autoware_adapi_v1_msgs/msg/RtiState:
+    msg:
+      message: string
+      request: bool
+      stamp: builtin_interfaces/msg/Time
   autoware_adapi_v1_msgs/msg/SteeringCommand:
     msg:
       stamp: builtin_interfaces/msg/Time