feat(ad-api): add mrm request

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

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

@@ -4,6 +4,8 @@
 
 - {{ link_ad_api('/api/fail_safe/rti_state') }}
 - {{ 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') }}
 
 ## Description
 
@@ -45,3 +47,16 @@ This is service dependent. Autoware supports the following transitions by defaul
 | COMFORTABLE_STOP | The vehicle will stop quickly with a comfortable deceleration.            |
 | EMERGENCY_STOP   | The vehicle will stop immediately with as much deceleration as possible.  |
 | PULL_OVER        | The vehicle will stop after moving to the side of the road.               |
+
+## MRM request
+
+MRM request is a feature that triggers MRM from an application, and is mainly used when the application wants to transition the vehicle to a safe state by detecting an abnormality. When an MRM request is sent, Autoware attempts to operate the MRM. To distinguish requests from multiple applications, an MRM request must include a user name as an identifier.
+
+Since MRM has multiple behaviors, this feature provides a selection strategy. Please refer to the table below for supported strategies.
+If there are multiple requests, the strategy with the highest priority will be used.
+Note that when Autoware detects an abnormality, it may not be able to operate according to the MRM request strategy.
+
+| Strategy | Description                                                |
+| -------- | ---------------------------------------------------------- |
+| CANCEL   | Cancel the MRM request associated with the specified user. |
+| DELEGATE | Delegate the selection of MRM behavior to Autoware.        |

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

@@ -0,0 +1,18 @@
+---
+title: /api/fail_safe/mrm_request/list
+status: not released
+method: notification
+type:
+  name: autoware_adapi_v1_msgs/msg/MrmRequestList
+  msg:
+    - name: requests.user
+      text: The sender name of the MRM request.
+    - name: requests.strategy
+      text: The strategy of the MRM request.
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+List the MRM requests from all senders.
+For details, see the [fail-safe](../../../../features/fail-safe.md).
+{% endblock %}

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

@@ -0,0 +1,21 @@
+---
+title: /api/fail_safe/mrm_request/send
+status: not released
+method: function call
+type:
+  name: autoware_adapi_v1_msgs/srv/SendMrmRequest
+  req:
+    - name: request.user
+      text: The sender name of the MRM request.
+    - name: request.strategy
+      text: The strategy of the MRM request.
+  res:
+    - name: status
+      text: response status
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Send the MRM request.
+For details, see the [fail-safe](../../../../features/fail-safe.md).
+{% endblock %}

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

@@ -2,6 +2,8 @@
 
 | API                                                                                              | Release      | Method          |
 | ------------------------------------------------------------------------------------------------ | ------------ | --------------- |
+| [/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    |
 | [/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   |

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

@@ -0,0 +1,21 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/MrmRequest
+used:
+  - autoware_adapi_v1_msgs/msg/MrmRequestList
+  - autoware_adapi_v1_msgs/srv/SendMrmRequest
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+uint16 UNKNOWN = 0
+uint16 CANCEL = 1    # Cancel the MRM request.
+uint16 DELEGATE = 2  # Delegate the selection of MRM behavior to Autoware.
+
+uint16 strategy
+string user      # The identifier of the request sender.
+```
+
+{% endblock %}

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

@@ -0,0 +1,16 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/MrmRequestList
+uses:
+  - autoware_adapi_v1_msgs/msg/MrmRequest
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+builtin_interfaces/Time stamp
+autoware_adapi_v1_msgs/MrmRequest[] requests
+```
+
+{% endblock %}

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

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

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

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

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

@@ -28,6 +28,8 @@
 - [autoware_adapi_v1_msgs/msg/ManualControlModeStatus](./autoware_adapi_v1_msgs/msg/ManualControlModeStatus.md)
 - [autoware_adapi_v1_msgs/msg/ManualOperatorStatus](./autoware_adapi_v1_msgs/msg/ManualOperatorStatus.md)
 - [autoware_adapi_v1_msgs/msg/MotionState](./autoware_adapi_v1_msgs/msg/MotionState.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)
 - [autoware_adapi_v1_msgs/msg/ObjectClassification](./autoware_adapi_v1_msgs/msg/ObjectClassification.md)
 - [autoware_adapi_v1_msgs/msg/OperationModeState](./autoware_adapi_v1_msgs/msg/OperationModeState.md)
@@ -60,6 +62,7 @@
 - [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/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)
 - [autoware_adapi_v1_msgs/srv/SetCooperationPolicies](./autoware_adapi_v1_msgs/srv/SetCooperationPolicies.md)
 - [autoware_adapi_v1_msgs/srv/SetDoorCommand](./autoware_adapi_v1_msgs/srv/SetDoorCommand.md)

yaml/autoware-interfaces.yaml

@@ -116,6 +116,14 @@ types:
     msg:
       stamp: builtin_interfaces/msg/Time
       state: uint16
+  autoware_adapi_v1_msgs/msg/MrmRequest:
+    msg:
+      strategy: uint16
+      user: string
+  autoware_adapi_v1_msgs/msg/MrmRequestList:
+    msg:
+      requests: autoware_adapi_v1_msgs/msg/MrmRequest[]
+      stamp: builtin_interfaces/msg/Time
   autoware_adapi_v1_msgs/msg/MrmState:
     msg:
       behavior: uint16
@@ -276,6 +284,11 @@ types:
       mode: autoware_adapi_v1_msgs/msg/ManualControlMode
     res:
       status: autoware_adapi_v1_msgs/msg/ResponseStatus
+  autoware_adapi_v1_msgs/srv/SendMrmRequest:
+    req:
+      requests: autoware_adapi_v1_msgs/msg/MrmRequest[]
+    res:
+      status: autoware_adapi_v1_msgs/msg/ResponseStatus
   autoware_adapi_v1_msgs/srv/SetCooperationCommands:
     req:
       commands: autoware_adapi_v1_msgs/msg/CooperationCommand[]