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feat(ad-api): add mrm request #649
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18 changes: 18 additions & 0 deletions
18
docs/design/autoware-interfaces/ad-api/list/api/fail_safe/mrm_request/list.md
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -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. | ||
| --- | ||
|
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| {% 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 %} |
21 changes: 21 additions & 0 deletions
21
docs/design/autoware-interfaces/ad-api/list/api/fail_safe/mrm_request/send.md
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -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 | ||
| --- | ||
|
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| {% 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 %} |
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21 changes: 21 additions & 0 deletions
21
...esign/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/MrmRequest.md
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -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 | ||
| --- | ||
|
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| {% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} | ||
| {% block definition %} | ||
|
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| ```txt | ||
| uint16 UNKNOWN = 0 | ||
| uint16 CANCEL = 1 # Cancel the MRM request. | ||
| uint16 DELEGATE = 2 # Delegate the selection of MRM behavior to Autoware. | ||
|
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| uint16 strategy | ||
| string user # The identifier of the request sender. | ||
| ``` | ||
|
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| {% endblock %} |
16 changes: 16 additions & 0 deletions
16
...n/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/MrmRequestList.md
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -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 | ||
| --- | ||
|
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| {% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} | ||
| {% block definition %} | ||
|
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| ```txt | ||
| builtin_interfaces/Time stamp | ||
| autoware_adapi_v1_msgs/MrmRequest[] requests | ||
| ``` | ||
|
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| {% endblock %} |
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18 changes: 18 additions & 0 deletions
18
...n/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/SendMrmRequest.md
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -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 | ||
| --- | ||
|
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| {% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} | ||
| {% block definition %} | ||
|
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| ```txt | ||
| autoware_adapi_v1_msgs/MrmRequest[] requests | ||
| --- | ||
| autoware_adapi_v1_msgs/ResponseStatus status | ||
| ``` | ||
|
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||
| {% endblock %} |
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We only have cancel and delegate as startegy.
Were there any considerations about selecting MRM behavior from an application?
In other words, if an application is triggering MRM through this API, then Autoware is not aware of the reason why it should be taking MRM behavior. Is it possible for Autoware to select the appropriate behavior in such situation?
If this is future work, that is okay, but we might want to state that in the description.
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In the future, I will consider to add strategies that vehicles achieve MRC as quickly as possible, as comfortable as possible, or etc.