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feat: add RTC interface (#765)
* feature(rtc_interface): add files Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(rtc_interface): implement functions Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(rtc_interface): reimprement functions to use CooperateCommands and write README.md Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(rtc_interface): fix README Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(rtc_interface): add getModuleType() Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(rtc_interface): fix definition of constructor Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(rtc_interface): fix time stamp Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(rtc_interface): fix README Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(rtc_interface): add isRegistered and clearCooperateStatus Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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‎planning/rtc_interface/CMakeLists.txt

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cmake_minimum_required(VERSION 3.5)
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project(rtc_interface)
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### Compile options
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic -Werror)
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endif()
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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ament_auto_add_library(rtc_interface SHARED
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src/rtc_interface.cpp
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)
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# Test
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_auto_package()

‎planning/rtc_interface/README.md

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# RTC Interface
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## Purpose
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RTC Interface is an interface to publish the decision status of behavior planning modules and receive execution command from external of an autonomous driving system.
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## Inner-workings / Algorithms
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### Usage example
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```c++
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// Generate instance (in this example, "intersection" is selected)
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rtc_interface::RTCInterface rtc_interface(node, "intersection");
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// Generate UUID
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const unique_identifier_msgs::msg::UUID uuid = generateUUID(getModuleId());
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// Repeat while module is running
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while (...) {
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// Get safety status of the module corresponding to the module id
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const bool safe = ...
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// Get distance to the object corresponding to the module id
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const double distance = ...
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// Get time stamp
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const rclcpp::Time stamp = ...
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// Update status
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rtc_interface.updateCooperateStatus(uuid, safe, distance, stamp);
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if (rtc_interface.isActivated(uuid)) {
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// Execute planning
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} else {
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// Stop planning
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}
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// Get time stamp
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const rclcpp::Time stamp = ...
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// Publish status topic
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rtc_interface.publishCooperateStatus(stamp);
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}
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// Remove the status from array
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rtc_interface.removeCooperateStatus(uuid);
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```
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## Inputs / Outputs
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### RTCInterface (Constructor)
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```c++
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rtc_interface::RTCInterface(rclcpp::Node & node, const std::string & name);
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```
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#### Description
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A constructor for `rtc_interface::RTCInterface`.
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#### Input
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- `node` : Node calling this interface
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- `name` : Name of cooperate status array topic and cooperate commands service
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- Cooperate status array topic name : `~/{name}/cooperate_status`
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- Cooperate commands service name : `~/{name}/cooperate_commands`
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#### Output
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An instance of `RTCInterface`
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### publishCooperateStatus
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```c++
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rtc_interface::publishCooperateStatus(const rclcpp::Time & stamp)
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```
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#### Description
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Publish registered cooperate status.
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#### Input
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- `stamp` : Time stamp
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#### Output
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Nothing
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### updateCooperateStatus
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```c++
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rtc_interface::updateCooperateStatus(const unique_identifier_msgs::msg::UUID & uuid, const bool safe, const double distance, const rclcpp::Time & stamp)
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```
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#### Description
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Update cooperate status corresponding to `uuid`.
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If cooperate status corresponding to `uuid` is not registered yet, add new cooperate status.
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#### Input
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- `uuid` : UUID for requesting module
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- `safe` : Safety status of requesting module
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- `distance` : Distance to the object from ego vehicle
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- `stamp` : Time stamp
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#### Output
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Nothing
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### removeCooperateStatus
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```c++
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rtc_interface::removeCooperateStatus(const unique_identifier_msgs::msg::UUID & uuid)
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```
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#### Description
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Remove cooperate status corresponding to `uuid` from registered statuses.
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#### Input
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- `uuid` : UUID for expired module
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#### Output
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Nothing
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### clearCooperateStatus
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```c++
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rtc_interface::clearCooperateStatus()
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```
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#### Description
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Remove all cooperate statuses.
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#### Input
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Nothing
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#### Output
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Nothing
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### isActivated
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```c++
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rtc_interface::isActivated(const unique_identifier_msgs::msg::UUID & uuid)
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```
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#### Description
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Return received command status corresponding to `uuid`.
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#### Input
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- `uuid` : UUID for checking module
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#### Output
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If received command is `ACTIVATED`, return `true`.
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If not, return `false`.
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### isRegistered
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```c++
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rtc_interface::isRegistered(const unique_identifier_msgs::msg::UUID & uuid)
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```
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#### Description
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Return `true` if `uuid` is registered.
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#### Input
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- `uuid` : UUID for checking module
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#### Output
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If `uuid` is registered, return `true`.
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If not, return `false`.
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## Assumptions / Known limits
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## Future extensions / Unimplemented parts

‎planning/rtc_interface/include/rtc_interface/rtc_interface.hpp

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// Copyright 2022 Tier IV, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RTC_INTERFACE__RTC_INTERFACE_HPP_
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#define RTC_INTERFACE__RTC_INTERFACE_HPP_
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#include "rclcpp/rclcpp.hpp"
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#include "tier4_rtc_msgs/msg/command.hpp"
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#include "tier4_rtc_msgs/msg/cooperate_command.hpp"
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#include "tier4_rtc_msgs/msg/cooperate_response.hpp"
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#include "tier4_rtc_msgs/msg/cooperate_status.hpp"
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#include "tier4_rtc_msgs/msg/cooperate_status_array.hpp"
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#include "tier4_rtc_msgs/msg/module.hpp"
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#include "tier4_rtc_msgs/srv/cooperate_commands.hpp"
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#include <unique_identifier_msgs/msg/uuid.hpp>
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#include <string>
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#include <vector>
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namespace rtc_interface
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{
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using tier4_rtc_msgs::msg::Command;
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using tier4_rtc_msgs::msg::CooperateCommand;
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using tier4_rtc_msgs::msg::CooperateResponse;
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using tier4_rtc_msgs::msg::CooperateStatus;
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using tier4_rtc_msgs::msg::CooperateStatusArray;
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using tier4_rtc_msgs::msg::Module;
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using tier4_rtc_msgs::srv::CooperateCommands;
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using unique_identifier_msgs::msg::UUID;
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class RTCInterface
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{
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public:
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RTCInterface(rclcpp::Node & node, const std::string & name);
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void publishCooperateStatus(const rclcpp::Time & stamp);
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void updateCooperateStatus(
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const UUID & uuid, const bool safe, const double distance, const rclcpp::Time & stamp);
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void removeCooperateStatus(const UUID & uuid);
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void clearCooperateStatus();
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bool isActivated(const UUID & uuid) const;
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bool isRegistered(const UUID & uuid) const;
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private:
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void onCooperateCommandService(
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const CooperateCommands::Request::SharedPtr request,
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const CooperateCommands::Response::SharedPtr responses);
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rclcpp::Logger getLogger() const;
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rclcpp::Publisher<CooperateStatusArray>::SharedPtr pub_statuses_;
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rclcpp::Service<CooperateCommands>::SharedPtr srv_commands_;
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rclcpp::Logger logger_;
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Module module_;
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CooperateStatusArray registered_status_;
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};
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} // namespace rtc_interface
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#endif // RTC_INTERFACE__RTC_INTERFACE_HPP_

‎planning/rtc_interface/package.xml

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<?xml version="1.0"?>
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<package format="3">
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<name>rtc_interface</name>
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<version>0.1.0</version>
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<description>The rtc_interface package</description>
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<maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake_auto</buildtool_depend>
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<depend>rclcpp</depend>
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<depend>tier4_rtc_msgs</depend>
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<depend>unique_identifier_msgs</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>autoware_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

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