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feat(autoware_ad_api_specs): define operation mode interface (autowarefoundation#1570)
* feat(autoware_ad_api_msgs): define operation mode interface Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: add message Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Update common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Update common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * feat: move adapi message Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: change message type Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
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‎common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.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 AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_
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#define AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_
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#include <rclcpp/qos.hpp>
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#include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
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#include <autoware_adapi_v1_msgs/srv/change_operation_mode.hpp>
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namespace autoware_ad_api::operation_mode
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{
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struct ChangeToStop
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{
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using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
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static constexpr char name[] = "/api/operation_mode/change_to_stop";
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};
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struct ChangeToAutonomous
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{
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using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
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static constexpr char name[] = "/api/operation_mode/change_to_autonomous";
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};
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struct ChangeToLocal
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{
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using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
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static constexpr char name[] = "/api/operation_mode/change_to_local";
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};
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struct ChangeToRemote
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{
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using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
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static constexpr char name[] = "/api/operation_mode/change_to_remote";
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};
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struct EnableAutowareControl
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{
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using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
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static constexpr char name[] = "/api/operation_mode/enable_autoware_control";
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};
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struct DisableAutowareControl
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{
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using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
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static constexpr char name[] = "/api/operation_mode/disable_autoware_control";
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};
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struct OperationModeState
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{
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using Message = autoware_adapi_v1_msgs::msg::OperationModeState;
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static constexpr char name[] = "/api/operation_mode/state";
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static constexpr size_t depth = 1;
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static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
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static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
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};
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} // namespace autoware_ad_api::operation_mode
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#endif // AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_

‎common/component_interface_specs/include/component_interface_specs/system.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 COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_
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#define COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_
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#include <rclcpp/qos.hpp>
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#include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
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#include <tier4_system_msgs/srv/change_autoware_control.hpp>
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#include <tier4_system_msgs/srv/change_operation_mode.hpp>
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namespace system_interface
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{
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struct ChangeAutowareControl
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{
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using Service = tier4_system_msgs::srv::ChangeAutowareControl;
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static constexpr char name[] = "/system/operation_mode/change_autoware_control";
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};
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struct ChangeOperationMode
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{
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using Service = tier4_system_msgs::srv::ChangeOperationMode;
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static constexpr char name[] = "/system/operation_mode/change_operation_mode";
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};
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struct OperationModeState
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{
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using Message = autoware_adapi_v1_msgs::msg::OperationModeState;
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static constexpr char name[] = "/system/operation_mode/state";
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static constexpr size_t depth = 1;
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static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
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static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
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};
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} // namespace system_interface
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#endif // COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_

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