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feat: apply mrm state to autoware state #81

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merged 1 commit into from
Nov 30, 2022
Merged

feat: apply mrm state to autoware state #81

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1 change: 1 addition & 0 deletions autoware_iv_internal_api_adaptor/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@

<build_depend>autoware_cmake</build_depend>

<depend>autoware_adapi_v1_msgs</depend>
<depend>autoware_auto_perception_msgs</depend>
<depend>autoware_auto_planning_msgs</depend>
<depend>autoware_auto_system_msgs</depend>
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19 changes: 9 additions & 10 deletions autoware_iv_internal_api_adaptor/src/iv_msgs.cpp
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Expand Up @@ -26,7 +26,7 @@ IVMsgs::IVMsgs(const rclcpp::NodeOptions & options) : Node("external_api_iv_msgs
sub_state_ = create_subscription<AutowareStateAuto>(
"/autoware/state", rclcpp::QoS(1), std::bind(&IVMsgs::onState, this, _1));
sub_emergency_ = create_subscription<EmergencyStateAuto>(
"/system/emergency/emergency_state", rclcpp::QoS(1), std::bind(&IVMsgs::onEmergency, this, _1));
"/system/fail_safe/mrm_state", rclcpp::QoS(1), std::bind(&IVMsgs::onEmergency, this, _1));

pub_control_mode_ =
create_publisher<ControlModeAuto>("/api/iv_msgs/vehicle/status/control_mode", rclcpp::QoS(1));
Expand All @@ -44,24 +44,23 @@ IVMsgs::IVMsgs(const rclcpp::NodeOptions & options) : Node("external_api_iv_msgs
sub_tracked_objects_ = create_subscription<TrackedObjectsAuto>(
"/perception/object_recognition/tracking/objects", rclcpp::QoS(1),
std::bind(&IVMsgs::onTrackedObjects, this, _1));

is_emergency_ = false;
}

void IVMsgs::onState(const AutowareStateAuto::ConstSharedPtr message)
{
auto state = tier4_auto_msgs_converter::convert(*message);
if (emergency_) {
switch (emergency_->state) {
case EmergencyStateAuto::MRM_OPERATING:
case EmergencyStateAuto::MRM_SUCCEEDED:
case EmergencyStateAuto::MRM_FAILED:
state.state = AutowareStateIV::EMERGENCY;
break;
}
if (is_emergency_) {
state.state = AutowareStateIV::EMERGENCY;
}
pub_state_->publish(state);
}

void IVMsgs::onEmergency(const EmergencyStateAuto::ConstSharedPtr message) { emergency_ = message; }
void IVMsgs::onEmergency(const EmergencyStateAuto::ConstSharedPtr message)
{
is_emergency_ = message->state != EmergencyStateAuto::NORMAL;
}

void IVMsgs::onControlMode(const ControlModeAuto::ConstSharedPtr message)
{
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6 changes: 3 additions & 3 deletions autoware_iv_internal_api_adaptor/src/iv_msgs.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,10 +17,10 @@

#include <rclcpp/rclcpp.hpp>

#include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
#include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>
#include <autoware_auto_planning_msgs/msg/trajectory.hpp>
#include <autoware_auto_system_msgs/msg/autoware_state.hpp>
#include <autoware_auto_system_msgs/msg/emergency_state.hpp>
#include <autoware_auto_vehicle_msgs/msg/control_mode_report.hpp>
#include <tier4_perception_msgs/msg/dynamic_object_array.hpp>
#include <tier4_planning_msgs/msg/trajectory.hpp>
Expand All @@ -34,7 +34,7 @@ class IVMsgs : public rclcpp::Node
explicit IVMsgs(const rclcpp::NodeOptions & options);

private:
using EmergencyStateAuto = autoware_auto_system_msgs::msg::EmergencyState;
using EmergencyStateAuto = autoware_adapi_v1_msgs::msg::MrmState;
using AutowareStateAuto = autoware_auto_system_msgs::msg::AutowareState;
using AutowareStateIV = tier4_system_msgs::msg::AutowareState;
rclcpp::Subscription<EmergencyStateAuto>::SharedPtr sub_emergency_;
Expand All @@ -61,7 +61,7 @@ class IVMsgs : public rclcpp::Node
void onTrajectory(const TrajectoryAuto::ConstSharedPtr message);
void onTrackedObjects(const TrackedObjectsAuto::ConstSharedPtr message);

EmergencyStateAuto::ConstSharedPtr emergency_;
bool is_emergency_;
};

} // namespace internal_api
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