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feat(tier4_system_msgs): add election status msg #162

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feat(tier4_system_msgs): add election status msg #162

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8af2ec5
feat: add election status msg
TetsuKawa Jan 19, 2025
4e0feb1
feat: change msg type to autoware_adapi_v1_msgs
TetsuKawa Jan 19, 2025
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2 changes: 2 additions & 0 deletions tier4_system_msgs/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
"msg/DiagLinkStruct.msg"
"msg/DiagLinkStatus.msg"
"msg/OperationModeAvailability.msg"
"msg/ElectionStatus.msg"
"msg/EmergencyGoalsClearCommand.msg"
"msg/EmergencyGoalsStamped.msg"
"msg/EmergencyHoldingState.msg"
Expand All @@ -42,6 +43,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
"srv/ChangeOperationMode.srv"
"srv/ChangeAutowareControl.srv"
DEPENDENCIES
autoware_adapi_v1_msgs
autoware_common_msgs
builtin_interfaces
diagnostic_msgs
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26 changes: 26 additions & 0 deletions tier4_system_msgs/msg/ElectionStatus.msg
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@@ -0,0 +1,26 @@
# leader_id
uint8 MAIN_ECU = 0
uint8 SUB_ECU = 1
uint8 MAIN_VCU = 2
uint8 SUB_VCU = 3

# path_info
# The path_info is a 4-bit data which represents the selected path,
# The bits represent the state of the Main ECU, Sub ECU, Main VCU, and Sub VCU in order from the leading bit.
# For example:
# If path_info=0x1010,
# the path selects the Main ECU and Main VCU.

builtin_interfaces/Time stamp
uint8 leader_id # leader of all nodes
uint8 path_info # The path used for driving
autoware_adapi_v1_msgs/MrmState mrm_state # The mrm behavior determined for the entire system and its state
uint8 election_start_count # means the number of times a failure has occurred.
bool in_election # whether an election is in progress
bool has_received_availability # If false, it means that the Availability UDP packet from Autoware has not been received or has timed out.
bool has_received_mrm_state # If false, it means that the MrmState UDP packet from Autoware has not been received or has timed out.
bool is_autoware_emergency # whether Autoware is in a normal state
bool is_main_ecu_connected # whether this node is able to communicate properly with the Main ECU
bool is_sub_ecu_connected # whether this node is able to communicate properly with the Sub ECU
bool is_main_vcu_connected # whether this node is able to communicate properly with the Main VCU
bool is_sub_vcu_connected # whether this node is able to communicate properly with the Sub VCU
1 change: 1 addition & 0 deletions tier4_system_msgs/package.xml
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Expand Up @@ -11,6 +11,7 @@

<build_depend>rosidl_default_generators</build_depend>

<depend>autoware_adapi_v1_msgs</depend>
<depend>autoware_common_msgs</depend>
<depend>builtin_interfaces</depend>
<depend>diagnostic_msgs</depend>
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