add battery charging state (autowarefoundation#2256)

Signed-off-by: Azumi SUZUKI <azumi.suzuki@tier4.jp>

ros/src/computing/planning/decision/packages/decision_maker/README.md

@@ -86,6 +86,7 @@ LocalizationInit|/current_pose|Waits until localizer is ready | Waits until curr
 PlanningInit|/closest_waypoint|Waits unil planners are ready | Subscriber is set for /closest_waypoint.
 VehicleInit|-|Waits until vehicle is ready for departure.|No implementation goes directly to vehilce ready state.
 VehicleReady|-|Vehicle is ready to move.|Exits to VehicleEmergency when `emergency` key is given by state_cmd from other states, or if `emergency_flag` is set true by other states.
+BatteryCharging|-|Charging the battery|Waits until `charging_end` key by state_cmd from other nodes(e.g. by AMS).
 VehicleEmergency|-|Emergency is detected somewhere in the system. |Waits until `return_from_emergency` or `return_to_ready`  key is by /state_cmd (e.g. by DecisionMakerPanel)
 
 ### Mission States

ros/src/computing/planning/decision/packages/decision_maker/autoware_state_vehicle.yaml

@@ -52,10 +52,20 @@ autoware_states_vehicle:
   -
     StateName: VehicleReady
     Transition:
+      -
+        Key: charge_start
+        Target: BatteryCharging
       -
         Key: emergency
         Target: VehicleEmergency
     Parent: ~
+  -
+    StateName: BatteryCharging
+    Transition:
+      -
+        Key: charge_end
+        Target: VehicleReady
+    Parent: ~
   -
     StateName: VehicleEmergency
     Transition:

ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker/decision_maker_node.hpp

@@ -223,6 +223,7 @@ class DecisionMakerNode
   void updatePlanningInitState(cstring_t& state_name, int status);
   void updateVehicleInitState(cstring_t& state_name, int status);
   void updateVehicleReadyState(cstring_t& state_name, int status);
+  void updateBatteryChargingState(cstring_t& state_name, int status);
   void updateVehicleEmergencyState(cstring_t& state_name, int status);
   // exit callback
 

ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp

@@ -39,6 +39,8 @@ void DecisionMakerNode::setupStateCallback(void)
                            std::bind(&DecisionMakerNode::entryVehicleReadyState, this, std::placeholders::_1, 0));
   ctx_vehicle->setCallback(state_machine::CallbackType::UPDATE, "VehicleReady",
                            std::bind(&DecisionMakerNode::updateVehicleReadyState, this, std::placeholders::_1, 0));
+  ctx_vehicle->setCallback(state_machine::CallbackType::UPDATE, "BatteryCharging",
+                           std::bind(&DecisionMakerNode::updateBatteryChargingState, this, std::placeholders::_1, 0));
   ctx_vehicle->setCallback(state_machine::CallbackType::ENTRY, "VehicleEmergency",
                            std::bind(&DecisionMakerNode::entryVehicleEmergencyState, this, std::placeholders::_1, 0));
   ctx_vehicle->setCallback(state_machine::CallbackType::UPDATE, "VehicleEmergency",

ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_state_vehicle.cpp

@@ -141,6 +141,10 @@ void DecisionMakerNode::updateVehicleReadyState(cstring_t& state_name, int statu
   }
 }
 
+void DecisionMakerNode::updateBatteryChargingState(cstring_t& state_name, int status)
+{
+ }
+
 void DecisionMakerNode::entryVehicleEmergencyState(cstring_t& state_name, int status)
 {
 }