fix: merge operation mode state message

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

common/component_interface_specs/include/component_interface_specs/system.hpp

@@ -17,8 +17,7 @@
 
 #include <rclcpp/qos.hpp>
 
-#include <tier4_system_msgs/msg/operation_mode_available.hpp>
-#include <tier4_system_msgs/msg/operation_mode_state.hpp>
+#include <autoware_ad_api_msgs/msg/operation_mode_state.hpp>
 #include <tier4_system_msgs/srv/change_autoware_control.hpp>
 #include <tier4_system_msgs/srv/change_operation_mode.hpp>
 
@@ -39,22 +38,13 @@ struct ChangeOperationMode
 
 struct OperationModeState
 {
-  using Message = tier4_system_msgs::msg::OperationModeState;
+  using Message = autoware_ad_api_msgs::msg::OperationModeState;
   static constexpr char name[] = "/system/operation_mode/state";
   static constexpr size_t depth = 1;
   static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-struct AutonomousModeAvailable
-{
-  using Message = tier4_system_msgs::msg::OperationModeAvailable;
-  static constexpr char name[] = "/system/operation_mode/autonomous_available";
-  static constexpr size_t depth = 1;
-  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
-  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
-};
-
 }  // namespace system_interface
 
 #endif  // COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_

control/operation_mode_transition_manager/src/data.cpp

@@ -52,23 +52,23 @@ std::optional<OperationMode> toEnum(const ChangeOperationMode::Request & request
   return std::nullopt;
 }
 
-OperationModeStateValue toMsg(const OperationMode mode)
+OperationModeValue toMsg(const OperationMode mode)
 {
   const auto get_operation_mode = [](const OperationMode mode) {
     switch (mode) {
       case OperationMode::STOP:
-        return OperationModeStateValue::STOP;
+        return OperationModeValue::STOP;
       case OperationMode::AUTONOMOUS:
-        return OperationModeStateValue::AUTONOMOUS;
+        return OperationModeValue::AUTONOMOUS;
       case OperationMode::LOCAL:
-        return OperationModeStateValue::LOCAL;
+        return OperationModeValue::LOCAL;
       case OperationMode::REMOTE:
-        return OperationModeStateValue::REMOTE;
+        return OperationModeValue::REMOTE;
     }
-    return OperationModeStateValue::UNKNOWN;
+    return OperationModeValue::UNKNOWN;
   };
 
-  OperationModeStateValue operation;
+  OperationModeValue operation;
   operation.mode = get_operation_mode(mode);
   return operation;
 }

control/operation_mode_transition_manager/src/data.hpp

@@ -17,9 +17,9 @@
 
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_ad_api_msgs/msg/operation_mode_state.hpp>
 #include <autoware_ad_api_msgs/srv/change_operation_mode.hpp>
 #include <autoware_auto_vehicle_msgs/msg/control_mode_report.hpp>
-#include <tier4_system_msgs/msg/operation_mode_state.hpp>
 #include <tier4_system_msgs/srv/change_operation_mode.hpp>
 #include <tier4_vehicle_msgs/srv/control_mode_request.hpp>
 
@@ -31,8 +31,8 @@ namespace operation_mode_transition_manager
 {
 
 using ServiceResponse = autoware_ad_api_msgs::srv::ChangeOperationMode::Response;
-using OperationModeState = tier4_system_msgs::msg::OperationModeState;
-using OperationModeStateValue = OperationModeState::_operation_type;
+using OperationModeState = autoware_ad_api_msgs::msg::OperationModeState;
+using OperationModeValue = OperationModeState::_operation_type;
 using ChangeOperationMode = tier4_system_msgs::srv::ChangeOperationMode;
 using ControlModeRequest = tier4_vehicle_msgs::srv::ControlModeRequest;
 using ControlModeReport = autoware_auto_vehicle_msgs::msg::ControlModeReport;
@@ -79,7 +79,7 @@ struct StableCheckParam
 
 std::string toString(const std::optional<OperationMode> mode);
 std::optional<OperationMode> toEnum(const ChangeOperationMode::Request & request);
-OperationModeStateValue toMsg(const OperationMode mode);
+OperationModeValue toMsg(const OperationMode mode);
 
 }  // namespace operation_mode_transition_manager
 

control/operation_mode_transition_manager/src/node.cpp

@@ -40,7 +40,6 @@ OperationModeTransitionManager::OperationModeTransitionManager(const rclcpp::Nod
       srv_autoware_control, this, &OperationModeTransitionManager::onChangeAutowareControl);
     node.init_srv(srv_operation_mode, this, &OperationModeTransitionManager::onChangeOperationMode);
     node.init_pub(pub_operation_mode_);
-    node.init_pub(pub_auto_mode_available_);
   }
 
   // timer
@@ -54,7 +53,7 @@ OperationModeTransitionManager::OperationModeTransitionManager(const rclcpp::Nod
   transition_timeout_ = declare_parameter<double>("transition_timeout");
   current_mode_ = OperationMode::STOP;
   transition_ = nullptr;
-  gate_operation_mode_.operation.mode = OperationModeStateValue::UNKNOWN;
+  gate_operation_mode_.operation.mode = OperationModeValue::UNKNOWN;
   gate_operation_mode_.is_in_transition = false;
   control_mode_report_.mode = ControlModeReport::NO_COMMAND;
 
@@ -206,23 +205,22 @@ void OperationModeTransitionManager::onTimer()
 
 void OperationModeTransitionManager::publishData()
 {
+  const bool current_control = control_mode_report_.mode == ControlModeReport::AUTONOMOUS;
   const auto time = now();
 
-  OperationModeStateAPI::Message operation_mode_state;
-  operation_mode_state.operation = toMsg(current_mode_);
-  operation_mode_state.is_in_transition = transition_ ? true : false;
-  if (prev_pub_state_ != operation_mode_state) {
-    prev_pub_state_ = operation_mode_state;
-    operation_mode_state.stamp = time;
-    pub_operation_mode_->publish(operation_mode_state);
-  }
-
-  AutoModeAvailableAPI::Message available;
-  available.available = modes_.at(OperationMode::AUTONOMOUS)->isModeChangeAvailable();
-  if (prev_pub_available_ != available) {
-    prev_pub_available_ = available;
-    available.stamp = time;
-    pub_auto_mode_available_->publish(available);
+  OperationModeStateAPI::Message state;
+  state.operation = toMsg(current_mode_);
+  state.is_autoware_control_enabled = current_control;
+  state.is_in_transition = transition_ ? true : false;
+  state.change_to_stop = modes_.at(OperationMode::STOP)->isModeChangeAvailable();
+  state.change_to_autonomous = modes_.at(OperationMode::AUTONOMOUS)->isModeChangeAvailable();
+  state.change_to_local = modes_.at(OperationMode::LOCAL)->isModeChangeAvailable();
+  state.change_to_remote = modes_.at(OperationMode::REMOTE)->isModeChangeAvailable();
+
+  if (prev_state_ != state) {
+    prev_state_ = state;
+    state.stamp = time;
+    pub_operation_mode_->publish(state);
   }
 
   ModeChangeBase::DebugInfo debug_info = modes_.at(OperationMode::AUTONOMOUS)->getDebugInfo();

control/operation_mode_transition_manager/src/node.hpp

@@ -37,11 +37,9 @@ class OperationModeTransitionManager : public rclcpp::Node
   using ChangeAutowareControlAPI = system_interface::ChangeAutowareControl;
   using ChangeOperationModeAPI = system_interface::ChangeOperationMode;
   using OperationModeStateAPI = system_interface::OperationModeState;
-  using AutoModeAvailableAPI = system_interface::AutonomousModeAvailable;
   component_interface_utils::Service<ChangeAutowareControlAPI>::SharedPtr srv_autoware_control;
   component_interface_utils::Service<ChangeOperationModeAPI>::SharedPtr srv_operation_mode;
   component_interface_utils::Publisher<OperationModeStateAPI>::SharedPtr pub_operation_mode_;
-  component_interface_utils::Publisher<AutoModeAvailableAPI>::SharedPtr pub_auto_mode_available_;
   void onChangeAutowareControl(
     const ChangeAutowareControlAPI::Service::Request::SharedPtr request,
     const ChangeAutowareControlAPI::Service::Response::SharedPtr response);
@@ -70,8 +68,7 @@ class OperationModeTransitionManager : public rclcpp::Node
   OperationModeState gate_operation_mode_;
   ControlModeReport control_mode_report_;
 
-  std::optional<OperationModeStateAPI::Message> prev_pub_state_;
-  std::optional<AutoModeAvailableAPI::Message> prev_pub_available_;
+  std::optional<OperationModeStateAPI::Message> prev_state_;
 };
 
 }  // namespace operation_mode_transition_manager

control/vehicle_cmd_gate/README.md

@@ -26,7 +26,7 @@
 | `~/input/emergency/hazard_lights_cmd`       | `autoware_auto_vehicle_msgs::msg::HazardLightsCommand`     | hazard lights command from emergency handler                         |
 | `~/input/emergency/gear_cmd`                | `autoware_auto_vehicle_msgs::msg::GearCommand`             | gear command from emergency handler                                  |
 | `~/input/engage`                            | `autoware_auto_vehicle_msgs::msg::Engage`                  | engage signal                                                        |
-| `~/input/operation_mode`                    | `tier4_system_msgs::msg::OperationModeState`               | operation mode of Autoware                                           |
+| `~/input/operation_mode`                    | `autoware_ad_api_msgs::msg::OperationModeState`            | operation mode of Autoware                                           |
 
 ### Output
 

control/vehicle_cmd_gate/include/vehicle_cmd_gate/vehicle_cmd_gate.hpp

@@ -22,6 +22,7 @@
 #include <std_srvs/srv/trigger.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
 
+#include <autoware_ad_api_msgs/msg/operation_mode_state.hpp>
 #include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
 #include <autoware_auto_system_msgs/msg/emergency_state.hpp>
 #include <autoware_auto_vehicle_msgs/msg/engage.hpp>
@@ -36,14 +37,14 @@
 #include <tier4_external_api_msgs/msg/heartbeat.hpp>
 #include <tier4_external_api_msgs/srv/engage.hpp>
 #include <tier4_external_api_msgs/srv/set_emergency.hpp>
-#include <tier4_system_msgs/msg/operation_mode_state.hpp>
 #include <tier4_vehicle_msgs/msg/vehicle_emergency_stamped.hpp>
 
 #include <memory>
 
 namespace vehicle_cmd_gate
 {
 
+using autoware_ad_api_msgs::msg::OperationModeState;
 using autoware_auto_control_msgs::msg::AckermannControlCommand;
 using autoware_auto_system_msgs::msg::EmergencyState;
 using autoware_auto_vehicle_msgs::msg::GearCommand;
@@ -54,7 +55,6 @@ using tier4_control_msgs::msg::GateMode;
 using tier4_external_api_msgs::msg::Emergency;
 using tier4_external_api_msgs::msg::Heartbeat;
 using tier4_external_api_msgs::srv::SetEmergency;
-using tier4_system_msgs::msg::OperationModeState;
 using tier4_vehicle_msgs::msg::VehicleEmergencyStamped;
 
 using diagnostic_msgs::msg::DiagnosticStatus;