feat(operation_mode_transition_manager): support ad api

common/component_interface_utils/include/component_interface_utils/rclcpp/exceptions.hpp

@@ -17,50 +17,53 @@
 
 #include <autoware_adapi_v1_msgs/msg/response_status.hpp>
 
-#include <stdexcept>
+#include <exception>
 #include <string>
 
 namespace component_interface_utils
 {
 
-class ServiceException : public std::runtime_error
+class ServiceException : public std::exception
 {
 public:
   using ResponseStatus = autoware_adapi_v1_msgs::msg::ResponseStatus;
   using ResponseStatusCode = ResponseStatus::_code_type;
 
-  ServiceException(ResponseStatusCode code, const std::string & message)
-  : std::runtime_error(message)
+  ServiceException(ResponseStatusCode code, const std::string & message, bool success = false)
   {
+    success_ = success;
     code_ = code;
+    message_ = message;
   }
 
   template <class T>
   void set(T & status) const
   {
     status.success = false;
     status.code = code_;
-    status.message = what();
+    status.message = message_;
   }
 
   ResponseStatus status() const
   {
     ResponseStatus status;
     status.success = false;
     status.code = code_;
-    status.message = what();
+    status.message = message_;
     return status;
   }
 
 private:
+  bool success_;
   ResponseStatusCode code_;
+  std::string message_;
 };
 
 class ServiceUnready : public ServiceException
 {
 public:
   explicit ServiceUnready(const std::string & message)
-  : ServiceException(ResponseStatus::SERVICE_UNREADY, message)
+  : ServiceException(ResponseStatus::SERVICE_UNREADY, message, false)
   {
   }
 };
@@ -69,7 +72,7 @@ class ServiceTimeout : public ServiceException
 {
 public:
   explicit ServiceTimeout(const std::string & message)
-  : ServiceException(ResponseStatus::SERVICE_TIMEOUT, message)
+  : ServiceException(ResponseStatus::SERVICE_TIMEOUT, message, false)
   {
   }
 };
@@ -78,7 +81,25 @@ class TransformError : public ServiceException
 {
 public:
   explicit TransformError(const std::string & message)
-  : ServiceException(ResponseStatus::TRANSFORM_ERROR, message)
+  : ServiceException(ResponseStatus::TRANSFORM_ERROR, message, false)
+  {
+  }
+};
+
+class ParameterError : public ServiceException
+{
+public:
+  explicit ParameterError(const std::string & message)
+  : ServiceException(ResponseStatus::PARAMETER_ERROR, message, false)
+  {
+  }
+};
+
+class NoEffectWarning : public ServiceException
+{
+public:
+  explicit NoEffectWarning(const std::string & message)
+  : ServiceException(ResponseStatus::NO_EFFECT, message, true)
   {
   }
 };

control/operation_mode_transition_manager/CMakeLists.txt

@@ -7,9 +7,10 @@ find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
 ament_auto_add_library(operation_mode_transition_manager_node SHARED
-  src/operation_mode_transition_manager.cpp
-  src/state.cpp
+  src/compatibility.cpp
   src/data.cpp
+  src/node.cpp
+  src/state.cpp
 )
 
 rclcpp_components_register_node(operation_mode_transition_manager_node

control/operation_mode_transition_manager/config/engage_transition_manager.param.yaml → control/operation_mode_transition_manager/config/operation_mode_transition_manager.param.yaml

@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
+    transition_timeout: 3.0
     frequency_hz: 10.0
     engage_acceptable_limits:
       allow_autonomous_in_stopped: true  # no check if the velocity is zero, always allowed.