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feat(ad-api): add mrm request (#649)
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
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‎docs/design/autoware-interfaces/ad-api/features/fail-safe.md‎

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- {{ link_ad_api('/api/fail_safe/rti_state') }}
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- {{ link_ad_api('/api/fail_safe/mrm_state') }}
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- {{ link_ad_api('/api/fail_safe/mrm_request/send') }}
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- {{ link_ad_api('/api/fail_safe/mrm_request/list') }}
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## Description
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| COMFORTABLE_STOP | The vehicle will stop quickly with a comfortable deceleration. |
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| EMERGENCY_STOP | The vehicle will stop immediately with as much deceleration as possible. |
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| PULL_OVER | The vehicle will stop after moving to the side of the road. |
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## MRM request
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MRM request is a feature that triggers MRM from an application, and is mainly used when the application wants to transition the vehicle to a safe state by detecting an abnormality. When an MRM request is sent, Autoware attempts to operate the MRM. To distinguish requests from multiple applications, an MRM request must include a user name as an identifier.
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Since MRM has multiple behaviors, this feature provides a selection strategy. Please refer to the table below for supported strategies.
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If there are multiple requests, the strategy with the highest priority will be used.
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Note that when Autoware detects an abnormality, it may not be able to operate according to the MRM request strategy.
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| Strategy | Description |
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| -------- | ---------------------------------------------------------- |
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| CANCEL | Cancel the MRM request associated with the specified user. |
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| DELEGATE | Delegate the selection of MRM behavior to Autoware. |

‎docs/design/autoware-interfaces/ad-api/list/api/fail_safe/mrm_request/list.md‎

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---
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title: /api/fail_safe/mrm_request/list
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status: not released
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method: notification
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type:
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name: autoware_adapi_v1_msgs/msg/MrmRequestList
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msg:
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- name: requests.user
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text: The sender name of the MRM request.
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- name: requests.strategy
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text: The strategy of the MRM request.
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---
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{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
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{% block description %}
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List the MRM requests from all senders.
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For details, see the [fail-safe](../../../../features/fail-safe.md).
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{% endblock %}

‎docs/design/autoware-interfaces/ad-api/list/api/fail_safe/mrm_request/send.md‎

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---
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title: /api/fail_safe/mrm_request/send
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status: not released
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method: function call
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type:
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name: autoware_adapi_v1_msgs/srv/SendMrmRequest
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req:
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- name: request.user
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text: The sender name of the MRM request.
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- name: request.strategy
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text: The strategy of the MRM request.
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res:
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- name: status
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text: response status
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---
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{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
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{% block description %}
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Send the MRM request.
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For details, see the [fail-safe](../../../../features/fail-safe.md).
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{% endblock %}

‎docs/design/autoware-interfaces/ad-api/list/index.md‎

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| API | Release | Method |
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| ------------------------------------------------------------------------------------------------ | ------------ | --------------- |
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| [/api/fail_safe/mrm_request/list](./api/fail_safe/mrm_request/list.md) | not released | notification |
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| [/api/fail_safe/mrm_request/send](./api/fail_safe/mrm_request/send.md) | not released | function call |
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| [/api/fail_safe/mrm_state](./api/fail_safe/mrm_state.md) | v1.1.0 | notification |
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| [/api/fail_safe/rti_state](./api/fail_safe/rti_state.md) | not released | notification |
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| [/api/interface/version](./api/interface/version.md) | v1.0.0 | function call |

‎docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/MrmRequest.md‎

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---
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# This file is generated by tools/autoware-interfaces/generate.py
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title: autoware_adapi_v1_msgs/msg/MrmRequest
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used:
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- autoware_adapi_v1_msgs/msg/MrmRequestList
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- autoware_adapi_v1_msgs/srv/SendMrmRequest
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---
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{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
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{% block definition %}
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```txt
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uint16 UNKNOWN = 0
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uint16 CANCEL = 1 # Cancel the MRM request.
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uint16 DELEGATE = 2 # Delegate the selection of MRM behavior to Autoware.
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uint16 strategy
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string user # The identifier of the request sender.
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```
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{% endblock %}

‎docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/MrmRequestList.md‎

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---
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# This file is generated by tools/autoware-interfaces/generate.py
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title: autoware_adapi_v1_msgs/msg/MrmRequestList
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uses:
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- autoware_adapi_v1_msgs/msg/MrmRequest
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---
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{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
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{% block definition %}
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```txt
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builtin_interfaces/Time stamp
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autoware_adapi_v1_msgs/MrmRequest[] requests
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```
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{% endblock %}

‎docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md‎

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- autoware_adapi_v1_msgs/srv/InitializeLocalization
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- autoware_adapi_v1_msgs/srv/ListManualControlMode
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- autoware_adapi_v1_msgs/srv/SelectManualControlMode
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- autoware_adapi_v1_msgs/srv/SendMrmRequest
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- autoware_adapi_v1_msgs/srv/SetCooperationCommands
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- autoware_adapi_v1_msgs/srv/SetCooperationPolicies
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- autoware_adapi_v1_msgs/srv/SetDoorCommand

‎docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/SendMrmRequest.md‎

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---
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# This file is generated by tools/autoware-interfaces/generate.py
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title: autoware_adapi_v1_msgs/srv/SendMrmRequest
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uses:
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- autoware_adapi_v1_msgs/msg/MrmRequest
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- autoware_adapi_v1_msgs/msg/ResponseStatus
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---
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{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
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{% block definition %}
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```txt
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autoware_adapi_v1_msgs/MrmRequest[] requests
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---
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autoware_adapi_v1_msgs/ResponseStatus status
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```
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{% endblock %}

‎docs/design/autoware-interfaces/ad-api/types/index.md‎

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- [autoware_adapi_v1_msgs/msg/ManualControlModeStatus](./autoware_adapi_v1_msgs/msg/ManualControlModeStatus.md)
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- [autoware_adapi_v1_msgs/msg/ManualOperatorHeartbeat](./autoware_adapi_v1_msgs/msg/ManualOperatorHeartbeat.md)
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- [autoware_adapi_v1_msgs/msg/MotionState](./autoware_adapi_v1_msgs/msg/MotionState.md)
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- [autoware_adapi_v1_msgs/msg/MrmRequest](./autoware_adapi_v1_msgs/msg/MrmRequest.md)
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- [autoware_adapi_v1_msgs/msg/MrmRequestList](./autoware_adapi_v1_msgs/msg/MrmRequestList.md)
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- [autoware_adapi_v1_msgs/msg/MrmState](./autoware_adapi_v1_msgs/msg/MrmState.md)
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- [autoware_adapi_v1_msgs/msg/ObjectClassification](./autoware_adapi_v1_msgs/msg/ObjectClassification.md)
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- [autoware_adapi_v1_msgs/msg/OperationModeState](./autoware_adapi_v1_msgs/msg/OperationModeState.md)
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- [autoware_adapi_v1_msgs/srv/InitializeLocalization](./autoware_adapi_v1_msgs/srv/InitializeLocalization.md)
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- [autoware_adapi_v1_msgs/srv/ListManualControlMode](./autoware_adapi_v1_msgs/srv/ListManualControlMode.md)
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- [autoware_adapi_v1_msgs/srv/SelectManualControlMode](./autoware_adapi_v1_msgs/srv/SelectManualControlMode.md)
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- [autoware_adapi_v1_msgs/srv/SendMrmRequest](./autoware_adapi_v1_msgs/srv/SendMrmRequest.md)
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- [autoware_adapi_v1_msgs/srv/SetCooperationCommands](./autoware_adapi_v1_msgs/srv/SetCooperationCommands.md)
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- [autoware_adapi_v1_msgs/srv/SetCooperationPolicies](./autoware_adapi_v1_msgs/srv/SetCooperationPolicies.md)
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- [autoware_adapi_v1_msgs/srv/SetDoorCommand](./autoware_adapi_v1_msgs/srv/SetDoorCommand.md)

‎yaml/autoware-interfaces.yaml‎

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msg:
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stamp: builtin_interfaces/msg/Time
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state: uint16
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autoware_adapi_v1_msgs/msg/MrmRequest:
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msg:
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strategy: uint16
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user: string
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autoware_adapi_v1_msgs/msg/MrmRequestList:
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msg:
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requests: autoware_adapi_v1_msgs/msg/MrmRequest[]
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stamp: builtin_interfaces/msg/Time
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autoware_adapi_v1_msgs/msg/MrmState:
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msg:
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behavior: uint16
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mode: autoware_adapi_v1_msgs/msg/ManualControlMode
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res:
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status: autoware_adapi_v1_msgs/msg/ResponseStatus
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autoware_adapi_v1_msgs/srv/SendMrmRequest:
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req:
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requests: autoware_adapi_v1_msgs/msg/MrmRequest[]
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res:
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status: autoware_adapi_v1_msgs/msg/ResponseStatus
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autoware_adapi_v1_msgs/srv/SetCooperationCommands:
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req:
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commands: autoware_adapi_v1_msgs/msg/CooperationCommand[]

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