refactor: move autoware-interfaces under autoware-architecture-v1

docs/contributing/index.md

@@ -32,7 +32,7 @@ To gain a high-level understanding of Autoware's architecture and design, the fo
 - [Autoware architecture](../design/index.md)
 - [Autoware concepts](../design/autoware-concepts/index.md)
 
-For experienced developers, the [Autoware interfaces](../design/autoware-interfaces/index.md) and [individual component pages](../design/autoware-interfaces/components/index.md) should also be reviewed to understand the inputs and outputs for each component or module at a more detailed level.
+For experienced developers, the [Autoware interfaces](../design/autoware-architecture-v1/interfaces/index.md) and [individual component pages](../design/autoware-architecture-v1/interfaces/components/index.md) should also be reviewed to understand the inputs and outputs for each component or module at a more detailed level.
 
 ### Contributing to open source projects
 

docs/design/.pages

@@ -2,6 +2,5 @@ nav:
   - Concepts: autoware-concepts
   - Architecture 1.0: autoware-architecture-v1
   - Architecture 2.0: autoware-architecture-v2
-  - autoware-interfaces
   - Versioning & Repositories: versioning_and_repositories
   - autoware-system-capabilities.md

docs/design/autoware-architecture-v1/.pages

@@ -2,3 +2,4 @@ nav:
   - index.md
   - node-diagram
   - components
+  - interfaces

docs/design/autoware-architecture-v1/components/perception/index.md

@@ -67,7 +67,7 @@ The Perception Component consists of the following sub-components:
 
 ## Component interface
 
-The following describes the input/output concept between Perception Component and other components. See [the Perception Component Interface](../../../autoware-interfaces/components/perception.md) page for the current implementation.
+The following describes the input/output concept between Perception Component and other components. See [the Perception Component Interface](../../interfaces/components/perception.md) page for the current implementation.
 
 ### Input to the Perception Component
 

docs/design/autoware-architecture-v1/components/planning/index.md

@@ -102,7 +102,7 @@ Organizations or research entities developing autonomous driving Planning system
 
 ## Component interface
 
-This section describes the inputs and outputs of the Planning Component and of its internal modules. See the [Planning Component Interface](../../../autoware-interfaces/components/planning.md) page for the current implementation.
+This section describes the inputs and outputs of the Planning Component and of its internal modules. See the [Planning Component Interface](../../interfaces/components/planning.md) page for the current implementation.
 
 ### Input to the planning component
 

docs/design/autoware-interfaces/ad-api/features/cooperation.md → docs/design/autoware-architecture-v1/interfaces/ad-api/features/cooperation.md

@@ -24,17 +24,17 @@ Here Autoware decides not to change lanes a second time due to the obstacle, so
 However, operator could overwrite that decision through RTC function and force the lane change so that vehicle could reach to it's goal.
 Using RTC, the operator can override these decisions to continue driving the vehicle to the goal.
 
-![cooperation-scenes](./cooperation/scenes.drawio.svg)
+![cooperation-scenes](cooperation/scenes.drawio.svg)
 
 ## Architecture
 
 Modules that support RTC have the operator decision and cooperation policy in addition to the module decision as shown below.
 These modules use the merged decision that is determined by these values when planning vehicle behavior.
 See decisions section for details of these values.
 The cooperation policy is used when there is no operator decision and has a default value set by the system settings.
-If the module supports RTC, these information are available in [velocity factors or steering factors](./planning-factors.md) as [cooperation status](../types/autoware_adapi_v1_msgs/msg/CooperationStatus.md).
+If the module supports RTC, these information are available in [velocity factors or steering factors](planning-factors.md) as [cooperation status](../types/autoware_adapi_v1_msgs/msg/CooperationStatus.md).
 
-![cooperation-architecture](./cooperation/architecture.drawio.svg)
+![cooperation-architecture](cooperation/architecture.drawio.svg)
 
 ## Sequence
 
@@ -77,7 +77,7 @@ The meanings of these values are as follows. Note that the cooperation policy is
 
 The following flow is how the merged decision is determined.
 
-![cooperation-decisions](./cooperation/decisions.drawio.svg)
+![cooperation-decisions](cooperation/decisions.drawio.svg)
 
 ## Examples
 

docs/design/autoware-interfaces/ad-api/features/diagnostics.md → docs/design/autoware-architecture-v1/interfaces/ad-api/features/diagnostics.md

@@ -16,7 +16,7 @@ Below is an example of the diagnostics provided by this API.
 The `path` in the diagram is an arbitrary string that describes the functional unit, and the `level` is its error level.
 For error level, the same value as `diagnostic_msgs/msg/DiagnosticStatus` is used.
 
-![graph-tree](./diagnostics/tree.drawio.svg)
+![graph-tree](diagnostics/tree.drawio.svg)
 
 The diagnostics data has static and dynamic parts, so the API provides these separately for efficiency.
 Below is an example of a message that corresponds to the above diagram.
@@ -25,10 +25,10 @@ The links specify dependencies between nodes by index into an array of them.
 The dynamic part of the diagnostic is published periodically as DiagGraphStatus.
 The status has nodes and diags of the same length as the struct, with the same index representing the same functional unit.
 
-![graph-data](./diagnostics/data.drawio.svg)
+![graph-data](diagnostics/data.drawio.svg)
 
 Some functional unit levels may be latched. If the abnormality continues for a certain period, the level value will not return to normal.
 Use input_level to know the level before it was latched. Also, use latch_level to know if the latch is currently activated.
 To restore the level after the latch has been activated, use the reset API.
 
-![level](./diagnostics/level.drawio.svg)
+![level](diagnostics/level.drawio.svg)

docs/design/autoware-interfaces/ad-api/features/fail-safe.md → docs/design/autoware-architecture-v1/interfaces/ad-api/features/fail-safe.md

@@ -17,7 +17,7 @@ For safety, Autoware switches the operation to MRM when an abnormality is detect
 Since the required behavior differs depending on the situation, MRM is implemented in various places as a specific mode in a normal module or as an independent module.
 The fail-safe module selects the behavior of MRM according to the abnormality and switches the gate output to that command.
 
-![fail-safe-architecture](./fail-safe/architecture.drawio.svg)
+![fail-safe-architecture](fail-safe/architecture.drawio.svg)
 
 ## RTI state
 
@@ -34,7 +34,7 @@ For backward compatibility, the values listed in the MRM behavior table are rese
 The MRM state indicates whether MRM is operating and its current behavior.
 This state also provides success or failure of the operation. Generally, MRM will switch to another behavior if it fails.
 
-![mrm-state](./fail-safe/mrm-state.drawio.svg)
+![mrm-state](fail-safe/mrm-state.drawio.svg)
 
 | State     | Description                                                |
 | --------- | ---------------------------------------------------------- |
@@ -47,7 +47,7 @@ This state also provides success or failure of the operation. Generally, MRM wil
 There is a dependency between MRM behaviors. For example, it switches from a comfortable stop to a emergency stop, but not the other way around.
 This is service dependent. Autoware supports the following transitions by default.
 
-![mrm-behavior](./fail-safe/mrm-behavior.drawio.svg)
+![mrm-behavior](fail-safe/mrm-behavior.drawio.svg)
 
 | State            | Value | Description                                                               |
 | ---------------- | ----- | ------------------------------------------------------------------------- |

docs/design/autoware-interfaces/ad-api/features/localization.md → docs/design/autoware-architecture-v1/interfaces/ad-api/features/localization.md

@@ -11,7 +11,7 @@ This API manages the initialization of localization. Autoware requires a global
 
 ## States
 
-![localization-initialization-state](./localization/state.drawio.svg)
+![localization-initialization-state](localization/state.drawio.svg)
 
 | State         | Description                                                                      |
 | ------------- | -------------------------------------------------------------------------------- |

docs/design/autoware-interfaces/ad-api/features/manual-control.md → docs/design/autoware-architecture-v1/interfaces/ad-api/features/manual-control.md

@@ -29,7 +29,7 @@
 
 This API is used to manually control the vehicle, and provides the same interface for different operators: remote and local.
 For example, the local operator controls a vehicle without a driver's seat using a joystick, while the remote operator provides remote support when problems occur with autonomous driving.
-The command sent will be used when [operation mode](./operation_mode.md) is remote or local.
+The command sent will be used when [operation mode](operation_mode.md) is remote or local.
 
 ## Operator status
 

docs/design/autoware-interfaces/ad-api/features/motion.md → docs/design/autoware-architecture-v1/interfaces/ad-api/features/motion.md

@@ -19,7 +19,7 @@ In this state, calling the start API changes the state to MOVING and the vehicle
 This mechanism can add processing such as announcements before the vehicle starts.
 Depending on the configuration, the state may transition directly from STOPPED to MOVING.
 
-![motion-state](./motion/state.drawio.svg)
+![motion-state](motion/state.drawio.svg)
 
 | State            | Description                                     |
 | ---------------- | ----------------------------------------------- |

docs/design/autoware-interfaces/ad-api/features/operation_mode.md → docs/design/autoware-architecture-v1/interfaces/ad-api/features/operation_mode.md

@@ -24,7 +24,7 @@ Autoware control mode has four operation modes.
 | Local      | Manually control the vehicle from nearby with some device such as a joystick. |
 | Remote     | Manually control the vehicle from a web application on the cloud.             |
 
-![operation-mode-architecture](./operation_mode/architecture.drawio.svg)
+![operation-mode-architecture](operation_mode/architecture.drawio.svg)
 
 ## States
 

docs/design/autoware-interfaces/ad-api/features/planning-factors.md → docs/design/autoware-architecture-v1/interfaces/ad-api/features/planning-factors.md

@@ -40,7 +40,7 @@ As the vehicle approaches the stop position, this factor appears with a status o
 And when the vehicle reaches that position and stops, the status will be STOPPED.
 The pose indicates the stop position, or the base link if the stop position cannot be calculated.
 
-![velocity-factors](./planning-factors/velocity-factors.drawio.svg)
+![velocity-factors](planning-factors/velocity-factors.drawio.svg)
 
 ## Steering factors
 
@@ -62,9 +62,9 @@ As the vehicle approaches the position to start steering, this factor appears wi
 And when the vehicle reaches that position, the status will be TURNING.
 The poses indicate the start and end position of the section where the status is TURNING.
 
-![steering-factors-1](./planning-factors/steering-factors-1.drawio.svg)
+![steering-factors-1](planning-factors/steering-factors-1.drawio.svg)
 
 In cases such as lane change and avoidance, the vehicle will start steering at any position in the range depending on the situation.
 For these types, the section where the status is TURNING will be updated dynamically and the poses will follow that.
 
-![steering-factors-2](./planning-factors/steering-factors-2.drawio.svg)
+![steering-factors-2](planning-factors/steering-factors-2.drawio.svg)

docs/design/autoware-interfaces/ad-api/features/routing.md → docs/design/autoware-architecture-v1/interfaces/ad-api/features/routing.md

@@ -18,7 +18,7 @@ There are two ways to set the route. The one is a generic method that uses pose,
 
 ## States
 
-![route-state](./routing/state.drawio.svg)
+![route-state](routing/state.drawio.svg)
 
 | State    | Description                                        |
 | -------- | -------------------------------------------------- |

docs/design/autoware-architecture-v1/interfaces/ad-api/index.md

@@ -0,0 +1,47 @@
+# Autoware AD API
+
+## Overview
+
+Autoware AD API is the interface for operating the vehicle from outside the autonomous driving system.
+[See here for the overall interface design of Autoware.](../index.md)
+
+## User stories
+
+The user stories are service scenarios that AD API assumes. AD API is designed based on these scenarios.
+Each scenario is realized by a combination of use cases described later.
+If there are scenarios that cannot be covered, please discuss adding a user story.
+
+- [Bus service](stories/bus-service.md)
+- [Taxi service](stories/taxi-service.md)
+
+## Use cases
+
+Use cases are partial scenarios derived from the user story and generically designed.
+Service providers can combine these use cases to define user stories and check if AD API can be applied to their own scenarios.
+
+- [Launch and terminate](use-cases/launch-terminate.md)
+- [Initialize the pose](use-cases/initialize-pose.md)
+- [Change the operation mode](use-cases/change-operation-mode.md)
+- [Drive to the designated position](use-cases/drive-designated-position.md)
+- [Get on and get off](use-cases/get-on-off.md)
+- [Vehicle monitoring](use-cases/vehicle-monitoring.md)
+- [Vehicle operation](use-cases/vehicle-operation.md)
+- [System monitoring](use-cases/system-monitoring.md)
+- [Manual control](use-cases/manual-control/index.md)
+
+## Features
+
+- [Interface](features/interface.md)
+- [Operation Mode](features/operation_mode.md)
+- [Routing](features/routing.md)
+- [Localization](features/localization.md)
+- [Motion](features/motion.md)
+- [Planning](features/planning-factors.md)
+- [Perception](features/perception.md)
+- [Fail-safe](features/fail-safe.md)
+- [Vehicle status](features/vehicle-status.md)
+- [Vehicle doors](features/vehicle-doors.md)
+- [Cooperation](features/cooperation.md)
+- [Heartbeat](features/heartbeat.md)
+- [Diagnostics](features/diagnostics.md)
+- [Manual control](features/manual-control.md)

docs/design/autoware-interfaces/ad-api/list/api/control/command/acceleration.md → docs/design/autoware-architecture-v1/interfaces/ad-api/list/api/control/command/acceleration.md

@@ -11,7 +11,7 @@ type:
       text: Target acceleration [m/s^2].
 ---
 
-{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% extends 'design/autoware-architecture-v1/interfaces/templates/autoware-interface.jinja2' %}
 {% block description %}
 This is the target acceleration that Autoware is sending to the vehicle.
 {% endblock %}

docs/design/autoware-interfaces/ad-api/list/api/control/command/pedals.md → docs/design/autoware-architecture-v1/interfaces/ad-api/list/api/control/command/pedals.md

@@ -13,7 +13,7 @@ type:
       text: Target brake pedal ratio.
 ---
 
-{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% extends 'design/autoware-architecture-v1/interfaces/templates/autoware-interface.jinja2' %}
 {% block description %}
 This is the target pedals that Autoware is sending to the vehicle.
 The pedal value is the ratio with the maximum pedal depression being 1.0.

docs/design/autoware-interfaces/ad-api/list/api/control/command/steering.md → docs/design/autoware-architecture-v1/interfaces/ad-api/list/api/control/command/steering.md

@@ -11,7 +11,7 @@ type:
       text: Target steering tire angle [rad].
 ---
 
-{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% extends 'design/autoware-architecture-v1/interfaces/templates/autoware-interface.jinja2' %}
 {% block description %}
 This is the target steering that Autoware is sending to the vehicle.
 {% endblock %}

docs/design/autoware-interfaces/ad-api/list/api/control/command/velocity.md → docs/design/autoware-architecture-v1/interfaces/ad-api/list/api/control/command/velocity.md

@@ -11,7 +11,7 @@ type:
       text: Target velocity [m/s].
 ---
 
-{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% extends 'design/autoware-architecture-v1/interfaces/templates/autoware-interface.jinja2' %}
 {% block description %}
 This is the target velocity that Autoware is sending to the vehicle.
 {% endblock %}

docs/design/autoware-interfaces/ad-api/list/api/fail_safe/list_mrm_description.md → docs/design/autoware-architecture-v1/interfaces/ad-api/list/api/fail_safe/list_mrm_description.md

@@ -15,7 +15,7 @@ type:
       text: response status
 ---
 
-{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% extends 'design/autoware-architecture-v1/interfaces/templates/autoware-interface.jinja2' %}
 {% block description %}
 Get the list of MRM description.
 For details, see the [fail-safe](../../../features/fail-safe.md).

docs/design/autoware-interfaces/ad-api/list/api/fail_safe/mrm_request/list.md → docs/design/autoware-architecture-v1/interfaces/ad-api/list/api/fail_safe/mrm_request/list.md

@@ -11,7 +11,7 @@ type:
       text: The strategy of the MRM request.
 ---
 
-{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% extends 'design/autoware-architecture-v1/interfaces/templates/autoware-interface.jinja2' %}
 {% block description %}
 List the MRM requests from all senders.
 For details, see the [fail-safe](../../../../features/fail-safe.md).

docs/design/autoware-interfaces/ad-api/list/api/fail_safe/mrm_request/send.md → docs/design/autoware-architecture-v1/interfaces/ad-api/list/api/fail_safe/mrm_request/send.md

@@ -14,7 +14,7 @@ type:
       text: response status
 ---
 
-{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% extends 'design/autoware-architecture-v1/interfaces/templates/autoware-interface.jinja2' %}
 {% block description %}
 Send the MRM request.
 For details, see the [fail-safe](../../../../features/fail-safe.md).

docs/design/autoware-interfaces/ad-api/list/api/fail_safe/mrm_state.md → docs/design/autoware-architecture-v1/interfaces/ad-api/list/api/fail_safe/mrm_state.md

@@ -11,7 +11,7 @@ type:
       text: The currently selected behavior of MRM.
 ---
 
-{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% extends 'design/autoware-architecture-v1/interfaces/templates/autoware-interface.jinja2' %}
 {% block description %}
 Get the MRM state.
 For details, see the [fail-safe](../../../features/fail-safe.md).

docs/design/autoware-interfaces/ad-api/list/api/fail_safe/rti_state.md → docs/design/autoware-architecture-v1/interfaces/ad-api/list/api/fail_safe/rti_state.md

@@ -11,7 +11,7 @@ type:
       text: The message such as reasons for RTI.
 ---
 
-{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% extends 'design/autoware-architecture-v1/interfaces/templates/autoware-interface.jinja2' %}
 {% block description %}
 Get the RTI state.
 For details, see the [fail-safe](../../../features/fail-safe.md).

docs/design/autoware-interfaces/ad-api/list/api/interface/version.md → docs/design/autoware-architecture-v1/interfaces/ad-api/list/api/interface/version.md

@@ -13,7 +13,7 @@ type:
       text: patch version
 ---
 
-{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% extends 'design/autoware-architecture-v1/interfaces/templates/autoware-interface.jinja2' %}
 {% block description %}
 Get the interface version. The version follows Semantic Versioning.
 {% endblock %}

docs/design/autoware-interfaces/ad-api/list/api/localization/initialization_state.md → docs/design/autoware-architecture-v1/interfaces/ad-api/list/api/localization/initialization_state.md

@@ -9,7 +9,7 @@ type:
       text: A value of the localization initialization state.
 ---
 
-{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% extends 'design/autoware-architecture-v1/interfaces/templates/autoware-interface.jinja2' %}
 {% block description %}
 Get the initialization state of localization.
 For details, see the [localization](../../../features/localization.md).

docs/design/autoware-interfaces/ad-api/list/api/localization/initialize.md → docs/design/autoware-architecture-v1/interfaces/ad-api/list/api/localization/initialize.md

@@ -12,7 +12,7 @@ type:
       text: response status
 ---
 
-{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% extends 'design/autoware-architecture-v1/interfaces/templates/autoware-interface.jinja2' %}
 {% block description %}
 Request to initialize localization.
 For details, see the [localization](../../../features/localization.md).

docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/acceleration.md → docs/design/autoware-architecture-v1/interfaces/ad-api/list/api/manual/local/command/acceleration.md

@@ -11,7 +11,7 @@ type:
       text: Target acceleration [m/s^2].
 ---
 
-{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% extends 'design/autoware-architecture-v1/interfaces/templates/autoware-interface.jinja2' %}
 {% block description %}
 Sends acceleration command used in local operation mode.
 To use this API, select the corresponding mode as described in [manual control](../../../../../features/manual-control.md).

docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/gear.md → docs/design/autoware-architecture-v1/interfaces/ad-api/list/api/manual/local/command/gear.md

@@ -11,7 +11,7 @@ type:
       text: Target gear status.
 ---
 
-{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% extends 'design/autoware-architecture-v1/interfaces/templates/autoware-interface.jinja2' %}
 {% block description %}
 Sends gear command used in local operation mode.
 To use this API, select the corresponding mode as described in [manual control](../../../../../features/manual-control.md).

docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/hazard_lights.md → docs/design/autoware-architecture-v1/interfaces/ad-api/list/api/manual/local/command/hazard_lights.md

@@ -11,7 +11,7 @@ type:
       text: Target hazard lights status.
 ---
 
-{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% extends 'design/autoware-architecture-v1/interfaces/templates/autoware-interface.jinja2' %}
 {% block description %}
 Sends hazard lights command used in local operation mode.
 To use this API, select the corresponding mode as described in [manual control](../../../../../features/manual-control.md).

docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/pedals.md → docs/design/autoware-architecture-v1/interfaces/ad-api/list/api/manual/local/command/pedals.md

@@ -13,7 +13,7 @@ type:
       text: Target brake pedal ratio.
 ---
 
-{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% extends 'design/autoware-architecture-v1/interfaces/templates/autoware-interface.jinja2' %}
 {% block description %}
 Sends pedals command used in local operation mode. The pedal value is the ratio with the maximum pedal depression being 1.0.
 To use this API, select the corresponding mode as described in [manual control](../../../../../features/manual-control.md).

docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/steering.md → docs/design/autoware-architecture-v1/interfaces/ad-api/list/api/manual/local/command/steering.md

@@ -13,7 +13,7 @@ type:
       text: Target steering tire velocity [rad/s].
 ---
 
-{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% extends 'design/autoware-architecture-v1/interfaces/templates/autoware-interface.jinja2' %}
 {% block description %}
 Send steering command to this API.
 To use this API, select the corresponding mode as described in [manual control](../../../../../features/manual-control.md).

docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/turn_indicators.md → docs/design/autoware-architecture-v1/interfaces/ad-api/list/api/manual/local/command/turn_indicators.md

@@ -11,7 +11,7 @@ type:
       text: Target turn indicators status.
 ---
 
-{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% extends 'design/autoware-architecture-v1/interfaces/templates/autoware-interface.jinja2' %}
 {% block description %}
 Sends turn indicators command used in local operation mode.
 To use this API, select the corresponding mode as described in [manual control](../../../../../features/manual-control.md).