feat(autoware_adapi_v1_msgs): add mrm request messages

isamu-takagi · isamu-takagi · commit d7e8f8706a79 · 2025-03-10T17:57:37.000+09:00
Signed-off-by: Takagi, Isamu &lt;isamu.takagi@tier4.jp&gt;
diff --git a/autoware_adapi_v1_msgs/CMakeLists.txt b/autoware_adapi_v1_msgs/CMakeLists.txt
@@ -52,6 +52,9 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   planning/srv/SetCooperationPolicies.srv
   planning/srv/GetCooperationPolicies.srv
   system/msg/MrmState.msg
+  system/msg/MrmRequest.msg
+  system/msg/MrmRequestList.msg
+  system/srv/SendMrmRequest.srv
   system/msg/Heartbeat.msg
   system/msg/DiagGraphStruct.msg
   system/msg/DiagGraphStatus.msg
diff --git a/autoware_adapi_v1_msgs/system/msg/MrmRequest.msg b/autoware_adapi_v1_msgs/system/msg/MrmRequest.msg
@@ -0,0 +1,6 @@
+uint16 UNKNOWN = 0
+uint16 CLEAR = 1     # Clear the MRM request.
+uint16 DELEGATE = 2  # Delegate the selection of MRM behavior to Autoware.
+
+uint16 strategy
+string user      # The identifier of the request sender.
diff --git a/autoware_adapi_v1_msgs/system/msg/MrmRequestList.msg b/autoware_adapi_v1_msgs/system/msg/MrmRequestList.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+autoware_adapi_v1_msgs/MrmRequest[] requests
diff --git a/autoware_adapi_v1_msgs/system/srv/SendMrmRequest.srv b/autoware_adapi_v1_msgs/system/srv/SendMrmRequest.srv
@@ -0,0 +1,3 @@
+autoware_adapi_v1_msgs/MrmRequest[] requests
+---
+autoware_adapi_v1_msgs/ResponseStatus status

Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,2 @@`
	`1`	`+builtin_interfaces/Time stamp`
	`2`	`+autoware_adapi_v1_msgs/MrmRequest[] requests`
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,3 @@`
	`1`	`+autoware_adapi_v1_msgs/MrmRequest[] requests`
	`2`	`+---`
	`3`	`+autoware_adapi_v1_msgs/ResponseStatus status`