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docs/design/autoware-interfaces/ad-api
types/autoware_ad_api_msgs
14 files changed +327
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lines changed Original file line number Diff line number Diff line change 11nav:
22 - index.md
3+ - list
Original file line number Diff line number Diff line change 1+ nav:
2+ - index.md
Original file line number Diff line number Diff line change 1+ # /api/driving/engage
2+
3+ - Method: function call
4+ - Type: [ autoware_ad_api_msgs/srv/DrivingEngage] ( ../../../types/autoware_ad_api_msgs/srv/driving_engage.md )
5+
6+ ## Description
7+
8+ Engage or disengage the vehicle. For details, see the [ driving state] ( index.md ) .
9+
10+ ## Request
11+
12+ | Name | Type | Description |
13+ | ------ | ---- | --------------------------------------- |
14+ | engage | bool | Set true to engage, false to disengage. |
15+
16+ ## Response
17+
18+ | Name | Type | Description |
19+ | ------ | --------------------------------------- | --------------- |
20+ | status | autoware_ad_api_msgs/msg/ResponseStatus | response status |
Original file line number Diff line number Diff line change 1+ # Driving API
2+
3+ - {{ link_ad_api('/api/driving/state') }}
4+ - {{ link_ad_api('/api/driving/engage') }}
5+
6+ ## Description
7+
8+ This API manages whether the vehicle is driving or can start driving.
9+ The user can use this API to check if the vehicle is ready to drive and instruct it to depart.
10+
11+ ## States
12+
13+ The state transition for driving state is illustrated in the diagram below.
14+ The vehicle holds a stop when the state is not DRIVING.
15+ During normal operation, the flow of driving state transitions is as follows:
16+
17+ 1 . Driving state is initialized to NOT_READY.
18+ 2 . The state transitions to READY when the autonomous system is ready to start driving.
19+ 3 . The state becomes DRIVING if the engage API is called and the vehicle starts driving.
20+ 4 . The state returns to NOT_READY when the vehicle reaches its destination.
21+ 5 . The state can be manually returned to NOT_READY by calling the disengage API.
22+
23+ ![ driving-state] ( ./state.drawio.svg )
24+
25+ | State | Description |
26+ | --------- | ----------------------------------------------- |
27+ | NOT_READY | The vehicle is not ready to start driving. |
28+ | READY | The vehicle is ready to start driving |
29+ | DRIVING | The vehicle is driving towards the destination. |
Original file line number Diff line number Diff line change 1+ # /api/driving/state
2+
3+ - Method: notification
4+ - Type: [ autoware_ad_api_msgs/msg/DrivingState] ( ../../../types/autoware_ad_api_msgs/msg/driving_state.md )
5+
6+ ## Description
7+
8+ Get the driving state. For details, see the [ driving state] ( index.md ) .
9+
10+ ## Message
11+
12+ | Name | Type | Description |
13+ | ----- | ------ | ----------------------------------------- |
14+ | state | uint16 | A value of the [ driving state] ( index.md ) . |
Original file line number Diff line number Diff line change 1+ # Interface API
2+
3+ - {{ link_ad_api('/api/interface/version') }}
4+
5+ ## Description
6+
7+ This API provides the interface version of the set of AD APIs.
8+ It follows [ Semantic Versioning] [ semver ] in order to provide an intuitive understanding of the changes between versions.
9+
10+ <!-- link -->
11+
12+ [ semver ] : https://semver.org/
Original file line number Diff line number Diff line change 1+ # /api/interface/version
2+
3+ - Method: function call
4+ - Type: [ autoware_ad_api_msgs/srv/InterfaceVersion] ( ../../../types/autoware_ad_api_msgs/srv/interface_version.md )
5+
6+ ## Description
7+
8+ Get the interface version. The version follows Semantic Versioning.
9+
10+ ## Request
11+
12+ None
13+
14+ ## Response
15+
16+ | Name | Type | Description |
17+ | ----- | ------ | ------------- |
18+ | major | uint16 | major version |
19+ | minor | uint16 | minor version |
20+ | patch | uint16 | patch version |
Original file line number Diff line number Diff line change 1+ # List of Autoware AD API
2+
3+ - [ Interface] ( ./api/interface/index.md )
4+ - [ Driving] ( ./api/driving/index.md )
Original file line number Diff line number Diff line change 1+ # autoware_ad_api_msgs/msg/DrivingState
2+
3+ ## Definition
4+
5+ ``` txt
6+ uint16 UNKNOWN = 0
7+ uint16 NOT_READY = 1
8+ uint16 READY = 2
9+ uint16 DRIVING = 3
10+
11+ uint16 state
12+ ```
13+
14+ ## This type uses
15+
16+ None
Original file line number Diff line number Diff line change 1+ # autoware_ad_api_msgs/msg/ResponseStatus
2+
3+ ## Definition
4+
5+ ``` txt
6+ # constants for code
7+ uint16 DEPRECATED = 50000
8+ uint16 SERVICE_UNREADY = 50001
9+ uint16 SERVICE_TIMEOUT = 50002
10+
11+ # variables
12+ bool success
13+ uint16 code
14+ string message
15+ ```
16+
17+ ## This type uses
18+
19+ None
Original file line number Diff line number Diff line change 1+ # autoware_ad_api_msgs/srv/DrivingEngage
2+
3+ ## Definition
4+
5+ ``` txt
6+ bool engage
7+ ---
8+ autoware_ad_api_msgs/ResponseStatus status
9+ ```
10+
11+ ## This type uses
12+
13+ - [ autoware_ad_api_msgs/msg/ResponseStatus] ( ../../autoware_ad_api_msgs/msg/response_status.md )
Original file line number Diff line number Diff line change 1+ # autoware_ad_api_msgs/srv/InterfaceVersion
2+
3+ ## Definition
4+
5+ ``` txt
6+ ---
7+ uint16 major
8+ uint16 minor
9+ uint16 patch
10+ ```
11+
12+ ## This type uses
13+
14+ None
Original file line number Diff line number Diff line change 1+ import os # for relpath, cannot use pathlib
2+
3+
4+ def define_env (env ):
5+
6+ @env .macro
7+ def link_ad_api (name ):
8+ root_path = "design/autoware-interfaces/ad-api"
9+ base_path = os .path .relpath (root_path , env .page .url ) + "/list"
10+ return f"[{ name } { base_path } { name }
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