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feat(mrm_handler): add mrm_handler #6400

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merged 12 commits into from
Feb 28, 2024

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Description

This PR adds mrm_handler node that is going to be replaced with emergency_handler node.
The difference from emergency_handler is that mrm_handler node uses operation_mode_availability while emergency_handler uses hazard_status.

Related links

Tests performed

Confirmed that mrm_handler has the same functionality as emergency_handler.
Confirmed that pull_over functionality can be executed.
Confirmed that behavior transitions from pull_over to comfortable_stop and emergency_stop.

Notes for reviewers

To transition from emergency_handler to mrm_handler,

  • Replace the aggregator+system_error_monitor nodes with diagnostic_graph_aggregator node.
  • Create a graph configuration file for diagnostic_graph_aggregator.
  • Launch new hazard_status_converter node.

Interface changes

Effects on system behavior

This change not only allows for the execution of various MRM behaviors that could not be expressed in hazard_status, but also allows for extensibility of MRM behaviors.

Pre-review checklist for the PR author

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In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

  • The PR follows the pull request guidelines.
  • The PR has been properly tested.
  • The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

  • There are no open discussions or they are tracked via tickets.
  • The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

@github-actions github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:system System design and integration. (auto-assigned) labels Feb 14, 2024
@TetsuKawa TetsuKawa marked this pull request as ready for review February 14, 2024 03:10
@TetsuKawa TetsuKawa marked this pull request as draft February 14, 2024 03:12
@TetsuKawa TetsuKawa marked this pull request as ready for review February 21, 2024 06:17
@TetsuKawa TetsuKawa requested a review from mkuri February 21, 2024 08:00
@TetsuKawa TetsuKawa added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Feb 21, 2024
@TetsuKawa TetsuKawa requested a review from veqcc February 21, 2024 08:02
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codecov bot commented Feb 21, 2024

Codecov Report

Attention: Patch coverage is 0% with 269 lines in your changes are missing coverage. Please review.

Project coverage is 14.69%. Comparing base (4b784b4) to head (30b2db8).
Report is 3 commits behind head on main.

Files Patch % Lines
...m/mrm_handler/src/mrm_handler/mrm_handler_core.cpp 0.00% 260 Missing ⚠️
...m/mrm_handler/src/mrm_handler/mrm_handler_node.cpp 0.00% 8 Missing ⚠️
...m_handler/include/mrm_handler/mrm_handler_core.hpp 0.00% 1 Missing ⚠️
Additional details and impacted files
@@            Coverage Diff             @@
##             main    #6400      +/-   ##
==========================================
- Coverage   14.72%   14.69%   -0.04%     
==========================================
  Files        1900     1903       +3     
  Lines      130361   130630     +269     
  Branches    38381    38381              
==========================================
  Hits        19198    19198              
- Misses      89647    89916     +269     
  Partials    21516    21516              
Flag Coverage Δ *Carryforward flag
differential 0.00% <0.00%> (?)
total 14.72% <ø> (ø) Carriedforward from 4b784b4

*This pull request uses carry forward flags. Click here to find out more.

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

@TetsuKawa TetsuKawa force-pushed the feat/add-mrm-handler branch from e82b218 to 5b4f753 Compare February 27, 2024 02:13
TetsuKawa and others added 11 commits February 27, 2024 13:47
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
@TetsuKawa TetsuKawa force-pushed the feat/add-mrm-handler branch from 52bc8a7 to e6eb715 Compare February 27, 2024 04:47
@mkuri mkuri self-requested a review February 27, 2024 05:43
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LGTM

@TetsuKawa TetsuKawa merged commit 52dbe75 into autowarefoundation:main Feb 28, 2024
20 of 24 checks passed
@TetsuKawa TetsuKawa deleted the feat/add-mrm-handler branch February 28, 2024 03:23
HansRobo pushed a commit that referenced this pull request Mar 12, 2024
* feat: add mrm_handler

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* style(pre-commit): autofix

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* modify: update README

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* feat: refactor isArrivedAtGoal()

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* modify: fix error massages gramatically.

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* feat: update the person in charge of the unimplemented parts

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* modify: fix typo in schema.json

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* modify: fix copyright

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* modify: fix mistakes in README

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* modify: correct a type mistake in README

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* style(pre-commit): autofix

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

---------

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Makoto Kurihara <mkuri8m@gmail.com>
Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
mkuri added a commit to tier4/autoware.universe that referenced this pull request Mar 28, 2024
* feat: add mrm_handler

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* style(pre-commit): autofix

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* modify: update README

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* feat: refactor isArrivedAtGoal()

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* modify: fix error massages gramatically.

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* feat: update the person in charge of the unimplemented parts

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* modify: fix typo in schema.json

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* modify: fix copyright

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* modify: fix mistakes in README

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* modify: correct a type mistake in README

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* style(pre-commit): autofix

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

---------

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Makoto Kurihara <mkuri8m@gmail.com>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
* feat: add mrm_handler

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* style(pre-commit): autofix

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* modify: update README

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* feat: refactor isArrivedAtGoal()

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* modify: fix error massages gramatically.

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* feat: update the person in charge of the unimplemented parts

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* modify: fix typo in schema.json

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* modify: fix copyright

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* modify: fix mistakes in README

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* modify: correct a type mistake in README

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* style(pre-commit): autofix

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

---------

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Makoto Kurihara <mkuri8m@gmail.com>
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3 participants