use operation move availability

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

Author: isamu-takagi

system/default_ad_api/src/operation_mode.cpp

@@ -39,18 +39,15 @@ OperationModeNode::OperationModeNode(const rclcpp::NodeOptions & options)
   adaptor.init_cli(cli_mode_, group_cli_);
   adaptor.init_cli(cli_control_, group_cli_);
 
-  const std::vector<std::string> module_names = {
-    "sensing", "perception", "map", "localization", "planning", "control", "vehicle", "system",
+  const auto name = "/system/operation_mode/availability";
+  const auto qos = rclcpp::QoS(1);
+  const auto callback = [this](const OperationModeAvailability::ConstSharedPtr msg) {
+    mode_available_[OperationModeState::Message::STOP] = msg->stop;
+    mode_available_[OperationModeState::Message::AUTONOMOUS] = msg->autonomous;
+    mode_available_[OperationModeState::Message::LOCAL] = msg->local;
+    mode_available_[OperationModeState::Message::REMOTE] = msg->remote;
   };
-
-  for (size_t i = 0; i < module_names.size(); ++i) {
-    const auto name = "/system/component_state_monitor/component/autonomous/" + module_names[i];
-    const auto qos = rclcpp::QoS(1).transient_local();
-    const auto callback = [this, i, module_names](const ModeChangeAvailable::ConstSharedPtr msg) {
-      module_states_[module_names[i]] = msg->available;
-    };
-    sub_module_states_.push_back(create_subscription<ModeChangeAvailable>(name, qos, callback));
-  }
+  sub_availability_ = create_subscription<OperationModeAvailability>(name, qos, callback);
 
   timer_ = rclcpp::create_timer(
     this, get_clock(), rclcpp::Rate(5.0).period(), std::bind(&OperationModeNode::on_timer, this));
@@ -60,8 +57,8 @@ OperationModeNode::OperationModeNode(const rclcpp::NodeOptions & options)
   mode_available_[OperationModeState::Message::UNKNOWN] = false;
   mode_available_[OperationModeState::Message::STOP] = true;
   mode_available_[OperationModeState::Message::AUTONOMOUS] = false;
-  mode_available_[OperationModeState::Message::LOCAL] = true;
-  mode_available_[OperationModeState::Message::REMOTE] = true;
+  mode_available_[OperationModeState::Message::LOCAL] = false;
+  mode_available_[OperationModeState::Message::REMOTE] = false;
 }
 
 template <class ResponseT>
@@ -135,23 +132,6 @@ void OperationModeNode::on_state(const OperationModeState::Message::ConstSharedP
 
 void OperationModeNode::on_timer()
 {
-  bool autonomous_available = true;
-  std::string unhealthy_components = "";
-  for (const auto & state : module_states_) {
-    if (!state.second) {
-      unhealthy_components += unhealthy_components.empty() ? state.first : ", " + state.first;
-    }
-    autonomous_available &= state.second;
-  }
-  mode_available_[OperationModeState::Message::AUTONOMOUS] = autonomous_available;
-
-  if (!unhealthy_components.empty()) {
-    RCLCPP_INFO_THROTTLE(
-      get_logger(), *get_clock(), 3000,
-      "%s component state is unhealthy. Autonomous is not available.",
-      unhealthy_components.c_str());
-  }
-
   update_state();
 }
 

system/default_ad_api/src/operation_mode.hpp

@@ -25,7 +25,7 @@
 #include <vector>
 
 // TODO(Takagi, Isamu): define interface
-#include <tier4_system_msgs/msg/mode_change_available.hpp>
+#include <tier4_system_msgs/msg/operation_mode_availability.hpp>
 
 // This file should be included after messages.
 #include "utils/types.hpp"
@@ -47,7 +47,7 @@ class OperationModeNode : public rclcpp::Node
   using ChangeToRemote = autoware_ad_api::operation_mode::ChangeToRemote;
   using OperationModeRequest = system_interface::ChangeOperationMode::Service::Request;
   using AutowareControlRequest = system_interface::ChangeAutowareControl::Service::Request;
-  using ModeChangeAvailable = tier4_system_msgs::msg::ModeChangeAvailable;
+  using OperationModeAvailability = tier4_system_msgs::msg::OperationModeAvailability;
 
   OperationModeState::Message curr_state_;
   OperationModeState::Message prev_state_;
@@ -65,9 +65,7 @@ class OperationModeNode : public rclcpp::Node
   Sub<system_interface::OperationModeState> sub_state_;
   Cli<system_interface::ChangeOperationMode> cli_mode_;
   Cli<system_interface::ChangeAutowareControl> cli_control_;
-
-  std::unordered_map<std::string, bool> module_states_;
-  std::vector<rclcpp::Subscription<ModeChangeAvailable>::SharedPtr> sub_module_states_;
+  rclcpp::Subscription<OperationModeAvailability>::SharedPtr sub_availability_;
 
   void on_change_to_stop(
     const ChangeToStop::Service::Request::SharedPtr req,