From b9f53c636c6a468ff11ba38f5d59427056511ae8 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Wed, 23 Oct 2024 12:05:14 +0900 Subject: [PATCH] feat(ad-api): add restrictions and options (#602) Signed-off-by: Takagi, Isamu --- docs/design/autoware-interfaces/ad-api/features/routing.md | 4 ++++ .../ad-api/list/api/routing/clear_route.md | 2 +- .../ad-api/list/api/vehicle/doors/command.md | 1 + .../autoware-interfaces/ad-api/list/api/vehicle/status.md | 2 +- docs/design/autoware-interfaces/ad-api/release.md | 7 +++++++ .../ad-api/types/autoware_adapi_v1_msgs/msg/RouteOption.md | 4 ++++ yaml/autoware-interfaces.yaml | 1 + 7 files changed, 19 insertions(+), 2 deletions(-) diff --git a/docs/design/autoware-interfaces/ad-api/features/routing.md b/docs/design/autoware-interfaces/ad-api/features/routing.md index 30ef703212b..a2a6909a484 100644 --- a/docs/design/autoware-interfaces/ad-api/features/routing.md +++ b/docs/design/autoware-interfaces/ad-api/features/routing.md @@ -35,3 +35,7 @@ See the sections below for supported options and details. ### allow_goal_modification **[v1.1.0]** Autoware tries to look for an alternate goal when goal is unreachable (e.g., when there is an obstacle on the given goal). When setting a route from the API, applications can choose whether they allow Autoware to adjust goal pose in such situation. When set false, Autoware may get stuck until the given goal becomes reachable. + +### allow_while_using_route + +**[v1.6.0]** This option only affects the route change APIs. Autoware accepts new route even while the vehicle is using the current route. The APIs fail if it cannot safely transition to new route. When set false, the APIs always fail when the vehicle is using the route. diff --git a/docs/design/autoware-interfaces/ad-api/list/api/routing/clear_route.md b/docs/design/autoware-interfaces/ad-api/list/api/routing/clear_route.md index 7648b5b5a09..43cc9c466f4 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/routing/clear_route.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/routing/clear_route.md @@ -11,5 +11,5 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} -Clear the route. +Clear the route. This API fails when the vehicle is using the route. {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/command.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/command.md index 6d783c0f7de..555d4c8e503 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/command.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/command.md @@ -17,4 +17,5 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} Set the door command. This API is only available if the vehicle supports software door control. +This API fails if the doors cannot be opened or closed safely. {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/status.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/status.md index 62766cafcf0..659b1f5f7e0 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/status.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/status.md @@ -1,7 +1,7 @@ --- title: /api/vehicle/status status: v1.4.0 -method: notification +method: realtime stream type: name: autoware_adapi_v1_msgs/msg/VehicleStatus msg: diff --git a/docs/design/autoware-interfaces/ad-api/release.md b/docs/design/autoware-interfaces/ad-api/release.md index 0b9e72f8d1f..98fcc4585fe 100644 --- a/docs/design/autoware-interfaces/ad-api/release.md +++ b/docs/design/autoware-interfaces/ad-api/release.md @@ -1,5 +1,12 @@ # Release notes +## v1.6.0 (Not released) + +- [Change] Fix communication method of {{ link_ad_api('/api/vehicle/status') }} +- [Change] Add options to [the routing API](./features/routing.md) +- [Change] Add restrictions to {{ link_ad_api('/api/routing/clear_route') }} +- [Change] Add restrictions to {{ link_ad_api('/api/vehicle/doors/command') }} + ## v1.5.0 - [New] Add {{ link_ad_api('/api/routing/change_route_points') }} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteOption.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteOption.md index 25deed8faf8..0f10f1b06f6 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteOption.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteOption.md @@ -10,7 +10,11 @@ used: {% block definition %} ```txt +# Please refer to the following pages for details on each option. +# https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/routing/ + bool allow_goal_modification +bool allow_while_using_route ``` {% endblock %} diff --git a/yaml/autoware-interfaces.yaml b/yaml/autoware-interfaces.yaml index b4aec03a15a..7efed1d6170 100644 --- a/yaml/autoware-interfaces.yaml +++ b/yaml/autoware-interfaces.yaml @@ -129,6 +129,7 @@ types: autoware_adapi_v1_msgs/msg/RouteOption: msg: allow_goal_modification: bool + allow_while_using_route: bool autoware_adapi_v1_msgs/msg/RoutePrimitive: msg: id: int64