feat(ad-api): add request to intervene (RTI)

docs/design/autoware-interfaces/ad-api/features/fail-safe.md

@@ -3,6 +3,7 @@
 ## Related API
 
 - {{ link_ad_api('/api/fail_safe/mrm_state') }}
+- {{ link_ad_api('/api/fail_safe/rti_state') }}
 
 ## Description
 
@@ -15,10 +16,10 @@ The fail-safe module selects the behavior of MRM according to the abnormality an
 
 ![fail-safe-architecture](./fail-safe/architecture.drawio.svg)
 
-## States
+## MRM state
 
-The MRM state indicates whether MRM is operating. This state also provides success or failure.
-Generally, MRM will switch to another behavior if it fails.
+The MRM state indicates whether MRM is operating and its current behavior.
+This state also provides success or failure of the operation. Generally, MRM will switch to another behavior if it fails.
 
 ![mrm-state](./fail-safe/mrm-state.drawio.svg)
 
@@ -29,8 +30,6 @@ Generally, MRM will switch to another behavior if it fails.
 | SUCCEEDED | MRM succeeded. The vehicle is in a safe condition.         |
 | FAILED    | MRM failed. The vehicle is still in an unsafe condition.   |
 
-## Behavior
-
 There is a dependency between MRM behaviors. For example, it switches from a comfortable stop to a emergency stop, but not the other way around.
 This is service dependent. Autoware supports the following transitions by default.
 
@@ -41,3 +40,14 @@ This is service dependent. Autoware supports the following transitions by defaul
 | NONE             | MRM is not operating or is operating but no special behavior is required. |
 | COMFORTABLE_STOP | The vehicle will stop quickly with a comfortable deceleration.            |
 | EMERGENCY_STOP   | The vehicle will stop immediately with as much deceleration as possible.  |
+
+## RTI state
+
+The RTI state indicates whether RTI is requested. If for some reason autonomous driving cannot continue, Autoware will request a change to manual driving.
+The following states are provided to properly handle RTI from multiple vehicles.
+
+| State         | Description                                                                               |
+| ------------- | ----------------------------------------------------------------------------------------- |
+| NONE          | RTI is not requested.                                                                     |
+| MRM_OPERATING | MRM is operating. Since MRC has not been achieved, immediate intervention is recommended. |
+| MRM_COMPLETED | MRM is completed. Since MRC has been achieved, give priority to vehicles with urgency.    |

docs/design/autoware-interfaces/ad-api/list/api/fail_safe/rti_state.md

@@ -0,0 +1,18 @@
+---
+title: /api/fail_safe/rti_state
+status: not released
+method: notification
+type:
+  name: autoware_adapi_v1_msgs/msg/RtiState
+  msg:
+    - name: state
+      text: The state of RTI.
+    - name: message
+      text: The message such as reasons for RTI.
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Get the RTI state.
+For details, see the [fail-safe](../../../features/fail-safe.md).
+{% endblock %}

docs/design/autoware-interfaces/ad-api/list/index.md

@@ -1,6 +1,7 @@
 # List of Autoware AD API
 
 - [/api/fail_safe/mrm_state](./api/fail_safe/mrm_state.md)
+- [/api/fail_safe/rti_state](./api/fail_safe/rti_state.md)
 - [/api/interface/version](./api/interface/version.md)
 - [/api/localization/initialization_state](./api/localization/initialization_state.md)
 - [/api/localization/initialize](./api/localization/initialize.md)

docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RtiState.md

@@ -0,0 +1,20 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/RtiState
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+uint16 UNKNOWN = 0
+uint16 NONE = 1
+uint16 MRM_OPERATING = 2
+uint16 MRM_COMPLETED = 3
+
+builtin_interfaces/Time stamp
+uint16 state
+string message
+```
+
+{% endblock %}

docs/design/autoware-interfaces/ad-api/types/index.md

@@ -26,6 +26,7 @@
 - [autoware_adapi_v1_msgs/msg/RoutePrimitive](./autoware_adapi_v1_msgs/msg/RoutePrimitive.md)
 - [autoware_adapi_v1_msgs/msg/RouteSegment](./autoware_adapi_v1_msgs/msg/RouteSegment.md)
 - [autoware_adapi_v1_msgs/msg/RouteState](./autoware_adapi_v1_msgs/msg/RouteState.md)
+- [autoware_adapi_v1_msgs/msg/RtiState](./autoware_adapi_v1_msgs/msg/RtiState.md)
 - [autoware_adapi_v1_msgs/msg/SteeringFactor](./autoware_adapi_v1_msgs/msg/SteeringFactor.md)
 - [autoware_adapi_v1_msgs/msg/SteeringFactorArray](./autoware_adapi_v1_msgs/msg/SteeringFactorArray.md)
 - [autoware_adapi_v1_msgs/msg/TurnIndicators](./autoware_adapi_v1_msgs/msg/TurnIndicators.md)

yaml/autoware-interfaces.yaml

@@ -116,6 +116,11 @@ types:
     msg:
       stamp: builtin_interfaces/msg/Time
       state: uint16
+  autoware_adapi_v1_msgs/msg/RtiState:
+    msg:
+      message: string
+      stamp: builtin_interfaces/msg/Time
+      state: uint16
   autoware_adapi_v1_msgs/msg/SteeringFactor:
     msg:
       behavior: string