From 36917de2314776f404b223b0f9925ae955c8ade9 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Thu, 29 Aug 2024 19:25:59 +0900 Subject: [PATCH 1/2] feat(ad-api): add restrictions and options 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 30ef703212..4f05402ff7 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 route is only changed if it is safe to transition to the new route. When set false, the APIs always fail when the 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 7648b5b5a0..43cc9c466f 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 6d783c0f7d..bc0c8d3a76 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 door 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 62766cafcf..659b1f5f7e 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 0b9e72f8d1..98fcc4585f 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 25deed8faf..0f10f1b06f 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 b4aec03a15..7efed1d617 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 From b407116f778605d67ea1bb1161362b25071422b5 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 4 Sep 2024 16:17:30 +0900 Subject: [PATCH 2/2] update descriptions Signed-off-by: Takagi, Isamu --- docs/design/autoware-interfaces/ad-api/features/routing.md | 2 +- .../ad-api/list/api/vehicle/doors/command.md | 2 +- 2 files changed, 2 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 4f05402ff7..a2a6909a48 100644 --- a/docs/design/autoware-interfaces/ad-api/features/routing.md +++ b/docs/design/autoware-interfaces/ad-api/features/routing.md @@ -38,4 +38,4 @@ See the sections below for supported options and details. ### 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 route is only changed if it is safe to transition to the new route. When set false, the APIs always fail when the using the 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/vehicle/doors/command.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/command.md index bc0c8d3a76..555d4c8e50 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 @@ -17,5 +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 door cannot be opened or closed safely. +This API fails if the doors cannot be opened or closed safely. {% endblock %}