feat: add state and key value

Signed-off-by: Takagi, Isamu <[email protected]>
isamu-takagi · Jun 26, 2024 · fd8be4e · fd8be4e
1 parent 32fb890
commit fd8be4e
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Showing 4 changed files with 17 additions and 3 deletions.
diff --git a/autoware_adapi_v1_msgs/CMakeLists.txt b/autoware_adapi_v1_msgs/CMakeLists.txt
@@ -6,6 +6,7 @@ ament_auto_find_build_dependencies()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   common/msg/ResponseStatus.msg
+  common/msg/KeyValue.msg
   localization/msg/LocalizationInitializationState.msg
   localization/srv/InitializeLocalization.srv
   routing/msg/RouteState.msg

diff --git a/autoware_adapi_v1_msgs/common/msg/KeyValue.msg b/autoware_adapi_v1_msgs/common/msg/KeyValue.msg
@@ -0,0 +1,2 @@
+string key
+string value
diff --git a/autoware_adapi_v1_msgs/planning/msg/CooperationDecision.msg b/autoware_adapi_v1_msgs/planning/msg/CooperationDecision.msg
@@ -1,7 +1,7 @@
 uint8 UNKNOWN = 0
-uint8 DEACTIVATE = 1
-uint8 ACTIVATE = 2
-uint8 UNDECIDED = 3
+uint8 WAIT = 1
+uint8 EXECUTE = 2
+uint8 NONE = 3
 uint8 FORCE = 4
 
 uint8 decision
diff --git a/autoware_adapi_v1_msgs/planning/msg/CooperationStatus.msg b/autoware_adapi_v1_msgs/planning/msg/CooperationStatus.msg
@@ -1,3 +1,14 @@
+# constants for state
+uint8 UNKNOWN = 0
+uint8 WAITING = 1
+uint8 EXECUTING = 2
+uint8 ABORTING = 3
+uint8 SUCCEEDED = 4
+uint8 FAILED = 5
+
+# variables
 unique_identifier_msgs/UUID uuid
+uint8 state
 autoware_adapi_v1_msgs/CooperationDecision autonomous
 autoware_adapi_v1_msgs/CooperationDecision cooperator
+autoware_adapi_v1_msgs/KeyValue[] values