feat: replace node

Signed-off-by: TetsuKawa <[email protected]>

launch/tier4_system_launch/launch/system.main.mrm-v0.6.tmp.launch.xml

@@ -161,10 +161,10 @@
     <include file="$(find-pkg-share control_cmd_switcher)/launch/control_cmd_switcher.launch.xml"/>
   </group>
 
-  <!-- Leader Election Converter-->
+  <!-- Redundancy Switcher Interface-->
   <group>
-    <include file="$(find-pkg-share leader_election_converter)/launch/leader_election_converter.launch.xml">
-      <arg name="param_file" value="$(find-pkg-share autoware_launch)/config/system/leader_election_converter/leader_election_converter.param.yaml"/>
+    <include file="$(find-pkg-share redundancy_switcher_interface)/launch/redundancy_switcher_interface.launch.xml">
+      <arg name="param_file" value="$(find-pkg-share autoware_launch)/config/system/redundancy_switcher_interface/redundancy_switcher_interface.param.yaml"/>
       <arg name="input_mrm_state" value="/system/fail_safe/mrm_state"/>
     </include>
   </group>

launch/tier4_system_launch/package.xml

@@ -13,10 +13,8 @@
 
   <exec_depend>component_state_monitor</exec_depend>
   <exec_depend>control_cmd_switcher</exec_depend>
-  <exec_depend>control_cmd_switcher</exec_depend>
   <exec_depend>emergency_handler</exec_depend>
-  <exec_depend>leader_election_converter</exec_depend>
-  <exec_depend>leader_election_converter</exec_depend>
+  <exec_depend>redundancy_switcher_interface</exec_depend>
   <exec_depend>system_error_monitor</exec_depend>
   <exec_depend>system_monitor</exec_depend>
 

system/leader_election_converter/CMakeLists.txt → system/redundancy_switcher_interface/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(leader_election_converter)
+project(redundancy_switcher_interface)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -15,14 +15,14 @@ target_include_directories(common_converter PRIVATE
 )
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
-  src/node/leader_election_converter.cpp
+  src/node/redundancy_switcher_interface.cpp
 )
 target_include_directories(${PROJECT_NAME} PRIVATE src/common/converter)
 
 target_link_libraries(${PROJECT_NAME} common_converter)
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "leader_election_converter::LeaderElectionConverter"
+  PLUGIN "redundancy_switcher_interface::RedundancySwitcherInterface"
   EXECUTABLE ${PROJECT_NAME}_node
   EXECUTOR MultiThreadedExecutor
 )

system/leader_election_converter/README.md → system/redundancy_switcher_interface/README.md

@@ -1,8 +1,8 @@
-# leader_election_converter
+# redundancy_switcher_interface
 
 ## Overview
 
-The leader election converter node is responsible for relaying UDP packets and ROS2 topics between the leader_election invoked by systemd and Autoware executed on ROS2.
+The redundancy switcher interface node is responsible for relaying UDP packets and ROS2 topics between the redundancy_switcher invoked by systemd and Autoware executed on ROS2.
 
 ## availability converter
 
@@ -42,9 +42,9 @@ The log　converter receive udp packets into a structure called `ElectionCommuni
 | udp receiver   | none                                   | `struct ElectionCommunication`                | messages among election nodes. |
 | udp receiver   | none                                   | `struct ElectionStatus`                       | Leader Election status.        |
 | publisher      | `/system/election/communication`       | `tier4_system_msgs/msg/ElectionCommunication` | messages among election nodes. |
-| publisher      | `/system/election/status`              | `tier4_system_msgs/msg/MrmState`              | Leader Election status.        |
+| publisher      | `/system/election/status`              | `autoware_adapi_v1_msgs/msg/MrmState`              | Leader Election status.        |
 | publisher      | `/system/fail_safe/over_all/mrm_state` | `autoware_adapi_v1_msgs/msg/mrm_state`        | System-wide MRM status.        |
 
 ## Parameters
 
-{{ json_to_markdown("system/leader_election_converter/schema/leader_election_converter.schema.json") }}
+{{ json_to_markdown("system/redundancy_switcher_interface/schema/redundancy_switcher_interface.schema.json") }}

system/leader_election_converter/launch/leader_election_converter.launch.xml → system/redundancy_switcher_interface/launch/redundancy_switcher_interface.launch.xml

@@ -1,13 +1,13 @@
 <launch>
-  <arg name="param_file" default="$(find-pkg-share leader_election_converter)/config/leader_election_converter.param.yaml"/>
+  <arg name="param_file" default="$(find-pkg-share redundancy_switcher_interface)/config/redundancy_switcher_interface.param.yaml"/>
   <arg name="input_control_mode" default="/vehicle/status/control_mode"/>
   <arg name="input_operation_mode_availability" default="/system/operation_mode/availability"/>
   <arg name="input_mrm_state" default="/system/fail_safe/mrm_state"/>
   <arg name="output_mrm_request" default="/system/mrm_request"/>
   <arg name="output_over_all_mrm_state" default="/system/fail_safe/over_all/mrm_state"/>
   <arg name="output_election_communication" default="/system/election/communication"/>
   <arg name="output_election_status" default="/system/election/status"/>
-  <node pkg="leader_election_converter" exec="leader_election_converter_node">
+  <node pkg="redundancy_switcher_interface" exec="redundancy_switcher_interface_node">
     <param from="$(var param_file)"/>
     <remap from="~/input/control_mode" to="$(var input_control_mode)"/>
     <remap from="~/input/operation_mode_availability" to="$(var input_operation_mode_availability)"/>

system/leader_election_converter/package.xml → system/redundancy_switcher_interface/package.xml

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>leader_election_converter</name>
+  <name>redundancy_switcher_interface</name>
   <version>0.1.0</version>
-  <description>The leader election converter package</description>
+  <description>The redundancy switcher interface package</description>
   <maintainer email="[email protected]">TetsuKawa</maintainer>
   <license>Apache License 2.0</license>
 

system/leader_election_converter/schema/leader_election_converter.schema.json → system/redundancy_switcher_interface/schema/redundancy_switcher_interface.schema.json

@@ -1,9 +1,9 @@
 {
   "$schema": "http://json-schema.org/draft-07/schema#",
-  "title": "Parameters for leader election converter",
+  "title": "Parameters for redundancy switcher interface",
   "type": "object",
   "definitions": {
-    "leader_election_converter": {
+    "redundancy_switcher_interface": {
       "type": "object",
       "properties": {
         "availability_dest_ip": {
@@ -77,7 +77,7 @@
       "type": "object",
       "properties": {
         "ros__parameters": {
-          "$ref": "#/definitions/leader_election_converter"
+          "$ref": "#/definitions/redundancy_switcher_interface"
         }
       },
       "required": ["ros__parameters"],

system/leader_election_converter/src/common/converter/availability_converter.cpp → system/redundancy_switcher_interface/src/common/converter/availability_converter.cpp

@@ -19,7 +19,7 @@
 #include <memory>
 #include <string>
 
-namespace leader_election_converter
+namespace redundancy_switcher_interface
 {
 
 AvailabilityConverter::AvailabilityConverter(rclcpp::Node * node) : node_(node)
@@ -80,4 +80,4 @@ void AvailabilityConverter::convertToUdp(
   }
 }
 
-}  // namespace leader_election_converter
+}  // namespace redundancy_switcher_interface

system/leader_election_converter/src/common/converter/availability_converter.hpp → system/redundancy_switcher_interface/src/common/converter/availability_converter.hpp

@@ -25,7 +25,7 @@
 #include <memory>
 #include <string>
 
-namespace leader_election_converter
+namespace redundancy_switcher_interface
 {
 
 struct Availability
@@ -62,6 +62,6 @@ class AvailabilityConverter
     sub_operation_mode_availability_;
 };
 
-}  // namespace leader_election_converter
+}  // namespace redundancy_switcher_interface
 
 #endif  // COMMON__CONVERTER__AVAILABILITY_CONVERTER_HPP_

system/leader_election_converter/src/common/converter/log_converter.cpp → system/redundancy_switcher_interface/src/common/converter/log_converter.cpp

@@ -19,7 +19,7 @@
 #include <memory>
 #include <string>
 
-namespace leader_election_converter
+namespace redundancy_switcher_interface
 {
 
 LogConverter::LogConverter(rclcpp::Node * node)
@@ -103,7 +103,8 @@ void LogConverter::convertElectionCommunicationToTopic(const ElectionCommunicati
   msg.node_id = (node_msg.msg >> 8) & 0xFF;
   msg.type = node_msg.msg & 0xFF;
   msg.term = (node_msg.msg >> 16) & 0xFF;
-  msg.link = (node_msg.msg >> 24) & 0xFF;
+  msg.path = (node_msg.msg >> 24) & 0x0F;
+  msg.link = (node_msg.msg >> 28) & 0x0F;
   msg.heartbeat = (node_msg.msg >> 56) & 0x0F;
   msg.checksum = (node_msg.msg >> 60) & 0x0F;
   pub_election_communication_->publish(msg);
@@ -112,13 +113,13 @@ void LogConverter::convertElectionCommunicationToTopic(const ElectionCommunicati
 void LogConverter::convertElectionStatusToTopic(const ElectionStatus & status)
 {
   tier4_system_msgs::msg::ElectionStatus election_status;
-  autoware_adapi_v1_msgs::msg::MrmState mrm_status;
+  autoware_adapi_v1_msgs::msg::MrmState mrm_state;
 
   election_status.stamp = node_->now();
   election_status.leader_id = status.leader_id;
   election_status.path_info = status.path_info;
-  election_status.mrm_state.state = status.state;
-  election_status.mrm_state.behavior.type = status.behavior;
+  election_status.mrm_state.state = status.mrm_state.state;
+  election_status.mrm_state.behavior = status.mrm_state.behavior;
   election_status.election_start_count = status.election_start_count;
   election_status.in_election = status.in_election;
   election_status.has_received_availability = status.has_received_availability;
@@ -130,10 +131,10 @@ void LogConverter::convertElectionStatusToTopic(const ElectionStatus & status)
   election_status.is_sub_vcu_connected = status.is_sub_vcu_connected;
   pub_election_status_->publish(election_status);
 
-  mrm_status.stamp = node_->now();
-  mrm_status.state = status.state;
-  mrm_status.behavior = status.behavior;
-  pub_over_all_mrm_state_->publish(mrm_status);
+  mrm_state.stamp = node_->now();
+  mrm_state.state = status.mrm_state.state;
+  mrm_state.behavior = mrm_state.behavior;
+  pub_over_all_mrm_state_->publish(mrm_state);
 }
 
-}  // namespace leader_election_converter
+}  // namespace redundancy_switcher_interface

system/leader_election_converter/src/common/converter/log_converter.hpp → system/redundancy_switcher_interface/src/common/converter/log_converter.hpp

@@ -29,7 +29,7 @@
 #include <string>
 #include <thread>
 
-namespace leader_election_converter
+namespace redundancy_switcher_interface
 {
 
 typedef struct ElectionCommunication
@@ -41,8 +41,7 @@ typedef struct ElectionStatus
 {
   tier4_system_msgs::msg::ElectionStatus::_leader_id_type leader_id;
   tier4_system_msgs::msg::ElectionStatus::_path_info_type path_info;
-  tier4_system_msgs::msg::MrmState::_state_type state;
-  tier4_system_msgs::msg::MrmBehavior::_type_type behavior;
+  tier4_system_msgs::msg::ElectionStatus::_mrm_state_type mrm_state;
   tier4_system_msgs::msg::ElectionStatus::_election_start_count_type election_start_count;
   tier4_system_msgs::msg::ElectionStatus::_in_election_type in_election;
   tier4_system_msgs::msg::ElectionStatus::_has_received_availability_type has_received_availability;
@@ -86,6 +85,6 @@ class LogConverter
   std::atomic<bool> is_election_status_running_;
 };
 
-}  // namespace leader_election_converter
+}  // namespace redundancy_switcher_interface
 
 #endif  // COMMON__CONVERTER__LOG_CONVERTER_HPP_

system/leader_election_converter/src/common/converter/mrm_converter.cpp → system/redundancy_switcher_interface/src/common/converter/mrm_converter.cpp

@@ -19,7 +19,7 @@
 #include <memory>
 #include <string>
 
-namespace leader_election_converter
+namespace redundancy_switcher_interface
 {
 
 MrmConverter::MrmConverter(rclcpp::Node * node) : node_(node), is_udp_receiver_running_(true)
@@ -95,4 +95,4 @@ void MrmConverter::convertToTopic(const MrmRequest & mrm_request)
   pub_mrm_request_->publish(mrm_request_msg);
 }
 
-}  // namespace leader_election_converter
+}  // namespace redundancy_switcher_interface

system/leader_election_converter/src/common/converter/mrm_converter.hpp → system/redundancy_switcher_interface/src/common/converter/mrm_converter.hpp

@@ -28,7 +28,7 @@
 #include <string>
 #include <thread>
 
-namespace leader_election_converter
+namespace redundancy_switcher_interface
 {
 
 typedef struct MrmState
@@ -69,6 +69,6 @@ class MrmConverter
   std::atomic<bool> is_udp_receiver_running_;
 };
 
-}  // namespace leader_election_converter
+}  // namespace redundancy_switcher_interface
 
 #endif  // COMMON__CONVERTER__MRM_CONVERTER_HPP_

system/leader_election_converter/src/common/converter/udp_receiver.hpp → system/redundancy_switcher_interface/src/common/converter/udp_receiver.hpp

@@ -29,7 +29,7 @@
 #include <stdexcept>
 #include <string>
 
-namespace leader_election_converter
+namespace redundancy_switcher_interface
 {
 
 template <typename T>
@@ -146,6 +146,6 @@ void UdpReceiver<T>::receive()
   }
 }
 
-}  // namespace leader_election_converter
+}  // namespace redundancy_switcher_interface
 
 #endif  // COMMON__CONVERTER__UDP_RECEIVER_HPP_

system/leader_election_converter/src/common/converter/udp_sender.hpp → system/redundancy_switcher_interface/src/common/converter/udp_sender.hpp

@@ -25,7 +25,7 @@
 #include <stdexcept>
 #include <string>
 
-namespace leader_election_converter
+namespace redundancy_switcher_interface
 {
 
 template <typename T>
@@ -77,6 +77,6 @@ void UdpSender<T>::send(const T & data)
   }
 }
 
-}  // namespace leader_election_converter
+}  // namespace redundancy_switcher_interface
 
 #endif  // COMMON__CONVERTER__UDP_SENDER_HPP_

system/leader_election_converter/src/node/leader_election_converter.cpp → system/redundancy_switcher_interface/src/node/redundancy_switcher_interface.cpp

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "leader_election_converter.hpp"
+#include "redundancy_switcher_interface.hpp"
 
 #include <string>
 
-namespace leader_election_converter
+namespace redundancy_switcher_interface
 {
 
-LeaderElectionConverter::LeaderElectionConverter(const rclcpp::NodeOptions & node_options)
-: Node("leader_election_converter", node_options),
+RedundancySwitcherInterface::RedundancySwitcherInterface(const rclcpp::NodeOptions & node_options)
+: Node("redundancy_switcher_interface", node_options),
   availability_converter_(this),
   mrm_converter_(this),
   log_converter_(this)
@@ -56,7 +56,7 @@ LeaderElectionConverter::LeaderElectionConverter(const rclcpp::NodeOptions & nod
   log_converter_.setUdpElectionStatusReceiver(election_status_src_ip_, election_status_src_port_);
 }
 
-}  // namespace leader_election_converter
+}  // namespace redundancy_switcher_interface
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(leader_election_converter::LeaderElectionConverter)
+RCLCPP_COMPONENTS_REGISTER_NODE(redundancy_switcher_interface::RedundancySwitcherInterface)

system/leader_election_converter/src/node/leader_election_converter.hpp → system/redundancy_switcher_interface/src/node/redundancy_switcher_interface.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef NODE__LEADER_ELECTION_CONVERTER_HPP_
-#define NODE__LEADER_ELECTION_CONVERTER_HPP_
+#ifndef NODE__REDUNDANCY_SWITCHER_INTERFACE_HPP_
+#define NODE__REDUNDANCY_SWITCHER_INTERFACE_HPP_
 
 #include "availability_converter.hpp"
 #include "log_converter.hpp"
@@ -24,13 +24,13 @@
 #include <memory>
 #include <string>
 
-namespace leader_election_converter
+namespace redundancy_switcher_interface
 {
 
-class LeaderElectionConverter : public rclcpp::Node
+class RedundancySwitcherInterface : public rclcpp::Node
 {
 public:
-  explicit LeaderElectionConverter(const rclcpp::NodeOptions & node_options);
+  explicit RedundancySwitcherInterface(const rclcpp::NodeOptions & node_options);
 
 private:
   std::string availability_dest_ip_;
@@ -49,6 +49,6 @@ class LeaderElectionConverter : public rclcpp::Node
   LogConverter log_converter_;
 };
 
-}  // namespace leader_election_converter
+}  // namespace redundancy_switcher_interface
 
-#endif  // NODE__LEADER_ELECTION_CONVERTER_HPP_
+#endif  // NODE__REDUNDANCY_SWITCHER_INTERFACE_HPP_