Merge branch 'feat/add-mrm-v0.6-launch-based-on-based-on-v3.0.0' into…

… feat/add-msg-mrm-state

tier4_system_msgs/CMakeLists.txt

@@ -20,6 +20,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/DiagnosticLink.msg"
   "msg/DiagnosticNode.msg"
   "msg/OperationModeAvailability.msg"
+  "msg/ElectionStatus.msg"
+  "msg/ElectionCommunication.msg"
   "msg/EmergencyGoalsClearCommand.msg"
   "msg/EmergencyGoalsStamped.msg"
   "msg/EmergencyState.msg"

tier4_system_msgs/msg/ElectionCommunication.msg

@@ -0,0 +1,28 @@
+# node_id
+uint8 MAIN_ECU = 0
+uint8 SUB_ECU = 1
+uint8 MAIN_VCU = 2
+uint8 SUB_VCU = 3
+
+# type
+uint8 HEARTBEAT_MSG = 0
+uint8 ELECTION_MSG = 1
+uint8 REPLY_MSG = 2
+uint8 LEADER_MSG = 3
+
+# link
+# The link is a 4-bit data.
+# In the case of a leader message, it represents the selected path,
+# and in the case of an election message or a replay message, it represents the connected status.
+# The bits represent the state of the Main ECU, Sub ECU, Main VCU, and Sub VCU in order from the leading bit.
+# For example:
+# If this message is a reply message with link=0x1010,
+# the node that sent this message is connected only to the Main ECU and Main VCU.
+
+builtin_interfaces/Time stamp
+uint8 node_id                   # msg sender
+uint8 type                      # msg type
+uint8 term                      # term of election msg
+uint8 link                      # For leader msg, the selected path; for election or reply msg, the connection status
+uint8 heartbeat                 # heartbeat from 0 to 15
+uint8 checksum                  # checksum for CAN data

tier4_system_msgs/msg/ElectionStatus.msg

@@ -0,0 +1,26 @@
+# leader_id
+uint8 MAIN_ECU = 0
+uint8 SUB_ECU = 1
+uint8 MAIN_VCU = 2
+uint8 SUB_VCU = 3
+
+# path_info
+# The path_info is a 4-bit data which represents the selected path,
+# The bits represent the state of the Main ECU, Sub ECU, Main VCU, and Sub VCU in order from the leading bit.
+# For example:
+# If path_info=0x1010,
+# the path selects the Main ECU and Main VCU.
+
+builtin_interfaces/Time stamp
+uint8 leader_id                         # leader of all nodes
+uint8 path_info                         # The path used for driving
+tier4_system_msgs/MrmState mrm_state    # The mrm behavior determined for the entire system and its state
+uint8 election_start_count              # means the number of times a failure has occurred.
+bool in_election                        # whether an election is in progress
+bool has_received_availability          # If false, it means that the Availability UDP packet from Autoware has not been received or has timed out.
+bool has_received_mrm_state             # If false, it means that the MrmState UDP packet from Autoware has not been received or has timed out.
+bool is_autoware_emergency              # whether Autoware is in a normal state
+bool is_main_ecu_connected              # whether this node is able to communicate properly with the Main ECU
+bool is_sub_ecu_connected               # whether this node is able to communicate properly with the Sub ECU
+bool is_main_vcu_connected              # whether this node is able to communicate properly with the Main VCU
+bool is_sub_vcu_connected               # whether this node is able to communicate properly with the Sub VCU