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feat(component-interface): add component interface list #279
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d00a8d6
feat(component-interface): add component interface list
isamu-takagi be5d7f2
feat: split future design and current implementation
isamu-takagi 83ad3b6
WIP
isamu-takagi 66a525b
Merge branch 'main' into feat/component-interface-list
isamu-takagi 28573b7
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isamu-takagi 587c7a4
update interfaces
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38 changes: 38 additions & 0 deletions
38
docs/design/autoware-interfaces/components/interfaces-current.md
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,38 @@ | ||
| --- | ||
| components: | ||
| - adapi | ||
| - control | ||
| - localization | ||
| - map | ||
| - perception | ||
| - planning | ||
| - sensing | ||
| - simulator | ||
| - system | ||
| - vehicle | ||
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| interfaces: | ||
| - name: /vehicle/status/control_mode | ||
| type: autoware_auto_vehicle_msgs/msg/ControlModeReport | ||
| used: { vehicle: pub, control: sub, simulation: sub } | ||
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| - name: /control/control_mode_request | ||
| type: autoware_auto_vehicle_msgs/srv/ControlModeCommand | ||
| used: { vehicle: srv, control: cli } | ||
| --- | ||
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| # List of component interfaces (future design) | ||
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| {%- for component in components %} | ||
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| ## {{ component }} | ||
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| | interface type | interface name | data type | | ||
| | -------------- | -------------- | --------- | | ||
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| {%- for interface in interfaces %} | ||
| {%- if component in interface.used %} | ||
| | {{ interface.used[component] }} | {{ interface.name }} | {{ interface.type }} | | ||
| {%- endif %} | ||
| {%- endfor %} | ||
| {%- endfor %} |
66 changes: 66 additions & 0 deletions
66
docs/design/autoware-interfaces/components/interfaces-future.md
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,66 @@ | ||
| --- | ||
| components: | ||
| - adapi | ||
| - control | ||
| - localization | ||
| - map | ||
| - perception | ||
| - planning | ||
| - sensing | ||
| - simulator | ||
| - system | ||
| - vehicle | ||
|
|
||
| interfaces: | ||
| - name: /localization/initialization_state | ||
| type: autoware_adapi_v1_msgs/msg/LocalizationInitializationState | ||
| used: { localization: pub, adapi: sub } | ||
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| - name: /localization/initialize | ||
| type: autoware_adapi_v1_msgs/srv/InitializeLocalization | ||
| used: { localization: srv, adapi: cli } | ||
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| - name: /planning/mission_planning/set_route_points | ||
| type: autoware_adapi_v1_msgs/srv/SetRoutePoints | ||
| used: { planning: srv, adapi: cli } | ||
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| - name: /planning/mission_planning/set_route | ||
| type: autoware_planning_msgs/srv/SetRoute | ||
| used: { planning: srv, adapi: cli } | ||
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| - name: /planning/mission_planning/clear_route | ||
| type: autoware_adapi_v1_msgs/msg/ClearRoute | ||
| used: { planning: srv, adapi: cli } | ||
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| - name: /planning/mission_planning/route | ||
| type: autoware_planning_msgs/msg/LaneletRoute | ||
| used: { planning: pub, adapi: sub } | ||
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| - name: /planning/mission_planning/route_state | ||
| type: autoware_adapi_v1_msgs/msg/RouteState | ||
| used: { planning: pub, adapi: sub } | ||
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| - name: /vehicle/control_mode_report | ||
| type: autoware_auto_vehicle_msgs/msg/ControlModeReport | ||
| used: { vehicle: pub, control: sub, simulation: sub } | ||
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| - name: /vehicle/control_mode_request | ||
| type: autoware_auto_vehicle_msgs/srv/ControlModeCommand | ||
| used: { vehicle: srv, control: cli } | ||
| --- | ||
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| # List of component interfaces (future design) | ||
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| {%- for component in components %} | ||
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| ## {{ component }} | ||
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| | interface type | interface name | data type | | ||
| | -------------- | -------------- | --------- | | ||
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| {%- for interface in interfaces %} | ||
| {%- if component in interface.used %} | ||
| | {{ interface.used[component] }} | {{ interface.name }} | {{ interface.type }} | | ||
| {%- endif %} | ||
| {%- endfor %} | ||
| {%- endfor %} | ||
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What about making it independent of autoware_adapi_v1_msgs?
I think it would be better to close the interaction between components to component interface msgs only.
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Either is fine. We can separate it now for consistency, or copy and edit it later when we need. Is it better to separate now?