From 1200cebde48caaed5660753e86825b29665eaf25 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Tue, 30 Jul 2024 17:28:57 +0900 Subject: [PATCH] feat(ad-api): add route change api (#592) Signed-off-by: Takagi, Isamu --- .../ad-api/features/routing.md | 8 ++++--- .../ad-api/list/api/routing/change_route.md | 24 +++++++++++++++++++ .../list/api/routing/change_route_points.md | 24 +++++++++++++++++++ .../autoware-interfaces/ad-api/list/index.md | 2 ++ 4 files changed, 55 insertions(+), 3 deletions(-) create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/routing/change_route.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/routing/change_route_points.md diff --git a/docs/design/autoware-interfaces/ad-api/features/routing.md b/docs/design/autoware-interfaces/ad-api/features/routing.md index 5010b527342..30ef703212b 100644 --- a/docs/design/autoware-interfaces/ad-api/features/routing.md +++ b/docs/design/autoware-interfaces/ad-api/features/routing.md @@ -4,9 +4,11 @@ - {{ link_ad_api('/api/routing/state') }} - {{ link_ad_api('/api/routing/route') }} +- {{ link_ad_api('/api/routing/clear_route') }} - {{ link_ad_api('/api/routing/set_route_points') }} - {{ link_ad_api('/api/routing/set_route') }} -- {{ link_ad_api('/api/routing/clear_route') }} +- {{ link_ad_api('/api/routing/change_route_points') }} +- {{ link_ad_api('/api/routing/change_route') }} ## Description @@ -23,11 +25,11 @@ There are two ways to set the route. The one is a generic method that uses pose, | UNSET | The route is not set. Waiting for a route request. | | SET | The route is set. | | ARRIVED | The vehicle has arrived at the destination. | -| CHANGING | Trying to change the route. Not implemented yet. | +| CHANGING | Trying to change the route. | ## Options -The `set_route_points` and `set_route` APIs have route options that allow applications to choose several behaviors regarding route planning. +The route set and change APIs have route options that allow applications to choose several behaviors regarding route planning. See the sections below for supported options and details. ### allow_goal_modification diff --git a/docs/design/autoware-interfaces/ad-api/list/api/routing/change_route.md b/docs/design/autoware-interfaces/ad-api/list/api/routing/change_route.md new file mode 100644 index 00000000000..4a920ebe459 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/routing/change_route.md @@ -0,0 +1,24 @@ +--- +title: /api/routing/change_route +status: not released +method: function call +type: + name: autoware_adapi_v1_msgs/srv/SetRoute + req: + - name: header + text: header for pose transformation + - name: goal + text: goal pose + - name: segments + text: waypoint segments in lanelet format + res: + - name: status + text: response status +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Same as {{ link_ad_api('/api/routing/change_route') }}, but change the route while driving. +This API only accepts the route when the route state is SET. +In any other state, set the route first or wait for the route change to complete. +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/routing/change_route_points.md b/docs/design/autoware-interfaces/ad-api/list/api/routing/change_route_points.md new file mode 100644 index 00000000000..5076174f974 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/routing/change_route_points.md @@ -0,0 +1,24 @@ +--- +title: /api/routing/change_route_points +status: not released +method: function call +type: + name: autoware_adapi_v1_msgs/srv/SetRoutePoints + req: + - name: header + text: header for pose transformation + - name: goal + text: goal pose + - name: waypoints + text: waypoint poses + res: + - name: status + text: response status +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Same as {{ link_ad_api('/api/routing/change_route_points') }}, but change the route while driving. +This API only accepts the route when the route state is SET. +In any other state, set the route first or wait for the route change to complete. +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/index.md b/docs/design/autoware-interfaces/ad-api/list/index.md index deb2704a2f5..8b601f49c07 100644 --- a/docs/design/autoware-interfaces/ad-api/list/index.md +++ b/docs/design/autoware-interfaces/ad-api/list/index.md @@ -21,6 +21,8 @@ | [/api/planning/cooperation/set_policies](./api/planning/cooperation/set_policies.md) | not released | | [/api/planning/steering_factors](./api/planning/steering_factors.md) | not released | | [/api/planning/velocity_factors](./api/planning/velocity_factors.md) | not released | +| [/api/routing/change_route](./api/routing/change_route.md) | not released | +| [/api/routing/change_route_points](./api/routing/change_route_points.md) | not released | | [/api/routing/clear_route](./api/routing/clear_route.md) | v1.0.0 | | [/api/routing/route](./api/routing/route.md) | v1.0.0 | | [/api/routing/set_route](./api/routing/set_route.md) | v1.0.0 |