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feat(ad-api): add restrictions and options #602

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feat(ad-api): add restrictions and options #602

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feat(ad-api): add restrictions and options
isamu-takagi Aug 29, 2024
f42a2ca
Merge branch 'main' into feat/adapi-add-restrictions-and-options
isamu-takagi Sep 4, 2024
b407116
update descriptions
isamu-takagi Sep 4, 2024
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4 changes: 4 additions & 0 deletions docs/design/autoware-interfaces/ad-api/features/routing.md
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Expand Up @@ -35,3 +35,7 @@ See the sections below for supported options and details.
### allow_goal_modification

**[v1.1.0]** Autoware tries to look for an alternate goal when goal is unreachable (e.g., when there is an obstacle on the given goal). When setting a route from the API, applications can choose whether they allow Autoware to adjust goal pose in such situation. When set false, Autoware may get stuck until the given goal becomes reachable.

### allow_while_using_route

**[v1.6.0]** This option only affects the route change APIs. Autoware accepts new route even while the vehicle is using the current route. The APIs fail if it cannot safely transition to new route. When set false, the APIs always fail when the vehicle is using the route.
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@youtalk youtalk Sep 5, 2024 •
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The current autoware_adapi_msgs version is v1.3.0. https://github.com/autowarefoundation/autoware_adapi_msgs/tags
So v1.4.0 seems to be better to bump up, doesn't it?

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**[v1.6.0]** This option only affects the route change APIs. Autoware accepts new route even while the vehicle is using the current route. The APIs fail if it cannot safely transition to new route. When set false, the APIs always fail when the vehicle is using the route.
**[v1.4.0]** This option only affects the route change APIs. Autoware accepts new route even while the vehicle is using the current route. The APIs fail if it cannot safely transition to new route. When set false, the APIs always fail when the vehicle is using the route.

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@youtalk
Your comment made me realize that there are two versions of the AD API: specification and messages. Since we are talking about the specification version here, v1.6.0 is correct. Because the specification version v1.5.0 has already been released.

I think it's necessary to create a correspondence table between specification and message versions, or to update the message version to match the specifications version even if there are no message changes. Which do you think is better?

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@youtalk youtalk Sep 6, 2024 •
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update the message version to match the specifications version even if there are no message changes.

I think it is more clear. Please update package.xml to bump version to 1.6.0 even there is no actual updates by next PR.

2 changes: 1 addition & 1 deletion docs/design/autoware-interfaces/ad-api/list/api/routing/clear_route.md
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Expand Up @@ -11,5 +11,5 @@ type:

{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
{% block description %}
Clear the route.
Clear the route. This API fails when the vehicle is using the route.
{% endblock %}
1 change: 1 addition & 0 deletions docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/command.md
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Expand Up @@ -17,4 +17,5 @@ type:
{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
{% block description %}
Set the door command. This API is only available if the vehicle supports software door control.
This API fails if the doors cannot be opened or closed safely.
{% endblock %}
2 changes: 1 addition & 1 deletion docs/design/autoware-interfaces/ad-api/list/api/vehicle/status.md
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@@ -1,7 +1,7 @@
---
title: /api/vehicle/status
status: v1.4.0
method: notification
method: realtime stream
type:
name: autoware_adapi_v1_msgs/msg/VehicleStatus
msg:
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7 changes: 7 additions & 0 deletions docs/design/autoware-interfaces/ad-api/release.md
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@@ -1,5 +1,12 @@
# Release notes

## v1.6.0 (Not released)

- [Change] Fix communication method of {{ link_ad_api('/api/vehicle/status') }}
- [Change] Add options to [the routing API](./features/routing.md)
- [Change] Add restrictions to {{ link_ad_api('/api/routing/clear_route') }}
- [Change] Add restrictions to {{ link_ad_api('/api/vehicle/doors/command') }}

## v1.5.0

- [New] Add {{ link_ad_api('/api/routing/change_route_points') }}
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4 changes: 4 additions & 0 deletions ...sign/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteOption.md
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Expand Up @@ -10,7 +10,11 @@ used:
{% block definition %}

```txt
# Please refer to the following pages for details on each option.
# https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/routing/

bool allow_goal_modification
bool allow_while_using_route
```

{% endblock %}
1 change: 1 addition & 0 deletions yaml/autoware-interfaces.yaml
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Expand Up @@ -129,6 +129,7 @@ types:
autoware_adapi_v1_msgs/msg/RouteOption:
msg:
allow_goal_modification: bool
allow_while_using_route: bool
autoware_adapi_v1_msgs/msg/RoutePrimitive:
msg:
id: int64
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