feat(tier4_system_msgs): add command mode xxx msg (#168)

* feat(tier4_system_msgs): add messages for control_cmd_gate

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* update constants and sequence

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* update status and source

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* add request mrm

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* remove unused field

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* add sequence

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* add target

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix constant

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* add availability

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* modify field name

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* add transition field

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* add request field

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* update mode status

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* add current phase

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* split transition state

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

---------

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Co-authored-by: Takagi, Isamu <isamu.takagi@tier4.jp>

Author: TetsuKawa

Diff for: tier4_system_msgs/CMakeLists.txt

@@ -38,10 +38,18 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/ServiceLog.msg"
   "msg/ModeChangeAvailable.msg"
   "msg/MrmBehaviorStatus.msg"
+  "msg/CommandSourceStatus.msg"
+  "msg/CommandModeAvailability.msg"
+  "msg/CommandModeAvailabilityItem.msg"
+  "msg/CommandModeRequest.msg"
+  "msg/CommandModeStatus.msg"
+  "msg/CommandModeStatusItem.msg"
   "srv/OperateMrm.srv"
   "srv/ChangeOperationMode.srv"
   "srv/ChangeAutowareControl.srv"
   "srv/ChangeTopicRelayControl.srv"
+  "srv/RequestMrm.srv"
+  "srv/SelectCommandSource.srv"
   DEPENDENCIES
     autoware_common_msgs
     builtin_interfaces

Diff for: tier4_system_msgs/msg/CommandModeAvailability.msg

@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+tier4_system_msgs/CommandModeAvailabilityItem[] items

Diff for: tier4_system_msgs/msg/CommandModeAvailabilityItem.msg

@@ -0,0 +1,2 @@
+string mode
+bool available

Diff for: tier4_system_msgs/msg/CommandModeRequest.msg

@@ -0,0 +1,3 @@
+builtin_interfaces/Time stamp
+string foreground
+string background

Diff for: tier4_system_msgs/msg/CommandModeStatus.msg

@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+tier4_system_msgs/CommandModeStatusItem[] items

Diff for: tier4_system_msgs/msg/CommandModeStatusItem.msg

@@ -0,0 +1,42 @@
+uint8 UNDEFINED = 0
+
+# for state
+uint8 DISABLED = 1
+uint8 ENABLED = 2
+uint8 TRANSITION = 3
+
+# for mrm
+uint8 NORMAL = 1
+uint8 OPERATING = 2
+uint8 SUCCEEDED = 3
+uint8 FAILED = 4
+
+# for phase
+uint8 NOT_SELECTED = 1
+uint8 CONTROL_GATE = 2
+uint8 NETWORK_GATE = 3
+uint8 VEHICLE_GATE = 4
+
+# mode name
+string mode
+
+# main status
+uint8 mode_state
+uint8 gate_state
+uint8 mrm
+uint8 request_phase
+uint8 current_phase
+
+# conditions
+bool mode_continuable
+bool mode_available
+bool transition_available
+bool transition_completed
+
+# detailed status
+uint8 transition_state
+uint8 vehicle_gate_state
+uint8 network_gate_state
+uint8 control_gate_state
+uint8 source_state
+uint8 source_group

Diff for: tier4_system_msgs/msg/CommandSourceStatus.msg

@@ -0,0 +1,3 @@
+builtin_interfaces/Time stamp
+string source
+bool transition

Diff for: tier4_system_msgs/srv/RequestMrm.srv

@@ -0,0 +1,3 @@
+string name
+---
+autoware_common_msgs/ResponseStatus status

Diff for: tier4_system_msgs/srv/SelectCommandSource.srv

@@ -0,0 +1,4 @@
+string source
+bool transition
+---
+autoware_common_msgs/ResponseStatus status