Merge pull request #134 from TetsuKawa/feat/add-msg-election-status

feat: add msg election status

tier4_system_msgs/CMakeLists.txt

@@ -20,6 +20,7 @@ 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"

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