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autoware_mrm_reset_manager#

Purpose#

autoware_mrm_reset_manager manages MRM reset orchestration by:

  • forwarding reset_mrm requests to system reset services, and
  • coordinating initialization/reset timing from AD API states.

This package is focused on a single ECU path (no main/sub split logic).

Inner-workings / Algorithms#

1. reset_mrm forwarding#

When ~/input/reset_mrm is called, the node:

  1. Calls ~/output/reset_diag_graph
  2. Calls ~/output/reset_redundancy_switcher (only when is_redundant=true)
  3. Returns success when all enabled calls succeed

2. Initialization state machine#

At startup, a 1-second timer advances the following state machine:

State Action
WAIT_SERVICES_READY Wait until all required output services are available (redundancy-switcher services are required only when is_redundant=true)
SET_AGGREGATOR_INIT Call set_aggregator_initializing(true)
RESET_SWITCHER Call reset_redundancy_switcher() (skipped, treated as success, when is_redundant=false)
SET_SWITCHER_INTERFACE_INIT Call set_redundancy_switcher_interface_initializing(true) (skipped, treated as success, when is_redundant=false)
DONE Stop init timer and start periodic 5-second check

3. Ready-state transition#

The node subscribes to:

  • localization initialization state,
  • route state,
  • operation mode state.

When all of the following are true:

  • localization is initialized,
  • route is set,
  • Autoware control is enabled,

it performs the following actions only when enable_autoware_ready_actions=true:

  1. set_aggregator_initializing(false)
  2. reset_redundancy_switcher() (skipped, treated as success, when is_redundant=false)
  3. set_redundancy_switcher_interface_initializing(false) (skipped, treated as success, when is_redundant=false)

If the system is still initializing and not yet ready, a 5-second periodic timer retries reset_redundancy_switcher().

Inputs / Outputs#

Input Service#

Topic Type Description
~/input/reset_mrm tier4_external_api_msgs::srv::ResetMrm External MRM reset request

Input Subscriptions#

Topic Type Description
~/input/localization_initialization_state autoware_adapi_v1_msgs::msg::LocalizationInitializationState Localization readiness
~/input/route_state autoware_adapi_v1_msgs::msg::RouteState Route readiness
~/input/operation_mode_state autoware_adapi_v1_msgs::msg::OperationModeState Autoware control state

Output Service Clients#

Topic Type Description
~/output/reset_diag_graph tier4_system_msgs::srv::ResetDiagGraph Resets diagnostics graph
~/output/reset_redundancy_switcher tier4_system_msgs::srv::ResetRedundancySwitcher Resets redundancy switcher
~/output/set_aggregator_initializing std_srvs::srv::SetBool Sets aggregator initializing flag
~/output/set_redundancy_switcher_interface_initializing std_srvs::srv::SetBool Sets switcher-interface initializing flag

Parameters#

Name Type Default Description
service_timeout_ms int 200 Timeout for each service call
is_redundant bool true Enables redundancy-switcher orchestration (reset_redundancy_switcher and set_redundancy_switcher_interface_initializing calls, and waiting for their services at startup). When false, these calls are skipped and treated as success.
enable_autoware_ready_actions bool true Enables service calls triggered by Autoware-ready conditions (localization initialized, route set, Autoware control enabled).

Launch#

Launch file:

  • launch/mrm_reset_manager.launch.xml

Main launch arguments:

Argument Default
mrm_reset_manager_param_file $(find-pkg-share autoware_mrm_reset_manager)/config/mrm_reset_manager.param.yaml
is_redundant true
enable_autoware_ready_actions true
input_reset_mrm /system/mrm/reset
input_localization_initialization_state /api/localization/initialization_state
input_route_state /api/routing/state
input_operation_mode_state /api/operation_mode/state
output_reset_diag_graph /system/mrm_reset_manager/diagnostics_graph/reset
output_reset_redundancy_switcher /system/mrm_reset_manager/redundancy_switcher/reset
output_set_aggregator_initializing /system/mrm_reset_manager/aggregator/set_initializing
output_set_redundancy_switcher_interface_initializing /system/mrm_reset_manager/redundancy_switcher_interface/set_initializing