autoware_redundancy_adapi_switcher#

Overview#

This package gates adapi messages (MrmState, DiagGraphStatus, DiagGraphStruct) output by each ECU in a Main ECU / Sub ECU redundant configuration, based on the content of active_control_unit.

Rather than "switching" outputs, the node passes through messages from the currently active ECU and discards messages from the inactive ECU. One instance runs on each ECU, and each instance independently determines whether it is the active output master.

This package also manages the launch file for the Sub ECU adapi container (HeartbeatNode, DiagnosticsNode, FailSafeNode).

Architecture#

               active_control_unit
                      │
        ┌─────────────┴─────────────┐
        ▼                           ▼
[Main ECU]                      [Sub ECU]
RedundancyAdapiSwitcher         RedundancyAdapiSwitcher
  (is_main_ecu=true)              (is_main_ecu=false)
        │                           │
  is_active? ──Yes──▶ publish   is_active? ──Yes──▶ publish
             ──No──▶ discard              ──No──▶ discard
        │                           │
        ▼                           ▼
   MrmState                     MrmState
   DiagStatus        →→→        DiagStatus     (downstream)
   DiagStruct                   DiagStruct

An instance becomes the output master when its own ECU ID is present in active_control_unit.ids.

Gating Logic#

`active_control_unit.ids` content	Behavior
Main ECU ID only	Main ECU instance publishes. Sub is silenced.
Sub ECU ID only	Sub ECU instance publishes. Main is silenced.
Both ECU IDs	Current master is kept (treated as a transitional state).
Empty list	All instances block their output (`output_blocked`).
Neither ECU ID	This ECU is assumed faulty and blocks its own output. Whether the other ECU becomes the output master is not guaranteed by this node.

DiagGraphStruct handling#

DiagGraphStruct uses a transient_local QoS. To ensure late-joining subscribers receive the latest structure after a master switch, the most recently received struct is buffered internally and re-published together with the next DiagGraphStatus.

Node: `redundancy_adapi_switcher`#

Parameters#

Parameter	Type	Description
`is_main_ecu`	`bool`	Whether this instance runs on the Main ECU
`main_ecu_id`	`uint8`	Main ECU ID (matched against `active_control_unit.ids`)
`sub_ecu_id`	`uint8`	Sub ECU ID (matched against `active_control_unit.ids`)

Subscriptions#

Topic	Type	QoS	Description
`~/input/mrm_state`	`autoware_adapi_v1_msgs/MrmState`	Reliable, depth 5	MRM state from this ECU
`~/input/diag/status`	`tier4_system_msgs/DiagGraphStatus`	Reliable, depth 5	Diagnostic status from this ECU
`~/input/diag/struct`	`tier4_system_msgs/DiagGraphStruct`	Reliable, depth 1, transient_local	Diagnostic graph structure from this ECU
`~/input/active_control_unit`	`tier4_system_msgs/ActiveControlUnit`	Reliable, depth 1, transient_local	Active ECU information

Publications#

Topic	Type	QoS	Description
`~/output/mrm_state`	`autoware_adapi_v1_msgs/MrmState`	Reliable, depth 5	Gated MRM state
`~/output/diag/status`	`tier4_system_msgs/DiagGraphStatus`	Reliable, depth 5	Gated diagnostic status
`~/output/diag/struct`	`tier4_system_msgs/DiagGraphStruct`	Reliable, depth 1, transient_local	Gated diagnostic graph structure

Launch Files#

`redundancy_adapi_switcher.launch.xml`#

Launches the RedundancyAdapiSwitcher node.

Argument	Default	Description
`is_main_ecu`	`true`	Identifies this instance as Main or Sub ECU
`input_mrm_state`	`/ecu/system/fail_safe/mrm_state`	Input MRM state topic
`input_diag_status`	`/diagnostics_graph/status/merge`	Input diagnostic status topic
`input_diag_struct`	`/diagnostics_graph/struct/merge`	Input diagnostic graph structure topic
`input_active_control_unit`	`/system/redundancy/active_control_unit`	Active control unit topic
`output_mrm_state`	`/system/fail_safe/mrm_state`	Output MRM state topic
`output_diag_status`	`/diagnostics_graph/status`	Output diagnostic status topic
`output_diag_struct`	`/diagnostics_graph/struct`	Output diagnostic graph structure topic

`sub_default_adapi.launch.py`#

Launches the Sub ECU adapi container. Loads HeartbeatNode, DiagnosticsNode, and FailSafeNode into a component_container_mt.

Argument	Default	Description
`config`	`autoware_default_adapi_universe/config/default_adapi.param.yaml`	Path to the adapi parameter file