autoware_redundancy_switcher_interface

Framework for managing redundancy switching in Autoware-based vehicle systems.

Summary

This package provides:

• A pure C++ Processor that evaluates switching conditions and produces effects
• An EventGateway for thread-safe event submission
• A CommandBus for broadcasting effects to all registered adapters
• Three built-in adapters: LogAdapter, DiagAdapter and DrivingModeSubSystemAdapter
• An IAdapterPlugin interface for Switcher-side plugins loaded via pluginlib

The Switcher-side adapter (hardware-specific UDS or topic-based) is loaded at runtime as a pluginlib plugin. See sibling packages:

• autoware_redundancy_switcher_interface_plugins — built-in plugin implementations
• Other project-specific plugins can be implemented separately following docs/PLUGIN_DEVELOPMENT_GUIDE.md

Documentation

Document	Description
docs/REQUIREMENTS.md	Functional requirements derived from the implementation
docs/DESIGN.md	Detailed design: file structure, Mermaid diagrams, event/command lists, interfaces
docs/PLUGIN_DEVELOPMENT_GUIDE.md	How to implement a custom SwitcherAdapter plugin
docs/TERMINOLOGY.md	Data type definitions and data flow
docs/ADAPTER_THREAD_SAFETY.md	Thread safety guide for adapter plugin authors

Quick Start

colcon build --packages-select autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins

Launch (redundant mode with simple switcher for development/testing):

<include file="$(find-pkg-share autoware_redundancy_switcher_interface)/launch/redundancy_switcher_interface.launch.xml">
  <arg name="is_main_ecu" value="true"/>
  <arg name="plugin_config"
    value="$(find-pkg-share autoware_redundancy_switcher_interface_plugins)/config/default.param.yaml"/>
</include>

Launch (non-redundant / single-ECU mode):

<include file="$(find-pkg-share autoware_redundancy_switcher_interface)/launch/redundancy_switcher_interface.launch.xml">
  <arg name="is_main_ecu" value="true"/>
  <arg name="plugin_config"
    value="$(find-pkg-share autoware_redundancy_switcher_interface_plugins)/config/non_redundant.param.yaml"/>
</include>

Parameters

The base configuration (config/default.param.yaml) covers the built-in adapters. Plugin-specific parameters are provided by the plugin package config.

Parameter	Type	Default	Description
switcher_plugin	string	autoware::redundancy_switcher::SimpleSwitcherAdapter	Class name of the IAdapterPlugin to load. Override via the plugin config file.
diag.transitional_timeout_milli	double	—	A transitional switcher state persisting longer than this [ms] is reported as DiagStatus::ERROR.

Key Concepts

• InputEvent: "What occurred" — submitted by adapters to the Processor via EventGateway
• OutputCommand: "What should be done" — returned by the Processor and broadcast via CommandBus
• DomainSnapshot: Read-only view of Processor state, used by DiagAdapter and logging
• SwitcherSignals: Three orthogonal signals (is_stable, is_self_interrupted, is_faulted) from the SwitcherAdapter