autoware_redundancy_switcher_interface_plugins#

IAdapterPlugin implementations for autoware_redundancy_switcher_interface.

This package provides three adapters that can be loaded at runtime via pluginlib:

Adapter	Use case
`RedundancySwitcherAdapter`	Production: connects to redundancy_switcher via UDS
`SimpleSwitcherAdapter`	Development / CI: topic-based mock switcher, no hardware required
`NonRedundantSwitcherAdapter`	Single-ECU systems with no hardware switcher

The plugin to use is selected by switcher_plugin in the plugin config file. Base parameters (switcher_plugin, diag.*) are provided by the interface package config (autoware_redundancy_switcher_interface/config/default.param.yaml).

RedundancySwitcherAdapter#

UDS-based adapter for redundancy_switcher. Translates between the ElectionRequest / ElectionStatus protocol and the SwitcherSignals / ActiveControlUnit abstraction used by the framework.

Assumes a Main ECU / Sub ECU / Main VCU / Sub VCU topology with an election-based fault-detection algorithm. Supports priority-based switching via UpdatePriorityCommand: the priority value is embedded in the ElectionRequest heartbeat sent to the switcher process.

Tracks Autoware ready state via UpdateAutowareReadyCommand: when Autoware is not yet ready (during initialization), the autoware_ready field in ElectionRequest is set to false, which gates the switcher from performing fault detection. Once Autoware is ready, autoware_ready is set to true, enabling full fault detection and redundancy management.

<!-- Main ECU -->
<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/redundancy_switcher.main.param.yaml"/>
</include>

<!-- Sub ECU -->
<include file="$(find-pkg-share autoware_redundancy_switcher_interface)/launch/redundancy_switcher_interface.launch.xml">
  <arg name="is_main_ecu" value="false"/>
  <arg name="plugin_config"
    value="$(find-pkg-share autoware_redundancy_switcher_interface_plugins)/config/redundancy_switcher.sub.param.yaml"/>
</include>

Parameters#

Parameter	Type	Description
`uds.switcher_command_path`	string	Unix domain socket path for sending `ElectionRequest`
`uds.switcher_status_path`	string	Unix domain socket path for receiving `ElectionStatus`
`uds.election_status_timeout_milli`	double	Timeout [ms] for reading `ElectionStatus` from the socket
`uds.election_request_send_interval_milli`	double	Interval [ms] for the periodic `ElectionRequest` heartbeat

Note on autoware_ready: The autoware_ready flag is sent in every ElectionRequest heartbeat. It is updated via the UpdateAutowareReadyCommand emitted by the interface when SetAutowareReadyEvent is received from the driving mode subsystem. When false, it prevents the switcher from performing fault detection, allowing Autoware to complete its initialization before entering active mode.

SimpleSwitcherAdapter#

Desktop mock that replaces the hardware switcher and its UDS protocol with ROS topics, allowing redundancy switching scenarios to be tested on a single machine without any special hardware. Supports priority-based switching: publishes a priority value that SimpleSwitcherNode uses to decide which ECU should be active.

<!-- Main ECU with simple (mock) switcher -->
<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>

<!-- Sub ECU with simple (mock) switcher -->
<include file="$(find-pkg-share autoware_redundancy_switcher_interface)/launch/redundancy_switcher_interface.launch.xml">
  <arg name="is_main_ecu" value="false"/>
  <arg name="plugin_config"
    value="$(find-pkg-share autoware_redundancy_switcher_interface_plugins)/config/default.param.yaml"/>
</include>

<!-- Launch simple_switcher_node (single shared instance for both ECUs) -->
<include file="$(find-pkg-share autoware_redundancy_switcher_interface_plugins)/launch/simple_switcher_node.launch.xml"/>

Manual state injection:

# Self-interruption from Main ECU
ros2 topic pub --once /system/simple_switcher/request/self_interruption/main_ecu std_msgs/msg/Empty {}
# Reset
ros2 topic pub --once /system/simple_switcher/request/reset std_msgs/msg/Empty {}

NonRedundantSwitcherAdapter#

For single-ECU deployments where no hardware switcher exists. Sets switcher signals to permanently stable and publishes active_control_unit [0, 2] (Main ECU + Main VCU) at startup. All fault-related commands are ignored.

<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>

Documentation#

docs/DESIGN.md — SimpleSwitcherAdapter: system diagram, state machine, topic/service list