From d9e917743f635e34c17a87dac89ef71732643f1c Mon Sep 17 00:00:00 2001
From: satoshi-ota <satoshi.ota928@gmail.com>
Date: Tue, 7 Jan 2025 09:58:05 +0900
Subject: [PATCH] feat(planning): add planning factor msgs

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
---
 autoware_adapi_v1_msgs/CMakeLists.txt         |  3 ++
 .../planning/msg/ControlPoint.msg             |  2 +
 .../planning/msg/PlanningFactor.msg           | 41 +++++++++++++++++++
 .../planning/msg/PlanningFactorArray.msg      |  2 +
 4 files changed, 48 insertions(+)
 create mode 100644 autoware_adapi_v1_msgs/planning/msg/ControlPoint.msg
 create mode 100644 autoware_adapi_v1_msgs/planning/msg/PlanningFactor.msg
 create mode 100644 autoware_adapi_v1_msgs/planning/msg/PlanningFactorArray.msg

diff --git a/autoware_adapi_v1_msgs/CMakeLists.txt b/autoware_adapi_v1_msgs/CMakeLists.txt
index 91ffe11..d7797f4 100644
--- a/autoware_adapi_v1_msgs/CMakeLists.txt
+++ b/autoware_adapi_v1_msgs/CMakeLists.txt
@@ -26,11 +26,14 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   perception/msg/DynamicObjectKinematics.msg
   perception/msg/DynamicObjectPath.msg
   perception/msg/ObjectClassification.msg
+  planning/msg/ControlPoint.msg
   planning/msg/SteeringFactor.msg
   planning/msg/SteeringFactorArray.msg
   planning/msg/VelocityFactor.msg
   planning/msg/VelocityFactorArray.msg
   planning/msg/PlanningBehavior.msg
+  planning/msg/PlanningFactor.msg
+  planning/msg/PlanningFactorArray.msg
   planning/msg/PlanningSequence.msg
   planning/msg/CooperationCommand.msg
   planning/msg/CooperationDecision.msg
diff --git a/autoware_adapi_v1_msgs/planning/msg/ControlPoint.msg b/autoware_adapi_v1_msgs/planning/msg/ControlPoint.msg
new file mode 100644
index 0000000..5c71444
--- /dev/null
+++ b/autoware_adapi_v1_msgs/planning/msg/ControlPoint.msg
@@ -0,0 +1,2 @@
+geometry_msgs/Pose pose
+float32 distance
diff --git a/autoware_adapi_v1_msgs/planning/msg/PlanningFactor.msg b/autoware_adapi_v1_msgs/planning/msg/PlanningFactor.msg
new file mode 100644
index 0000000..78bd8cb
--- /dev/null
+++ b/autoware_adapi_v1_msgs/planning/msg/PlanningFactor.msg
@@ -0,0 +1,41 @@
+## constants for common use
+uint16 UNKNOWN = 0
+
+# These constants are used in the module field.
+uint16 ADAPTIVE_CRUISE = 1
+uint16 AVOIDANCE = 2
+uint16 CROSSWALK = 3
+uint16 GOAL_PLANNER = 4
+uint16 INTERSECTION = 5
+uint16 LANE_CHANGE = 6
+uint16 MERGE = 7
+uint16 NO_DRIVABLE_LANE = 8
+uint16 NO_STOPPING_AREA = 9
+uint16 REAR_CHECK = 10
+uint16 ROUTE_OBSTACLE = 11
+uint16 RUN_OUT = 12
+uint16 SIDEWALK = 13
+uint16 START_PLANNER = 14
+uint16 STOP_SIGN = 15
+uint16 SURROUNDING_OBSTACLE = 16
+uint16 TRAFFIC_SIGNAL = 17
+uint16 USER_DEFINED_DETECTION_AREA = 18
+uint16 VIRTUAL_TRAFFIC_LIGHT = 19
+
+# constants for behavior
+uint16 NONE = 1
+uint16 SLOW_DOWN = 2
+uint16 STOP = 3
+uint16 SHIFT_LEFT = 4
+uint16 SHIFT_RIGHT = 5
+uint16 TURN_LEFT = 6
+uint16 TURN_RIGHT = 7
+
+# variables
+uint16 module
+
+autoware_adapi_v1_msgs/ControlPoint[] control_points
+
+uint16 behavior
+
+string detail
diff --git a/autoware_adapi_v1_msgs/planning/msg/PlanningFactorArray.msg b/autoware_adapi_v1_msgs/planning/msg/PlanningFactorArray.msg
new file mode 100644
index 0000000..4f1c9e3
--- /dev/null
+++ b/autoware_adapi_v1_msgs/planning/msg/PlanningFactorArray.msg
@@ -0,0 +1,2 @@
+std_msgs/Header header
+autoware_adapi_v1_msgs/PlanningFactor[] factors