Go interface

Overview

This node integrates user-defined on-demand delivery apps with autonomous driving systems.

Following use-cases are realized by connecting with FMS (fleet management service) providing by TIER IV, inc.

• Switch operation mode between on-demand delivery apps and regular delivery apps
• Call an ego vehicle to a designated stop.
• Send an ego vehicle to a designated stop.

Input and Output

• input
  • from Web.Auto (DevOps Platform provided by TIER IV)
    • /webauto/vehicle_info [std_msgs/msg/String]:
      Gets unique ID of the ego vehicle managed by Web.Auto.
  • from autoware_state_machine
    • /req_change_lock_flg [go_interface_msgs/msg/ChangeLockFlg]:
      Receives reservations for on-demand delivery apps.
  • from on-demand delivery apps (user-defined)
    • GET API:
      Gets the current reservation status for on-demand delivery apps in the ego vehicle in two cases.
      • Every 3 seconds
      • After successful PATCH requests
• output
  • to autoware_state_machine
    • /api_vehicle_status [go_interface_msgs/msg/VehicleStatus]:
      The current reservation status for on-demand delivery apps in the ego vehicle.
  • to on-demand delivery apps (user-defined)
    • PATCH API:
      Updates the reservation status for on-demand delivery apps in the ego vehicle. A PATCH request is sent when the vehicle reservation state is changes.

Node Graph

Launch arguments

Name	Description
operation_mode	Select the following operation modes; product, server_test, local_test, not_use. The URLs corresponding to these modes are set in go_interface_params. This URL applies to the delivery_reservation_service_url parameter.
access_token	Access token of on-demand delivery application. This value is passed directly to the access_token parameter.

Parameter description

Name	Description
delivery_reservation_service_url	URL of on-demand delivery application.
access_token	Access token of on-demand delivery application.

Required specifications for on-demand delivery apps

The following features need to be provided by on-demand delivery apps.

• Search for available vehicles using the fleet management service.
• Providing a UI, the user can specify an arbitrary destination after identifying the vehicle.
• Reserve a delivery schedule for the fleet management service.

On-demand delivery apps must be implemented according to the following specifications.

Overview of items

See the README in go_interface_params.

Headers

The following contents are output as Headers.
The token authentication specifications follow the Django REST framework.

Headers sample

{
  "Accept": "application/json",
  "Content-Type": "application/json",
  "Authorization": "Token 0123456789abcdefgh"
}

GET API : Get current reservation status

GET API sample

Request Sample for GET API

GET (server_url)/api/vehicle_status?vehicle_id=t728943hy098r3 HTTP/1.1

Response Sample for GET API

{
  "result":
  {
    "vehicle_id": t728943hy098r3,
    "lock_flg": 0,
    "voice_flg": 0,
    "active_scedule_exist": 1
  }
}

PATCH API : Update reservation status

PATCH API sample

Request Sample for PATCH API

PATCH (server_url)/api/vehicle_status HTTP/1.1

{
  "vehicle_id": 3wpo8r932tc02,
  "lock_flg": 1
}

Response Sample for PATCH API

{
  "result":
  {
    "vehicle_id": 3wpo8r932tc02,
    "lock_flg": 1
  }
}