add operator status

Signed-off-by: Takagi, Isamu <[email protected]>

docs/design/autoware-interfaces/ad-api/features/manual-control.md

@@ -5,6 +5,7 @@
 - {{ link_ad_api('/api/remote/control_mode/list') }}
 - {{ link_ad_api('/api/remote/control_mode/select') }}
 - {{ link_ad_api('/api/remote/control_mode/status') }}
+- {{ link_ad_api('/api/remote/operator/status') }}
 - {{ link_ad_api('/api/remote/command/pedal') }}
 - {{ link_ad_api('/api/remote/command/acceleration') }}
 - {{ link_ad_api('/api/remote/command/steering') }}
@@ -14,6 +15,7 @@
 - {{ link_ad_api('/api/local/control_mode/list') }}
 - {{ link_ad_api('/api/local/control_mode/select') }}
 - {{ link_ad_api('/api/local/control_mode/status') }}
+- {{ link_ad_api('/api/local/operator/status') }}
 - {{ link_ad_api('/api/local/command/pedal') }}
 - {{ link_ad_api('/api/local/command/acceleration') }}
 - {{ link_ad_api('/api/local/command/steering') }}
@@ -27,6 +29,12 @@ This API is used to manually control the vehicle, and provides the same interfac
 For example, the local operator controls a vehicle without a driver's seat using a joystick, while the remote operator provides remote support when problems occur with autonomous driving.
 The command sent is used in [operation modes](./operation_mode.md) remote and local.
 
+## Operator status
+
+The application needs to determine whether the operator is able to drive and send that information via the operator status API.
+If the operator is unable to continue driving during manual operation, Autoware will perform MRM to bring the vehicle to a safe state.
+For level 3 and below, the operator status is referenced even during autonomous driving.
+
 ## Control mode
 
 Since there are multiple ways to control a vehicle, such as pedals or acceleration, the application must first select a control mode.

docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/status.md

@@ -6,7 +6,7 @@ type:
   name: autoware_adapi_v1_msgs/msg/ManualControlModeStatus
   msg:
     - name: stamp
-      text:
+      text: Timestamp when this message was sent.
 ---
 
 {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}

docs/design/autoware-interfaces/ad-api/list/api/local/operator/status.md

@@ -0,0 +1,18 @@
+---
+title: /api/local/operator/status
+status: not released
+method: realtime stream
+type:
+  name: autoware_adapi_v1_msgs/msg/ManualOperatorStatus
+  msg:
+    - name: stamp
+      text: Timestamp when this message was sent.
+    - name: ready
+      text: Whether the operator is able to continue driving.
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+The application needs to determine whether the operator is able to drive and send that information via this API.
+For details, see the [manual control](../../../../features/manual-control.md).
+{% endblock %}

docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/status.md

@@ -6,7 +6,7 @@ type:
   name: autoware_adapi_v1_msgs/msg/ManualControlModeStatus
   msg:
     - name: stamp
-      text:
+      text: Timestamp when this message was sent.
 ---
 
 {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}

docs/design/autoware-interfaces/ad-api/list/api/remote/operator/status.md

@@ -0,0 +1,18 @@
+---
+title: /api/remote/operator/status
+status: not released
+method: realtime stream
+type:
+  name: autoware_adapi_v1_msgs/msg/ManualOperatorStatus
+  msg:
+    - name: stamp
+      text: Timestamp when this message was sent.
+    - name: ready
+      text: Whether the operator is able to continue driving.
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+The application needs to determine whether the operator is able to drive and send that information via this API.
+For details, see the [manual control](../../../../features/manual-control.md).
+{% endblock %}