feat(autoware_ad_api_specs): define operation mode interface

common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp

@@ -0,0 +1,73 @@
+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_
+#define AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
+#include <autoware_adapi_v1_msgs/srv/change_operation_mode.hpp>
+
+namespace autoware_ad_api::operation_mode
+{
+
+struct ChangeToStop
+{
+  using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
+  static constexpr char name[] = "/api/operation_mode/change_to_stop";
+};
+
+struct ChangeToAutonomous
+{
+  using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
+  static constexpr char name[] = "/api/operation_mode/change_to_autonomous";
+};
+
+struct ChangeToLocal
+{
+  using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
+  static constexpr char name[] = "/api/operation_mode/change_to_local";
+};
+
+struct ChangeToRemote
+{
+  using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
+  static constexpr char name[] = "/api/operation_mode/change_to_remote";
+};
+
+struct EnableAutowareControl
+{
+  using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
+  static constexpr char name[] = "/api/operation_mode/enable_autoware_control";
+};
+
+struct DisableAutowareControl
+{
+  using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
+  static constexpr char name[] = "/api/operation_mode/disable_autoware_control";
+};
+
+struct OperationModeState
+{
+  using Message = autoware_adapi_v1_msgs::msg::OperationModeState;
+  static constexpr char name[] = "/api/operation_mode/state";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+}  // namespace autoware_ad_api::operation_mode
+
+#endif  // AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_

common/component_interface_specs/include/component_interface_specs/system.hpp

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+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_
+#define COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
+#include <tier4_system_msgs/srv/change_autoware_control.hpp>
+#include <tier4_system_msgs/srv/change_operation_mode.hpp>
+
+namespace system_interface
+{
+
+struct ChangeAutowareControl
+{
+  using Service = tier4_system_msgs::srv::ChangeAutowareControl;
+  static constexpr char name[] = "/system/operation_mode/change_autoware_control";
+};
+
+struct ChangeOperationMode
+{
+  using Service = tier4_system_msgs::srv::ChangeOperationMode;
+  static constexpr char name[] = "/system/operation_mode/change_operation_mode";
+};
+
+struct OperationModeState
+{
+  using Message = autoware_adapi_v1_msgs::msg::OperationModeState;
+  static constexpr char name[] = "/system/operation_mode/state";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+}  // namespace system_interface
+
+#endif  // COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_