autoware_redundancy_adapi_switcher

Overview

This package gates adapi messages (MrmState, DiagGraphStatus, DiagGraphStruct) output by each ECU in a Main ECU / Sub ECU redundant configuration, based on the content of active_control_unit.

Rather than “switching” outputs, the node passes through messages from the currently active ECU and discards messages from the inactive ECU. One instance runs on each ECU, and each instance independently determines whether it is the active output master.

This package also manages the launch file for the Sub ECU adapi container (HeartbeatNode, DiagnosticsNode, FailSafeNode).

Architecture

               active_control_unit
                      │
        ┌─────────────┴─────────────┐
        ▼                           ▼
[Main ECU]                      [Sub ECU]
RedundancyAdapiSwitcher         RedundancyAdapiSwitcher
  (is_main_ecu=true)              (is_main_ecu=false)
        │                           │
  is_active? ──Yes──▶ publish   is_active? ──Yes──▶ publish
             ──No──▶ discard              ──No──▶ discard
        │                           │
        ▼                           ▼
   MrmState                     MrmState
   DiagStatus        →→→        DiagStatus     (downstream)
   DiagStruct                   DiagStruct

An instance becomes the output master when its own ECU ID is present in active_control_unit.ids.

Gating Logic

DiagGraphStruct handling

DiagGraphStruct uses a transient_local QoS. To ensure late-joining subscribers receive the latest structure after a master switch, the most recently received struct is buffered internally and re-published together with the next DiagGraphStatus.

Node: redundancy_adapi_switcher

Parameters

Subscriptions

Publications

Launch Files

redundancy_adapi_switcher.launch.xml

Launches the RedundancyAdapiSwitcher node.

sub_default_adapi.launch.xml

File truncated at 100 lines see the full file

Changelog for package autoware_redundancy_adapi_switcher

0.53.0 (2026-09-29)

• Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

• feat(autoware_redundancy_adapi_switcher): apply agnocast redundancy adapi switcher (#13415)

  • refactor(autoware_redundancy_adapi_switcher): migrate to agnocast_wrapper::Node

  * refactor(autoware_redundancy_adapi_switcher): preload the Agnocast heaphook in the launch file Include agnocast_env.launch.xml and set LD_PRELOAD on the node so that launching this file with ENABLE_AGNOCAST=1 runs the node with the heaphook. ---------

• feat(autoware_redundancy_adapi_switcher): add redundancy adapi switcher node (#12700)

  • feat: add node
  • fix: node exec
  • style(pre-commit): autofix
  • fix: refactor

  * docs(autoware_redundancy_adapi_switcher): clarify Neither ECU ID behavior in README The README claimed the other ECU becomes the output master when neither ECU ID is active, but this node cannot guarantee that. Its own behavior is to block its own output in this case. ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

• Contributors: Ryohsuke Mitsudome, Tetsuhiro Kawaguchi