autoware_redundancy_switcher_interface

Framework for managing redundancy switching in Autoware-based vehicle systems.

Summary

This package provides:

• A pure C++ Processor that evaluates switching conditions and produces effects
• An EventGateway for thread-safe event submission
• A CommandBus for broadcasting effects to all registered adapters
• Three built-in adapters: LogAdapter, DiagAdapter and DrivingModeSubSystemAdapter
• An IAdapterPlugin interface for Switcher-side plugins loaded via pluginlib

The Switcher-side adapter (hardware-specific UDS or topic-based) is loaded at runtime as a pluginlib plugin. See sibling packages:

• autoware_redundancy_switcher_interface_plugins — built-in plugin implementations
• Other project-specific plugins can be implemented separately following docs/PLUGIN_DEVELOPMENT_GUIDE.md

Documentation

Quick Start

colcon build --packages-select autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins

Launch (redundant mode with simple switcher for development/testing):

<include file="$(find-pkg-share autoware_redundancy_switcher_interface)/launch/redundancy_switcher_interface.launch.xml">
  <arg name="is_main_ecu" value="true"/>
  <arg name="plugin_config"
    value="$(find-pkg-share autoware_redundancy_switcher_interface_plugins)/config/default.param.yaml"/>
</include>

Launch (non-redundant / single-ECU mode):

<include file="$(find-pkg-share autoware_redundancy_switcher_interface)/launch/redundancy_switcher_interface.launch.xml">
  <arg name="is_main_ecu" value="true"/>
  <arg name="plugin_config"
    value="$(find-pkg-share autoware_redundancy_switcher_interface_plugins)/config/non_redundant.param.yaml"/>
</include>

Parameters

The base configuration (config/default.param.yaml) covers the built-in adapters. Plugin-specific parameters are provided by the plugin package config.

Key Concepts

• InputEvent: “What occurred” — submitted by adapters to the Processor via EventGateway
• OutputCommand: “What should be done” — returned by the Processor and broadcast via CommandBus
• DomainSnapshot: Read-only view of Processor state, used by DiagAdapter and logging
• SwitcherSignals: Three orthogonal signals (is_stable, is_self_interrupted, is_faulted) from the SwitcherAdapter

Changelog for package autoware_redundancy_switcher_interface

0.53.0 (2026-09-29)

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

• feat(autoware_redundancy_switcher_interface): add packages (#13350)

  • feat: add packages
  • style(pre-commit): autofix
  • fix: refacor and pre-commit
  • style(pre-commit): autofix
  • fix: remove command mode feature
  • fix: response to cppcheck
  • fix: response to spellcheck

  * docs(autoware_redundancy_switcher_interface): add missing is_main_ecu arg to non-redundant launch examples is_main_ecu has no default in redundancy_switcher_interface.launch.xml, so the non-redundant launch examples in both READMEs failed to start as written. ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

• Contributors: Ryohsuke Mitsudome, Tetsuhiro Kawaguchi