feat: add rosbag logging api and fix document generator (autowarefoun…

…dation#5)

docs/design/.pages

@@ -1,5 +1,4 @@
 nav:
   - index.md
-  - component-interfaces
-  - AD API: ad-api
+  - autoware-interface
   - configuration-management

docs/design/autoware-interface/.pages

@@ -0,0 +1,2 @@
+nav:
+  - Prototyping: prototyping

docs/design/autoware-interface/prototyping/api/external/get/rosbag_logging_mode.md

@@ -0,0 +1,19 @@
+# /api/external/get/rosbag_logging_mode
+
+## Classification
+
+- Behavior: Topic
+- DataType: tier4_external_api_msgs/msg/RosbagLoggingMode
+
+## Description
+
+rosbag 記録モードを取得する。
+
+| Mode          | is_operation_mode |
+| ------------- | ----------------- |
+| 常時記録      | false             |
+| EM 発生時記録 | true              |
+
+## Requirement
+
+現在設定されている「常時記録」または「EM 発生時記録」いずれかの rosbag 記録モードを提供すること。

docs/design/autoware-interface/prototyping/api/external/set/rosbag_logging_mode.md

@@ -0,0 +1,19 @@
+# /api/external/set/rosbag_logging_mode
+
+## Classification
+
+- Behavior: Service
+- DataType: tier4_external_api_msgs/srv/SetRosbagLoggingMode
+
+## Description
+
+rosbag 記録モードを設定する。
+
+| Mode          | is_operation_mode |
+| ------------- | ----------------- |
+| 常時記録      | false             |
+| EM 発生時記録 | true              |
+
+## Requirement
+
+現在の rosbag 記録モードを「常時記録」または「EM 発生時記録」いずれかに設定し、rosbag 記録の保存先および保存対象の制御を行うこと。

docs/design/ad-api/prototyping/api/list.md → docs/design/autoware-interface/prototyping/api/list.md

@@ -39,3 +39,5 @@
 | topic   | [/api/external/set/command/remote/heartbeat](../../api/external/set/command/remote/heartbeat)     | [tier4_external_api_msgs/msg/Heartbeat](../../type/tier4_external_api_msgs/msg/Heartbeat)                         |
 | topic   | [/api/external/get/command/selected/control](../../api/external/get/command/selected/control)     | [tier4_external_api_msgs/msg/ControlCommandStamped](../../type/tier4_external_api_msgs/msg/ControlCommandStamped) |
 | topic   | [/api/external/get/command/selected/vehicle](../../api/external/get/command/selected/vehicle)     | [tier4_external_api_msgs/msg/ControlCommandStamped](../../type/tier4_external_api_msgs/msg/ControlCommandStamped) |
+| service | [/api/external/set/rosbag_logging_mode](../../api/external/set/rosbag_logging_mode)               | [tier4_external_api_msgs/srv/SetRosbagLoggingMode](../../type/tier4_external_api_msgs/srv/SetRosbagLoggingMode)   |
+| topic   | [/api/external/get/rosbag_logging_mode](../../api/external/get/rosbag_logging_mode)               | [tier4_external_api_msgs/msg/RosbagLoggingMode](../../type/tier4_external_api_msgs/msg/RosbagLoggingMode)         |

docs/design/autoware-interface/prototyping/type/tier4_external_api_msgs/msg/RosbagLoggingMode.md

@@ -0,0 +1,6 @@
+# RosbagLoggingMode
+
+```txt
+# fields
+bool is_operation_mode
+```

docs/design/autoware-interface/prototyping/type/tier4_external_api_msgs/srv/SetRosbagLoggingMode.md

@@ -0,0 +1,7 @@
+# SetRosbagLoggingMode
+
+```txt
+bool is_operation_mode
+---
+tier4_external_api_msgs/ResponseStatus status
+```

docs/design/index.md

@@ -4,8 +4,6 @@
 
     Under Construction
 
-## Component interfaces
-
-## AD API
+## Autoware interfaces
 
 ## Configuration management

tools/autoware_api_document/package.xml

@@ -11,6 +11,9 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
+  <exec_depend>autoware_external_api_msgs</exec_depend>
+  <exec_depend>tier4_external_api_msgs</exec_depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 

tools/autoware_api_document/python/__init__.py

@@ -22,7 +22,7 @@
 
 def generate():
     parser = argparse.ArgumentParser()
-    parser.add_argument('path', default='docs/design/ad-api/prototyping', nargs='?')
+    parser.add_argument('path', default='docs/design/autoware-interface/prototyping', nargs='?')
     args = parser.parse_args()
 
     target = pathlib.Path(args.path)
@@ -32,7 +32,7 @@ def generate():
     groups = [
         ('external', 'autoware_api_document', 'resource/tier4.yaml'),
     ]
-    groups = [(data[0], list(AutowareAPI.Load(*data[1:]))) for data in groups]
+    groups = [(data[0], list(AutowareAPI.Load(target, *data[1:]))) for data in groups]
 
     # create list
     generate_list(target, groups)
@@ -77,19 +77,19 @@ def make_type_link(spec : AutowareAPI):
 
 
 def generate_page(target, spec):
-    lines = [
+    text = spec.page.read_text().split('## Description')
+    text = text[0] if len(text) < 2 else text[1]
+    line = [
         '# ' + spec.spec_name,
         '',
         '## Classification',
         '',
         '- Behavior: ' + spec.behavior.capitalize(),
         '- DataType: ' + spec.data_type,
         '',
-        spec.page,
+        '## Description',
     ]
-    path = target.joinpath(spec.spec_name.strip('/')).with_suffix('.md')
-    path.parent.mkdir(parents=True, exist_ok=True)
-    path.write_text('\n'.join(lines) + '\n')
+    spec.page.write_text('\n'.join(line) + '\n\n' + text.strip() + '\n')
 
 
 def generate_type(target, definition):

tools/autoware_api_document/python/specification.py

@@ -36,30 +36,6 @@ def __load_page(self, name):
         path = path.joinpath(*name[1:]).with_suffix('.' + name[1])
         return path.read_text().strip() if path.exists() else None
 
-    """
-    def __load_page(self, name):
-        name = name.split('/')
-        if name[0] not in self.my_packages:
-            return None
-        path = pathlib.Path(get_package_share_directory(name[0]))
-        path = path.joinpath(*name[1:]).with_suffix('.' + name[1])
-        return self.__highlight(path.read_text().strip()) if path.exists() else None
-
-    def __highlight(self, text):
-        code = ''
-        for line in text.split('\n'):
-            match = re.match(R'^([\w/]*)(.*)$', line)
-            names = match.group(1).split('/')
-            other = match.group(2)
-            if names[0] in self.my_packages:
-                data = names.copy()
-                data.insert(-1, 'msg')
-                data = TypeDefinition.Get('/'.join(data))
-                line = '<a href="../../../{}">{}</a>{}'.format(data.path, '/'.join(names), other)
-            code += line + '\n'
-        return code
-    """
-
     @property
     def name(self):
         return self._path.split('/')[-1]
@@ -82,17 +58,15 @@ def Get(cls, name):
 
 class AutowareAPI(object):
 
-    def __init__(self, name, data):
+    def __init__(self, target, name, data):
         self._name = name.strip('/').split('/')
         self._data = data
-        self._page = self.__load_page(name)
+        self._page = self.__load_page(target, name)
         self._type = self.__load_type(data['type'])
 
-    def __load_page(self, name):
-        name = name.split('/')
-        path = pathlib.Path(get_package_share_directory('autoware_api_document'))
-        path = path.joinpath('resource/page', name[0], '-'.join(name[1:])).with_suffix('.md')
-        return path.read_text().strip() if path.exists() else None
+    def __load_page(self, target, name):
+        path = target.joinpath(self.spec_name.strip('/')).with_suffix('.md')
+        return path if path.exists() else None
 
     def __load_type(self, name):
         return TypeDefinition.Get(name)
@@ -118,8 +92,8 @@ def typedef(self):
         return self._type
 
     @staticmethod
-    def Load(package: str, path : str):
+    def Load(target, package: str, path : str):
         package = get_package_share_directory(package)
         path = pathlib.Path(package, path)
         for name, data in yaml.safe_load(path.read_text()).items():
-            yield AutowareAPI(name, data)
+            yield AutowareAPI(target, name, data)