..
 # Copyright (c) 2024-2025, Arm Limited.
 #
 # SPDX-License-Identifier: Apache-2.0

############################################
Autoware Actuation Module - ARM Safety Island
############################################

********
Overview
********

This repository contains the Autoware Actuation Module for the ARM Safety Island.

********
Workflow
********

.. mermaid::

   graph TD
       subgraph Inputs
           Trajectory["Trajectory<br/>(TrajectoryMsg_Raw)"]
           Odometry["Odometry<br/>(OdometryMsg)"]
           Steering["Steering<br/>(SteeringReportMsg)"]
           Acceleration["Acceleration<br/>(AccelWithCovarianceStampedMsg)"]
           OperationMode["Operation Mode<br/>(OperationModeStateMsg)"]
       end

       subgraph "Actuation Module"
           ControllerNode["Controller Node<br/><br/>Lateral Controller: MPC or Pure Pursuit<br/>Longitudinal Controller: PID"]
       end

       subgraph Outputs
           ControlCommand["Control Command<br/>(ControlMsg)"]
       end

       Trajectory --> ControllerNode
       Odometry --> ControllerNode
       Steering --> ControllerNode
       Acceleration --> ControllerNode
       OperationMode --> ControllerNode

       ControllerNode --> ControlCommand

*****************
Main Components
*****************

.. list-table::
   :widths: 50 50
   :header-rows: 1

   * - Component
     - Version
   * - Zephyr RTOS
     - `3.6.0 <https://github.com/zephyrproject-rtos/zephyr/commit/6aeb7a2b96c2b212a34f00c0ad3862ac19e826e8>`_
   * - CycloneDDS
     - `0.11.x <https://github.com/eclipse-cyclonedds/cyclonedds/commit/7c253ad3c4461b10dc4cac36a257b097802cd043>`_
   * - Autoware
     - `2025.02 <https://github.com/autowarefoundation/autoware/tree/2025.02>`_
   * - Autoware.Universe
     - `0.40.0 <https://github.com/autowarefoundation/autoware.universe/tree/0.40.0>`_
   * - Autoware.msgs
     - `1.3.0 <https://github.com/autowarefoundation/autoware_msgs/tree/1.3.0>`_

*********************
Autoware Components
*********************

.. list-table::
   :widths: 50 50
   :header-rows: 1

   * - Component
     - Description
   * - autoware_msgs
     - Autoware Messages
   * - autoware_osqp_interface
     - OSQP Interface
   * - autoware_universe_utils
     - Universe Utils
   * - autoware_motion_utils
     - Motion Utils
   * - autoware_interpolation
     - Interpolation Utils
   * - autoware_vehicle_info_utils
     - Vehicle Info Utils
   * - autoware_trajectory_follower_base
     - Trajectory Follower Base
   * - autoware_mpc_lateral_controller
     - MPC Lateral Controller
   * - autoware_pid_longitudinal_controller
     - PID Longitudinal Controller
   * - autoware_trajectory_follower_node
     - Trajectory Follower Node

***********************************
ROS RCL Utils to Zephyr Migration
***********************************

.. list-table::
   :widths: 50 50
   :header-rows: 1

   * - RCL Component
     - Zephyr Target
   * - RCL Logging
     - Custom Logger
   * - RCL Node
     - POSIX Threads
   * - RCL Timers
     - Software Timers
   * - RCL Publisher
     - CycloneDDS
   * - RCL Subscriber
     - CycloneDDS