Port command_mode_decider (I2) with a static decision table, and command_mode_types (I4) #5

Node: I2 + I4 · Tier T0 · Partition P0 · Rate 100 Hz · Work package WP3 · Dependency level L7

Package

• autoware_command_mode_decider (+ _plugins)
• autoware_command_mode_types (I4, header-only)

Role on the safety island

Decides which command source has authority (autonomous / MRM / stop).

Status

Port. The plugin logic is replaced by a static, table-driven decider for certifiability (§4.1). I4 is the shared type library for I1–I3 and the HPC. Language: C++ port (decision Q8, proposed). Target: FreeRTOS + nano-ros on the X-S32Z27X-DC.

Inputs

• Island mode from N3 (D15)
• Fault verdict from N8 (D14)
• Validation reject from I8 (D19, WP4)

Outputs

• Decided command mode to I3 (D20)

Tasks

• Port I4 first: I1 and I3 need it too
• Replace runtime plugins with a static decision table
• Encode the rank order of §10.4
• Contract file (*.contract.yaml) with rates, age limits and partition

Acceptance tests

• Every row of the decision table
• The §10.4 rank order holds
• No plugin is loaded at runtime

Depends on

• N3 and N8 (new nodes; scripted inputs until they exist)

Inputs from nodes that are not built yet are scripted with the test harness (plan §2.1), so this issue does not wait for them.

References

• Design V1.0, §4.1 migration list: design document
• Edge IDs (A–F) and badges: message-flow catalogue
• Plan for S32Z2 · WP0–WP3 detail
• Tracking: Tracking: import the Autoware nodes (I*) onto the S32Z2 safety island #1