From 0cb50afb75fc779fb684f905b80e21dff71eaca3 Mon Sep 17 00:00:00 2001
From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com>
Date: Thu, 28 Nov 2024 18:27:44 +0900
Subject: [PATCH] feat: add migration guide for operation mode (#46)

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
---
 .../autoware-interfaces/prototyping/index.md  |  70 +-
 .../prototyping/migration/operation-mode.md   |  24 +
 .../operation-mode/block-adapi.drawio.svg     | 250 +++++++
 .../operation-mode/block-tier4.drawio.svg     | 375 ++++++++++
 .../migration/operation-mode/table.drawio.svg | 693 ++++++++++++++++++
 5 files changed, 1377 insertions(+), 35 deletions(-)
 create mode 100644 docs/design/autoware-interfaces/prototyping/migration/operation-mode.md
 create mode 100644 docs/design/autoware-interfaces/prototyping/migration/operation-mode/block-adapi.drawio.svg
 create mode 100644 docs/design/autoware-interfaces/prototyping/migration/operation-mode/block-tier4.drawio.svg
 create mode 100644 docs/design/autoware-interfaces/prototyping/migration/operation-mode/table.drawio.svg

diff --git a/docs/design/autoware-interfaces/prototyping/index.md b/docs/design/autoware-interfaces/prototyping/index.md
index 46914e7caa..75eaf36ee8 100644
--- a/docs/design/autoware-interfaces/prototyping/index.md
+++ b/docs/design/autoware-interfaces/prototyping/index.md
@@ -4,41 +4,41 @@
 
 これらの API は TIER IV の独自実装であり、段階的に [AD API](../ad-api/list/index.md) に統合する予定です。
 
-| 種別    | 名前                                                                                                                           | 移行先                                                                                                                                            |
-| ------- | ------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------- |
-| service | [/api/external/get/version](./api/external/get/version.md)                                                                     | [Interface API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/interface/)           |
-| service | [/api/external/set/initialize_pose](./api/external/set/initialize_pose.md)                                                     | [Localization API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/localization/)     |
-| service | [/api/external/set/initialize_pose_auto](./api/external/set/initialize_pose_auto.md)                                           | [Localization API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/localization/)     |
-| service | [/api/external/set/route](./api/external/set/route.md)                                                                         | [Routing API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/routing/)               |
-| topic   | [/api/external/get/route](./api/external/get/route.md)                                                                         | [Routing API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/routing/)               |
-| service | [/api/external/set/clear_route](./api/external/set/clear_route.md)                                                             | [Routing API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/routing/)               |
-| service | [/api/external/set/engage](./api/external/set/engage.md)                                                                       | [Operation mode API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/operation_mode/) |
-| topic   | [/api/external/get/engage](./api/external/get/engage.md)                                                                       | [Operation mode API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/operation_mode/) |
-| service | [/api/external/set/operator](./api/external/set/operator.md)                                                                   | [Operation mode API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/operation_mode/) |
-| topic   | [/api/external/get/operator](./api/external/get/operator.md)                                                                   | [Operation mode API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/operation_mode/) |
-| service | [/api/external/set/observer](./api/external/set/observer.md)                                                                   | [Operation mode API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/operation_mode/) |
-| topic   | [/api/external/get/observer](./api/external/get/observer.md)                                                                   | [Operation mode API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/operation_mode/) |
-| service | [/api/external/set/pause_driving](./api/external/set/pause_driving.md)                                                         | [Operation mode API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/operation_mode/) |
-| service | [/api/autoware/set/start_request](./api/autoware/set/start_request.md)                                                         | T.B.D.                                                                                                                                            |
-| service | [/api/external/set/emergency](./api/external/set/emergency.md)                                                                 | T.B.D.                                                                                                                                            |
-| topic   | [/api/external/get/emergency](./api/external/get/emergency.md)                                                                 | T.B.D.                                                                                                                                            |
-| topic   | [/api/external/get/vehicle/status](./api/external/get/vehicle/status.md)                                                       | [Vehicle status API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/vehicle-status/) |
-| service | [/api/external/set/door](./api/external/set/door.md)                                                                           | [Vehicle doors API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/vehicle-doors/)   |
-| topic   | [/api/external/get/door](./api/external/get/door.md)                                                                           | [Vehicle doors API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/vehicle-doors/)   |
-| service | [/api/external/set/velocity_limit](./api/external/set/velocity_limit.md)                                                       | T.B.D.                                                                                                                                            |
-| topic   | [/api/external/set/command/local/control](./api/external/set/command/local/control.md)                                         | T.B.D.                                                                                                                                            |
-| topic   | [/api/external/set/command/local/shift](./api/external/set/command/local/shift.md)                                             | T.B.D.                                                                                                                                            |
-| topic   | [/api/external/set/command/local/turn_signal](./api/external/set/command/local/turn_signal.md)                                 | T.B.D.                                                                                                                                            |
-| topic   | [/api/external/set/command/local/heartbeat](./api/external/set/command/local/heartbeat.md)                                     | T.B.D.                                                                                                                                            |
-| topic   | [/api/external/set/command/remote/control](./api/external/set/command/remote/control.md)                                       | T.B.D.                                                                                                                                            |
-| topic   | [/api/external/set/command/remote/shift](./api/external/set/command/remote/shift.md)                                           | T.B.D.                                                                                                                                            |
-| topic   | [/api/external/set/command/remote/turn_signal](./api/external/set/command/remote/turn_signal.md)                               | T.B.D.                                                                                                                                            |
-| topic   | [/api/external/set/command/remote/heartbeat](./api/external/set/command/remote/heartbeat.md)                                   | T.B.D.                                                                                                                                            |
-| topic   | [/api/external/get/command/selected/control](./api/external/get/command/selected/control.md)                                   | T.B.D.                                                                                                                                            |
-| topic   | [/api/external/get/command/selected/vehicle](./api/external/get/command/selected/vehicle.md)                                   | T.B.D.                                                                                                                                            |
-| topic   | [/api/iv_msgs/planning/scenario_planning/trajectory](./api/iv_msgs/planning/scenario_planning/trajectory.md)                   | T.B.D.                                                                                                                                            |
-| topic   | [/api/iv_msgs/perception/object_recognition/tracking/objects](./api/iv_msgs/perception/object_recognition/tracking/objects.md) | T.B.D.                                                                                                                                            |
-| topic   | [/api/iv_msgs/autoware/state](./api/iv_msgs/autoware/state.md)                                                                 | [Autoware state compatibility](https://autowarefoundation.github.io/autoware.universe/main/system/default_ad_api/document/autoware-state/)        |
+| 種別    | 名前                                                                                                                           | 移行先                                                                                                                                            | 移行ガイド                                                                                                                                         |
+| ------- | ------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
+| service | [/api/external/get/version](./api/external/get/version.md)                                                                     | [Interface API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/interface/)           | -                                                                                                                                                  |
+| service | [/api/external/set/initialize_pose](./api/external/set/initialize_pose.md)                                                     | [Localization API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/localization/)     | -                                                                                                                                                  |
+| service | [/api/external/set/initialize_pose_auto](./api/external/set/initialize_pose_auto.md)                                           | [Localization API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/localization/)     | -                                                                                                                                                  |
+| service | [/api/external/set/route](./api/external/set/route.md)                                                                         | [Routing API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/routing/)               | -                                                                                                                                                  |
+| topic   | [/api/external/get/route](./api/external/get/route.md)                                                                         | [Routing API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/routing/)               | -                                                                                                                                                  |
+| service | [/api/external/set/clear_route](./api/external/set/clear_route.md)                                                             | [Routing API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/routing/)               | -                                                                                                                                                  |
+| service | [/api/external/set/engage](./api/external/set/engage.md)                                                                       | [Operation mode API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/operation_mode/) | [Operation mode compatibility](./migration/operation-mode.md)                                                                                      |
+| topic   | [/api/external/get/engage](./api/external/get/engage.md)                                                                       | [Operation mode API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/operation_mode/) | [Operation mode compatibility](./migration/operation-mode.md)                                                                                      |
+| service | [/api/external/set/operator](./api/external/set/operator.md)                                                                   | [Operation mode API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/operation_mode/) | [Operation mode compatibility](./migration/operation-mode.md)                                                                                      |
+| topic   | [/api/external/get/operator](./api/external/get/operator.md)                                                                   | [Operation mode API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/operation_mode/) | [Operation mode compatibility](./migration/operation-mode.md)                                                                                      |
+| service | [/api/external/set/observer](./api/external/set/observer.md)                                                                   | [Operation mode API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/operation_mode/) | [Operation mode compatibility](./migration/operation-mode.md)                                                                                      |
+| topic   | [/api/external/get/observer](./api/external/get/observer.md)                                                                   | [Operation mode API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/operation_mode/) | [Operation mode compatibility](./migration/operation-mode.md)                                                                                      |
+| service | [/api/external/set/pause_driving](./api/external/set/pause_driving.md)                                                         | [Operation mode API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/operation_mode/) | [Operation mode compatibility](./migration/operation-mode.md)                                                                                      |
+| service | [/api/autoware/set/start_request](./api/autoware/set/start_request.md)                                                         | T.B.D.                                                                                                                                            | -                                                                                                                                                  |
+| service | [/api/external/set/emergency](./api/external/set/emergency.md)                                                                 | T.B.D.                                                                                                                                            | -                                                                                                                                                  |
+| topic   | [/api/external/get/emergency](./api/external/get/emergency.md)                                                                 | T.B.D.                                                                                                                                            | -                                                                                                                                                  |
+| topic   | [/api/external/get/vehicle/status](./api/external/get/vehicle/status.md)                                                       | [Vehicle status API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/vehicle-status/) | -                                                                                                                                                  |
+| service | [/api/external/set/door](./api/external/set/door.md)                                                                           | [Vehicle doors API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/vehicle-doors/)   | -                                                                                                                                                  |
+| topic   | [/api/external/get/door](./api/external/get/door.md)                                                                           | [Vehicle doors API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/vehicle-doors/)   | -                                                                                                                                                  |
+| service | [/api/external/set/velocity_limit](./api/external/set/velocity_limit.md)                                                       | T.B.D.                                                                                                                                            | -                                                                                                                                                  |
+| topic   | [/api/external/set/command/local/control](./api/external/set/command/local/control.md)                                         | T.B.D.                                                                                                                                            | -                                                                                                                                                  |
+| topic   | [/api/external/set/command/local/shift](./api/external/set/command/local/shift.md)                                             | T.B.D.                                                                                                                                            | -                                                                                                                                                  |
+| topic   | [/api/external/set/command/local/turn_signal](./api/external/set/command/local/turn_signal.md)                                 | T.B.D.                                                                                                                                            | -                                                                                                                                                  |
+| topic   | [/api/external/set/command/local/heartbeat](./api/external/set/command/local/heartbeat.md)                                     | T.B.D.                                                                                                                                            | -                                                                                                                                                  |
+| topic   | [/api/external/set/command/remote/control](./api/external/set/command/remote/control.md)                                       | T.B.D.                                                                                                                                            | -                                                                                                                                                  |
+| topic   | [/api/external/set/command/remote/shift](./api/external/set/command/remote/shift.md)                                           | T.B.D.                                                                                                                                            | -                                                                                                                                                  |
+| topic   | [/api/external/set/command/remote/turn_signal](./api/external/set/command/remote/turn_signal.md)                               | T.B.D.                                                                                                                                            | -                                                                                                                                                  |
+| topic   | [/api/external/set/command/remote/heartbeat](./api/external/set/command/remote/heartbeat.md)                                   | T.B.D.                                                                                                                                            | -                                                                                                                                                  |
+| topic   | [/api/external/get/command/selected/control](./api/external/get/command/selected/control.md)                                   | T.B.D.                                                                                                                                            | -                                                                                                                                                  |
+| topic   | [/api/external/get/command/selected/vehicle](./api/external/get/command/selected/vehicle.md)                                   | T.B.D.                                                                                                                                            | -                                                                                                                                                  |
+| topic   | [/api/iv_msgs/planning/scenario_planning/trajectory](./api/iv_msgs/planning/scenario_planning/trajectory.md)                   | T.B.D.                                                                                                                                            | -                                                                                                                                                  |
+| topic   | [/api/iv_msgs/perception/object_recognition/tracking/objects](./api/iv_msgs/perception/object_recognition/tracking/objects.md) | T.B.D.                                                                                                                                            | -                                                                                                                                                  |
+| topic   | [/api/iv_msgs/autoware/state](./api/iv_msgs/autoware/state.md)                                                                 | None                                                                                                                                              | [Autoware state compatibility](https://autowarefoundation.github.io/autoware.universe/main/system/autoware_default_adapi/document/autoware-state/) |
 
 ## Removed API
 
diff --git a/docs/design/autoware-interfaces/prototyping/migration/operation-mode.md b/docs/design/autoware-interfaces/prototyping/migration/operation-mode.md
new file mode 100644
index 0000000000..5fe74d2585
--- /dev/null
+++ b/docs/design/autoware-interfaces/prototyping/migration/operation-mode.md
@@ -0,0 +1,24 @@
+# Operation mode compatibility
+
+## 構成（TIER IV API）
+
+TIER IV API は、以下のような２つの入力セレクター（operator と observer）と、２つのフィルター（pause_driving と engage）からなる構成に基づいて設計されました。
+フィルターの engage は車両の直接操作時（DRIVER）以外では常に適用され false の場合にコマンドを停止で上書きする効果を持ちます。
+もう一方のフィルターの pause_driving は AUTONOMOUS のみが対象で true の場合に車両の最高速度を 0 km/h に設定することで車両を停止させていました。
+
+![block-tier4](./operation-mode/block-tier4.drawio.svg)
+
+## 構成（AD API）
+
+AD API では、フィルターによる停止コマンドへの上書きは廃止され、代わりに STOP モードからの入力という形でセレクターに処理が統合されました。
+全体では以下のような２つの入力セレクター（operation mode と autoware control）による構成に変更されています。
+DRIVER のみが車両を直接制御している状態であるため、この部分のみを autoware control として分離し、残りが Autoware 制御下での operation mode の切り替えとなりました。
+詳細は [Operation mode API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/operation_mode/) を参照してください
+
+![block-adapi](./operation-mode/block-adapi.drawio.svg)
+
+## ステート対応表
+
+以下に TIER IV API と AD API のステートの対応表を示します。車両の直接制御を切り替える場合のみ autoware control を操作し、それ以外の場合には operation mode を操作してください。
+
+![table](./operation-mode/table.drawio.svg)
diff --git a/docs/design/autoware-interfaces/prototyping/migration/operation-mode/block-adapi.drawio.svg b/docs/design/autoware-interfaces/prototyping/migration/operation-mode/block-adapi.drawio.svg
new file mode 100644
index 0000000000..cd596f2909
--- /dev/null
+++ b/docs/design/autoware-interfaces/prototyping/migration/operation-mode/block-adapi.drawio.svg
@@ -0,0 +1,250 @@
+<svg host="65bd71144e" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="761px" height="201px" viewBox="-0.5 -0.5 761 201" content="&lt;mxfile&gt;&lt;diagram id=&quot;UAPsFFF3VASIzsHzn0TI&quot; name=&quot;Page-1&quot;&gt;7VpLk9o4EP4te6Bqc6DKLwwcGYZNtiqzpIbJ7lljC1s1QvLK4rW/fluWDLZlmEkY4hSVk+XultT69KndLej509Xuo0BZ+sBjTHueE+96/n3P81xvNIaHkuy1JAwDLUgEiY3RUbAg/2EjdIx0TWKc1wwl51SSrC6MOGM4kjUZEoJv62ZLTuuzZijBlmARIWpL/yGxTI3UDcdHxSdMktRMPfKGWrFCpbFZSZ6imG8rIn/W86eCc6lbq90UUwVeiYvu98cJ7cExgZl8U4eR8UPuy8XhGNZqXhln8LhL5YrCmwtNewIzZ87XIjJDmN1UI1VsjAcfMV9hKfZgIDBFkmzqqCKzOcnB7tD1Cycwq+cYIgUlivuSWE59CIlEgqXpdUQBGhU3jqICm3aczIo2iK6Nt5OvT/O/5g/zrwsLQcHXLMaqpwOIbVMi8SJDBThbOBBvBHSDhcS7s/gZrR/WcQjM67bCzRKatELLwDmNeA2rc8C41vKrBOJCpjzhDNHZUWovv8GUVwk2MIe+2F8tGr8HxSZCoH3FIFPUyU8z0HUaDBw3jtu32UNDe/C9NB1YNL1//PPv2WPnFA06ZKjXBUOHNkNdpx2i61J0MGpQzj1P0VfsL6bo0KLo5/l08rlzhg68Dinqd0HR0c9C0WHwbRR9xf5iio4sij7OHuZPs845Go664+jYAgWtJd/CcnSiLQWnnQPUIIbn2AANw2sd4kEXh7gsiTpPhQZOO/YnvzPn7S8+xCUwFcLyDAtAgDNViUFR2jldvWY66Nl8DZ0r8dULLYB6Xkhhhrs8Q6yGTPjvWlWkdxGnXPT8iWJT8vw7eAHTOOXjQ4EKlNNM9pdoRehem37CdIMliVBFnxdFvdK6XrarKvSkSsO4WCFa0W2QIAielCRIroW6AjhrF6HslMnWoKmUgeNoDcVSYtGH5UeEJXZPLrIUMTOkp2Ww1bKPwCOmxRHQAYuKjgClmJnJKZdaaKSAwZYwfjlTUWzr7S/uKCrTbLmI644dxoK1PL8QGE6NmUMcfsF9Q6Ca3TOKXpKC4v3GPnoDV29htfGh4mmMI66PTl+mJHphODfuEUYkKfFp2lb28qxdxZ2a3ZJyJJvgxCTPKNqX5pQw9QX6jawyCLFIIX13JCy0EvWETuiZwtE2DIfDoUmu1VYkUB7Wj7sGdqo9LS9GloTShshQ4f7AAxUOgPt0YhQrEsdF7G+LL/UIFKM8LV7eKd5Y5eeoLd7Y4aZ5r/Jd4cbOqs5codwm/taFVUt+4rbF+/fYAN/+ILZXXreJvVXXtmB/Le77rgX9iYriNrG3CrYfiH0QdJGWBy1peTfFtRe255in8vJX7C/OywM7DC2e5l/eIxe3CNmyTW/OxX/o/Y+dirdi8tNGh8uQbzKuJToMrhUd7OvIX0XQryLoNosgzG6jBroo2jTvna5YA8Hr8Zd8/ak8/h/Cn/0P&lt;/diagram&gt;&lt;/mxfile&gt;">
+    <defs/>
+    <g>
+        <path d="M 380 40 L 380 73.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 380 78.88 L 376.5 71.88 L 380 73.63 L 383.5 71.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <rect x="320" y="0" width="120" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 20px; margin-left: 321px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                AUTONOMOUS
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="380" y="24" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    AUTONOMOUS
+                </text>
+            </switch>
+        </g>
+        <path d="M 60 40 L 60 140 Q 60 150 60 151.82 L 60 153.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
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+        <g transform="translate(-0.5 -0.5)">
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+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 20px; margin-left: 1px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                DRIVER
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="60" y="24" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    DRIVER
+                </text>
+            </switch>
+        </g>
+        <path d="M 540 40 L 540 60 Q 540 70 540 71.82 L 540 73.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 540 78.88 L 536.5 71.88 L 540 73.63 L 543.5 71.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <rect x="480" y="0" width="120" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 20px; margin-left: 481px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                LOCAL
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="540" y="24" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    LOCAL
+                </text>
+            </switch>
+        </g>
+        <path d="M 700 40 L 700 60 Q 700 70 700 71.82 L 700 73.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 700 78.88 L 696.5 71.88 L 700 73.63 L 703.5 71.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <rect x="640" y="0" width="120" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 20px; margin-left: 641px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                REMOTE
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="700" y="24" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    REMOTE
+                </text>
+            </switch>
+        </g>
+        <rect x="0" y="160" width="760" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 758px; height: 1px; padding-top: 180px; margin-left: 1px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                autoware control
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="380" y="184" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    autoware control
+                </text>
+            </switch>
+        </g>
+        <path d="M 460 120 L 460 153.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 460 158.88 L 456.5 151.88 L 460 153.63 L 463.5 151.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <rect x="160" y="80" width="600" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 598px; height: 1px; padding-top: 100px; margin-left: 161px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                operation mode
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="460" y="104" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    operation mode
+                </text>
+            </switch>
+        </g>
+        <rect x="60" y="140" width="60" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 58px; height: 1px; padding-top: 150px; margin-left: 61px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                <span style="color: rgb(0, 0, 0); font-family: Helvetica; font-size: 12px; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: center; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; background-color: rgb(251, 251, 251); text-decoration-thickness: initial; text-decoration-style: initial; text-decoration-color: initial; float: none; display: inline !important;">
+                                    disabled
+                                </span>
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="90" y="154" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    disabled
+                </text>
+            </switch>
+        </g>
+        <rect x="380" y="60" width="100" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 98px; height: 1px; padding-top: 70px; margin-left: 381px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                AUTONOMOUS
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="430" y="74" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    AUTONOMOUS
+                </text>
+            </switch>
+        </g>
+        <rect x="540" y="60" width="60" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 58px; height: 1px; padding-top: 70px; margin-left: 541px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                LOCAL
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="570" y="74" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    LOCAL
+                </text>
+            </switch>
+        </g>
+        <rect x="700" y="60" width="60" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 58px; height: 1px; padding-top: 70px; margin-left: 701px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                REMOTE
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="730" y="74" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    REMOTE
+                </text>
+            </switch>
+        </g>
+        <path d="M 220 40 L 220 73.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 220 78.88 L 216.5 71.88 L 220 73.63 L 223.5 71.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <rect x="160" y="0" width="120" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 20px; margin-left: 161px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                STOP
+                            </div>
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+                    </div>
+                </foreignObject>
+                <text x="220" y="24" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    STOP
+                </text>
+            </switch>
+        </g>
+        <rect x="220" y="60" width="50" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 48px; height: 1px; padding-top: 70px; margin-left: 221px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                STOP
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="245" y="74" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    STOP
+                </text>
+            </switch>
+        </g>
+        <rect x="460" y="140" width="60" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 58px; height: 1px; padding-top: 150px; margin-left: 461px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                <span style="color: rgb(0, 0, 0); font-family: Helvetica; font-size: 12px; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: center; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; background-color: rgb(251, 251, 251); text-decoration-thickness: initial; text-decoration-style: initial; text-decoration-color: initial; float: none; display: inline !important;">
+                                    enabled
+                                </span>
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="490" y="154" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    enabled
+                </text>
+            </switch>
+        </g>
+    </g>
+    <switch>
+        <g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/>
+        <a transform="translate(0,-5)" xlink:href="https://www.diagrams.net/doc/faq/svg-export-text-problems" target="_blank">
+            <text text-anchor="middle" font-size="10px" x="50%" y="100%">
+                Text is not SVG - cannot display
+            </text>
+        </a>
+    </switch>
+</svg>
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diff --git a/docs/design/autoware-interfaces/prototyping/migration/operation-mode/block-tier4.drawio.svg b/docs/design/autoware-interfaces/prototyping/migration/operation-mode/block-tier4.drawio.svg
new file mode 100644
index 0000000000..3b924547c3
--- /dev/null
+++ b/docs/design/autoware-interfaces/prototyping/migration/operation-mode/block-tier4.drawio.svg
@@ -0,0 +1,375 @@
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+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
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+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                observer
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+        </g>
+        <path d="M 380 40 L 380 73.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 380 78.88 L 376.5 71.88 L 380 73.63 L 383.5 71.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <rect x="320" y="0" width="120" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 20px; margin-left: 321px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                AUTONOMOUS
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="380" y="24" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    AUTONOMOUS
+                </text>
+            </switch>
+        </g>
+        <path d="M 60 40 L 60 210 Q 60 220 60 226.82 L 60 233.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 60 238.88 L 56.5 231.88 L 60 233.63 L 63.5 231.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <rect x="0" y="0" width="120" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 20px; margin-left: 1px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                DRIVER
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="60" y="24" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    DRIVER
+                </text>
+            </switch>
+        </g>
+        <path d="M 540 40 L 540 73.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 540 78.88 L 536.5 71.88 L 540 73.63 L 543.5 71.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <rect x="480" y="0" width="120" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 20px; margin-left: 481px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                LOCAL
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="540" y="24" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    LOCAL
+                </text>
+            </switch>
+        </g>
+        <path d="M 700 40 L 700 60 Q 700 70 700 71.82 L 700 73.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 700 78.88 L 696.5 71.88 L 700 73.63 L 703.5 71.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <rect x="640" y="0" width="120" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 20px; margin-left: 641px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                REMOTE
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="700" y="24" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    REMOTE
+                </text>
+            </switch>
+        </g>
+        <rect x="0" y="240" width="760" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 758px; height: 1px; padding-top: 260px; margin-left: 1px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                operator
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="380" y="264" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    operator
+                </text>
+            </switch>
+        </g>
+        <path d="M 620 200 L 620 210 Q 620 220 620 226.82 L 620 233.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 620 238.88 L 616.5 231.88 L 620 233.63 L 623.5 231.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <path d="M 380 200 L 380 210 Q 380 220 380 226.82 L 380 233.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 380 238.88 L 376.5 231.88 L 380 233.63 L 383.5 231.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <rect x="320" y="160" width="440" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 438px; height: 1px; padding-top: 180px; margin-left: 321px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                engage
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="540" y="184" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    engage
+                </text>
+            </switch>
+        </g>
+        <path d="M 380 120 L 380 153.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 380 158.88 L 376.5 151.88 L 380 153.63 L 383.5 151.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <rect x="320" y="80" width="120" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 100px; margin-left: 321px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                pause_driving
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="380" y="104" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    pause_driving
+                </text>
+            </switch>
+        </g>
+        <path d="M 280 100 L 313.63 100" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 318.88 100 L 311.88 103.5 L 313.63 100 L 311.88 96.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <rect x="160" y="80" width="120" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" stroke-dasharray="3 3" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 100px; margin-left: 161px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                (stop)
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="220" y="104" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    (stop)
+                </text>
+            </switch>
+        </g>
+        <path d="M 280 180 L 313.63 180" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 318.88 180 L 311.88 183.5 L 313.63 180 L 311.88 176.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <rect x="160" y="160" width="120" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" stroke-dasharray="3 3" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 180px; margin-left: 161px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                (stop)
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="220" y="184" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    (stop)
+                </text>
+            </switch>
+        </g>
+        <rect x="60" y="220" width="60" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 58px; height: 1px; padding-top: 230px; margin-left: 61px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                <span style="color: rgb(0, 0, 0); font-family: Helvetica; font-size: 12px; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: center; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; background-color: rgb(251, 251, 251); text-decoration-thickness: initial; text-decoration-style: initial; text-decoration-color: initial; float: none; display: inline !important;">
+                                    DRIVER
+                                </span>
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="90" y="234" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    DRIVER
+                </text>
+            </switch>
+        </g>
+        <rect x="380" y="220" width="100" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 98px; height: 1px; padding-top: 230px; margin-left: 381px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                AUTONOMOUS
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="430" y="234" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    AUTONOMOUS
+                </text>
+            </switch>
+        </g>
+        <rect x="620" y="220" width="80" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 78px; height: 1px; padding-top: 230px; margin-left: 621px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                OBSERVER
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="660" y="234" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    OBSERVER
+                </text>
+            </switch>
+        </g>
+        <rect x="540" y="60" width="60" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 58px; height: 1px; padding-top: 70px; margin-left: 541px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                LOCAL
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="570" y="74" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    LOCAL
+                </text>
+            </switch>
+        </g>
+        <rect x="700" y="60" width="60" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 58px; height: 1px; padding-top: 70px; margin-left: 701px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                REMOTE
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="730" y="74" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    REMOTE
+                </text>
+            </switch>
+        </g>
+        <rect x="380" y="140" width="40" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 38px; height: 1px; padding-top: 150px; margin-left: 381px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                true
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="400" y="154" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    true
+                </text>
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+        </g>
+        <rect x="620" y="140" width="40" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 38px; height: 1px; padding-top: 150px; margin-left: 621px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                true
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="640" y="154" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    true
+                </text>
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+        </g>
+        <rect x="280" y="160" width="40" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 38px; height: 1px; padding-top: 170px; margin-left: 281px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                false
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="300" y="174" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    false
+                </text>
+            </switch>
+        </g>
+        <rect x="380" y="60" width="40" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 38px; height: 1px; padding-top: 70px; margin-left: 381px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                false
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="400" y="74" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    false
+                </text>
+            </switch>
+        </g>
+        <rect x="280" y="80" width="40" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 38px; height: 1px; padding-top: 90px; margin-left: 281px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                true
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="300" y="94" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    true
+                </text>
+            </switch>
+        </g>
+    </g>
+    <switch>
+        <g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/>
+        <a transform="translate(0,-5)" xlink:href="https://www.diagrams.net/doc/faq/svg-export-text-problems" target="_blank">
+            <text text-anchor="middle" font-size="10px" x="50%" y="100%">
+                Text is not SVG - cannot display
+            </text>
+        </a>
+    </switch>
+</svg>
\ No newline at end of file
diff --git a/docs/design/autoware-interfaces/prototyping/migration/operation-mode/table.drawio.svg b/docs/design/autoware-interfaces/prototyping/migration/operation-mode/table.drawio.svg
new file mode 100644
index 0000000000..55902a0d07
--- /dev/null
+++ b/docs/design/autoware-interfaces/prototyping/migration/operation-mode/table.drawio.svg
@@ -0,0 +1,693 @@
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+    <defs/>
+    <g>
+        <rect x="240" y="20" width="120" height="20" fill="#f5f5f5" stroke="#666666" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 30px; margin-left: 241px;">
+                        <div data-drawio-colors="color: #333333; " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(51, 51, 51); line-height: 1.2; pointer-events: all; font-weight: bold; white-space: normal; overflow-wrap: normal;">
+                                engage
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="300" y="34" fill="#333333" font-family="Helvetica" font-size="12px" text-anchor="middle" font-weight="bold">
+                    engage
+                </text>
+            </switch>
+        </g>
+        <rect x="0" y="0" width="480" height="20" fill="#f5f5f5" stroke="#666666" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 478px; height: 1px; padding-top: 10px; margin-left: 1px;">
+                        <div data-drawio-colors="color: #333333; " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(51, 51, 51); line-height: 1.2; pointer-events: all; font-weight: bold; white-space: normal; overflow-wrap: normal;">
+                                TIER IV API
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="240" y="14" fill="#333333" font-family="Helvetica" font-size="12px" text-anchor="middle" font-weight="bold">
+                    TIER IV API
+                </text>
+            </switch>
+        </g>
+        <rect x="360" y="20" width="120" height="20" fill="#f5f5f5" stroke="#666666" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 30px; margin-left: 361px;">
+                        <div data-drawio-colors="color: #333333; " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(51, 51, 51); line-height: 1.2; pointer-events: all; font-weight: bold; white-space: normal; overflow-wrap: normal;">
+                                pause_driving
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="420" y="34" fill="#333333" font-family="Helvetica" font-size="12px" text-anchor="middle" font-weight="bold">
+                    pause_driving
+                </text>
+            </switch>
+        </g>
+        <rect x="120" y="20" width="120" height="20" fill="#f5f5f5" stroke="#666666" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 30px; margin-left: 121px;">
+                        <div data-drawio-colors="color: #333333; " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(51, 51, 51); line-height: 1.2; pointer-events: all; font-weight: bold; white-space: normal; overflow-wrap: normal;">
+                                observer
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="180" y="34" fill="#333333" font-family="Helvetica" font-size="12px" text-anchor="middle" font-weight="bold">
+                    observer
+                </text>
+            </switch>
+        </g>
+        <rect x="0" y="20" width="120" height="20" fill="#f5f5f5" stroke="#666666" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 30px; margin-left: 1px;">
+                        <div data-drawio-colors="color: #333333; " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(51, 51, 51); line-height: 1.2; pointer-events: all; font-weight: bold; white-space: normal; overflow-wrap: normal;">
+                                operator
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="60" y="34" fill="#333333" font-family="Helvetica" font-size="12px" text-anchor="middle" font-weight="bold">
+                    operator
+                </text>
+            </switch>
+        </g>
+        <rect x="480" y="0" width="240" height="20" fill="#f5f5f5" stroke="#666666" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 238px; height: 1px; padding-top: 10px; margin-left: 481px;">
+                        <div data-drawio-colors="color: #333333; " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(51, 51, 51); line-height: 1.2; pointer-events: all; font-weight: bold; white-space: normal; overflow-wrap: normal;">
+                                AD API
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="600" y="14" fill="#333333" font-family="Helvetica" font-size="12px" text-anchor="middle" font-weight="bold">
+                    AD API
+                </text>
+            </switch>
+        </g>
+        <rect x="240" y="60" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 70px; margin-left: 241px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                false
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="300" y="74" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    false
+                </text>
+            </switch>
+        </g>
+        <rect x="480" y="60" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 70px; margin-left: 481px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                STOP
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="540" y="74" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    STOP
+                </text>
+            </switch>
+        </g>
+        <rect x="240" y="80" width="120" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 100px; margin-left: 241px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                true
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="300" y="104" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    true
+                </text>
+            </switch>
+        </g>
+        <rect x="240" y="40" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 50px; margin-left: 241px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                -
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="300" y="54" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    -
+                </text>
+            </switch>
+        </g>
+        <rect x="0" y="60" width="120" height="60" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 90px; margin-left: 1px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                AUTONOMOUS
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="60" y="94" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    AUTONOMOUS
+                </text>
+            </switch>
+        </g>
+        <rect x="0" y="40" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 50px; margin-left: 1px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                DRIVER
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="60" y="54" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    DRIVER
+                </text>
+            </switch>
+        </g>
+        <rect x="480" y="20" width="120" height="20" fill="#f5f5f5" stroke="#666666" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 30px; margin-left: 481px;">
+                        <div data-drawio-colors="color: #333333; " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(51, 51, 51); line-height: 1.2; pointer-events: all; font-weight: bold; white-space: normal; overflow-wrap: normal;">
+                                mode
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="540" y="34" fill="#333333" font-family="Helvetica" font-size="12px" text-anchor="middle" font-weight="bold">
+                    mode
+                </text>
+            </switch>
+        </g>
+        <rect x="600" y="20" width="120" height="20" fill="#f5f5f5" stroke="#666666" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 30px; margin-left: 601px;">
+                        <div data-drawio-colors="color: #333333; " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(51, 51, 51); line-height: 1.2; pointer-events: all; font-weight: bold; white-space: normal; overflow-wrap: normal;">
+                                autoware_control
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="660" y="34" fill="#333333" font-family="Helvetica" font-size="12px" text-anchor="middle" font-weight="bold">
+                    autoware_control
+                </text>
+            </switch>
+        </g>
+        <rect x="600" y="40" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 50px; margin-left: 601px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                disabled
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="660" y="54" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    disabled
+                </text>
+            </switch>
+        </g>
+        <rect x="480" y="40" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 50px; margin-left: 481px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                undefined
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="540" y="54" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    undefined
+                </text>
+            </switch>
+        </g>
+        <rect x="120" y="40" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 50px; margin-left: 121px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                -
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="180" y="54" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    -
+                </text>
+            </switch>
+        </g>
+        <rect x="360" y="40" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 50px; margin-left: 361px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                -
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="420" y="54" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    -
+                </text>
+            </switch>
+        </g>
+        <rect x="120" y="60" width="120" height="60" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 90px; margin-left: 121px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                -
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="180" y="94" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    -
+                </text>
+            </switch>
+        </g>
+        <rect x="360" y="60" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 70px; margin-left: 361px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                -
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="420" y="74" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    -
+                </text>
+            </switch>
+        </g>
+        <rect x="600" y="60" width="120" height="140" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 130px; margin-left: 601px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                enabled
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="660" y="134" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    enabled
+                </text>
+            </switch>
+        </g>
+        <rect x="360" y="80" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 90px; margin-left: 361px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                true
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="420" y="94" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    true
+                </text>
+            </switch>
+        </g>
+        <rect x="360" y="100" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 110px; margin-left: 361px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                false
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="420" y="114" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    false
+                </text>
+            </switch>
+        </g>
+        <rect x="480" y="100" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 110px; margin-left: 481px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                AUTONOMOUS
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="540" y="114" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    AUTONOMOUS
+                </text>
+            </switch>
+        </g>
+        <rect x="0" y="120" width="120" height="80" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 160px; margin-left: 1px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                OBSERVER
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="60" y="164" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    OBSERVER
+                </text>
+            </switch>
+        </g>
+        <rect x="240" y="120" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 130px; margin-left: 241px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                false
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="300" y="134" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    false
+                </text>
+            </switch>
+        </g>
+        <rect x="240" y="140" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 150px; margin-left: 241px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                true
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="300" y="154" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    true
+                </text>
+            </switch>
+        </g>
+        <rect x="360" y="120" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 130px; margin-left: 361px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                -
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="420" y="134" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    -
+                </text>
+            </switch>
+        </g>
+        <rect x="480" y="120" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 130px; margin-left: 481px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                STOP
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="540" y="134" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    STOP
+                </text>
+            </switch>
+        </g>
+        <rect x="480" y="80" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 90px; margin-left: 481px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                STOP
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="540" y="94" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    STOP
+                </text>
+            </switch>
+        </g>
+        <rect x="120" y="120" width="120" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 140px; margin-left: 121px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                LOCAL
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="180" y="144" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    LOCAL
+                </text>
+            </switch>
+        </g>
+        <rect x="120" y="160" width="120" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 180px; margin-left: 121px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                REMOTE
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="180" y="184" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    REMOTE
+                </text>
+            </switch>
+        </g>
+        <rect x="240" y="160" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 170px; margin-left: 241px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                false
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="300" y="174" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    false
+                </text>
+            </switch>
+        </g>
+        <rect x="240" y="180" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 190px; margin-left: 241px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                true
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="300" y="194" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    true
+                </text>
+            </switch>
+        </g>
+        <rect x="360" y="140" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 150px; margin-left: 361px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                -
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="420" y="154" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    -
+                </text>
+            </switch>
+        </g>
+        <rect x="360" y="160" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 170px; margin-left: 361px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                -
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="420" y="174" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    -
+                </text>
+            </switch>
+        </g>
+        <rect x="360" y="180" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 190px; margin-left: 361px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                -
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="420" y="194" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    -
+                </text>
+            </switch>
+        </g>
+        <rect x="480" y="140" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 150px; margin-left: 481px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                LOCAL
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="540" y="154" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    LOCAL
+                </text>
+            </switch>
+        </g>
+        <rect x="480" y="160" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 170px; margin-left: 481px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                STOP
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="540" y="174" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    STOP
+                </text>
+            </switch>
+        </g>
+        <rect x="480" y="180" width="120" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 190px; margin-left: 481px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                REMOTE
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="540" y="194" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    REMOTE
+                </text>
+            </switch>
+        </g>
+    </g>
+    <switch>
+        <g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/>
+        <a transform="translate(0,-5)" xlink:href="https://www.diagrams.net/doc/faq/svg-export-text-problems" target="_blank">
+            <text text-anchor="middle" font-size="10px" x="50%" y="100%">
+                Text is not SVG - cannot display
+            </text>
+        </a>
+    </switch>
+</svg>
\ No newline at end of file