fix(leader_election_converter): use adapi mrm state (#1472)

fix: use adapi mrm state Signed-off-by: TetsuKawa <[email protected]>
tier4 · Aug 17, 2024 · 12da511 · 12da511
1 parent 07144ae
commit 12da511
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Showing 6 changed files with 27 additions and 26 deletions.
diff --git a/planning/trajectory_repeater/src/trajectory_repeater.cpp b/planning/trajectory_repeater/src/trajectory_repeater.cpp
@@ -24,26 +24,29 @@ TrajectoryRepeater::TrajectoryRepeater(const rclcpp::NodeOptions & node_options)
 
   // Subscriber
   sub_trajectory_ = create_subscription<autoware_auto_planning_msgs::msg::Trajectory>(
-    "~/input/trajectory", 10, std::bind(&TrajectoryRepeater::onTrajectory, this, std::placeholders::_1));
+    "~/input/trajectory", 10,
+    std::bind(&TrajectoryRepeater::onTrajectory, this, std::placeholders::_1));
 
   // Publisher
-  pub_trajectory_ = create_publisher<autoware_auto_planning_msgs::msg::Trajectory>("~/output/trajectory", 10);
+  pub_trajectory_ =
+    create_publisher<autoware_auto_planning_msgs::msg::Trajectory>("~/output/trajectory", 10);
 
   // Service
 
   // Client
 
   // Timer
   using namespace std::literals::chrono_literals;
-  timer_ = rclcpp::create_timer(this, get_clock(), 100ms, std::bind(&TrajectoryRepeater::onTimer, this));
+  timer_ =
+    rclcpp::create_timer(this, get_clock(), 100ms, std::bind(&TrajectoryRepeater::onTimer, this));
 
   // State
 
   // Diagnostics
-
 }
 
-void TrajectoryRepeater::onTrajectory(const autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr msg)
+void TrajectoryRepeater::onTrajectory(
+  const autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr msg)
 {
   last_trajectory_ = msg;
 }
@@ -54,7 +57,7 @@ void TrajectoryRepeater::onTimer()
     RCLCPP_DEBUG(get_logger(), "No trajectory received");
     return;
   }
-  
+
   pub_trajectory_->publish(*last_trajectory_);
 }
 

diff --git a/planning/trajectory_repeater/src/trajectory_repeater.hpp b/planning/trajectory_repeater/src/trajectory_repeater.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TRAJECTORY_REPEATER__TRAJECTORY_REPEATER_HPP_
-#define TRAJECTORY_REPEATER__TRAJECTORY_REPEATER_HPP_
+#ifndef TRAJECTORY_REPEATER_HPP_
+#define TRAJECTORY_REPEATER_HPP_
 
 // include
 #include <rclcpp/rclcpp.hpp>
@@ -46,15 +46,14 @@ class TrajectoryRepeater : public rclcpp::Node
 
   // Timer
   rclcpp::TimerBase::SharedPtr timer_;
-  
+
   void onTimer();
 
   // State
   autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr last_trajectory_;
 
   // Diagnostics
-
 };
 }  // namespace trajectory_repeater
 
-#endif  // TRAJECTORY_REPEATER__TRAJECTORY_REPEATER_HPP_
+#endif  // TRAJECTORY_REPEATER_HPP_
diff --git a/system/leader_election_converter/README.md b/system/leader_election_converter/README.md
@@ -23,12 +23,12 @@ In addition, it receives a udp packet`MrmState` and publish `/system/mrm_request
 
 ### Interface
 
-| Interface Type | Interface Name                 | Data Type                           | Description              |
-| -------------- | ------------------------------ | ----------------------------------- | ------------------------ |
-| subscriber     | `/system/fail_safe/mrm_state`  | `tier4_system_msgs/msg/MrmState`    | MRM status of each ECU.  |
-| udp sender     | none                           | `struct MrmState`                   | Same as above.           |
-| publisher      | `/system/election/mrm_request` | `tier4_system_msgs/msg/MrmBehavior` | Request of MRM behavior. |
-| udp receiver   | none                           | `struct MrmRequest`                 | Same as above.           |
+| Interface Type | Interface Name                 | Data Type                             | Description              |
+| -------------- | ------------------------------ | ------------------------------------- | ------------------------ |
+| subscriber     | `/system/fail_safe/mrm_state`  | `autoware_adapi_v1_msgs/msg/MrmState` | MRM status of each ECU.  |
+| udp sender     | none                           | `struct MrmState`                     | Same as above.           |
+| publisher      | `/system/election/mrm_request` | `tier4_system_msgs/msg/MrmBehavior`   | Request of MRM behavior. |
+| udp receiver   | none                           | `struct MrmRequest`                   | Same as above.           |
 
 ## log converter
 

diff --git a/system/leader_election_converter/src/common/converter/log_converter.hpp b/system/leader_election_converter/src/common/converter/log_converter.hpp
@@ -23,7 +23,6 @@
 #include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
 #include <tier4_system_msgs/msg/election_communication.hpp>
 #include <tier4_system_msgs/msg/election_status.hpp>
-#include <tier4_system_msgs/msg/mrm_state.hpp>
 
 #include <atomic>
 #include <memory>

diff --git a/system/leader_election_converter/src/common/converter/mrm_converter.cpp b/system/leader_election_converter/src/common/converter/mrm_converter.cpp
@@ -65,7 +65,7 @@ void MrmConverter::setSubscriber()
   rclcpp::SubscriptionOptions options;
   options.callback_group = callback_group_;
 
-  sub_mrm_state_ = node_->create_subscription<tier4_system_msgs::msg::MrmState>(
+  sub_mrm_state_ = node_->create_subscription<autoware_adapi_v1_msgs::msg::MrmState>(
     "~/input/mrm_state", qos, std::bind(&MrmConverter::convertToUdp, this, std::placeholders::_1),
     options);
 }
@@ -77,11 +77,11 @@ void MrmConverter::setPublisher()
 }
 
 void MrmConverter::convertToUdp(
-  const tier4_system_msgs::msg::MrmState::ConstSharedPtr mrm_state_msg)
+  const autoware_adapi_v1_msgs::msg::MrmState::ConstSharedPtr mrm_state_msg)
 {
   MrmState mrm_state;
   mrm_state.state = mrm_state_msg->state;
-  mrm_state.behavior = mrm_state_msg->behavior.type;
+  mrm_state.behavior = mrm_state_msg->behavior;
 
   udp_mrm_state_sender_->send(mrm_state);
 }

diff --git a/system/leader_election_converter/src/common/converter/mrm_converter.hpp b/system/leader_election_converter/src/common/converter/mrm_converter.hpp
@@ -20,8 +20,8 @@
 
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
 #include <tier4_system_msgs/msg/mrm_behavior.hpp>
-#include <tier4_system_msgs/msg/mrm_state.hpp>
 
 #include <atomic>
 #include <memory>
@@ -33,8 +33,8 @@ namespace leader_election_converter
 
 typedef struct MrmState
 {
-  tier4_system_msgs::msg::MrmState::_state_type state;
-  tier4_system_msgs::msg::MrmBehavior::_type_type behavior;
+  autoware_adapi_v1_msgs::msg::MrmState::_state_type state;
+  autoware_adapi_v1_msgs::msg::MrmState::_behavior_type behavior;
 } MrmState;
 
 typedef struct MrmRequest
@@ -55,14 +55,14 @@ class MrmConverter
 
 private:
   void startUdpReceiver(const std::string & src_ip, const std::string & src_port);
-  void convertToUdp(const tier4_system_msgs::msg::MrmState::ConstSharedPtr mrm_state_msg);
+  void convertToUdp(const autoware_adapi_v1_msgs::msg::MrmState::ConstSharedPtr mrm_state_msg);
   void convertToTopic(const MrmRequest & mrm_request);
 
   rclcpp::Node * node_;
   std::unique_ptr<UdpSender<MrmState>> udp_mrm_state_sender_;
   std::unique_ptr<UdpReceiver<MrmRequest>> udp_mrm_request_receiver_;
   rclcpp::CallbackGroup::SharedPtr callback_group_;
-  rclcpp::Subscription<tier4_system_msgs::msg::MrmState>::SharedPtr sub_mrm_state_;
+  rclcpp::Subscription<autoware_adapi_v1_msgs::msg::MrmState>::SharedPtr sub_mrm_state_;
   rclcpp::Publisher<tier4_system_msgs::msg::MrmBehavior>::SharedPtr pub_mrm_request_;
 
   std::thread udp_receiver_thread_;