From 447d3b7ccb8c74e3c8dedc15e711950b9a3e1dcf Mon Sep 17 00:00:00 2001
From: TetsuKawa <70682030+TetsuKawa@users.noreply.github.com>
Date: Sat, 17 Aug 2024 10:39:58 +0900
Subject: [PATCH] fix(mrm_stop_operator): use adapi mrm state (#1473)

* fix: use adapi mrm state

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

* style(pre-commit): autofix

---------

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 system/mrm_stop_operator/package.xml             |  1 +
 .../mrm_stop_operator/src/mrm_stop_operator.cpp  | 16 ++++++++--------
 .../mrm_stop_operator/src/mrm_stop_operator.hpp  |  6 +++---
 3 files changed, 12 insertions(+), 11 deletions(-)

diff --git a/system/mrm_stop_operator/package.xml b/system/mrm_stop_operator/package.xml
index 42f5268757afc..6039028449dcc 100644
--- a/system/mrm_stop_operator/package.xml
+++ b/system/mrm_stop_operator/package.xml
@@ -12,6 +12,7 @@
   <build_depend>autoware_cmake</build_depend>
 
   <!-- depend -->
+  <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_auto_vehicle_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
diff --git a/system/mrm_stop_operator/src/mrm_stop_operator.cpp b/system/mrm_stop_operator/src/mrm_stop_operator.cpp
index f7f39accaf262..1b8f5cf993284 100644
--- a/system/mrm_stop_operator/src/mrm_stop_operator.cpp
+++ b/system/mrm_stop_operator/src/mrm_stop_operator.cpp
@@ -45,7 +45,7 @@ MrmStopOperator::MrmStopOperator(const rclcpp::NodeOptions & node_options)
     create_publisher<tier4_planning_msgs::msg::VelocityLimitClearCommand>(
       "~/output/velocity_limit_clear_command", rclcpp::QoS{10}.transient_local());
   pub_mrm_state_ =
-    create_publisher<tier4_system_msgs::msg::MrmState>("~/output/mrm_state", rclcpp::QoS{1});
+    create_publisher<autoware_adapi_v1_msgs::msg::MrmState>("~/output/mrm_state", rclcpp::QoS{1});
 
   // Timer
   const auto update_period_ns = rclcpp::Rate(10).period();
@@ -80,24 +80,24 @@ void MrmStopOperator::onMrmRequest(const tier4_system_msgs::msg::MrmBehavior::Co
     pub_velocity_limit_->publish(velocity_limit);
 
     last_mrm_request_ = *msg;
-    current_mrm_state_.behavior = *msg;
-    current_mrm_state_.state = tier4_system_msgs::msg::MrmState::MRM_OPERATING;
+    current_mrm_state_.behavior = msg->type;
+    current_mrm_state_.state = autoware_adapi_v1_msgs::msg::MrmState::MRM_OPERATING;
   }
 }
 
 void MrmStopOperator::initState()
 {
   last_mrm_request_.type = tier4_system_msgs::msg::MrmBehavior::NONE;
-  current_mrm_state_.state = tier4_system_msgs::msg::MrmState::NORMAL;
-  current_mrm_state_.behavior.type = tier4_system_msgs::msg::MrmBehavior::NONE;
+  current_mrm_state_.state = autoware_adapi_v1_msgs::msg::MrmState::NORMAL;
+  current_mrm_state_.behavior = autoware_adapi_v1_msgs::msg::MrmState::NONE;
 }
 
 void MrmStopOperator::onTimer()
 {
-  if (current_mrm_state_.state == tier4_system_msgs::msg::MrmState::MRM_OPERATING) {
-    if (current_mrm_state_.behavior.type == tier4_system_msgs::msg::MrmBehavior::COMFORTABLE_STOP) {
+  if (current_mrm_state_.state == autoware_adapi_v1_msgs::msg::MrmState::MRM_OPERATING) {
+    if (current_mrm_state_.behavior == autoware_adapi_v1_msgs::msg::MrmState::COMFORTABLE_STOP) {
       if (isStopped()) {
-        current_mrm_state_.state = tier4_system_msgs::msg::MrmState::MRM_SUCCEEDED;
+        current_mrm_state_.state = autoware_adapi_v1_msgs::msg::MrmState::MRM_SUCCEEDED;
       } else {
         // nothing to do
       }
diff --git a/system/mrm_stop_operator/src/mrm_stop_operator.hpp b/system/mrm_stop_operator/src/mrm_stop_operator.hpp
index 2a28b66472a54..bf9022f9873cf 100644
--- a/system/mrm_stop_operator/src/mrm_stop_operator.hpp
+++ b/system/mrm_stop_operator/src/mrm_stop_operator.hpp
@@ -18,11 +18,11 @@
 // include
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
 #include <autoware_auto_vehicle_msgs/msg/velocity_report.hpp>
 #include <tier4_planning_msgs/msg/velocity_limit.hpp>
 #include <tier4_planning_msgs/msg/velocity_limit_clear_command.hpp>
 #include <tier4_system_msgs/msg/mrm_behavior.hpp>
-#include <tier4_system_msgs/msg/mrm_state.hpp>
 
 namespace mrm_stop_operator
 {
@@ -56,7 +56,7 @@ class MrmStopOperator : public rclcpp::Node
   rclcpp::Publisher<tier4_planning_msgs::msg::VelocityLimit>::SharedPtr pub_velocity_limit_;
   rclcpp::Publisher<tier4_planning_msgs::msg::VelocityLimitClearCommand>::SharedPtr
     pub_velocity_limit_clear_command_;
-  rclcpp::Publisher<tier4_system_msgs::msg::MrmState>::SharedPtr pub_mrm_state_;
+  rclcpp::Publisher<autoware_adapi_v1_msgs::msg::MrmState>::SharedPtr pub_mrm_state_;
   // Service
 
   // Client
@@ -68,7 +68,7 @@ class MrmStopOperator : public rclcpp::Node
 
   // State
   tier4_system_msgs::msg::MrmBehavior last_mrm_request_;
-  tier4_system_msgs::msg::MrmState current_mrm_state_;
+  autoware_adapi_v1_msgs::msg::MrmState current_mrm_state_;
 
   void initState();
   void onTimer();