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tier4 · Dec 6, 2024 · 8df3df5 · 8df3df5
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diff --git a/system/redundancy_switcher_interface/README.md b/system/redundancy_switcher_interface/README.md
@@ -10,11 +10,11 @@ The availability converter subscribes `/system/operation_mode/availability` and
 
 ### Interface
 
-| Interface Type | Interface Name                        | Data Type                                          | Description                   |
-| -------------- | ------------------------------------- | -------------------------------------------------- | ----------------------------- |
-| subscriber     | `/system/operation_mode/availability` | `tier4_system_msgs/msg/OperationModeAvailability`  | Usable behavior of the ego.   |
-| subscriber     | `/vehicle/status/mrm_state`           | `autoware_vehicle_msgs/msg/ControlModeReport` | Ego control mode.             |
-| udp sender     | none                                  | `struct Availability`                              | Combination of the above two. |
+| Interface Type | Interface Name                        | Data Type                                         | Description                   |
+| -------------- | ------------------------------------- | ------------------------------------------------- | ----------------------------- |
+| subscriber     | `/system/operation_mode/availability` | `tier4_system_msgs/msg/OperationModeAvailability` | Usable behavior of the ego.   |
+| subscriber     | `/vehicle/status/mrm_state`           | `autoware_vehicle_msgs/msg/ControlModeReport`     | Ego control mode.             |
+| udp sender     | none                                  | `struct Availability`                             | Combination of the above two. |
 
 ## mrm converter
 
@@ -42,7 +42,7 @@ The log　converter receive udp packets into a structure called `ElectionCommuni
 | udp receiver   | none                                   | `struct ElectionCommunication`                | messages among election nodes. |
 | udp receiver   | none                                   | `struct ElectionStatus`                       | Leader Election status.        |
 | publisher      | `/system/election/communication`       | `tier4_system_msgs/msg/ElectionCommunication` | messages among election nodes. |
-| publisher      | `/system/election/status`              | `autoware_adapi_v1_msgs/msg/MrmState`              | Leader Election status.        |
+| publisher      | `/system/election/status`              | `autoware_adapi_v1_msgs/msg/MrmState`         | Leader Election status.        |
 | publisher      | `/system/fail_safe/over_all/mrm_state` | `autoware_adapi_v1_msgs/msg/mrm_state`        | System-wide MRM status.        |
 
 ## Parameters

diff --git a/system/redundancy_switcher_interface/script/relay_to_sub.py b/system/redundancy_switcher_interface/script/relay_to_sub.py
@@ -55,11 +55,15 @@ def operation_mode_state_callback(self, msg):
         if msg.mode == 2:
             self.operation_mode_autonomous_state = True
             if self.tmp_operation_mode_autonomous_state != self.operation_mode_autonomous_state:
-                self.get_logger().info(f"Operation mode changed: {self.operation_mode_autonomous_state}")
+                self.get_logger().info(
+                    f"Operation mode changed: {self.operation_mode_autonomous_state}"
+                )
         else:
             self.operation_mode_autonomous_state = False
             if self.tmp_operation_mode_autonomous_state != self.operation_mode_autonomous_state:
-                self.get_logger().info(f"Operation mode changed: {self.operation_mode_autonomous_state}")
+                self.get_logger().info(
+                    f"Operation mode changed: {self.operation_mode_autonomous_state}"
+                )
 
     def trajectory_callback(self, msg):
         if self.autonomous_mode or self.operation_mode_autonomous_state == False:

diff --git a/system/redundancy_switcher_interface/src/common/converter/availability_converter.cpp b/system/redundancy_switcher_interface/src/common/converter/availability_converter.cpp
@@ -43,18 +43,18 @@ void AvailabilityConverter::setSubscriber()
     node_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false);
   rclcpp::SubscriptionOptions control_mode_options = rclcpp::SubscriptionOptions();
   control_mode_options.callback_group = control_mode_callback_group_;
-  auto not_executed_callback = []([[maybe_unused]] const typename autoware_vehicle_msgs::msg::
-                                    ControlModeReport::ConstSharedPtr msg) {};
+  auto not_executed_callback =
+    []([[maybe_unused]] const typename autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr
+         msg) {};
 
   sub_operation_mode_availability_ =
     node_->create_subscription<tier4_system_msgs::msg::OperationModeAvailability>(
       "~/input/operation_mode_availability", qos,
       std::bind(&AvailabilityConverter::convertToUdp, this, std::placeholders::_1),
       availability_options);
 
-  sub_control_mode_ =
-    node_->create_subscription<autoware_vehicle_msgs::msg::ControlModeReport>(
-      "~/input/control_mode", qos, not_executed_callback, control_mode_options);
+  sub_control_mode_ = node_->create_subscription<autoware_vehicle_msgs::msg::ControlModeReport>(
+    "~/input/control_mode", qos, not_executed_callback, control_mode_options);
 }
 
 void AvailabilityConverter::convertToUdp(

diff --git a/system/redundancy_switcher_interface/src/common/converter/availability_converter.hpp b/system/redundancy_switcher_interface/src/common/converter/availability_converter.hpp
@@ -56,8 +56,7 @@ class AvailabilityConverter
   std::unique_ptr<UdpSender<Availability>> udp_availability_sender_;
   rclcpp::CallbackGroup::SharedPtr availability_callback_group_;
   rclcpp::CallbackGroup::SharedPtr control_mode_callback_group_;
-  rclcpp::Subscription<autoware_vehicle_msgs::msg::ControlModeReport>::SharedPtr
-    sub_control_mode_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::ControlModeReport>::SharedPtr sub_control_mode_;
   rclcpp::Subscription<tier4_system_msgs::msg::OperationModeAvailability>::SharedPtr
     sub_operation_mode_availability_;
 };