fix: ci/cd

Signed-off-by: Berkay Karaman <brkay54@gmail.com>

Author: brkay54

tools/reaction_analyzer/CMakeLists.txt

@@ -33,9 +33,6 @@ rclcpp_components_register_node(reaction_analyzer
   EXECUTABLE reaction_analyzer_exe
 )
 
-if (BUILD_TESTING)
-endif ()
-
 ament_auto_package(
   INSTALL_TO_SHARE
   param

tools/reaction_analyzer/include/reaction_analyzer_node.hpp

@@ -66,8 +66,7 @@ struct NodeParams
 class ReactionAnalyzerNode : public rclcpp::Node
 {
 public:
-  explicit ReactionAnalyzerNode(rclcpp::NodeOptions options);
-  ~ReactionAnalyzerNode() = default;
+  explicit ReactionAnalyzerNode(rclcpp::NodeOptions node_options);
 
   Odometry::ConstSharedPtr odometry_ptr_;
 
@@ -107,12 +106,20 @@ class ReactionAnalyzerNode : public rclcpp::Node
 
   // Functions
   void init_analyzer_variables();
-  void init_ego(
+  void init_test_env(
     const LocalizationInitializationState::ConstSharedPtr & initialization_state_ptr,
     const RouteState::ConstSharedPtr & route_state_ptr,
     const OperationModeState::ConstSharedPtr & operation_mode_ptr,
     const PoseStamped::ConstSharedPtr & ground_truth_pose_ptr,
     const Odometry::ConstSharedPtr & odometry_ptr);
+  bool init_ego(
+    const LocalizationInitializationState::ConstSharedPtr & initialization_state_ptr,
+    const Odometry::ConstSharedPtr & odometry_ptr, const rclcpp::Time & current_time);
+  bool set_route(
+    const RouteState::ConstSharedPtr & route_state_ptr, const rclcpp::Time & current_time);
+  bool check_ego_init_correctly(
+    const PoseStamped::ConstSharedPtr & ground_truth_pose_ptr,
+    const Odometry::ConstSharedPtr & odometry_ptr);
   void call_operation_mode_service_without_response();
   void spawn_obstacle(const geometry_msgs::msg::Point & ego_pose);
   void calculate_results(

tools/reaction_analyzer/include/subscriber.hpp

@@ -77,25 +77,6 @@ using SubscriberVariablesVariant = std::variant<
   SubscriberVariables<TrackedObjects>, SubscriberVariables<PredictedObjects>,
   SubscriberVariables<Trajectory>, SubscriberVariables<AckermannControlCommand>>;
 
-// The supported message types
-enum class SubscriberMessageType {
-  UNKNOWN = 0,
-  ACKERMANN_CONTROL_COMMAND = 1,
-  TRAJECTORY = 2,
-  POINTCLOUD2 = 3,
-  DETECTED_OBJECTS = 4,
-  PREDICTED_OBJECTS = 5,
-  TRACKED_OBJECTS = 6,
-};
-
-// Reaction Types
-enum class ReactionType {
-  UNKNOWN = 0,
-  FIRST_BRAKE = 1,
-  SEARCH_ZERO_VEL = 2,
-  SEARCH_ENTITY = 3,
-};
-
 // The configuration of the topic to be subscribed which are defined in reaction_chain
 struct TopicConfig
 {
@@ -141,13 +122,7 @@ class SubscriberBase
     rclcpp::Node * node, Odometry::ConstSharedPtr & odometry, std::atomic<bool> & spawn_object_cmd,
     const EntityParams & entity_params);
 
-  // Instances of SubscriberBase cannot be copied
-  SubscriberBase(const SubscriberBase &) = delete;
-  SubscriberBase & operator=(const SubscriberBase &) = delete;
-
-  ~SubscriberBase() = default;
-
-  std::optional<std::unordered_map<std::string, MessageBufferVariant>> getMessageBuffersMap();
+  std::optional<std::unordered_map<std::string, MessageBufferVariant>> get_message_buffers_map();
   void reset();
 
 private:
@@ -160,10 +135,10 @@ class SubscriberBase
   EntityParams entity_params_;
 
   // Variables to be initialized in constructor
-  ChainModules chain_modules_;
+  ChainModules chain_modules_{};
   ReactionParams reaction_params_{};
-  geometry_msgs::msg::Pose entity_pose_;
-  double entity_search_radius_;
+  geometry_msgs::msg::Pose entity_pose_{};
+  double entity_search_radius_{0.0};
 
   // Variants
   std::unordered_map<std::string, SubscriberVariablesVariant> subscriber_variables_map_;
@@ -176,10 +151,12 @@ class SubscriberBase
   // Functions
   void init_reaction_chains_and_params();
   bool init_subscribers();
+  std::optional<SubscriberVariablesVariant> get_subscriber_variable(
+    const TopicConfig & topic_config);
   std::optional<size_t> find_first_brake_idx(
     const std::vector<AckermannControlCommand> & cmd_array);
   void set_control_command_to_buffer(
-    std::vector<AckermannControlCommand> & buffer, const AckermannControlCommand & cmd);
+    std::vector<AckermannControlCommand> & buffer, const AckermannControlCommand & cmd) const;
 
   // Callbacks for modules are subscribed
   void on_control_command(

tools/reaction_analyzer/include/topic_publisher.hpp

@@ -55,23 +55,6 @@ using geometry_msgs::msg::Pose;
 using nav_msgs::msg::Odometry;
 using sensor_msgs::msg::PointCloud2;
 
-enum class PublisherMessageType {
-  UNKNOWN = 0,
-  CAMERA_INFO = 1,
-  IMAGE = 2,
-  POINTCLOUD2 = 3,
-  POSE_WITH_COVARIANCE_STAMPED = 4,
-  POSE_STAMPED = 5,
-  ODOMETRY = 6,
-  IMU = 7,
-  CONTROL_MODE_REPORT = 8,
-  GEAR_REPORT = 9,
-  HAZARD_LIGHTS_REPORT = 10,
-  STEERING_REPORT = 11,
-  TURN_INDICATORS_REPORT = 12,
-  VELOCITY_REPORT = 13,
-};
-
 struct TopicPublisherParams
 {
   double dummy_perception_publisher_period;  // Only for planning_control mode
@@ -110,23 +93,23 @@ struct PublisherVarAccessor
 {
   // Template struct to check if a type has a header member.
   template <typename T, typename = std::void_t<>>
-  struct has_header : std::false_type
+  struct HasHeader : std::false_type
   {
   };
 
   template <typename T>
-  struct has_header<T, std::void_t<decltype(T::header)>> : std::true_type
+  struct HasHeader<T, std::void_t<decltype(T::header)>> : std::true_type
   {
   };
 
   // Template struct to check if a type has a stamp member.
   template <typename T, typename = std::void_t<>>
-  struct has_stamp : std::false_type
+  struct HasStamp : std::false_type
   {
   };
 
   template <typename T>
-  struct has_stamp<T, std::void_t<decltype(T::stamp)>> : std::true_type
+  struct HasStamp<T, std::void_t<decltype(T::stamp)>> : std::true_type
   {
   };
 
@@ -142,9 +125,9 @@ struct PublisherVarAccessor
     } else {
       *msg_to_be_published = *publisherVar.empty_area_message;
     }
-    if constexpr (has_header<MessageType>::value) {
+    if constexpr (HasHeader<MessageType>::value) {
       msg_to_be_published->header.stamp = current_time;
-    } else if constexpr (has_stamp<MessageType>::value) {
+    } else if constexpr (HasStamp<MessageType>::value) {
       msg_to_be_published->stamp = current_time;
     }
     publisherVar.publisher->publish(std::move(msg_to_be_published));
@@ -200,7 +183,6 @@ class TopicPublisher
     std::optional<rclcpp::Time> & spawn_cmd_time, const RunningMode & node_running_mode,
     const EntityParams & entity_params);
 
-  ~TopicPublisher() = default;
   void reset();
 
 private:
@@ -236,12 +218,13 @@ class TopicPublisher
   std::shared_ptr<rclcpp::TimerBase> one_shot_timer_shared_ptr_;
 
   // Functions
-  void set_message_to_variable_map(
+  void set_message(
     const PublisherMessageType & message_type, const std::string & topic_name,
     rosbag2_storage::SerializedBagMessage & bag_message, const bool is_empty_area_message);
-  void set_period_to_variable_map(
-    const std::unordered_map<std::string, std::vector<rclcpp::Time>> & time_map);
-  bool set_publishers_and_timers_to_variable_map();
+  void set_period(const std::unordered_map<std::string, std::vector<rclcpp::Time>> & time_map);
+  std::map<std::string, PublisherVariables<PointCloud2>> set_general_publishers_and_timers();
+  void set_pointcloud_publishers_and_timers(
+    const std::map<std::string, PublisherVariables<PointCloud2>> & pointcloud_variables_map);
   bool check_publishers_initialized_correctly();
   void init_rosbag_publishers();
   void pointcloud_messages_sync_publisher(const PointcloudPublisherType type);

tools/reaction_analyzer/include/utils.hpp

@@ -18,6 +18,7 @@
 #include <pcl/impl/point_types.hpp>
 #include <pcl_ros/transforms.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <rosbag2_storage/bag_metadata.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 #include <tier4_autoware_utils/math/unit_conversion.hpp>
 
@@ -40,9 +41,11 @@
 #include <pcl_conversions/pcl_conversions.h>
 
 #include <fstream>
+#include <map>
 #include <string>
 #include <tuple>
 #include <unordered_map>
+#include <utility>
 #include <vector>
 
 // The reaction_analyzer namespace contains utility functions for the Reaction Analyzer tool.
@@ -82,6 +85,49 @@ using PipelineMap = std::map<rclcpp::Time, std::vector<ReactionPair>>;
 using TimestampedReactionPairsVector =
   std::vector<std::tuple<rclcpp::Time, std::vector<ReactionPair>>>;
 
+/**
+ * @brief Enum for the different types of messages that can be published.
+ */
+enum class PublisherMessageType {
+  UNKNOWN = 0,
+  CAMERA_INFO = 1,
+  IMAGE = 2,
+  POINTCLOUD2 = 3,
+  POSE_WITH_COVARIANCE_STAMPED = 4,
+  POSE_STAMPED = 5,
+  ODOMETRY = 6,
+  IMU = 7,
+  CONTROL_MODE_REPORT = 8,
+  GEAR_REPORT = 9,
+  HAZARD_LIGHTS_REPORT = 10,
+  STEERING_REPORT = 11,
+  TURN_INDICATORS_REPORT = 12,
+  VELOCITY_REPORT = 13,
+};
+
+/**
+ * @brief Enum for the different types of messages that can be subscribed to.
+ */
+enum class SubscriberMessageType {
+  UNKNOWN = 0,
+  ACKERMANN_CONTROL_COMMAND = 1,
+  TRAJECTORY = 2,
+  POINTCLOUD2 = 3,
+  DETECTED_OBJECTS = 4,
+  PREDICTED_OBJECTS = 5,
+  TRACKED_OBJECTS = 6,
+};
+
+/**
+ * @brief Enum for the different types of reactions that can be analyzed.
+ */
+enum class ReactionType {
+  UNKNOWN = 0,
+  FIRST_BRAKE = 1,
+  SEARCH_ZERO_VEL = 2,
+  SEARCH_ENTITY = 3,
+};
+
 /**
  * @brief Enum for the different running modes of the Reaction Analyzer.
  */
@@ -128,6 +174,27 @@ struct LatencyStats
   double std_dev;
 };
 
+/**
+ * @brief Convert string to SubscriberMessageType.
+ */
+SubscriberMessageType get_subscriber_message_type(const std::string & message_type);
+
+/**
+ * @brief Convert string to PublisherMessageType.
+ */
+PublisherMessageType get_publisher_message_type(const std::string & message_type);
+
+/**
+ * @brief Get the PublisherMessageType for a given topic.
+ */
+PublisherMessageType get_publisher_message_type_for_topic(
+  const std::vector<rosbag2_storage::TopicInformation> & topics, const std::string & topic_name);
+
+/**
+ * @brief Convert string to ReactionType.
+ */
+ReactionType get_reaction_type(const std::string & reaction_type);
+
 /**
  * @brief Calculates the statistics of a vector of latencies.
  * @param latency_vec The vector of latencies.