From d50614338d54d8f1c61cbdad1417a1cda6322f02 Mon Sep 17 00:00:00 2001
From: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Date: Thu, 9 May 2024 18:41:57 +0900
Subject: [PATCH 01/19] feat(route_handler): add unit tests
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
planning/route_handler/CMakeLists.txt | 14 +-
planning/route_handler/package.xml | 1 +
.../route_handler/test/test_route_handler.cpp | 34 +
.../route_handler/test/test_route_handler.hpp | 109 +
.../route_handler/test_map/lanelet2_map.osm | 33390 ++++++++++++++++
5 files changed, 33547 insertions(+), 1 deletion(-)
create mode 100644 planning/route_handler/test/test_route_handler.cpp
create mode 100644 planning/route_handler/test/test_route_handler.hpp
create mode 100644 planning/route_handler/test_map/lanelet2_map.osm
diff --git a/planning/route_handler/CMakeLists.txt b/planning/route_handler/CMakeLists.txt
index 54b34f11f5363..946de98a26815 100644
--- a/planning/route_handler/CMakeLists.txt
+++ b/planning/route_handler/CMakeLists.txt
@@ -8,4 +8,16 @@ ament_auto_add_library(route_handler SHARED
src/route_handler.cpp
)
-ament_auto_package()
+if(BUILD_TESTING)
+ ament_add_ros_isolated_gtest(test_route_handler
+ test/test_route_handler.cpp)
+
+ target_include_directories(test_route_handler PUBLIC test/include)
+ target_link_libraries(test_route_handler
+ route_handler)
+
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE
+ test_map
+)
diff --git a/planning/route_handler/package.xml b/planning/route_handler/package.xml
index 22db01d833023..33c905c163e7b 100644
--- a/planning/route_handler/package.xml
+++ b/planning/route_handler/package.xml
@@ -18,6 +18,7 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>
+ <test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
diff --git a/planning/route_handler/test/test_route_handler.cpp b/planning/route_handler/test/test_route_handler.cpp
new file mode 100644
index 0000000000000..d416d9bd69c77
--- /dev/null
+++ b/planning/route_handler/test/test_route_handler.cpp
@@ -0,0 +1,34 @@
+// Copyright 2024 TIER IV
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "test_route_handler.hpp"
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <gtest/gtest.h>
+
+namespace route_handler::test {
+TEST_F(TestRouteHandler, testSomething){
+ ASSERT_EQ(1, 2);
+}
+
+int main(int argc, char * argv[])
+{
+ testing::InitGoogleTest(&argc, argv);
+ rclcpp::init(argc, argv);
+ bool result = RUN_ALL_TESTS();
+ rclcpp::shutdown();
+ return result;
+}
+}
diff --git a/planning/route_handler/test/test_route_handler.hpp b/planning/route_handler/test/test_route_handler.hpp
new file mode 100644
index 0000000000000..9db07b2020fd8
--- /dev/null
+++ b/planning/route_handler/test/test_route_handler.hpp
@@ -0,0 +1,109 @@
+// Copyright 2024 TIER IV
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef TEST_ROUTE_HANDLER_HPP_
+#define TEST_ROUTE_HANDLER_HPP_
+
+#include "ament_index_cpp/get_package_share_directory.hpp"
+#include "gtest/gtest.h"
+
+#include <lanelet2_extension/io/autoware_osm_parser.hpp>
+#include <lanelet2_extension/projection/mgrs_projector.hpp>
+#include <lanelet2_extension/utility/message_conversion.hpp>
+#include <lanelet2_extension/utility/utilities.hpp>
+#include <rclcpp/clock.hpp>
+#include <rclcpp/logging.hpp>
+#include <route_handler/route_handler.hpp>
+
+#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
+
+#include <lanelet2_io/Io.h>
+
+#include <memory>
+#include <string>
+namespace route_handler::test
+{
+
+using autoware_auto_mapping_msgs::msg::HADMapBin;
+
+class TestRouteHandler : public ::testing::Test
+{
+public:
+ TestRouteHandler() { route_handler_ = std::make_shared<RouteHandler>(makeMapBinMsg()); }
+ TestRouteHandler(const TestRouteHandler &) = delete;
+ TestRouteHandler(TestRouteHandler &&) = delete;
+ TestRouteHandler & operator=(const TestRouteHandler &) = delete;
+ TestRouteHandler & operator=(TestRouteHandler &&) = delete;
+ ~TestRouteHandler() override = default;
+
+ static lanelet::LaneletMapPtr loadMap(const std::string & lanelet2_filename)
+ {
+ lanelet::ErrorMessages errors{};
+ lanelet::projection::MGRSProjector projector{};
+ auto map = lanelet::load(lanelet2_filename, projector, &errors);
+ if (errors.empty()) {
+ return map;
+ }
+
+ for (const auto & error : errors) {
+ RCLCPP_ERROR_STREAM(rclcpp::get_logger("map_loader"), error);
+ }
+ return nullptr;
+ }
+
+ static HADMapBin makeMapBinMsg()
+ {
+ const auto planning_test_utils_dir =
+ ament_index_cpp::get_package_share_directory("route_handler");
+ const auto lanelet2_path = planning_test_utils_dir + "/test_map/lanelet2_map.osm";
+ double center_line_resolution = 5.0;
+ // load map from file
+ const auto map = loadMap(lanelet2_path);
+ if (!map) {
+ return autoware_auto_mapping_msgs::msg::HADMapBin_<std::allocator<void>>{};
+ }
+
+ // overwrite centerline
+ lanelet::utils::overwriteLaneletsCenterline(map, center_line_resolution, false);
+
+ // create map bin msg
+ const auto map_bin_msg =
+ convertToMapBinMsg(map, lanelet2_path, rclcpp::Clock(RCL_ROS_TIME).now());
+ return map_bin_msg;
+ }
+
+ static HADMapBin convertToMapBinMsg(
+ const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename,
+ const rclcpp::Time & now)
+ {
+ std::string format_version{};
+ std::string map_version{};
+ lanelet::io_handlers::AutowareOsmParser::parseVersions(
+ lanelet2_filename, &format_version, &map_version);
+
+ HADMapBin map_bin_msg;
+ map_bin_msg.header.stamp = now;
+ map_bin_msg.header.frame_id = "map";
+ map_bin_msg.format_version = format_version;
+ map_bin_msg.map_version = map_version;
+ lanelet::utils::conversion::toBinMsg(map, &map_bin_msg);
+
+ return map_bin_msg;
+ }
+
+ std::shared_ptr<RouteHandler> route_handler_;
+};
+} // namespace route_handler::test
+
+#endif // TEST_ROUTE_HANDLER_HPP_
diff --git a/planning/route_handler/test_map/lanelet2_map.osm b/planning/route_handler/test_map/lanelet2_map.osm
new file mode 100644
index 0000000000000..43c22f8de6bb1
--- /dev/null
+++ b/planning/route_handler/test_map/lanelet2_map.osm
@@ -0,0 +1,33390 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<osm generator="VMB">
+ <MetaInfo format_version="2" map_version="3"/>
+ <node id="4253" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX-10000"/>
+ <tag k="local_x" v="-1000"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4254" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX-10000"/>
+ <tag k="local_x" v="-1000"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4255" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX-10000"/>
+ <tag k="local_x" v="-975"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4256" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX-10000"/>
+ <tag k="local_x" v="-975"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4257" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX-10000"/>
+ <tag k="local_x" v="-950"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4258" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX-10000"/>
+ <tag k="local_x" v="-950"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4259" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX-10000"/>
+ <tag k="local_x" v="-925"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4260" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX-10000"/>
+ <tag k="local_x" v="-925"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4262" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-9000"/>
+ <tag k="local_x" v="-900"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4264" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-9000"/>
+ <tag k="local_x" v="-874.9206"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4266" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-9000"/>
+ <tag k="local_x" v="-849.9211"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4267" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-9000"/>
+ <tag k="local_x" v="-825"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4268" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-9000"/>
+ <tag k="local_x" v="-825.0005"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4270" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-8000"/>
+ <tag k="local_x" v="-800"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4272" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-8000"/>
+ <tag k="local_x" v="-775.1394"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4274" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-8000"/>
+ <tag k="local_x" v="-750.1394"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4276" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-8000"/>
+ <tag k="local_x" v="-725"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4278" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-7000"/>
+ <tag k="local_x" v="-700"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4280" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-7000"/>
+ <tag k="local_x" v="-675"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4281" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-7000"/>
+ <tag k="local_x" v="-650"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4282" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-7000"/>
+ <tag k="local_x" v="-650"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4283" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-7000"/>
+ <tag k="local_x" v="-625"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4284" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-7000"/>
+ <tag k="local_x" v="-625"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4285" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-6000"/>
+ <tag k="local_x" v="-600"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4286" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-6000"/>
+ <tag k="local_x" v="-600"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4287" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-6000"/>
+ <tag k="local_x" v="-575"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4288" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-6000"/>
+ <tag k="local_x" v="-575"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4289" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-6000"/>
+ <tag k="local_x" v="-550"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4290" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-6000"/>
+ <tag k="local_x" v="-550"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4291" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-6000"/>
+ <tag k="local_x" v="-525"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4292" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-6000"/>
+ <tag k="local_x" v="-525"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4293" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-5000"/>
+ <tag k="local_x" v="-500"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4294" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-5000"/>
+ <tag k="local_x" v="-500"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4295" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-5000"/>
+ <tag k="local_x" v="-475"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4296" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-5000"/>
+ <tag k="local_x" v="-475"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4297" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-5000"/>
+ <tag k="local_x" v="-450"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4298" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-5000"/>
+ <tag k="local_x" v="-450"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4299" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-5000"/>
+ <tag k="local_x" v="-425"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4300" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-5000"/>
+ <tag k="local_x" v="-425"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4301" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-4000"/>
+ <tag k="local_x" v="-400"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4302" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-4000"/>
+ <tag k="local_x" v="-400"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4303" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-4000"/>
+ <tag k="local_x" v="-375"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4304" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-4000"/>
+ <tag k="local_x" v="-375"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4305" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-4000"/>
+ <tag k="local_x" v="-350"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4306" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-4000"/>
+ <tag k="local_x" v="-350"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4307" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-4000"/>
+ <tag k="local_x" v="-325"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4308" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-4000"/>
+ <tag k="local_x" v="-325"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4309" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-3000"/>
+ <tag k="local_x" v="-300"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4310" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-3000"/>
+ <tag k="local_x" v="-300"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4311" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-3000"/>
+ <tag k="local_x" v="-275"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4312" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-3000"/>
+ <tag k="local_x" v="-275"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4313" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-3000"/>
+ <tag k="local_x" v="-250"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4314" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-3000"/>
+ <tag k="local_x" v="-250"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4315" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-3000"/>
+ <tag k="local_x" v="-225"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4316" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-3000"/>
+ <tag k="local_x" v="-225"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4317" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-2000"/>
+ <tag k="local_x" v="-200"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4318" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-2000"/>
+ <tag k="local_x" v="-200"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4319" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-2000"/>
+ <tag k="local_x" v="-175"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4320" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-2000"/>
+ <tag k="local_x" v="-175"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4321" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-2000"/>
+ <tag k="local_x" v="-150"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4322" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-2000"/>
+ <tag k="local_x" v="-150"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4323" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-2000"/>
+ <tag k="local_x" v="-125"/>
+ <tag k="local_y" v="3.5"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4324" lat="" lon="">
+ <tag k="mgrs_code" v="99XXX0-2000"/>
+ <tag k="local_x" v="-125"/>
+ <tag k="local_y" v="0"/>
+ <tag k="ele" v="0"/>
+ </node>
+ <node id="4325" lat="" lon="">
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+ <relation id="4992">
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+ <tag k="type" v="lanelet"/>
+ <tag k="subtype" v="road"/>
+ <tag k="speed_limit" v="70"/>
+ <tag k="location" v="urban"/>
+ <tag k="one_way" v="yes"/>
+ </relation>
+ <relation id="9614">
+ <member type="way" role="left" ref="9613"/>
+ <member type="way" role="right" ref="4616"/>
+ <member type="way" role="centerline" ref="9732"/>
+ <tag k="type" v="lanelet"/>
+ <tag k="subtype" v="road"/>
+ <tag k="speed_limit" v="70"/>
+ <tag k="location" v="urban"/>
+ <tag k="one_way" v="yes"/>
+ </relation>
+ <relation id="9618">
+ <member type="way" role="left" ref="9617"/>
+ <member type="way" role="right" ref="4626"/>
+ <member type="way" role="centerline" ref="9758"/>
+ <tag k="type" v="lanelet"/>
+ <tag k="subtype" v="road"/>
+ <tag k="speed_limit" v="70"/>
+ <tag k="location" v="urban"/>
+ <tag k="one_way" v="yes"/>
+ </relation>
+ <relation id="9622">
+ <member type="way" role="left" ref="9621"/>
+ <member type="way" role="right" ref="4636"/>
+ <member type="way" role="centerline" ref="9784"/>
+ <tag k="type" v="lanelet"/>
+ <tag k="subtype" v="road"/>
+ <tag k="speed_limit" v="70"/>
+ <tag k="location" v="urban"/>
+ <tag k="one_way" v="yes"/>
+ </relation>
+ <relation id="9626">
+ <member type="way" role="left" ref="9625"/>
+ <member type="way" role="right" ref="4646"/>
+ <member type="way" role="centerline" ref="9809"/>
+ <tag k="type" v="lanelet"/>
+ <tag k="subtype" v="road"/>
+ <tag k="speed_limit" v="70"/>
+ <tag k="location" v="urban"/>
+ <tag k="one_way" v="yes"/>
+ </relation>
+ <relation id="9813">
+ <member type="way" role="left" ref="4813"/>
+ <member type="way" role="right" ref="9812"/>
+ <tag k="type" v="lanelet"/>
+ <tag k="subtype" v="road"/>
+ <tag k="speed_limit" v="70"/>
+ <tag k="location" v="urban"/>
+ <tag k="one_way" v="yes"/>
+ </relation>
+ <relation id="9817">
+ <member type="way" role="left" ref="4858"/>
+ <member type="way" role="right" ref="9816"/>
+ <tag k="type" v="lanelet"/>
+ <tag k="subtype" v="road"/>
+ <tag k="speed_limit" v="70"/>
+ <tag k="location" v="urban"/>
+ <tag k="one_way" v="yes"/>
+ </relation>
+ <relation id="9821">
+ <member type="way" role="left" ref="4863"/>
+ <member type="way" role="right" ref="9820"/>
+ <tag k="type" v="lanelet"/>
+ <tag k="subtype" v="road"/>
+ <tag k="speed_limit" v="70"/>
+ <tag k="location" v="urban"/>
+ <tag k="one_way" v="yes"/>
+ </relation>
+ <relation id="9825">
+ <member type="way" role="left" ref="4868"/>
+ <member type="way" role="right" ref="9824"/>
+ <tag k="type" v="lanelet"/>
+ <tag k="subtype" v="road"/>
+ <tag k="speed_limit" v="70"/>
+ <tag k="location" v="urban"/>
+ <tag k="one_way" v="yes"/>
+ </relation>
+ <relation id="9833">
+ <member type="way" role="left" ref="4913"/>
+ <member type="way" role="right" ref="9832"/>
+ <tag k="type" v="lanelet"/>
+ <tag k="subtype" v="road"/>
+ <tag k="speed_limit" v="70"/>
+ <tag k="location" v="urban"/>
+ <tag k="one_way" v="yes"/>
+ </relation>
+ <relation id="9837">
+ <member type="way" role="left" ref="4971"/>
+ <member type="way" role="right" ref="9836"/>
+ <member type="way" role="centerline" ref="9889"/>
+ <tag k="type" v="lanelet"/>
+ <tag k="subtype" v="road"/>
+ <tag k="speed_limit" v="70"/>
+ <tag k="location" v="urban"/>
+ <tag k="one_way" v="yes"/>
+ </relation>
+</osm>
From 84bb9cb7e1cf3a71815aa5028ce594671706b535 Mon Sep 17 00:00:00 2001
From: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Date: Thu, 9 May 2024 20:46:24 +0900
Subject: [PATCH 02/19] Added route parser
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
planning/route_handler/CMakeLists.txt | 14 +-
planning/route_handler/package.xml | 1 +
planning/route_handler/test/route_parser.cpp | 92 +++++++++++++
planning/route_handler/test/route_parser.hpp | 46 +++++++
.../route_handler/test/test_route_handler.cpp | 10 +-
.../route_handler/test/test_route_parser.cpp | 122 ++++++++++++++++++
6 files changed, 280 insertions(+), 5 deletions(-)
create mode 100644 planning/route_handler/test/route_parser.cpp
create mode 100644 planning/route_handler/test/route_parser.hpp
create mode 100644 planning/route_handler/test/test_route_parser.cpp
diff --git a/planning/route_handler/CMakeLists.txt b/planning/route_handler/CMakeLists.txt
index 946de98a26815..5178acc171f1f 100644
--- a/planning/route_handler/CMakeLists.txt
+++ b/planning/route_handler/CMakeLists.txt
@@ -9,10 +9,22 @@ ament_auto_add_library(route_handler SHARED
)
if(BUILD_TESTING)
+ ament_auto_add_library(route_parser SHARED
+ test/route_parser.cpp)
+
+ target_link_libraries(route_parser
+ yaml-cpp
+ )
+
+ ament_add_ros_isolated_gtest(test_route_parser
+ test/test_route_parser.cpp)
+
ament_add_ros_isolated_gtest(test_route_handler
test/test_route_handler.cpp)
- target_include_directories(test_route_handler PUBLIC test/include)
+ target_link_libraries(test_route_parser
+ route_parser)
+
target_link_libraries(test_route_handler
route_handler)
diff --git a/planning/route_handler/package.xml b/planning/route_handler/package.xml
index 33c905c163e7b..38d875e830e02 100644
--- a/planning/route_handler/package.xml
+++ b/planning/route_handler/package.xml
@@ -31,6 +31,7 @@
<depend>rclcpp_components</depend>
<depend>tf2_ros</depend>
<depend>tier4_autoware_utils</depend>
+ <depend>yaml-cpp</depend>
<export>
<build_type>ament_cmake</build_type>
diff --git a/planning/route_handler/test/route_parser.cpp b/planning/route_handler/test/route_parser.cpp
new file mode 100644
index 0000000000000..7a5da4e2c1ea4
--- /dev/null
+++ b/planning/route_handler/test/route_parser.cpp
@@ -0,0 +1,92 @@
+// Copyright 2024 TIER IV
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "route_parser.hpp"
+
+#include <rclcpp/logging.hpp>
+
+#include <autoware_planning_msgs/msg/lanelet_primitive.hpp>
+#include <autoware_planning_msgs/msg/lanelet_route.hpp>
+#include <autoware_planning_msgs/msg/lanelet_segment.hpp>
+#include <geometry_msgs/msg/pose.hpp>
+
+#include <yaml-cpp/yaml.h>
+
+#include <algorithm>
+#include <string>
+#include <vector>
+
+namespace route_handler::test
+{
+Pose parse_pose(const YAML::Node & node)
+{
+ Pose pose;
+ pose.position.x = node["position"]["x"].as<double>();
+ pose.position.y = node["position"]["y"].as<double>();
+ pose.position.z = node["position"]["z"].as<double>();
+ pose.orientation.x = node["orientation"]["x"].as<double>();
+ pose.orientation.y = node["orientation"]["y"].as<double>();
+ pose.orientation.z = node["orientation"]["z"].as<double>();
+ pose.orientation.w = node["orientation"]["w"].as<double>();
+ return pose;
+}
+
+LaneletPrimitive parse_lanelet_primitive(const YAML::Node & node)
+{
+ LaneletPrimitive primitive;
+ primitive.id = node["id"].as<int64_t>();
+ primitive.primitive_type = node["primitive_type"].as<std::string>();
+
+ return primitive;
+}
+
+std::vector<LaneletPrimitive> parse_lanelet_primitives(const YAML::Node & node)
+{
+ std::vector<LaneletPrimitive> primitives;
+ primitives.reserve(node.size());
+ for (const auto & p : node) {
+ primitives.emplace_back(parse_lanelet_primitive(p));
+ }
+
+ return primitives;
+}
+
+std::vector<LaneletSegment> parse_segments(const YAML::Node & node)
+{
+ std::vector<LaneletSegment> segments;
+ std::transform(node.begin(), node.end(), std::back_inserter(segments), [&](const auto & input) {
+ LaneletSegment segment;
+ segment.preferred_primitive = parse_lanelet_primitive(input["preferred_primitive"]);
+ segment.primitives = parse_lanelet_primitives(input["primitives"]);
+ return segment;
+ });
+
+ return segments;
+}
+
+LaneletRoute parse_route_file(const std::string & filename)
+{
+ LaneletRoute lanelet_route;
+ try {
+ YAML::Node config = YAML::LoadFile(filename);
+
+ lanelet_route.start_pose = (config["start_pose"]) ? parse_pose(config["start_pose"]) : Pose();
+ lanelet_route.goal_pose = (config["goal_pose"]) ? parse_pose(config["goal_pose"]) : Pose();
+ lanelet_route.segments = parse_segments(config["segment"]);
+ } catch (const std::exception & e) {
+ RCLCPP_DEBUG(rclcpp::get_logger("route_handler"), "Exception caught: %s", e.what());
+ }
+ return lanelet_route;
+}
+} // namespace route_handler::test
diff --git a/planning/route_handler/test/route_parser.hpp b/planning/route_handler/test/route_parser.hpp
new file mode 100644
index 0000000000000..e23b14107ce26
--- /dev/null
+++ b/planning/route_handler/test/route_parser.hpp
@@ -0,0 +1,46 @@
+// Copyright 2024 TIER IV
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef ROUTE_PARSER_HPP_
+#define ROUTE_PARSER_HPP_
+
+#include <autoware_planning_msgs/msg/lanelet_primitive.hpp>
+#include <autoware_planning_msgs/msg/lanelet_route.hpp>
+#include <autoware_planning_msgs/msg/lanelet_segment.hpp>
+#include <geometry_msgs/msg/pose.hpp>
+
+#include <yaml-cpp/yaml.h>
+
+#include <string>
+#include <vector>
+
+namespace route_handler::test
+{
+using autoware_planning_msgs::msg::LaneletPrimitive;
+using autoware_planning_msgs::msg::LaneletRoute;
+using autoware_planning_msgs::msg::LaneletSegment;
+using geometry_msgs::msg::Pose;
+
+Pose parse_pose(const YAML::Node & node);
+
+LaneletPrimitive parse_lanelet_primitive(const YAML::Node & node);
+
+std::vector<LaneletPrimitive> parse_lanelet_primitives(const YAML::Node & node);
+
+std::vector<LaneletSegment> parse_segments(const YAML::Node & node);
+
+LaneletRoute parse_route_file(const std::string & filename);
+} // namespace route_handler::test
+
+#endif // ROUTE_PARSER_HPP_
diff --git a/planning/route_handler/test/test_route_handler.cpp b/planning/route_handler/test/test_route_handler.cpp
index d416d9bd69c77..8a8230669ec79 100644
--- a/planning/route_handler/test/test_route_handler.cpp
+++ b/planning/route_handler/test/test_route_handler.cpp
@@ -18,9 +18,11 @@
#include <gtest/gtest.h>
-namespace route_handler::test {
-TEST_F(TestRouteHandler, testSomething){
- ASSERT_EQ(1, 2);
+namespace route_handler::test
+{
+TEST_F(TestRouteHandler, testSomething)
+{
+ ASSERT_EQ(1, 1);
}
int main(int argc, char * argv[])
@@ -31,4 +33,4 @@ int main(int argc, char * argv[])
rclcpp::shutdown();
return result;
}
-}
+} // namespace route_handler::test
diff --git a/planning/route_handler/test/test_route_parser.cpp b/planning/route_handler/test/test_route_parser.cpp
new file mode 100644
index 0000000000000..5952fe04a86f4
--- /dev/null
+++ b/planning/route_handler/test/test_route_parser.cpp
@@ -0,0 +1,122 @@
+// Copyright 2024 TIER IV
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+// Assuming the parseRouteFile function is in 'RouteHandler.h'
+#include "route_parser.hpp"
+
+namespace route_handler::test
+{
+// Example YAML structure as a string for testing
+const std::string g_complete_yaml = R"(
+start_pose:
+ position:
+ x: 1.0
+ y: 2.0
+ z: 3.0
+ orientation:
+ x: 0.1
+ y: 0.2
+ z: 0.3
+ w: 0.4
+goal_pose:
+ position:
+ x: 4.0
+ y: 5.0
+ z: 6.0
+ orientation:
+ x: 0.5
+ y: 0.6
+ z: 0.7
+ w: 0.8
+segments:
+- preferred_primitive:
+ id: 11
+ primitive_type: ''
+ primitives:
+ - id: 22
+ primitive_type: lane
+ - id: 33
+ primitive_type: lane
+- preferred_primitive:
+ id: 44
+ primitive_type: ''
+ primitives:
+ - id: 55
+ primitive_type: lane
+ - id: 66
+ primitive_type: lane
+ - id: 77
+ primitive_type: lane
+ - id: 88
+ primitive_type: lane
+)";
+
+TEST(ParseFunctions, CompleteYAMLTest)
+{
+ YAML::Node config = YAML::Load(g_complete_yaml);
+
+ // Test parsing of start_pose and goal_pose
+ Pose start_pose = parse_pose(config["start_pose"]);
+ Pose goal_pose = parse_pose(config["goal_pose"]);
+
+ EXPECT_DOUBLE_EQ(start_pose.position.x, 1.0);
+ EXPECT_DOUBLE_EQ(start_pose.position.y, 2.0);
+ EXPECT_DOUBLE_EQ(start_pose.position.z, 3.0);
+
+ EXPECT_DOUBLE_EQ(start_pose.orientation.x, 0.1);
+ EXPECT_DOUBLE_EQ(start_pose.orientation.y, 0.2);
+ EXPECT_DOUBLE_EQ(start_pose.orientation.z, 0.3);
+ EXPECT_DOUBLE_EQ(start_pose.orientation.w, 0.4);
+
+ EXPECT_DOUBLE_EQ(goal_pose.position.x, 4.0);
+ EXPECT_DOUBLE_EQ(goal_pose.position.y, 5.0);
+ EXPECT_DOUBLE_EQ(goal_pose.position.z, 6.0);
+ EXPECT_DOUBLE_EQ(goal_pose.orientation.x, 0.5);
+ EXPECT_DOUBLE_EQ(goal_pose.orientation.y, 0.6);
+ EXPECT_DOUBLE_EQ(goal_pose.orientation.z, 0.7);
+ EXPECT_DOUBLE_EQ(goal_pose.orientation.w, 0.8);
+
+ // Test parsing of segments
+ std::vector<LaneletSegment> segments = parse_segments(config["segments"]);
+ ASSERT_EQ(segments.size(), 2); // Assuming only one segment in the provided YAML for this test
+
+ const auto & segment0 = segments[0];
+ EXPECT_EQ(segment0.preferred_primitive.id, 11);
+ EXPECT_EQ(segment0.primitives.size(), 2);
+ EXPECT_EQ(segment0.primitives[0].id, 22);
+ EXPECT_EQ(segment0.primitives[0].primitive_type, "lane");
+ EXPECT_EQ(segment0.primitives[1].id, 33);
+ EXPECT_EQ(segment0.primitives[1].primitive_type, "lane");
+
+ const auto & segment1 = segments[1];
+ EXPECT_EQ(segment1.preferred_primitive.id, 44);
+ EXPECT_EQ(segment1.primitives.size(), 4);
+ EXPECT_EQ(segment1.primitives[0].id, 55);
+ EXPECT_EQ(segment1.primitives[0].primitive_type, "lane");
+ EXPECT_EQ(segment1.primitives[1].id, 66);
+ EXPECT_EQ(segment1.primitives[1].primitive_type, "lane");
+ EXPECT_EQ(segment1.primitives[2].id, 77);
+ EXPECT_EQ(segment1.primitives[2].primitive_type, "lane");
+ EXPECT_EQ(segment1.primitives[3].id, 88);
+ EXPECT_EQ(segment1.primitives[3].primitive_type, "lane");
+}
+
+int main(int argc, char ** argv)
+{
+ ::testing::InitGoogleTest(&argc, argv);
+ return RUN_ALL_TESTS();
+}
+} // namespace route_handler::test
From 6b8dc2460fb332b638c4f384fb2a6cf61005731e Mon Sep 17 00:00:00 2001
From: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Date: Thu, 9 May 2024 20:59:01 +0900
Subject: [PATCH 03/19] Completed parser
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
planning/route_handler/CMakeLists.txt | 1 +
planning/route_handler/test/route_parser.cpp | 2 +-
.../route_handler/test/test_route_handler.hpp | 8 ++-
.../route_handler/test/test_route_parser.cpp | 64 +++++++++++--------
.../test_route/parser_test.route | 41 ++++++++++++
5 files changed, 87 insertions(+), 29 deletions(-)
create mode 100644 planning/route_handler/test_route/parser_test.route
diff --git a/planning/route_handler/CMakeLists.txt b/planning/route_handler/CMakeLists.txt
index 5178acc171f1f..05370f1ec8f53 100644
--- a/planning/route_handler/CMakeLists.txt
+++ b/planning/route_handler/CMakeLists.txt
@@ -32,4 +32,5 @@ endif()
ament_auto_package(INSTALL_TO_SHARE
test_map
+ test_route
)
diff --git a/planning/route_handler/test/route_parser.cpp b/planning/route_handler/test/route_parser.cpp
index 7a5da4e2c1ea4..c8651a9f33b67 100644
--- a/planning/route_handler/test/route_parser.cpp
+++ b/planning/route_handler/test/route_parser.cpp
@@ -83,7 +83,7 @@ LaneletRoute parse_route_file(const std::string & filename)
lanelet_route.start_pose = (config["start_pose"]) ? parse_pose(config["start_pose"]) : Pose();
lanelet_route.goal_pose = (config["goal_pose"]) ? parse_pose(config["goal_pose"]) : Pose();
- lanelet_route.segments = parse_segments(config["segment"]);
+ lanelet_route.segments = parse_segments(config["segments"]);
} catch (const std::exception & e) {
RCLCPP_DEBUG(rclcpp::get_logger("route_handler"), "Exception caught: %s", e.what());
}
diff --git a/planning/route_handler/test/test_route_handler.hpp b/planning/route_handler/test/test_route_handler.hpp
index 9db07b2020fd8..64b5aa280eee1 100644
--- a/planning/route_handler/test/test_route_handler.hpp
+++ b/planning/route_handler/test/test_route_handler.hpp
@@ -17,6 +17,7 @@
#include "ament_index_cpp/get_package_share_directory.hpp"
#include "gtest/gtest.h"
+#include <route_handler/route_handler.hpp>
#include <lanelet2_extension/io/autoware_osm_parser.hpp>
#include <lanelet2_extension/projection/mgrs_projector.hpp>
@@ -24,14 +25,13 @@
#include <lanelet2_extension/utility/utilities.hpp>
#include <rclcpp/clock.hpp>
#include <rclcpp/logging.hpp>
-#include <route_handler/route_handler.hpp>
#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
#include <lanelet2_io/Io.h>
-#include <memory>
#include <string>
+#include <memory>
namespace route_handler::test
{
@@ -40,7 +40,9 @@ using autoware_auto_mapping_msgs::msg::HADMapBin;
class TestRouteHandler : public ::testing::Test
{
public:
- TestRouteHandler() { route_handler_ = std::make_shared<RouteHandler>(makeMapBinMsg()); }
+ TestRouteHandler(){
+ route_handler_ = std::make_shared<RouteHandler>(makeMapBinMsg());
+ }
TestRouteHandler(const TestRouteHandler &) = delete;
TestRouteHandler(TestRouteHandler &&) = delete;
TestRouteHandler & operator=(const TestRouteHandler &) = delete;
diff --git a/planning/route_handler/test/test_route_parser.cpp b/planning/route_handler/test/test_route_parser.cpp
index 5952fe04a86f4..45cb6229be3e9 100644
--- a/planning/route_handler/test/test_route_parser.cpp
+++ b/planning/route_handler/test/test_route_parser.cpp
@@ -15,6 +15,7 @@
#include <gtest/gtest.h>
// Assuming the parseRouteFile function is in 'RouteHandler.h'
+#include "ament_index_cpp/get_package_share_directory.hpp"
#include "route_parser.hpp"
namespace route_handler::test
@@ -50,18 +51,6 @@ const std::string g_complete_yaml = R"(
primitive_type: lane
- id: 33
primitive_type: lane
-- preferred_primitive:
- id: 44
- primitive_type: ''
- primitives:
- - id: 55
- primitive_type: lane
- - id: 66
- primitive_type: lane
- - id: 77
- primitive_type: lane
- - id: 88
- primitive_type: lane
)";
TEST(ParseFunctions, CompleteYAMLTest)
@@ -91,7 +80,7 @@ TEST(ParseFunctions, CompleteYAMLTest)
// Test parsing of segments
std::vector<LaneletSegment> segments = parse_segments(config["segments"]);
- ASSERT_EQ(segments.size(), 2); // Assuming only one segment in the provided YAML for this test
+ ASSERT_EQ(segments.size(), 1); // Assuming only one segment in the provided YAML for this test
const auto & segment0 = segments[0];
EXPECT_EQ(segment0.preferred_primitive.id, 11);
@@ -100,20 +89,45 @@ TEST(ParseFunctions, CompleteYAMLTest)
EXPECT_EQ(segment0.primitives[0].primitive_type, "lane");
EXPECT_EQ(segment0.primitives[1].id, 33);
EXPECT_EQ(segment0.primitives[1].primitive_type, "lane");
-
- const auto & segment1 = segments[1];
- EXPECT_EQ(segment1.preferred_primitive.id, 44);
- EXPECT_EQ(segment1.primitives.size(), 4);
- EXPECT_EQ(segment1.primitives[0].id, 55);
- EXPECT_EQ(segment1.primitives[0].primitive_type, "lane");
- EXPECT_EQ(segment1.primitives[1].id, 66);
- EXPECT_EQ(segment1.primitives[1].primitive_type, "lane");
- EXPECT_EQ(segment1.primitives[2].id, 77);
- EXPECT_EQ(segment1.primitives[2].primitive_type, "lane");
- EXPECT_EQ(segment1.primitives[3].id, 88);
- EXPECT_EQ(segment1.primitives[3].primitive_type, "lane");
}
+TEST(ParseFunction, CompleteFromFilename){
+ const auto planning_test_utils_dir =
+ ament_index_cpp::get_package_share_directory("route_handler");
+ const auto parser_test_route = planning_test_utils_dir + "/test_route/parser_test.route";
+
+
+ const auto lanelet_route = parse_route_file(parser_test_route);
+ EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.x, 1.0);
+ EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.y, 2.0);
+ EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.z, 3.0);
+
+ EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.x, 0.1);
+ EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.y, 0.2);
+ EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.z, 0.3);
+ EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.w, 0.4);
+
+ EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.x, 4.0);
+ EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.y, 5.0);
+ EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.z, 6.0);
+ EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.x, 0.5);
+ EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.y, 0.6);
+ EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.z, 0.7);
+ EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.w, 0.8);
+
+ ASSERT_EQ(lanelet_route.segments.size(), 2); // Assuming only one segment in the provided YAML for this test
+ const auto & segment1 = lanelet_route.segments[1];
+ EXPECT_EQ(segment1.preferred_primitive.id, 44);
+ EXPECT_EQ(segment1.primitives.size(), 4);
+ EXPECT_EQ(segment1.primitives[0].id, 55);
+ EXPECT_EQ(segment1.primitives[0].primitive_type, "lane");
+ EXPECT_EQ(segment1.primitives[1].id, 66);
+ EXPECT_EQ(segment1.primitives[1].primitive_type, "lane");
+ EXPECT_EQ(segment1.primitives[2].id, 77);
+ EXPECT_EQ(segment1.primitives[2].primitive_type, "lane");
+ EXPECT_EQ(segment1.primitives[3].id, 88);
+ EXPECT_EQ(segment1.primitives[3].primitive_type, "lane");
+}
int main(int argc, char ** argv)
{
::testing::InitGoogleTest(&argc, argv);
diff --git a/planning/route_handler/test_route/parser_test.route b/planning/route_handler/test_route/parser_test.route
new file mode 100644
index 0000000000000..eaf98b8a3bcf3
--- /dev/null
+++ b/planning/route_handler/test_route/parser_test.route
@@ -0,0 +1,41 @@
+start_pose:
+ position:
+ x: 1.0
+ y: 2.0
+ z: 3.0
+ orientation:
+ x: 0.1
+ y: 0.2
+ z: 0.3
+ w: 0.4
+goal_pose:
+ position:
+ x: 4.0
+ y: 5.0
+ z: 6.0
+ orientation:
+ x: 0.5
+ y: 0.6
+ z: 0.7
+ w: 0.8
+segments:
+- preferred_primitive:
+ id: 11
+ primitive_type: ''
+ primitives:
+ - id: 22
+ primitive_type: lane
+ - id: 33
+ primitive_type: lane
+- preferred_primitive:
+ id: 44
+ primitive_type: ''
+ primitives:
+ - id: 55
+ primitive_type: lane
+ - id: 66
+ primitive_type: lane
+ - id: 77
+ primitive_type: lane
+ - id: 88
+ primitive_type: lane
From b5a0854e9226c208d8fc23a7f1d25dabf90297f9 Mon Sep 17 00:00:00 2001
From: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Date: Thu, 9 May 2024 20:59:56 +0900
Subject: [PATCH 04/19] Added route file for later test
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
.../route_handler/test_route/rh_test.route | 253 ++++++++++++++++++
1 file changed, 253 insertions(+)
create mode 100644 planning/route_handler/test_route/rh_test.route
diff --git a/planning/route_handler/test_route/rh_test.route b/planning/route_handler/test_route/rh_test.route
new file mode 100644
index 0000000000000..dc2be043195bc
--- /dev/null
+++ b/planning/route_handler/test_route/rh_test.route
@@ -0,0 +1,253 @@
+start_pose:
+ position:
+ x: -200.0
+ y: 1.75
+ z: 0.0
+ orientation:
+ x: 0.0
+ y: 0.0
+ z: 0.0
+ w: 1.0
+goal_pose:
+ position:
+ x: 500.0
+ y: -1.75
+ z: 0.0
+ orientation:
+ x: 0.0
+ y: 0.0
+ z: 0.0
+ w: 1.0
+segments:
+- preferred_primitive:
+ id: 4735
+ primitive_type: ''
+ primitives:
+ - id: 4735
+ primitive_type: lane
+ - id: 5044
+ primitive_type: lane
+- preferred_primitive:
+ id: 4740
+ primitive_type: ''
+ primitives:
+ - id: 4740
+ primitive_type: lane
+ - id: 5048
+ primitive_type: lane
+- preferred_primitive:
+ id: 4745
+ primitive_type: ''
+ primitives:
+ - id: 4745
+ primitive_type: lane
+ - id: 5052
+ primitive_type: lane
+- preferred_primitive:
+ id: 4750
+ primitive_type: ''
+ primitives:
+ - id: 4750
+ primitive_type: lane
+ - id: 5056
+ primitive_type: lane
+- preferred_primitive:
+ id: 4755
+ primitive_type: ''
+ primitives:
+ - id: 4755
+ primitive_type: lane
+ - id: 5060
+ primitive_type: lane
+- preferred_primitive:
+ id: 4760
+ primitive_type: ''
+ primitives:
+ - id: 4760
+ primitive_type: lane
+ - id: 5064
+ primitive_type: lane
+- preferred_primitive:
+ id: 4765
+ primitive_type: ''
+ primitives:
+ - id: 4765
+ primitive_type: lane
+ - id: 9590
+ primitive_type: lane
+- preferred_primitive:
+ id: 4770
+ primitive_type: ''
+ primitives:
+ - id: 4770
+ primitive_type: lane
+ - id: 5072
+ primitive_type: lane
+- preferred_primitive:
+ id: 9594
+ primitive_type: ''
+ primitives:
+ - id: 4775
+ primitive_type: lane
+ - id: 9594
+ primitive_type: lane
+- preferred_primitive:
+ id: 9598
+ primitive_type: ''
+ primitives:
+ - id: 4424
+ primitive_type: lane
+ - id: 9598
+ primitive_type: lane
+- preferred_primitive:
+ id: 5084
+ primitive_type: ''
+ primitives:
+ - id: 4780
+ primitive_type: lane
+ - id: 5084
+ primitive_type: lane
+- preferred_primitive:
+ id: 5088
+ primitive_type: ''
+ primitives:
+ - id: 4785
+ primitive_type: lane
+ - id: 5088
+ primitive_type: lane
+- preferred_primitive:
+ id: 5092
+ primitive_type: ''
+ primitives:
+ - id: 4790
+ primitive_type: lane
+ - id: 5092
+ primitive_type: lane
+- preferred_primitive:
+ id: 5096
+ primitive_type: ''
+ primitives:
+ - id: 4795
+ primitive_type: lane
+ - id: 5096
+ primitive_type: lane
+- preferred_primitive:
+ id: 5104
+ primitive_type: ''
+ primitives:
+ - id: 4800
+ primitive_type: lane
+ - id: 5104
+ primitive_type: lane
+- preferred_primitive:
+ id: 5100
+ primitive_type: ''
+ primitives:
+ - id: 4805
+ primitive_type: lane
+ - id: 5100
+ primitive_type: lane
+- preferred_primitive:
+ id: 9813
+ primitive_type: ''
+ primitives:
+ - id: 4810
+ primitive_type: lane
+ - id: 9813
+ primitive_type: lane
+- preferred_primitive:
+ id: 5112
+ primitive_type: ''
+ primitives:
+ - id: 4815
+ primitive_type: lane
+ - id: 5112
+ primitive_type: lane
+- preferred_primitive:
+ id: 5116
+ primitive_type: ''
+ primitives:
+ - id: 4820
+ primitive_type: lane
+ - id: 5116
+ primitive_type: lane
+- preferred_primitive:
+ id: 5120
+ primitive_type: ''
+ primitives:
+ - id: 4825
+ primitive_type: lane
+ - id: 5120
+ primitive_type: lane
+- preferred_primitive:
+ id: 5124
+ primitive_type: ''
+ primitives:
+ - id: 4830
+ primitive_type: lane
+ - id: 5124
+ primitive_type: lane
+- preferred_primitive:
+ id: 5128
+ primitive_type: ''
+ primitives:
+ - id: 4835
+ primitive_type: lane
+ - id: 5128
+ primitive_type: lane
+- preferred_primitive:
+ id: 5132
+ primitive_type: ''
+ primitives:
+ - id: 4840
+ primitive_type: lane
+ - id: 5132
+ primitive_type: lane
+- preferred_primitive:
+ id: 5136
+ primitive_type: ''
+ primitives:
+ - id: 4845
+ primitive_type: lane
+ - id: 5136
+ primitive_type: lane
+- preferred_primitive:
+ id: 5140
+ primitive_type: ''
+ primitives:
+ - id: 4850
+ primitive_type: lane
+ - id: 5140
+ primitive_type: lane
+- preferred_primitive:
+ id: 9817
+ primitive_type: ''
+ primitives:
+ - id: 4855
+ primitive_type: lane
+ - id: 9817
+ primitive_type: lane
+- preferred_primitive:
+ id: 9821
+ primitive_type: ''
+ primitives:
+ - id: 4860
+ primitive_type: lane
+ - id: 9821
+ primitive_type: lane
+- preferred_primitive:
+ id: 9825
+ primitive_type: ''
+ primitives:
+ - id: 4865
+ primitive_type: lane
+ - id: 9825
+ primitive_type: lane
+- preferred_primitive:
+ id: 5156
+ primitive_type: ''
+ primitives:
+ - id: 4870
+ primitive_type: lane
+ - id: 5156
+ primitive_type: lane
\ No newline at end of file
From b54a704fdd5adcf2250a195343b6800f65f1c241 Mon Sep 17 00:00:00 2001
From: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Date: Thu, 9 May 2024 21:03:14 +0900
Subject: [PATCH 05/19] pre-commit
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
.../route_handler/test/test_route_handler.hpp | 8 +-
.../route_handler/test/test_route_parser.cpp | 76 ++++++++++---------
.../route_handler/test_route/rh_test.route | 2 +-
3 files changed, 43 insertions(+), 43 deletions(-)
diff --git a/planning/route_handler/test/test_route_handler.hpp b/planning/route_handler/test/test_route_handler.hpp
index 64b5aa280eee1..9db07b2020fd8 100644
--- a/planning/route_handler/test/test_route_handler.hpp
+++ b/planning/route_handler/test/test_route_handler.hpp
@@ -17,7 +17,6 @@
#include "ament_index_cpp/get_package_share_directory.hpp"
#include "gtest/gtest.h"
-#include <route_handler/route_handler.hpp>
#include <lanelet2_extension/io/autoware_osm_parser.hpp>
#include <lanelet2_extension/projection/mgrs_projector.hpp>
@@ -25,13 +24,14 @@
#include <lanelet2_extension/utility/utilities.hpp>
#include <rclcpp/clock.hpp>
#include <rclcpp/logging.hpp>
+#include <route_handler/route_handler.hpp>
#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
#include <lanelet2_io/Io.h>
-#include <string>
#include <memory>
+#include <string>
namespace route_handler::test
{
@@ -40,9 +40,7 @@ using autoware_auto_mapping_msgs::msg::HADMapBin;
class TestRouteHandler : public ::testing::Test
{
public:
- TestRouteHandler(){
- route_handler_ = std::make_shared<RouteHandler>(makeMapBinMsg());
- }
+ TestRouteHandler() { route_handler_ = std::make_shared<RouteHandler>(makeMapBinMsg()); }
TestRouteHandler(const TestRouteHandler &) = delete;
TestRouteHandler(TestRouteHandler &&) = delete;
TestRouteHandler & operator=(const TestRouteHandler &) = delete;
diff --git a/planning/route_handler/test/test_route_parser.cpp b/planning/route_handler/test/test_route_parser.cpp
index 45cb6229be3e9..86ebe3a6a131d 100644
--- a/planning/route_handler/test/test_route_parser.cpp
+++ b/planning/route_handler/test/test_route_parser.cpp
@@ -21,7 +21,7 @@
namespace route_handler::test
{
// Example YAML structure as a string for testing
-const std::string g_complete_yaml = R"(
+const char g_complete_yaml[] = R"(
start_pose:
position:
x: 1.0
@@ -91,42 +91,44 @@ TEST(ParseFunctions, CompleteYAMLTest)
EXPECT_EQ(segment0.primitives[1].primitive_type, "lane");
}
-TEST(ParseFunction, CompleteFromFilename){
- const auto planning_test_utils_dir =
- ament_index_cpp::get_package_share_directory("route_handler");
- const auto parser_test_route = planning_test_utils_dir + "/test_route/parser_test.route";
-
-
- const auto lanelet_route = parse_route_file(parser_test_route);
- EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.x, 1.0);
- EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.y, 2.0);
- EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.z, 3.0);
-
- EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.x, 0.1);
- EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.y, 0.2);
- EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.z, 0.3);
- EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.w, 0.4);
-
- EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.x, 4.0);
- EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.y, 5.0);
- EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.z, 6.0);
- EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.x, 0.5);
- EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.y, 0.6);
- EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.z, 0.7);
- EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.w, 0.8);
-
- ASSERT_EQ(lanelet_route.segments.size(), 2); // Assuming only one segment in the provided YAML for this test
- const auto & segment1 = lanelet_route.segments[1];
- EXPECT_EQ(segment1.preferred_primitive.id, 44);
- EXPECT_EQ(segment1.primitives.size(), 4);
- EXPECT_EQ(segment1.primitives[0].id, 55);
- EXPECT_EQ(segment1.primitives[0].primitive_type, "lane");
- EXPECT_EQ(segment1.primitives[1].id, 66);
- EXPECT_EQ(segment1.primitives[1].primitive_type, "lane");
- EXPECT_EQ(segment1.primitives[2].id, 77);
- EXPECT_EQ(segment1.primitives[2].primitive_type, "lane");
- EXPECT_EQ(segment1.primitives[3].id, 88);
- EXPECT_EQ(segment1.primitives[3].primitive_type, "lane");
+TEST(ParseFunction, CompleteFromFilename)
+{
+ const auto planning_test_utils_dir =
+ ament_index_cpp::get_package_share_directory("route_handler");
+ const auto parser_test_route = planning_test_utils_dir + "/test_route/parser_test.route";
+
+ const auto lanelet_route = parse_route_file(parser_test_route);
+ EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.x, 1.0);
+ EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.y, 2.0);
+ EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.z, 3.0);
+
+ EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.x, 0.1);
+ EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.y, 0.2);
+ EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.z, 0.3);
+ EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.w, 0.4);
+
+ EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.x, 4.0);
+ EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.y, 5.0);
+ EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.z, 6.0);
+ EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.x, 0.5);
+ EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.y, 0.6);
+ EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.z, 0.7);
+ EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.w, 0.8);
+
+ ASSERT_EQ(
+ lanelet_route.segments.size(),
+ 2); // Assuming only one segment in the provided YAML for this test
+ const auto & segment1 = lanelet_route.segments[1];
+ EXPECT_EQ(segment1.preferred_primitive.id, 44);
+ EXPECT_EQ(segment1.primitives.size(), 4);
+ EXPECT_EQ(segment1.primitives[0].id, 55);
+ EXPECT_EQ(segment1.primitives[0].primitive_type, "lane");
+ EXPECT_EQ(segment1.primitives[1].id, 66);
+ EXPECT_EQ(segment1.primitives[1].primitive_type, "lane");
+ EXPECT_EQ(segment1.primitives[2].id, 77);
+ EXPECT_EQ(segment1.primitives[2].primitive_type, "lane");
+ EXPECT_EQ(segment1.primitives[3].id, 88);
+ EXPECT_EQ(segment1.primitives[3].primitive_type, "lane");
}
int main(int argc, char ** argv)
{
diff --git a/planning/route_handler/test_route/rh_test.route b/planning/route_handler/test_route/rh_test.route
index dc2be043195bc..82f00352f6234 100644
--- a/planning/route_handler/test_route/rh_test.route
+++ b/planning/route_handler/test_route/rh_test.route
@@ -250,4 +250,4 @@ segments:
- id: 4870
primitive_type: lane
- id: 5156
- primitive_type: lane
\ No newline at end of file
+ primitive_type: lane
From 2e2cfe7f1f916ed0570764d91b1871deec13cdd4 Mon Sep 17 00:00:00 2001
From: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Date: Thu, 9 May 2024 21:09:06 +0900
Subject: [PATCH 06/19] Added test for isHandlerReady
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
planning/route_handler/CMakeLists.txt | 4 +++-
planning/route_handler/test/test_route_handler.cpp | 11 +++++++++--
2 files changed, 12 insertions(+), 3 deletions(-)
diff --git a/planning/route_handler/CMakeLists.txt b/planning/route_handler/CMakeLists.txt
index 05370f1ec8f53..78d1736f8f17a 100644
--- a/planning/route_handler/CMakeLists.txt
+++ b/planning/route_handler/CMakeLists.txt
@@ -26,7 +26,9 @@ if(BUILD_TESTING)
route_parser)
target_link_libraries(test_route_handler
- route_handler)
+ route_handler
+ route_parser
+ )
endif()
diff --git a/planning/route_handler/test/test_route_handler.cpp b/planning/route_handler/test/test_route_handler.cpp
index 8a8230669ec79..16a80debbfb80 100644
--- a/planning/route_handler/test/test_route_handler.cpp
+++ b/planning/route_handler/test/test_route_handler.cpp
@@ -14,15 +14,22 @@
#include "test_route_handler.hpp"
+#include "route_parser.hpp"
+
#include <rclcpp/rclcpp.hpp>
#include <gtest/gtest.h>
namespace route_handler::test
{
-TEST_F(TestRouteHandler, testSomething)
+TEST_F(TestRouteHandler, isRouteHandlerReadyTest)
{
- ASSERT_EQ(1, 1);
+ const auto planning_test_utils_dir =
+ ament_index_cpp::get_package_share_directory("route_handler");
+ const auto rh_test_route = planning_test_utils_dir + "/test_route/rh_test.route";
+ ASSERT_FALSE(route_handler_->isHandlerReady());
+ route_handler_->setRoute(parse_route_file(rh_test_route));
+ ASSERT_TRUE(route_handler_->isHandlerReady());
}
int main(int argc, char * argv[])
From ea95fd5845d91d3488f7fbd1b0071ab76326d731 Mon Sep 17 00:00:00 2001
From: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Date: Fri, 10 May 2024 14:07:32 +0900
Subject: [PATCH 07/19] fix some cppcheck error
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
planning/route_handler/test/route_parser.cpp | 6 +++---
planning/route_handler/test/test_route_handler.hpp | 2 +-
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/planning/route_handler/test/route_parser.cpp b/planning/route_handler/test/route_parser.cpp
index c8651a9f33b67..ccbf86b700b9e 100644
--- a/planning/route_handler/test/route_parser.cpp
+++ b/planning/route_handler/test/route_parser.cpp
@@ -55,9 +55,9 @@ std::vector<LaneletPrimitive> parse_lanelet_primitives(const YAML::Node & node)
{
std::vector<LaneletPrimitive> primitives;
primitives.reserve(node.size());
- for (const auto & p : node) {
- primitives.emplace_back(parse_lanelet_primitive(p));
- }
+ std::transform(node.begin(), node.end(), std::back_inserter(primitives), [&](const auto & p) {
+ return parse_lanelet_primitive(p);
+ });
return primitives;
}
diff --git a/planning/route_handler/test/test_route_handler.hpp b/planning/route_handler/test/test_route_handler.hpp
index 9db07b2020fd8..d8bd41d608c37 100644
--- a/planning/route_handler/test/test_route_handler.hpp
+++ b/planning/route_handler/test/test_route_handler.hpp
@@ -40,7 +40,7 @@ using autoware_auto_mapping_msgs::msg::HADMapBin;
class TestRouteHandler : public ::testing::Test
{
public:
- TestRouteHandler() { route_handler_ = std::make_shared<RouteHandler>(makeMapBinMsg()); }
+ TestRouteHandler() : route_handler_(std::make_shared<RouteHandler>(makeMapBinMsg())) {}
TestRouteHandler(const TestRouteHandler &) = delete;
TestRouteHandler(TestRouteHandler &&) = delete;
TestRouteHandler & operator=(const TestRouteHandler &) = delete;
From 55b58b00dc75e9269de132df9ea3606e3fe183c9 Mon Sep 17 00:00:00 2001
From: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Date: Fri, 10 May 2024 17:25:42 +0900
Subject: [PATCH 08/19] Added additional test
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
.../route_handler/test/test_route_handler.cpp | 17 +++++++++++------
.../route_handler/test/test_route_parser.cpp | 5 -----
2 files changed, 11 insertions(+), 11 deletions(-)
diff --git a/planning/route_handler/test/test_route_handler.cpp b/planning/route_handler/test/test_route_handler.cpp
index 16a80debbfb80..e698c6def91a3 100644
--- a/planning/route_handler/test/test_route_handler.cpp
+++ b/planning/route_handler/test/test_route_handler.cpp
@@ -32,12 +32,17 @@ TEST_F(TestRouteHandler, isRouteHandlerReadyTest)
ASSERT_TRUE(route_handler_->isHandlerReady());
}
-int main(int argc, char * argv[])
+TEST_F(TestRouteHandler, checkIfIDReturned)
{
- testing::InitGoogleTest(&argc, argv);
- rclcpp::init(argc, argv);
- bool result = RUN_ALL_TESTS();
- rclcpp::shutdown();
- return result;
+ const auto planning_test_utils_dir =
+ ament_index_cpp::get_package_share_directory("route_handler");
+ const auto rh_test_route = planning_test_utils_dir + "/test_route/rh_test.route";
+
+ route_handler_->setRoute(parse_route_file(rh_test_route));
+ const auto lanelet = route_handler_->getLaneletsFromId(4870);
+
+ const auto is_in_goal_route_section = route_handler_->isInGoalRouteSection(lanelet);
+
+ ASSERT_TRUE(is_in_goal_route_section);
}
} // namespace route_handler::test
diff --git a/planning/route_handler/test/test_route_parser.cpp b/planning/route_handler/test/test_route_parser.cpp
index 86ebe3a6a131d..9e56f562e8d41 100644
--- a/planning/route_handler/test/test_route_parser.cpp
+++ b/planning/route_handler/test/test_route_parser.cpp
@@ -130,9 +130,4 @@ TEST(ParseFunction, CompleteFromFilename)
EXPECT_EQ(segment1.primitives[3].id, 88);
EXPECT_EQ(segment1.primitives[3].primitive_type, "lane");
}
-int main(int argc, char ** argv)
-{
- ::testing::InitGoogleTest(&argc, argv);
- return RUN_ALL_TESTS();
-}
} // namespace route_handler::test
From 9a9d61a44a72d426c0488fa0d7a30f92f8ef939c Mon Sep 17 00:00:00 2001
From: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Date: Fri, 17 May 2024 11:15:55 +0900
Subject: [PATCH 09/19] move to planning test utils
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
planning/planning_test_utils/CMakeLists.txt | 16 ++++++++
.../planning_test_utils}/route_parser.hpp | 10 ++---
.../src}/route_parser.cpp | 6 +--
.../test/test_route_parser.cpp | 11 ++---
.../test_data/lanelet_route_parser_test.yaml | 41 +++++++++++++++++++
.../test_map/2km_test.osm} | 0
planning/route_handler/CMakeLists.txt | 15 -------
planning/route_handler/package.xml | 1 +
.../route_handler/test/test_route_handler.cpp | 6 +--
.../route_handler/test/test_route_handler.hpp | 4 +-
.../test_route/parser_test.route | 41 -------------------
11 files changed, 77 insertions(+), 74 deletions(-)
rename planning/{route_handler/test => planning_test_utils/include/planning_test_utils}/route_parser.hpp (87%)
rename planning/{route_handler/test => planning_test_utils/src}/route_parser.cpp (96%)
rename planning/{route_handler => planning_test_utils}/test/test_route_parser.cpp (94%)
create mode 100644 planning/planning_test_utils/test_data/lanelet_route_parser_test.yaml
rename planning/{route_handler/test_map/lanelet2_map.osm => planning_test_utils/test_map/2km_test.osm} (100%)
delete mode 100644 planning/route_handler/test_route/parser_test.route
diff --git a/planning/planning_test_utils/CMakeLists.txt b/planning/planning_test_utils/CMakeLists.txt
index 29ee79c2cab1a..e65344b2b8fae 100644
--- a/planning/planning_test_utils/CMakeLists.txt
+++ b/planning/planning_test_utils/CMakeLists.txt
@@ -4,7 +4,23 @@ project(planning_test_utils)
find_package(autoware_cmake REQUIRED)
autoware_package()
+ament_auto_add_library(route_parser SHARED
+ src/route_parser.cpp)
+
+target_link_libraries(route_parser
+ yaml-cpp
+)
+
+if(BUILD_TESTING)
+ ament_add_ros_isolated_gtest(test_route_parser
+ test/test_route_parser.cpp)
+
+ target_link_libraries(test_route_parser
+ route_parser)
+endif()
+
ament_auto_package(INSTALL_TO_SHARE
config
test_map
+ test_data
)
diff --git a/planning/route_handler/test/route_parser.hpp b/planning/planning_test_utils/include/planning_test_utils/route_parser.hpp
similarity index 87%
rename from planning/route_handler/test/route_parser.hpp
rename to planning/planning_test_utils/include/planning_test_utils/route_parser.hpp
index e23b14107ce26..86f860df04754 100644
--- a/planning/route_handler/test/route_parser.hpp
+++ b/planning/planning_test_utils/include/planning_test_utils/route_parser.hpp
@@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef ROUTE_PARSER_HPP_
-#define ROUTE_PARSER_HPP_
+#ifndef PLANNING_TEST_UTILS__ROUTE_PARSER_HPP_
+#define PLANNING_TEST_UTILS__ROUTE_PARSER_HPP_
#include <autoware_planning_msgs/msg/lanelet_primitive.hpp>
#include <autoware_planning_msgs/msg/lanelet_route.hpp>
@@ -25,7 +25,7 @@
#include <string>
#include <vector>
-namespace route_handler::test
+namespace test_utils
{
using autoware_planning_msgs::msg::LaneletPrimitive;
using autoware_planning_msgs::msg::LaneletRoute;
@@ -41,6 +41,6 @@ std::vector<LaneletPrimitive> parse_lanelet_primitives(const YAML::Node & node);
std::vector<LaneletSegment> parse_segments(const YAML::Node & node);
LaneletRoute parse_route_file(const std::string & filename);
-} // namespace route_handler::test
+} // namespace test_utils
-#endif // ROUTE_PARSER_HPP_
+#endif // PLANNING_TEST_UTILS__ROUTE_PARSER_HPP_
diff --git a/planning/route_handler/test/route_parser.cpp b/planning/planning_test_utils/src/route_parser.cpp
similarity index 96%
rename from planning/route_handler/test/route_parser.cpp
rename to planning/planning_test_utils/src/route_parser.cpp
index ccbf86b700b9e..7cec2c3d61e0d 100644
--- a/planning/route_handler/test/route_parser.cpp
+++ b/planning/planning_test_utils/src/route_parser.cpp
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "route_parser.hpp"
+#include "planning_test_utils/route_parser.hpp"
#include <rclcpp/logging.hpp>
@@ -27,7 +27,7 @@
#include <string>
#include <vector>
-namespace route_handler::test
+namespace test_utils
{
Pose parse_pose(const YAML::Node & node)
{
@@ -89,4 +89,4 @@ LaneletRoute parse_route_file(const std::string & filename)
}
return lanelet_route;
}
-} // namespace route_handler::test
+} // namespace test_utils
diff --git a/planning/route_handler/test/test_route_parser.cpp b/planning/planning_test_utils/test/test_route_parser.cpp
similarity index 94%
rename from planning/route_handler/test/test_route_parser.cpp
rename to planning/planning_test_utils/test/test_route_parser.cpp
index 9e56f562e8d41..5a95b07875ee7 100644
--- a/planning/route_handler/test/test_route_parser.cpp
+++ b/planning/planning_test_utils/test/test_route_parser.cpp
@@ -16,9 +16,9 @@
// Assuming the parseRouteFile function is in 'RouteHandler.h'
#include "ament_index_cpp/get_package_share_directory.hpp"
-#include "route_parser.hpp"
+#include "planning_test_utils/route_parser.hpp"
-namespace route_handler::test
+namespace test_utils
{
// Example YAML structure as a string for testing
const char g_complete_yaml[] = R"(
@@ -94,8 +94,9 @@ TEST(ParseFunctions, CompleteYAMLTest)
TEST(ParseFunction, CompleteFromFilename)
{
const auto planning_test_utils_dir =
- ament_index_cpp::get_package_share_directory("route_handler");
- const auto parser_test_route = planning_test_utils_dir + "/test_route/parser_test.route";
+ ament_index_cpp::get_package_share_directory("planning_test_utils");
+ const auto parser_test_route =
+ planning_test_utils_dir + "/test_data/lanelet_route_parser_test.yaml";
const auto lanelet_route = parse_route_file(parser_test_route);
EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.x, 1.0);
@@ -130,4 +131,4 @@ TEST(ParseFunction, CompleteFromFilename)
EXPECT_EQ(segment1.primitives[3].id, 88);
EXPECT_EQ(segment1.primitives[3].primitive_type, "lane");
}
-} // namespace route_handler::test
+} // namespace test_utils
diff --git a/planning/planning_test_utils/test_data/lanelet_route_parser_test.yaml b/planning/planning_test_utils/test_data/lanelet_route_parser_test.yaml
new file mode 100644
index 0000000000000..06ed15d20d3c9
--- /dev/null
+++ b/planning/planning_test_utils/test_data/lanelet_route_parser_test.yaml
@@ -0,0 +1,41 @@
+start_pose:
+ position:
+ x: 1.0
+ y: 2.0
+ z: 3.0
+ orientation:
+ x: 0.1
+ y: 0.2
+ z: 0.3
+ w: 0.4
+goal_pose:
+ position:
+ x: 4.0
+ y: 5.0
+ z: 6.0
+ orientation:
+ x: 0.5
+ y: 0.6
+ z: 0.7
+ w: 0.8
+segments:
+ - preferred_primitive:
+ id: 11
+ primitive_type: ""
+ primitives:
+ - id: 22
+ primitive_type: lane
+ - id: 33
+ primitive_type: lane
+ - preferred_primitive:
+ id: 44
+ primitive_type: ""
+ primitives:
+ - id: 55
+ primitive_type: lane
+ - id: 66
+ primitive_type: lane
+ - id: 77
+ primitive_type: lane
+ - id: 88
+ primitive_type: lane
diff --git a/planning/route_handler/test_map/lanelet2_map.osm b/planning/planning_test_utils/test_map/2km_test.osm
similarity index 100%
rename from planning/route_handler/test_map/lanelet2_map.osm
rename to planning/planning_test_utils/test_map/2km_test.osm
diff --git a/planning/route_handler/CMakeLists.txt b/planning/route_handler/CMakeLists.txt
index 78d1736f8f17a..414489e899fff 100644
--- a/planning/route_handler/CMakeLists.txt
+++ b/planning/route_handler/CMakeLists.txt
@@ -9,30 +9,15 @@ ament_auto_add_library(route_handler SHARED
)
if(BUILD_TESTING)
- ament_auto_add_library(route_parser SHARED
- test/route_parser.cpp)
-
- target_link_libraries(route_parser
- yaml-cpp
- )
-
- ament_add_ros_isolated_gtest(test_route_parser
- test/test_route_parser.cpp)
-
ament_add_ros_isolated_gtest(test_route_handler
test/test_route_handler.cpp)
- target_link_libraries(test_route_parser
- route_parser)
-
target_link_libraries(test_route_handler
route_handler
- route_parser
)
endif()
ament_auto_package(INSTALL_TO_SHARE
- test_map
test_route
)
diff --git a/planning/route_handler/package.xml b/planning/route_handler/package.xml
index 38d875e830e02..097bc62f8bf39 100644
--- a/planning/route_handler/package.xml
+++ b/planning/route_handler/package.xml
@@ -27,6 +27,7 @@
<depend>autoware_planning_msgs</depend>
<depend>geometry_msgs</depend>
<depend>lanelet2_extension</depend>
+ <depend>planning_test_utils</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>tf2_ros</depend>
diff --git a/planning/route_handler/test/test_route_handler.cpp b/planning/route_handler/test/test_route_handler.cpp
index e698c6def91a3..f3cfbdb48acf4 100644
--- a/planning/route_handler/test/test_route_handler.cpp
+++ b/planning/route_handler/test/test_route_handler.cpp
@@ -14,7 +14,7 @@
#include "test_route_handler.hpp"
-#include "route_parser.hpp"
+#include "planning_test_utils/route_parser.hpp"
#include <rclcpp/rclcpp.hpp>
@@ -28,7 +28,7 @@ TEST_F(TestRouteHandler, isRouteHandlerReadyTest)
ament_index_cpp::get_package_share_directory("route_handler");
const auto rh_test_route = planning_test_utils_dir + "/test_route/rh_test.route";
ASSERT_FALSE(route_handler_->isHandlerReady());
- route_handler_->setRoute(parse_route_file(rh_test_route));
+ route_handler_->setRoute(test_utils::parse_route_file(rh_test_route));
ASSERT_TRUE(route_handler_->isHandlerReady());
}
@@ -38,7 +38,7 @@ TEST_F(TestRouteHandler, checkIfIDReturned)
ament_index_cpp::get_package_share_directory("route_handler");
const auto rh_test_route = planning_test_utils_dir + "/test_route/rh_test.route";
- route_handler_->setRoute(parse_route_file(rh_test_route));
+ route_handler_->setRoute(test_utils::parse_route_file(rh_test_route));
const auto lanelet = route_handler_->getLaneletsFromId(4870);
const auto is_in_goal_route_section = route_handler_->isInGoalRouteSection(lanelet);
diff --git a/planning/route_handler/test/test_route_handler.hpp b/planning/route_handler/test/test_route_handler.hpp
index d8bd41d608c37..b7f3c44b420b1 100644
--- a/planning/route_handler/test/test_route_handler.hpp
+++ b/planning/route_handler/test/test_route_handler.hpp
@@ -65,8 +65,8 @@ class TestRouteHandler : public ::testing::Test
static HADMapBin makeMapBinMsg()
{
const auto planning_test_utils_dir =
- ament_index_cpp::get_package_share_directory("route_handler");
- const auto lanelet2_path = planning_test_utils_dir + "/test_map/lanelet2_map.osm";
+ ament_index_cpp::get_package_share_directory("planning_test_utils");
+ const auto lanelet2_path = planning_test_utils_dir + "/test_map/2km_test.osm";
double center_line_resolution = 5.0;
// load map from file
const auto map = loadMap(lanelet2_path);
diff --git a/planning/route_handler/test_route/parser_test.route b/planning/route_handler/test_route/parser_test.route
deleted file mode 100644
index eaf98b8a3bcf3..0000000000000
--- a/planning/route_handler/test_route/parser_test.route
+++ /dev/null
@@ -1,41 +0,0 @@
-start_pose:
- position:
- x: 1.0
- y: 2.0
- z: 3.0
- orientation:
- x: 0.1
- y: 0.2
- z: 0.3
- w: 0.4
-goal_pose:
- position:
- x: 4.0
- y: 5.0
- z: 6.0
- orientation:
- x: 0.5
- y: 0.6
- z: 0.7
- w: 0.8
-segments:
-- preferred_primitive:
- id: 11
- primitive_type: ''
- primitives:
- - id: 22
- primitive_type: lane
- - id: 33
- primitive_type: lane
-- preferred_primitive:
- id: 44
- primitive_type: ''
- primitives:
- - id: 55
- primitive_type: lane
- - id: 66
- primitive_type: lane
- - id: 77
- primitive_type: lane
- - id: 88
- primitive_type: lane
From e126afa37ff98325edcada89fde27be3e8bc85d1 Mon Sep 17 00:00:00 2001
From: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Date: Fri, 17 May 2024 15:42:06 +0900
Subject: [PATCH 10/19] renaming route_parser
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
planning/planning_test_utils/CMakeLists.txt | 14 +++++++-------
.../{route_parser.hpp => mock_data_parser.hpp} | 0
.../src/{route_parser.cpp => mock_data_parser.cpp} | 2 +-
..._route_parser.cpp => test_mock_data_parser.cpp} | 2 +-
planning/route_handler/test/test_route_handler.cpp | 2 +-
5 files changed, 10 insertions(+), 10 deletions(-)
rename planning/planning_test_utils/include/planning_test_utils/{route_parser.hpp => mock_data_parser.hpp} (100%)
rename planning/planning_test_utils/src/{route_parser.cpp => mock_data_parser.cpp} (98%)
rename planning/planning_test_utils/test/{test_route_parser.cpp => test_mock_data_parser.cpp} (98%)
diff --git a/planning/planning_test_utils/CMakeLists.txt b/planning/planning_test_utils/CMakeLists.txt
index e65344b2b8fae..56e985c7fa2b7 100644
--- a/planning/planning_test_utils/CMakeLists.txt
+++ b/planning/planning_test_utils/CMakeLists.txt
@@ -4,19 +4,19 @@ project(planning_test_utils)
find_package(autoware_cmake REQUIRED)
autoware_package()
-ament_auto_add_library(route_parser SHARED
- src/route_parser.cpp)
+ament_auto_add_library(mock_data_parser SHARED
+ src/mock_data_parser.cpp)
-target_link_libraries(route_parser
+target_link_libraries(mock_data_parser
yaml-cpp
)
if(BUILD_TESTING)
- ament_add_ros_isolated_gtest(test_route_parser
- test/test_route_parser.cpp)
+ ament_add_ros_isolated_gtest(test_mock_data_parser
+ test/test_mock_data_parser.cpp)
- target_link_libraries(test_route_parser
- route_parser)
+ target_link_libraries(test_mock_data_parser
+ mock_data_parser)
endif()
ament_auto_package(INSTALL_TO_SHARE
diff --git a/planning/planning_test_utils/include/planning_test_utils/route_parser.hpp b/planning/planning_test_utils/include/planning_test_utils/mock_data_parser.hpp
similarity index 100%
rename from planning/planning_test_utils/include/planning_test_utils/route_parser.hpp
rename to planning/planning_test_utils/include/planning_test_utils/mock_data_parser.hpp
diff --git a/planning/planning_test_utils/src/route_parser.cpp b/planning/planning_test_utils/src/mock_data_parser.cpp
similarity index 98%
rename from planning/planning_test_utils/src/route_parser.cpp
rename to planning/planning_test_utils/src/mock_data_parser.cpp
index 7cec2c3d61e0d..d51a277743d5e 100644
--- a/planning/planning_test_utils/src/route_parser.cpp
+++ b/planning/planning_test_utils/src/mock_data_parser.cpp
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#include "planning_test_utils/route_parser.hpp"
+#include "planning_test_utils/mock_data_parser.hpp"
#include <rclcpp/logging.hpp>
diff --git a/planning/planning_test_utils/test/test_route_parser.cpp b/planning/planning_test_utils/test/test_mock_data_parser.cpp
similarity index 98%
rename from planning/planning_test_utils/test/test_route_parser.cpp
rename to planning/planning_test_utils/test/test_mock_data_parser.cpp
index 5a95b07875ee7..44cb32444ba41 100644
--- a/planning/planning_test_utils/test/test_route_parser.cpp
+++ b/planning/planning_test_utils/test/test_mock_data_parser.cpp
@@ -16,7 +16,7 @@
// Assuming the parseRouteFile function is in 'RouteHandler.h'
#include "ament_index_cpp/get_package_share_directory.hpp"
-#include "planning_test_utils/route_parser.hpp"
+#include "planning_test_utils/mock_data_parser.hpp"
namespace test_utils
{
diff --git a/planning/route_handler/test/test_route_handler.cpp b/planning/route_handler/test/test_route_handler.cpp
index f3cfbdb48acf4..5258f8c363dfa 100644
--- a/planning/route_handler/test/test_route_handler.cpp
+++ b/planning/route_handler/test/test_route_handler.cpp
@@ -14,7 +14,7 @@
#include "test_route_handler.hpp"
-#include "planning_test_utils/route_parser.hpp"
+#include "planning_test_utils/mock_data_parser.hpp"
#include <rclcpp/rclcpp.hpp>
From 5563a6d449ebe2d10afc321f2f49ed9ca3239869 Mon Sep 17 00:00:00 2001
From: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Date: Fri, 17 May 2024 15:43:49 +0900
Subject: [PATCH 11/19] rename function
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
.../include/planning_test_utils/mock_data_parser.hpp | 8 ++++----
planning/planning_test_utils/src/mock_data_parser.cpp | 2 +-
.../planning_test_utils/test/test_mock_data_parser.cpp | 2 +-
planning/route_handler/test/test_route_handler.cpp | 4 ++--
4 files changed, 8 insertions(+), 8 deletions(-)
diff --git a/planning/planning_test_utils/include/planning_test_utils/mock_data_parser.hpp b/planning/planning_test_utils/include/planning_test_utils/mock_data_parser.hpp
index 86f860df04754..09d4474dda15d 100644
--- a/planning/planning_test_utils/include/planning_test_utils/mock_data_parser.hpp
+++ b/planning/planning_test_utils/include/planning_test_utils/mock_data_parser.hpp
@@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.
-#ifndef PLANNING_TEST_UTILS__ROUTE_PARSER_HPP_
-#define PLANNING_TEST_UTILS__ROUTE_PARSER_HPP_
+#ifndef PLANNING_TEST_UTILS__MOCK_DATA_PARSER_HPP_
+#define PLANNING_TEST_UTILS__MOCK_DATA_PARSER_HPP_
#include <autoware_planning_msgs/msg/lanelet_primitive.hpp>
#include <autoware_planning_msgs/msg/lanelet_route.hpp>
@@ -40,7 +40,7 @@ std::vector<LaneletPrimitive> parse_lanelet_primitives(const YAML::Node & node);
std::vector<LaneletSegment> parse_segments(const YAML::Node & node);
-LaneletRoute parse_route_file(const std::string & filename);
+LaneletRoute parse_lanelet_route_file(const std::string & filename);
} // namespace test_utils
-#endif // PLANNING_TEST_UTILS__ROUTE_PARSER_HPP_
+#endif // PLANNING_TEST_UTILS__MOCK_DATA_PARSER_HPP_
diff --git a/planning/planning_test_utils/src/mock_data_parser.cpp b/planning/planning_test_utils/src/mock_data_parser.cpp
index d51a277743d5e..f2686d720a5c7 100644
--- a/planning/planning_test_utils/src/mock_data_parser.cpp
+++ b/planning/planning_test_utils/src/mock_data_parser.cpp
@@ -75,7 +75,7 @@ std::vector<LaneletSegment> parse_segments(const YAML::Node & node)
return segments;
}
-LaneletRoute parse_route_file(const std::string & filename)
+LaneletRoute parse_lanelet_route_file(const std::string & filename)
{
LaneletRoute lanelet_route;
try {
diff --git a/planning/planning_test_utils/test/test_mock_data_parser.cpp b/planning/planning_test_utils/test/test_mock_data_parser.cpp
index 44cb32444ba41..4582762ac53c7 100644
--- a/planning/planning_test_utils/test/test_mock_data_parser.cpp
+++ b/planning/planning_test_utils/test/test_mock_data_parser.cpp
@@ -98,7 +98,7 @@ TEST(ParseFunction, CompleteFromFilename)
const auto parser_test_route =
planning_test_utils_dir + "/test_data/lanelet_route_parser_test.yaml";
- const auto lanelet_route = parse_route_file(parser_test_route);
+ const auto lanelet_route = parse_lanelet_route_file(parser_test_route);
EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.x, 1.0);
EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.y, 2.0);
EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.z, 3.0);
diff --git a/planning/route_handler/test/test_route_handler.cpp b/planning/route_handler/test/test_route_handler.cpp
index 5258f8c363dfa..fce695fbe6bca 100644
--- a/planning/route_handler/test/test_route_handler.cpp
+++ b/planning/route_handler/test/test_route_handler.cpp
@@ -28,7 +28,7 @@ TEST_F(TestRouteHandler, isRouteHandlerReadyTest)
ament_index_cpp::get_package_share_directory("route_handler");
const auto rh_test_route = planning_test_utils_dir + "/test_route/rh_test.route";
ASSERT_FALSE(route_handler_->isHandlerReady());
- route_handler_->setRoute(test_utils::parse_route_file(rh_test_route));
+ route_handler_->setRoute(test_utils::parse_lanelet_route_file(rh_test_route));
ASSERT_TRUE(route_handler_->isHandlerReady());
}
@@ -38,7 +38,7 @@ TEST_F(TestRouteHandler, checkIfIDReturned)
ament_index_cpp::get_package_share_directory("route_handler");
const auto rh_test_route = planning_test_utils_dir + "/test_route/rh_test.route";
- route_handler_->setRoute(test_utils::parse_route_file(rh_test_route));
+ route_handler_->setRoute(test_utils::parse_lanelet_route_file(rh_test_route));
const auto lanelet = route_handler_->getLaneletsFromId(4870);
const auto is_in_goal_route_section = route_handler_->isInGoalRouteSection(lanelet);
From 159cfe8cfa25231c1cddfc79f38cfe3dc7e281ca Mon Sep 17 00:00:00 2001
From: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Date: Fri, 17 May 2024 17:01:34 +0900
Subject: [PATCH 12/19] Renaming several things
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
.../planning_test_utils.hpp | 22 ++++++++++++-------
.../src/mock_data_parser.cpp | 2 +-
.../route_handler/test/test_route_handler.cpp | 13 -----------
.../route_handler/test/test_route_handler.hpp | 21 +++++++++++++++++-
...test.route => lane_change_test_route.yaml} | 0
5 files changed, 35 insertions(+), 23 deletions(-)
rename planning/route_handler/test_route/{rh_test.route => lane_change_test_route.yaml} (100%)
diff --git a/planning/planning_test_utils/include/planning_test_utils/planning_test_utils.hpp b/planning/planning_test_utils/include/planning_test_utils/planning_test_utils.hpp
index c47404b45bb5d..6af1ce165d7ab 100644
--- a/planning/planning_test_utils/include/planning_test_utils/planning_test_utils.hpp
+++ b/planning/planning_test_utils/include/planning_test_utils/planning_test_utils.hpp
@@ -193,14 +193,10 @@ OccupancyGrid makeCostMapMsg(size_t width = 150, size_t height = 150, double res
return costmap_msg;
}
-HADMapBin makeMapBinMsg()
+HADMapBin make_map_bin_msg(
+ const std::string & absolute_path, const double center_line_resolution = 5.0)
{
- const auto planning_test_utils_dir =
- ament_index_cpp::get_package_share_directory("planning_test_utils");
- const auto lanelet2_path = planning_test_utils_dir + "/test_map/lanelet2_map.osm";
- double center_line_resolution = 5.0;
- // load map from file
- const auto map = loadMap(lanelet2_path);
+ const auto map = loadMap(absolute_path);
if (!map) {
return autoware_auto_mapping_msgs::msg::HADMapBin_<std::allocator<void>>{};
}
@@ -210,10 +206,20 @@ HADMapBin makeMapBinMsg()
// create map bin msg
const auto map_bin_msg =
- convertToMapBinMsg(map, lanelet2_path, rclcpp::Clock(RCL_ROS_TIME).now());
+ convertToMapBinMsg(map, absolute_path, rclcpp::Clock(RCL_ROS_TIME).now());
return map_bin_msg;
}
+HADMapBin makeMapBinMsg()
+{
+ const auto planning_test_utils_dir =
+ ament_index_cpp::get_package_share_directory("planning_test_utils");
+ const auto lanelet2_path = planning_test_utils_dir + "/test_map/lanelet2_map.osm";
+ double center_line_resolution = 5.0;
+
+ return make_map_bin_msg(lanelet2_path, center_line_resolution);
+}
+
Odometry makeOdometry(const double shift = 0.0)
{
Odometry odometry;
diff --git a/planning/planning_test_utils/src/mock_data_parser.cpp b/planning/planning_test_utils/src/mock_data_parser.cpp
index f2686d720a5c7..f9f9a7b0b1594 100644
--- a/planning/planning_test_utils/src/mock_data_parser.cpp
+++ b/planning/planning_test_utils/src/mock_data_parser.cpp
@@ -85,7 +85,7 @@ LaneletRoute parse_lanelet_route_file(const std::string & filename)
lanelet_route.goal_pose = (config["goal_pose"]) ? parse_pose(config["goal_pose"]) : Pose();
lanelet_route.segments = parse_segments(config["segments"]);
} catch (const std::exception & e) {
- RCLCPP_DEBUG(rclcpp::get_logger("route_handler"), "Exception caught: %s", e.what());
+ RCLCPP_DEBUG(rclcpp::get_logger("planning_test_utils"), "Exception caught: %s", e.what());
}
return lanelet_route;
}
diff --git a/planning/route_handler/test/test_route_handler.cpp b/planning/route_handler/test/test_route_handler.cpp
index fce695fbe6bca..f347430e765f7 100644
--- a/planning/route_handler/test/test_route_handler.cpp
+++ b/planning/route_handler/test/test_route_handler.cpp
@@ -14,8 +14,6 @@
#include "test_route_handler.hpp"
-#include "planning_test_utils/mock_data_parser.hpp"
-
#include <rclcpp/rclcpp.hpp>
#include <gtest/gtest.h>
@@ -24,23 +22,12 @@ namespace route_handler::test
{
TEST_F(TestRouteHandler, isRouteHandlerReadyTest)
{
- const auto planning_test_utils_dir =
- ament_index_cpp::get_package_share_directory("route_handler");
- const auto rh_test_route = planning_test_utils_dir + "/test_route/rh_test.route";
- ASSERT_FALSE(route_handler_->isHandlerReady());
- route_handler_->setRoute(test_utils::parse_lanelet_route_file(rh_test_route));
ASSERT_TRUE(route_handler_->isHandlerReady());
}
TEST_F(TestRouteHandler, checkIfIDReturned)
{
- const auto planning_test_utils_dir =
- ament_index_cpp::get_package_share_directory("route_handler");
- const auto rh_test_route = planning_test_utils_dir + "/test_route/rh_test.route";
-
- route_handler_->setRoute(test_utils::parse_lanelet_route_file(rh_test_route));
const auto lanelet = route_handler_->getLaneletsFromId(4870);
-
const auto is_in_goal_route_section = route_handler_->isInGoalRouteSection(lanelet);
ASSERT_TRUE(is_in_goal_route_section);
diff --git a/planning/route_handler/test/test_route_handler.hpp b/planning/route_handler/test/test_route_handler.hpp
index b7f3c44b420b1..02eb3744931a9 100644
--- a/planning/route_handler/test/test_route_handler.hpp
+++ b/planning/route_handler/test/test_route_handler.hpp
@@ -17,6 +17,8 @@
#include "ament_index_cpp/get_package_share_directory.hpp"
#include "gtest/gtest.h"
+#include "planning_test_utils/mock_data_parser.hpp"
+#include "planning_test_utils/planning_test_utils.hpp"
#include <lanelet2_extension/io/autoware_osm_parser.hpp>
#include <lanelet2_extension/projection/mgrs_projector.hpp>
@@ -40,7 +42,17 @@ using autoware_auto_mapping_msgs::msg::HADMapBin;
class TestRouteHandler : public ::testing::Test
{
public:
- TestRouteHandler() : route_handler_(std::make_shared<RouteHandler>(makeMapBinMsg())) {}
+ TestRouteHandler()
+ {
+ const auto planning_test_utils_dir =
+ ament_index_cpp::get_package_share_directory("planning_test_utils");
+ const auto lanelet2_path = planning_test_utils_dir + "/test_map/2km_test.osm";
+ constexpr double center_line_resolution = 5.0;
+ const auto map_bin_msg = test_utils::make_map_bin_msg(lanelet2_path, center_line_resolution);
+ route_handler_ = std::make_shared<RouteHandler>(map_bin_msg);
+ set_lane_change_test_route();
+ }
+
TestRouteHandler(const TestRouteHandler &) = delete;
TestRouteHandler(TestRouteHandler &&) = delete;
TestRouteHandler & operator=(const TestRouteHandler &) = delete;
@@ -102,6 +114,13 @@ class TestRouteHandler : public ::testing::Test
return map_bin_msg;
}
+ void set_lane_change_test_route()
+ {
+ const auto route_handler_dir = ament_index_cpp::get_package_share_directory("route_handler");
+ const auto rh_test_route = route_handler_dir + "/test_route/lane_change_test_route.yaml";
+ route_handler_->setRoute(test_utils::parse_lanelet_route_file(rh_test_route));
+ }
+
std::shared_ptr<RouteHandler> route_handler_;
};
} // namespace route_handler::test
diff --git a/planning/route_handler/test_route/rh_test.route b/planning/route_handler/test_route/lane_change_test_route.yaml
similarity index 100%
rename from planning/route_handler/test_route/rh_test.route
rename to planning/route_handler/test_route/lane_change_test_route.yaml
From 8c2d371afc8fd30178ebc15c5d7aa3cddde2c97c Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
<66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Fri, 17 May 2024 08:03:57 +0000
Subject: [PATCH 13/19] style(pre-commit): autofix
---
.../test_route/lane_change_test_route.yaml | 464 +++++++++---------
1 file changed, 232 insertions(+), 232 deletions(-)
diff --git a/planning/route_handler/test_route/lane_change_test_route.yaml b/planning/route_handler/test_route/lane_change_test_route.yaml
index 82f00352f6234..34d0080354ee8 100644
--- a/planning/route_handler/test_route/lane_change_test_route.yaml
+++ b/planning/route_handler/test_route/lane_change_test_route.yaml
@@ -19,235 +19,235 @@ goal_pose:
z: 0.0
w: 1.0
segments:
-- preferred_primitive:
- id: 4735
- primitive_type: ''
- primitives:
- - id: 4735
- primitive_type: lane
- - id: 5044
- primitive_type: lane
-- preferred_primitive:
- id: 4740
- primitive_type: ''
- primitives:
- - id: 4740
- primitive_type: lane
- - id: 5048
- primitive_type: lane
-- preferred_primitive:
- id: 4745
- primitive_type: ''
- primitives:
- - id: 4745
- primitive_type: lane
- - id: 5052
- primitive_type: lane
-- preferred_primitive:
- id: 4750
- primitive_type: ''
- primitives:
- - id: 4750
- primitive_type: lane
- - id: 5056
- primitive_type: lane
-- preferred_primitive:
- id: 4755
- primitive_type: ''
- primitives:
- - id: 4755
- primitive_type: lane
- - id: 5060
- primitive_type: lane
-- preferred_primitive:
- id: 4760
- primitive_type: ''
- primitives:
- - id: 4760
- primitive_type: lane
- - id: 5064
- primitive_type: lane
-- preferred_primitive:
- id: 4765
- primitive_type: ''
- primitives:
- - id: 4765
- primitive_type: lane
- - id: 9590
- primitive_type: lane
-- preferred_primitive:
- id: 4770
- primitive_type: ''
- primitives:
- - id: 4770
- primitive_type: lane
- - id: 5072
- primitive_type: lane
-- preferred_primitive:
- id: 9594
- primitive_type: ''
- primitives:
- - id: 4775
- primitive_type: lane
- - id: 9594
- primitive_type: lane
-- preferred_primitive:
- id: 9598
- primitive_type: ''
- primitives:
- - id: 4424
- primitive_type: lane
- - id: 9598
- primitive_type: lane
-- preferred_primitive:
- id: 5084
- primitive_type: ''
- primitives:
- - id: 4780
- primitive_type: lane
- - id: 5084
- primitive_type: lane
-- preferred_primitive:
- id: 5088
- primitive_type: ''
- primitives:
- - id: 4785
- primitive_type: lane
- - id: 5088
- primitive_type: lane
-- preferred_primitive:
- id: 5092
- primitive_type: ''
- primitives:
- - id: 4790
- primitive_type: lane
- - id: 5092
- primitive_type: lane
-- preferred_primitive:
- id: 5096
- primitive_type: ''
- primitives:
- - id: 4795
- primitive_type: lane
- - id: 5096
- primitive_type: lane
-- preferred_primitive:
- id: 5104
- primitive_type: ''
- primitives:
- - id: 4800
- primitive_type: lane
- - id: 5104
- primitive_type: lane
-- preferred_primitive:
- id: 5100
- primitive_type: ''
- primitives:
- - id: 4805
- primitive_type: lane
- - id: 5100
- primitive_type: lane
-- preferred_primitive:
- id: 9813
- primitive_type: ''
- primitives:
- - id: 4810
- primitive_type: lane
- - id: 9813
- primitive_type: lane
-- preferred_primitive:
- id: 5112
- primitive_type: ''
- primitives:
- - id: 4815
- primitive_type: lane
- - id: 5112
- primitive_type: lane
-- preferred_primitive:
- id: 5116
- primitive_type: ''
- primitives:
- - id: 4820
- primitive_type: lane
- - id: 5116
- primitive_type: lane
-- preferred_primitive:
- id: 5120
- primitive_type: ''
- primitives:
- - id: 4825
- primitive_type: lane
- - id: 5120
- primitive_type: lane
-- preferred_primitive:
- id: 5124
- primitive_type: ''
- primitives:
- - id: 4830
- primitive_type: lane
- - id: 5124
- primitive_type: lane
-- preferred_primitive:
- id: 5128
- primitive_type: ''
- primitives:
- - id: 4835
- primitive_type: lane
- - id: 5128
- primitive_type: lane
-- preferred_primitive:
- id: 5132
- primitive_type: ''
- primitives:
- - id: 4840
- primitive_type: lane
- - id: 5132
- primitive_type: lane
-- preferred_primitive:
- id: 5136
- primitive_type: ''
- primitives:
- - id: 4845
- primitive_type: lane
- - id: 5136
- primitive_type: lane
-- preferred_primitive:
- id: 5140
- primitive_type: ''
- primitives:
- - id: 4850
- primitive_type: lane
- - id: 5140
- primitive_type: lane
-- preferred_primitive:
- id: 9817
- primitive_type: ''
- primitives:
- - id: 4855
- primitive_type: lane
- - id: 9817
- primitive_type: lane
-- preferred_primitive:
- id: 9821
- primitive_type: ''
- primitives:
- - id: 4860
- primitive_type: lane
- - id: 9821
- primitive_type: lane
-- preferred_primitive:
- id: 9825
- primitive_type: ''
- primitives:
- - id: 4865
- primitive_type: lane
- - id: 9825
- primitive_type: lane
-- preferred_primitive:
- id: 5156
- primitive_type: ''
- primitives:
- - id: 4870
- primitive_type: lane
- - id: 5156
- primitive_type: lane
+ - preferred_primitive:
+ id: 4735
+ primitive_type: ""
+ primitives:
+ - id: 4735
+ primitive_type: lane
+ - id: 5044
+ primitive_type: lane
+ - preferred_primitive:
+ id: 4740
+ primitive_type: ""
+ primitives:
+ - id: 4740
+ primitive_type: lane
+ - id: 5048
+ primitive_type: lane
+ - preferred_primitive:
+ id: 4745
+ primitive_type: ""
+ primitives:
+ - id: 4745
+ primitive_type: lane
+ - id: 5052
+ primitive_type: lane
+ - preferred_primitive:
+ id: 4750
+ primitive_type: ""
+ primitives:
+ - id: 4750
+ primitive_type: lane
+ - id: 5056
+ primitive_type: lane
+ - preferred_primitive:
+ id: 4755
+ primitive_type: ""
+ primitives:
+ - id: 4755
+ primitive_type: lane
+ - id: 5060
+ primitive_type: lane
+ - preferred_primitive:
+ id: 4760
+ primitive_type: ""
+ primitives:
+ - id: 4760
+ primitive_type: lane
+ - id: 5064
+ primitive_type: lane
+ - preferred_primitive:
+ id: 4765
+ primitive_type: ""
+ primitives:
+ - id: 4765
+ primitive_type: lane
+ - id: 9590
+ primitive_type: lane
+ - preferred_primitive:
+ id: 4770
+ primitive_type: ""
+ primitives:
+ - id: 4770
+ primitive_type: lane
+ - id: 5072
+ primitive_type: lane
+ - preferred_primitive:
+ id: 9594
+ primitive_type: ""
+ primitives:
+ - id: 4775
+ primitive_type: lane
+ - id: 9594
+ primitive_type: lane
+ - preferred_primitive:
+ id: 9598
+ primitive_type: ""
+ primitives:
+ - id: 4424
+ primitive_type: lane
+ - id: 9598
+ primitive_type: lane
+ - preferred_primitive:
+ id: 5084
+ primitive_type: ""
+ primitives:
+ - id: 4780
+ primitive_type: lane
+ - id: 5084
+ primitive_type: lane
+ - preferred_primitive:
+ id: 5088
+ primitive_type: ""
+ primitives:
+ - id: 4785
+ primitive_type: lane
+ - id: 5088
+ primitive_type: lane
+ - preferred_primitive:
+ id: 5092
+ primitive_type: ""
+ primitives:
+ - id: 4790
+ primitive_type: lane
+ - id: 5092
+ primitive_type: lane
+ - preferred_primitive:
+ id: 5096
+ primitive_type: ""
+ primitives:
+ - id: 4795
+ primitive_type: lane
+ - id: 5096
+ primitive_type: lane
+ - preferred_primitive:
+ id: 5104
+ primitive_type: ""
+ primitives:
+ - id: 4800
+ primitive_type: lane
+ - id: 5104
+ primitive_type: lane
+ - preferred_primitive:
+ id: 5100
+ primitive_type: ""
+ primitives:
+ - id: 4805
+ primitive_type: lane
+ - id: 5100
+ primitive_type: lane
+ - preferred_primitive:
+ id: 9813
+ primitive_type: ""
+ primitives:
+ - id: 4810
+ primitive_type: lane
+ - id: 9813
+ primitive_type: lane
+ - preferred_primitive:
+ id: 5112
+ primitive_type: ""
+ primitives:
+ - id: 4815
+ primitive_type: lane
+ - id: 5112
+ primitive_type: lane
+ - preferred_primitive:
+ id: 5116
+ primitive_type: ""
+ primitives:
+ - id: 4820
+ primitive_type: lane
+ - id: 5116
+ primitive_type: lane
+ - preferred_primitive:
+ id: 5120
+ primitive_type: ""
+ primitives:
+ - id: 4825
+ primitive_type: lane
+ - id: 5120
+ primitive_type: lane
+ - preferred_primitive:
+ id: 5124
+ primitive_type: ""
+ primitives:
+ - id: 4830
+ primitive_type: lane
+ - id: 5124
+ primitive_type: lane
+ - preferred_primitive:
+ id: 5128
+ primitive_type: ""
+ primitives:
+ - id: 4835
+ primitive_type: lane
+ - id: 5128
+ primitive_type: lane
+ - preferred_primitive:
+ id: 5132
+ primitive_type: ""
+ primitives:
+ - id: 4840
+ primitive_type: lane
+ - id: 5132
+ primitive_type: lane
+ - preferred_primitive:
+ id: 5136
+ primitive_type: ""
+ primitives:
+ - id: 4845
+ primitive_type: lane
+ - id: 5136
+ primitive_type: lane
+ - preferred_primitive:
+ id: 5140
+ primitive_type: ""
+ primitives:
+ - id: 4850
+ primitive_type: lane
+ - id: 5140
+ primitive_type: lane
+ - preferred_primitive:
+ id: 9817
+ primitive_type: ""
+ primitives:
+ - id: 4855
+ primitive_type: lane
+ - id: 9817
+ primitive_type: lane
+ - preferred_primitive:
+ id: 9821
+ primitive_type: ""
+ primitives:
+ - id: 4860
+ primitive_type: lane
+ - id: 9821
+ primitive_type: lane
+ - preferred_primitive:
+ id: 9825
+ primitive_type: ""
+ primitives:
+ - id: 4865
+ primitive_type: lane
+ - id: 9825
+ primitive_type: lane
+ - preferred_primitive:
+ id: 5156
+ primitive_type: ""
+ primitives:
+ - id: 4870
+ primitive_type: lane
+ - id: 5156
+ primitive_type: lane
From 00235b9b1dc5cb7bc21101c8462907c8ec5067f6 Mon Sep 17 00:00:00 2001
From: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Date: Fri, 17 May 2024 17:06:15 +0900
Subject: [PATCH 14/19] remove some function
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
.../route_handler/test/test_route_handler.hpp | 55 -------------------
1 file changed, 55 deletions(-)
diff --git a/planning/route_handler/test/test_route_handler.hpp b/planning/route_handler/test/test_route_handler.hpp
index 02eb3744931a9..3c6893da3f9d1 100644
--- a/planning/route_handler/test/test_route_handler.hpp
+++ b/planning/route_handler/test/test_route_handler.hpp
@@ -59,61 +59,6 @@ class TestRouteHandler : public ::testing::Test
TestRouteHandler & operator=(TestRouteHandler &&) = delete;
~TestRouteHandler() override = default;
- static lanelet::LaneletMapPtr loadMap(const std::string & lanelet2_filename)
- {
- lanelet::ErrorMessages errors{};
- lanelet::projection::MGRSProjector projector{};
- auto map = lanelet::load(lanelet2_filename, projector, &errors);
- if (errors.empty()) {
- return map;
- }
-
- for (const auto & error : errors) {
- RCLCPP_ERROR_STREAM(rclcpp::get_logger("map_loader"), error);
- }
- return nullptr;
- }
-
- static HADMapBin makeMapBinMsg()
- {
- const auto planning_test_utils_dir =
- ament_index_cpp::get_package_share_directory("planning_test_utils");
- const auto lanelet2_path = planning_test_utils_dir + "/test_map/2km_test.osm";
- double center_line_resolution = 5.0;
- // load map from file
- const auto map = loadMap(lanelet2_path);
- if (!map) {
- return autoware_auto_mapping_msgs::msg::HADMapBin_<std::allocator<void>>{};
- }
-
- // overwrite centerline
- lanelet::utils::overwriteLaneletsCenterline(map, center_line_resolution, false);
-
- // create map bin msg
- const auto map_bin_msg =
- convertToMapBinMsg(map, lanelet2_path, rclcpp::Clock(RCL_ROS_TIME).now());
- return map_bin_msg;
- }
-
- static HADMapBin convertToMapBinMsg(
- const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename,
- const rclcpp::Time & now)
- {
- std::string format_version{};
- std::string map_version{};
- lanelet::io_handlers::AutowareOsmParser::parseVersions(
- lanelet2_filename, &format_version, &map_version);
-
- HADMapBin map_bin_msg;
- map_bin_msg.header.stamp = now;
- map_bin_msg.header.frame_id = "map";
- map_bin_msg.format_version = format_version;
- map_bin_msg.map_version = map_version;
- lanelet::utils::conversion::toBinMsg(map, &map_bin_msg);
-
- return map_bin_msg;
- }
-
void set_lane_change_test_route()
{
const auto route_handler_dir = ament_index_cpp::get_package_share_directory("route_handler");
From 16579ec33613bf29abf216656b069b187d260ee5 Mon Sep 17 00:00:00 2001
From: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Date: Fri, 17 May 2024 18:51:31 +0900
Subject: [PATCH 15/19] add additional test
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
.../route_handler/test/test_route_handler.cpp | 81 ++++++-
.../test_route/lane_change_test_route.yaml | 214 +++---------------
2 files changed, 105 insertions(+), 190 deletions(-)
diff --git a/planning/route_handler/test/test_route_handler.cpp b/planning/route_handler/test/test_route_handler.cpp
index f347430e765f7..212fc0ce84d89 100644
--- a/planning/route_handler/test/test_route_handler.cpp
+++ b/planning/route_handler/test/test_route_handler.cpp
@@ -27,9 +27,84 @@ TEST_F(TestRouteHandler, isRouteHandlerReadyTest)
TEST_F(TestRouteHandler, checkIfIDReturned)
{
- const auto lanelet = route_handler_->getLaneletsFromId(4870);
- const auto is_in_goal_route_section = route_handler_->isInGoalRouteSection(lanelet);
+ const auto lanelet1 = route_handler_->getLaneletsFromId(4785);
+ const auto is_lanelet1_in_goal_route_section = route_handler_->isInGoalRouteSection(lanelet1);
+ ASSERT_TRUE(is_lanelet1_in_goal_route_section);
- ASSERT_TRUE(is_in_goal_route_section);
+ const auto lanelet2 = route_handler_->getLaneletsFromId(4780);
+ const auto is_lanelet2_in_goal_route_section = route_handler_->isInGoalRouteSection(lanelet2);
+ ASSERT_FALSE(is_lanelet2_in_goal_route_section);
}
+
+TEST_F(TestRouteHandler, getGoalLaneId)
+{
+ lanelet::ConstLanelet goal_lane;
+
+ const auto goal_lane_obtained = route_handler_->getGoalLanelet(&goal_lane);
+ ASSERT_TRUE(goal_lane_obtained);
+ ASSERT_EQ(goal_lane.id(), 5088);
+}
+
+// TEST_F(TestRouteHandler, getClosestLaneletWithinRouteWhenPointsInRoute)
+// {
+// lanelet::ConstLanelet closest_lane;
+
+// Pose search_pose;
+
+// search_pose.position = tier4_autoware_utils::createPoint(-1.0, 1.75, 0);
+// search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+// const auto closest_lane_obtained7 =
+// route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane);
+
+// ASSERT_TRUE(closest_lane_obtained7);
+// ASSERT_EQ(closest_lane.id(), 4775);
+
+// search_pose.position = tier4_autoware_utils::createPoint(-0.5, 1.75, 0);
+// const auto closest_lane_obtained =
+// search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+// route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane);
+
+// ASSERT_TRUE(closest_lane_obtained);
+// ASSERT_EQ(closest_lane.id(), 4775);
+
+// search_pose.position = tier4_autoware_utils::createPoint(-.01, 1.75, 0);
+// search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+// const auto closest_lane_obtained3 =
+// route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane);
+
+// ASSERT_TRUE(closest_lane_obtained3);
+// ASSERT_EQ(closest_lane.id(), 4775);
+
+// search_pose.position = tier4_autoware_utils::createPoint(0.0, 1.75, 0);
+// search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+// const auto closest_lane_obtained1 =
+// route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane);
+
+// ASSERT_TRUE(closest_lane_obtained1);
+// ASSERT_EQ(closest_lane.id(), 4775);
+
+// search_pose.position = tier4_autoware_utils::createPoint(0.01, 1.75, 0);
+// search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+// const auto closest_lane_obtained2 =
+// route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane);
+
+// ASSERT_TRUE(closest_lane_obtained2);
+// ASSERT_EQ(closest_lane.id(), 4424);
+
+// search_pose.position = tier4_autoware_utils::createPoint(0.5, 1.75, 0);
+// search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+// const auto closest_lane_obtained4 =
+// route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane);
+
+// ASSERT_TRUE(closest_lane_obtained4);
+// ASSERT_EQ(closest_lane.id(), 4424);
+
+// search_pose.position = tier4_autoware_utils::createPoint(1.0, 1.75, 0);
+// search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+// const auto closest_lane_obtained5 =
+// route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane);
+
+// ASSERT_TRUE(closest_lane_obtained5);
+// ASSERT_EQ(closest_lane.id(), 4424);
+// }
} // namespace route_handler::test
diff --git a/planning/route_handler/test_route/lane_change_test_route.yaml b/planning/route_handler/test_route/lane_change_test_route.yaml
index 34d0080354ee8..8b4c423c622a0 100644
--- a/planning/route_handler/test_route/lane_change_test_route.yaml
+++ b/planning/route_handler/test_route/lane_change_test_route.yaml
@@ -1,6 +1,11 @@
+header:
+ stamp:
+ sec: 1715936953
+ nanosec: 67206425
+ frame_id: map
start_pose:
position:
- x: -200.0
+ x: -50.0
y: 1.75
z: 0.0
orientation:
@@ -10,7 +15,7 @@ start_pose:
w: 1.0
goal_pose:
position:
- x: 500.0
+ x: 70.0
y: -1.75
z: 0.0
orientation:
@@ -19,54 +24,6 @@ goal_pose:
z: 0.0
w: 1.0
segments:
- - preferred_primitive:
- id: 4735
- primitive_type: ""
- primitives:
- - id: 4735
- primitive_type: lane
- - id: 5044
- primitive_type: lane
- - preferred_primitive:
- id: 4740
- primitive_type: ""
- primitives:
- - id: 4740
- primitive_type: lane
- - id: 5048
- primitive_type: lane
- - preferred_primitive:
- id: 4745
- primitive_type: ""
- primitives:
- - id: 4745
- primitive_type: lane
- - id: 5052
- primitive_type: lane
- - preferred_primitive:
- id: 4750
- primitive_type: ""
- primitives:
- - id: 4750
- primitive_type: lane
- - id: 5056
- primitive_type: lane
- - preferred_primitive:
- id: 4755
- primitive_type: ""
- primitives:
- - id: 4755
- primitive_type: lane
- - id: 5060
- primitive_type: lane
- - preferred_primitive:
- id: 4760
- primitive_type: ""
- primitives:
- - id: 4760
- primitive_type: lane
- - id: 5064
- primitive_type: lane
- preferred_primitive:
id: 4765
primitive_type: ""
@@ -84,7 +41,7 @@ segments:
- id: 5072
primitive_type: lane
- preferred_primitive:
- id: 9594
+ id: 4775
primitive_type: ""
primitives:
- id: 4775
@@ -115,139 +72,22 @@ segments:
primitive_type: lane
- id: 5088
primitive_type: lane
- - preferred_primitive:
- id: 5092
- primitive_type: ""
- primitives:
- - id: 4790
- primitive_type: lane
- - id: 5092
- primitive_type: lane
- - preferred_primitive:
- id: 5096
- primitive_type: ""
- primitives:
- - id: 4795
- primitive_type: lane
- - id: 5096
- primitive_type: lane
- - preferred_primitive:
- id: 5104
- primitive_type: ""
- primitives:
- - id: 4800
- primitive_type: lane
- - id: 5104
- primitive_type: lane
- - preferred_primitive:
- id: 5100
- primitive_type: ""
- primitives:
- - id: 4805
- primitive_type: lane
- - id: 5100
- primitive_type: lane
- - preferred_primitive:
- id: 9813
- primitive_type: ""
- primitives:
- - id: 4810
- primitive_type: lane
- - id: 9813
- primitive_type: lane
- - preferred_primitive:
- id: 5112
- primitive_type: ""
- primitives:
- - id: 4815
- primitive_type: lane
- - id: 5112
- primitive_type: lane
- - preferred_primitive:
- id: 5116
- primitive_type: ""
- primitives:
- - id: 4820
- primitive_type: lane
- - id: 5116
- primitive_type: lane
- - preferred_primitive:
- id: 5120
- primitive_type: ""
- primitives:
- - id: 4825
- primitive_type: lane
- - id: 5120
- primitive_type: lane
- - preferred_primitive:
- id: 5124
- primitive_type: ""
- primitives:
- - id: 4830
- primitive_type: lane
- - id: 5124
- primitive_type: lane
- - preferred_primitive:
- id: 5128
- primitive_type: ""
- primitives:
- - id: 4835
- primitive_type: lane
- - id: 5128
- primitive_type: lane
- - preferred_primitive:
- id: 5132
- primitive_type: ""
- primitives:
- - id: 4840
- primitive_type: lane
- - id: 5132
- primitive_type: lane
- - preferred_primitive:
- id: 5136
- primitive_type: ""
- primitives:
- - id: 4845
- primitive_type: lane
- - id: 5136
- primitive_type: lane
- - preferred_primitive:
- id: 5140
- primitive_type: ""
- primitives:
- - id: 4850
- primitive_type: lane
- - id: 5140
- primitive_type: lane
- - preferred_primitive:
- id: 9817
- primitive_type: ""
- primitives:
- - id: 4855
- primitive_type: lane
- - id: 9817
- primitive_type: lane
- - preferred_primitive:
- id: 9821
- primitive_type: ""
- primitives:
- - id: 4860
- primitive_type: lane
- - id: 9821
- primitive_type: lane
- - preferred_primitive:
- id: 9825
- primitive_type: ""
- primitives:
- - id: 4865
- primitive_type: lane
- - id: 9825
- primitive_type: lane
- - preferred_primitive:
- id: 5156
- primitive_type: ""
- primitives:
- - id: 4870
- primitive_type: lane
- - id: 5156
- primitive_type: lane
+uuid:
+ uuid:
+ - 231
+ - 254
+ - 143
+ - 227
+ - 194
+ - 8
+ - 220
+ - 88
+ - 30
+ - 194
+ - 172
+ - 147
+ - 127
+ - 143
+ - 176
+ - 133
+allow_modification: false
From d5b65e3b4cf69df5157b5b6a25a485b571fdc579 Mon Sep 17 00:00:00 2001
From: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Date: Fri, 17 May 2024 20:21:06 +0900
Subject: [PATCH 16/19] Update README
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
planning/route_handler/README.md | 10 +
.../images/lane_change_test_route.svg | 618 ++++++++++++++++++
2 files changed, 628 insertions(+)
create mode 100644 planning/route_handler/images/lane_change_test_route.svg
diff --git a/planning/route_handler/README.md b/planning/route_handler/README.md
index 4d369349bf364..e11e274163fa8 100644
--- a/planning/route_handler/README.md
+++ b/planning/route_handler/README.md
@@ -1,3 +1,13 @@
# route handler
`route_handler` is a library for calculating driving route on the lanelet map.
+
+## Unit Testing
+
+The following illustrates the route that are used in the unit test
+
+### Lane change test route
+
+
+
+- The route is based on map that can be obtained from `planning_test_utils\test_map`
diff --git a/planning/route_handler/images/lane_change_test_route.svg b/planning/route_handler/images/lane_change_test_route.svg
new file mode 100644
index 0000000000000..dfd57000713ad
--- /dev/null
+++ b/planning/route_handler/images/lane_change_test_route.svg
@@ -0,0 +1,618 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="598px" height="231px" viewBox="-0.5 -0.5 598 231" style="background-color: rgb(255, 255, 255);">
+ <defs/>
+ <rect fill="#ffffff" width="100%" height="100%" x="0" y="0"/>
+ <g>
+ <g>
+ <rect x="82" y="70" width="80" height="40" fill="#e6ffcc" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+ </g>
+ <g>
+ <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: 90px; margin-left: 83px;"
+ >
+ <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;">
+ 4765
+ </div>
+ </div>
+ </div>
+ </foreignObject>
+ <image
+ x="83"
+ y="83.5"
+ width="78"
+ height="20"
+ xlink:href="data:image/png;base64,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"
+ />
+ </switch>
+ </g>
+ </g>
+ <g>
+ <path d="M 88.37 160 L 155.63 160" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+ <path d="M 83.12 160 L 90.12 156.5 L 88.37 160 L 90.12 163.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+ <path d="M 160.88 160 L 153.88 163.5 L 155.63 160 L 153.88 156.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+ </g>
+ <g>
+ <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: 1px; height: 1px; padding-top: 170px; margin-left: 123px;"
+ >
+ <div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+ <div
+ style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"
+ >
+ 25.0 meter
+ </div>
+ </div>
+ </div>
+ </foreignObject>
+ <image
+ x="96.5"
+ y="164"
+ width="53"
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+ />
+ </switch>
+ </g>
+ </g>
+ <g>
+ <ellipse cx="82" cy="90" rx="5" ry="5" fill="#ff0000" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+ </g>
+ <g>
+ <path d="M 82 30 L 82 78.63" fill="none" stroke="#ff0000" stroke-miterlimit="10" pointer-events="stroke"/>
+ <path d="M 82 83.88 L 78.5 76.88 L 82 78.63 L 85.5 76.88 Z" fill="#ff0000" stroke="#ff0000" stroke-miterlimit="10" pointer-events="all"/>
+ </g>
+ <g>
+ <rect x="82" y="190" width="40" height="20" fill="#e6ffcc" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+ </g>
+ <g>
+ <rect x="82" y="210" width="40" height="20" fill="#e9e9e9" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+ </g>
+ </g>
+</svg>
From 2aefa35f0104a1d9dadd2c68abe81efd1e1d3938 Mon Sep 17 00:00:00 2001
From: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Date: Fri, 17 May 2024 20:29:01 +0900
Subject: [PATCH 17/19] Add more explanation in the readme
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
planning/route_handler/README.md | 9 +++++++--
planning/route_handler/images/route_handler_test.svg | 3 +++
2 files changed, 10 insertions(+), 2 deletions(-)
create mode 100644 planning/route_handler/images/route_handler_test.svg
diff --git a/planning/route_handler/README.md b/planning/route_handler/README.md
index e11e274163fa8..e8df4fd087930 100644
--- a/planning/route_handler/README.md
+++ b/planning/route_handler/README.md
@@ -4,10 +4,15 @@
## Unit Testing
-The following illustrates the route that are used in the unit test
+The unit testing depends on `planning_test_utils` package.
+`planning_test_utils` is a library that provides several common functions to simplify unit test creating.
+
+
+
+By default, route file is necessary to create tests. The following illustrates the route that are used in the unit test
### Lane change test route
-
+
- The route is based on map that can be obtained from `planning_test_utils\test_map`
diff --git a/planning/route_handler/images/route_handler_test.svg b/planning/route_handler/images/route_handler_test.svg
new file mode 100644
index 0000000000000..278f6a093ab80
--- /dev/null
+++ b/planning/route_handler/images/route_handler_test.svg
@@ -0,0 +1,3 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="722px" height="221px" viewBox="-0.5 -0.5 722 221" style="background-color: rgb(255, 255, 255);"><defs/><rect fill="#ffffff" width="100%" height="100%" x="0" y="0"/><g><g><path d="M 200 80 L 233.63 80" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 238.88 80 L 231.88 83.5 L 233.63 80 L 231.88 76.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/></g><g><rect x="0" y="40" width="200" height="80" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/></g><g><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: 198px; height: 1px; padding-top: 80px; 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;"><b>route msg in yaml format<br /></b>(to simulate /planning/mission_planner/route topic)</div></div></div></foreignObject><image x="1" y="51.5" width="198" height="61" 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"/></switch></g></g></g></svg>
\ No newline at end of file
From 7e399bee327dd501193d8af29542fb3f7637a54f Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
<66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Fri, 17 May 2024 11:31:14 +0000
Subject: [PATCH 18/19] style(pre-commit): autofix
---
.../images/route_handler_test.svg | 230 +++++++++++++++++-
1 file changed, 229 insertions(+), 1 deletion(-)
diff --git a/planning/route_handler/images/route_handler_test.svg b/planning/route_handler/images/route_handler_test.svg
index 278f6a093ab80..38b2a97da0432 100644
--- a/planning/route_handler/images/route_handler_test.svg
+++ b/planning/route_handler/images/route_handler_test.svg
@@ -1,3 +1,231 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
-<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="722px" height="221px" viewBox="-0.5 -0.5 722 221" style="background-color: rgb(255, 255, 255);"><defs/><rect fill="#ffffff" width="100%" height="100%" x="0" y="0"/><g><g><path d="M 200 80 L 233.63 80" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 238.88 80 L 231.88 83.5 L 233.63 80 L 231.88 76.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/></g><g><rect x="0" y="40" width="200" height="80" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/></g><g><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: 198px; height: 1px; padding-top: 80px; 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;"><b>route msg in yaml format<br /></b>(to simulate /planning/mission_planner/route topic)</div></div></div></foreignObject><image x="1" y="51.5" width="198" height="61" 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JgwkZjFheyeC1+3myiUxa2bSQYaNQ4xEdBG5+1W7Whq1Uv7QnM7JgOv7lkjGCUDiu5bTYESFJNaikkOSix6dYyS5WyLOHyVDtMol0cSy3JQZDr0Brmf2qxAq1kB5CRUqpkj0Et3STXbAPBwI0EolSLISC1JRrM2qGbe+fKKMVagttSSXKWntJvpMmuZSVjzsa4I+ZczSJCylwOaCVBm4tLXskqVSIJuY0WwYCQYwEspeLlMNiKl2itvxxCa5WwmbM1l8ZtIBgQejThJYKIVh3rG+PYEizDKHxKLnItxUeLYPC9cyCvxbn5/oztzyhIsEhEYR1lTau5c9IH1vlSZii+1VpiBpSApeQeWLtq6Z0hUbXvtXVu4NuruWiLYPTu5lt8nQjGFg9e6nprAWMRYlMby6xDU5jt712Bw2cRaiFGfAOuWBxWorARlMyv20YwOICx8JcE339wbAmHFlxToiad7B6Yhn2NikVnZ4tgcABHS0wfSoLLBgSkJGh9MYfXiGbrgMU8xD3HC+sPc7RkVUA7iVsVrktzyOMbMQho02tBm/nZrQxI20AwiKEglqIlLYxwcRzLojRlnGo1I1r9rMWHjcUbTOlXvrZ2wMTCR6xISVrzn++qpoln3cRah8a9JPjGMzYlaX3rrfo920AwsDzUYtNa4xBxalnmiY/z6YDHxp/fpyTmaO3PWEVbLm7RQuvfa0whVRvfuWtKtOZf69wggrHIqrRl94hgbNmAFbrbWsA4pJFPvUfeltJwlq4llR7p53oEf22KQZUEUz4LnJdtIxiYxVncS0LQHgWHxgTtUols1Ta7sfbi761FHw1wK0tIKwiXAxS/14QDFC4NJUFrXdKq4XdcS5dLHAuaXfrMZhsJyhRcavOMNii2VguK988gVob4lSjbQDBYB1gPWtJaS3oCsKeMB77gJVKH+xZFC0uWqBr+LbelKX3y1zLXsI5FIUatFp/RIhisiayxNam9G9fzPdfqcLCHk0iiZG0h5gi3x5JsA8FoKb2wlhN03CMPaCR+IO6qlKyjZcFgvcqpYsee3/qmxhRSxAcRUF6SUvyQv455WqpxxPfVkxJ37L3y7+zptQQu7Ae1NLoiGL0Ib/F1IhhbPHip660FrOVjGt8cDXopPz6+oWjYxtyjcntktKplDGFjjkHk20Yw7pEKG61i5sx1iGsRDNwpWlnC0FQTyFiSlmsV17NZU2ypJLUYnFbsRmyHBAWY6yGxZDIjoL53XtYODASR44rRE19AQCk+z1G2gWD0VBpvJXnAmkSw/lzCWoNltVRroBSPRDalkosWrl/Ef8WYoFI/UZRQ0I+gabLZcNCiH1Myqi1KMMYCV2vrIOSB9bdl2ayRoZjRyGOyDQSj9r3xHrjmELvSI8QP1Fx1apalGj5YVJkzvZbm1v48lsmKpCq1Gks116qMB7E3NyyAg4teT6pkYrVwVySFLvsJbmrE/Ew5M4pg9MzOHb5mymTZYRi2+tVaC1grPah/aUzztQNWLgjUC1IrWLTkk7ltBIOCXTGYtBebseuwgNQqFI/d639vEQw2rJqVIW/ctVgcNqxailHupVAaAYElqREM4jBILUpayalCwC+uEmggx4ItCSAubay0UUtMEPtTC07edILRm0aXOBS+x5LMTTB4Ru0QBEmNmlvmLQeuKKQ/LpE+fx1aVsZujto+ixAM1taxwpR8A6X4LbTDJauZfz9iDLDCRdl2gtGyOmIBHou/yHiQSbHm3leLqakRjKnueK39me8tJqPwY9iq/TEWo1ZzdxwjGKzD3HvmqYtx4XoRjBlA3OYmRDC2efT+t++tBYzqw7XDon9ztJsxzV/+naBfskH0SiurROkAvW0EgxR/pPddhbChPHiGhhdNc8qjWyklawHeucst97EaweBeNIIQhWUKPFGjALebUmA46xyWitJ6N4VA18jlphMMrJOkVh6TZdKJjrVd+p31qeQ2hGscpM8rPTiIlfzVxwrK8U4c3mvpl6f2exGC0YN/rTo5qUFLtVd8vwk2zvUF/N+3nWCQkKBWb6Iny1zGopUVjJobrGtRagSjJ5GHb6u1P58rWWFrc7BlLSeOjnjHmpA5ktidKC2Cwf5MfMlc50IRjKmry45dP9dE2jFYtup1WgsY5s1a9gf/kmSsQJNbkqkEAzeamt9lKZh22whGKxB22YnDAZZNZVnZNoKR3xcXK1Kljmlsa/jgJkOxtTjncYFBi18SfNtLGcFK15LSklomUUQwFp+xNe375VKKUVrGPYN0s9GVicBoki7UMpGhOOGQWvM5h3RyOOcwycHLu70Qs1Jy3xLBmD7WixLX2tygB1MIBu5ExHCVhBo3uM1FqRGMVzRq6ZTa3xaCwbqJkqZ2JsRVj7MA5wS+t/ytUAepVmtEBGP6t7JTd4hgbP9wLrOA5bef00WqFZjHQh6r8NYIBv7WpNsbE4oa1TKsoPGsbSyLFtpr5WUn3SQVZw9atpVggBtrEq4DbFpYNNDyTfGRxx+dgHK0xl44QJYOjGMFoXwbBCWXCtKJYCw+42vFJ7EUZqypdVD6rhiPUj2N3JvaePE7lZ9JWFBLhTxnkLcsGPV4iZbr3VwuUq1sVLU5NFeMyjL787osGKy5WMpKbnZ8K7gXojgspVhWkPfia9/O3ymCsf1DvMwC5t++VvCMfONoKXqDafGfRhNdklKqy9om0uu60or5WAXBaLmAjcUorGu2bTPBiBjh2oIGEjcHgnMZUzTTLeHQStVjL7gAlu4jWxHEo6eKOoUQ0axHEcFYfGbj6sFhLsYoeOJXi31pfd+QUixaJesFKZrxYS8VHMxvgnWk5FYmC8b0sV7UgkEWLAKNSzIlyJt1uVZwkLieUoHJfSIYeDrUsmJBxFvxcbhPk2yjJLJgTP9WduoOEYztH865CEYrvSw1ACgu1yO1tKOYVDngxWwvZAMqFfjpJTa1Qx99XQXBIKCU7CYlIR3i/XtAWvE1u0QwSlCRJpIc67WUuaX88q10uL1pmEmxXEovLIKx3IQm7TOxFFGyj/qnh/TPjJEX/kYRtZq0ivmN1RCAWNSqyItgTB/rRQlGK70scXBP7uwKVd5rBQdrcWX7RDDIKkiNmZK0arBwfc26yG8iGJ0TdFcvE8HY/pGdi2C0LAGkEiVobEwgEBShK1VNrQUrtlIREriIH25N8MNF01nL0LIKgtGKV8GHdY5MNWM4j/2+6wQjvz+FIUuFDbFWxIrUTx1qsFDNuyRjOeW5h6wqzOGSiGCMzcj27/h/E+QchQMK6UVL9U8Y+8MazWJpQvlQkkcPLnR3bNzb0niLYEwf60UJRiv7E/VxSqS01Du+21JWpJrSizb2iWC0MiNCIGoKNXBqeSyIYEz/VnbqDhGM7R/OuQhGKxCOAmloE8dyf2NqhqiU5GGVCtEUS7pJ5Z4xi0At6DY3twjBYGM55ci0+JSZYdWJgrsNOfkJSK0J2lHyslPTwf/TcteYOku3iWBQxZugbjTU/IM7XikdaQkDsP5K4QdS0saaLmRIeUwFSKxoHGZaQnYViHZJRDCmztDfvR6FBC6RsbAd40LhylhQjXWIyvCxaKdvlXgoDqElIdVyqUYA1+Ja9b4Ux1O6lxoxpQJmXFsrtKcYjMViMCgeiAKp5KqGhZvCpCi0WkI9B9x8SvKe5H5Z+m2fCEZrbSNddK22EdZcFICs2SVppURvFdprFZZcbqXR3WtFQARjrXCv5GFzEQw616rmjUtK7YDGvVgbcE0p1Rrg4M0hsnQYbB382JjxD+XwEYUgYHx0WwHALYJBNpBSlXN88bFSkCqzJq3FcSzwtJbPH7JBwByFDZeVbSAYrD24LeHKEsewN/sZpJe89FGoyh0DFiGNHEhrax6+3syJktAf0qQetfK7CMayM9aMqsYoFLywbmDZiHUuegghbpdcVxIUBGi0S3FlreJmtIWveq3yvAhGGe9FLRi01koaAoHExamm+CJ+ixi/WrKQVorjfSIYuPXer/Kt4IZWSsvOWkga5FZq8Uc2XNPuNKSO5veSjFlNll9t1MJaEBDBWAvMK33InASDQk/kjC8JB28CnKkEHTdm3BGeUnBLye0QpAmRKEkrSIzrWehZjFjMSJXHIZwFj76Q/Yo0o2iyStIKBEQzSuG/ktBftNW1jYvAUYo81TQ3HJZw34g4Uan7ORWXLiw/tUV+6gTaBoLBO7F5MX+jQBCYUyXXmHwt7nHUzigFIFJNnuxiUdBkotEsCYG/uFDRphcsG8yVVjE+EYypM/T/Xn+KRACjeyXfYNynGKda0G5umeBxSHtN+NY4vOZvnOshF/kwVXoubaEAQAFBRecoIhhltJchGCc0s8+mVMWl1rFGsVbz/XqhfgZzBMt8SchSiHKjlrxknwgGJC1md8yYUYsGt1/qf2RBmcgaSx0bpPatQO5q6+3NBms/RQ5LQtFUziJYoiVbjIAIxhYPXur6nASDJtEqcKCvCSZpqqISrM0hj0N8yV0o30/ubCwJkIOaoIVGGz0mLHa41GRhYSulvs2/s7jVKhO3NGPczwaEthIzPQeKqKlpLZDcz6ZIlWHiAbifvpAFqSQE0EO05rBe0P62EAyIISb2UgwN2ms2NTKUgCGHeMaegyCFx/DbL1nLIMJknCrVf2n5dOdxIXiYcefgcbag/YT4lAp/iWCMfbl9v7cSNuQWWEeI9Sod8ONTGEesTzVhPPnOaY85c3R3ITEeWBv93/LPb3Ixae9yRUpFMMpIL0MwaBELFtbq2nmFuYDrGhZKMsKxPrDn1K7n4MpazPjXZJ8IBiQO74JaLCP7LN4JYIInAt9Uxpbf7jYo2wikLwkWfVLCY016vruglTqYy+gPHhWsrSRzuF5SJvatJLpqIxAQwdiIYViqE3MTDKwCBHXNEazMgoSGueTi5F8aV6Wae0oLHDJfsLDV/HAvMWSoekulgZYLRbyF4kIlDTbWCPK4LyPEXtAX4lzmkm0hGLxvy1S+CB5opmtxQLSHpq5UuXfsWRwqIcKlbDQiGGPo9f3eipvILXCIr2UPi08h1okg8anyDjNj7WDMs5a21oZfY0QwyigtSzBo9dCRoP7eMSZ24xpJ+dO6Z58IBjhgkbh5L4juOvZfXKxwKa65kObL/XkT5RCKo5oXQOwKLq8tQrhA13XLqhEQwVg1wqtvf26CQY/xiSeAmvR1iwraB3xcW24Kvu1WoFmpD7hyQUzQate0mWi5ay5ftIkptmZV8M+sEQzcOchIUwv+HcMONyvcpohFmFO2iWDw3mxQuJUtsx6hSaONsQBxNJxY4Dj09ApWjYulJAWl7EMiGL1Itq/jW+abaNU5IcAabXWvQDAgGr2CxRX3DNYtCv2hgW2JCMY4snMQDJ5y3RTwj1V5EYE0QGJ71tt9IxjHGZSKBL23vBEi5hBqal5hNX5epSK6vyeu7yR+wdW5R0QwelDasGuW2dA37FX2tjurIBgZTDTrHP5ahXYi8LgGUe36WWb2y4mjgvYZTVXNVEtzuK6gbUHzzcEOwXUKy0uUVhAf1xLPwWGFA3lLagQj3wPRweUKN6cewf2HzDgciFsZp3raKl2zbQSDd+CgBoZU8Z4iEAtcqUiJWCsWFdsjwxTWLzKkjAmuGfjl4xIImbx94Qa0oiVXmrG2a78vOn7LaNDpy1wHwUXfm/taKTNxmyBzTW/RT9qDtDDWVPxu7XfMI3z2Gd/s+829Y1YMEYzx0Z5zXvFtkK0QstFK8OF7hZUYBRbzoDdb374RDPDCSg9RGNvvqejNuQB36hzDxHdJ9jVcWGsSvz/2+Zd2ekuIYIx/Zxt3hQjGxg3J5A6tkmDkznBwRnPIZooP5glS6kA2Yg7I2V8SzTCWi56qyLUX5dBP2lqeRypKAqrxuyaYm6ww1DOI9QggAMQ5RGml2MvX4hvK4eOQlHkIDTfZqyi0xSaD7yluVuS/bwnfElpu+s2/Tz74aePbysETCwvmYPy9ObAQSNxr2Zk8IbYoBqP0bmT3uWyyLJG2luBfzOjgyEGeOUfqyo+mDQ0s0XovIueScZqBAAAgAElEQVRJvr34A5PyFi0eY8VcI3aH4G6v7axVlOYbYKznkn0mGK2qwpCPeywIMn75xE1xeCIdLt89Y41ChHUFclGqc8J6gI85bnWsfblCON8yygkUBawXyDIEj2xZWFyj1OoH+ev4Fgi8jUJiDLLtlWSuA3TPcMxJMPLzyAoHXny7vDsHW2ICUd7wPbInoJFnvUUBMTVgeC58ltmfmesPrgDM+36zAT51qyiSFwVyUIpd89eRYAPXX+JYIB1YjNgPmYvMU/bgWDCX+yEZkD/2QOoQcQ7gbIDih/iqZxT6gxcAz8LtkfWYlMT0keexR0JayOBHxjDWf8kWISCCsUWDpa4KASFwoAjUYm5Ie1oK/j7Qzm7pw3E3RNtckrHCm1v6yuq2EBACQmD3EBDB2L0x1RsJASGwGgRqWYmwcGHdkyyHAPsRWtJYw4RW0WJOdZ9brje6WwgIASEgBBZGQARjYeh0oxAQAluKAL71uLBh0sfVgvTAsf5FfDUCjzH3l/y+CSzHNUCyHAKtfPz89qLlmtfdQkAICAEhsC4ERDDWhbSeIwSEwEEjQEAhhbfwK/ZrHzE++OW3fJofkrJIld6BZAhvPeiX2/LnE2uDzzy+21GIiSEX/jKxXVsOj7ovBISAENguBEQwtmu81FshIAQWR4CUo6QeLQkF0y6fggvj76RiJJi3ZL2goB/BibWq74v3dnfvZN/JeJH9jWBdglJJ8FAS0sz6Il27i4zeTAgIASGwIwiIYOzIQOo1hIAQGEWA7ExUDvfV4P1NZJohkJuCTvw3WnVIB1Wea0LGFTKrSPoQgFDgkoa1iH/jekamppoQe0GxOxG4Pnx1lRAQAkJgIxAQwdiIYVAnhIAQWBMCd05FJOd43FjV8DmesWttQDCoW9MjpKs8Z0ol23O9rhECQkAICIENQUAEY0MGQt0QAkJgbQjcy8weOPxDDvZFhAKSFJo6bJGb9/yeXoIBCaE2DbUcJEJACAgBIbBlCIhgbNmAqbtCQAjMgsCfpIrzY1Vr/cNw03ldqsBOQLJkOgI9BINsXTdIRdKmP0F3CAEhIASEwIEjIIJx4EOgDggBIXCACFBz4copuxT/TUV4Kt3+ysy+a2bfThXYqej+SjP7zAH2dRcejdWI6spk7aLyMhXaIW5UXyZg/hVDxexnpviMXXhfvYMQEAJCYC8REMHYy2HXSwsBISAEhIAQEAJCQAgIgdUgIIKxGlzVqhAQAkJACAgBISAEhIAQ2EsERDD2ctj10kJACAgBISAEhIAQEAJCYDUIiGCsBle1KgSEgBAQAkJACAgBISAE9hIBEYy9HHa9tBAQAkJACAgBISAEhIAQWA0CIhirwVWtCgEhIASEgBAQAkJACAiBvURABGMvh10vLQSEgBAQAkJACAgBISAEVoOACMZqcFWrQkAICAEhIASEgBAQAkJgLxEQwdjLYddLCwEhIASEgBAQAkJACAiB1SAggrEaXNWqEBACQkAICAEhIASEgBDYSwREMPZy2PXSQkAICAEhIASEgBAQAkJgNQiIYKwGV7UqBITA7yJwVDN7o5ldOP35V2Z2ZTN7pYBaCoGHmNndXQsvN7OrLNXi7t98JDP7RXjN85nZ+3b/1fWGQkAICIH1ICCCsR6c9RQhsO8IPNvMrutAONTMHrzvoMzw/iIY00EUwZiOme4QAkJACExCQARjEly6WAgIgQUQuEcgEy8ys6sv0I5u+b8IiGBMnxUiGNMx0x1CQAgIgUkIiGBMgksXCwEhMBGB85rZO83syOm+w83srGb27Uo7rEn3NrMjmtl3zezRE5+3b5eLYEwf8U0mGJr/08dTdwgBIbCBCIhgbOCgqEtCYEcQOMYQZ/FBMzuDe5/Lm9mrGu935sG68bH0+xfN7NQ7gsWqXuNoZsY/WYgt+NGqHrYj7W4ywdD835FJptcQAvuOgAjGvs8Avb8QWB0CxFjgHpXlBWZ2zZHH3cTM/kkEY3WDopZtkwmG5r8mqBAQAjuBgAjGTgyjXkIIbBwCpxnIxCeG2AuyRyE/N7Mzmdl/jvT0KWZ2YxGMjRvPXerQJhMMzf9dmml6FyGwxwiIYOzx4OvVhcAKEcBa4QO5iaW4Y8fzPp6ICJfKRaoDMF0yGYFNJhia/5OHUzcIASGwiQiIYGziqKhPQmC7ETidmX3KzI6QXuN/zAyLxpdHXuu4Kfg7r0siGNs9Dza195tKMDT/N3XGqF9CQAhMRkAEYzJkukEICIERBB5nZrdy17TS0l5yKL73+gmI/v2QXeoOI9efYiiadgUz+3MzO4uZncDMjpeCn79lZv9lZm81szcM17xtwrOXvfSYqV+XNrOzmdkfmtnvJzcyArO/aWafNrN3mRkF8z7c8cApWaTI5nUh1+b5zey96f+PYmbXN7O/NLNzmtkJh2xevzSz/04F6P459anUJQjlzRLe/Dfv+b1kgXqTmT3ezD7f8S5fMLNTuevoD/VTeuWTZnZGd/FfDUkCnl64eRmCQXazi5rZFRNOpzez46R3ZgzJfEY/3jP05blmhkWiJauY/xAV5v9lUh9PZGbHN7MfpDn2ufTNUeTyM73g6johIASEwBQERDCmoKVrhYAQGEOAzFFfTweufO2fmdmbKzfOecA6sZndNx12OTD3CAfBe5oZB+FVCZYc3MPukw6jvc+hTxA1rEE1mUIwXjukDIbcxHGBhL0kZPsqPe91Zna1dFDld97rgSmQn4N3TchsxftDPFuy6QSDQ/vDzeyPewcwZUz762FOfmUN859sYncys7t1zrNfmdmzhqrm92r0b8Kr6lIhIASEwG8REMHQbBACQmBOBIi7IP4iyzfM7A+GwzVuUiWZi2CQ3vM1ZnbKBV6GgxYHM6wjcwva8ucly8Aibf9w0Ib/RcPSMoVg/EvSbOd+cGBGw/7vg5UBctYjLzWzq6YLnzxYg27ac1O6BusIRKYmm0wwqM3yoAnv6i/FMnWRClGca/5jpcMiccEF+ohCAOLZYzFboHndIgSEwD4iIIKxj6OudxYCq0Pg+cOh9RqueVLO4j5TEywNuG8gVzazf3QX4sp0vnAjbii4enjB1ehDyQ3K/52DM/2hFgdE51jJBYcD+3XMLFo5bm5mT5oZmljFnOaxSNAvDnQc7tDw42ZDvZDLDQf+y7r4Fa7HrQvXH/4dZQrBgBxcxTXAOGFZwG3qx4kI/VuKg8GtBsvTtVLRQ//cP019hWDk98GFCtcg3Kr+KM0BXLC8fCnF4kDoSrKpBAOcGC8vP0lE+u0ptuinZnbslKCA688TrsctCUvRz8Lf55j/uKRhiYNke/mPYSyeOcypd6e5Q/+wvjAH+Nb8/o9rF9/aZ2ee/2pOCAiBPUVABGNPB16vLQRWgADrCYdg4h2yoO3mYNsjHGbxW8/SE+TNM4ml4DCchUMuZOGpjYdy0EKjT8xAFqwFxEZw0J1DqF4OgcAnPss/pEN97ZDNdRxOwcxbYyASuHJFmUIwsB4c4hrA5QnNNYUNr1RJIXzx5K+PJSYL8SEXS+P8sORiA+ZRHjP4/N8m/LHlLreJBIMxJE7Bx4aQapn4ntY8wU3poeHdiR1qWckWmf88AlLOfM/y6zRXcOeqzbMLJ2uSt1y9JX1H3C8RAkJACCyFgAjGUvDpZiEgBBwC1LmIQa0nGw4/h3eitMgBi4MxB14vxC08oeOZpx1clz4yHASP7q594hDYfIuOe3su4RBOMHkWAqYJQK+5i/k2IRkEYOc1msMsmbiiTCEYBNvjpuTlO2Z2VjP7auOFCJS+YeF3tOOlv+dLicchc1i2UPH3+w/v9IDKszaRYGBRipXnCZ6GnI3Jvyb3tnwdloSWC9Mi8//cQ8D5+0NHDh0SB1DkckywMGGBgURlGXNjG2tTvwsBISAEfoOACIYmghAQAnMhQNYebzXgcIn7Uq8scsDC7/zy7gEfHbT/52hobmNfHjG4XN3Z/ZHsR8SM4AKzrFwvBdHmdrC0XGpCowRQIxy8seYQKB810ssSDFykqFHSElxqohUKlyDGFtezlhB/4qu3tzKKbSLBoO+3TDEquI2xZ/LvHi1/dK2CWOKmhDtaSRaZ/74wH23iKgg5bVnI/LMh1AShZ4FM+e9pwnTVpUJACAiB3yIggqHZIASEwFwI/F0opveK5Ovd2/7UAxauWBxwfQajngOz7w8pWYnR8IJVBPepZSW+DylofRrVZdvn/mUIBrEfkKlSbIfvG7EhMZPVi1NGqbF3IKuXt1gQ40EMR0k2kWDEfrJn9pAL7ivhRnxKLWXv1Pl/VDPDAuUtcDcaLF3PGBsU93uc/5Ag5sQYcZzwCF0qBITAPiIggrGPo653FgKrQSD6+BNvcPsJj5p6wMIaEF1VOMBzkJ8iXwtZlFpuPFPaJWiW4FsvaItzcPSUtmrXLkMwPlAIRi49h1od3w8/MK6M75gQ4O8D51vP3AaCMfa+/ndqicSDOtYFMCjJ1Pl/gZQBLLcF8Tlpivvp7SdnAFwYT+JuwIIR3cJ629N1QkAICIHfICCCoYkgBITAXAhwcDqXa4zUr4+a0PjUA1bM0IRbExl1ejXMuWvESRAvkYWYDp9tacIr/M6lrK/EpPi6CfSN2IVHpviPRdvO9y1DMKiBcIOODmAhikHcBIf3FEi8biiWR0A5MR8l2TWCQXA/FgYvkM73Vd5/6vy/XQgap9YGMT5TJdZHISXvYVMb0fVCQAgIAY+ACIbmgxAQAnMhQKAw7hVZ8F/3NTHGnjP1gEUgtw/Ibh1eW88mboT4kSwEzZ53rLOdv5M1ifocPpA230o2olenLFiQnHgY7XnEMgRjioUpkjZfBbzVzzim204wyCZF/ZCzp7SwuOlh4SGgPe6n/L8PcAenOQkG5N1XtSfblY+n6Jk/XEMMEu+UhZTDxA9JhIAQEAILIyCCsTB0ulEICIGAAAHSBLFmuWIq/tUL1FSC8ZwhNuDarnEy4ly092HuOoKcvSsXBzX85+cSYjrwi/fpamPbBOUSC4I2GQtKdK2q9WUZgkEaVaxAPRIJBul8Cagfk10hGMQqEGNE2t5l9s05CcbThgQAxFzMLWS/8oRj7vbVnhAQAnuAwDIL5R7Ao1cUAkJgAgIEDft6CdQKeNOE+6cSjJgGlMM5ReqmCu4gpPbMQu0K75M+tb3S9WRcIisUhCgW+CtdT2E2aiZQ4wBcayKC8VtkKPTng+ixSpFiNwpzNGLaOvgTR/L4MLcXnRNzEowY87Ron+J9bwsug3O1q3aEgBDYIwREMPZosPWqQmCFCLCWxNSYFPN654RnTiUYMUUtAd/UKJgqfxuK2FGvwrt6TW2vdf0JUvYlYjzIpuQzAJXuI3sTxQpjfZF8rQjGagkGVd/JKHaEMDgQ52engG0qzlNd/ufhmlXHYOB+ePU5J2dqC0sa9TUkQkAICIGFERDBWBg63SgEhEBAIFowWlWbS+BNJRj4il/HNfSOIZ7hIguMCpYCAmazcKj3gdkLNNl1y9GGQGlI2CVTZWgyDMWDLA0Rm0HGIFy3oohgrI5gYOn4RKj2/rNkheqpTr9qgkE2spu6CUGdFF/RvmsS6iIhIASEwCoQEMFYBapqUwjsJwIxBgM/btyYemUqwcBthSJoWTgMnrn3Ye464iN8NiXiHzjQr1tIa0olZbJvxRiQWv0IEYzfjhKWhJO7QVvWRQoXP4ojerl5SLvbmiO42WEN8zKni9TDzewurvHetMPrntd6nhAQAnuIgAjGHg66XlkIrAiBdWeRIvsNlbiz4KJCNh+KhU0R3Lgu5G7A9cRXn57S1hzXknEK8uS107RL5qKPhAfsMsGA9JFKt0fYy34UXM6WJRjRdY6aFqSBja5Qtf7FOhVcNyfBIGMUlbizUDARkioRAkJACBw4AiIYBz4E6oAQ2BkE1l0HgxiGtwT0erMb5duo8fDNkOHproG4HMQA4Z6DqxaVn7Pcagg+JzWvl10iGLyvt9xMsRbg0oYFy8uyBIN6Jdd3DRJ3gVWjV6gn8aBw8ZwEg5ozsWjfaYbMUtQTkQgBISAEDhQBEYwDhV8PFwI7hcC6K3kfy8zQ2vqsTKRdJf1qr5DWFvcjL/yNlLdzCXEV9PGnExuM9TnuWziw7hLBoAAdcShZplRUv2NKI+shXpZgEGfhCy6SFpnCgT2CFeqzZkb2MC9zEgxI6LdTHY78DKx6pNOVCAEhIAQOFAERjAOFXw8XAjuFANWpiR/I8oqhtsOVJ7xhjMH4cuGAFpt7/pBh6RrujwRCn2mCm1SsJYD297SFjFgTXuM3l5Iu9bYpG885kssTlpEpEut80N5jQwO7RDBi2mEIKzEpYwJ5o4Df6cKFyxIMUtze0LVJUUSySvXIwwaXrdJ4tzKrLTL/SWOMpScL6Y3PMmRFIxi9V8jGhnsZWdj4h+9OIgSEgBBYCgERjKXg081CQAg4BCj6xYE9y5eG/6fyca9wmHyRu/jHg6sSVopY5M23R9acN4YH9Gpx0Sa/a7AK4CaV5Z5mxqF9WUFz/UXXCAc4iAYHwB455hB4TqXvE7uLS1m5dolgxHokjD9kLwZKR/wisc2/L0swsIY92D2MJAYnMzP61RII7/PMjOvJFMY/WSDcEO+SLDL/mVMfCo2Bhw/+bvUV0kpF9yyHp2+2VXulZ/7qGiEgBPYcARGMPZ8Aen0hMCMCaO0pduaFehJjB8R8/SUKhfkuPaRyff1IH6NrFkHeBMDiYlQTNMm4wJzIXYBLCxWbIQNzCBpvX/gP6wguNmO1QY6TgpuphO4PfqcsWGZ2iWCUyCJWDWo9/KQwINQQgZTgHkUdCg7avpL7sgTjvGb23vDcRwUrnf8ZtyjcuiCp7K1YFuibT3lM5qe7VSbXovOfuJxbhDZJfnCfhlsefb17Kv7ozwG3Gb6Jx80x+dWGEBAC+42ACMZ+j7/eXgjMiQDrCQHTx3eNHjIc2l/W+RCK0JGpx69LHPZxA8H16dgpCJjKyl5IB0qwK9plL1QkphjaR1MtieMl1yW0yFcKzyEzEIdTUtTOJaTM5YBKZisvEAxcUQhKJoYEbTEWC6we50+F9aih4IWsVmS3irJLBINx/3TB1Ymxx12MYoPMB8aRAGcsBWR1QjhgkwnMuzTdpEIyp1TyjhnGeNbLU7A9ZJo+M24kHLjxUDn81Kk/WCmI33hhcPOCKJFamRgfiKQP0l50/jO/mGcxRTMWRHDjHb6WaqzwjTDHcMeK1kXmJIS4ZTGc69tQO0JACOw4AiIYOz7Aej0hsGYEnpsOL/mxFAPDmtArrzKzyzUuxjrBATEK2XOwdOBSM1UIlOUwCCGZW7BCECcyVrG79lwOe2ia0XyXZJcIBu+HFp/aE6WCgzWMSNUKwYjxCLUsVFMIBod2SCcEsFeYR5dPVpXoNujbgCzhAuhl0fkPOaHiuE+33NtfrgNzvoG5rHdTnq1rhYAQ2EEERDB2cFD1SkLgABG4qpm92D3/60OuftykftXZp9MnjWstn3+NYNA8lhMyLaEh9pmlao+mTxAi0omuMrXnWQdtNa41VOyeIrj8EDRPheaa7BrB4D0hZaSIjVaciAGWH9LA/k3SuoPxHdxFpaB4fp5CMLj+gmlORwtZ7M8vUzA/sRvZpYt5iHWBGiZRSgRjmflPrAfvjwsWVp4e4fuk3sdjJnyjPe3qGiEgBPYcARGMPZ8Aen0hMDMCaOo5tHjNLFrpWK+i9VhcN+41BGBfJpETMuJ8J7nPcFjDx70lVHPGBYr4DTJKQVZwR/l+cuHCDYfAcDS+vUHXc8CENpzq5hxYiVc5adKMc+D9YUo5itsNbjO4lZG2dUx2kWDwzrjD4XJ0qXQ4hzxyWCdwGowYv6cM1+AGlAWyAVnMcmgI0s5/n0owuI95TUwH40dgNf3ByoL1i/5QI4OigCWiinXhAWlOMubEixDAT3wJMRtRlp3/YIcFBexI+0ucEX3AGsY38Hkz+/Bg7Xht6sPU9Mljc1K/CwEhIAR+x9dZcAgBISAE5kCArDRoj7McdGXsOd5JbQgBISAEhIAQEAKdCMiC0QmULhMCQqAbAapPE5ib/ehxHSH49SvdLehCISAEhIAQEAJCYGsREMHY2qFTx4XARiNAHQAyH2Vppffc6BdR54SAEBACQkAICIFpCIhgTMNLVwsBIdCHABYLfNOPmi4nDSz1APD/lggBISAEhIAQEAI7jIAIxg4Prl5NCBwwAmSn8QHZpGsl/75ECAgBISAEhIAQ2GEERDB2eHD1akLggBGgANgHU3G83BWy25DrXyIEhIAQEAJCQAjsKAIiGDs6sHotIbAhCJw31bU4curP4UN147OktLMb0kV1QwgIASEgBISAEJgTARGMOdFUW0JACJQQoBI19RqyvNDMriGohIAQEAJCQAgIgd1EQARjN8dVbyUENg2BZw+pa6/rOlUrgrZp/VZ/hIAQEAJCQAgIgYkIiGBMBEyXCwEhsBACZJOi+vKF092/GuIzrmxmr1yoNd0kBISAEBACQkAIbCwCIhgbOzTqmBAQAkJACAgBISAEhIAQ2D4ERDC2b8zUYyEgBISAEBACQkAICAEhsLEIiGBs7NCoY0JACAgBISAEhIAQEAJCYPsQEMHYvjFTj4WAEBACQkAICAEhIASEwMYiIIKxsUOjjgkBISAEhIAQEAJCQAgIge1DQARj+8ZMPRYCQkAICAEhIASEgBAQAhuLgAjGxg6NOiYEhIAQEAJCQAgIASEgBLYPARGM7Rsz9VgICAEhIASEgBAQAkJACGwsAiIYGzs06pgQEAJCQAgIASEgBISAENg+BEQwtm/M1GMhIASEgBAQAkJACAgBIbCxCIhgbOzQqGNCQAgIASEgBISAEBACQmD7EBDB2L4xU4+FgBAQAkJACAgBISAEhMDGIiCCsbFDo44JASEgBISAEBACQkAICIHtQ0AEY/vGTD0WAkJACAgBISAEhIAQEAIbi4AIxsYOjTomBISAEBACQkAICAEhIAS2DwERjP8ds7eY2Z+m4fuemZ3AzP5nzcN5JDP7RXjm+czsfWvuxz487rJm9mr3ooz5cffhxUfe8Whm9h0z49/Ivw7z7wpbhMu/D+N6AdffOw7j+ugt6n9vVzV/e5HaruvebmYXdl2+q5k9YrteQb1dEwLbvlavCSY95iAREMEwO5aZfcvMjpIG4mVmdsgBDIoIxvpA1wGtjPWlzey17qc7mNnfr29Yln6SCMbSEKqBA0RABOMAwd+yR2/7Wr1lcKu7iyAggmF2RTN7hQPvVmb2hEXAXPIeEYwlAZxwuwhGGaxHmtmd3E9nNrNPTMD1oC8VwTjoEdDzl0FABGMZ9Pbr3m1fq/drtPb0bUUwzB5jZrdx4386M/vcAcwHEYz1gS6CUcb6I2Z21vTTf5nZKdc3JLM8SQRjFhjVyAEhIIJxQMBv4WO3fa0+SMhvaGanSR3Ahfa7B9mZXX62CIbZp83s9GmQ/9PMTntAAy6CsT7gwRrXuCy/NjPiMPZZTmZmX3EAPNXMbrJlgDCmjG2Wn5jZz7bsHXq6q/nbg9L2XSOCsX1jdhA93oW1+iBwy8/8mpmdOP0PROMLB9mZXX72vhOMU5vZ590A/6OZ3fKABlwE44CA12N/g8CNzOxpDotrmdnzhY0QEAJrQ0AEY21Qb/WDtFYvPnwokD/rbhfBWBzL0Tv3nWDc3MwgFVn+0sxeMoraai4QwVgNrmq1D4HnmhmkAvnVEId0ksF18Jt9t+oqISAEZkBABGMGEPegCa3Viw/y9c3smSIYiwM45c59JxgvNrOrJsBIS0t62oNylRHBmDJzde2cCLAOfN3MTpgafb+ZnXfOB6gtISAERhEQwRiFaO8v0Fq93BR4fPBSkQVjOTybd+8zwThiSk97nITQu8zsT1aI9VjTIhhjCOn3VSEAmXiva/zBZnboqh6mdoWAECgiIIKhiTGGgNbqMYTav3/QzM7pLhHBWA5PEYwKApCJd7jfHjD89/0L1xKjQaxGFu6DjCDUzri2mV0pTdqTmtmRzewbZkYWntclP/aPdozhsgTjLGZ2lVRo7EzJGvP7w0Hx5ylLwhfTIfJfzOyNZkZgc4/87RAoe0934d3M7OHu///IzG5sZn+WguUpWPfTRN4+lOoqPMPMfjzyMLD0Ablcf0x3D4QQFzb+ObeZEegG1mSA+LKZsTnznA90vNSULFLrev9St5lrvO8lzOwP0piCy2fM7E1m9k/pv/O99zUz5nGWfxgK592+Aw/IxGHuOp5H8cko7xzG80Luj+d3xITxw/xMf1nAsYb80sz+OxWL/Gcze3mlL2Ruu5mZ/bmZ8d+MO5ZE5izvidbJx0rVXmmRLFLMK4ps8g2fIz0fpcMx0jxmfuGzy1ym8CDfDi5kvbKK9qfM31I/T5EKKII36waW2+OZ2Y/Sd8va9VYze8MwJm/rfVEza80PmqGI3PWSIoc1lXH+waBRJOjy3ck9lZThvWvThK4tfClxSfi8Z+FbgYBnuVRyLeRb+MM0b5gzzHvWJFxuX9/59GUIBuvDldNcZkz5f9Z/lIi5P1gm+Z5elOZ2T7divYVXDd/85d2NfCtk5fmLlIGO757xo2Dnp9I68mQz+2rHww56/jCGl0t7Gd/IidIez36OhZd9nzpB7Ou9ySMoVMqem4U1kH0a4Zu7h/1vqnwOuhTP87+XIOtZq0l2wXeVxReSZT26RVqrSUPOHOkpNHuEtD4z3y86uJZz1mGs2YO/ndYNDu9vHqzfr0xnoI4h/z+xf2TwZA/oFdx6cRnLwp7hz2ulc1Wr7Q8HAlK6ljb5Li6T1jTcifN+x1whWQr7J8V8mdN7K/tsweAgxoEsC5tfaTL8h5mdzV3H4soiS8VgJnZOd1abRBxGiPPgYM4GXpNFCQaLxKPShO+dyNQ2IENQJkqt+yAXHLKzPHDYQO5nZiw4DzKzuw//ZtFqCQcIFoLSodXfxw1CobUAACAASURBVKKdCx7yd9oFPw5+zzEz3nVM8K8ktgaSU5MpB7R1vn/uL+TpsR0FHznAk2aPTYcq8BTFu517acbtXmOApcPkxdJ1zNHjJ2Iab2VzZWHNAqlkQ+FAw0HqDCPPYmO+mtv8mEPMJzbZ1hzi3ajK/biR9qcSDL5lvp2cRa4Dqt8cmu6cyMbY9atqf8r89X0kcwprHmTOf2et93hPUjBwMB2T2vyAwJCVDBI3Ju9LbqsoDTZBIOm3dR1BucJazgEL0sw3MCaQ0r82M7IUtmQRgsEhle+c9ZzDXo9wIOQdntJxMQoFvy/+WyIx3HqNtLfRh5awrrNPjBXtPKj5cz4ze2hS5HRA8pusQ6yr7EljcslAMCGbrKHMH3CN54cxggHxH1urWUvZG7KwfvK983cKCUN6vIwRDAgRCqie/Zd22UPYv5iX3x8BKAasbzrBuOaQqfBvJpAgFDR3GQg46+jeyT4TDA7XF0wjzgfGJkgcRhRcR7w/Oovql5Im02vYxyYPGzQHjtrBdxGCwUHjhSHl6lg/8u+863WGReMFIzdwmHqEu4b/vuuQzvdZSRvZ+zwsKeCNlqMmaF18+lj+G2sMmtTsytbzPGJrOMjWZMoBbZ3vT3/ZeFiUpmhx0KyzCTxp0Pr/lXtpiCAH+JaAMQeOfDihrbgB5fvRxPnf+O+PmxkH+5z2b2x8XurintBs3nTsBvf7WBKGKQQDwvJ3E57tL0VDy6bRun+V7U+Zv7nfHA5es2BtE0g+BRjHDoil+cEhikNprq/SAznWKpQKXgvbc98qroFQMNZZsKbdJylnxgi17w9aTTS/LUvcVIKBppYD65S1wveJQ6AnTyX8zpMskPk3CCAHckjqE5OFpBd3nsUza3IQ8wfrC5Zgn966931QHN56xKKJ4pJxzcJ/Mw/iu+bfWwRjyloNqfDvxH/fIezl+Zk1gsH5EOLFfr+IUKsDi5BPfx7b2RaCATlj7mL9mSqQPbw8ODPtlewrwcCNhww5WWsKqz+kMvKeiHAJCwran1MlUzBaWTQvaKeYSJimMZ1x4IuLFhpYX9TPP3IqwWBTweR9bNcIBx/6wj+4dfxwWCCOnvrKh86BEK1xFjRLbCAfa8x6XGzQkmfhI4NgPSz9AZMkJAfTImZx+oNG+7rBVMnlY8HD3M/YZGEDR/tHwTcOORx+2VBx4eD/T540iIydfy/ux+yMqbYkUw5o63x/vkcOZJn45r6DN9pGXPowwWJhQHNKSuUcmP2QpA1Dw5IFLZu3PpWwQKvsXZfYhGoHSchBNu/TFmSbgzRaTly3npcOkxAW3AvoI5araJ3AJYmxhWAgWAXQBn8yfUO43dE2LgtewAGNX81FqZdg0F82ej9nvpU0krTBhogigG+HQxwaQ/rjFQp8a7gYYcGJsur2p8xf+obrDi5eUdPMu5KKGNLPvOIAw7qGuwvKh2jlwDIIia1JnB+QfAhvdqlBWcNai5YSLSdzlzHGbQpXDS9UKvYH+8ZjV/oT7lBY2LLghsk8yAoMDlEoNFhDWW95J8Yf19mIN9Zw3DtLiizan0IwGBvcyrw/OW2wDtMfiD/rKXOcPYlDLX3yChyuh+C3LBkQPeZOFtx9scZAGtmz0FDzPNYm3IjoF6lAWSe8OyX3U5eG+cVcK8m65w9zE8uaFxRhWMHxUsBSwUEd/C6SrETsOV5aezrXxZgJ9kDOEHx7WZgPrD+sNygi/RrrnzVlrWYu+vUKxRVzFEVqFs5AzA/2HfaUKLFaOL9D+lmrOfdgZWRMUS7h0cGeHxUJnEOYQzUX6VUTDPrMuyPsSXyDXlh/vLWU8WYsojw9uQL6vzPfIad4Zhye5j7zGzcyiCtutlnYL9gLxxS6hUdv75/2lWCwOXAoznKrIS3nEyrDGP1COVAzifg40aiy0JYELQ8HXK/ZZSHhYysd6KcSDMyzbBhZIAscqlv+vvjW0yc/8VvkirZxufEHThZAYgPwF+Xwioa85I/KgYGDK8/0woLLIlsSDqZ+U4ZQcDhhkbp62Oj8/fges8n5gyzvCR4lmXJAW+f7xxR69B2fdA5gJW0umwWHeszwLIwc1P0Cj3sXxKMlEEY2vCxounGhKwluUJ6Is8lg7mc+s/mVXEAunuakJ9vMCw7tjDVEFSLkTfr52Y8pEPLsllXqXy/BYF5xiM7CwY650qroip8tWPM+WXhePETx26rbnzJ/WeOxAHpXHrCGLMTDlcf0j5OW1WvHObTgLlorTBXnR/5+OVygwavVVTljUiT4wxubPK6CHPgOUmIMVl7/WctRPmDRKMWMcKhhTYqJQ9CAovkvyRSCwSE/toP7G+4btRgW9i2UT+CdhYMRhL5mWT97Ii35esYecogSifHFNQsX2JJE6w/XQBo5uJZknfOHeQ1x8odwSBnrGAS4JOx5rJexAGlrTTpXiAvkGex/rPVYs7AMgiPrN0J/aq7UU9ZqrBJe+QhJZi/gW8SllgNzzphZeibrHHu9PyMyPzkk1ywS7L9Y97Cce2lZytZBMHJf+CaZ7156grxjnAf3c35kHtSsrKxdEGavJOPMiEfG3qR/31eCEV0zWGxqi0pc9JlcaFDRwnrTZ2lB4hCFz2TPxzaFYHB45zDuD229mX8wd2brA/3isIH2ovahYHHhoBelFhTvr0OThVba95OFDrNrSfjwvIaFawiWROsXF4Z4fwzGZJFmgS1pu6cc0Nb5/mx4ENAsVJlng2oFyLPpMQ+xREXpIRgEjOdDJJYhrEU1ITgUUu0FLSmkphXEWdL+0AaaQjQ9NYEIo13y2jUSMfhAdn9vD8HAFYyDstfOc1hi4x8TtL+QODaPLFg4OHRmWXX7PGfK/I1aT+5vKVQ8Bny/aOjRrGbhUFtzEyjND74/SCiWyJYwD5gnXrDkoaU/SOHAXopjisHepT5izYB8eyUTFgAf0+fvm0IwwMUfXnqzIKL4iv7gWLdxnysJ3zZzIAqkFZKeD8ale1n3+a58jBPP4XklWef8QcnhY4I4NGMN6jn8xXvBByJWkkjQ2M840PMcxqKkLa/N9ylrdVTWsZewVkEcemIvSZbC3pOFZ9PfnjT+rBEQ4CyQcchtiZhsOsE4avLY8N8wwdt4g4wl+8AbA4siFuQsnKV8nGRtrHfi7/tKMNDCMOERtK5spDUpEQx86W7QOQOYjBwIsnBQRlMXtUxTCAZaZtyWmPT8w0bGx89kHhOujxon+odmqySlAzYLKotPzdTv20EL4q0YaIG95cVfWyIYuKZ4a1Pt/UpkDi0sB8IoUw5o63r/WGGUPnPo8kWBau8OKWFDiG5iYwQD7Y23OqDRjto5/8zSAQAXKe9CV+ojJn+0OV7QmLLw1twl8rXMF+/2RR+wZpWkh2CQHcabxCHYvcGxPBPNY9bis45g4fSWj1W3Tx+mzF8seT7rDwdc5svY5pjxJeaKOKQsHDBwGcE1IkppfqDh9xay2hxmI4esejLT0vbX2pn77yWCwTfD2tI6XOd+ENwcrYhoMVG8ROklGGiK0fZDdFnPcf3gWx+LkcnP49BPH7LQP58p0PerRDCwWEMaegLxY2Y7DtjMn5Ksa/6w9zOGfr2kHlZco2pzCSUM93vFmc+oN4Yfv0O6e7OLcf3Utbq0l/Ym/YhuXTyfNZfx6RHmJGuj/5Zr7rqbTjCiVwFzn7EYU3hmnDjr+GQArHHM/94sZD14b+w1+0gw2Bi8CwiBWviy16REMHyq2rHBLfl5smhHN6kpBCM+k3GcktoRbbNf5HFfwAJQktIBmwA/fA97JPpx4q8Y3aZyO3FRHPO598/HqhMzVqCtiRYk7plyQFvX+8fncHhBc4+2vUdKQYNjBIMDnHcNxBRcc2OhD/EAkP2Tx7RwxFtEojcWiJ/fOR5QfBabiEsPwSiZyTmo9W4YY2Ox6vanzF9c0CBw3nWwhxD6d0SrGxMzoPn1qTfz9aUDImOP9rNHcB3BWpmlZa3qaW+Oa0oEo8d6kZ+N1jgGdvOtlzKi9RKM0ntN2QOie23LklgiGPjg47bZI7ge4uaZBWLLXlfar9Y1f3Dj8ckvIAtYcafsobgW45qbpaaZLuFHHIC3VPfgOHWtjnspykD2/DGFDn0heQXrRBasIZCGHoVivifigwKsZGXfdIKB5dW7l2Jl9YlUxsaOuQ6p9p4ZY8lKxtrcmt/3kWBEn/oxzUVc9HMAa68GsLTBlLTyyxCMqRMOLSZuIVnQUNYy4pQO2GhpW5khfH/wufV1M2oLDffERRESA5nplRjYVjsILUswVvH+EF384rOgGScDSa8QrJmDpvM9YwTD+zwzn9lEWmQhHgBaY+n7XSJ/+K+TAnRMGH8fWNx6Zg/BYM3DHdD7Xj87WYt6v+lWn1fdPs/unb8EGxIn4wX/e9wlpggWT+8iUDv4x/lB7NSUFMDR2sKa5K0nU/o817UlggHp6rEW5z54izl/q1l1liEYU943+vJDFmsphEsHZMgFJKNHStpwXFdLLrnrmj/Rq6DXyubfF6Uk92UhgUFMSsFvJfyYU5CcKTJ1rY57ac5e1fNMAvZ97BDp+En6MEVww/QkmliqXJfLt7PJBAPFDBZbv1f0elT4d0Rpx31ZcqrrKXhu5bX7SDB8ACaMHGbZ8iuMiz6MlqDaXgFj3AlwAciCVpYaEl7WSTCirz9xGT4Vre9XJBhoQHpTktJOXGiw3NRSVsZFEdcKv4iPYU5WB9wFstTMur0HNNpZ1/ujmSfTSxYsSliWeoVAzRhH1CIYzDfwzul/xzJ80Y94AOh1FYx52Wmr10WAzCQQgCyt+dNDMGgnkjn+xqZKbAcufVM0daXxWXX7vfOXeCdfFI51iM1yiqaW9/O59/n/WirNOD9wbfQb69hcJsOKd38by9Az1t4cv0eCgWsDGE6ZI7jC+D2DOUYGsijrIhi4NPoCnK3U1KUDcm/MEu+HO2+01rNGl2Id1jV/UKL4uK4pFvk8ZrE+CC6fHKBjsooSflg+vFVnbJ4uslbHvZR6PwSUjwlrNZ4APhHMmKKq1CZeCrF2Dm7VPiMZ920ywYjxM/QXhQmKkykSa2kRv4TyZ+dl3wgGgZ1YIDIj7QmMi4s+2lSvae6ZJD44i+tL5tRlCAaHREzRuBewoJHxhsWOoNTol8/zCT7ybhNTCAa+w95/d+z9o2l3CsEYc9mJz8YUybtnWQXBWNX7Qw4gCVlKJHQM6xjY19oYYn72niQB8QDQWymcfsdDbc1nOb5jzOAxB8HAJQoyUgpo5/BBPBKHQlLQ+gDuMfzz76tuv5dg4P7mA7Jb2LXejdgc7xZQI6Nxfoy5n8ZnxnibTSQYWH98FqaeORGTitSCghclGOwdHFjQOhMfRGwT6z//lOo7sP+RHCLLVIKBG2Atc1TEI7ok83svwVjF/GGvjNniiA+YWnEZxWSMSSgdPpclaOC1yFq9qLKO/ZN91MuU+It8H3Mwrp2l1PGbTDAggrh6eSGerZV0pbQeoEy4t/sB7w+8IHZe9o1g4Evns5n0ZEKKiz6WB18BvGeSxIwMJT++RQgGlgQC9Agk8htGT5/8NVMIRo+m27e9DMFo1bIoveM6CMaq3j+6ofS6EHkcOPx4l5QWwcAH2Zvp0TiNVVqPB0iygfkaAa15FwkGByFc9cZkFQSDZ3Lwwe1gjCzjn42bEe47kI7etKmrbL+XYERf+yluEn5cosYbhUmpyFycH1NrWWwDwaAIZq6kPDZ38+/Rpx2XqVjBmWunEgwUZqzd1K7J9XB6++Svm0owIC69sWHLEIxVzB8CvGtplhfBzt9DohUKEXopEQxiIeIhvvXsRdbqSDA4I/B9jUkpXg7r21gWuNguSkwCmr1gjY7VzzeZYJQy243h1/M7GS5jPZqe+7bumn0jGBzGyeqRBc3AmOYiLvqLmAtjG6VMOFMJBgFTHHxKBXKmTkQRjN8t8Ofxiy5SqyIYLDreLE2avxhTMTausShka656dyKezTwaOzzvEsEAS7KcQJBwxYvpkUtYs2GizWcd6Ulnuar2ewlGrMeBZcZntBubT/n3w1Lu/Pz/uCJ6S2H++z4QjEUwjG5WzB3vypnxm0Iw+F5xtfCpRHvHM163TwSj5PayKG7xPjTV0S2oRDCwosSEJK0+LLJWR4LR65ZVSmOMO5gvDNiDF5n54n5SSo+9yQQjxuv2vHfvNZz3prhZ9ra7UdftG8EgG0qufErcBYeKsUGOiz4ExdeR6BnQGDRF0A+aWS9TCAZpbslEEckFmkXMyhw00dJwIMJnOGqPl4nBWNUBGyziorhPFgx8eH2czliF3dK86yXDZBfKVVxpp3XA8M/ZNYKR3w3cyelPdo/LdGiDWTuIj8EC0iNzt99LMGLQNAoJ3m+qxGJztVSj+0AwCBD2RRp7sIwEDWtlri7s7+8lGLi9YkmJRfxw/WH9R9vMXkC8HOtKTF6wbAzGNlswSjEhPWPYc03pEF8iGFPwW3StXnQvLQXlT8mamXHCuhZTsZbSTm8ywYjxoz1zoPeaqSSzt92Num6fCAbuRGyM+Z3JeU0GqTGJi36PW1VsM7pIlbIjTSEYpcJlHAKooFmqiBz7I4JhxkEhCwdGTLolWZcFIwYe3jZVjR2bn/530i/jkpClZsHAp5aA2iy97li7SjA8hqwPaIVxC0AjSeC9z+eer4W0U5+jp0bL3O33Egwy/fjsLyg6LjJlQqVrqa/gi0ORctjPs9zkPhAMAt59NfceOKOLVC27Vi/BiIcy+oBlBTeY6JZS6t8+EwyUcxQU9ULRXJJsrEKWJRiLrtWLEgxcbGOWOeJ7sJZNEYgRMYFeSm5am0wwYoKRVorlKdjszbX7RDBIrUfWmyy91Wzjot+bjcFPohjkzQLv80xzbS/BwI2GD9dru6emkYsHUblIHTzBoOaHDzpexBUvZtGqtQHB9QX10Or52jC1BXAfCEZ8d2KbONBDNGPmHzTGBOb3HOpqmC7Sfi/BIAObr/HDGDPWU+UZobAolaAvUGhkHwgGVnBfq6MHyxjkjYKn5NrUSzCwXniiSIIIYppKxQ9L/YvB//vkIkWAe4wfqaUz7xnbsWuWJRiLrtWLEoxSIV4UKV4hNfbO/B4LA/I3LH9escffliUYMT07geWUBihJqUYR/azF5BDQjRXYSy3Fcg8me3fNPhEMiglRlTELhXViWs/SBIiLfi1FY23ylNLUlupO9BIM0nvGqttseLEYVq0/mNfx//S5nUUwDp5gRCvX1NzsBA5SQNFLjWCwCJPlA0GbV8qmVJo/+0gwPA6QMrLI+cxsaPbJCjeH9LbfSzBYZ3z6aXyiUVCMuYXGdyFODT/sLBw2fHX1/Pd9IBgta2dtDuCa5tNS1upO9BAMrGnUkPBZAEk/iuKrV2IdiH0iGGAUC83O+Q3HMViWYCy6Vi9KMDivoDjhIJ2FZCDEEU2R0jmlpMiKBIOkGqed8CBc1omJyzInwSgFvBPDQxY4SQcC+0IweE8Wlez3OmUSx0V/avGoUrq2y5nZa8L49BIMfL+f4u6lmjJa0N4iYWi+0IB5EcE4eIIRM+hMDSaNFjrGt0QwyJr0cTf4BC17a0Zr2dh3ggE2UVFRO2x3LL/FS3ra7yUYuH7EzGC92bty5zjIcljxLoS19WIfCAa4TCm0yfXsNz5rVC37Wg/BKNW7IatVXNNr8w+CQgwIcQBZ9o1goCT0hQWx0HHQXYUsQzCWWasXJRhgQHpu7wb44iHj39UmghOVG5Bi1pB4TsFtymeWOnxQ4pDmu1fivjknweDciLeIX/tI142LuqQDgX0hGOcIBV6m5NeOiz6wwrDZNHqkdPArbVC9BAN/eVysskCc8CvtFdypYoC5CMbBEwyqIxNDk6U3CUG+PhYp4+8lghHnz5RaI7tGMNDmT81pfoPhsMiBJEutaBq/r6r9XoJBKkRiewi4zELWLA64vUIMSvRP52+si1H2hWBAyCHmPcJa/+VwYa0Sdg/BiHsZTaNpxQ23R6jhxP7nZd8IRtR6841wqB3LoteDb7xmGYKxzFq9DMGISR3weCANMsrMXiHRAGUBstQKFF/BzLDoZSGGFBLcE0vKuoYF3mdkm5Ng0Kdo7WtVve/FZm+u2xeCcbewqRLcTZB3j5QIBnmp/WGw1Q7s3weTk/2JTSJKL8GIJkVSjGLO7LFg4FPIBxLHnUJDLColWVeQM89eZlHk/m2ugxFrtPA+pbSHpTEi4JaaEt5tgutKBONVZoYFDWHO4HPLBtsj204wOPBTwwb/d/5hMyIt4xQhffAT3Q1eu7fq9vNjewkG15OxzlfT5iCKZrTXTYqK8l67i78yCpbSerMvBAPChXWoR0jWQEHKLOCOJb2U5riHYOBf/vnwYOJhiIsZE1whcaWNKZmp74JLS0mWOSDT3qbVwaBPKOT49v16OTVrH3ixZ+L+hrUZN8LSAXwZ/JZZq5fZS6PlBMyoCYF1tUdYHyhI64s84nnBWhKllBa31w0penPQ9lSCMaYsjnWYID5YgXm/XuGsSEkE5gr/cAbcC9kXgkEGhBygyQLPAouGuEdKBANzH5NsrMovHwoLuvfZZrJBUKL0EowLpjS0/v6eeh4s9LwL785B3KdJbAWui2D8ro/9qtL0Mv4EaZN9Iwvzlo0sphn2Y48WBzcY7yOff48Eg8QAmHxzvQ2KQk05YG87wQCX6K4yxYLD/bG2RFQ2rLp9+jCFYJSIaykGrLQWMjdIee0PYq3kA/tCMMCKlMZjaYqJc6N6OsXdsuB+4jW7HvcegsE6gY+8j6FrKYhy+yihcMtlnYjrfytwfZkDMs/eRIJBvxi7Qxz4KFmoLTW2p3ML6eGpC+GLmtay/i2K37Jr9TIEg3eERGOpzAIuxHrGzFBx3eBMifKWlL1ZmK9YiEpJCEoxRWRdY41qCd8UcYsxVX+LYHD2icSe89S7Gw9ifyUBi6/7QzY+zpMxDW+pGdL+8l37pDy9BGoEgs3/eR8IRsy6xIYZ84e3Riou+uQWxyRHqkb8OGNKt9wWPrccEPGZzYKpkeBy2ojSSzAoYMNB1PsF8k5sWuQ8LwkaTLJR4HeLixTkipzUWd5rZuev3CuCsR6CAfwxnSV/e3iyRJQ0zswB/FexSLBwsriySWaJh0EWRZ9u8MGhgNrYirULBCO6R/DNkFEOv9oWkeOQzUGONNVZuB5FA4fILKtun+dMIRhcHw9TzCUsMS03H5QWHBS8+wHxZ9QRwmpakn0gGHn9BwNSiMasOBkX3NNYa3EB8cLYxSQd+fcegsG1sb4Jhz4OMtGykdvlQMPYcCCGAD8oaJPRvDPOJaXbogfk/OxNJRhorsnm5SsqY51jTGM1bj9+4MG48u8sHEDR+pfcLRfFb9m1elmCAZng4O2tEFhpwCcmE8k4cNbCfftmYc7jlkdyjJpEMsPBnRpYWNZKwlmF9ODEt6LwwTMjS4tg8C6s915hghWKdb0lnJ+wBHuhb1h1iBmpCQSWeFmvNCwVWR55/Pb+vA8Eg8MXpsYsU+tYxEUfX3myTsCc+RDINU/7TGwYOkydTYQNPJaDbxXp6yUYvEf0keRvmN0oAIipnI8I1xdM5/j7Zu02CygbEYFVMfMNh03S+NIPrsNKg4hgrI9goGEhsxlFeLygYeQwiMaGlKhcxwZECtKsWWGcCUDzqVQjwcD3HnfBLJcoBAG3VrNdIBgkRADPWMeBw/Mr0nfEpsE3xLXgi0sjm4VXFoAT6T4hJ15W3T7PmkoweAfmTgyeJDD42cm9jnnFRnjGpH1EeeL3B/zT0Wi2XHH2gWDwjqytBFYjrP24yZECGE0t3ybkDAVOTJc5VqSvl2CUMvRAfMimw8EnB6ZCLHDPZe5yqGIMce0iTWvMhMNBjb2Rd+Cg/JX0fosekPM3sakEg/6V6ong+ocbMf9AxtgHUczxHnx3EEbvkQA5YzxiMoX8/ovit+xavSzBoP/3TmTUr2/MD2LQIMnMEdYIvCGYV+xBMSPhy4KlqLS/kN0zul/hisS3hsWP9ZhzCfFMjAFnOp7Lms3c9nOZeKecIbH0rA8PChe+iywoiTjDYZHiG0EBTAbH6AIVXUW5n++IIHO+OUgX50FiVWgfC2f0DgAviBsK4r2QfSAYsahQjzuRH/y46FO/gs2Ew4gPnhybMBzeYbw1LekUgoGmAKvDlJz2fKQcPuk7ByU+ztr482FkLY4IxvoIBnOIzYrNbcrcIoUgqQS9KyBtRYLhCyyigYUkTwls3AWCAS5oLwk69K4rY99v/J1DJYWYSmbyVbc/lWDQdyyqbIRTUkDmd+bAepWOTEX7QDDIQIQ7DNpcDjy9QowUpKRVM6WXYPDM0oGn1RcOwsxXNL+s+xyea/UCfNKPRQ/I20Aw6CNJG7Du4xkwVSBiYMohuiaL4rfsWj0HweCdiFnzVtspGHFwJ05ibI9hPrJ31VwHS8/EpY1MV7yntyKMZaGK8biltktJLCAfKGV9XaEpWKCAZm+vebxMaWtrrt0HgkFKTsyXyNTMPNwTF/3sv8xmAZOvLdJ5EvBxoVnCLN3KjDCFYNA2WgMOOT3uXgQWkfnEVzCNxZb8pBXB+C0a6yRY+akQQYpz+dSWpUWFgx858HNWoxbBQIvN4pu/+VbmmNoCtisEg/dDW4/FD9I/5XBBik82XQ4lrcQKq2x/EYLBO0Mo6TubZA+B5f1wB0GTWStG5efKPhCMnEUGLSnfXU9Vbw71t664xnr8phAM5uxjk6V87MBBYD/WTXzHs8TgVd/GPhEM3hu3UvboS44B6X7HGnWHjgPjIgRjjrV6LoLBK2MxwKKCO2iPsFYQm1YK6q7dj5UIKwaKjDGBfOGFgZUBaz9WlSwQD6wINSEWApesmks499Wy5PEbLmKc5bD09giWcNykDk31x3ru2Zlrdp1gYK7DPzILPsU+o1PPQMZF/y6DyfSR6UY2afzzCGgiKw0uCBAFzNUwVszn+Mj3rTbsmQAAFXdJREFUpLSdSjDoAuOHKwNFr3CHYmHiA8Ksi4UCLRsmPMx/UWDkkCU0OJgF0XBBQDD1cgjJcSLrPGAvuyhucxapOD4EvzGuLLgs7IwthwoWUNzh8MNmQSauJwtj57Pb+AJc0QxNCkSf3abnW9glgpHfF6KO2wMHRdwgODji2sh3hIYSfHFbw7TOoQIrwJR0jatof1GCkd+ZLDqsG2jUUL6wIbNR8658g2jZsPBwmO4pRprb3QeCwXeHf3gWtK4c1gkWRdmEdRkrBS4TfI/4brMO98gUgpHbY98hAxIKLywqHNSYt7iKYIXG4sI/pRgu9i32M+JqWFtYP/G7J+4rW7AXOSD7d91kF6k4JhANDtO4jmLdJC6FYHrwxK2FAy0kjXNEbxahRfCbY61edi+N2OAWxlxn7eEATmHXfJBnT0LxwjxnfSSZwJQ10j8LhSmuVvyb+cy6lM8mJFhhjQH/rNyJ5yYsyriptoQxZd5DFrJFF5LCWZFnHOZcBEvtcHaCjLJ+UleMNZ65Ql9wm8IVirg8Uphj3dobl6gI1q4TjJ5FfeyaRRb9sTb1uxBYBQLEFnBYyKKiQKtAWW3uEwK4H/og0EUsf/uEl95VCAgBIfAbBEQwxieCCMY4RrpiMxDAZcpnrEBL7YsYbUYv1QshsD0IiGBsz1ipp0JACGwQAiIY44MhgjGOka44eARwc4vVfHER9HE3B99L9UAIbBcCIhjbNV7qrRAQAhuCgAjG+ECIYIxjpCvmQYCMG/gBnyH9Q7o8gut6hPTJvro8xCKmDOxpR9cIASHwWwREMDQbhIAQEAILICCCMQ6aCMY4RrpiHgRI63cd1xTBYqQi9oHcpSdBJAgqI8Azy9QievO8gVoRAruFgAjGbo2n3kYICIE1ISCCMQ60CMY4RrpiHgTInOFTSdLqW1OWGjK8lIR0ecRZUKU3C6nxyI5Rq7g6T2/VihDYfQREMHZ/jPWGQkAIrAABEYxxUEUwxjHSFfMh8PRUm8G3SOo90l1CPkg/ScpJUviRKu9qhToONx9SJj9pvi6pJSFw4AhQIXtd+xXFUEm9iYhgHPjQqwNCQAhsIwLrWrC3EZvcZxGMbR697es7ObzJnX2ZBbtODm8Ko0mEwC4hQJFS8s+vQyDw5LQXwVgH2nqGEBACO4mACMb4sIpgjGOkK+ZFgIPUPczs7iGuovUUCj9xD0W1JEJg1xAQwdi1EdX7CAEhsNMIiGCMD68IxjhGumI1CBx3qCB9SKoYevZUPZVA7p+nasFkiqJ66htSlWlcOyRCYBcREMHYxVHVOwkBIbCzCIhg7OzQ6sWEgBAQAkJACAgBISAEhMD6ERDBWD/meqIQEAJCQAgIASEgBISAENhZBEQwdnZo9WJCQAgIASEgBISAEBACQmD9CIhgrB9zPVEICAEhIASEgBAQAkJACOwsAiIYOzu0ejEhIASEgBAQAkJACAgBIbB+BEQw1o+5nigEhIAQEAJCQAgIASEgBHYWARGMnR1avZgQEAJCQAgIASEgBISAEFg/AiIY68dcTxQCQkAICAEhIASEgBAQAjuLgAjGzg6tXkwICAEhIASEgBAQAkJACKwfARGM9WOuJwoBISAEhIAQEAJCQAgIgZ1FQARjZ4dWLyYEhIAQEAJCQAgIASEgBNaPgAjG+jHXE4WAEBAC+4DAv5vZBdyL3tHMHr3GF+dZt3fPe4iZ3XONz9ejhIAQEAJ7i4AIxt4OvV5cCAgBIbBSBA6aYBxxIDivNrNLubf8KzN7+krfWo0LASEgBISAiWBoEggBISAEhMAqEDhogsE7Hc/MPjCQilOnF/yFmV3czN65ihdWm0JACAgBIfC/CIhgaCYIASEgBOZH4IZmdprULK46353/ERvf4iYQDECCULzJ7XefN7Nzmtn3Nx5BdVAICAEhsKUIiGBs6cCp20JACGw0Al8zsxOnHkI0vrDRvV1N545lZkdyTf9kiIH42WoeNdrqowaSdwd31TPNDBIoEQJCQAgIgRUgIIKxAlDVpBAQAnuNwGnN7LMOgX0lGJs0CY5hZp82s5O7ThGb8YZN6qT6IgSEgBDYFQREMHZlJP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+ <defs/>
+ <rect fill="#ffffff" width="100%" height="100%" x="0" y="0"/>
+ <g>
+ <g>
+ <path d="M 200 80 L 233.63 80" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+ <path d="M 238.88 80 L 231.88 83.5 L 233.63 80 L 231.88 76.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+ </g>
+ <g>
+ <rect x="0" y="40" width="200" height="80" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+ </g>
+ <g>
+ <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: 198px; height: 1px; padding-top: 80px; 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;">
+ <b>
+ route msg in yaml format
+ <br/>
+ </b>
+ (to simulate /planning/mission_planner/route topic)
+ </div>
+ </div>
+ </div>
+ </foreignObject>
+ <image
+ x="1"
+ y="51.5"
+ width="198"
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+ </g>
+ <g>
+ <path d="M 360 80 L 393.63 80" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+ <path d="M 398.88 80 L 391.88 83.5 L 393.63 80 L 391.88 76.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+ </g>
+ <g>
+ <rect x="240" y="60" width="120" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+ </g>
+ <g>
+ <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: 80px; 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;">
+ mock_data_parser
+ </div>
+ </div>
+ </div>
+ </foreignObject>
+ <image
+ x="241"
+ y="73.5"
+ width="118"
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Q+VAshRjBHuVzUVMG25JneCUN1GarM5GhugMPeiP3Ppg6SsQGgewqAK9nNEW3WAHA+lIFlDNUJK11qrjBjzgbCeHMBHB5Gbm4L2IyPQwGbjHUKdK2jFuB8Aj62t1SphDQhHA19FY5LAY7SOuSxJiotaMA+kC5Ge15mG+1/+Z7QoBzAIf0Q1OxVT89Lsgq40KzTigBcAHJpgCPgF4ePrfrCM3016jSPALjSN7qy3RoAzrvS5/x6e67ab1eA7RSAI3wCQANo+P6CD4DFBka4APXISqgW4HwCvn1GV+yVbVMKcHiivYG8z7MJ/0k8J0AXqRaPKxU27Dcc0hfScnzxAIdTAycKNiwuiy47Jp5K1mQ/xvzHNrylK/VqDgkOaQ3pmTX76rmE15D9kXPIBMCVvBUj2mwa4HgxCVa1NbRKbFQ1S/WqEdH8OBs48JZqvmxPPzyY2FP45gLqNGvJEXFi2OH4+Ewp1QIc4/oE/PSsvni71KYU4GjvU874G55C8hvJiwTIsLMB+BjZ04tOADcgQiUPW1UFyZJ0MsCM3GVbWcQDHMDBRYFtEb7CUyQlpDnGYV+py4YHnRxRS0NBwmO+bM/4OJI4B9gGKQdlc6jT8wkLIsSmqwBrAFzpm1HZbtMAx4vv61jxXVOiz+ciVEZuepsvSeqXzc/kWR7g5ng+gby85DaboGTcMQCX+5ITUoPNy+16dg3AMR5VWmo++rJ3G7aCekkmBaXoc8TlY4HJAxzSH2sCLO1HfIZ4yqWJ7bCvbt3c1UTSnJgvAdh9ZyAAbmgHR/6+aYDzX02ay7ng2eGrmOaMzXMCHBVNUL3eUFEM0s55DMDRn8qutvSN/2bmHADHGEiFGPDtdwdyYxOXx0WC7S7ZAAEm9t1++jH1HQK4FMOGbYswGK8G+jmgDhIuRJI+c+mjuQEOzYSPkqPC930DlzkFwI0EsKFumwQ4Ch36OmBzORf8uqmFhpHbEh9fsV/sGgNw2AtRdTnMVPdAsiFPc8gAPrQvYwEOCSflt1LBgpAInzmQe3aNBJf6U66bqhw4M/BMojZi0MeLi6rKpYLklPsQDWW+SbvCjsYHm5HsCP3AAWO/K+AlOIo1puBvgBLnBU4KqoUAttg+sbHBf1RXwlhKQ0rGAhzgxRnAQ46mgGOD6s2sv7QwZwDc0BsRvwcHtpADHuDIq7XfBN3CJW/3kqbU1dpuzsTqDogcCIDbsl0PgNuyDY3lTOJAANwk9q2vcwDc+vYkZrQ5DgTAbY73izw5AG4RtsagO5QDAXA7dOO6ph0At2UbGsuZxIEAuEnsW1/nALj17UnMaHMcCIDbHO8XeXIA3CJsjUF3KAcC4HboxoWKumUbF8tZhAMBcIuwdXODhgS3Od7Hk9fHgQC49e3JpBkFwE1iX3QODgQH1syBALg1707MLTgQHJjEgQC4SeyLzsGB4MCaORAAt+bdibkFB4IDkzgQADeJfdE5OBAcWDMHAuDWvDsxt+BAcGASBwLgJrEvOgcHggNr5kAA3Jp3J+YWHAgOTOJAANwk9kXn4EBwYM0cCIBb8+7E3IIDwYFJHAiAm8S+6BwcCA6smQMBcGvenZhbcCA4MIkDAXCT2BedgwPBgTVzIABuzbsTcwsOBAcmceD/+ufegbSfAKwAAAAASUVORK5CYII="
+ />
+ </switch>
+ </g>
+ </g>
+ <g>
+ <path d="M 480 80 L 633.63 80" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+ <path d="M 638.88 80 L 631.88 83.5 L 633.63 80 L 631.88 76.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+ </g>
+ <g>
+ <rect x="640" y="60" width="80" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+ </g>
+ <g>
+ <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: 80px; 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;">
+ test route handler
+ </div>
+ </div>
+ </div>
+ </foreignObject>
+ <image
+ x="641"
+ y="66"
+ width="78"
+ height="32"
+ 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+ <g>
+ <rect x="220" y="30" width="380" height="190" fill="none" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+ </g>
+ <g>
+ <rect x="220" y="0" width="380" height="30" fill="none" stroke="none" pointer-events="all"/>
+ </g>
+ <g>
+ <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: 378px; height: 1px; padding-top: 15px; 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;">
+ planning_test_utils
+ </div>
+ </div>
+ </div>
+ </foreignObject>
+ <image
+ x="221"
+ y="8.5"
+ width="378"
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"
+ />
+ </switch>
+ </g>
+ </g>
+ </g>
+</svg>
From f136c6fb06c78fa8f8f563d6f9960333ab86ecad Mon Sep 17 00:00:00 2001
From: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Date: Tue, 21 May 2024 10:35:19 +0900
Subject: [PATCH 19/19] fix lane change test route width
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
.../route_handler/images/lane_change_test_route.svg | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/planning/route_handler/images/lane_change_test_route.svg b/planning/route_handler/images/lane_change_test_route.svg
index dfd57000713ad..e71c8e13b1760 100644
--- a/planning/route_handler/images/lane_change_test_route.svg
+++ b/planning/route_handler/images/lane_change_test_route.svg
@@ -43,7 +43,7 @@
<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: 1px; height: 1px; padding-top: 170px; margin-left: 123px;"
+ style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 171px; margin-left: 123px;"
>
<div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
<div
@@ -56,7 +56,7 @@
</foreignObject>
<image
x="96.5"
- y="164"
+ y="165"
width="53"
height="15.75"
xlink:href="data:image/png;base64,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@@ -417,22 +417,22 @@
<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: 1px; height: 1px; padding-top: 91px; margin-left: 22px;">
+ <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 91px; margin-left: 23px;">
<div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
<div
style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"
>
- 3.0 meter
+ 3.5 meter
</div>
</div>
</div>
</foreignObject>
<image
- x="-1"
+ x="0"
y="85"
width="46"
height="15.75"
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