Merge branch 'main' into add-gtest-to-tensorrt-common

Author: mitsudome-r

.cspell-partial.json

@@ -5,5 +5,5 @@
     "perception/bytetrack/lib/**"
   ],
   "ignoreRegExpList": [],
-  "words": []
+  "words": ["dltype", "tvmgen", "quantizer", "imageio", "mimsave"]
 }

.github/CODEOWNERS

@@ -6,5 +6,5 @@ updates:
       interval: daily
     open-pull-requests-limit: 1
     labels:
-      - bot
-      - github-actions
+      - tag:bot
+      - type:github-actions

.github/dependabot.yaml

@@ -1,41 +1,41 @@
-ci:
+"type:ci":
   - .github/**/*
   - "*.json"
   - "*.yaml"
   - "*.cfg"
   - .clang-format
   - .gitignore
   - .prettierignore
-documentation:
+"type:documentation":
   - docs/**/*
   - "**/*.md"
   - "**/*.rst"
   - "**/*.jpg"
   - "**/*.png"
   - "**/*.svg"
-common:
+"component:common":
   - common/**/*
-control:
+"component:control":
   - control/**/*
-evaluator:
+"component:evaluator":
   - evaluator/**/*
-launch:
+"component:launch":
   - launch/**/*
-localization:
+"component:localization":
   - localization/**/*
-map:
+"component:map":
   - map/**/*
-perception:
+"component:perception":
   - perception/**/*
-planning:
+"component:planning":
   - planning/**/*
-sensing:
+"component:sensing":
   - sensing/**/*
-simulator:
+"component:simulation":
   - simulator/**/*
-system:
+"component:system":
   - system/**/*
-tools:
+"component:tools":
   - tools/**/*
-vehicle:
+"component:vehicle":
   - vehicle/**/*

.github/labeler.yaml

@@ -4,7 +4,7 @@
 daysUntilClose: false
 
 # Label to use when marking as stale
-staleLabel: stale
+staleLabel: status:stale
 
 # Comment to post when marking as stale
 markComment: >

.github/stale.yml

@@ -42,20 +42,6 @@
                   - \"\"
                   - -cuda
                 include:" {source}
-    - source: .github/workflows/build-and-test-differential.yaml
-      pre-commands: |
-        sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest" {source}
-
-        sd -s 'container: ${{ matrix.container }}' 'container: ${{ matrix.container }}${{ matrix.container-suffix }}' {source}
-        sd -- \
-        "       include:" \
-        "       container-suffix:
-                  - \"\"
-                  - -cuda
-                include:" {source}
-
-        sd "^    container: ghcr.io/autowarefoundation/autoware-universe:(\w+)-latest\$" \
-            "    container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest-cuda" {source}
     - source: .github/workflows/build-and-test-differential-self-hosted.yaml
       pre-commands: |
         sd "container: ros:(\w+)" "container: ghcr.io/autowarefoundation/autoware-universe:\$1-latest" {source}
@@ -98,4 +84,8 @@
         sd "/edit/main/docs/" "/edit/main/" {source}
         sd "docs_dir: .*" "docs_dir: ." {source}
         sd "assets/(\w+)" "docs/assets/\$1" {source}
+        sd -- \
+        "  - macros" \
+        "  - macros:
+              module_name: mkdocs_macros" {source}
     - source: docs/assets/js/mathjax.js

.github/sync-files.yaml

@@ -11,7 +11,7 @@ jobs:
   prevent-no-label-execution:
     uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
     with:
-      label: run-build-and-test-differential
+      label: tag:run-build-and-test-differential
 
   build-and-test-differential:
     needs: prevent-no-label-execution

.github/workflows/build-and-test-differential.yaml

@@ -22,7 +22,7 @@ jobs:
   prevent-no-label-execution:
     uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
     with:
-      label: deploy-docs
+      label: tag:deploy-docs
 
   deploy-docs:
     needs: prevent-no-label-execution

.github/workflows/deploy-docs.yaml

@@ -21,7 +21,7 @@ jobs:
   prevent-no-label-execution:
     uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
     with:
-      label: openai-pr-reviewer
+      label: tag:openai-pr-reviewer
   review:
     needs: prevent-no-label-execution
     if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}

.github/workflows/openai-pr-reviewer.yaml

@@ -28,6 +28,6 @@ jobs:
         with:
           token: ${{ steps.generate-token.outputs.token }}
           pr-labels: |
-            bot
-            sync-files
+            tag:bot
+            tag:sync-files
           auto-merge-method: squash

.github/workflows/sync-files.yaml

@@ -28,6 +28,6 @@ jobs:
         with:
           token: ${{ steps.generate-token.outputs.token }}
           pr-labels: |
-            bot
-            update-codeowners-from-packages
+            tag:bot
+            tag:update-codeowners-from-packages
           auto-merge-method: squash

.github/workflows/update-codeowners-from-packages.yaml

@@ -24,9 +24,11 @@
 
 #include <condition_variable>
 #include <list>
+#include <queue>
 #include <set>
 #include <string>
 #include <unordered_map>
+#include <utility>
 #include <vector>
 
 namespace autoware
@@ -45,10 +47,31 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC PredictedObjectsDisplay
   using PredictedObjects = autoware_auto_perception_msgs::msg::PredictedObjects;
 
   PredictedObjectsDisplay();
+  ~PredictedObjectsDisplay()
+  {
+    {
+      std::unique_lock<std::mutex> lock(queue_mutex);
+      should_terminate = true;
+    }
+    condition.notify_all();
+    for (std::thread & active_thread : threads) {
+      active_thread.join();
+    }
+    threads.clear();
+  }
 
 private:
   void processMessage(PredictedObjects::ConstSharedPtr msg) override;
 
+  void queueJob(std::function<void()> job)
+  {
+    {
+      std::unique_lock<std::mutex> lock(queue_mutex);
+      jobs.push(std::move(job));
+    }
+    condition.notify_one();
+  }
+
   boost::uuids::uuid to_boost_uuid(const unique_identifier_msgs::msg::UUID & uuid_msg)
   {
     const std::string uuid_str = uuid_to_string(uuid_msg);
@@ -100,6 +123,8 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC PredictedObjectsDisplay
     PredictedObjects::ConstSharedPtr msg);
   void workerThread();
 
+  void messageProcessorThreadJob();
+
   void update(float wall_dt, float ros_dt) override;
 
   std::unordered_map<boost::uuids::uuid, int32_t, boost::hash<boost::uuids::uuid>> id_map;
@@ -108,6 +133,14 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC PredictedObjectsDisplay
   int32_t marker_id = 0;
   const int32_t PATH_ID_CONSTANT = 1e3;
 
+  // max_num_threads: number of threads created in the thread pool, hard-coded to be 1;
+  int max_num_threads;
+
+  bool should_terminate{false};
+  std::mutex queue_mutex;
+  std::vector<std::thread> threads;
+  std::queue<std::function<void()>> jobs;
+
   PredictedObjects::ConstSharedPtr msg;
   bool consumed{false};
   std::mutex mutex;

common/autoware_auto_perception_rviz_plugin/include/object_detection/predicted_objects_display.hpp

@@ -25,27 +25,44 @@ namespace object_detection
 {
 PredictedObjectsDisplay::PredictedObjectsDisplay() : ObjectPolygonDisplayBase("tracks")
 {
-  std::thread worker(&PredictedObjectsDisplay::workerThread, this);
-  worker.detach();
+  max_num_threads = 1;  // hard code the number of threads to be created
+
+  for (int ii = 0; ii < max_num_threads; ++ii) {
+    threads.emplace_back(std::thread(&PredictedObjectsDisplay::workerThread, this));
+  }
 }
 
 void PredictedObjectsDisplay::workerThread()
-{
+{  // A standard working thread that waiting for jobs
   while (true) {
-    std::unique_lock<std::mutex> lock(mutex);
-    condition.wait(lock, [this] { return this->msg; });
+    std::function<void()> job;
+    {
+      std::unique_lock<std::mutex> lock(queue_mutex);
+      condition.wait(lock, [this] { return !jobs.empty() || should_terminate; });
+      if (should_terminate) {
+        return;
+      }
+      job = jobs.front();
+      jobs.pop();
+    }
+    job();
+  }
+}
 
-    auto tmp_msg = this->msg;
-    this->msg.reset();
+void PredictedObjectsDisplay::messageProcessorThreadJob()
+{
+  // Receiving
+  std::unique_lock<std::mutex> lock(mutex);
+  auto tmp_msg = this->msg;
+  this->msg.reset();
+  lock.unlock();
 
-    lock.unlock();
+  auto tmp_markers = createMarkers(tmp_msg);
 
-    auto tmp_markers = createMarkers(tmp_msg);
-    lock.lock();
-    markers = tmp_markers;
+  lock.lock();
+  markers = tmp_markers;
 
-    consumed = true;
-  }
+  consumed = true;
 }
 
 std::vector<visualization_msgs::msg::Marker::SharedPtr> PredictedObjectsDisplay::createMarkers(
@@ -188,7 +205,7 @@ void PredictedObjectsDisplay::processMessage(PredictedObjects::ConstSharedPtr ms
   std::unique_lock<std::mutex> lock(mutex);
 
   this->msg = msg;
-  condition.notify_one();
+  queueJob(std::bind(&PredictedObjectsDisplay::messageProcessorThreadJob, this));
 }
 
 void PredictedObjectsDisplay::update(float wall_dt, float ros_dt)

common/autoware_auto_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp

@@ -4,4 +4,38 @@ project(component_interface_specs)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
+include_directories(
+  include
+  SYSTEM
+  ${rclcpp_INCLUDE_DIRS}
+  ${rosidl_runtime_cpp_INCLUDE_DIRS}
+  ${rcl_INCLUDE_DIRS}
+  ${autoware_adapi_v1_msgs_INCLUDE_DIRS}
+  ${autoware_auto_planning_msgs_INCLUDE_DIRS}
+  ${autoware_planning_msgs_INCLUDE_DIRS}
+  ${autoware_auto_vehicle_msgs_INCLUDE_DIRS}
+  ${tier4_control_msgs_INCLUDE_DIRS}
+  ${nav_msgs_INCLUDE_DIRS}
+  ${tier4_system_msgs_INCLUDE_DIRS}
+  ${tier4_vehicle_msgs_INCLUDE_DIRS}
+  ${autoware_auto_perception_msgs_INCLUDE_DIRS}
+  ${tier4_map_msgs_INCLUDE_DIRS}
+)
+
+if(BUILD_TESTING)
+  ament_add_ros_isolated_gtest(test_component_interface_specs
+    test/gtest_main.cpp
+    test/test_planning.cpp
+    test/test_control.cpp
+    test/test_localization.cpp
+    test/test_system.cpp
+    test/test_map.cpp
+    test/test_perception.cpp
+    test/test_vehicle.cpp
+  )
+  target_include_directories(test_component_interface_specs
+    PRIVATE include
+  )
+endif()
+
 ament_auto_package()

common/component_interface_specs/CMakeLists.txt

@@ -11,13 +11,28 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>ament_cmake_core</buildtool_depend>
+  <buildtool_depend>ament_cmake_export_dependencies</buildtool_depend>
+  <buildtool_depend>ament_cmake_test</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <buildtool_export_depend>ament_cmake_core</buildtool_export_depend>
+  <buildtool_export_depend>ament_cmake_test</buildtool_export_depend>
+
   <depend>autoware_adapi_v1_msgs</depend>
+  <depend>autoware_auto_perception_msgs</depend>
+  <depend>autoware_auto_planning_msgs</depend>
   <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>rcl</depend>
+  <depend>rclcpp</depend>
+  <depend>rosidl_runtime_cpp</depend>
+  <depend>tier4_control_msgs</depend>
   <depend>tier4_map_msgs</depend>
+  <depend>tier4_system_msgs</depend>
   <depend>tier4_vehicle_msgs</depend>
-
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 

common/component_interface_specs/package.xml

@@ -0,0 +1,21 @@
+// Copyright 2023 The Autoware Contributors
+//
+// 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"
+
+int main(int argc, char * argv[])
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}