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13 files changed

+72
-85
lines changed

13 files changed

+72
-85
lines changed

‎control/autoware_operation_mode_transition_manager/src/node.hpp

+2-4
Original file line numberDiff line numberDiff line change
@@ -37,10 +37,8 @@ class OperationModeTransitionManager : public rclcpp::Node
3737
private:
3838
using ChangeAutowareControlAPI =
3939
autoware::component_interface_specs::system::ChangeAutowareControl;
40-
using ChangeOperationModeAPI =
41-
autoware::component_interface_specs::system::ChangeOperationMode;
42-
using OperationModeStateAPI =
43-
autoware::component_interface_specs::system::OperationModeState;
40+
using ChangeOperationModeAPI = autoware::component_interface_specs::system::ChangeOperationMode;
41+
using OperationModeStateAPI = autoware::component_interface_specs::system::OperationModeState;
4442
component_interface_utils::Service<ChangeAutowareControlAPI>::SharedPtr srv_autoware_control_;
4543
component_interface_utils::Service<ChangeOperationModeAPI>::SharedPtr srv_operation_mode_;
4644
component_interface_utils::Publisher<OperationModeStateAPI>::SharedPtr pub_operation_mode_;

‎control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp

+3-4
Original file line numberDiff line numberDiff line change
@@ -110,8 +110,8 @@ class PredictedPathCheckerNode : public rclcpp::Node
110110
PredictedObjects::ConstSharedPtr object_ptr_{nullptr};
111111
autoware_planning_msgs::msg::Trajectory::ConstSharedPtr reference_trajectory_;
112112
autoware_planning_msgs::msg::Trajectory::ConstSharedPtr predicted_trajectory_;
113-
autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr
114-
is_stopped_ptr_{nullptr};
113+
autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr is_stopped_ptr_{
114+
nullptr};
115115

116116
// Core
117117
std::unique_ptr<CollisionChecker> collision_checker_;
@@ -130,8 +130,7 @@ class PredictedPathCheckerNode : public rclcpp::Node
130130
void onOdom(const nav_msgs::msg::Odometry::SharedPtr msg);
131131
void onAccel(const geometry_msgs::msg::AccelWithCovarianceStamped::SharedPtr msg);
132132
void onIsStopped(
133-
const autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr
134-
msg);
133+
const autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr msg);
135134

136135
// Timer
137136
rclcpp::TimerBase::SharedPtr timer_;

‎control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp

+3-4
Original file line numberDiff line numberDiff line change
@@ -132,8 +132,7 @@ void PredictedPathCheckerNode::onAccel(
132132
}
133133

134134
void PredictedPathCheckerNode::onIsStopped(
135-
const autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr
136-
msg)
135+
const autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr msg)
137136
{
138137
is_stopped_ptr_ = msg;
139138

@@ -416,8 +415,8 @@ void PredictedPathCheckerNode::checkVehicleState(diagnostic_updater::DiagnosticS
416415
void PredictedPathCheckerNode::sendRequest(bool make_stop_vehicle)
417416
{
418417
if (!is_calling_set_stop_ && cli_set_stop_->service_is_ready()) {
419-
const auto req = std::make_shared<
420-
autoware::component_interface_specs::control::SetStop::Service::Request>();
418+
const auto req =
419+
std::make_shared<autoware::component_interface_specs::control::SetStop::Service::Request>();
421420
req->stop = make_stop_vehicle;
422421
req->request_source = "predicted_path_checker";
423422
is_calling_set_stop_ = true;

‎system/autoware_default_adapi/src/motion.cpp

+4-6
Original file line numberDiff line numberDiff line change
@@ -121,8 +121,8 @@ void MotionNode::update_pause(const State state)
121121
void MotionNode::change_pause(bool pause)
122122
{
123123
if (!is_calling_set_pause_ && cli_set_pause_->service_is_ready()) {
124-
const auto req = std::make_shared<
125-
autoware::component_interface_specs::control::SetPause::Service::Request>();
124+
const auto req =
125+
std::make_shared<autoware::component_interface_specs::control::SetPause::Service::Request>();
126126
req->pause = pause;
127127
is_calling_set_pause_ = true;
128128
cli_set_pause_->async_send_request(req, [this](auto) { is_calling_set_pause_ = false; });
@@ -135,16 +135,14 @@ void MotionNode::on_timer()
135135
}
136136

137137
void MotionNode::on_is_paused(
138-
const autoware::component_interface_specs::control::IsPaused::Message::ConstSharedPtr
139-
msg)
138+
const autoware::component_interface_specs::control::IsPaused::Message::ConstSharedPtr msg)
140139
{
141140
is_paused_ = msg->data;
142141
update_state();
143142
}
144143

145144
void MotionNode::on_is_start_requested(
146-
const autoware::component_interface_specs::control::IsStartRequested::Message::
147-
ConstSharedPtr msg)
145+
const autoware::component_interface_specs::control::IsStartRequested::Message::ConstSharedPtr msg)
148146
{
149147
is_start_requested_ = msg->data;
150148
update_state();

‎system/autoware_default_adapi/src/motion.hpp

+4-5
Original file line numberDiff line numberDiff line change
@@ -41,8 +41,7 @@ class MotionNode : public rclcpp::Node
4141
Pub<autoware_ad_api::motion::State> pub_state_;
4242
Cli<autoware::component_interface_specs::control::SetPause> cli_set_pause_;
4343
Sub<autoware::component_interface_specs::control::IsPaused> sub_is_paused_;
44-
Sub<autoware::component_interface_specs::control::IsStartRequested>
45-
sub_is_start_requested_;
44+
Sub<autoware::component_interface_specs::control::IsStartRequested> sub_is_start_requested_;
4645

4746
enum class State { Unknown, Pausing, Paused, Starting, Resuming, Resumed, Moving };
4847
State state_;
@@ -59,10 +58,10 @@ class MotionNode : public rclcpp::Node
5958
void change_pause(bool pause);
6059
void on_timer();
6160
void on_is_paused(
62-
const autoware::component_interface_specs::control::IsPaused::Message::ConstSharedPtr
61+
const autoware::component_interface_specs::control::IsPaused::Message::ConstSharedPtr msg);
62+
void on_is_start_requested(
63+
const autoware::component_interface_specs::control::IsStartRequested::Message::ConstSharedPtr
6364
msg);
64-
void on_is_start_requested(const autoware::component_interface_specs::control::
65-
IsStartRequested::Message::ConstSharedPtr msg);
6665
void on_accept(
6766
const autoware_ad_api::motion::AcceptStart::Service::Request::SharedPtr req,
6867
const autoware_ad_api::motion::AcceptStart::Service::Response::SharedPtr res);

‎system/autoware_default_adapi/src/perception.cpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -50,8 +50,8 @@ uint8_t PerceptionNode::mapping(
5050
}
5151

5252
void PerceptionNode::object_recognize(
53-
const autoware::component_interface_specs::perception::ObjectRecognition::Message::
54-
ConstSharedPtr msg)
53+
const autoware::component_interface_specs::perception::ObjectRecognition::Message::ConstSharedPtr
54+
msg)
5555
{
5656
DynamicObjectArray::Message objects;
5757
objects.header = msg->header;

‎system/autoware_default_adapi/src/perception.hpp

+3-4
Original file line numberDiff line numberDiff line change
@@ -41,10 +41,9 @@ class PerceptionNode : public rclcpp::Node
4141

4242
private:
4343
Pub<autoware_ad_api::perception::DynamicObjectArray> pub_object_recognized_;
44-
Sub<autoware::component_interface_specs::perception::ObjectRecognition>
45-
sub_object_recognized_;
46-
void object_recognize(const autoware::component_interface_specs::perception::
47-
ObjectRecognition::Message::ConstSharedPtr msg);
44+
Sub<autoware::component_interface_specs::perception::ObjectRecognition> sub_object_recognized_;
45+
void object_recognize(const autoware::component_interface_specs::perception::ObjectRecognition::
46+
Message::ConstSharedPtr msg);
4847
uint8_t mapping(
4948
std::unordered_map<uint8_t, uint8_t> hash_map, uint8_t input, uint8_t default_value);
5049
};

‎system/autoware_default_adapi/src/planning.hpp

+2-4
Original file line numberDiff line numberDiff line change
@@ -41,8 +41,7 @@ class PlanningNode : public rclcpp::Node
4141
Pub<autoware_ad_api::planning::VelocityFactors> pub_velocity_factors_;
4242
Pub<autoware_ad_api::planning::SteeringFactors> pub_steering_factors_;
4343
Sub<autoware::component_interface_specs::planning::Trajectory> sub_trajectory_;
44-
Sub<autoware::component_interface_specs::localization::KinematicState>
45-
sub_kinematic_state_;
44+
Sub<autoware::component_interface_specs::localization::KinematicState> sub_kinematic_state_;
4645
std::vector<rclcpp::Subscription<VelocityFactorArray>::SharedPtr> sub_velocity_factors_;
4746
std::vector<rclcpp::Subscription<SteeringFactorArray>::SharedPtr> sub_steering_factors_;
4847
std::vector<VelocityFactorArray::ConstSharedPtr> velocity_factors_;
@@ -51,8 +50,7 @@ class PlanningNode : public rclcpp::Node
5150

5251
using VehicleStopChecker = autoware::motion_utils::VehicleStopCheckerBase;
5352
using Trajectory = autoware::component_interface_specs::planning::Trajectory::Message;
54-
using KinematicState =
55-
autoware::component_interface_specs::localization::KinematicState::Message;
53+
using KinematicState = autoware::component_interface_specs::localization::KinematicState::Message;
5654
void on_trajectory(const Trajectory::ConstSharedPtr msg);
5755
void on_kinematic_state(const KinematicState::ConstSharedPtr msg);
5856
void on_timer();

‎system/autoware_default_adapi/src/routing.hpp

+5-10
Original file line numberDiff line numberDiff line change
@@ -33,8 +33,7 @@ class RoutingNode : public rclcpp::Node
3333
explicit RoutingNode(const rclcpp::NodeOptions & options);
3434

3535
private:
36-
using OperationModeState =
37-
autoware::component_interface_specs::system::OperationModeState;
36+
using OperationModeState = autoware::component_interface_specs::system::OperationModeState;
3837
using State = autoware::component_interface_specs::planning::RouteState;
3938
using Route = autoware::component_interface_specs::planning::LaneletRoute;
4039

@@ -48,15 +47,11 @@ class RoutingNode : public rclcpp::Node
4847
Srv<autoware_ad_api::routing::ClearRoute> srv_clear_route_;
4948
Sub<autoware::component_interface_specs::planning::RouteState> sub_state_;
5049
Sub<autoware::component_interface_specs::planning::LaneletRoute> sub_route_;
51-
Cli<autoware::component_interface_specs::planning::SetWaypointRoute>
52-
cli_set_waypoint_route_;
53-
Cli<autoware::component_interface_specs::planning::SetLaneletRoute>
54-
cli_set_lanelet_route_;
50+
Cli<autoware::component_interface_specs::planning::SetWaypointRoute> cli_set_waypoint_route_;
51+
Cli<autoware::component_interface_specs::planning::SetLaneletRoute> cli_set_lanelet_route_;
5552
Cli<autoware::component_interface_specs::planning::ClearRoute> cli_clear_route_;
56-
Cli<autoware::component_interface_specs::system::ChangeOperationMode>
57-
cli_operation_mode_;
58-
Sub<autoware::component_interface_specs::system::OperationModeState>
59-
sub_operation_mode_;
53+
Cli<autoware::component_interface_specs::system::ChangeOperationMode> cli_operation_mode_;
54+
Sub<autoware::component_interface_specs::system::OperationModeState> sub_operation_mode_;
6055
bool is_auto_mode_;
6156
State::Message state_;
6257

‎system/autoware_default_adapi/src/vehicle.cpp

+11-12
Original file line numberDiff line numberDiff line change
@@ -29,11 +29,9 @@ using ApiGear = autoware_adapi_v1_msgs::msg::Gear;
2929
using TurnIndicatorsReport =
3030
autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message;
3131
using ApiTurnIndicator = autoware_adapi_v1_msgs::msg::TurnIndicators;
32-
using HazardLightsReport =
33-
autoware::component_interface_specs::vehicle::HazardLightStatus::Message;
32+
using HazardLightsReport = autoware::component_interface_specs::vehicle::HazardLightStatus::Message;
3433
using ApiHazardLight = autoware_adapi_v1_msgs::msg::HazardLights;
35-
using MapProjectorInfo =
36-
autoware::component_interface_specs::map::MapProjectorInfo::Message;
34+
using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo::Message;
3735

3836
std::unordered_map<uint8_t, uint8_t> gear_type_ = {
3937
{GearReport::NONE, ApiGear::UNKNOWN}, {GearReport::NEUTRAL, ApiGear::NEUTRAL},
@@ -92,21 +90,22 @@ uint8_t VehicleNode::mapping(
9290
}
9391

9492
void VehicleNode::kinematic_state(
95-
const autoware::component_interface_specs::localization::KinematicState::Message::
96-
ConstSharedPtr msg_ptr)
93+
const autoware::component_interface_specs::localization::KinematicState::Message::ConstSharedPtr
94+
msg_ptr)
9795
{
9896
kinematic_state_msgs_ = msg_ptr;
9997
}
10098

10199
void VehicleNode::acceleration_status(
102-
const autoware::component_interface_specs::localization::Acceleration::Message::
103-
ConstSharedPtr msg_ptr)
100+
const autoware::component_interface_specs::localization::Acceleration::Message::ConstSharedPtr
101+
msg_ptr)
104102
{
105103
acceleration_msgs_ = msg_ptr;
106104
}
107105

108-
void VehicleNode::steering_status(const autoware::component_interface_specs::vehicle::
109-
SteeringStatus::Message::ConstSharedPtr msg_ptr)
106+
void VehicleNode::steering_status(
107+
const autoware::component_interface_specs::vehicle::SteeringStatus::Message::ConstSharedPtr
108+
msg_ptr)
110109
{
111110
steering_status_msgs_ = msg_ptr;
112111
}
@@ -126,8 +125,8 @@ void VehicleNode::hazard_light_status(const HazardLightsReport::ConstSharedPtr m
126125
hazard_light_status_msgs_ = msg_ptr;
127126
}
128127

129-
void VehicleNode::energy_status(const autoware::component_interface_specs::vehicle::
130-
EnergyStatus::Message::ConstSharedPtr msg_ptr)
128+
void VehicleNode::energy_status(
129+
const autoware::component_interface_specs::vehicle::EnergyStatus::Message::ConstSharedPtr msg_ptr)
131130
{
132131
energy_status_msgs_ = msg_ptr;
133132
}

‎system/autoware_default_adapi/src/vehicle.hpp

+30-24
Original file line numberDiff line numberDiff line change
@@ -42,51 +42,57 @@ class VehicleNode : public rclcpp::Node
4242
rclcpp::CallbackGroup::SharedPtr group_cli_;
4343
Pub<autoware_ad_api::vehicle::VehicleKinematics> pub_kinematics_;
4444
Pub<autoware_ad_api::vehicle::VehicleStatus> pub_status_;
45-
Sub<autoware::component_interface_specs::localization::KinematicState>
46-
sub_kinematic_state_;
45+
Sub<autoware::component_interface_specs::localization::KinematicState> sub_kinematic_state_;
4746
Sub<autoware::component_interface_specs::localization::Acceleration> sub_acceleration_;
4847
Sub<autoware::component_interface_specs::vehicle::SteeringStatus> sub_steering_;
4948
Sub<autoware::component_interface_specs::vehicle::GearStatus> sub_gear_state_;
50-
Sub<autoware::component_interface_specs::vehicle::TurnIndicatorStatus>
51-
sub_turn_indicator_;
49+
Sub<autoware::component_interface_specs::vehicle::TurnIndicatorStatus> sub_turn_indicator_;
5250
Sub<autoware::component_interface_specs::vehicle::HazardLightStatus> sub_hazard_light_;
5351
Sub<autoware::component_interface_specs::vehicle::EnergyStatus> sub_energy_level_;
5452
Sub<autoware::component_interface_specs::map::MapProjectorInfo> sub_map_projector_info_;
5553
rclcpp::TimerBase::SharedPtr timer_;
5654

57-
autoware::component_interface_specs::localization::KinematicState::Message::
58-
ConstSharedPtr kinematic_state_msgs_;
55+
autoware::component_interface_specs::localization::KinematicState::Message::ConstSharedPtr
56+
kinematic_state_msgs_;
5957
autoware::component_interface_specs::localization::Acceleration::Message::ConstSharedPtr
6058
acceleration_msgs_;
6159
autoware::component_interface_specs::vehicle::SteeringStatus::Message::ConstSharedPtr
6260
steering_status_msgs_;
6361
autoware::component_interface_specs::vehicle::GearStatus::Message::ConstSharedPtr
6462
gear_status_msgs_;
65-
autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message::
66-
ConstSharedPtr turn_indicator_status_msgs_;
63+
autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message::ConstSharedPtr
64+
turn_indicator_status_msgs_;
6765
autoware::component_interface_specs::vehicle::HazardLightStatus::Message::ConstSharedPtr
6866
hazard_light_status_msgs_;
6967
autoware::component_interface_specs::vehicle::EnergyStatus::Message::ConstSharedPtr
7068
energy_status_msgs_;
7169
autoware::component_interface_specs::map::MapProjectorInfo::Message::ConstSharedPtr
7270
map_projector_info_;
7371

74-
void kinematic_state(const autoware::component_interface_specs::localization::
75-
KinematicState::Message::ConstSharedPtr msg_ptr);
76-
void acceleration_status(const autoware::component_interface_specs::localization::
77-
Acceleration::Message::ConstSharedPtr msg_ptr);
78-
void steering_status(const autoware::component_interface_specs::vehicle::
79-
SteeringStatus::Message::ConstSharedPtr msg_ptr);
80-
void gear_status(const autoware::component_interface_specs::vehicle::GearStatus::
81-
Message::ConstSharedPtr msg_ptr);
82-
void turn_indicator_status(const autoware::component_interface_specs::vehicle::
83-
TurnIndicatorStatus::Message::ConstSharedPtr msg_ptr);
84-
void map_projector_info(const autoware::component_interface_specs::map::
85-
MapProjectorInfo::Message::ConstSharedPtr msg_ptr);
86-
void hazard_light_status(const autoware::component_interface_specs::vehicle::
87-
HazardLightStatus::Message::ConstSharedPtr msg_ptr);
88-
void energy_status(const autoware::component_interface_specs::vehicle::EnergyStatus::
89-
Message::ConstSharedPtr msg_ptr);
72+
void kinematic_state(
73+
const autoware::component_interface_specs::localization::KinematicState::Message::ConstSharedPtr
74+
msg_ptr);
75+
void acceleration_status(
76+
const autoware::component_interface_specs::localization::Acceleration::Message::ConstSharedPtr
77+
msg_ptr);
78+
void steering_status(
79+
const autoware::component_interface_specs::vehicle::SteeringStatus::Message::ConstSharedPtr
80+
msg_ptr);
81+
void gear_status(
82+
const autoware::component_interface_specs::vehicle::GearStatus::Message::ConstSharedPtr
83+
msg_ptr);
84+
void turn_indicator_status(
85+
const autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message::ConstSharedPtr
86+
msg_ptr);
87+
void map_projector_info(
88+
const autoware::component_interface_specs::map::MapProjectorInfo::Message::ConstSharedPtr
89+
msg_ptr);
90+
void hazard_light_status(
91+
const autoware::component_interface_specs::vehicle::HazardLightStatus::Message::ConstSharedPtr
92+
msg_ptr);
93+
void energy_status(
94+
const autoware::component_interface_specs::vehicle::EnergyStatus::Message::ConstSharedPtr
95+
msg_ptr);
9096
uint8_t mapping(
9197
std::unordered_map<uint8_t, uint8_t> hash_map, uint8_t input, uint8_t default_value);
9298
void publish_kinematics();

‎system/autoware_default_adapi/src/vehicle_door.cpp

+1-2
Original file line numberDiff line numberDiff line change
@@ -35,8 +35,7 @@ void VehicleDoorNode::on_status(
3535
{
3636
utils::notify(
3737
pub_status_, status_, *msg,
38-
utils::ignore_stamp<
39-
autoware::component_interface_specs::vehicle::DoorStatus::Message>);
38+
utils::ignore_stamp<autoware::component_interface_specs::vehicle::DoorStatus::Message>);
4039
}
4140

4241
} // namespace autoware::default_adapi

‎system/autoware_default_adapi/src/vehicle_door.hpp

+2-4
Original file line numberDiff line numberDiff line change
@@ -34,17 +34,15 @@ class VehicleDoorNode : public rclcpp::Node
3434

3535
private:
3636
void on_status(
37-
autoware::component_interface_specs::vehicle::DoorStatus::Message::ConstSharedPtr
38-
msg);
37+
autoware::component_interface_specs::vehicle::DoorStatus::Message::ConstSharedPtr msg);
3938
rclcpp::CallbackGroup::SharedPtr group_cli_;
4039
Srv<autoware_ad_api::vehicle::DoorCommand> srv_command_;
4140
Srv<autoware_ad_api::vehicle::DoorLayout> srv_layout_;
4241
Pub<autoware_ad_api::vehicle::DoorStatus> pub_status_;
4342
Cli<autoware::component_interface_specs::vehicle::DoorCommand> cli_command_;
4443
Cli<autoware::component_interface_specs::vehicle::DoorLayout> cli_layout_;
4544
Sub<autoware::component_interface_specs::vehicle::DoorStatus> sub_status_;
46-
std::optional<autoware::component_interface_specs::vehicle::DoorStatus::Message>
47-
status_;
45+
std::optional<autoware::component_interface_specs::vehicle::DoorStatus::Message> status_;
4846
};
4947

5048
} // namespace autoware::default_adapi

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