fix: delete onTimer interface

Signed-off-by: veqcc <ryuta.kambe@tier4.jp>

Author: veqcc

system/emergency_handler/README.md

@@ -12,11 +12,10 @@ Currently, there are two types of MRM:
 - Emergency Stop Operator: publishes `/system/emergency/control_cmd` to make an emergency stop
 - Comfortable Stop Operator: publishes `/planning/scenario_planning/max_velocity_candidates` to make a comfortable stop
 
-These operators have `operate()`, `cancel()` and `onTimer` public functions.
+These operators have `operate()` and `cancel()` public functions.
 
 - `operate()`: executes the MRM operation
 - `cancel()`: cancels the MRM operation
-- `onTimer()`: executes each operator's timer callback
 
 ### State Transitions
 

system/emergency_handler/config/emergency_handler.param.yaml

@@ -8,6 +8,7 @@
 
     # emergency stop operator class
     emergency_stop_operator:
+      update_rate: 30
       target_acceleration: -2.5
       target_jerk: -1.5
       turning_hazard_on: true

system/emergency_handler/schema/emergency_handler.schema.json

@@ -23,6 +23,11 @@
         },
         "emergency_stop_operator": {
           "type": "object",
+          "update_rate": {
+            "type": "integer",
+            "description": "Timer callback period.",
+            "default": 30
+          },
           "properties": {
             "target_acceleration": {
               "type": "number",
@@ -46,6 +51,7 @@
             }
           },
           "required": [
+            "update_rate",
             "target_acceleration",
             "target_jerk",
             "turning_hazard_on",

system/emergency_handler/src/comfortable_stop_operator.cpp

@@ -33,11 +33,6 @@ ComfortableStopOperator::ComfortableStopOperator(rclcpp::Node * node) : node_(no
       "~/output/velocity_limit/clear", rclcpp::QoS{1}.transient_local());
 }
 
-void ComfortableStopOperator::onTimer()
-{
-  // do nothing
-}
-
 bool ComfortableStopOperator::operate()
 {
   publishVelocityLimit();

system/emergency_handler/src/comfortable_stop_operator.hpp

@@ -36,7 +36,6 @@ class ComfortableStopOperator
   explicit ComfortableStopOperator(rclcpp::Node * node);
   bool operate();
   bool cancel();
-  void onTimer();
 
 private:
   // Parameters

system/emergency_handler/src/emergency_handler_core.cpp

@@ -203,10 +203,6 @@ void EmergencyHandler::checkHazardStatusTimeout()
 
 void EmergencyHandler::onTimer()
 {
-  // execute onTimer callback of each operator
-  emergency_stop_operator_->onTimer();
-  comfortable_stop_operator_->onTimer();
-
   if (!isDataReady()) {
     return;
   }

system/emergency_handler/src/emergency_stop_operator.cpp

@@ -20,6 +20,7 @@ namespace emergency_handler::emergency_stop_operator
 EmergencyStopOperator::EmergencyStopOperator(rclcpp::Node * node) : node_(node)
 {
   // Parameter
+  params_.update_rate = node_->declare_parameter<int>("emergency_stop_operator.update_rate");
   params_.target_acceleration =
     node_->declare_parameter<double>("emergency_stop_operator.target_acceleration");
   params_.target_jerk = node_->declare_parameter<double>("emergency_stop_operator.target_jerk");
@@ -45,6 +46,11 @@ EmergencyStopOperator::EmergencyStopOperator(rclcpp::Node * node) : node_(node)
 
   // Initialize
   is_prev_control_cmd_subscribed_ = false;
+
+  // Timer
+  const auto update_period_ns = rclcpp::Rate(params_.update_rate).period();
+  timer_ = rclcpp::create_timer(
+    node_, node_->get_clock(), update_period_ns, std::bind(&EmergencyStopOperator::onTimer, this));
 }
 
 void EmergencyStopOperator::onControlCommand(AckermannControlCommand::ConstSharedPtr msg)

system/emergency_handler/src/emergency_stop_operator.hpp

@@ -31,6 +31,7 @@ using autoware_auto_vehicle_msgs::msg::HazardLightsCommand;
 
 struct Param
 {
+  int update_rate;
   double target_acceleration;
   double target_jerk;
   bool turning_hazard_on;
@@ -43,7 +44,6 @@ class EmergencyStopOperator
   explicit EmergencyStopOperator(rclcpp::Node * node);
   bool operate();
   bool cancel();
-  void onTimer();
 
 private:
   // Parameters
@@ -66,6 +66,10 @@ class EmergencyStopOperator
   rclcpp::Publisher<GearCommand>::SharedPtr pub_gear_cmd_;
   void publishGearCmd();
 
+  // Timer
+  rclcpp::TimerBase::SharedPtr timer_;
+  void onTimer();
+
   // Alrogithm
   bool is_prev_control_cmd_subscribed_;
   AckermannControlCommand prev_control_cmd_;