modify: spellcheck

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

Author: TetsuKawa

system/leader_election_converter/README.md

@@ -39,11 +39,11 @@ The log　converter receive udp packets into a structure called `ElectionCommuni
 
 | Interface Type | Interface Name                         | Data Type                                     | Description                     |
 | -------------- | -------------------------------------- | --------------------------------------------- | ------------------------------- |
-| udp receiver   | none                                   | `struct ElectionCommunication`                | messages amoung election nodes. |
+| udp receiver   | none                                   | `struct ElectionCommunication`                | messages among election nodes. |
 | udp receiver   | none                                   | `struct ElectionStatus`                       | Leader Election status.         |
-| publisher      | `/system/election/communication`       | `tier4_system_msgs/msg/ElectionCommunication` | messages amoung election nodes. |
+| publisher      | `/system/election/communication`       | `tier4_system_msgs/msg/ElectionCommunication` | messages among election nodes. |
 | publisher      | `/system/election/status`              | `tier4_system_msgs/msg/MrmState`              | Leader Election status.         |
-| publisher      | `/system/fail_safe/over_all/mrm_state` | `autoware_adapi_v1_msgs/msg/mrm_state`        | System-wode MRM status.         |
+| publisher      | `/system/fail_safe/over_all/mrm_state` | `autoware_adapi_v1_msgs/msg/mrm_state`        | System-wide MRM status.         |
 
 ## Parameters
 

system/leader_election_converter/launch/leader_election_converter.launch.xml

@@ -1,5 +1,5 @@
 <launch>
-  <arg name="param_file" default="$(find-pkg-share leader_election_converter)/config/leader_electioin_converter.param.yaml"/>
+  <arg name="param_file" default="$(find-pkg-share leader_election_converter)/config/leader_election_converter.param.yaml"/>
   <arg name="input_control_mode" default="/vehicle/status/control_mode"/>
   <arg name="input_operation_mode_availability" default="/system/operation_mode/availability"/>
   <arg name="input_mrm_state" default="/system/fail_safe/mrm_state"/>

system/leader_election_converter/schema/leader_election_converter.schema.json

@@ -8,12 +8,12 @@
       "properties": {
         "availability_dest_ip": {
           "type": "string",
-          "description": "IP address of the destination of avaialability",
+          "description": "IP address of the destination of availability",
           "default": "127.0.0.1"
         },
         "availability_dest_port": {
           "type": "string",
-          "description": "Port of the destination of avaialability",
+          "description": "Port of the destination of availability",
           "default": "9000"
         },
         "mrm_state_dest_ip": {

system/leader_election_converter/src/common/converter/log_converter.cpp

@@ -24,18 +24,18 @@ namespace leader_election_converter
 {
 
 LogConverter::LogConverter(rclcpp::Node * node)
-: node_(node), is_election_comunication_running_(true), is_election_status_running_(true)
+: node_(node), is_election_communication_running_(true), is_election_status_running_(true)
 {
 }
 
 LogConverter::~LogConverter()
 {
-  is_election_comunication_running_ = false;
-  udp_election_comunication_receiver_->~UdpReceiver();
+  is_election_communication_running_ = false;
+  udp_election_communication_receiver_->~UdpReceiver();
   is_election_status_running_ = false;
   udp_election_status_receiver_->~UdpReceiver();
-  if (udp_election_comunication_thread_.joinable()) {
-    udp_election_comunication_thread_.join();
+  if (udp_election_communication_thread_.joinable()) {
+    udp_election_communication_thread_.join();
   }
   if (udp_election_status_thread_.joinable()) {
     udp_election_status_thread_.join();
@@ -45,19 +45,19 @@ LogConverter::~LogConverter()
 void LogConverter::setUdpElectionCommunicatioinReceiver(
   const std::string & src_ip, const std::string & src_port)
 {
-  udp_election_comunication_thread_ =
+  udp_election_communication_thread_ =
     std::thread(&LogConverter::startUdpElectionCommunicationReceiver, this, src_ip, src_port);
 }
 
 void LogConverter::startUdpElectionCommunicationReceiver(
   const std::string & src_ip, const std::string & src_port)
 {
   try {
-    udp_election_comunication_receiver_ = std::make_unique<UdpReceiver<ElectionCommunication>>(
+    udp_election_communication_receiver_ = std::make_unique<UdpReceiver<ElectionCommunication>>(
       src_ip, src_port,
       std::bind(&LogConverter::convertElectionCommunicationToTopic, this, std::placeholders::_1));
-    while (is_election_comunication_running_) {
-      udp_election_comunication_receiver_->receive();
+    while (is_election_communication_running_) {
+      udp_election_communication_receiver_->receive();
     }
   } catch (const std::exception & e) {
     RCLCPP_ERROR(node_->get_logger(), "Error in UDP receiver thread: %s", e.what());
@@ -88,7 +88,7 @@ void LogConverter::startUdpElectionStatusReceiver(
 
 void LogConverter::setPublisher()
 {
-  pub_election_comunication_ =
+  pub_election_communication_ =
     node_->create_publisher<tier4_system_msgs::msg::ElectionCommunication>(
       "~/output/election_communication", rclcpp::QoS{1});
   pub_election_status_ = node_->create_publisher<tier4_system_msgs::msg::ElectionStatus>(
@@ -107,7 +107,7 @@ void LogConverter::convertElectionCommunicationToTopic(const ElectionCommunicati
   msg.link = (node_msg.msg >> 24) & 0xFF;
   msg.heartbeat = (node_msg.msg >> 56) & 0x0F;
   msg.checksum = (node_msg.msg >> 60) & 0x0F;
-  pub_election_comunication_->publish(msg);
+  pub_election_communication_->publish(msg);
 }
 
 void LogConverter::convertElectionStatusToTopic(const ElectionStatus & status)

system/leader_election_converter/src/common/converter/log_converter.hpp

@@ -64,7 +64,7 @@ class LogConverter
   explicit LogConverter(rclcpp::Node * node);
   ~LogConverter();
 
-  void setUdpElectionCommunicatioinReceiver(
+  void setUdpElectionCommunicationReceiver(
     const std::string & src_ip, const std::string & src_port);
   void setUdpElectionStatusReceiver(const std::string & src_ip, const std::string & src_port);
   void setPublisher();
@@ -77,16 +77,16 @@ class LogConverter
   void convertElectionStatusToTopic(const ElectionStatus & status);
 
   rclcpp::Node * node_;
-  std::unique_ptr<UdpReceiver<ElectionCommunication>> udp_election_comunication_receiver_;
+  std::unique_ptr<UdpReceiver<ElectionCommunication>> udp_election_communication_receiver_;
   std::unique_ptr<UdpReceiver<ElectionStatus>> udp_election_status_receiver_;
   rclcpp::Publisher<tier4_system_msgs::msg::ElectionCommunication>::SharedPtr
-    pub_election_comunication_;
+    pub_election_communication_;
   rclcpp::Publisher<tier4_system_msgs::msg::ElectionStatus>::SharedPtr pub_election_status_;
   rclcpp::Publisher<autoware_adapi_v1_msgs::msg::MrmState>::SharedPtr pub_over_all_mrm_state_;
 
-  std::thread udp_election_comunication_thread_;
+  std::thread udp_election_communication_thread_;
   std::thread udp_election_status_thread_;
-  std::atomic<bool> is_election_comunication_running_;
+  std::atomic<bool> is_election_communication_running_;
   std::atomic<bool> is_election_status_running_;
 };
 

system/leader_election_converter/src/node/leader_election_converter.cpp

@@ -51,7 +51,7 @@ LeaderElectionConverter::LeaderElectionConverter(const rclcpp::NodeOptions & nod
 
   // convert udp packets of election info to topics
   log_converter_.setPublisher();
-  log_converter_.setUdpElectionCommunicatioinReceiver(
+  log_converter_.setUdpElectionCommunicationReceiver(
     election_communication_src_ip_, election_communication_src_port_);
   log_converter_.setUdpElectionStatusReceiver(election_status_src_ip_, election_status_src_port_);
 }