Merge branch 'feat/mrm-v0.6-add-redundancy-relay-manager' of github.c…

…om:tier4/autoware.universe into feat/mrm-v0.6-add-redundancy-relay-manager
tier4 · Jan 14, 2025 · bd5cabc · bd5cabc
2 parents 97c32fb + 94a7e63
commit bd5cabc
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Showing 2 changed files with 11 additions and 6 deletions.
diff --git a/system/autoware_redundancy_relay_manager/src/redundancy_relay_manager_node.cpp b/system/autoware_redundancy_relay_manager/src/redundancy_relay_manager_node.cpp
@@ -58,8 +58,10 @@ void RedundancyRelayManager::onMainElectionStatus(
 
   if (is_relaying_) {
     if (tmp_election_status == nullptr) return;
-    if (operation_mode_state->mode != autoware_adapi_v1_msgs::msg::OperationModeState::AUTONOMOUS) return;
-    if (((msg->path_info >> 3) & 0x01) == 1 || ((tmp_election_status->path_info >> 3) & 0x01) == 0) return;
+    if (operation_mode_state->mode != autoware_adapi_v1_msgs::msg::OperationModeState::AUTONOMOUS)
+      return;
+    if (((msg->path_info >> 3) & 0x01) == 1 || ((tmp_election_status->path_info >> 3) & 0x01) == 0)
+      return;
 
     requestTopicRelayControl(false, client_relay_trajectory_, "topic_relay_control_trajectory");
     requestTopicRelayControl(
@@ -87,8 +89,10 @@ void RedundancyRelayManager::onSubElectionStatus(
 
   if (is_relaying_) {
     if (tmp_election_status == nullptr) return;
-    if (operation_mode_state->mode != autoware_adapi_v1_msgs::msg::OperationModeState::AUTONOMOUS) return;
-    if (((msg->path_info >> 3) & 0x01) == 1 || ((tmp_election_status->path_info >> 3) & 0x01) == 0) return;
+    if (operation_mode_state->mode != autoware_adapi_v1_msgs::msg::OperationModeState::AUTONOMOUS)
+      return;
+    if (((msg->path_info >> 3) & 0x01) == 1 || ((tmp_election_status->path_info >> 3) & 0x01) == 0)
+      return;
 
     requestTopicRelayControl(false, client_relay_trajectory_, "topic_relay_control_trajectory");
     requestTopicRelayControl(

diff --git a/system/autoware_redundancy_relay_manager/src/redundancy_relay_manager_node.hpp b/system/autoware_redundancy_relay_manager/src/redundancy_relay_manager_node.hpp
@@ -16,9 +16,9 @@
 #define REDUNDANCY_RELAY_MANAGER_NODE_HPP_
 
 // ROS 2 core
+#include <autoware/universe_utils/ros/polling_subscriber.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware/universe_utils/ros/polling_subscriber.hpp>
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
 #include <tier4_system_msgs/msg/election_status.hpp>
 #include <tier4_system_msgs/srv/change_topic_relay_control.hpp>
@@ -41,7 +41,8 @@ class RedundancyRelayManager : public rclcpp::Node
   // Params
   NodeParam node_param_;
   // Subscribers
-  autoware::universe_utils::InterProcessPollingSubscriber<autoware_adapi_v1_msgs::msg::OperationModeState>
+  autoware::universe_utils::InterProcessPollingSubscriber<
+    autoware_adapi_v1_msgs::msg::OperationModeState>
     sub_operation_mode_state_{this, "~/input/operation_mode/state"};
   rclcpp::Subscription<tier4_system_msgs::msg::ElectionStatus>::SharedPtr sub_main_election_status_;
   rclcpp::Subscription<tier4_system_msgs::msg::ElectionStatus>::SharedPtr sub_sub_election_status_;