Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

revert(tier4_state_rviz_plugin): readability-identifier-naming (#1595) #1617

Merged
merged 1 commit into from
Aug 18, 2022
Merged

revert(tier4_state_rviz_plugin): readability-identifier-naming (#1595) #1617

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
39 changes: 19 additions & 20 deletions common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@
#include <memory>
#include <string>

inline std::string bool_to_string(const bool var) { return var ? "True" : "False"; }
inline std::string Bool2String(const bool var) { return var ? "True" : "False"; }

using std::placeholders::_1;

Expand Down Expand Up @@ -128,26 +128,25 @@ void AutowareStatePanel::onInitialize()
raw_node_ = this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node();

sub_gate_mode_ = raw_node_->create_subscription<tier4_control_msgs::msg::GateMode>(
"/control/current_gate_mode", 10, std::bind(&AutowareStatePanel::on_gate_mode, this, _1));
"/control/current_gate_mode", 10, std::bind(&AutowareStatePanel::onGateMode, this, _1));

sub_selector_mode_ =
raw_node_->create_subscription<tier4_control_msgs::msg::ExternalCommandSelectorMode>(
"/control/external_cmd_selector/current_selector_mode", 10,
std::bind(&AutowareStatePanel::on_selector_mode, this, _1));
std::bind(&AutowareStatePanel::onSelectorMode, this, _1));

sub_autoware_state_ =
raw_node_->create_subscription<autoware_auto_system_msgs::msg::AutowareState>(
"/autoware/state", 10, std::bind(&AutowareStatePanel::on_autoware_state, this, _1));
"/autoware/state", 10, std::bind(&AutowareStatePanel::onAutowareState, this, _1));

sub_gear_ = raw_node_->create_subscription<autoware_auto_vehicle_msgs::msg::GearReport>(
"/vehicle/status/gear_status", 10, std::bind(&AutowareStatePanel::on_shift, this, _1));
"/vehicle/status/gear_status", 10, std::bind(&AutowareStatePanel::onShift, this, _1));

sub_engage_ = raw_node_->create_subscription<tier4_external_api_msgs::msg::EngageStatus>(
"/api/external/get/engage", 10, std::bind(&AutowareStatePanel::on_engage_status, this, _1));
"/api/external/get/engage", 10, std::bind(&AutowareStatePanel::onEngageStatus, this, _1));

sub_emergency_ = raw_node_->create_subscription<tier4_external_api_msgs::msg::Emergency>(
"/api/autoware/get/emergency", 10,
std::bind(&AutowareStatePanel::on_emergency_status, this, _1));
"/api/autoware/get/emergency", 10, std::bind(&AutowareStatePanel::onEmergencyStatus, this, _1));

client_engage_ = raw_node_->create_client<tier4_external_api_msgs::srv::Engage>(
"/api/external/set/engage", rmw_qos_profile_services_default);
Expand All @@ -167,7 +166,7 @@ void AutowareStatePanel::onInitialize()
rclcpp::QoS{1}.transient_local());
}

void AutowareStatePanel::on_gate_mode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg)
void AutowareStatePanel::onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg)
{
switch (msg->data) {
case tier4_control_msgs::msg::GateMode::AUTO:
Expand All @@ -187,7 +186,7 @@ void AutowareStatePanel::on_gate_mode(const tier4_control_msgs::msg::GateMode::C
}
}

void AutowareStatePanel::on_selector_mode(
void AutowareStatePanel::onSelectorMode(
const tier4_control_msgs::msg::ExternalCommandSelectorMode::ConstSharedPtr msg)
{
switch (msg->data) {
Expand All @@ -213,7 +212,7 @@ void AutowareStatePanel::on_selector_mode(
}
}

void AutowareStatePanel::on_autoware_state(
void AutowareStatePanel::onAutowareState(
const autoware_auto_system_msgs::msg::AutowareState::ConstSharedPtr msg)
{
if (msg->state == autoware_auto_system_msgs::msg::AutowareState::INITIALIZING) {
Expand All @@ -240,7 +239,7 @@ void AutowareStatePanel::on_autoware_state(
}
}

void AutowareStatePanel::on_shift(
void AutowareStatePanel::onShift(
const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr msg)
{
switch (msg->report) {
Expand All @@ -259,14 +258,14 @@ void AutowareStatePanel::on_shift(
}
}

void AutowareStatePanel::on_engage_status(
void AutowareStatePanel::onEngageStatus(
const tier4_external_api_msgs::msg::EngageStatus::ConstSharedPtr msg)
{
current_engage_ = msg->engage;
engage_status_label_ptr_->setText(QString::fromStdString(bool_to_string(current_engage_)));
engage_status_label_ptr_->setText(QString::fromStdString(Bool2String(current_engage_)));
}

void AutowareStatePanel::on_emergency_status(
void AutowareStatePanel::onEmergencyStatus(
const tier4_external_api_msgs::msg::Emergency::ConstSharedPtr msg)
{
current_emergency_ = msg->emergency;
Expand All @@ -279,14 +278,14 @@ void AutowareStatePanel::on_emergency_status(
}
}

void AutowareStatePanel::on_click_velocity_limit()
void AutowareStatePanel::onClickVelocityLimit()
{
auto velocity_limit = std::make_shared<tier4_planning_msgs::msg::VelocityLimit>();
velocity_limit->max_velocity = pub_velocity_limit_input_->value() / 3.6;
pub_velocity_limit_->publish(*velocity_limit);
}

void AutowareStatePanel::on_click_autoware_engage()
void AutowareStatePanel::onClickAutowareEngage()
{
using tier4_external_api_msgs::srv::Engage;

Expand All @@ -307,7 +306,7 @@ void AutowareStatePanel::on_click_autoware_engage()
});
}

void AutowareStatePanel::on_click_emergency_button()
void AutowareStatePanel::onClickEmergencyButton()
{
using tier4_external_api_msgs::msg::ResponseStatus;
using tier4_external_api_msgs::srv::SetEmergency;
Expand All @@ -328,7 +327,7 @@ void AutowareStatePanel::on_click_emergency_button()
}
});
}
void AutowareStatePanel::on_click_gate_mode()
void AutowareStatePanel::onClickGateMode()
{
const auto data = gate_mode_label_ptr_->text().toStdString() == "AUTO"
? tier4_control_msgs::msg::GateMode::EXTERNAL
Expand All @@ -338,7 +337,7 @@ void AutowareStatePanel::on_click_gate_mode()
tier4_control_msgs::build<tier4_control_msgs::msg::GateMode>().data(data));
}

void AutowareStatePanel::on_click_path_change_approval()
void AutowareStatePanel::onClickPathChangeApproval()
{
pub_path_change_approval_->publish(
tier4_planning_msgs::build<tier4_planning_msgs::msg::Approval>()
Expand Down
22 changes: 11 additions & 11 deletions common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -45,20 +45,20 @@ class AutowareStatePanel : public rviz_common::Panel
void onInitialize() override;

public Q_SLOTS: // NOLINT for Qt
void on_click_autoware_engage();
void on_click_velocity_limit();
void on_click_gate_mode();
void on_click_path_change_approval();
void on_click_emergency_button();
void onClickAutowareEngage();
void onClickVelocityLimit();
void onClickGateMode();
void onClickPathChangeApproval();
void onClickEmergencyButton();

protected:
void on_gate_mode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg);
void on_selector_mode(
void onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg);
void onSelectorMode(
const tier4_control_msgs::msg::ExternalCommandSelectorMode::ConstSharedPtr msg);
void on_autoware_state(const autoware_auto_system_msgs::msg::AutowareState::ConstSharedPtr msg);
void on_shift(const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr msg);
void on_emergency_status(const tier4_external_api_msgs::msg::Emergency::ConstSharedPtr msg);
void on_engage_status(const tier4_external_api_msgs::msg::EngageStatus::ConstSharedPtr msg);
void onAutowareState(const autoware_auto_system_msgs::msg::AutowareState::ConstSharedPtr msg);
void onShift(const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr msg);
void onEmergencyStatus(const tier4_external_api_msgs::msg::Emergency::ConstSharedPtr msg);
void onEngageStatus(const tier4_external_api_msgs::msg::EngageStatus::ConstSharedPtr msg);

rclcpp::Node::SharedPtr raw_node_;
rclcpp::Subscription<tier4_control_msgs::msg::GateMode>::SharedPtr sub_gate_mode_;
Expand Down