feat(autoware_utils): add functions to generate and convert uuids (#238)

Signed-off-by: Alexey Panferov <[email protected]>

autoware_utils/include/autoware_utils/autoware_utils.hpp

@@ -19,5 +19,6 @@
 #include "autoware_utils/math/normalization.hpp"
 #include "autoware_utils/math/range.hpp"
 #include "autoware_utils/math/unit_conversion.hpp"
+#include "autoware_utils/ros/uuid_helper.hpp"
 
 #endif  // AUTOWARE_UTILS__AUTOWARE_UTILS_HPP_

autoware_utils/include/autoware_utils/ros/uuid_helper.hpp

@@ -0,0 +1,72 @@
+// Copyright 2022 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_UTILS__ROS__UUID_HELPER_HPP_
+#define AUTOWARE_UTILS__ROS__UUID_HELPER_HPP_
+
+#include <unique_identifier_msgs/msg/uuid.hpp>
+
+#include <boost/uuid/uuid.hpp>
+
+#include <algorithm>
+#include <random>
+#include <string>
+
+namespace autoware_utils
+{
+inline unique_identifier_msgs::msg::UUID generate_uuid()
+{
+  // Generate random number
+  unique_identifier_msgs::msg::UUID uuid;
+  std::mt19937 gen(std::random_device{}());
+  std::independent_bits_engine<std::mt19937, 8, uint8_t> bit_eng(gen);
+  std::generate(uuid.uuid.begin(), uuid.uuid.end(), bit_eng);
+
+  return uuid;
+}
+inline unique_identifier_msgs::msg::UUID generate_default_uuid()
+{
+  // Generate UUID with all zeros
+  unique_identifier_msgs::msg::UUID default_uuid;
+  // Use std::generate to fill the UUID with zeros
+  std::generate(default_uuid.uuid.begin(), default_uuid.uuid.end(), []() { return 0; });
+
+  return default_uuid;
+}
+inline std::string to_hex_string(const unique_identifier_msgs::msg::UUID & id)
+{
+  std::stringstream ss;
+  for (auto i = 0; i < 16; ++i) {
+    ss << std::hex << std::setfill('0') << std::setw(2) << +id.uuid[i];
+  }
+  return ss.str();
+}
+
+inline boost::uuids::uuid to_boost_uuid(const unique_identifier_msgs::msg::UUID & id)
+{
+  boost::uuids::uuid boost_uuid{};
+  std::copy(id.uuid.begin(), id.uuid.end(), boost_uuid.begin());
+  return boost_uuid;
+}
+
+inline unique_identifier_msgs::msg::UUID to_uuid_msg(const boost::uuids::uuid & id)
+{
+  unique_identifier_msgs::msg::UUID ros_uuid{};
+  std::copy(id.begin(), id.end(), ros_uuid.uuid.begin());
+  return ros_uuid;
+}
+
+}  // namespace autoware_utils
+
+#endif  // AUTOWARE_UTILS__ROS__UUID_HELPER_HPP_

autoware_utils/package.xml

@@ -13,6 +13,7 @@
 
   <depend>builtin_interfaces</depend>
   <depend>rclcpp</depend>
+  <depend>unique_identifier_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
 

autoware_utils/test/src/ros/test_uuid_helper.cpp

@@ -0,0 +1,76 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "autoware_utils/ros/uuid_helper.hpp"
+
+#include <boost/uuid/uuid_generators.hpp>
+
+#include <gtest/gtest.h>
+
+TEST(UUIDHelperTest, generate_uuid)
+{
+  // Generate two UUIDs and ensure they are all different
+
+  unique_identifier_msgs::msg::UUID uuid1 = autoware_utils::generate_uuid();
+  unique_identifier_msgs::msg::UUID uuid2 = autoware_utils::generate_uuid();
+
+  EXPECT_FALSE(uuid1 == uuid2) << "Duplicate UUID generated: "
+                               << autoware_utils::to_hex_string(uuid2);
+}
+
+TEST(UUIDHelperTest, generate_default_uuid)
+{
+  // Generate two UUIDs and ensure they are all different
+
+  unique_identifier_msgs::msg::UUID default_uuid = autoware_utils::generate_default_uuid();
+  unique_identifier_msgs::msg::UUID zero_uuid;
+  std::fill(zero_uuid.uuid.begin(), zero_uuid.uuid.end(), 0x00);
+
+  EXPECT_EQ(default_uuid, zero_uuid);
+}
+
+TEST(UUIDHelperTest, to_hex_string)
+{
+  unique_identifier_msgs::msg::UUID uuid;
+  // Populate the UUID with some values
+  std::fill(uuid.uuid.begin(), uuid.uuid.end(), 0x42);
+
+  std::string hex_string = autoware_utils::to_hex_string(uuid);
+
+  // Check if the generated hex string is correct
+  EXPECT_EQ(hex_string, "42424242424242424242424242424242");
+}
+
+TEST(UUIDHelperTest, to_boost_uuid)
+{
+  unique_identifier_msgs::msg::UUID uuid;
+  // Populate the UUID with some values
+  std::fill(uuid.uuid.begin(), uuid.uuid.end(), 0x42);
+
+  boost::uuids::uuid boost_uuid{};
+  std::fill(boost_uuid.begin(), boost_uuid.end(), 0x42);
+
+  // Check if the conversion from ROS UUID to Boost UUID is correct
+  EXPECT_TRUE(boost_uuid == autoware_utils::to_boost_uuid(uuid));
+}
+
+TEST(UUIDHelperTest, to_uuid_msg)
+{
+  boost::uuids::random_generator generator;
+  boost::uuids::uuid boost_uuid = generator();
+  unique_identifier_msgs::msg::UUID ros_uuid = autoware_utils::to_uuid_msg(boost_uuid);
+
+  // Check if the conversion from Boost UUID to ROS UUID is correct
+  EXPECT_TRUE(std::equal(boost_uuid.begin(), boost_uuid.end(), ros_uuid.uuid.begin()));
+}