fix(autoware_iv_internal_api_adaptor): iv msg types (#121)

Signed-off-by: Takagi, Isamu <[email protected]>
tier4 · Jul 8, 2024 · d800841 · d800841
1 parent c2f6a89
commit d800841
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Showing 2 changed files with 43 additions and 43 deletions.
diff --git a/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp b/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp
@@ -22,60 +22,60 @@ IVMsgs::IVMsgs(const rclcpp::NodeOptions & options) : Node("external_api_iv_msgs
 {
   using std::placeholders::_1;
 
-  pub_state_ = create_publisher<AutowareStateIV>("/api/iv_msgs/autoware/state", rclcpp::QoS(1));
-  sub_state_ = create_subscription<AutowareStateAuto>(
+  pub_state_ = create_publisher<AutowareStateOutput>("/api/iv_msgs/autoware/state", rclcpp::QoS(1));
+  sub_state_ = create_subscription<AutowareStateInput>(
     "/autoware/state", rclcpp::QoS(1), std::bind(&IVMsgs::onState, this, _1));
-  sub_emergency_ = create_subscription<EmergencyStateAuto>(
+  sub_emergency_ = create_subscription<EmergencyStateInput>(
     "/system/fail_safe/mrm_state", rclcpp::QoS(1), std::bind(&IVMsgs::onEmergency, this, _1));
 
   pub_control_mode_ =
-    create_publisher<ControlModeAuto>("/api/iv_msgs/vehicle/status/control_mode", rclcpp::QoS(1));
-  sub_control_mode_ = create_subscription<ControlMode>(
+    create_publisher<ControlModeOutput>("/api/iv_msgs/vehicle/status/control_mode", rclcpp::QoS(1));
+  sub_control_mode_ = create_subscription<ControlModeInput>(
     "/vehicle/status/control_mode", rclcpp::QoS(1), std::bind(&IVMsgs::onControlMode, this, _1));
 
-  pub_trajectory_ = create_publisher<TrajectoryIV>(
+  pub_trajectory_ = create_publisher<TrajectoryOutput>(
     "/api/iv_msgs/planning/scenario_planning/trajectory", rclcpp::QoS(1));
-  sub_trajectory_ = create_subscription<TrajectoryAuto>(
+  sub_trajectory_ = create_subscription<TrajectoryInput>(
     "/planning/scenario_planning/trajectory", rclcpp::QoS(1),
     std::bind(&IVMsgs::onTrajectory, this, _1));
 
-  pub_dynamic_objects_ = create_publisher<DynamicObjectsIV>(
+  pub_dynamic_objects_ = create_publisher<DynamicObjectsOutput>(
     "/api/iv_msgs/perception/object_recognition/tracking/objects", rclcpp::QoS(1));
-  sub_tracked_objects_ = create_subscription<TrackedObjectsAuto>(
+  sub_tracked_objects_ = create_subscription<TrackedObjectsInput>(
     "/perception/object_recognition/tracking/objects", rclcpp::QoS(1),
     std::bind(&IVMsgs::onTrackedObjects, this, _1));
 
   is_emergency_ = false;
 }
 
-void IVMsgs::onState(const AutowareStateAuto::ConstSharedPtr message)
+void IVMsgs::onState(const AutowareStateInput::ConstSharedPtr message)
 {
   auto state = tier4_auto_msgs_converter::convert(*message);
   if (is_emergency_) {
-    state.state = AutowareStateIV::EMERGENCY;
+    state.state = AutowareStateOutput::EMERGENCY;
   }
   pub_state_->publish(state);
 }
 
-void IVMsgs::onEmergency(const EmergencyStateAuto::ConstSharedPtr message)
+void IVMsgs::onEmergency(const EmergencyStateInput::ConstSharedPtr message)
 {
-  is_emergency_ = message->state != EmergencyStateAuto::NORMAL;
+  is_emergency_ = message->state != EmergencyStateInput::NORMAL;
 }
 
-void IVMsgs::onControlMode(const ControlMode::ConstSharedPtr message)
+void IVMsgs::onControlMode(const ControlModeInput::ConstSharedPtr message)
 {
-  ControlModeAuto control_mode_auto;
-  control_mode_auto.stamp = message->stamp;
-  control_mode_auto.mode = message->mode;
-  pub_control_mode_->publish(control_mode_auto);
+  ControlModeOutput control_mode;
+  control_mode.stamp = message->stamp;
+  control_mode.mode = message->mode;
+  pub_control_mode_->publish(control_mode);
 }
 
-void IVMsgs::onTrajectory(const TrajectoryAuto::ConstSharedPtr message)
+void IVMsgs::onTrajectory(const TrajectoryInput::ConstSharedPtr message)
 {
   pub_trajectory_->publish(tier4_auto_msgs_converter::convert(*message));
 }
 
-void IVMsgs::onTrackedObjects(const TrackedObjectsAuto::ConstSharedPtr message)
+void IVMsgs::onTrackedObjects(const TrackedObjectsInput::ConstSharedPtr message)
 {
   pub_dynamic_objects_->publish(tier4_auto_msgs_converter::convert(*message));
 }

diff --git a/autoware_iv_internal_api_adaptor/src/iv_msgs.hpp b/autoware_iv_internal_api_adaptor/src/iv_msgs.hpp
@@ -35,33 +35,33 @@ class IVMsgs : public rclcpp::Node
   explicit IVMsgs(const rclcpp::NodeOptions & options);
 
 private:
-  using EmergencyStateAuto = autoware_adapi_v1_msgs::msg::MrmState;
-  using AutowareStateAuto = autoware_system_msgs::msg::AutowareState;
-  using AutowareStateIV = tier4_system_msgs::msg::AutowareState;
-  rclcpp::Subscription<EmergencyStateAuto>::SharedPtr sub_emergency_;
-  rclcpp::Subscription<AutowareStateAuto>::SharedPtr sub_state_;
-  rclcpp::Publisher<AutowareStateIV>::SharedPtr pub_state_;
+  using EmergencyStateInput = autoware_adapi_v1_msgs::msg::MrmState;
+  using AutowareStateInput = autoware_system_msgs::msg::AutowareState;
+  using AutowareStateOutput = tier4_system_msgs::msg::AutowareState;
+  rclcpp::Subscription<EmergencyStateInput>::SharedPtr sub_emergency_;
+  rclcpp::Subscription<AutowareStateInput>::SharedPtr sub_state_;
+  rclcpp::Publisher<AutowareStateOutput>::SharedPtr pub_state_;
 
-  using ControlModeAuto = autoware_vehicle_msgs::msg::ControlModeReport;
-  using ControlMode = autoware_auto_vehicle_msgs::msg::ControlModeReport;
-  rclcpp::Subscription<ControlMode>::SharedPtr sub_control_mode_;
-  rclcpp::Publisher<ControlModeAuto>::SharedPtr pub_control_mode_;
+  using ControlModeInput = autoware_vehicle_msgs::msg::ControlModeReport;
+  using ControlModeOutput = autoware_auto_vehicle_msgs::msg::ControlModeReport;
+  rclcpp::Subscription<ControlModeInput>::SharedPtr sub_control_mode_;
+  rclcpp::Publisher<ControlModeOutput>::SharedPtr pub_control_mode_;
 
-  using TrajectoryAuto = autoware_planning_msgs::msg::Trajectory;
-  using TrajectoryIV = tier4_planning_msgs::msg::Trajectory;
-  rclcpp::Subscription<TrajectoryAuto>::SharedPtr sub_trajectory_;
-  rclcpp::Publisher<TrajectoryIV>::SharedPtr pub_trajectory_;
+  using TrajectoryInput = autoware_planning_msgs::msg::Trajectory;
+  using TrajectoryOutput = tier4_planning_msgs::msg::Trajectory;
+  rclcpp::Subscription<TrajectoryInput>::SharedPtr sub_trajectory_;
+  rclcpp::Publisher<TrajectoryOutput>::SharedPtr pub_trajectory_;
 
-  using TrackedObjectsAuto = autoware_perception_msgs::msg::TrackedObjects;
-  using DynamicObjectsIV = tier4_perception_msgs::msg::DynamicObjectArray;
-  rclcpp::Subscription<TrackedObjectsAuto>::SharedPtr sub_tracked_objects_;
-  rclcpp::Publisher<DynamicObjectsIV>::SharedPtr pub_dynamic_objects_;
+  using TrackedObjectsInput = autoware_perception_msgs::msg::TrackedObjects;
+  using DynamicObjectsOutput = tier4_perception_msgs::msg::DynamicObjectArray;
+  rclcpp::Subscription<TrackedObjectsInput>::SharedPtr sub_tracked_objects_;
+  rclcpp::Publisher<DynamicObjectsOutput>::SharedPtr pub_dynamic_objects_;
 
-  void onState(const AutowareStateAuto::ConstSharedPtr message);
-  void onEmergency(const EmergencyStateAuto::ConstSharedPtr message);
-  void onControlMode(const ControlMode::ConstSharedPtr message);
-  void onTrajectory(const TrajectoryAuto::ConstSharedPtr message);
-  void onTrackedObjects(const TrackedObjectsAuto::ConstSharedPtr message);
+  void onState(const AutowareStateInput::ConstSharedPtr message);
+  void onEmergency(const EmergencyStateInput::ConstSharedPtr message);
+  void onControlMode(const ControlModeInput::ConstSharedPtr message);
+  void onTrajectory(const TrajectoryInput::ConstSharedPtr message);
+  void onTrackedObjects(const TrackedObjectsInput::ConstSharedPtr message);
 
   bool is_emergency_;
 };