From 788383d7bc74f43d8fcd977ff2a631fe8f46fa7b Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Fri, 20 Oct 2023 16:36:46 +0900 Subject: [PATCH 01/30] update Doxyfile Signed-off-by: Masaya Kataoka --- .gitignore | 2 + Doxyfile | 48 +++++++++++++++++++ .../exception.hpp | 17 ++----- 3 files changed, 54 insertions(+), 13 deletions(-) create mode 100644 Doxyfile diff --git a/.gitignore b/.gitignore index 284e2a2d5eb..665a3b4b50c 100644 --- a/.gitignore +++ b/.gitignore @@ -6,6 +6,7 @@ # log file *.log +log # files too large *.pcd @@ -20,3 +21,4 @@ latex scenario_simulator.tar site *.pyc +build diff --git a/Doxyfile b/Doxyfile new file mode 100644 index 00000000000..19f49d9fe74 --- /dev/null +++ b/Doxyfile @@ -0,0 +1,48 @@ +PROJECT_NAME = scenario_simulator_v2 + +DOXYFILE_ENCODING = UTF-8 + +ENABLE_PREPROCESSING = YES +EXPAND_ONLY_PREDEF = YES +EXTRACT_ALL = YES +EXTRACT_ANON_NSPACES = YES +EXTRACT_LOCAL_CLASSES = YES +EXTRACT_LOCAL_METHODS = YES +GENERATE_HTML = YES +GENERATE_LATEX = NO +GENERATE_XML = NO + +INPUT += common/math/geometry +INPUT += common/scenario_simulator_exception + +IMAGE_PATH += common/math/geometry +IMAGE_PATH += common/scenario_simulator_exception + +EXAMPLE_PATH += common/math/geometry +EXAMPLE_PATH += common/scenario_simulator_exception + +INPUT_ENCODING = UTF-8 +MACRO_EXPANSION = YES +OUTPUT_DIRECTORY = +OUTPUT_LANGUAGE = English +PROJECT_NAME = Scenario Simulator +RECURSIVE = YES +SKIP_FUNCTION_MACROS = NO +XML_OUTPUT = build + +FILE_PATTERNS += *.hpp +FILE_PATTERNS += *.cpp +FILE_PATTERNS += *.md + +EXPAND_AS_DEFINED += TEST +EXPAND_AS_DEFINED += EXPECT_DECIMAL_EQ +EXPAND_AS_DEFINED += EXPECT_POINT_EQ +EXPAND_AS_DEFINED += EXPECT_VECTOR3_EQ +EXPAND_AS_DEFINED += EXPECT_QUATERNION_EQ +EXPAND_AS_DEFINED += EXPECT_POSE_EQ +EXPAND_AS_DEFINED += EXPECT_LANELET_POSE_EQ +EXPAND_AS_DEFINED += EXPECT_TWIST_EQ +EXPAND_AS_DEFINED += EXPECT_ACCEL_EQ +EXPAND_AS_DEFINED += EXPECT_ACTION_STATUS_EQ +EXPAND_AS_DEFINED += EXPECT_DETECTION_SENSOR_CONFIGURATION_EQ +EXPAND_AS_DEFINED += DEFINE_ERROR_CATEGORY diff --git a/common/scenario_simulator_exception/include/scenario_simulator_exception/exception.hpp b/common/scenario_simulator_exception/include/scenario_simulator_exception/exception.hpp index cd3c2252519..2fe7e130ba5 100644 --- a/common/scenario_simulator_exception/include/scenario_simulator_exception/exception.hpp +++ b/common/scenario_simulator_exception/include/scenario_simulator_exception/exception.hpp @@ -37,21 +37,16 @@ struct Error : public std::runtime_error using Error::Error; \ } -// Autoware encountered some problem that led to a simulation failure. +/// @brief Autoware encountered some problem that led to a simulation failure. DEFINE_ERROR_CATEGORY(AutowareError); -// Although there were no syntactic errors in the description of the scenario, -// differences in meaning and inconsistencies were found. +/// @brief Although there were no syntactic errors in the description of the scenario, differences in meaning and inconsistencies were found. DEFINE_ERROR_CATEGORY(SemanticError); -// A problem occurred that interfered with the continuation of the simulation. +/// @brief A problem occurred that interfered with the continuation of the simulation. DEFINE_ERROR_CATEGORY(SimulationError); -// Metric module detects specification violation in simulation. -DEFINE_ERROR_CATEGORY(SpecificationViolation); - -// There is a syntactic error in the description of the scenario. Or you are -// using a feature that is not yet supported by our implementation. +/// @brief There is a syntactic error in the description of the scenario. Or you are using a feature that is not yet supported by our implementation. DEFINE_ERROR_CATEGORY(SyntaxError); #undef DEFINE_ERROR_CATEGORY @@ -60,11 +55,7 @@ DEFINE_ERROR_CATEGORY(SyntaxError); #define THROW_SEMANTIC_ERROR(...) /* */ THROW_ERROR(common::SemanticError, __VA_ARGS__) #define THROW_SIMULATION_ERROR(...) /* */ THROW_ERROR(common::SimulationError, __VA_ARGS__) -#define THROW_SPECIFICATION_VIOLATION(...) THROW_ERROR(common::SpecificationViolation, __VA_ARGS__) #define THROW_SYNTAX_ERROR(...) /* */ THROW_ERROR(common::SyntaxError, __VA_ARGS__) - -#define SPECIFICATION_VIOLATION(...) \ - common::SpecificationViolation(__FILE__, ":", __LINE__, ": ", __VA_ARGS__) } // namespace scenario_simulator_exception } // namespace common From 296e6cd46c12341ba363a3a83dc8be61561977af Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Fri, 20 Oct 2023 17:44:30 +0900 Subject: [PATCH 02/30] update Doxyfile Signed-off-by: Masaya Kataoka --- Doxyfile | 37 ++++++++++++++----- README.md | 2 +- .../include/simple_junit/junit5.hpp | 10 ++--- external/concealer/src/task_queue.cpp | 2 +- simulation/traffic_simulator/src/api/api.cpp | 2 +- 5 files changed, 35 insertions(+), 18 deletions(-) diff --git a/Doxyfile b/Doxyfile index 19f49d9fe74..c62419a599a 100644 --- a/Doxyfile +++ b/Doxyfile @@ -1,4 +1,4 @@ -PROJECT_NAME = scenario_simulator_v2 +PROJECT_NAME = scenario_simulator_v2 C++ API DOXYFILE_ENCODING = UTF-8 @@ -12,20 +12,33 @@ GENERATE_HTML = YES GENERATE_LATEX = NO GENERATE_XML = NO +INPUT += README.md + INPUT += common/math/geometry +INPUT += common/math/arithmetic INPUT += common/scenario_simulator_exception +INPUT += common/simple_junit +INPUT += common/status_monitor +INPUT += simulation/traffic_simulator IMAGE_PATH += common/math/geometry +IMAGE_PATH += common/math/arithmetic IMAGE_PATH += common/scenario_simulator_exception +IMAGE_PATH += common/simple_junit +IMAGE_PATH += common/status_monitor +IMAGE_PATH += simulation/traffic_simulator EXAMPLE_PATH += common/math/geometry EXAMPLE_PATH += common/scenario_simulator_exception +EXAMPLE_PATH += common/math/arithmetic +EXAMPLE_PATH += common/simple_junit +EXAMPLE_PATH += common/status_monitor +EXAMPLE_PATH += simulation/traffic_simulator INPUT_ENCODING = UTF-8 MACRO_EXPANSION = YES OUTPUT_DIRECTORY = OUTPUT_LANGUAGE = English -PROJECT_NAME = Scenario Simulator RECURSIVE = YES SKIP_FUNCTION_MACROS = NO XML_OUTPUT = build @@ -34,15 +47,19 @@ FILE_PATTERNS += *.hpp FILE_PATTERNS += *.cpp FILE_PATTERNS += *.md -EXPAND_AS_DEFINED += TEST +EXPAND_AS_DEFINED += DEFINE_ERROR_CATEGORY +EXPAND_AS_DEFINED += EXPECT_ACCEL_EQ +EXPAND_AS_DEFINED += EXPECT_ACTION_STATUS_EQ EXPAND_AS_DEFINED += EXPECT_DECIMAL_EQ +EXPAND_AS_DEFINED += EXPECT_DETECTION_SENSOR_CONFIGURATION_EQ +EXPAND_AS_DEFINED += EXPECT_LANELET_POSE_EQ EXPAND_AS_DEFINED += EXPECT_POINT_EQ -EXPAND_AS_DEFINED += EXPECT_VECTOR3_EQ -EXPAND_AS_DEFINED += EXPECT_QUATERNION_EQ EXPAND_AS_DEFINED += EXPECT_POSE_EQ -EXPAND_AS_DEFINED += EXPECT_LANELET_POSE_EQ +EXPAND_AS_DEFINED += EXPECT_QUATERNION_EQ EXPAND_AS_DEFINED += EXPECT_TWIST_EQ -EXPAND_AS_DEFINED += EXPECT_ACCEL_EQ -EXPAND_AS_DEFINED += EXPECT_ACTION_STATUS_EQ -EXPAND_AS_DEFINED += EXPECT_DETECTION_SENSOR_CONFIGURATION_EQ -EXPAND_AS_DEFINED += DEFINE_ERROR_CATEGORY +EXPAND_AS_DEFINED += EXPECT_VECTOR3_EQ +EXPAND_AS_DEFINED += TEST +EXPAND_AS_DEFINED += THROW_ERROR +EXPAND_AS_DEFINED += THROW_SEMANTIC_ERROR +EXPAND_AS_DEFINED += THROW_SIMULATION_ERROR +EXPAND_AS_DEFINED += THROW_SYNTAX_ERROR diff --git a/README.md b/README.md index d11a5141925..fe536186104 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -# scenario_simulator_v2 +# scenario_simulator_v2 {#mainpage} Scenario testing framework for Autoware. diff --git a/common/simple_junit/include/simple_junit/junit5.hpp b/common/simple_junit/include/simple_junit/junit5.hpp index 13e6a3376c0..12310ccadce 100644 --- a/common/simple_junit/include/simple_junit/junit5.hpp +++ b/common/simple_junit/include/simple_junit/junit5.hpp @@ -123,7 +123,7 @@ struct Error struct Properties { - // TODO + /// @todo implement `properties` in junit. }; /* @@ -137,7 +137,7 @@ struct Properties struct Property { - // TODO + /// @todo implement `property` in junit. }; /* @@ -225,7 +225,7 @@ struct SimpleTestCase current_node.append_attribute("status") = testcase.status.c_str(); } - // TODO skipped + /// @todo implement `skipped` emelent in junit. for (const auto & each : testcase.error) { current_node.append_child("error") << each; @@ -235,9 +235,9 @@ struct SimpleTestCase current_node.append_child("failure") << each; } - // TODO system-out + /// @todo implement `system-out` element in junit. - // TODO system-err + /// @todo implement `system-err` element in junit. return node; } diff --git a/external/concealer/src/task_queue.cpp b/external/concealer/src/task_queue.cpp index 80a099ea9c7..481ecdcca1e 100644 --- a/external/concealer/src/task_queue.cpp +++ b/external/concealer/src/task_queue.cpp @@ -16,7 +16,7 @@ #include #include -// TODO: pzyskowski : use conditional variables to wait for new messages instead of sleep_for +/// @todo: pzyskowski : use conditional variables to wait for new messages instead of sleep_for namespace concealer { TaskQueue::TaskQueue() diff --git a/simulation/traffic_simulator/src/api/api.cpp b/simulation/traffic_simulator/src/api/api.cpp index 77e64631b86..133147d84e1 100644 --- a/simulation/traffic_simulator/src/api/api.cpp +++ b/simulation/traffic_simulator/src/api/api.cpp @@ -215,7 +215,7 @@ bool API::updateTrafficLightsInSim() auto req = entity_manager_ptr_->generateUpdateRequestForConventionalTrafficLights(); return zeromq_client_.call(req).result().success(); } - // TODO handle response + /// @todo handle response return simulation_api_schema::UpdateTrafficLightsResponse().result().success(); } From 7606dbee4e8fac50c678746827d5aaf917094586 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Fri, 20 Oct 2023 17:47:09 +0900 Subject: [PATCH 03/30] add cpp_mock_scenarios Signed-off-by: Masaya Kataoka --- Doxyfile | 3 +++ .../src/follow_front_entity/accelerate_and_follow.cpp | 4 ++++ 2 files changed, 7 insertions(+) diff --git a/Doxyfile b/Doxyfile index c62419a599a..d175b536f83 100644 --- a/Doxyfile +++ b/Doxyfile @@ -19,6 +19,7 @@ INPUT += common/math/arithmetic INPUT += common/scenario_simulator_exception INPUT += common/simple_junit INPUT += common/status_monitor +INPUT += mock/cpp_mock_scenarios INPUT += simulation/traffic_simulator IMAGE_PATH += common/math/geometry @@ -26,6 +27,7 @@ IMAGE_PATH += common/math/arithmetic IMAGE_PATH += common/scenario_simulator_exception IMAGE_PATH += common/simple_junit IMAGE_PATH += common/status_monitor +IMAGE_PATH += mock/cpp_mock_scenarios IMAGE_PATH += simulation/traffic_simulator EXAMPLE_PATH += common/math/geometry @@ -33,6 +35,7 @@ EXAMPLE_PATH += common/scenario_simulator_exception EXAMPLE_PATH += common/math/arithmetic EXAMPLE_PATH += common/simple_junit EXAMPLE_PATH += common/status_monitor +EXAMPLE_PATH += mock/cpp_mock_scenarios EXAMPLE_PATH += simulation/traffic_simulator INPUT_ENCODING = UTF-8 diff --git a/mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp b/mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp index 5827274b922..68d4ab501b1 100644 --- a/mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp +++ b/mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class AccelerateAndFollowScenario : public cpp_mock_scenarios::CppScenarioNode { public: @@ -82,3 +84,5 @@ int main(int argc, char * argv[]) rclcpp::shutdown(); return 0; } + +} // namespace cpp_mock_scenarios From f5655e6fb3052799bb2fdb0395c094f740db6b6e Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Fri, 20 Oct 2023 17:52:13 +0900 Subject: [PATCH 04/30] add namespace Signed-off-by: Masaya Kataoka --- .../src/follow_front_entity/accelerate_and_follow.cpp | 3 +-- .../src/follow_front_entity/decelerate_and_follow.cpp | 3 +++ .../src/follow_lane/acquire_position_in_world_frame.cpp | 3 +++ .../src/follow_lane/assign_route_in_world_frame.cpp | 3 +++ mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp | 3 +++ mock/cpp_mock_scenarios/src/follow_lane/follow_with_offset.cpp | 3 +++ mock/cpp_mock_scenarios/src/lane_change/lanechange_left.cpp | 3 +++ .../src/lane_change/lanechange_left_with_id.cpp | 3 +++ mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp | 3 +++ .../src/lane_change/lanechange_linear_lateral_velocity.cpp | 3 +++ .../src/lane_change/lanechange_linear_time.cpp | 3 +++ .../src/lane_change/lanechange_longitudinal_distance.cpp | 3 +++ mock/cpp_mock_scenarios/src/lane_change/lanechange_right.cpp | 3 +++ .../src/lane_change/lanechange_right_with_id.cpp | 3 +++ mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp | 3 +++ 15 files changed, 43 insertions(+), 2 deletions(-) diff --git a/mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp b/mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp index 68d4ab501b1..4bc4c1ac92b 100644 --- a/mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp +++ b/mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp @@ -74,6 +74,7 @@ class AccelerateAndFollowScenario : public cpp_mock_scenarios::CppScenarioNode api_.requestSpeedChange("npc", 10, true); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { @@ -84,5 +85,3 @@ int main(int argc, char * argv[]) rclcpp::shutdown(); return 0; } - -} // namespace cpp_mock_scenarios diff --git a/mock/cpp_mock_scenarios/src/follow_front_entity/decelerate_and_follow.cpp b/mock/cpp_mock_scenarios/src/follow_front_entity/decelerate_and_follow.cpp index 8931f3a022d..9d3c5e873e1 100644 --- a/mock/cpp_mock_scenarios/src/follow_front_entity/decelerate_and_follow.cpp +++ b/mock/cpp_mock_scenarios/src/follow_front_entity/decelerate_and_follow.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class DecelerateAndFollowScenario : public cpp_mock_scenarios::CppScenarioNode { public: @@ -72,6 +74,7 @@ class DecelerateAndFollowScenario : public cpp_mock_scenarios::CppScenarioNode api_.requestSpeedChange("npc", 10, true); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { diff --git a/mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp b/mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp index abfa4eefb97..a5dc395bc4e 100644 --- a/mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp +++ b/mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class AcquirePositionInWorldFrame : public cpp_mock_scenarios::CppScenarioNode { public: @@ -61,6 +63,7 @@ class AcquirePositionInWorldFrame : public cpp_mock_scenarios::CppScenarioNode api_.requestAcquirePosition("ego", goal_pose); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { diff --git a/mock/cpp_mock_scenarios/src/follow_lane/assign_route_in_world_frame.cpp b/mock/cpp_mock_scenarios/src/follow_lane/assign_route_in_world_frame.cpp index b279d94e018..73bb12db1d1 100644 --- a/mock/cpp_mock_scenarios/src/follow_lane/assign_route_in_world_frame.cpp +++ b/mock/cpp_mock_scenarios/src/follow_lane/assign_route_in_world_frame.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class AcquireRouteInWorldFrame : public cpp_mock_scenarios::CppScenarioNode { public: @@ -62,6 +64,7 @@ class AcquireRouteInWorldFrame : public cpp_mock_scenarios::CppScenarioNode api_.requestAssignRoute("ego", goal_poses); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { diff --git a/mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp b/mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp index b43613d90fe..2461561323f 100644 --- a/mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp +++ b/mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class CancelRequest : public cpp_mock_scenarios::CppScenarioNode { public: @@ -65,6 +67,7 @@ class CancelRequest : public cpp_mock_scenarios::CppScenarioNode api_.requestAcquirePosition("ego", goal_pose); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { diff --git a/mock/cpp_mock_scenarios/src/follow_lane/follow_with_offset.cpp b/mock/cpp_mock_scenarios/src/follow_lane/follow_with_offset.cpp index 7a2d993323c..b8a16c57291 100644 --- a/mock/cpp_mock_scenarios/src/follow_lane/follow_with_offset.cpp +++ b/mock/cpp_mock_scenarios/src/follow_lane/follow_with_offset.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class FollowLaneWithOffset : public cpp_mock_scenarios::CppScenarioNode { public: @@ -62,6 +64,7 @@ class FollowLaneWithOffset : public cpp_mock_scenarios::CppScenarioNode api_.requestSpeedChange("ego", 10, true); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_left.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_left.cpp index f8f9a375ba3..c58a490cc28 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_left.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_left.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode { public: @@ -61,6 +63,7 @@ class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode api_.requestLaneChange("ego", traffic_simulator::lane_change::Direction::LEFT); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_left_with_id.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_left_with_id.cpp index 5e54efbe160..9d0f00172e3 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_left_with_id.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_left_with_id.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode { public: @@ -61,6 +63,7 @@ class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode api_.requestLaneChange("ego", 34513); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp index 45d11797537..a9b4e2b7d44 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode { public: @@ -71,6 +73,7 @@ class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode traffic_simulator::lane_change::Constraint::Type::LONGITUDINAL_DISTANCE, 30.0)); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp index f02af3df49b..e3eba711247 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode { public: @@ -75,6 +77,7 @@ class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode traffic_simulator::lane_change::Constraint::Type::LATERAL_VELOCITY, 1.0)); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp index 75e693f0520..d1b395c7e63 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode { public: @@ -74,6 +76,7 @@ class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode traffic_simulator::lane_change::Constraint::Type::TIME, 20.0)); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp index b0af0c5f967..92dc9221d08 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode { public: @@ -63,6 +65,7 @@ class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode traffic_simulator::lane_change::Constraint::Type::LONGITUDINAL_DISTANCE, 3.0)); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_right.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_right.cpp index 17226106ff7..01dc0e457af 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_right.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_right.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class LaneChangeRightScenario : public cpp_mock_scenarios::CppScenarioNode { public: @@ -62,6 +64,7 @@ class LaneChangeRightScenario : public cpp_mock_scenarios::CppScenarioNode // api_.requestLaneChange("ego", 34462); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_right_with_id.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_right_with_id.cpp index 7682bde98fd..4b906956430 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_right_with_id.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_right_with_id.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class LaneChangeRightScenario : public cpp_mock_scenarios::CppScenarioNode { public: @@ -61,6 +63,7 @@ class LaneChangeRightScenario : public cpp_mock_scenarios::CppScenarioNode api_.requestLaneChange("ego", 34462); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp index 4f7ada57efe..ae4798f420b 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode { public: @@ -74,6 +76,7 @@ class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode traffic_simulator::lane_change::Constraint::Type::TIME, 20.0)); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { From 21d62bae532fa4486b26105f64dcc4eca28a7969 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Fri, 20 Oct 2023 17:54:49 +0900 Subject: [PATCH 05/30] rename scenario classes Signed-off-by: Masaya Kataoka --- .../src/lane_change/lanechange_left_with_id.cpp | 6 +++--- .../src/lane_change/lanechange_linear.cpp | 6 +++--- .../src/lane_change/lanechange_linear_lateral_velocity.cpp | 6 +++--- .../src/lane_change/lanechange_linear_time.cpp | 6 +++--- .../src/lane_change/lanechange_longitudinal_distance.cpp | 6 +++--- mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp | 6 +++--- 6 files changed, 18 insertions(+), 18 deletions(-) diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_left_with_id.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_left_with_id.cpp index 9d0f00172e3..596109da425 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_left_with_id.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_left_with_id.cpp @@ -28,10 +28,10 @@ namespace cpp_mock_scenarios { -class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode +class LaneChangeLeftWithIdScenario : public cpp_mock_scenarios::CppScenarioNode { public: - explicit LaneChangeLeftScenario(const rclcpp::NodeOptions & option) + explicit LaneChangeLeftWithIdScenario(const rclcpp::NodeOptions & option) : cpp_mock_scenarios::CppScenarioNode( "lanechange_left", ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", "lanelet2_map.osm", __FILE__, false, option) @@ -69,7 +69,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp index a9b4e2b7d44..55b5f2f95f8 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp @@ -28,10 +28,10 @@ namespace cpp_mock_scenarios { -class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode +class LaneChangeLinear : public cpp_mock_scenarios::CppScenarioNode { public: - explicit LaneChangeLeftScenario(const rclcpp::NodeOptions & option) + explicit LaneChangeLinear(const rclcpp::NodeOptions & option) : cpp_mock_scenarios::CppScenarioNode( "lanechange_left", ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", "lanelet2_map.osm", __FILE__, false, option) @@ -79,7 +79,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp index e3eba711247..7132e3e6379 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp @@ -28,10 +28,10 @@ namespace cpp_mock_scenarios { -class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode +class LaneChangeLinearLateralVelocity : public cpp_mock_scenarios::CppScenarioNode { public: - explicit LaneChangeLeftScenario(const rclcpp::NodeOptions & option) + explicit LaneChangeLinearLateralVelocity(const rclcpp::NodeOptions & option) : cpp_mock_scenarios::CppScenarioNode( "lanechange_left", ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", "lanelet2_map.osm", __FILE__, false, option) @@ -83,7 +83,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp index d1b395c7e63..b239728d463 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp @@ -28,10 +28,10 @@ namespace cpp_mock_scenarios { -class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode +class LaneChangeLinearTime : public cpp_mock_scenarios::CppScenarioNode { public: - explicit LaneChangeLeftScenario(const rclcpp::NodeOptions & option) + explicit LaneChangeLinearTime(const rclcpp::NodeOptions & option) : cpp_mock_scenarios::CppScenarioNode( "lanechange_left", ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", "lanelet2_map.osm", __FILE__, false, option) @@ -82,7 +82,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp index 92dc9221d08..334c5d672a9 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp @@ -28,10 +28,10 @@ namespace cpp_mock_scenarios { -class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode +class LaneChangeLongitudinalDistance : public cpp_mock_scenarios::CppScenarioNode { public: - explicit LaneChangeLeftScenario(const rclcpp::NodeOptions & option) + explicit LaneChangeLongitudinalDistance(const rclcpp::NodeOptions & option) : cpp_mock_scenarios::CppScenarioNode( "lanechange_left", ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", "lanelet2_map.osm", __FILE__, false, option) @@ -71,7 +71,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp index ae4798f420b..902d3f777fc 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp @@ -28,10 +28,10 @@ namespace cpp_mock_scenarios { -class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode +class LaneChangeTime : public cpp_mock_scenarios::CppScenarioNode { public: - explicit LaneChangeLeftScenario(const rclcpp::NodeOptions & option) + explicit LaneChangeTime(const rclcpp::NodeOptions & option) : cpp_mock_scenarios::CppScenarioNode( "lanechange_left", ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", "lanelet2_map.osm", __FILE__, false, option) @@ -82,7 +82,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; From 1188f1fabd4fe9d104b4361aff71f6e667fd336f Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Fri, 20 Oct 2023 18:02:55 +0900 Subject: [PATCH 06/30] add namespace Signed-off-by: Masaya Kataoka --- .../src/behavior_plugin/load_do_nothing_plugin.cpp | 9 ++++++--- mock/cpp_mock_scenarios/src/collision/crashing_npc.cpp | 3 +++ .../src/collision/spawn_with_offset.cpp | 3 +++ .../src/crosswalk/stop_at_crosswalk.cpp | 3 +++ .../src/follow_lane/acquire_position_in_world_frame.cpp | 6 +++--- .../src/follow_lane/assign_route_in_world_frame.cpp | 6 +++--- .../src/follow_lane/cancel_request.cpp | 8 ++++---- 7 files changed, 25 insertions(+), 13 deletions(-) diff --git a/mock/cpp_mock_scenarios/src/behavior_plugin/load_do_nothing_plugin.cpp b/mock/cpp_mock_scenarios/src/behavior_plugin/load_do_nothing_plugin.cpp index d2c3286f44d..21f1118e5ad 100644 --- a/mock/cpp_mock_scenarios/src/behavior_plugin/load_do_nothing_plugin.cpp +++ b/mock/cpp_mock_scenarios/src/behavior_plugin/load_do_nothing_plugin.cpp @@ -26,11 +26,13 @@ #include #include +namespace cpp_mock_scenarios +{ /// @note Test case to verify if the do_nothing plugin can be loaded. -class LoadDoNothingPlugin : public cpp_mock_scenarios::CppScenarioNode +class LoadDoNothingPluginScenario : public cpp_mock_scenarios::CppScenarioNode { public: - explicit LoadDoNothingPlugin(const rclcpp::NodeOptions & option) + explicit LoadDoNothingPluginScenario(const rclcpp::NodeOptions & option) : cpp_mock_scenarios::CppScenarioNode( "crashing_npc", ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", "private_road_and_walkway_ele_fix/lanelet2_map.osm", __FILE__, false, option) @@ -62,12 +64,13 @@ class LoadDoNothingPlugin : public cpp_mock_scenarios::CppScenarioNode traffic_simulator::entity::PedestrianEntity::BuiltinBehavior::doNothing()); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/collision/crashing_npc.cpp b/mock/cpp_mock_scenarios/src/collision/crashing_npc.cpp index 90072e4c60f..e940f5ac048 100644 --- a/mock/cpp_mock_scenarios/src/collision/crashing_npc.cpp +++ b/mock/cpp_mock_scenarios/src/collision/crashing_npc.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class CrashingNpcScenario : public cpp_mock_scenarios::CppScenarioNode { public: @@ -69,6 +71,7 @@ class CrashingNpcScenario : public cpp_mock_scenarios::CppScenarioNode api_.requestSpeedChange("npc", 5, true); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { diff --git a/mock/cpp_mock_scenarios/src/collision/spawn_with_offset.cpp b/mock/cpp_mock_scenarios/src/collision/spawn_with_offset.cpp index 93fbf55abab..c58dd9d3241 100644 --- a/mock/cpp_mock_scenarios/src/collision/spawn_with_offset.cpp +++ b/mock/cpp_mock_scenarios/src/collision/spawn_with_offset.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class SpawnWithOffsetScenario : public cpp_mock_scenarios::CppScenarioNode { public: @@ -64,6 +66,7 @@ class SpawnWithOffsetScenario : public cpp_mock_scenarios::CppScenarioNode api_.requestSpeedChange("bob", 0, true); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { diff --git a/mock/cpp_mock_scenarios/src/crosswalk/stop_at_crosswalk.cpp b/mock/cpp_mock_scenarios/src/crosswalk/stop_at_crosswalk.cpp index 4baad67bb6c..1e2556142fd 100644 --- a/mock/cpp_mock_scenarios/src/crosswalk/stop_at_crosswalk.cpp +++ b/mock/cpp_mock_scenarios/src/crosswalk/stop_at_crosswalk.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class StopAtCrosswalkScenario : public cpp_mock_scenarios::CppScenarioNode { public: @@ -99,6 +101,7 @@ class StopAtCrosswalkScenario : public cpp_mock_scenarios::CppScenarioNode private: bool lanechange_executed_; }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { diff --git a/mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp b/mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp index a5dc395bc4e..c31499cb2ca 100644 --- a/mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp +++ b/mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp @@ -28,10 +28,10 @@ namespace cpp_mock_scenarios { -class AcquirePositionInWorldFrame : public cpp_mock_scenarios::CppScenarioNode +class AcquirePositionInWorldFrameScenario : public cpp_mock_scenarios::CppScenarioNode { public: - explicit AcquirePositionInWorldFrame(const rclcpp::NodeOptions & option) + explicit AcquirePositionInWorldFrameScenario(const rclcpp::NodeOptions & option) : cpp_mock_scenarios::CppScenarioNode( "acquire_position_in_world_frame", ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", "lanelet2_map.osm", @@ -69,7 +69,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/follow_lane/assign_route_in_world_frame.cpp b/mock/cpp_mock_scenarios/src/follow_lane/assign_route_in_world_frame.cpp index 73bb12db1d1..7bb617169e3 100644 --- a/mock/cpp_mock_scenarios/src/follow_lane/assign_route_in_world_frame.cpp +++ b/mock/cpp_mock_scenarios/src/follow_lane/assign_route_in_world_frame.cpp @@ -28,10 +28,10 @@ namespace cpp_mock_scenarios { -class AcquireRouteInWorldFrame : public cpp_mock_scenarios::CppScenarioNode +class AcquireRouteInWorldFrameScenario : public cpp_mock_scenarios::CppScenarioNode { public: - explicit AcquireRouteInWorldFrame(const rclcpp::NodeOptions & option) + explicit AcquireRouteInWorldFrameScenario(const rclcpp::NodeOptions & option) : cpp_mock_scenarios::CppScenarioNode( "assign_route_in_world_frame", ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", "lanelet2_map.osm", @@ -70,7 +70,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp b/mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp index 2461561323f..93bee6170e1 100644 --- a/mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp +++ b/mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp @@ -28,10 +28,10 @@ namespace cpp_mock_scenarios { -class CancelRequest : public cpp_mock_scenarios::CppScenarioNode +class CancelRequestScenario : public cpp_mock_scenarios::CppScenarioNode { public: - explicit CancelRequest(const rclcpp::NodeOptions & option) + explicit CancelRequestScenario(const rclcpp::NodeOptions & option) : cpp_mock_scenarios::CppScenarioNode( "cancel_request", ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", "lanelet2_map.osm", __FILE__, false, option) @@ -47,7 +47,7 @@ class CancelRequest : public cpp_mock_scenarios::CppScenarioNode "ego", api_.canonicalize(traffic_simulator::helper::constructLaneletPose(34513, 30, 0, 0, 0, 0)), 3.0)) { - api_.cancelRequest("ego"); + api_.CancelRequestScenario("ego"); canceled = true; } if (api_.isInLanelet("ego", 34507, 0.1)) { @@ -73,7 +73,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; From 2dd941d3969595341fa7bced0f989cff810aab72 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Fri, 20 Oct 2023 18:13:53 +0900 Subject: [PATCH 07/30] rename scenario class Signed-off-by: Masaya Kataoka --- .../src/follow_lane/follow_with_offset.cpp | 6 +++--- .../src/lane_change/lanechange_linear.cpp | 6 +++--- .../lane_change/lanechange_linear_lateral_velocity.cpp | 6 +++--- .../src/lane_change/lanechange_linear_time.cpp | 6 +++--- .../lane_change/lanechange_longitudinal_distance.cpp | 6 +++--- .../src/lane_change/lanechange_right_with_id.cpp | 6 +++--- .../src/lane_change/lanechange_time.cpp | 6 +++--- .../get_distance_in_lane_coordinate_distance.cpp | 3 +++ .../src/measurement/get_distance_to_lane_bound.cpp | 3 +++ mock/cpp_mock_scenarios/src/merge/merge_left.cpp | 3 +++ .../src/metrics/traveled_distance.cpp | 3 +++ .../src/move_backward/move_backward.cpp | 3 +++ .../src/pedestrian/walk_straight.cpp | 3 +++ .../src/speed_planning/request_speed_change.cpp | 3 +++ .../request_speed_change_continuous_false.cpp | 9 ++++++--- .../speed_planning/request_speed_change_relative.cpp | 3 +++ .../src/speed_planning/request_speed_change_step.cpp | 9 ++++++--- .../request_speed_change_with_time_constraint.cpp | 9 ++++++--- ...equest_speed_change_with_time_constraint_linear.cpp | 10 +++++++--- ...uest_speed_change_with_time_constraint_relative.cpp | 10 +++++++--- 20 files changed, 77 insertions(+), 36 deletions(-) diff --git a/mock/cpp_mock_scenarios/src/follow_lane/follow_with_offset.cpp b/mock/cpp_mock_scenarios/src/follow_lane/follow_with_offset.cpp index b8a16c57291..17d0e6f9e79 100644 --- a/mock/cpp_mock_scenarios/src/follow_lane/follow_with_offset.cpp +++ b/mock/cpp_mock_scenarios/src/follow_lane/follow_with_offset.cpp @@ -28,10 +28,10 @@ namespace cpp_mock_scenarios { -class FollowLaneWithOffset : public cpp_mock_scenarios::CppScenarioNode +class FollowLaneWithOffsetScenario : public cpp_mock_scenarios::CppScenarioNode { public: - explicit FollowLaneWithOffset(const rclcpp::NodeOptions & option) + explicit FollowLaneWithOffsetScenario(const rclcpp::NodeOptions & option) : cpp_mock_scenarios::CppScenarioNode( "follow_lane_with_offset", ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", "lanelet2_map.osm", @@ -70,7 +70,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp index 55b5f2f95f8..4808d4d65a8 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp @@ -28,10 +28,10 @@ namespace cpp_mock_scenarios { -class LaneChangeLinear : public cpp_mock_scenarios::CppScenarioNode +class LaneChangeLinearScenario : public cpp_mock_scenarios::CppScenarioNode { public: - explicit LaneChangeLinear(const rclcpp::NodeOptions & option) + explicit LaneChangeLinearScenario(const rclcpp::NodeOptions & option) : cpp_mock_scenarios::CppScenarioNode( "lanechange_left", ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", "lanelet2_map.osm", __FILE__, false, option) @@ -79,7 +79,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp index 7132e3e6379..a2370b58c72 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp @@ -28,10 +28,10 @@ namespace cpp_mock_scenarios { -class LaneChangeLinearLateralVelocity : public cpp_mock_scenarios::CppScenarioNode +class LaneChangeLinearLateralVelocityScenario : public cpp_mock_scenarios::CppScenarioNode { public: - explicit LaneChangeLinearLateralVelocity(const rclcpp::NodeOptions & option) + explicit LaneChangeLinearLateralVelocityScenario(const rclcpp::NodeOptions & option) : cpp_mock_scenarios::CppScenarioNode( "lanechange_left", ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", "lanelet2_map.osm", __FILE__, false, option) @@ -83,7 +83,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp index b239728d463..54d03773511 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp @@ -28,10 +28,10 @@ namespace cpp_mock_scenarios { -class LaneChangeLinearTime : public cpp_mock_scenarios::CppScenarioNode +class LaneChangeLinearTimeScenario : public cpp_mock_scenarios::CppScenarioNode { public: - explicit LaneChangeLinearTime(const rclcpp::NodeOptions & option) + explicit LaneChangeLinearTimeScenario(const rclcpp::NodeOptions & option) : cpp_mock_scenarios::CppScenarioNode( "lanechange_left", ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", "lanelet2_map.osm", __FILE__, false, option) @@ -82,7 +82,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp index 334c5d672a9..83d1526d82d 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp @@ -28,10 +28,10 @@ namespace cpp_mock_scenarios { -class LaneChangeLongitudinalDistance : public cpp_mock_scenarios::CppScenarioNode +class LaneChangeLongitudinalDistanceScenario : public cpp_mock_scenarios::CppScenarioNode { public: - explicit LaneChangeLongitudinalDistance(const rclcpp::NodeOptions & option) + explicit LaneChangeLongitudinalDistanceScenario(const rclcpp::NodeOptions & option) : cpp_mock_scenarios::CppScenarioNode( "lanechange_left", ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", "lanelet2_map.osm", __FILE__, false, option) @@ -71,7 +71,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_right_with_id.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_right_with_id.cpp index 4b906956430..05718f910f3 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_right_with_id.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_right_with_id.cpp @@ -28,10 +28,10 @@ namespace cpp_mock_scenarios { -class LaneChangeRightScenario : public cpp_mock_scenarios::CppScenarioNode +class LaneChangeRightWithIdScenario : public cpp_mock_scenarios::CppScenarioNode { public: - explicit LaneChangeRightScenario(const rclcpp::NodeOptions & option) + explicit LaneChangeRightWithIdScenario(const rclcpp::NodeOptions & option) : cpp_mock_scenarios::CppScenarioNode( "lanechange_left", ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", "lanelet2_map.osm", __FILE__, false, option) @@ -69,7 +69,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp index 902d3f777fc..a8f5505094d 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp @@ -28,10 +28,10 @@ namespace cpp_mock_scenarios { -class LaneChangeTime : public cpp_mock_scenarios::CppScenarioNode +class LaneChangeTimeScenario : public cpp_mock_scenarios::CppScenarioNode { public: - explicit LaneChangeTime(const rclcpp::NodeOptions & option) + explicit LaneChangeTimeScenario(const rclcpp::NodeOptions & option) : cpp_mock_scenarios::CppScenarioNode( "lanechange_left", ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", "lanelet2_map.osm", __FILE__, false, option) @@ -82,7 +82,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/measurement/get_distance_in_lane_coordinate_distance.cpp b/mock/cpp_mock_scenarios/src/measurement/get_distance_in_lane_coordinate_distance.cpp index 07b457e98c6..b898cd6822b 100644 --- a/mock/cpp_mock_scenarios/src/measurement/get_distance_in_lane_coordinate_distance.cpp +++ b/mock/cpp_mock_scenarios/src/measurement/get_distance_in_lane_coordinate_distance.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class GetDistanceInLaneCoordinateScenario : public cpp_mock_scenarios::CppScenarioNode { public: @@ -113,6 +115,7 @@ class GetDistanceInLaneCoordinateScenario : public cpp_mock_scenarios::CppScenar api_.requestSpeedChange("behind", 3, true); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { diff --git a/mock/cpp_mock_scenarios/src/measurement/get_distance_to_lane_bound.cpp b/mock/cpp_mock_scenarios/src/measurement/get_distance_to_lane_bound.cpp index 55fdb61c80b..fd412fdcd3d 100644 --- a/mock/cpp_mock_scenarios/src/measurement/get_distance_to_lane_bound.cpp +++ b/mock/cpp_mock_scenarios/src/measurement/get_distance_to_lane_bound.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class GetDistanceToLaneBoundScenario : public cpp_mock_scenarios::CppScenarioNode { public: @@ -62,6 +64,7 @@ class GetDistanceToLaneBoundScenario : public cpp_mock_scenarios::CppScenarioNod api_.requestSpeedChange("ego", 3, true); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { diff --git a/mock/cpp_mock_scenarios/src/merge/merge_left.cpp b/mock/cpp_mock_scenarios/src/merge/merge_left.cpp index 9c9ae898aad..aeb4c794093 100644 --- a/mock/cpp_mock_scenarios/src/merge/merge_left.cpp +++ b/mock/cpp_mock_scenarios/src/merge/merge_left.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class MergeLeftScenario : public cpp_mock_scenarios::CppScenarioNode { public: @@ -70,6 +72,7 @@ class MergeLeftScenario : public cpp_mock_scenarios::CppScenarioNode api_.setLinearVelocity("npc", 10); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { diff --git a/mock/cpp_mock_scenarios/src/metrics/traveled_distance.cpp b/mock/cpp_mock_scenarios/src/metrics/traveled_distance.cpp index a7d09d94241..48246757e8b 100644 --- a/mock/cpp_mock_scenarios/src/metrics/traveled_distance.cpp +++ b/mock/cpp_mock_scenarios/src/metrics/traveled_distance.cpp @@ -31,6 +31,8 @@ #include #include +namespace cpp_mock_scenarios +{ class TraveledDistanceScenario : public cpp_mock_scenarios::CppScenarioNode { public: @@ -72,6 +74,7 @@ class TraveledDistanceScenario : public cpp_mock_scenarios::CppScenarioNode api_.requestSpeedChange("ego", 3, true); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { diff --git a/mock/cpp_mock_scenarios/src/move_backward/move_backward.cpp b/mock/cpp_mock_scenarios/src/move_backward/move_backward.cpp index c921bd7e1a4..7aa58265456 100644 --- a/mock/cpp_mock_scenarios/src/move_backward/move_backward.cpp +++ b/mock/cpp_mock_scenarios/src/move_backward/move_backward.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class MoveBackwardScenario : public cpp_mock_scenarios::CppScenarioNode { public: @@ -60,6 +62,7 @@ class MoveBackwardScenario : public cpp_mock_scenarios::CppScenarioNode api_.requestSpeedChange("ego", -3, true); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { diff --git a/mock/cpp_mock_scenarios/src/pedestrian/walk_straight.cpp b/mock/cpp_mock_scenarios/src/pedestrian/walk_straight.cpp index a609bda48ad..ca8142b93d7 100644 --- a/mock/cpp_mock_scenarios/src/pedestrian/walk_straight.cpp +++ b/mock/cpp_mock_scenarios/src/pedestrian/walk_straight.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class StopAtCrosswalkScenario : public cpp_mock_scenarios::CppScenarioNode { public: @@ -96,6 +98,7 @@ class StopAtCrosswalkScenario : public cpp_mock_scenarios::CppScenarioNode private: bool lanechange_executed_; }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { diff --git a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change.cpp b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change.cpp index f344229a5e9..73f3b542008 100644 --- a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change.cpp +++ b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class RequestSpeedChangeScenario : public cpp_mock_scenarios::CppScenarioNode { public: @@ -77,6 +79,7 @@ class RequestSpeedChangeScenario : public cpp_mock_scenarios::CppScenarioNode true); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { diff --git a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_continuous_false.cpp b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_continuous_false.cpp index 2ccbd46392f..424bc97137f 100644 --- a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_continuous_false.cpp +++ b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_continuous_false.cpp @@ -26,10 +26,12 @@ #include #include -class RequestSpeedChangeScenario : public cpp_mock_scenarios::CppScenarioNode +namespace cpp_mock_scenarios +{ +class RequestSpeedChangeContinuousFalseScenario : public cpp_mock_scenarios::CppScenarioNode { public: - explicit RequestSpeedChangeScenario(const rclcpp::NodeOptions & option) + explicit RequestSpeedChangeContinuousFalseScenario(const rclcpp::NodeOptions & option) : cpp_mock_scenarios::CppScenarioNode( "request_speed_change", ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", @@ -74,12 +76,13 @@ class RequestSpeedChangeScenario : public cpp_mock_scenarios::CppScenarioNode false); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_relative.cpp b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_relative.cpp index 1d9aba15648..d54ff8a5333 100644 --- a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_relative.cpp +++ b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_relative.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class RequestSpeedChangeRelativeScenario : public cpp_mock_scenarios::CppScenarioNode { public: @@ -75,6 +77,7 @@ class RequestSpeedChangeRelativeScenario : public cpp_mock_scenarios::CppScenari true); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { diff --git a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_step.cpp b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_step.cpp index 883d8c2f10f..dae2e9aba03 100644 --- a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_step.cpp +++ b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_step.cpp @@ -26,10 +26,12 @@ #include #include -class RequestSpeedChangeScenario : public cpp_mock_scenarios::CppScenarioNode +namespace cpp_mock_scenarios +{ +class RequestSpeedChangeStepScenario : public cpp_mock_scenarios::CppScenarioNode { public: - explicit RequestSpeedChangeScenario(const rclcpp::NodeOptions & option) + explicit RequestSpeedChangeStepScenario(const rclcpp::NodeOptions & option) : cpp_mock_scenarios::CppScenarioNode( "request_speed_change_step", ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", @@ -74,12 +76,13 @@ class RequestSpeedChangeScenario : public cpp_mock_scenarios::CppScenarioNode true); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint.cpp b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint.cpp index 0be22823823..29eb1bb0d40 100644 --- a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint.cpp +++ b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint.cpp @@ -26,10 +26,12 @@ #include #include -class RequestSpeedChangeScenario : public cpp_mock_scenarios::CppScenarioNode +namespace cpp_mock_scenarios +{ +class RequestSpeedChangeWithTimeConstraintScenario : public cpp_mock_scenarios::CppScenarioNode { public: - explicit RequestSpeedChangeScenario(const rclcpp::NodeOptions & option) + explicit RequestSpeedChangeWithTimeConstraintScenario(const rclcpp::NodeOptions & option) : cpp_mock_scenarios::CppScenarioNode( "request_speed_change_with_time_constraint", ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", @@ -78,12 +80,13 @@ class RequestSpeedChangeScenario : public cpp_mock_scenarios::CppScenarioNode true); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint_linear.cpp b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint_linear.cpp index e8fc5719a0b..281404a6ae2 100644 --- a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint_linear.cpp +++ b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint_linear.cpp @@ -26,10 +26,13 @@ #include #include -class RequestSpeedChangeScenario : public cpp_mock_scenarios::CppScenarioNode +namespace cpp_mock_scenarios +{ +class RequestSpeedChangeWithTimeConstraintLinearScenario +: public cpp_mock_scenarios::CppScenarioNode { public: - explicit RequestSpeedChangeScenario(const rclcpp::NodeOptions & option) + explicit RequestSpeedChangeWithTimeConstraintLinearScenario(const rclcpp::NodeOptions & option) : cpp_mock_scenarios::CppScenarioNode( "request_speed_change_with_time_constraint_linear", ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", @@ -63,12 +66,13 @@ class RequestSpeedChangeScenario : public cpp_mock_scenarios::CppScenarioNode false); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint_relative.cpp b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint_relative.cpp index d94785630c8..8e33ad28c85 100644 --- a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint_relative.cpp +++ b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint_relative.cpp @@ -26,10 +26,13 @@ #include #include -class RequestSpeedChangeScenario : public cpp_mock_scenarios::CppScenarioNode +namespace cpp_mock_scenarios +{ +class RequestSpeedChangeWithTimeConstraintRelativeScenario +: public cpp_mock_scenarios::CppScenarioNode { public: - explicit RequestSpeedChangeScenario(const rclcpp::NodeOptions & option) + explicit RequestSpeedChangeWithTimeConstraintRelativeScenario(const rclcpp::NodeOptions & option) : cpp_mock_scenarios::CppScenarioNode( "request_speed_change_with_time_constraint_relative", ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", @@ -81,12 +84,13 @@ class RequestSpeedChangeScenario : public cpp_mock_scenarios::CppScenarioNode true); } }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; From 7e86e5be4ef6083d9771a4ea1249c6e9fe191b64 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Tue, 24 Oct 2023 18:01:59 +0900 Subject: [PATCH 08/30] add comment Signed-off-by: Masaya Kataoka --- Doxyfile | 4 ++++ .../include/traffic_simulator/api/api.hpp | 5 +++++ .../include/traffic_simulator/data_type/speed_change.hpp | 6 +++--- .../include/traffic_simulator/entity/entity_base.hpp | 7 ++++++- .../include/traffic_simulator/entity/entity_manager.hpp | 5 +++++ 5 files changed, 23 insertions(+), 4 deletions(-) diff --git a/Doxyfile b/Doxyfile index d175b536f83..6c5f57020b6 100644 --- a/Doxyfile +++ b/Doxyfile @@ -50,7 +50,9 @@ FILE_PATTERNS += *.hpp FILE_PATTERNS += *.cpp FILE_PATTERNS += *.md +EXPAND_AS_DEFINED += DEFINE_CHECK_FUNCTION EXPAND_AS_DEFINED += DEFINE_ERROR_CATEGORY +EXPAND_AS_DEFINED += DEFINE_GETTER EXPAND_AS_DEFINED += EXPECT_ACCEL_EQ EXPAND_AS_DEFINED += EXPECT_ACTION_STATUS_EQ EXPAND_AS_DEFINED += EXPECT_DECIMAL_EQ @@ -61,6 +63,8 @@ EXPAND_AS_DEFINED += EXPECT_POSE_EQ EXPAND_AS_DEFINED += EXPECT_QUATERNION_EQ EXPAND_AS_DEFINED += EXPECT_TWIST_EQ EXPAND_AS_DEFINED += EXPECT_VECTOR3_EQ +EXPAND_AS_DEFINED += FORWARD_TO_ENTITY +EXPAND_AS_DEFINED += FORWARD_TO_ENTITY_MANAGER EXPAND_AS_DEFINED += TEST EXPAND_AS_DEFINED += THROW_ERROR EXPAND_AS_DEFINED += THROW_SEMANTIC_ERROR diff --git a/simulation/traffic_simulator/include/traffic_simulator/api/api.hpp b/simulation/traffic_simulator/include/traffic_simulator/api/api.hpp index 44b999ad8b7..093e0c17879 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/api/api.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/api/api.hpp @@ -272,6 +272,11 @@ class API const lane_change::Constraint & constraint); #define FORWARD_TO_ENTITY_MANAGER(NAME) \ + /*! \ + @brief Forward to arguments to the EntityManager::NAME function. \ + @return return value of the EntityManager::NAME function. \ + @note This function was defined by FORWARD_TO_ENTITY_MANAGER macro. \ + */ \ template \ decltype(auto) NAME(Ts &&... xs) \ { \ diff --git a/simulation/traffic_simulator/include/traffic_simulator/data_type/speed_change.hpp b/simulation/traffic_simulator/include/traffic_simulator/data_type/speed_change.hpp index 0cfa778e860..39a27c3d29e 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/data_type/speed_change.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/data_type/speed_change.hpp @@ -24,9 +24,9 @@ namespace traffic_simulator namespace speed_change { enum class Transition { - // @todo CUBIC, + // @todo Add CUBIC transition type. LINEAR, - // @todo SINUSOIDAL, + // @todo Add SINUSOIDAL transition type. STEP, AUTO }; @@ -34,7 +34,7 @@ enum class Transition { struct Constraint { enum class Type { - // @todo DISTANCE, + // @todo Add DISTANCE constraint type. LONGITUDINAL_ACCELERATION, TIME, NONE diff --git a/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp b/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp index 71c31221ed4..7626a45e906 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp @@ -61,7 +61,12 @@ class EntityBase virtual void cancelRequest(); -#define DEFINE_GETTER(NAME, TYPE, RETURN_VARIABLE) \ +#define DEFINE_GETTER(NAME, TYPE, RETURN_VARIABLE) \ + /** \ + @brief Get NAME of the entity. \ + @return NAME of the entity. \ + @note This function was defined by DEFINE_GETTER function . \ + */ \ /* */ auto get##NAME() const noexcept->TYPE { return RETURN_VARIABLE; } // clang-format off diff --git a/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp b/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp index d313f84e21c..00501a7ca75 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp @@ -245,6 +245,11 @@ class EntityManager #undef FORWARD_TO_HDMAP_UTILS #define FORWARD_TO_ENTITY(IDENTIFIER, ...) \ + /*! \ + @brief Forward to arguments to the EntityBase::IDENTIFIER function. \ + @return return value of the EntityBase::IDENTIFIER function. \ + @note This function was defined by FORWARD_TO_ENTITY macro. 　　　　　　 \ + */ \ template \ decltype(auto) IDENTIFIER(const std::string & name, Ts &&... xs) __VA_ARGS__ \ try { \ From 21bb6fe46c8f1ffa606b7003a2682d0a2878983f Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Tue, 24 Oct 2023 18:53:41 +0900 Subject: [PATCH 09/30] add simulation package Signed-off-by: Masaya Kataoka --- Doxyfile | 13 +++++++++++++ .../traffic_simulator/entity/entity_base.hpp | 3 +++ 2 files changed, 16 insertions(+) diff --git a/Doxyfile b/Doxyfile index 6c5f57020b6..fa8a77369da 100644 --- a/Doxyfile +++ b/Doxyfile @@ -20,6 +20,10 @@ INPUT += common/scenario_simulator_exception INPUT += common/simple_junit INPUT += common/status_monitor INPUT += mock/cpp_mock_scenarios +INPUT += simulation/behavior_tree_plugin +INPUT += simulation/do_nothing_plugin +INPUT += simulation/simple_sensor_simulator +INPUT += simulation/simulation_interface INPUT += simulation/traffic_simulator IMAGE_PATH += common/math/geometry @@ -28,6 +32,10 @@ IMAGE_PATH += common/scenario_simulator_exception IMAGE_PATH += common/simple_junit IMAGE_PATH += common/status_monitor IMAGE_PATH += mock/cpp_mock_scenarios +IMAGE_PATH += simulation/behavior_tree_plugin +IMAGE_PATH += simulation/do_nothing_plugin +IMAGE_PATH += simulation/simple_sensor_simulator +IMAGE_PATH += simulation/simulation_interface IMAGE_PATH += simulation/traffic_simulator EXAMPLE_PATH += common/math/geometry @@ -36,6 +44,10 @@ EXAMPLE_PATH += common/math/arithmetic EXAMPLE_PATH += common/simple_junit EXAMPLE_PATH += common/status_monitor EXAMPLE_PATH += mock/cpp_mock_scenarios +EXAMPLE_PATH += simulation/behavior_tree_plugin +EXAMPLE_PATH += simulation/do_nothing_plugin +EXAMPLE_PATH += simulation/simple_sensor_simulator +EXAMPLE_PATH += simulation/simulation_interface EXAMPLE_PATH += simulation/traffic_simulator INPUT_ENCODING = UTF-8 @@ -53,6 +65,7 @@ FILE_PATTERNS += *.md EXPAND_AS_DEFINED += DEFINE_CHECK_FUNCTION EXPAND_AS_DEFINED += DEFINE_ERROR_CATEGORY EXPAND_AS_DEFINED += DEFINE_GETTER +EXPAND_AS_DEFINED += DEFINE_GETTER_SETTER EXPAND_AS_DEFINED += EXPECT_ACCEL_EQ EXPAND_AS_DEFINED += EXPECT_ACTION_STATUS_EQ EXPAND_AS_DEFINED += EXPECT_DECIMAL_EQ diff --git a/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp b/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp index 7626a45e906..f104444f7b2 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp @@ -85,6 +85,9 @@ class EntityBase #undef DEFINE_GETTER #define DEFINE_CHECK_FUNCTION(FUNCTION_NAME, BOOL_VARIABLE) \ + /** \ + @note This function was defined by DEFINE_CHECK_FUNCTION function . \ + */ \ /* */ auto FUNCTION_NAME() const->bool { return BOOL_VARIABLE; } // clang-format off From fdc10b3f8cac3164469345c9c42147d13fcf7763 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Tue, 24 Oct 2023 18:56:52 +0900 Subject: [PATCH 10/30] add concealer Signed-off-by: Masaya Kataoka --- Doxyfile | 3 +++ mock/cpp_mock_scenarios/src/traffic_simulation_demo.cpp | 3 +++ 2 files changed, 6 insertions(+) diff --git a/Doxyfile b/Doxyfile index fa8a77369da..e1847cf77c7 100644 --- a/Doxyfile +++ b/Doxyfile @@ -19,6 +19,7 @@ INPUT += common/math/arithmetic INPUT += common/scenario_simulator_exception INPUT += common/simple_junit INPUT += common/status_monitor +INPUT += external/concealer INPUT += mock/cpp_mock_scenarios INPUT += simulation/behavior_tree_plugin INPUT += simulation/do_nothing_plugin @@ -31,6 +32,7 @@ IMAGE_PATH += common/math/arithmetic IMAGE_PATH += common/scenario_simulator_exception IMAGE_PATH += common/simple_junit IMAGE_PATH += common/status_monitor +IMAGE_PATH += external/concealer IMAGE_PATH += mock/cpp_mock_scenarios IMAGE_PATH += simulation/behavior_tree_plugin IMAGE_PATH += simulation/do_nothing_plugin @@ -43,6 +45,7 @@ EXAMPLE_PATH += common/scenario_simulator_exception EXAMPLE_PATH += common/math/arithmetic EXAMPLE_PATH += common/simple_junit EXAMPLE_PATH += common/status_monitor +EXAMPLE_PATH += external/concealer EXAMPLE_PATH += mock/cpp_mock_scenarios EXAMPLE_PATH += simulation/behavior_tree_plugin EXAMPLE_PATH += simulation/do_nothing_plugin diff --git a/mock/cpp_mock_scenarios/src/traffic_simulation_demo.cpp b/mock/cpp_mock_scenarios/src/traffic_simulation_demo.cpp index b3dda2b5693..4f3ebd1b009 100644 --- a/mock/cpp_mock_scenarios/src/traffic_simulation_demo.cpp +++ b/mock/cpp_mock_scenarios/src/traffic_simulation_demo.cpp @@ -26,6 +26,8 @@ #include #include +namespace cpp_mock_scenarios +{ class TrafficSimulationDemoScenario : public cpp_mock_scenarios::CppScenarioNode { public: @@ -146,6 +148,7 @@ class TrafficSimulationDemoScenario : public cpp_mock_scenarios::CppScenarioNode private: bool lanechange_executed_; }; +} // namespace cpp_mock_scenarios int main(int argc, char * argv[]) { From 41ee2ec6c2bd927cdbbd4d3b8215a98b99029ef0 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Tue, 24 Oct 2023 18:59:40 +0900 Subject: [PATCH 11/30] update Doxyfile Signed-off-by: Masaya Kataoka --- Doxyfile | 2 ++ 1 file changed, 2 insertions(+) diff --git a/Doxyfile b/Doxyfile index e1847cf77c7..9f3dabe0a25 100644 --- a/Doxyfile +++ b/Doxyfile @@ -69,6 +69,8 @@ EXPAND_AS_DEFINED += DEFINE_CHECK_FUNCTION EXPAND_AS_DEFINED += DEFINE_ERROR_CATEGORY EXPAND_AS_DEFINED += DEFINE_GETTER EXPAND_AS_DEFINED += DEFINE_GETTER_SETTER +EXPAND_AS_DEFINED += DEFINE_STATIC_DATA_MEMBER_DETECTOR +EXPAND_AS_DEFINED += EMPLACE EXPAND_AS_DEFINED += EXPECT_ACCEL_EQ EXPAND_AS_DEFINED += EXPECT_ACTION_STATUS_EQ EXPAND_AS_DEFINED += EXPECT_DECIMAL_EQ From 1187c84e69ef5b3125408ac93522246f98c5acf0 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Tue, 24 Oct 2023 19:03:46 +0900 Subject: [PATCH 12/30] add interpretor Signed-off-by: Masaya Kataoka --- Doxyfile | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/Doxyfile b/Doxyfile index 9f3dabe0a25..537ca5958ee 100644 --- a/Doxyfile +++ b/Doxyfile @@ -26,6 +26,7 @@ INPUT += simulation/do_nothing_plugin INPUT += simulation/simple_sensor_simulator INPUT += simulation/simulation_interface INPUT += simulation/traffic_simulator +INPUT += openscenario/openscenario_interpreter IMAGE_PATH += common/math/geometry IMAGE_PATH += common/math/arithmetic @@ -39,6 +40,7 @@ IMAGE_PATH += simulation/do_nothing_plugin IMAGE_PATH += simulation/simple_sensor_simulator IMAGE_PATH += simulation/simulation_interface IMAGE_PATH += simulation/traffic_simulator +IMAGE_PATH += openscenario/openscenario_interpreter EXAMPLE_PATH += common/math/geometry EXAMPLE_PATH += common/scenario_simulator_exception @@ -52,6 +54,7 @@ EXAMPLE_PATH += simulation/do_nothing_plugin EXAMPLE_PATH += simulation/simple_sensor_simulator EXAMPLE_PATH += simulation/simulation_interface EXAMPLE_PATH += simulation/traffic_simulator +EXAMPLE_PATH += openscenario/openscenario_interpreter INPUT_ENCODING = UTF-8 MACRO_EXPANSION = YES @@ -65,10 +68,13 @@ FILE_PATTERNS += *.hpp FILE_PATTERNS += *.cpp FILE_PATTERNS += *.md +EXPAND_AS_DEFINED += BOILERPLATE +EXPAND_AS_DEFINED += CASE EXPAND_AS_DEFINED += DEFINE_CHECK_FUNCTION EXPAND_AS_DEFINED += DEFINE_ERROR_CATEGORY EXPAND_AS_DEFINED += DEFINE_GETTER EXPAND_AS_DEFINED += DEFINE_GETTER_SETTER +EXPAND_AS_DEFINED += DEFINE_LAZY_VISITOR EXPAND_AS_DEFINED += DEFINE_STATIC_DATA_MEMBER_DETECTOR EXPAND_AS_DEFINED += EMPLACE EXPAND_AS_DEFINED += EXPECT_ACCEL_EQ From 0f1bd5b204d4cd1aa4f26738ae2988e4acfe5cb8 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Tue, 24 Oct 2023 19:13:40 +0900 Subject: [PATCH 13/30] update doxyfile Signed-off-by: Masaya Kataoka --- Doxyfile | 11 +++++++++++ .../traffic_simulator/entity/entity_manager.hpp | 5 +++++ 2 files changed, 16 insertions(+) diff --git a/Doxyfile b/Doxyfile index 537ca5958ee..a899bd45377 100644 --- a/Doxyfile +++ b/Doxyfile @@ -27,6 +27,9 @@ INPUT += simulation/simple_sensor_simulator INPUT += simulation/simulation_interface INPUT += simulation/traffic_simulator INPUT += openscenario/openscenario_interpreter +INPUT += openscenario/openscenario_interpreter_example +INPUT += openscenario/openscenario_preprocessor +INPUT += openscenario/openscenario_visualization IMAGE_PATH += common/math/geometry IMAGE_PATH += common/math/arithmetic @@ -41,6 +44,9 @@ IMAGE_PATH += simulation/simple_sensor_simulator IMAGE_PATH += simulation/simulation_interface IMAGE_PATH += simulation/traffic_simulator IMAGE_PATH += openscenario/openscenario_interpreter +IMAGE_PATH += openscenario/openscenario_interpreter_example +IMAGE_PATH += openscenario/openscenario_preprocessor +IMAGE_PATH += openscenario/openscenario_visualization EXAMPLE_PATH += common/math/geometry EXAMPLE_PATH += common/scenario_simulator_exception @@ -55,6 +61,9 @@ EXAMPLE_PATH += simulation/simple_sensor_simulator EXAMPLE_PATH += simulation/simulation_interface EXAMPLE_PATH += simulation/traffic_simulator EXAMPLE_PATH += openscenario/openscenario_interpreter +EXAMPLE_PATH += openscenario/openscenario_interpreter_example +EXAMPLE_PATH += openscenario/openscenario_preprocessor +EXAMPLE_PATH += openscenario/openscenario_visualization INPUT_ENCODING = UTF-8 MACRO_EXPANSION = YES @@ -87,8 +96,10 @@ EXPAND_AS_DEFINED += EXPECT_POSE_EQ EXPAND_AS_DEFINED += EXPECT_QUATERNION_EQ EXPAND_AS_DEFINED += EXPECT_TWIST_EQ EXPAND_AS_DEFINED += EXPECT_VECTOR3_EQ +EXPAND_AS_DEFINED += FORWARD_GETTER_TO_TRAFFIC_LIGHT_MANAGER EXPAND_AS_DEFINED += FORWARD_TO_ENTITY EXPAND_AS_DEFINED += FORWARD_TO_ENTITY_MANAGER +EXPAND_AS_DEFINED += FORWARD_TO_HDMAP_UTILS EXPAND_AS_DEFINED += TEST EXPAND_AS_DEFINED += THROW_ERROR EXPAND_AS_DEFINED += THROW_SEMANTIC_ERROR diff --git a/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp b/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp index 00501a7ca75..a69432fcc3c 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp @@ -232,6 +232,11 @@ class EntityManager } #define FORWARD_TO_HDMAP_UTILS(NAME) \ + /*! \ + @brief Forward to arguments to the HDMapUtils::NAME function. \ + @return return value of the HDMapUtils::NAME function. \ + @note This function was defined by FORWARD_TO_HDMAP_UTILS macro. \ + */ \ template \ decltype(auto) NAME(Ts &&... xs) const \ { \ From 5e823c103cbe6a87f1ca833192f7ddf1abe90a1f Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Tue, 24 Oct 2023 19:15:10 +0900 Subject: [PATCH 14/30] remove old documents Signed-off-by: Masaya Kataoka --- .github/workflows/Documentation.yaml | 73 ------------------ docs/package/About.md | 73 ------------------ docs/package/geometry/.gitignore | 2 - docs/package/geometry/Doxyfile | 38 --------- docs/package/geometry/build.sh | 5 -- docs/package/geometry/config.json | 14 ---- .../openscenario_interpreter/.gitignore | 2 - .../package/openscenario_interpreter/Doxyfile | 13 ---- .../package/openscenario_interpreter/build.sh | 5 -- .../openscenario_interpreter/config.json | 14 ---- .../openscenario_visualization/.gitignore | 2 - .../openscenario_visualization/Doxyfile | 13 ---- .../openscenario_visualization/build.sh | 5 -- .../openscenario_visualization/config.json | 14 ---- .../simple_sensor_simulator/.gitignore | 2 - docs/package/simple_sensor_simulator/Doxyfile | 13 ---- docs/package/simple_sensor_simulator/build.sh | 5 -- .../simple_sensor_simulator/config.json | 14 ---- docs/package/simulation_interface/.gitignore | 2 - docs/package/simulation_interface/Doxyfile | 13 ---- docs/package/simulation_interface/build.sh | 5 -- docs/package/simulation_interface/config.json | 14 ---- docs/package/traffic_simulator/.gitignore | 7 -- docs/package/traffic_simulator/Doxyfile | 13 ---- docs/package/traffic_simulator/build.sh | 5 -- docs/package/traffic_simulator/config.json | 14 ---- .../images/get_length_in_hermite_curve.png | Bin 154323 -> 0 bytes mkdocs.yml | 1 - 28 files changed, 381 deletions(-) delete mode 100644 docs/package/About.md delete mode 100644 docs/package/geometry/.gitignore delete mode 100644 docs/package/geometry/Doxyfile delete mode 100644 docs/package/geometry/build.sh delete mode 100644 docs/package/geometry/config.json delete mode 100644 docs/package/openscenario_interpreter/.gitignore delete mode 100644 docs/package/openscenario_interpreter/Doxyfile delete mode 100644 docs/package/openscenario_interpreter/build.sh delete mode 100644 docs/package/openscenario_interpreter/config.json delete mode 100644 docs/package/openscenario_visualization/.gitignore delete mode 100644 docs/package/openscenario_visualization/Doxyfile delete mode 100644 docs/package/openscenario_visualization/build.sh delete mode 100644 docs/package/openscenario_visualization/config.json delete mode 100644 docs/package/simple_sensor_simulator/.gitignore delete mode 100644 docs/package/simple_sensor_simulator/Doxyfile delete mode 100644 docs/package/simple_sensor_simulator/build.sh delete mode 100644 docs/package/simple_sensor_simulator/config.json delete mode 100644 docs/package/simulation_interface/.gitignore delete mode 100644 docs/package/simulation_interface/Doxyfile delete mode 100644 docs/package/simulation_interface/build.sh delete mode 100644 docs/package/simulation_interface/config.json delete mode 100644 docs/package/traffic_simulator/.gitignore delete mode 100644 docs/package/traffic_simulator/Doxyfile delete mode 100644 docs/package/traffic_simulator/build.sh delete mode 100644 docs/package/traffic_simulator/config.json delete mode 100644 docs/package/traffic_simulator/markdown/images/get_length_in_hermite_curve.png diff --git a/.github/workflows/Documentation.yaml b/.github/workflows/Documentation.yaml index c6cefd6091d..228555d819f 100644 --- a/.github/workflows/Documentation.yaml +++ b/.github/workflows/Documentation.yaml @@ -32,79 +32,6 @@ jobs: run: poetry install --no-interaction - name: Install doxygen/depends of doxybook run: sudo apt install -y doxygen wget - - name: Wget package - run: | - wget https://github.com/matusnovak/doxybook2/releases/download/v1.2.3/doxybook2-linux-amd64-v1.2.3.zip - mkdir -p ~/doxybook2 - cp -rf . ~/doxybook2 - cd ~/doxybook2 - unzip doxybook2-linux-amd64-v1.2.3.zip - # generating traffic_simulator package documentation - - name: Generate doxygen for traffic_simulator package - run: | - cd docs/package/traffic_simulator - doxygen Doxyfile - - name: Generate markdown for traffic_simulator package - run: | - export PATH="$PATH:~/doxybook2/bin" - cd docs/package/traffic_simulator - mkdir -p ./markdown/Classes - doxybook2 --input ./build/ --output ./markdown -c config.json - # generating simple_sensor_simulator package documentation - - name: Generate doxygen for simple_sensor_simulator package - run: | - cd docs/package/simple_sensor_simulator - doxygen Doxyfile - - name: Generate markdown for simple_sensor_simulator package - run: | - export PATH="$PATH:~/doxybook2/bin" - cd docs/package/simple_sensor_simulator - mkdir -p ./markdown/Classes - doxybook2 --input ./build/ --output ./markdown -c config.json - # generating simulation_interface package documentation - - name: Generate doxygen for simulation_interface package - run: | - cd docs/package/simulation_interface - doxygen Doxyfile - - name: Generate markdown for simulation_interface package - run: | - export PATH="$PATH:~/doxybook2/bin" - cd docs/package/simulation_interface - mkdir -p ./markdown/Classes - doxybook2 --input ./build/ --output ./markdown -c config.json - # generating openscenario_interpreter package documentation - - name: Generate doxygen for openscenario_interpreter package - run: | - cd docs/package/openscenario_interpreter - doxygen Doxyfile - - name: Generate markdown for openscenario_interpreter package - run: | - export PATH="$PATH:~/doxybook2/bin" - cd docs/package/openscenario_interpreter - mkdir -p ./markdown/Classes - doxybook2 --input ./build/ --output ./markdown -c config.json - # generating openscenario_visualization package documentation - - name: Generate doxygen for openscenario_visualization package - run: | - cd docs/package/openscenario_visualization - doxygen Doxyfile - - name: Generate markdown for openscenario_visualization package - run: | - export PATH="$PATH:~/doxybook2/bin" - cd docs/package/openscenario_visualization - mkdir -p ./markdown/Classes - doxybook2 --input ./build/ --output ./markdown -c config.json - # generating geometry package documentation - - name: Generate doxygen for geometry package - run: | - cd docs/package/geometry - doxygen Doxyfile - - name: Generate markdown for geometry package - run: | - export PATH="$PATH:~/doxybook2/bin" - cd docs/package/geometry - mkdir -p ./markdown/Classes - doxybook2 --input ./build/ --output ./markdown -c config.json - name: Generate documentation run: poetry run mkdocs build - name: Upload Artifact diff --git a/docs/package/About.md b/docs/package/About.md deleted file mode 100644 index d5ce2fc13ae..00000000000 --- a/docs/package/About.md +++ /dev/null @@ -1,73 +0,0 @@ -# Packages -## Simulation Packages ---- - -### Traffic Simulator Package -Traffic simulator for scenario testing. -This package includes NPC logic, API etc... - -![traffic simulator](../image/simple_demo.png "traffic simulator") - -- [Classes](/scenario_simulator_v2-docs/package/traffic_simulator/markdown/Classes) -- [Namespaces](/scenario_simulator_v2-docs/package/traffic_simulator/markdown/Namespaces) -- [Modules](/scenario_simulator_v2-docs/package/traffic_simulator/markdown/Modules) -- [Files](/scenario_simulator_v2-docs/package/traffic_simulator/markdown/Files) -- [Pages](/scenario_simulator_v2-docs/package/traffic_simulator/markdown/Pages) -- [Examples](/scenario_simulator_v2-docs/package/traffic_simulator/markdown/Examples) - -### Simple Sensor Simulator Package -Reference implementation of the simulator integrated with this package. - -![simple sensor simulator](../image/simple_sensor_simulator.png "simple sensor simulator") - -- [Classes](/scenario_simulator_v2-docs/package/simple_sensor_simulator/markdown/Classes) -- [Namespaces](/scenario_simulator_v2-docs/package/simple_sensor_simulator/markdown/Namespaces) -- [Modules](/scenario_simulator_v2-docs/package/simple_sensor_simulator/markdown/Modules) -- [Files](/scenario_simulator_v2-docs/package/simple_sensor_simulator/markdown/Files) -- [Pages](/scenario_simulator_v2-docs/package/simple_sensor_simulator/markdown/Pages) -- [Examples](/scenario_simulator_v2-docs/package/simple_sensor_simulator/markdown/Examples) - -### Simulation Interface Package -Packages provide interface between traffic simulator and sensor simulator. - -- [Classes](/scenario_simulator_v2-docs/package/simulation_interface/markdown/Classes) -- [Namespaces](/scenario_simulator_v2-docs/package/simulation_interface/markdown/Namespaces) -- [Modules](/scenario_simulator_v2-docs/package/simulation_interface/markdown/Modules) -- [Files](/scenario_simulator_v2-docs/package/simulation_interface/markdown/Files) -- [Pages](/scenario_simulator_v2-docs/package/simulation_interface/markdown/Pages) -- [Examples](/scenario_simulator_v2-docs/package/simulation_interface/markdown/Examples) - -## OpenSCENARIO Packages ---- - -### OpenSCENARIO Interpreter Package -Package for parsing .xosc file and send command to the simulator via Traffic simulator. - -- [Classes](/scenario_simulator_v2-docs/package/openscenario_interpreter/markdown/Classes) -- [Namespaces](/scenario_simulator_v2-docs/package/openscenario_interpreter/markdown/Namespaces) -- [Modules](/scenario_simulator_v2-docs/package/openscenario_interpreter/markdown/Modules) -- [Files](/scenario_simulator_v2-docs/package/openscenario_interpreter/markdown/Files) -- [Pages](/scenario_simulator_v2-docs/package/openscenario_interpreter/markdown/Pages) -- [Examples](/scenario_simulator_v2-docs/package/openscenario_interpreter/markdown/Examples) - -### OpenSCENARIO Visualization Package -Package for visualizing the result of the simulation. - -- [Classes](/scenario_simulator_v2-docs/package/openscenario_visualization/markdown/Classes) -- [Namespaces](/scenario_simulator_v2-docs/package/openscenario_visualization/markdown/Namespaces) -- [Modules](/scenario_simulator_v2-docs/package/openscenario_visualization/markdown/Modules) -- [Files](/scenario_simulator_v2-docs/package/openscenario_visualization/markdown/Files) -- [Pages](/scenario_simulator_v2-docs/package/openscenario_visualization/markdown/Pages) -- [Examples](/scenario_simulator_v2-docs/package/openscenario_visualization/markdown/Examples) - -## Math packages - -### Geometry Package -Package for calculating geometry. - -- [Classes](/scenario_simulator_v2-docs/package/geometry/markdown/Classes) -- [Namespaces](/scenario_simulator_v2-docs/package/geometry/markdown/Namespaces) -- [Modules](/scenario_simulator_v2-docs/package/geometry/markdown/Modules) -- [Files](/scenario_simulator_v2-docs/package/geometry/markdown/Files) -- [Pages](/scenario_simulator_v2-docs/package/geometry/markdown/Pages) -- [Examples](/scenario_simulator_v2-docs/package/geometry/markdown/Examples) diff --git a/docs/package/geometry/.gitignore b/docs/package/geometry/.gitignore deleted file mode 100644 index d9450061def..00000000000 --- a/docs/package/geometry/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -build -markdown diff --git a/docs/package/geometry/Doxyfile b/docs/package/geometry/Doxyfile deleted file mode 100644 index d9229ab462c..00000000000 --- a/docs/package/geometry/Doxyfile +++ /dev/null @@ -1,38 +0,0 @@ -DOXYFILE_ENCODING = UTF-8 - -ENABLE_PREPROCESSING = YES -EXPAND_ONLY_PREDEF = YES -EXTRACT_ALL = YES -EXTRACT_ANON_NSPACES = YES -EXTRACT_LOCAL_CLASSES = YES -EXTRACT_LOCAL_METHODS = YES -GENERATE_HTML = YES -GENERATE_LATEX = NO -GENERATE_XML = YES -INPUT = ../../../common/math/geometry -IMAGE_PATH = ../../../common/math/geometry -EXAMPLE_PATH = ../../../common/math/geometry -INPUT_ENCODING = UTF-8 -MACRO_EXPANSION = YES -OUTPUT_DIRECTORY = -OUTPUT_LANGUAGE = English -PROJECT_NAME = Scenario Simulator -RECURSIVE = YES -SKIP_FUNCTION_MACROS = NO -XML_OUTPUT = build - -FILE_PATTERNS += *.hpp -FILE_PATTERNS += *.cpp -FILE_PATTERNS += *.md - -EXPAND_AS_DEFINED += TEST -EXPAND_AS_DEFINED += EXPECT_DECIMAL_EQ -EXPAND_AS_DEFINED += EXPECT_POINT_EQ -EXPAND_AS_DEFINED += EXPECT_VECTOR3_EQ -EXPAND_AS_DEFINED += EXPECT_QUATERNION_EQ -EXPAND_AS_DEFINED += EXPECT_POSE_EQ -EXPAND_AS_DEFINED += EXPECT_LANELET_POSE_EQ -EXPAND_AS_DEFINED += EXPECT_TWIST_EQ -EXPAND_AS_DEFINED += EXPECT_ACCEL_EQ -EXPAND_AS_DEFINED += EXPECT_ACTION_STATUS_EQ -EXPAND_AS_DEFINED += EXPECT_DETECTION_SENSOR_CONFIGURATION_EQ diff --git a/docs/package/geometry/build.sh b/docs/package/geometry/build.sh deleted file mode 100644 index 6fa6b9bfed2..00000000000 --- a/docs/package/geometry/build.sh +++ /dev/null @@ -1,5 +0,0 @@ -rm -rf output -rm -rf markdown -doxygen Doxyfile -mkdir -p ./markdown/Classes -doxybook2 --input ./build/ --output ./markdown -c config.json diff --git a/docs/package/geometry/config.json b/docs/package/geometry/config.json deleted file mode 100644 index 4e0e4c6fbe3..00000000000 --- a/docs/package/geometry/config.json +++ /dev/null @@ -1,14 +0,0 @@ -{ - "baseUrl": "/scenario_simulator_v2-docs/package/geometry/markdown/", - "indexInFolders": true, - "indexClassesName": "index", - "indexFilesName": "index", - "indexGroupsName": "index", - "indexNamespacesName": "index", - "indexRelatedPagesName": "index", - "indexExamplesName": "index", - "mainPageInRoot": false, - "mainPageName": "index", - "sort": true, - "linkSuffix" : "" -} diff --git a/docs/package/openscenario_interpreter/.gitignore b/docs/package/openscenario_interpreter/.gitignore deleted file mode 100644 index d9450061def..00000000000 --- a/docs/package/openscenario_interpreter/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -build -markdown diff --git a/docs/package/openscenario_interpreter/Doxyfile b/docs/package/openscenario_interpreter/Doxyfile deleted file mode 100644 index 4cd3e054a2b..00000000000 --- a/docs/package/openscenario_interpreter/Doxyfile +++ /dev/null @@ -1,13 +0,0 @@ -DOXYFILE_ENCODING = UTF-8 -PROJECT_NAME = OpenSCENARIO Interpreter package -OUTPUT_DIRECTORY = -OUTPUT_LANGUAGE = English -ALIASES = -INPUT = ../../../openscenario/openscenario_interpreter -INPUT_ENCODING = UTF-8 -FILE_PATTERNS = *.hpp *.h *.cpp *.c -GENERATE_XML = YES -GENERATE_HTML = NO -GENERATE_LATEX = NO -XML_OUTPUT = build -RECURSIVE = YES diff --git a/docs/package/openscenario_interpreter/build.sh b/docs/package/openscenario_interpreter/build.sh deleted file mode 100644 index 6fa6b9bfed2..00000000000 --- a/docs/package/openscenario_interpreter/build.sh +++ /dev/null @@ -1,5 +0,0 @@ -rm -rf output -rm -rf markdown -doxygen Doxyfile -mkdir -p ./markdown/Classes -doxybook2 --input ./build/ --output ./markdown -c config.json diff --git a/docs/package/openscenario_interpreter/config.json b/docs/package/openscenario_interpreter/config.json deleted file mode 100644 index 05f5778f4de..00000000000 --- a/docs/package/openscenario_interpreter/config.json +++ /dev/null @@ -1,14 +0,0 @@ -{ - "baseUrl": "/scenario_simulator_v2-docs/package/openscenario_interpreter/markdown/", - "indexInFolders": true, - "indexClassesName": "index", - "indexFilesName": "index", - "indexGroupsName": "index", - "indexNamespacesName": "index", - "indexRelatedPagesName": "index", - "indexExamplesName": "index", - "mainPageInRoot": false, - "mainPageName": "index", - "sort": true, - "linkSuffix" : "" -} diff --git a/docs/package/openscenario_visualization/.gitignore b/docs/package/openscenario_visualization/.gitignore deleted file mode 100644 index d9450061def..00000000000 --- a/docs/package/openscenario_visualization/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -build -markdown diff --git a/docs/package/openscenario_visualization/Doxyfile b/docs/package/openscenario_visualization/Doxyfile deleted file mode 100644 index 7f668d47446..00000000000 --- a/docs/package/openscenario_visualization/Doxyfile +++ /dev/null @@ -1,13 +0,0 @@ -DOXYFILE_ENCODING = UTF-8 -PROJECT_NAME = OpenSCENARIO visualization package -OUTPUT_DIRECTORY = -OUTPUT_LANGUAGE = English -ALIASES = -INPUT = ../../../openscenario/openscenario_visualization -INPUT_ENCODING = UTF-8 -FILE_PATTERNS = *.hpp *.h *.cpp *.c -GENERATE_XML = YES -GENERATE_HTML = NO -GENERATE_LATEX = NO -XML_OUTPUT = build -RECURSIVE = YES diff --git a/docs/package/openscenario_visualization/build.sh b/docs/package/openscenario_visualization/build.sh deleted file mode 100644 index 6fa6b9bfed2..00000000000 --- a/docs/package/openscenario_visualization/build.sh +++ /dev/null @@ -1,5 +0,0 @@ -rm -rf output -rm -rf markdown -doxygen Doxyfile -mkdir -p ./markdown/Classes -doxybook2 --input ./build/ --output ./markdown -c config.json diff --git a/docs/package/openscenario_visualization/config.json b/docs/package/openscenario_visualization/config.json deleted file mode 100644 index e34982f06e7..00000000000 --- a/docs/package/openscenario_visualization/config.json +++ /dev/null @@ -1,14 +0,0 @@ -{ - "baseUrl": "/scenario_simulator_v2-docs/package/openscenario_visualization/markdown/", - "indexInFolders": true, - "indexClassesName": "index", - "indexFilesName": "index", - "indexGroupsName": "index", - "indexNamespacesName": "index", - "indexRelatedPagesName": "index", - "indexExamplesName": "index", - "mainPageInRoot": false, - "mainPageName": "index", - "sort": true, - "linkSuffix" : "" -} diff --git a/docs/package/simple_sensor_simulator/.gitignore b/docs/package/simple_sensor_simulator/.gitignore deleted file mode 100644 index d9450061def..00000000000 --- a/docs/package/simple_sensor_simulator/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -build -markdown diff --git a/docs/package/simple_sensor_simulator/Doxyfile b/docs/package/simple_sensor_simulator/Doxyfile deleted file mode 100644 index 960c1d797cb..00000000000 --- a/docs/package/simple_sensor_simulator/Doxyfile +++ /dev/null @@ -1,13 +0,0 @@ -DOXYFILE_ENCODING = UTF-8 -PROJECT_NAME = Simple Sensor Simulator -OUTPUT_DIRECTORY = -OUTPUT_LANGUAGE = English -ALIASES = -INPUT = ../../../simulation/simple_sensor_simulator -INPUT_ENCODING = UTF-8 -FILE_PATTERNS = *.hpp *.h *.cpp *.c -GENERATE_XML = YES -GENERATE_HTML = NO -GENERATE_LATEX = NO -XML_OUTPUT = build -RECURSIVE = YES diff --git a/docs/package/simple_sensor_simulator/build.sh b/docs/package/simple_sensor_simulator/build.sh deleted file mode 100644 index 6fa6b9bfed2..00000000000 --- a/docs/package/simple_sensor_simulator/build.sh +++ /dev/null @@ -1,5 +0,0 @@ -rm -rf output -rm -rf markdown -doxygen Doxyfile -mkdir -p ./markdown/Classes -doxybook2 --input ./build/ --output ./markdown -c config.json diff --git a/docs/package/simple_sensor_simulator/config.json b/docs/package/simple_sensor_simulator/config.json deleted file mode 100644 index 0ec70c64109..00000000000 --- a/docs/package/simple_sensor_simulator/config.json +++ /dev/null @@ -1,14 +0,0 @@ -{ - "baseUrl": "/scenario_simulator_v2/package/simple_sensor_simulator/markdown/", - "indexInFolders": true, - "indexClassesName": "index", - "indexFilesName": "index", - "indexGroupsName": "index", - "indexNamespacesName": "index", - "indexRelatedPagesName": "index", - "indexExamplesName": "index", - "mainPageInRoot": false, - "mainPageName": "index", - "sort": true, - "linkSuffix" : "" -} diff --git a/docs/package/simulation_interface/.gitignore b/docs/package/simulation_interface/.gitignore deleted file mode 100644 index d9450061def..00000000000 --- a/docs/package/simulation_interface/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -build -markdown diff --git a/docs/package/simulation_interface/Doxyfile b/docs/package/simulation_interface/Doxyfile deleted file mode 100644 index f6fd406988d..00000000000 --- a/docs/package/simulation_interface/Doxyfile +++ /dev/null @@ -1,13 +0,0 @@ -DOXYFILE_ENCODING = UTF-8 -PROJECT_NAME = Simulation Interface -OUTPUT_DIRECTORY = -OUTPUT_LANGUAGE = English -ALIASES = -INPUT = ../../../simulation/simulation_interface -INPUT_ENCODING = UTF-8 -FILE_PATTERNS = *.hpp *.h *.cpp *.c -GENERATE_XML = YES -GENERATE_HTML = NO -GENERATE_LATEX = NO -XML_OUTPUT = build -RECURSIVE = YES diff --git a/docs/package/simulation_interface/build.sh b/docs/package/simulation_interface/build.sh deleted file mode 100644 index 6fa6b9bfed2..00000000000 --- a/docs/package/simulation_interface/build.sh +++ /dev/null @@ -1,5 +0,0 @@ -rm -rf output -rm -rf markdown -doxygen Doxyfile -mkdir -p ./markdown/Classes -doxybook2 --input ./build/ --output ./markdown -c config.json diff --git a/docs/package/simulation_interface/config.json b/docs/package/simulation_interface/config.json deleted file mode 100644 index 7877cb976e4..00000000000 --- a/docs/package/simulation_interface/config.json +++ /dev/null @@ -1,14 +0,0 @@ -{ - "baseUrl": "/scenario_simulator_v2-docs/package/simulation_interface/markdown/", - "indexInFolders": true, - "indexClassesName": "index", - "indexFilesName": "index", - "indexGroupsName": "index", - "indexNamespacesName": "index", - "indexRelatedPagesName": "index", - "indexExamplesName": "index", - "mainPageInRoot": false, - "mainPageName": "index", - "sort": true, - "linkSuffix" : "" -} diff --git a/docs/package/traffic_simulator/.gitignore b/docs/package/traffic_simulator/.gitignore deleted file mode 100644 index 07bf277f52c..00000000000 --- a/docs/package/traffic_simulator/.gitignore +++ /dev/null @@ -1,7 +0,0 @@ -build -markdown/Classes -markdown/Examples -markdown/Files -markdown/Modules -markdown/Namespaces -markdown/Pages diff --git a/docs/package/traffic_simulator/Doxyfile b/docs/package/traffic_simulator/Doxyfile deleted file mode 100644 index 27624460a80..00000000000 --- a/docs/package/traffic_simulator/Doxyfile +++ /dev/null @@ -1,13 +0,0 @@ -DOXYFILE_ENCODING = UTF-8 -PROJECT_NAME = Scenario Simulator -OUTPUT_DIRECTORY = -OUTPUT_LANGUAGE = English -ALIASES = -INPUT = ../../../simulation/traffic_simulator -INPUT_ENCODING = UTF-8 -FILE_PATTERNS = *.hpp *.h *.cpp *.c -GENERATE_XML = YES -GENERATE_HTML = NO -GENERATE_LATEX = NO -XML_OUTPUT = build -RECURSIVE = YES diff --git a/docs/package/traffic_simulator/build.sh b/docs/package/traffic_simulator/build.sh deleted file mode 100644 index 6fa6b9bfed2..00000000000 --- a/docs/package/traffic_simulator/build.sh +++ /dev/null @@ -1,5 +0,0 @@ -rm -rf output -rm -rf markdown -doxygen Doxyfile -mkdir -p ./markdown/Classes -doxybook2 --input ./build/ --output ./markdown -c config.json diff --git a/docs/package/traffic_simulator/config.json b/docs/package/traffic_simulator/config.json deleted file mode 100644 index 291a1b713cb..00000000000 --- a/docs/package/traffic_simulator/config.json +++ /dev/null @@ -1,14 +0,0 @@ -{ - "baseUrl": "/scenario_simulator_v2-docs/package/traffic_simulator/markdown/", - "indexInFolders": true, - "indexClassesName": "index", - "indexFilesName": "index", - "indexGroupsName": "index", - "indexNamespacesName": "index", - "indexRelatedPagesName": 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z5jo)6yOk&g>ivklj z1RgFpHTcfG|NEUd^#BA`q1VQ$TNZrRfzAK>1=KP`R|xi+tU*$|MEjO}CNh%o@9QTo zV%9$hVKHnSgUJ|cSFDC3$o3 zFYBa}45Iqy-(#sS{r3 j{{J Date: Tue, 24 Oct 2023 19:18:00 +0900 Subject: [PATCH 15/30] update github actions Signed-off-by: Masaya Kataoka --- .github/workflows/Documentation.yaml | 17 +++++++++++++++-- 1 file changed, 15 insertions(+), 2 deletions(-) diff --git a/.github/workflows/Documentation.yaml b/.github/workflows/Documentation.yaml index 228555d819f..3dda9df9fc5 100644 --- a/.github/workflows/Documentation.yaml +++ b/.github/workflows/Documentation.yaml @@ -30,8 +30,6 @@ jobs: poetry-version: "1.5.1" - name: install run: poetry install --no-interaction - - name: Install doxygen/depends of doxybook - run: sudo apt install -y doxygen wget - name: Generate documentation run: poetry run mkdocs build - name: Upload Artifact @@ -48,3 +46,18 @@ jobs: publish_dir: site keep_files: false external_repository: tier4/scenario_simulator_v2-docs + generate_api_document: + name: Generate API documentation + runs-on: ubuntu-22.04 + steps: + - uses: actions/checkout@v2-beta + - name: Install doxygen + run: sudo apt install -y doxygen + - name: Build document + run: doxygen Doxyfile + - name: Upload Artifact + uses: actions/upload-artifact@v2 + with: + name: api_documentation_site + path: html + retention-days: 1 From e90b122f78c1000d9a9fa99a24dab39b32e8679b Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Wed, 25 Oct 2023 11:39:48 +0900 Subject: [PATCH 16/30] fix typo Signed-off-by: Masaya Kataoka --- common/simple_junit/include/simple_junit/junit5.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common/simple_junit/include/simple_junit/junit5.hpp b/common/simple_junit/include/simple_junit/junit5.hpp index 12310ccadce..410571f346d 100644 --- a/common/simple_junit/include/simple_junit/junit5.hpp +++ b/common/simple_junit/include/simple_junit/junit5.hpp @@ -225,7 +225,7 @@ struct SimpleTestCase current_node.append_attribute("status") = testcase.status.c_str(); } - /// @todo implement `skipped` emelent in junit. + /// @todo implement `skipped` element in junit. for (const auto & each : testcase.error) { current_node.append_child("error") << each; From 20212d41cc1bd1b1456d960f83b95d748f22136d Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Wed, 25 Oct 2023 11:44:49 +0900 Subject: [PATCH 17/30] add SpecificationViolation Signed-off-by: Masaya Kataoka --- .../include/scenario_simulator_exception/exception.hpp | 1 + 1 file changed, 1 insertion(+) diff --git a/common/scenario_simulator_exception/include/scenario_simulator_exception/exception.hpp b/common/scenario_simulator_exception/include/scenario_simulator_exception/exception.hpp index 2fe7e130ba5..da6960a3d6c 100644 --- a/common/scenario_simulator_exception/include/scenario_simulator_exception/exception.hpp +++ b/common/scenario_simulator_exception/include/scenario_simulator_exception/exception.hpp @@ -55,6 +55,7 @@ DEFINE_ERROR_CATEGORY(SyntaxError); #define THROW_SEMANTIC_ERROR(...) /* */ THROW_ERROR(common::SemanticError, __VA_ARGS__) #define THROW_SIMULATION_ERROR(...) /* */ THROW_ERROR(common::SimulationError, __VA_ARGS__) +#define THROW_SPECIFICATION_VIOLATION(...) THROW_ERROR(common::SpecificationViolation, __VA_ARGS__) #define THROW_SYNTAX_ERROR(...) /* */ THROW_ERROR(common::SyntaxError, __VA_ARGS__) } // namespace scenario_simulator_exception } // namespace common From 78fb674111efe4a997483364f45d54eb11c65c67 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Wed, 25 Oct 2023 12:39:37 +0900 Subject: [PATCH 18/30] add define error category Signed-off-by: Masaya Kataoka --- .../include/scenario_simulator_exception/exception.hpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/common/scenario_simulator_exception/include/scenario_simulator_exception/exception.hpp b/common/scenario_simulator_exception/include/scenario_simulator_exception/exception.hpp index da6960a3d6c..fe670251222 100644 --- a/common/scenario_simulator_exception/include/scenario_simulator_exception/exception.hpp +++ b/common/scenario_simulator_exception/include/scenario_simulator_exception/exception.hpp @@ -46,6 +46,9 @@ DEFINE_ERROR_CATEGORY(SemanticError); /// @brief A problem occurred that interfered with the continuation of the simulation. DEFINE_ERROR_CATEGORY(SimulationError); +/// @brief When simulator detects specification violation in simulation. +DEFINE_ERROR_CATEGORY(SpecificationViolation); + /// @brief There is a syntactic error in the description of the scenario. Or you are using a feature that is not yet supported by our implementation. DEFINE_ERROR_CATEGORY(SyntaxError); From 1b019c29cab968a3f1b31e00ec9b1eaca1638c2f Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Thu, 26 Oct 2023 13:14:04 +0900 Subject: [PATCH 19/30] update namespace Signed-off-by: Masaya Kataoka --- .../src/behavior_plugin/load_do_nothing_plugin.cpp | 2 +- mock/cpp_mock_scenarios/src/traffic_simulation_demo.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/mock/cpp_mock_scenarios/src/behavior_plugin/load_do_nothing_plugin.cpp b/mock/cpp_mock_scenarios/src/behavior_plugin/load_do_nothing_plugin.cpp index 21f1118e5ad..5909483d512 100644 --- a/mock/cpp_mock_scenarios/src/behavior_plugin/load_do_nothing_plugin.cpp +++ b/mock/cpp_mock_scenarios/src/behavior_plugin/load_do_nothing_plugin.cpp @@ -70,7 +70,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/traffic_simulation_demo.cpp b/mock/cpp_mock_scenarios/src/traffic_simulation_demo.cpp index 4f3ebd1b009..a3c311ad6a6 100644 --- a/mock/cpp_mock_scenarios/src/traffic_simulation_demo.cpp +++ b/mock/cpp_mock_scenarios/src/traffic_simulation_demo.cpp @@ -154,7 +154,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; From d1e52efa552018737ae1b51aeab410e4ae7d301f Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Thu, 26 Oct 2023 13:17:17 +0900 Subject: [PATCH 20/30] add api docs publish step Signed-off-by: Masaya Kataoka --- .github/workflows/Documentation.yaml | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/.github/workflows/Documentation.yaml b/.github/workflows/Documentation.yaml index 3dda9df9fc5..3e0eb7a1d4b 100644 --- a/.github/workflows/Documentation.yaml +++ b/.github/workflows/Documentation.yaml @@ -61,3 +61,11 @@ jobs: name: api_documentation_site path: html retention-days: 1 + - name: Publish Documentation + # if: ${{ github.event_name == 'push' || github.event_name == 'schedule' || github.event_name == 'workflow_dispatch'}} + uses: peaceiris/actions-gh-pages@v3 + with: + personal_token: ${{ secrets.BLOOM_GITHUB_TOKEN }} + publish_dir: site + keep_files: false + external_repository: tier4/scenario_simulator_v2-api-docs From 69a82f1023c5e999aa48b2920f95c0c9eabb5d93 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Thu, 26 Oct 2023 13:35:01 +0900 Subject: [PATCH 21/30] fix publish_dir Signed-off-by: Masaya Kataoka --- .github/workflows/Documentation.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/Documentation.yaml b/.github/workflows/Documentation.yaml index 3e0eb7a1d4b..2bd58320e8e 100644 --- a/.github/workflows/Documentation.yaml +++ b/.github/workflows/Documentation.yaml @@ -66,6 +66,6 @@ jobs: uses: peaceiris/actions-gh-pages@v3 with: personal_token: ${{ secrets.BLOOM_GITHUB_TOKEN }} - publish_dir: site + publish_dir: html keep_files: false external_repository: tier4/scenario_simulator_v2-api-docs From 851166dce5549a0652a1cf0dc0549c4c2b3bf56a Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Thu, 26 Oct 2023 14:12:29 +0900 Subject: [PATCH 22/30] add link Signed-off-by: Masaya Kataoka --- README.md | 3 ++- docs/developer_guide/About.md | 2 ++ 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index fe536186104..4b541942f98 100644 --- a/README.md +++ b/README.md @@ -9,4 +9,5 @@ Scenario testing framework for Autoware. ## Documentation -See [GitHub Pages](https://tier4.github.io/scenario_simulator_v2-docs/) +See [Documentation](https://tier4.github.io/scenario_simulator_v2-docs/) +See [C++ API Documentation](https://tier4.github.io/scenario_simulator_v2-api-docs/index.html) diff --git a/docs/developer_guide/About.md b/docs/developer_guide/About.md index 70c5c74e899..af70fcebf9a 100644 --- a/docs/developer_guide/About.md +++ b/docs/developer_guide/About.md @@ -6,6 +6,8 @@ This documentation describes the architecture design of this scenario testing fr This framework is designed for executing scenario tests with Autoware. +C++ API documentation of scenario_simulator_v2 can be seen [here](https://tier4.github.io/scenario_simulator_v2-api-docs/index.html). + **This framework is designed to easily accommodate multiple simulators and scenario description formats.** ## Simple sensor simulator From b22b4f4440b0a10b258e47f411c57f77a34f8ebd Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Thu, 26 Oct 2023 14:12:44 +0900 Subject: [PATCH 23/30] add trigger Signed-off-by: Masaya Kataoka --- .github/workflows/Documentation.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/Documentation.yaml b/.github/workflows/Documentation.yaml index 2bd58320e8e..2eca581e53d 100644 --- a/.github/workflows/Documentation.yaml +++ b/.github/workflows/Documentation.yaml @@ -62,7 +62,7 @@ jobs: path: html retention-days: 1 - name: Publish Documentation - # if: ${{ github.event_name == 'push' || github.event_name == 'schedule' || github.event_name == 'workflow_dispatch'}} + if: ${{ github.event_name == 'push' || github.event_name == 'schedule' || github.event_name == 'workflow_dispatch'}} uses: peaceiris/actions-gh-pages@v3 with: personal_token: ${{ secrets.BLOOM_GITHUB_TOKEN }} From 2094140c0daf2636ad0d5d34760a8905483c4d61 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Thu, 26 Oct 2023 17:10:59 +0900 Subject: [PATCH 24/30] add namespace Signed-off-by: Masaya Kataoka --- mock/cpp_mock_scenarios/src/collision/spawn_with_offset.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mock/cpp_mock_scenarios/src/collision/spawn_with_offset.cpp b/mock/cpp_mock_scenarios/src/collision/spawn_with_offset.cpp index c58dd9d3241..7210d5c8bdc 100644 --- a/mock/cpp_mock_scenarios/src/collision/spawn_with_offset.cpp +++ b/mock/cpp_mock_scenarios/src/collision/spawn_with_offset.cpp @@ -72,7 +72,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; From db168472bb1a927d1e90329985069f926835bdc6 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Thu, 26 Oct 2023 17:50:57 +0900 Subject: [PATCH 25/30] fix compile error Signed-off-by: Masaya Kataoka --- mock/cpp_mock_scenarios/src/collision/crashing_npc.cpp | 2 +- mock/cpp_mock_scenarios/src/crosswalk/stop_at_crosswalk.cpp | 2 +- .../src/follow_front_entity/accelerate_and_follow.cpp | 2 +- .../src/follow_front_entity/decelerate_and_follow.cpp | 2 +- .../src/follow_lane/acquire_position_in_world_frame.cpp | 3 ++- .../src/follow_lane/assign_route_in_world_frame.cpp | 2 +- mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp | 4 ++-- .../src/follow_lane/follow_with_offset.cpp | 2 +- mock/cpp_mock_scenarios/src/lane_change/lanechange_left.cpp | 2 +- .../src/lane_change/lanechange_left_with_id.cpp | 2 +- .../src/lane_change/lanechange_linear.cpp | 2 +- .../src/lane_change/lanechange_linear_lateral_velocity.cpp | 3 ++- .../src/lane_change/lanechange_linear_time.cpp | 2 +- .../src/lane_change/lanechange_longitudinal_distance.cpp | 3 ++- .../cpp_mock_scenarios/src/lane_change/lanechange_right.cpp | 2 +- .../src/lane_change/lanechange_right_with_id.cpp | 2 +- mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp | 2 +- .../get_distance_in_lane_coordinate_distance.cpp | 3 ++- .../src/measurement/get_distance_to_lane_bound.cpp | 2 +- mock/cpp_mock_scenarios/src/merge/merge_left.cpp | 2 +- mock/cpp_mock_scenarios/src/metrics/traveled_distance.cpp | 2 +- mock/cpp_mock_scenarios/src/move_backward/move_backward.cpp | 2 +- mock/cpp_mock_scenarios/src/pedestrian/walk_straight.cpp | 6 +++--- .../src/speed_planning/request_speed_change.cpp | 2 +- .../request_speed_change_continuous_false.cpp | 3 ++- .../src/speed_planning/request_speed_change_relative.cpp | 3 ++- .../src/speed_planning/request_speed_change_step.cpp | 2 +- .../request_speed_change_with_time_constraint.cpp | 3 ++- .../request_speed_change_with_time_constraint_linear.cpp | 4 +++- .../request_speed_change_with_time_constraint_relative.cpp | 4 +++- 30 files changed, 44 insertions(+), 33 deletions(-) diff --git a/mock/cpp_mock_scenarios/src/collision/crashing_npc.cpp b/mock/cpp_mock_scenarios/src/collision/crashing_npc.cpp index e940f5ac048..f85738e8817 100644 --- a/mock/cpp_mock_scenarios/src/collision/crashing_npc.cpp +++ b/mock/cpp_mock_scenarios/src/collision/crashing_npc.cpp @@ -77,7 +77,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/crosswalk/stop_at_crosswalk.cpp b/mock/cpp_mock_scenarios/src/crosswalk/stop_at_crosswalk.cpp index 1e2556142fd..3e433423821 100644 --- a/mock/cpp_mock_scenarios/src/crosswalk/stop_at_crosswalk.cpp +++ b/mock/cpp_mock_scenarios/src/crosswalk/stop_at_crosswalk.cpp @@ -107,7 +107,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp b/mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp index 4bc4c1ac92b..d71729b2a30 100644 --- a/mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp +++ b/mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp @@ -80,7 +80,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/follow_front_entity/decelerate_and_follow.cpp b/mock/cpp_mock_scenarios/src/follow_front_entity/decelerate_and_follow.cpp index 9d3c5e873e1..24108503cb6 100644 --- a/mock/cpp_mock_scenarios/src/follow_front_entity/decelerate_and_follow.cpp +++ b/mock/cpp_mock_scenarios/src/follow_front_entity/decelerate_and_follow.cpp @@ -80,7 +80,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp b/mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp index c31499cb2ca..e2c477b79e3 100644 --- a/mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp +++ b/mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp @@ -69,7 +69,8 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = + std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/follow_lane/assign_route_in_world_frame.cpp b/mock/cpp_mock_scenarios/src/follow_lane/assign_route_in_world_frame.cpp index 7bb617169e3..3631456c15a 100644 --- a/mock/cpp_mock_scenarios/src/follow_lane/assign_route_in_world_frame.cpp +++ b/mock/cpp_mock_scenarios/src/follow_lane/assign_route_in_world_frame.cpp @@ -70,7 +70,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp b/mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp index 93bee6170e1..d21a4889826 100644 --- a/mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp +++ b/mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp @@ -47,7 +47,7 @@ class CancelRequestScenario : public cpp_mock_scenarios::CppScenarioNode "ego", api_.canonicalize(traffic_simulator::helper::constructLaneletPose(34513, 30, 0, 0, 0, 0)), 3.0)) { - api_.CancelRequestScenario("ego"); + api_.cancelRequest("ego"); canceled = true; } if (api_.isInLanelet("ego", 34507, 0.1)) { @@ -73,7 +73,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/follow_lane/follow_with_offset.cpp b/mock/cpp_mock_scenarios/src/follow_lane/follow_with_offset.cpp index 17d0e6f9e79..38bba72a680 100644 --- a/mock/cpp_mock_scenarios/src/follow_lane/follow_with_offset.cpp +++ b/mock/cpp_mock_scenarios/src/follow_lane/follow_with_offset.cpp @@ -70,7 +70,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_left.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_left.cpp index c58a490cc28..e7ad9daa2a0 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_left.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_left.cpp @@ -69,7 +69,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_left_with_id.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_left_with_id.cpp index 596109da425..b49470be49a 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_left_with_id.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_left_with_id.cpp @@ -69,7 +69,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp index 4808d4d65a8..a22427f0691 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp @@ -79,7 +79,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp index a2370b58c72..5f81424dced 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp @@ -83,7 +83,8 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = + std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp index 54d03773511..053b5d0b841 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp @@ -82,7 +82,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp index 83d1526d82d..c822a005b25 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp @@ -71,7 +71,8 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = + std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_right.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_right.cpp index 01dc0e457af..491f557bd4b 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_right.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_right.cpp @@ -70,7 +70,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_right_with_id.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_right_with_id.cpp index 05718f910f3..9ebd20c6b51 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_right_with_id.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_right_with_id.cpp @@ -69,7 +69,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp index a8f5505094d..583d956ba9b 100644 --- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp +++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp @@ -82,7 +82,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/measurement/get_distance_in_lane_coordinate_distance.cpp b/mock/cpp_mock_scenarios/src/measurement/get_distance_in_lane_coordinate_distance.cpp index b898cd6822b..4d51b8dd65c 100644 --- a/mock/cpp_mock_scenarios/src/measurement/get_distance_in_lane_coordinate_distance.cpp +++ b/mock/cpp_mock_scenarios/src/measurement/get_distance_in_lane_coordinate_distance.cpp @@ -121,7 +121,8 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = + std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/measurement/get_distance_to_lane_bound.cpp b/mock/cpp_mock_scenarios/src/measurement/get_distance_to_lane_bound.cpp index fd412fdcd3d..0ffc13ec20b 100644 --- a/mock/cpp_mock_scenarios/src/measurement/get_distance_to_lane_bound.cpp +++ b/mock/cpp_mock_scenarios/src/measurement/get_distance_to_lane_bound.cpp @@ -70,7 +70,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/merge/merge_left.cpp b/mock/cpp_mock_scenarios/src/merge/merge_left.cpp index aeb4c794093..1dd1ab4738a 100644 --- a/mock/cpp_mock_scenarios/src/merge/merge_left.cpp +++ b/mock/cpp_mock_scenarios/src/merge/merge_left.cpp @@ -78,7 +78,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/metrics/traveled_distance.cpp b/mock/cpp_mock_scenarios/src/metrics/traveled_distance.cpp index 48246757e8b..ee1f035b666 100644 --- a/mock/cpp_mock_scenarios/src/metrics/traveled_distance.cpp +++ b/mock/cpp_mock_scenarios/src/metrics/traveled_distance.cpp @@ -80,7 +80,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/move_backward/move_backward.cpp b/mock/cpp_mock_scenarios/src/move_backward/move_backward.cpp index 7aa58265456..33638138c07 100644 --- a/mock/cpp_mock_scenarios/src/move_backward/move_backward.cpp +++ b/mock/cpp_mock_scenarios/src/move_backward/move_backward.cpp @@ -68,7 +68,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/pedestrian/walk_straight.cpp b/mock/cpp_mock_scenarios/src/pedestrian/walk_straight.cpp index ca8142b93d7..54478ddc5ab 100644 --- a/mock/cpp_mock_scenarios/src/pedestrian/walk_straight.cpp +++ b/mock/cpp_mock_scenarios/src/pedestrian/walk_straight.cpp @@ -28,10 +28,10 @@ namespace cpp_mock_scenarios { -class StopAtCrosswalkScenario : public cpp_mock_scenarios::CppScenarioNode +class WalkStraightScenario : public cpp_mock_scenarios::CppScenarioNode { public: - explicit StopAtCrosswalkScenario(const rclcpp::NodeOptions & option) + explicit WalkStraightScenario(const rclcpp::NodeOptions & option) : cpp_mock_scenarios::CppScenarioNode( "stop_at_crosswalk", ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map", "lanelet2_map.osm", __FILE__, false, option) @@ -104,7 +104,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change.cpp b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change.cpp index 73f3b542008..94844fabf3f 100644 --- a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change.cpp +++ b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change.cpp @@ -85,7 +85,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_continuous_false.cpp b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_continuous_false.cpp index 424bc97137f..7a83e377531 100644 --- a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_continuous_false.cpp +++ b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_continuous_false.cpp @@ -82,7 +82,8 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = + std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_relative.cpp b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_relative.cpp index d54ff8a5333..c1c14e5e77d 100644 --- a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_relative.cpp +++ b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_relative.cpp @@ -83,7 +83,8 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = + std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_step.cpp b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_step.cpp index dae2e9aba03..7e6d66932bc 100644 --- a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_step.cpp +++ b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_step.cpp @@ -82,7 +82,7 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint.cpp b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint.cpp index 29eb1bb0d40..f486fcec618 100644 --- a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint.cpp +++ b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint.cpp @@ -86,7 +86,8 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = + std::make_shared(options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint_linear.cpp b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint_linear.cpp index 281404a6ae2..144857533df 100644 --- a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint_linear.cpp +++ b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint_linear.cpp @@ -72,7 +72,9 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = + std::make_shared( + options); rclcpp::spin(component); rclcpp::shutdown(); return 0; diff --git a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint_relative.cpp b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint_relative.cpp index 8e33ad28c85..9336be41024 100644 --- a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint_relative.cpp +++ b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint_relative.cpp @@ -90,7 +90,9 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::NodeOptions options; - auto component = std::make_shared(options); + auto component = + std::make_shared( + options); rclcpp::spin(component); rclcpp::shutdown(); return 0; From 9f37901c125742a79c7dbcc2109da49efd404863 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Fri, 27 Oct 2023 14:14:21 +0900 Subject: [PATCH 26/30] add clang-format off Signed-off-by: Masaya Kataoka --- .../include/traffic_simulator/api/api.hpp | 2 ++ .../data_type/speed_change.hpp | 2 +- .../traffic_simulator/entity/entity_base.hpp | 24 +++++++-------- .../entity/entity_manager.hpp | 30 +++++++++++-------- 4 files changed, 32 insertions(+), 26 deletions(-) diff --git a/simulation/traffic_simulator/include/traffic_simulator/api/api.hpp b/simulation/traffic_simulator/include/traffic_simulator/api/api.hpp index 093e0c17879..d7178b7024e 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/api/api.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/api/api.hpp @@ -271,6 +271,7 @@ class API const lane_change::TrajectoryShape trajectory_shape, const lane_change::Constraint & constraint); +// clang-format off #define FORWARD_TO_ENTITY_MANAGER(NAME) \ /*! \ @brief Forward to arguments to the EntityManager::NAME function. \ @@ -284,6 +285,7 @@ class API return (*entity_manager_ptr_).NAME(std::forward(xs)...); \ } \ static_assert(true, "") + // clang-format on FORWARD_TO_ENTITY_MANAGER(asFieldOperatorApplication); FORWARD_TO_ENTITY_MANAGER(cancelRequest); diff --git a/simulation/traffic_simulator/include/traffic_simulator/data_type/speed_change.hpp b/simulation/traffic_simulator/include/traffic_simulator/data_type/speed_change.hpp index 39a27c3d29e..33c2226c444 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/data_type/speed_change.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/data_type/speed_change.hpp @@ -34,7 +34,7 @@ enum class Transition { struct Constraint { enum class Type { - // @todo Add DISTANCE constraint type. + // @todo Add DISTANCE constraint type. LONGITUDINAL_ACCELERATION, TIME, NONE diff --git a/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp b/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp index f104444f7b2..233744bb2af 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp @@ -61,15 +61,15 @@ class EntityBase virtual void cancelRequest(); -#define DEFINE_GETTER(NAME, TYPE, RETURN_VARIABLE) \ - /** \ - @brief Get NAME of the entity. \ - @return NAME of the entity. \ - @note This function was defined by DEFINE_GETTER function . \ - */ \ +// clang-format off +#define DEFINE_GETTER(NAME, TYPE, RETURN_VARIABLE) \ + /** \ + @brief Get NAME of the entity. \ + @return NAME of the entity. \ + @note This function was defined by DEFINE_GETTER function. \ + */ \ /* */ auto get##NAME() const noexcept->TYPE { return RETURN_VARIABLE; } - // clang-format off DEFINE_GETTER(BoundingBox, traffic_simulator_msgs::msg::BoundingBox, static_cast(getStatus()).bounding_box) DEFINE_GETTER(CurrentAccel, geometry_msgs::msg::Accel, static_cast(getStatus()).action_status.accel) DEFINE_GETTER(CurrentTwist, geometry_msgs::msg::Twist, static_cast(getStatus()).action_status.twist) @@ -84,13 +84,13 @@ class EntityBase // clang-format on #undef DEFINE_GETTER -#define DEFINE_CHECK_FUNCTION(FUNCTION_NAME, BOOL_VARIABLE) \ - /** \ - @note This function was defined by DEFINE_CHECK_FUNCTION function . \ - */ \ +// clang-format off +#define DEFINE_CHECK_FUNCTION(FUNCTION_NAME, BOOL_VARIABLE) \ + /** \ + @note This function was defined by DEFINE_CHECK_FUNCTION function . \ + */ \ /* */ auto FUNCTION_NAME() const->bool { return BOOL_VARIABLE; } - // clang-format off DEFINE_CHECK_FUNCTION(isNpcLogicStarted, npc_logic_started_) DEFINE_CHECK_FUNCTION(laneMatchingSucceed, status_.laneMatchingSucceed()) // clang-format on diff --git a/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp b/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp index a69432fcc3c..bf4a2418a4e 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp @@ -231,6 +231,7 @@ class EntityManager v2i_traffic_light_updater_.resetUpdateRate(rate); } +// clang-format off #define FORWARD_TO_HDMAP_UTILS(NAME) \ /*! \ @brief Forward to arguments to the HDMapUtils::NAME function. \ @@ -243,26 +244,29 @@ class EntityManager return hdmap_utils_ptr_->NAME(std::forward(xs)...); \ } \ static_assert(true, "") + // clang-format on FORWARD_TO_HDMAP_UTILS(toLaneletPose); // FORWARD_TO_HDMAP_UTILS(toMapPose); #undef FORWARD_TO_HDMAP_UTILS -#define FORWARD_TO_ENTITY(IDENTIFIER, ...) \ - /*! \ - @brief Forward to arguments to the EntityBase::IDENTIFIER function. \ - @return return value of the EntityBase::IDENTIFIER function. \ - @note This function was defined by FORWARD_TO_ENTITY macro. 　　　　　　 \ - */ \ - template \ - decltype(auto) IDENTIFIER(const std::string & name, Ts &&... xs) __VA_ARGS__ \ - try { \ - return entities_.at(name)->IDENTIFIER(std::forward(xs)...); \ - } catch (const std::out_of_range &) { \ - THROW_SEMANTIC_ERROR("entity : ", name, "does not exist"); \ - } \ +// clang-format off +#define FORWARD_TO_ENTITY(IDENTIFIER, ...) \ + /*! \ + @brief Forward to arguments to the EntityBase::IDENTIFIER function. \ + @return return value of the EntityBase::IDENTIFIER function. \ + @note This function was defined by FORWARD_TO_ENTITY macro. 　　　　　　 \ + */ \ + template \ + decltype(auto) IDENTIFIER(const std::string & name, Ts &&... xs) __VA_ARGS__ \ + try { \ + return entities_.at(name)->IDENTIFIER(std::forward(xs)...); \ + } catch (const std::out_of_range &) { \ + THROW_SEMANTIC_ERROR("entity : ", name, "does not exist"); \ + } \ static_assert(true, "") + // clang-format on FORWARD_TO_ENTITY(asFieldOperatorApplication, const); FORWARD_TO_ENTITY(cancelRequest, ); From 60aafe1b8d14efbc26d70aa300ae6a7ca2c9f226 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Mon, 30 Oct 2023 16:20:36 +0900 Subject: [PATCH 27/30] Update simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp Co-authored-by: Tatsuya Yamasaki --- .../include/traffic_simulator/entity/entity_base.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp b/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp index 233744bb2af..68c49c9b560 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp @@ -87,7 +87,7 @@ class EntityBase // clang-format off #define DEFINE_CHECK_FUNCTION(FUNCTION_NAME, BOOL_VARIABLE) \ /** \ - @note This function was defined by DEFINE_CHECK_FUNCTION function . \ + @note This function was defined by DEFINE_CHECK_FUNCTION function. \ */ \ /* */ auto FUNCTION_NAME() const->bool { return BOOL_VARIABLE; } From ba545a6728c22df9c7d5676ac937de52bf596186 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Mon, 30 Oct 2023 16:20:44 +0900 Subject: [PATCH 28/30] Update simulation/traffic_simulator/include/traffic_simulator/data_type/speed_change.hpp Co-authored-by: Tatsuya Yamasaki --- .../include/traffic_simulator/data_type/speed_change.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/simulation/traffic_simulator/include/traffic_simulator/data_type/speed_change.hpp b/simulation/traffic_simulator/include/traffic_simulator/data_type/speed_change.hpp index 33c2226c444..e8e52c15b72 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/data_type/speed_change.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/data_type/speed_change.hpp @@ -24,7 +24,7 @@ namespace traffic_simulator namespace speed_change { enum class Transition { - // @todo Add CUBIC transition type. + // @todo Add CUBIC transition. LINEAR, // @todo Add SINUSOIDAL transition type. STEP, From c9bf9bc764d193a8d07c708d5f65f34930e1e669 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Mon, 30 Oct 2023 16:20:51 +0900 Subject: [PATCH 29/30] Update simulation/traffic_simulator/include/traffic_simulator/data_type/speed_change.hpp Co-authored-by: Tatsuya Yamasaki --- .../include/traffic_simulator/data_type/speed_change.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/simulation/traffic_simulator/include/traffic_simulator/data_type/speed_change.hpp b/simulation/traffic_simulator/include/traffic_simulator/data_type/speed_change.hpp index e8e52c15b72..3330ca8fe56 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/data_type/speed_change.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/data_type/speed_change.hpp @@ -26,7 +26,7 @@ namespace speed_change enum class Transition { // @todo Add CUBIC transition. LINEAR, - // @todo Add SINUSOIDAL transition type. + // @todo Add SINUSOIDAL transition. STEP, AUTO }; From 54b738d014139b1d0d9b198dfd9f150e7de57037 Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Mon, 30 Oct 2023 16:21:04 +0900 Subject: [PATCH 30/30] Update simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp Co-authored-by: Tatsuya Yamasaki --- .../include/traffic_simulator/entity/entity_manager.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp b/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp index bf4a2418a4e..988e13d907e 100644 --- a/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp +++ b/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp @@ -256,7 +256,7 @@ class EntityManager /*! \ @brief Forward to arguments to the EntityBase::IDENTIFIER function. \ @return return value of the EntityBase::IDENTIFIER function. \ - @note This function was defined by FORWARD_TO_ENTITY macro. 　　　　　　 \ + @note This function was defined by FORWARD_TO_ENTITY macro. 　 　　　　　 \ */ \ template \ decltype(auto) IDENTIFIER(const std::string & name, Ts &&... xs) __VA_ARGS__ \