Skip to content

Fix/concealer 7 #1582

New issue

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

Sign up for GitHub

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

Already on GitHub? Sign in to your account

Merged
merged 5 commits into from
Apr 21, 2025
Merged

Fix/concealer 7 #1582

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
38efe04
Fix `LegacyAutowareState` to set `initializing` if any module state i…
yamacir-kit Apr 18, 2025
3daefe9
Update QoS for some Autoware state related messages to `transient_local`
yamacir-kit Apr 18, 2025
e0cedf9
Merge branch 'master' into fix/concealer-7
yamacir-kit Apr 18, 2025
1a6f681
Merge branch 'master' into fix/concealer-7
yamacir-kit Apr 18, 2025
de33adb
Merge branch 'master' into fix/concealer-7
HansRobo Apr 18, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
99 changes: 50 additions & 49 deletions external/concealer/include/concealer/legacy_autoware_state.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -88,55 +88,56 @@ struct LegacyAutowareState
- https://github.com/autowarefoundation/autoware.universe/blob/e60daf7d1c85208eaac083b90c181e224c2ac513/system/autoware_default_adapi/document/autoware-state.md
- https://github.com/autowarefoundation/autoware_universe/blob/e60daf7d1c85208eaac083b90c181e224c2ac513/system/autoware_default_adapi/src/compatibility/autoware_state.cpp#L80-L141
*/
switch (localization_state.state) {
case autoware_adapi_v1_msgs::msg::LocalizationInitializationState::UNKNOWN:
case autoware_adapi_v1_msgs::msg::LocalizationInitializationState::UNINITIALIZED:
case autoware_adapi_v1_msgs::msg::LocalizationInitializationState::INITIALIZING:
return initializing;

case autoware_adapi_v1_msgs::msg::LocalizationInitializationState::INITIALIZED:
switch (route_state.state) {
case autoware_adapi_v1_msgs::msg::RouteState::UNKNOWN:
return initializing;

case autoware_adapi_v1_msgs::msg::RouteState::ARRIVED:
if (const auto duration = now - rclcpp::Time(route_state.stamp);
duration.seconds() < 2.0) {
return arrived_goal;
}
[[fallthrough]];

case autoware_adapi_v1_msgs::msg::RouteState::UNSET:
return waiting_for_route;

case autoware_adapi_v1_msgs::msg::RouteState::SET:
case autoware_adapi_v1_msgs::msg::RouteState::CHANGING:
switch (operation_mode_state.mode) {
case autoware_adapi_v1_msgs::msg::OperationModeState::UNKNOWN:
return initializing;

case autoware_adapi_v1_msgs::msg::OperationModeState::AUTONOMOUS:
case autoware_adapi_v1_msgs::msg::OperationModeState::LOCAL:
case autoware_adapi_v1_msgs::msg::OperationModeState::REMOTE:
if (operation_mode_state.is_autoware_control_enabled) {
return driving;
}
[[fallthrough]];

case autoware_adapi_v1_msgs::msg::OperationModeState::STOP:
return operation_mode_state.is_autonomous_mode_available ? waiting_for_engage
: planning;

default:
return undefined;
}

default:
return undefined;
}

default:
return undefined;
if (
localization_state.state ==
autoware_adapi_v1_msgs::msg::LocalizationInitializationState::UNKNOWN or
route_state.state == autoware_adapi_v1_msgs::msg::RouteState::UNKNOWN or
operation_mode_state.mode == autoware_adapi_v1_msgs::msg::OperationModeState::UNKNOWN) {
return initializing;
} else {
switch (localization_state.state) {
case autoware_adapi_v1_msgs::msg::LocalizationInitializationState::UNINITIALIZED:
case autoware_adapi_v1_msgs::msg::LocalizationInitializationState::INITIALIZING:
return initializing;

case autoware_adapi_v1_msgs::msg::LocalizationInitializationState::INITIALIZED:
switch (route_state.state) {
case autoware_adapi_v1_msgs::msg::RouteState::ARRIVED:
if (const auto duration = now - rclcpp::Time(route_state.stamp);
duration.seconds() < 2.0) {
return arrived_goal;
}
[[fallthrough]];

case autoware_adapi_v1_msgs::msg::RouteState::UNSET:
return waiting_for_route;

case autoware_adapi_v1_msgs::msg::RouteState::SET:
case autoware_adapi_v1_msgs::msg::RouteState::CHANGING:
switch (operation_mode_state.mode) {
case autoware_adapi_v1_msgs::msg::OperationModeState::AUTONOMOUS:
case autoware_adapi_v1_msgs::msg::OperationModeState::LOCAL:
case autoware_adapi_v1_msgs::msg::OperationModeState::REMOTE:
if (operation_mode_state.is_autoware_control_enabled) {
return driving;
}
[[fallthrough]];

case autoware_adapi_v1_msgs::msg::OperationModeState::STOP:
return operation_mode_state.is_autonomous_mode_available ? waiting_for_engage
: planning;

default:
return undefined;
}

default:
return undefined;
}

default:
return undefined;
}
}
}())
{
Expand Down
4 changes: 2 additions & 2 deletions external/concealer/src/field_operator_application.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -145,11 +145,11 @@ FieldOperatorApplication::FieldOperatorApplication(const pid_t pid)
minimum_risk_maneuver_behavior = behavior_name_of(message.behavior);
}),
#if __has_include(<autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>)
getOperationModeState("/api/operation_mode/state", rclcpp::QoS(1), *this),
getOperationModeState("/api/operation_mode/state", rclcpp::QoS(1).transient_local(), *this),
#endif
getPathWithLaneId("/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id", rclcpp::QoS(1), *this),
#if __has_include(<autoware_adapi_v1_msgs/msg/route_state.hpp>)
getRouteState("/api/routing/state", rclcpp::QoS(1), *this),
getRouteState("/api/routing/state", rclcpp::QoS(1).transient_local(), *this),
#endif
getTurnIndicatorsCommand("/control/command/turn_indicators_cmd", rclcpp::QoS(1), *this),
requestClearRoute("/api/routing/clear_route", *this),
Expand Down
Loading