feat(autoware_vehicle_cmd_gate): accept same topic unless mode change occurs #8479

shtokuda · 2024-08-15T03:05:03Z

Description

In this PR, we check the timestamp of input topics to avoid using old topics. However, if the timer callback function of vehicle_cmd_gate has higher rate than subscribed topics, the callback function subscribes same topic and shows debug message.
I think it's ok to subscribe same topic if there is no mode change and make this PR.
In addition, not all topics should be published after mode change, such as warning light. I modified getContinuousTopic function to select whether to show debug message for each topic.

Tests performed

Notes for reviewers

By accepting the same topics, it is not possible to check if the topics is updated within the same mode, but this is not a problem because other functions monitor rate drops

Interface changes

None

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

I've confirmed the contribution guidelines.
The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

The PR follows the pull request guidelines.
The PR has been properly tested.
The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

There are no open discussions or they are tracked via tickets.
The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

Signed-off-by: shtokuda <[email protected]>

…github.com/shtokuda/autoware.universe into feat/vehicle_cmd_gate_check_cmd_continuity

Signed-off-by: shtokuda <[email protected]>

…ontinuity of topics Signed-off-by: shtokuda <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]>

Signed-off-by: shtokuda <[email protected]>

… not receiving Signed-off-by: shtokuda <[email protected]>

Signed-off-by: shtokuda <[email protected]>

…e-commit.ci Signed-off-by: shtokuda <[email protected]>

…nsistency Signed-off-by: shtokuda <[email protected]>

…ck_cmd_continuity

Signed-off-by: shtokuda <[email protected]>

…github.com/shtokuda/autoware.universe into feat/vehicle_cmd_gate_check_cmd_continuity

…function Signed-off-by: shtokuda <[email protected]>

github-actions · 2024-08-15T03:05:21Z

Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

You've checked our contribution guidelines.
Your PR follows our pull request guidelines.
All required CI checks pass before marking the PR ready for review.

yuki-takagi-66

LGTM Thank you

codecov · 2024-08-16T00:53:31Z

Codecov Report

Attention: Patch coverage is 0% with 3 lines in your changes missing coverage. Please review.

Project coverage is 23.87%. Comparing base (a612530) to head (9b6b2ac).
Report is 2 commits behind head on main.

Files	Patch %	Lines
...autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp	0.00%	2 Missing and 1 partial ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #8479   +/-   ##
=======================================
  Coverage   23.86%   23.87%           
=======================================
  Files        1380     1384    +4     
  Lines      101866   101910   +44     
  Branches    38798    38800    +2     
=======================================
+ Hits        24314    24327   +13     
- Misses      75120    75153   +33     
+ Partials     2432     2430    -2

Flag	Coverage Δ		*Carryforward flag
differential	`12.01% <0.00%> (?)`
total	`23.86% <ø> (+<0.01%)`	⬆️	Carriedforward from a612530

*This pull request uses carry forward flags. Click here to find out more.

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

… occurs (autowarefoundation#8479) * add prev_commands_ and check cmd's time stamp Signed-off-by: shtokuda <[email protected]> * add timestamp when is_engaged is false Signed-off-by: shtokuda <[email protected]> * style(pre-commit): autofix * add initialization for hazard_light timestamp in Commands Signed-off-by: shtokuda <[email protected]> * style(pre-commit): autofix * update README.md Signed-off-by: shtokuda <[email protected]> * style(pre-commit): autofix * fix typo Signed-off-by: shtokuda <[email protected]> * fix(autoware_vehicle_cmd_gate): rename the function that checks the continuity of topics Signed-off-by: shtokuda <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> * style(pre-commit): autofix * feat(autoware_vehicle_cmd_gate): check continuity using shared_ptr Signed-off-by: shtokuda <[email protected]> * feat(autoware_vehicle_cmd_gate): add INFO message for topics that are not receiving Signed-off-by: shtokuda <[email protected]> * fix template function to pass build-and-test-differential Signed-off-by: shtokuda <[email protected]> * fix(autoware_vehicle_cmd_gate): add #include <string> according to pre-commit.ci Signed-off-by: shtokuda <[email protected]> * fix(vehicle_cmd_gate) add underscores to member variable names for consistency Signed-off-by: shtokuda <[email protected]> * style(pre-commit): autofix * feat(vehicle_cmd_gate): accept same topic unless mode change occurs Signed-off-by: shtokuda <[email protected]> * feat(vehicle_cmd_gate): add default topic_name to getContinuousTopic function Signed-off-by: shtokuda <[email protected]> --------- Signed-off-by: shtokuda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: Shumpei Wakabayashi <[email protected]>

shtokuda and others added 26 commits July 17, 2024 19:32

add prev_commands_ and check cmd's time stamp

1bda1e7

Signed-off-by: shtokuda <[email protected]>

add timestamp when is_engaged is false

dbf8377

Signed-off-by: shtokuda <[email protected]>

style(pre-commit): autofix

565543e

add initialization for hazard_light timestamp in Commands

2b72122

Signed-off-by: shtokuda <[email protected]>

Merge branch 'feat/vehicle_cmd_gate_check_cmd_continuity' of https://…

9e79999

…github.com/shtokuda/autoware.universe into feat/vehicle_cmd_gate_check_cmd_continuity

style(pre-commit): autofix

0f617b7

update README.md

3f89a80

Signed-off-by: shtokuda <[email protected]>

Merge branch 'main' into feat/vehicle_cmd_gate_check_cmd_continuity

7125544

style(pre-commit): autofix

f567519

fix typo

063a785

Signed-off-by: shtokuda <[email protected]>

fix(autoware_vehicle_cmd_gate): rename the function that checks the c…

bf39c34

…ontinuity of topics Signed-off-by: shtokuda <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]>

style(pre-commit): autofix

a60aca4

feat(autoware_vehicle_cmd_gate): check continuity using shared_ptr

6ced54f

Signed-off-by: shtokuda <[email protected]>

feat(autoware_vehicle_cmd_gate): add INFO message for topics that are…

bb4e513

… not receiving Signed-off-by: shtokuda <[email protected]>

Merge branch 'main' into feat/vehicle_cmd_gate_check_cmd_continuity

217e963

Merge branch 'main' into feat/vehicle_cmd_gate_check_cmd_continuity

4dc14c9

fix template function to pass build-and-test-differential

4c1df59

Signed-off-by: shtokuda <[email protected]>

fix(autoware_vehicle_cmd_gate): add #include <string> according to pr…

cf005ab

…e-commit.ci Signed-off-by: shtokuda <[email protected]>

Merge branch 'main' into feat/vehicle_cmd_gate_check_cmd_continuity

6a11548

fix(vehicle_cmd_gate) add underscores to member variable names for co…

a0944bb

…nsistency Signed-off-by: shtokuda <[email protected]>

style(pre-commit): autofix

c967dfb

Merge branch 'main' into feat/vehicle_cmd_gate_check_cmd_continuity

2cd399c

Merge branch 'autowarefoundation:main' into feat/vehicle_cmd_gate_che…

fab69f4

…ck_cmd_continuity

feat(vehicle_cmd_gate): accept same topic unless mode change occurs

cdfbbd0

Signed-off-by: shtokuda <[email protected]>

Merge branch 'feat/vehicle_cmd_gate_check_cmd_continuity' of https://…

66089d3

…github.com/shtokuda/autoware.universe into feat/vehicle_cmd_gate_check_cmd_continuity

feat(vehicle_cmd_gate): add default topic_name to getContinuousTopic …

b8193ad

…function Signed-off-by: shtokuda <[email protected]>

shtokuda requested review from shmpwk and yuki-takagi-66 August 15, 2024 03:05

shtokuda requested review from TakaHoribe and tkimura4 as code owners August 15, 2024 03:05

github-actions bot added the component:control Vehicle control algorithms and mechanisms. (auto-assigned) label Aug 15, 2024

Merge branch 'main' into feat/vehicle_cmd_gate_check_cmd_continuity

f7b7f05

yuki-takagi-66 approved these changes Aug 15, 2024

View reviewed changes

shtokuda added 2 commits August 15, 2024 13:47

Merge branch 'main' into feat/vehicle_cmd_gate_check_cmd_continuity

1b3ab04

Merge branch 'main' into feat/vehicle_cmd_gate_check_cmd_continuity

0b70bfb

shtokuda enabled auto-merge (squash) August 15, 2024 08:53

shmpwk approved these changes Aug 15, 2024

View reviewed changes

tkimura4 approved these changes Aug 16, 2024

View reviewed changes

tkimura4 added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Aug 16, 2024

Merge branch 'main' into feat/vehicle_cmd_gate_check_cmd_continuity

9b6b2ac

shtokuda merged commit 8e8e19e into autowarefoundation:main Aug 16, 2024
29 of 30 checks passed

shtokuda deleted the feat/vehicle_cmd_gate_check_cmd_continuity branch August 16, 2024 01:31

shtokuda mentioned this pull request Aug 21, 2024

feat(autoware_vehicle_cmd_gate): check the timestamp of input topics to avoid using old topics tier4/autoware.universe#1481

Merged

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

feat(autoware_vehicle_cmd_gate): accept same topic unless mode change occurs #8479

feat(autoware_vehicle_cmd_gate): accept same topic unless mode change occurs #8479

shtokuda commented Aug 15, 2024 •

edited

Loading

github-actions bot commented Aug 15, 2024 •

edited

Loading

yuki-takagi-66 left a comment

codecov bot commented Aug 16, 2024 •

edited

Loading

feat(autoware_vehicle_cmd_gate): accept same topic unless mode change occurs #8479

feat(autoware_vehicle_cmd_gate): accept same topic unless mode change occurs #8479

Conversation

shtokuda commented Aug 15, 2024 • edited Loading

Description

Related links

Tests performed

Notes for reviewers

Interface changes

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

github-actions bot commented Aug 15, 2024 • edited Loading

yuki-takagi-66 left a comment

Choose a reason for hiding this comment

codecov bot commented Aug 16, 2024 • edited Loading

Codecov Report

shtokuda commented Aug 15, 2024 •

edited

Loading

github-actions bot commented Aug 15, 2024 •

edited

Loading

codecov bot commented Aug 16, 2024 •

edited

Loading