fix: make get_qos() a free function

Signed-off-by: Ryohsuke Mitsudome <[email protected]>
autowarefoundation · Jan 15, 2025 · cfba383 · cfba383
1 parent 70a9fbe
commit cfba383
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Showing 13 changed files with 99 additions and 34 deletions.
diff --git a/...autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp b/...autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp
@@ -15,15 +15,15 @@
 #ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
 #define AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
 
-#include <autoware/component_interface_specs/base.hpp>
+#include <autoware/component_interface_specs/utils.hpp>
 #include <rclcpp/qos.hpp>
 
 #include <autoware_control_msgs/msg/control.hpp>
 
 namespace autoware::component_interface_specs::control
 {
 
-struct ControlCommand : InterfaceBase
+struct ControlCommand
 {
   using Message = autoware_control_msgs::msg::Control;
   static constexpr char name[] = "/control/command/control_cmd";

diff --git a/...are_component_interface_specs/include/autoware/component_interface_specs/localization.hpp b/...are_component_interface_specs/include/autoware/component_interface_specs/localization.hpp
@@ -15,7 +15,7 @@
 #ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
 #define AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
 
-#include <autoware/component_interface_specs/base.hpp>
+#include <autoware/component_interface_specs/utils.hpp>
 #include <rclcpp/qos.hpp>
 
 #include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
@@ -24,7 +24,7 @@
 namespace autoware::component_interface_specs::localization
 {
 
-struct KinematicState : InterfaceBase
+struct KinematicState
 {
   using Message = nav_msgs::msg::Odometry;
   static constexpr char name[] = "/localization/kinematic_state";
@@ -33,7 +33,7 @@ struct KinematicState : InterfaceBase
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-struct Acceleration : InterfaceBase
+struct Acceleration
 {
   using Message = geometry_msgs::msg::AccelWithCovarianceStamped;
   static constexpr char name[] = "/localization/acceleration";
@@ -44,4 +44,4 @@ struct Acceleration : InterfaceBase
 
 }  // namespace autoware::component_interface_specs::localization
 
-#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
diff --git a/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp
@@ -15,7 +15,7 @@
 #ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_
 #define AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_
 
-#include <autoware/component_interface_specs/base.hpp>
+#include <autoware/component_interface_specs/utils.hpp>
 #include <rclcpp/qos.hpp>
 
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
@@ -25,7 +25,7 @@
 namespace autoware::component_interface_specs::map
 {
 
-struct MapProjectorInfo : InterfaceBase
+struct MapProjectorInfo
 {
   using Message = autoware_map_msgs::msg::MapProjectorInfo;
   static constexpr char name[] = "/map/map_projector_info";
@@ -34,7 +34,7 @@ struct MapProjectorInfo : InterfaceBase
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-struct PointCloudMap : InterfaceBase
+struct PointCloudMap
 {
   using Message = sensor_msgs::msg::PointCloud2;
   static constexpr char name[] = "/map/point_cloud_map";
@@ -43,7 +43,7 @@ struct PointCloudMap : InterfaceBase
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-struct VectorMap : InterfaceBase
+struct VectorMap
 {
   using Message = autoware_map_msgs::msg::LaneletMapBin;
   static constexpr char name[] = "/map/vector_map";

diff --git a/...oware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp b/...oware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp
@@ -15,15 +15,15 @@
 #ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
 #define AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
 
-#include <autoware/component_interface_specs/base.hpp>
+#include <autoware/component_interface_specs/utils.hpp>
 #include <rclcpp/qos.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 
 namespace autoware::component_interface_specs::perception
 {
 
-struct ObjectRecognition : InterfaceBase
+struct ObjectRecognition
 {
   using Message = autoware_perception_msgs::msg::PredictedObjects;
   static constexpr char name[] = "/perception/object_recognition/objects";
@@ -34,4 +34,4 @@ struct ObjectRecognition : InterfaceBase
 
 }  // namespace autoware::component_interface_specs::perception
 
-#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
diff --git a/...utoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp b/...utoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp
@@ -15,7 +15,7 @@
 #ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
 #define AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
 
-#include <autoware/component_interface_specs/base.hpp>
+#include <autoware/component_interface_specs/utils.hpp>
 #include <rclcpp/qos.hpp>
 
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
@@ -24,7 +24,7 @@
 namespace autoware::component_interface_specs::planning
 {
 
-struct LaneletRoute : InterfaceBase
+struct LaneletRoute
 {
   using Message = autoware_planning_msgs::msg::LaneletRoute;
   static constexpr char name[] = "/planning/mission_planning/route_selector/main/route";
@@ -33,7 +33,7 @@ struct LaneletRoute : InterfaceBase
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-struct Trajectory : InterfaceBase
+struct Trajectory
 {
   using Message = autoware_planning_msgs::msg::Trajectory;
   static constexpr char name[] = "/planning/scenario_planning/trajectory";
@@ -44,4 +44,4 @@ struct Trajectory : InterfaceBase
 
 }  // namespace autoware::component_interface_specs::planning
 
-#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
diff --git a/...toware/component_interface_specs/base.hpp → ...oware/component_interface_specs/utils.hpp b/...toware/component_interface_specs/base.hpp → ...oware/component_interface_specs/utils.hpp
@@ -24,18 +24,11 @@
 namespace autoware::component_interface_specs
 {
 
-struct InterfaceBase
+template <typename T>
+rclcpp::QoS get_qos(T interface)
 {
-  static constexpr char name[] = "";
-  static constexpr size_t depth = 1;
-  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
-  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
-
-  static rclcpp::QoS get_qos()
-  {
-    return rclcpp::QoS{depth}.reliability(reliability).durability(durability);
-  }
-};
+  return rclcpp::QoS{interface.depth}.reliability(interface.reliability).durability(interface.durability);
+}
 
 }  // namespace autoware::component_interface_specs
 

diff --git a/...autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp b/...autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp
@@ -15,9 +15,9 @@
 #ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_
 #define AUTOWARE__COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_
 
-#include "base.hpp"
+#include "utils.hpp"
 
-#include <autoware/component_interface_specs/base.hpp>
+#include <autoware/component_interface_specs/utils.hpp>
 #include <rclcpp/qos.hpp>
 
 #include <autoware_vehicle_msgs/msg/gear_report.hpp>
@@ -28,7 +28,7 @@
 namespace autoware::component_interface_specs::vehicle
 {
 
-struct SteeringStatus : InterfaceBase
+struct SteeringStatus
 {
   using Message = autoware_vehicle_msgs::msg::SteeringReport;
   static constexpr char name[] = "/vehicle/status/steering_status";
@@ -37,7 +37,7 @@ struct SteeringStatus : InterfaceBase
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-struct GearStatus : InterfaceBase
+struct GearStatus
 {
   using Message = autoware_vehicle_msgs::msg::GearReport;
   static constexpr char name[] = "/vehicle/status/gear_status";
@@ -46,7 +46,7 @@ struct GearStatus : InterfaceBase
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-struct TurnIndicatorStatus : InterfaceBase
+struct TurnIndicatorStatus
 {
   using Message = autoware_vehicle_msgs::msg::TurnIndicatorsReport;
   static constexpr char name[] = "/vehicle/status/turn_indicators_status";
@@ -55,7 +55,7 @@ struct TurnIndicatorStatus : InterfaceBase
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-struct HazardLightStatus : InterfaceBase
+struct HazardLightStatus
 {
   using Message = autoware_vehicle_msgs::msg::HazardLightsReport;
   static constexpr char name[] = "/vehicle/status/hazard_lights_status";

diff --git a/common/autoware_component_interface_specs/test/test_control.cpp b/common/autoware_component_interface_specs/test/test_control.cpp
@@ -17,4 +17,15 @@
 
 TEST(control, interface)
 {
+  using autoware::component_interface_specs::control::ControlCommand;
+  ControlCommand control_command;
+  size_t depth = 1;
+  EXPECT_EQ(control_command.depth, depth);
+  EXPECT_EQ(control_command.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
+  EXPECT_EQ(control_command.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
+
+  const auto qos = autoware::component_interface_specs::get_qos(control_command);
+  EXPECT_EQ(qos.depth(), depth);
+  EXPECT_EQ(qos.reliability(), rclcpp::ReliabilityPolicy::Reliable);
+  EXPECT_EQ(qos.durability(), rclcpp::DurabilityPolicy::TransientLocal);
 }
diff --git a/common/autoware_component_interface_specs/test/test_localization.cpp b/common/autoware_component_interface_specs/test/test_localization.cpp
@@ -24,6 +24,12 @@ TEST(localization, interface)
     EXPECT_EQ(kinematic_state.depth, depth);
     EXPECT_EQ(kinematic_state.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
     EXPECT_EQ(kinematic_state.durability, RMW_QOS_POLICY_DURABILITY_VOLATILE);
+
+
+    const auto qos = autoware::component_interface_specs::get_qos(kinematic_state);
+    EXPECT_EQ(qos.depth(), depth);
+    EXPECT_EQ(qos.reliability(), rclcpp::ReliabilityPolicy::Reliable);
+    EXPECT_EQ(qos.durability(), rclcpp::DurabilityPolicy::Volatile);
   }
 
   {
@@ -33,5 +39,10 @@ TEST(localization, interface)
     EXPECT_EQ(acceleration.depth, depth);
     EXPECT_EQ(acceleration.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
     EXPECT_EQ(acceleration.durability, RMW_QOS_POLICY_DURABILITY_VOLATILE);
+
+    const auto qos = autoware::component_interface_specs::get_qos(acceleration);
+    EXPECT_EQ(qos.depth(), depth);
+    EXPECT_EQ(qos.reliability(), rclcpp::ReliabilityPolicy::Reliable);
+    EXPECT_EQ(qos.durability(), rclcpp::DurabilityPolicy::Volatile);
   }
 }
diff --git a/common/autoware_component_interface_specs/test/test_map.cpp b/common/autoware_component_interface_specs/test/test_map.cpp
@@ -24,6 +24,11 @@ TEST(map, interface)
     EXPECT_EQ(map_projector.depth, depth);
     EXPECT_EQ(map_projector.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
     EXPECT_EQ(map_projector.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
+
+    const auto qos = autoware::component_interface_specs::get_qos(map_projector);
+    EXPECT_EQ(qos.depth(), depth);
+    EXPECT_EQ(qos.reliability(), rclcpp::ReliabilityPolicy::Reliable);
+    EXPECT_EQ(qos.durability(), rclcpp::DurabilityPolicy::TransientLocal);
   }
 
   {
@@ -33,6 +38,11 @@ TEST(map, interface)
     EXPECT_EQ(point_cloud_map.depth, depth);
     EXPECT_EQ(point_cloud_map.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
     EXPECT_EQ(point_cloud_map.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
+
+    const auto qos = autoware::component_interface_specs::get_qos(point_cloud_map);
+    EXPECT_EQ(qos.depth(), depth);
+    EXPECT_EQ(qos.reliability(), rclcpp::ReliabilityPolicy::Reliable);
+    EXPECT_EQ(qos.durability(), rclcpp::DurabilityPolicy::TransientLocal);
   }
 
   {
@@ -42,5 +52,10 @@ TEST(map, interface)
     EXPECT_EQ(vector_map.depth, depth);
     EXPECT_EQ(vector_map.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
     EXPECT_EQ(vector_map.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
+
+    const auto qos = autoware::component_interface_specs::get_qos(vector_map);
+    EXPECT_EQ(qos.depth(), depth);
+    EXPECT_EQ(qos.reliability(), rclcpp::ReliabilityPolicy::Reliable);
+    EXPECT_EQ(qos.durability(), rclcpp::DurabilityPolicy::TransientLocal);
   }
 }
diff --git a/common/autoware_component_interface_specs/test/test_perception.cpp b/common/autoware_component_interface_specs/test/test_perception.cpp
@@ -24,5 +24,10 @@ TEST(perception, interface)
     EXPECT_EQ(object_recognition.depth, depth);
     EXPECT_EQ(object_recognition.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
     EXPECT_EQ(object_recognition.durability, RMW_QOS_POLICY_DURABILITY_VOLATILE);
+
+    const auto qos = autoware::component_interface_specs::get_qos(object_recognition);
+    EXPECT_EQ(qos.depth(), depth);
+    EXPECT_EQ(qos.reliability(), rclcpp::ReliabilityPolicy::Reliable);
+    EXPECT_EQ(qos.durability(), rclcpp::DurabilityPolicy::Volatile);
   }
 }
diff --git a/common/autoware_component_interface_specs/test/test_planning.cpp b/common/autoware_component_interface_specs/test/test_planning.cpp
@@ -24,6 +24,11 @@ TEST(planning, interface)
     EXPECT_EQ(route.depth, depth);
     EXPECT_EQ(route.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
     EXPECT_EQ(route.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
+
+    const auto qos = autoware::component_interface_specs::get_qos(route);
+    EXPECT_EQ(qos.depth(), depth);
+    EXPECT_EQ(qos.reliability(), rclcpp::ReliabilityPolicy::Reliable);
+    EXPECT_EQ(qos.durability(), rclcpp::DurabilityPolicy::TransientLocal);
   }
 
   {
@@ -33,5 +38,10 @@ TEST(planning, interface)
     EXPECT_EQ(trajectory.depth, depth);
     EXPECT_EQ(trajectory.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
     EXPECT_EQ(trajectory.durability, RMW_QOS_POLICY_DURABILITY_VOLATILE);
+
+    const auto qos = autoware::component_interface_specs::get_qos(trajectory);
+    EXPECT_EQ(qos.depth(), depth);
+    EXPECT_EQ(qos.reliability(), rclcpp::ReliabilityPolicy::Reliable);
+    EXPECT_EQ(qos.durability(), rclcpp::DurabilityPolicy::Volatile);
   }
 }
diff --git a/common/autoware_component_interface_specs/test/test_vehicle.cpp b/common/autoware_component_interface_specs/test/test_vehicle.cpp
@@ -24,6 +24,11 @@ TEST(vehicle, interface)
     EXPECT_EQ(status.depth, depth);
     EXPECT_EQ(status.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
     EXPECT_EQ(status.durability, RMW_QOS_POLICY_DURABILITY_VOLATILE);
+
+    const auto qos = autoware::component_interface_specs::get_qos(status);
+    EXPECT_EQ(qos.depth(), depth);
+    EXPECT_EQ(qos.reliability(), rclcpp::ReliabilityPolicy::Reliable);
+    EXPECT_EQ(qos.durability(), rclcpp::DurabilityPolicy::Volatile);
   }
 
   {
@@ -33,6 +38,11 @@ TEST(vehicle, interface)
     EXPECT_EQ(status.depth, depth);
     EXPECT_EQ(status.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
     EXPECT_EQ(status.durability, RMW_QOS_POLICY_DURABILITY_VOLATILE);
+
+    const auto qos = autoware::component_interface_specs::get_qos(status);
+    EXPECT_EQ(qos.depth(), depth);
+    EXPECT_EQ(qos.reliability(), rclcpp::ReliabilityPolicy::Reliable);
+    EXPECT_EQ(qos.durability(), rclcpp::DurabilityPolicy::Volatile);
   }
 
   {
@@ -42,6 +52,11 @@ TEST(vehicle, interface)
     EXPECT_EQ(status.depth, depth);
     EXPECT_EQ(status.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
     EXPECT_EQ(status.durability, RMW_QOS_POLICY_DURABILITY_VOLATILE);
+
+    const auto qos = autoware::component_interface_specs::get_qos(status);
+    EXPECT_EQ(qos.depth(), depth);
+    EXPECT_EQ(qos.reliability(), rclcpp::ReliabilityPolicy::Reliable);
+    EXPECT_EQ(qos.durability(), rclcpp::DurabilityPolicy::Volatile);
   }
 
   {
@@ -51,5 +66,10 @@ TEST(vehicle, interface)
     EXPECT_EQ(status.depth, depth);
     EXPECT_EQ(status.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
     EXPECT_EQ(status.durability, RMW_QOS_POLICY_DURABILITY_VOLATILE);
+
+    const auto qos = autoware::component_interface_specs::get_qos(status);
+    EXPECT_EQ(qos.depth(), depth);
+    EXPECT_EQ(qos.reliability(), rclcpp::ReliabilityPolicy::Reliable);
+    EXPECT_EQ(qos.durability(), rclcpp::DurabilityPolicy::Volatile);
   }
 }