From 918a4d6431f79e54ccad85086903c11bdf2365b0 Mon Sep 17 00:00:00 2001
From: oguzkaganozt <oguzkaganozt@gmail.com>
Date: Fri, 26 Apr 2024 11:17:57 +0300
Subject: [PATCH] refactor(sensing/livox_tag_filter): rework parameters (#6743)

* add param and schema file

Signed-off-by: oguzkaganozt <oguzkaganozt@gmail.com>

* style(pre-commit): autofix

---------

Signed-off-by: oguzkaganozt <oguzkaganozt@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>
---
 sensing/livox/livox_tag_filter/CMakeLists.txt |  1 +
 .../config/livox_tag_filter.param.yaml        | 19 +++++++++++
 .../launch/livox_tag_filter.launch.xml        | 23 ++-----------
 .../schema/livox_tag_filter.schema.json       | 33 +++++++++++++++++++
 .../livox_tag_filter_node.cpp                 |  2 +-
 5 files changed, 56 insertions(+), 22 deletions(-)
 create mode 100644 sensing/livox/livox_tag_filter/config/livox_tag_filter.param.yaml
 create mode 100644 sensing/livox/livox_tag_filter/schema/livox_tag_filter.schema.json

diff --git a/sensing/livox/livox_tag_filter/CMakeLists.txt b/sensing/livox/livox_tag_filter/CMakeLists.txt
index 90b5eeed713c0..36c500aefa74d 100644
--- a/sensing/livox/livox_tag_filter/CMakeLists.txt
+++ b/sensing/livox/livox_tag_filter/CMakeLists.txt
@@ -21,4 +21,5 @@ rclcpp_components_register_node(livox_tag_filter
 
 ament_auto_package(INSTALL_TO_SHARE
   launch
+  config
 )
diff --git a/sensing/livox/livox_tag_filter/config/livox_tag_filter.param.yaml b/sensing/livox/livox_tag_filter/config/livox_tag_filter.param.yaml
new file mode 100644
index 0000000000000..7b7e8cb5bd61a
--- /dev/null
+++ b/sensing/livox/livox_tag_filter/config/livox_tag_filter.param.yaml
@@ -0,0 +1,19 @@
+/**:
+  ros__parameters:
+    ignore_tags: []
+    # bit 0~1: Point property based on spatial position
+    #   00: Normal
+    #   01: High confidence level of the noise
+    #   10: Moderate confidence level of the noise
+    #   11: Low confidence level of the noise
+    # bit 2~3: Point property based on intensity
+    #   00: Normal
+    #   01: High confidence level of the noise
+    #   10: Moderate confidence level of the noise
+    #   11: Reserved
+    # bit 4~5: Return number
+    #   00: return 0
+    #   01: return 1
+    #   10: return 2
+    #   11: return 3
+    # bit 6~7: Reserved
diff --git a/sensing/livox/livox_tag_filter/launch/livox_tag_filter.launch.xml b/sensing/livox/livox_tag_filter/launch/livox_tag_filter.launch.xml
index 1da6c3074e7e7..331db891358f7 100644
--- a/sensing/livox/livox_tag_filter/launch/livox_tag_filter.launch.xml
+++ b/sensing/livox/livox_tag_filter/launch/livox_tag_filter.launch.xml
@@ -1,30 +1,11 @@
 <launch>
   <arg name="input" description="input topic name"/>
   <arg name="output" description="output topic name"/>
-
-  <!--
-    bit 0~1: Point property based on spatial position
-      00: Normal
-      01: High confidence level of the noise
-      10: Moderate confidence level of the noise
-      11: Low confidence level of the noise
-    bit 2~3: Point property based on intensity
-      00: Normal
-      01: High confidence level of the noise
-      10: Moderate confidence level of the noise
-      11: Reserved
-    bit 4~5: Return number
-      00: return 0
-      01: return 1
-      10: return 2
-      11: return 3
-    bit 6~7: Reserved
-  -->
-  <arg name="ignore_tags" description="tags to be ignored(see comments in livox_tag_filter.launch.xml for more details)"/>
+  <arg name="param_file" default="$(find-pkg-share livox_tag_filter)/config/livox_tag_filter.param.yaml"/>
 
   <node pkg="livox_tag_filter" exec="livox_tag_filter_node" name="livox_tag_filter_node" output="screen">
     <remap from="input" to="$(var input)"/>
     <remap from="output" to="$(var output)"/>
-    <param name="ignore_tags" value="$(var ignore_tags)"/>
+    <param from="$(var param_file)"/>
   </node>
 </launch>
diff --git a/sensing/livox/livox_tag_filter/schema/livox_tag_filter.schema.json b/sensing/livox/livox_tag_filter/schema/livox_tag_filter.schema.json
new file mode 100644
index 0000000000000..74d9881192258
--- /dev/null
+++ b/sensing/livox/livox_tag_filter/schema/livox_tag_filter.schema.json
@@ -0,0 +1,33 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Livox Tag Filter Parameters",
+  "type": "object",
+  "definitions": {
+    "livox_tag_filter": {
+      "type": "object",
+      "properties": {
+        "ignore_tags": {
+          "type": "array",
+          "description": "ignored tags (int array) (See the table in the readme file)",
+          "default": "[]"
+        }
+      },
+      "required": ["ignore_tags"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/livox_tag_filter"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
diff --git a/sensing/livox/livox_tag_filter/src/livox_tag_filter_node/livox_tag_filter_node.cpp b/sensing/livox/livox_tag_filter/src/livox_tag_filter_node/livox_tag_filter_node.cpp
index 2fd55ce8df6a0..f3216fdcd9b6a 100644
--- a/sensing/livox/livox_tag_filter/src/livox_tag_filter_node/livox_tag_filter_node.cpp
+++ b/sensing/livox/livox_tag_filter/src/livox_tag_filter_node/livox_tag_filter_node.cpp
@@ -40,7 +40,7 @@ LivoxTagFilterNode::LivoxTagFilterNode(const rclcpp::NodeOptions & node_options)
 : Node("livox_tag_filter", node_options)
 {
   // Parameter
-  ignore_tags_ = this->declare_parameter("ignore_tags", std::vector<std::int64_t>{});
+  ignore_tags_ = this->declare_parameter<std::vector<std::int64_t>>("ignore_tags");
 
   // Subscriber
   using std::placeholders::_1;