Merge branch 'main' into refactor/ndt_scan_matcher/apply_static_analysis

autowarefoundation · Jun 5, 2024 · 3bf7b79 · 3bf7b79
2 parents eba7732 + 4daa6a9
commit 3bf7b79
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diff --git a/.cppcheck_suppressions b/.cppcheck_suppressions
@@ -0,0 +1,59 @@
+arrayIndexThenCheck
+assignBoolToFloat
+checkersReport
+constParameterPointer
+constParameterReference
+constStatement
+constVariable
+constVariablePointer
+constVariableReference
+containerOutOfBounds
+cstyleCast
+ctuOneDefinitionRuleViolation
+current_deleted_index
+duplicateAssignExpression
+duplicateBranch
+duplicateBreak
+duplicateCondition
+duplicateExpression
+funcArgNamesDifferent
+functionConst
+functionStatic
+invalidPointerCast
+knownConditionTrueFalse
+missingInclude
+missingIncludeSystem
+multiCondition
+noConstructor
+noExplicitConstructor
+noValidConfiguration
+obstacle_cruise_planner
+passedByValue
+preprocessorErrorDirective
+redundantAssignment
+redundantContinue
+redundantIfRemove
+redundantInitialization
+returnByReference
+selfAssignment
+shadowArgument
+shadowFunction
+shadowVariable
+stlFindInsert
+syntaxError
+uninitMemberVar
+unknownMacro
+unmatchedSuppression
+unpreciseMathCall
+unreadVariable
+unsignedLessThanZero
+unusedFunction
+unusedScopedObject
+unusedStructMember
+unusedVariable
+useInitializationList
+useStlAlgorithm
+uselessCallsSubstr
+uselessOverride
+variableScope
+virtualCallInConstructor
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -147,6 +147,7 @@ perception/traffic_light_visualization/** [email protected] yukihiro.saito@tier
 planning/autoware_behavior_path_external_request_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/autoware_behavior_velocity_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/autoware_behavior_velocity_template_module/** [email protected]
+planning/autoware_behavior_velocity_virtual_traffic_light_module/** [email protected] [email protected] [email protected]
 planning/autoware_planning_test_manager/** [email protected] [email protected]
 planning/autoware_remaining_distance_time_calculator/** [email protected]
 planning/autoware_static_centerline_generator/** [email protected] [email protected]
@@ -174,7 +175,6 @@ planning/behavior_velocity_run_out_module/** [email protected] makoto.kur
 planning/behavior_velocity_speed_bump_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_stop_line_module/** [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_traffic_light_module/** [email protected] [email protected] [email protected] [email protected]
-planning/behavior_velocity_virtual_traffic_light_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_walkway_module/** [email protected] [email protected] [email protected] [email protected]
 planning/costmap_generator/** [email protected] [email protected] [email protected]
 planning/external_velocity_limit_selector/** [email protected] [email protected] [email protected] [email protected] [email protected]

diff --git a/.github/workflows/cppcheck-all.yaml b/.github/workflows/cppcheck-all.yaml
@@ -0,0 +1,60 @@
+name: cppcheck-all
+
+on:
+  pull_request:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  cppcheck-all:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y build-essential cmake git libpcre3-dev
+
+      # cppcheck from apt does not yet support --check-level args, and thus install from source
+      - name: Install Cppcheck from source
+        run: |
+          mkdir /tmp/cppcheck
+          git clone https://github.com/danmar/cppcheck.git /tmp/cppcheck
+          cd /tmp/cppcheck
+          git checkout 2.14.1
+          mkdir build
+          cd build
+          cmake ..
+          make -j $(nproc)
+          sudo make install
+
+      - name: Run Cppcheck on all files
+        continue-on-error: true
+        id: cppcheck
+        run: |
+          cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --xml . 2> cppcheck-report.xml
+        shell: bash
+
+      - name: Count errors by error ID and severity
+        run: |
+          #!/bin/bash
+          temp_file=$(mktemp)
+          grep -oP '(?<=id=")[^"]+" severity="[^"]+' cppcheck-report.xml | sed 's/" severity="/,/g' > "$temp_file"
+          echo "Error counts by error ID and severity:"
+          sort "$temp_file" | uniq -c
+          rm "$temp_file"
+        shell: bash
+
+      - name: Upload Cppcheck report
+        uses: actions/upload-artifact@v2
+        with:
+          name: cppcheck-report
+          path: cppcheck-report.xml
+
+      - name: Fail the job if Cppcheck failed
+        if: steps.cppcheck.outcome == 'failure'
+        run: exit 1
diff --git a/.github/workflows/cppcheck-differential.yaml b/.github/workflows/cppcheck-differential.yaml
@@ -0,0 +1,65 @@
+name: cppcheck-differential
+
+on:
+  pull_request:
+
+jobs:
+  cppcheck-differential:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y build-essential cmake git libpcre3-dev
+
+      # cppcheck from apt does not yet support --check-level args, and thus install from source
+      - name: Install Cppcheck from source
+        run: |
+          mkdir /tmp/cppcheck
+          git clone https://github.com/danmar/cppcheck.git /tmp/cppcheck
+          cd /tmp/cppcheck
+          git checkout 2.14.1
+          mkdir build
+          cd build
+          cmake ..
+          make -j $(nproc)
+          sudo make install
+
+      - name: Get changed files
+        id: changed-files
+        run: |
+          git fetch origin ${{ github.base_ref }} --depth=1
+          git diff --name-only FETCH_HEAD ${{ github.sha }} > changed_files.txt
+          cat changed_files.txt
+
+      - name: Run Cppcheck on changed files
+        continue-on-error: true
+        id: cppcheck
+        run: |
+          files=$(cat changed_files.txt | grep -E '\.(cpp|hpp)$' || true)
+          if [ -n "$files" ]; then
+            echo "Running Cppcheck on changed files: $files"
+            cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --suppressions-list=.cppcheck_suppressions $files 2> cppcheck-report.txt
+          else
+            echo "No C++ files changed."
+            touch cppcheck-report.txt
+          fi
+        shell: bash
+
+      - name: Show cppcheck-report result
+        run: |
+          cat cppcheck-report.txt
+
+      - name: Upload Cppcheck report
+        uses: actions/upload-artifact@v2
+        with:
+          name: cppcheck-report
+          path: cppcheck-report.txt
+
+      - name: Fail the job if Cppcheck failed
+        if: steps.cppcheck.outcome == 'failure'
+        run: exit 1
diff --git a/.github/workflows/dco.yaml b/.github/workflows/dco.yaml
@@ -0,0 +1,21 @@
+name: DCO
+# ref: https://github.com/anchore/syft/pull/2926/files
+on:
+  pull_request:
+jobs:
+  dco:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Setup Python 3.x
+        uses: actions/setup-python@v5
+        with:
+          python-version: 3.x
+
+      - name: Check DCO
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          pip3 install -U dco-check
+          dco-check --verbose --exclude-pattern 'pre-commit-ci\[bot\]@users\.noreply\.github\.com'
diff --git a/build_depends.repos b/build_depends.repos
@@ -20,10 +20,6 @@ repositories:
     type: git
     url: https://github.com/autowarefoundation/autoware_internal_msgs.git
     version: main
-  core/external/autoware_auto_msgs:
-    type: git
-    url: https://github.com/tier4/autoware_auto_msgs.git
-    version: tier4/main
   # universe
   universe/external/tier4_autoware_msgs:
     type: git

diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt
@@ -68,7 +68,7 @@ pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
 ament_target_dependencies(${PROJECT_NAME} PUBLIC
   rviz_common
   rviz_rendering
-  autoware_auto_vehicle_msgs
+  autoware_vehicle_msgs
   tier4_planning_msgs
   autoware_perception_msgs
 )

diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md
@@ -15,13 +15,13 @@ This plugin provides a visual and easy-to-understand display of vehicle speed, t
 
 | Name                                                    | Type                                                    | Description                          |
 | ------------------------------------------------------- | ------------------------------------------------------- | ------------------------------------ |
-| `/vehicle/status/velocity_status`                       | `autoware_auto_vehicle_msgs::msg::VelocityReport`       | The topic is vehicle velocity        |
-| `/vehicle/status/turn_indicators_status`                | `autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport` | The topic is status of turn signal   |
-| `/vehicle/status/hazard_status`                         | `autoware_auto_vehicle_msgs::msg::HazardReport`         | The topic is status of hazard        |
-| `/vehicle/status/steering_status`                       | `autoware_auto_vehicle_msgs::msg::SteeringReport`       | The topic is status of steering      |
-| `/vehicle/status/gear_status`                           | `autoware_auto_vehicle_msgs::msg::GearReport`           | The topic is status of gear          |
+| `/vehicle/status/velocity_status`                       | `autoware_vehicle_msgs::msg::VelocityReport`            | The topic is vehicle velocity        |
+| `/vehicle/status/turn_indicators_status`                | `autoware_vehicle_msgs::msg::TurnIndicatorsReport`      | The topic is status of turn signal   |
+| `/vehicle/status/hazard_status`                         | `autoware_vehicle_msgs::msg::HazardReport`              | The topic is status of hazard        |
+| `/vehicle/status/steering_status`                       | `autoware_vehicle_msgs::msg::SteeringReport`            | The topic is status of steering      |
+| `/vehicle/status/gear_status`                           | `autoware_vehicle_msgs::msg::GearReport`                | The topic is status of gear          |
 | `/planning/scenario_planning/current_max_velocity`      | `tier4_planning_msgs::msg::VelocityLimit`               | The topic is velocity limit          |
-| `/perception/traffic_light_recognition/traffic_signals` | `autoware_perception_msgs::msg::TrafficSignalArray`     | The topic is status of traffic light |
+| `/perception/traffic_light_recognition/traffic_signals` | `autoware_perception_msgs::msg::TrafficLightGroupArray` | The topic is status of traffic light |
 
 ## Parameter
 

diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp
@@ -23,7 +23,7 @@
 #include <rviz_common/properties/int_property.hpp>
 #include <rviz_common/ros_topic_display.hpp>
 
-#include "autoware_auto_vehicle_msgs/msg/gear_report.hpp"
+#include "autoware_vehicle_msgs/msg/gear_report.hpp"
 
 #include <OgreColourValue.h>
 #include <OgreMaterial.h>
@@ -37,7 +37,7 @@ class GearDisplay
 public:
   GearDisplay();
   void drawGearIndicator(QPainter & painter, const QRectF & backgroundRect);
-  void updateGearData(const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr & msg);
+  void updateGearData(const autoware_vehicle_msgs::msg::GearReport::ConstSharedPtr & msg);
 
 private:
   int current_gear_;  // Internal variable to store current gear

diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp
@@ -95,29 +95,29 @@ private Q_SLOTS:
   std::unique_ptr<TrafficDisplay> traffic_display_;
   std::unique_ptr<SpeedLimitDisplay> speed_limit_display_;
 
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::GearReport>::SharedPtr gear_sub_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::SteeringReport>::SharedPtr steering_sub_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::VelocityReport>::SharedPtr speed_sub_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport>::SharedPtr
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::GearReport>::SharedPtr gear_sub_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::SteeringReport>::SharedPtr steering_sub_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::VelocityReport>::SharedPtr speed_sub_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::TurnIndicatorsReport>::SharedPtr
     turn_signals_sub_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::HazardLightsReport>::SharedPtr
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::HazardLightsReport>::SharedPtr
     hazard_lights_sub_;
-  rclcpp::Subscription<autoware_perception_msgs::msg::TrafficSignal>::SharedPtr traffic_sub_;
+  rclcpp::Subscription<autoware_perception_msgs::msg::TrafficLightGroupArray>::SharedPtr
+    traffic_sub_;
   rclcpp::Subscription<tier4_planning_msgs::msg::VelocityLimit>::SharedPtr speed_limit_sub_;
 
   std::mutex property_mutex_;
 
-  void updateGearData(const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr & msg);
-  void updateSteeringData(
-    const autoware_auto_vehicle_msgs::msg::SteeringReport::ConstSharedPtr & msg);
-  void updateSpeedData(const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
+  void updateGearData(const autoware_vehicle_msgs::msg::GearReport::ConstSharedPtr & msg);
+  void updateSteeringData(const autoware_vehicle_msgs::msg::SteeringReport::ConstSharedPtr & msg);
+  void updateSpeedData(const autoware_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
   void updateTurnSignalsData(
-    const autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr & msg);
+    const autoware_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr & msg);
   void updateHazardLightsData(
-    const autoware_auto_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr & msg);
+    const autoware_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr & msg);
   void updateSpeedLimitData(const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg);
   void updateTrafficLightData(
-    const autoware_perception_msgs::msg::TrafficSignal::ConstSharedPtr msg);
+    const autoware_perception_msgs::msg::TrafficLightGroupArray::ConstSharedPtr msg);
   void drawWidget(QImage & hud);
 };
 }  // namespace autoware_overlay_rviz_plugin

diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp
@@ -23,7 +23,7 @@
 #include <rviz_common/properties/int_property.hpp>
 #include <rviz_common/ros_topic_display.hpp>
 
-#include "autoware_auto_vehicle_msgs/msg/velocity_report.hpp"
+#include "autoware_vehicle_msgs/msg/velocity_report.hpp"
 
 #include <OgreColourValue.h>
 #include <OgreMaterial.h>
@@ -37,7 +37,7 @@ class SpeedDisplay
 public:
   SpeedDisplay();
   void drawSpeedDisplay(QPainter & painter, const QRectF & backgroundRect);
-  void updateSpeedData(const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
+  void updateSpeedData(const autoware_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
 
 private:
   float current_speed_;  // Internal variable to store current speed

diff --git a/...autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp b/...autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp
@@ -23,7 +23,7 @@
 #include <rviz_common/properties/int_property.hpp>
 #include <rviz_common/ros_topic_display.hpp>
 
-#include "autoware_auto_vehicle_msgs/msg/velocity_report.hpp"
+#include "autoware_vehicle_msgs/msg/velocity_report.hpp"
 #include <tier4_planning_msgs/msg/velocity_limit.hpp>
 
 #include <OgreColourValue.h>
@@ -39,7 +39,7 @@ class SpeedLimitDisplay
   SpeedLimitDisplay();
   void drawSpeedLimitIndicator(QPainter & painter, const QRectF & backgroundRect);
   void updateSpeedLimitData(const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg);
-  void updateSpeedData(const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
+  void updateSpeedData(const autoware_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
 
 private:
   float current_limit;   // Internal variable to store current gear

diff --git a/...oware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp b/...oware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp
@@ -23,7 +23,7 @@
 #include <rviz_common/properties/int_property.hpp>
 #include <rviz_common/ros_topic_display.hpp>
 
-#include "autoware_auto_vehicle_msgs/msg/steering_report.hpp"
+#include "autoware_vehicle_msgs/msg/steering_report.hpp"
 
 #include <OgreColourValue.h>
 #include <OgreMaterial.h>
@@ -37,8 +37,7 @@ class SteeringWheelDisplay
 public:
   SteeringWheelDisplay();
   void drawSteeringWheel(QPainter & painter, const QRectF & backgroundRect);
-  void updateSteeringData(
-    const autoware_auto_vehicle_msgs::msg::SteeringReport::ConstSharedPtr & msg);
+  void updateSteeringData(const autoware_vehicle_msgs::msg::SteeringReport::ConstSharedPtr & msg);
 
 private:
   float steering_angle_ = 0.0f;