refactor(lanelet2_map_validator): move headers to include/

Signed-off-by: Mamoru Sobue <[email protected]>
autowarefoundation · Nov 5, 2024 · 369ac54 · 369ac54
1 parent 3c33924
commit 369ac54
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Showing 19 changed files with 85 additions and 66 deletions.
diff --git a/map/autoware_lanelet2_map_validator/CMakeLists.txt b/map/autoware_lanelet2_map_validator/CMakeLists.txt
@@ -8,7 +8,7 @@ ament_auto_find_build_dependencies()
 find_package(nlohmann_json REQUIRED)
 
 include_directories(
-  src
+  include
 )
 
 file(GLOB_RECURSE autoware_lanelet2_map_validator_lib_src
@@ -32,6 +32,7 @@ if(BUILD_TESTING)
       ${VALIDATION_NAME}_test
       test/src/test_${VALIDATION_NAME}.cpp
     )
+    target_include_directories(${VALIDATION_NAME}_test PUBLIC include)
     target_link_libraries(
       ${VALIDATION_NAME}_test
       autoware_lanelet2_map_validator_lib

diff --git a/...lanelet2_map_validator/src/common/cli.hpp → ...or/include/lanelet2_map_validator/cli.hpp b/...lanelet2_map_validator/src/common/cli.hpp → ...or/include/lanelet2_map_validator/cli.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMMON__CLI_HPP_
-#define COMMON__CLI_HPP_
+#ifndef LANELET2_MAP_VALIDATOR__CLI_HPP_
+#define LANELET2_MAP_VALIDATOR__CLI_HPP_
 
 #include <boost/program_options.hpp>
 
@@ -42,4 +42,4 @@ MetaConfig parseCommandLine(int argc, const char * argv[]);
 }  // namespace autoware
 }  // namespace lanelet
 
-#endif  // COMMON__CLI_HPP_
+#endif  // LANELET2_MAP_VALIDATOR__CLI_HPP_
diff --git a/...nelet2_map_validator/src/common/utils.hpp → .../include/lanelet2_map_validator/utils.hpp b/...nelet2_map_validator/src/common/utils.hpp → .../include/lanelet2_map_validator/utils.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMMON__UTILS_HPP_
-#define COMMON__UTILS_HPP_
+#ifndef LANELET2_MAP_VALIDATOR__UTILS_HPP_
+#define LANELET2_MAP_VALIDATOR__UTILS_HPP_
 
 #include <lanelet2_validation/Validation.h>
 #include <lanelet2_validation/ValidatorFactory.h>
@@ -80,4 +80,4 @@ void checkPrimitivesType(
 }  // namespace autoware
 }  // namespace lanelet
 
-#endif  // COMMON__UTILS_HPP_
+#endif  // LANELET2_MAP_VALIDATOR__UTILS_HPP_
diff --git a/...2_map_validator/src/common/validation.hpp → ...ude/lanelet2_map_validator/validation.hpp b/...2_map_validator/src/common/validation.hpp → ...ude/lanelet2_map_validator/validation.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMMON__VALIDATION_HPP_
-#define COMMON__VALIDATION_HPP_
+#ifndef LANELET2_MAP_VALIDATOR__VALIDATION_HPP_
+#define LANELET2_MAP_VALIDATOR__VALIDATION_HPP_
 
-#include "common/cli.hpp"
-#include "common/utils.hpp"
+#include "lanelet2_map_validator/cli.hpp"
+#include "lanelet2_map_validator/utils.hpp"
 
 #include <lanelet2_io/Io.h>
 #include <lanelet2_projection/UTM.h>
@@ -25,6 +25,7 @@
 
 #include <memory>
 #include <regex>
+#include <string>
 #include <vector>
 
 namespace
@@ -43,10 +44,13 @@ namespace autoware
 {
 namespace validation
 {
-std::unique_ptr<lanelet::Projector> getProjector(const MetaConfig & config);
-std::vector<lanelet::validation::DetectedIssues> validateMap(const MetaConfig & config);
+std::unique_ptr<lanelet::Projector> getProjector(
+  const std::string & projector_type, const lanelet::GPSPoint & origin);
+std::vector<lanelet::validation::DetectedIssues> validateMap(
+  const std::string & projector_type, const std::string & map_file,
+  const lanelet::validation::ValidationConfig & val_config);
 }  // namespace validation
 }  // namespace autoware
 }  // namespace lanelet
 
-#endif  // COMMON__VALIDATION_HPP_
+#endif  // LANELET2_MAP_VALIDATOR__VALIDATION_HPP_
diff --git a/...ng_regulatory_elements_for_crosswalks.hpp → ...ng_regulatory_elements_for_crosswalks.hpp b/...ng_regulatory_elements_for_crosswalks.hpp → ...ng_regulatory_elements_for_crosswalks.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef VALIDATORS__CROSSWALK__MISSING_REGULATORY_ELEMENTS_FOR_CROSSWALKS_HPP_
-#define VALIDATORS__CROSSWALK__MISSING_REGULATORY_ELEMENTS_FOR_CROSSWALKS_HPP_
+#ifndef LANELET2_MAP_VALIDATOR__VALIDATORS__CROSSWALK__MISSING_REGULATORY_ELEMENTS_FOR_CROSSWALKS_HPP_  // NOLINT
+#define LANELET2_MAP_VALIDATOR__VALIDATORS__CROSSWALK__MISSING_REGULATORY_ELEMENTS_FOR_CROSSWALKS_HPP_  // NOLINT
 
 #include <lanelet2_validation/Validation.h>
 #include <lanelet2_validation/ValidatorFactory.h>
@@ -36,4 +36,6 @@ class MissingRegulatoryElementsForCrosswalksValidator : public lanelet::validati
 }  // namespace validation
 }  // namespace lanelet
 
-#endif  // VALIDATORS__CROSSWALK__MISSING_REGULATORY_ELEMENTS_FOR_CROSSWALKS_HPP_
+// clang-format off
+#endif  // LANELET2_MAP_VALIDATOR__VALIDATORS__CROSSWALK__MISSING_REGULATORY_ELEMENTS_FOR_CROSSWALKS_HPP_  // NOLINT
+// clang-format on
diff --git a/...latory_element_details_for_crosswalks.hpp → ...latory_element_details_for_crosswalks.hpp b/...latory_element_details_for_crosswalks.hpp → ...latory_element_details_for_crosswalks.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef VALIDATORS__CROSSWALK__REGULATORY_ELEMENT_DETAILS_FOR_CROSSWALKS_HPP_
-#define VALIDATORS__CROSSWALK__REGULATORY_ELEMENT_DETAILS_FOR_CROSSWALKS_HPP_
+#ifndef LANELET2_MAP_VALIDATOR__VALIDATORS__CROSSWALK__REGULATORY_ELEMENT_DETAILS_FOR_CROSSWALKS_HPP_  // NOLINT
+#define LANELET2_MAP_VALIDATOR__VALIDATORS__CROSSWALK__REGULATORY_ELEMENT_DETAILS_FOR_CROSSWALKS_HPP_  // NOLINT
 
 #include <lanelet2_validation/Validation.h>
 #include <lanelet2_validation/ValidatorFactory.h>
@@ -36,4 +36,6 @@ class RegulatoryElementsDetailsForCrosswalksValidator : public lanelet::validati
 }  // namespace validation
 }  // namespace lanelet
 
-#endif  // VALIDATORS__CROSSWALK__REGULATORY_ELEMENT_DETAILS_FOR_CROSSWALKS_HPP_
+// clang-format off
+#endif  // LANELET2_MAP_VALIDATOR__VALIDATORS__CROSSWALK__REGULATORY_ELEMENT_DETAILS_FOR_CROSSWALKS_HPP_  // NOLINT
+// clang-format on
diff --git a/...ng_regulatory_elements_for_stop_lines.hpp → ...ng_regulatory_elements_for_stop_lines.hpp b/...ng_regulatory_elements_for_stop_lines.hpp → ...ng_regulatory_elements_for_stop_lines.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef VALIDATORS__STOP_LINE__MISSING_REGULATORY_ELEMENTS_FOR_STOP_LINES_HPP_
-#define VALIDATORS__STOP_LINE__MISSING_REGULATORY_ELEMENTS_FOR_STOP_LINES_HPP_
+#ifndef LANELET2_MAP_VALIDATOR__VALIDATORS__STOP_LINE__MISSING_REGULATORY_ELEMENTS_FOR_STOP_LINES_HPP_  // NOLINT
+#define LANELET2_MAP_VALIDATOR__VALIDATORS__STOP_LINE__MISSING_REGULATORY_ELEMENTS_FOR_STOP_LINES_HPP_  // NOLINT
 
 #include <lanelet2_validation/Validation.h>
 #include <lanelet2_validation/ValidatorFactory.h>
@@ -36,4 +36,6 @@ class MissingRegulatoryElementsForStopLinesValidator : public lanelet::validatio
 }  // namespace validation
 }  // namespace lanelet
 
-#endif  // VALIDATORS__STOP_LINE__MISSING_REGULATORY_ELEMENTS_FOR_STOP_LINES_HPP_
+// clang-format off
+#endif  // LANELET2_MAP_VALIDATOR__VALIDATORS__STOP_LINE__MISSING_REGULATORY_ELEMENTS_FOR_STOP_LINES_HPP_  // NOLINT
+// clang-format on
diff --git a/...egulatory_elements_for_traffic_lights.hpp → ...egulatory_elements_for_traffic_lights.hpp b/...egulatory_elements_for_traffic_lights.hpp → ...egulatory_elements_for_traffic_lights.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef VALIDATORS__TRAFFIC_LIGHT__MISSING_REGULATORY_ELEMENTS_FOR_TRAFFIC_LIGHTS_HPP_
-#define VALIDATORS__TRAFFIC_LIGHT__MISSING_REGULATORY_ELEMENTS_FOR_TRAFFIC_LIGHTS_HPP_
+#ifndef LANELET2_MAP_VALIDATOR__VALIDATORS__TRAFFIC_LIGHT__MISSING_REGULATORY_ELEMENTS_FOR_TRAFFIC_LIGHTS_HPP_  // NOLINT
+#define LANELET2_MAP_VALIDATOR__VALIDATORS__TRAFFIC_LIGHT__MISSING_REGULATORY_ELEMENTS_FOR_TRAFFIC_LIGHTS_HPP_  // NOLINT
 
 #include <lanelet2_validation/Validation.h>
 #include <lanelet2_validation/ValidatorFactory.h>
@@ -39,4 +39,6 @@ class MissingRegulatoryElementsForTrafficLightsValidator : public lanelet::valid
 }  // namespace validation
 }  // namespace lanelet
 
-#endif  // VALIDATORS__TRAFFIC_LIGHT__MISSING_REGULATORY_ELEMENTS_FOR_TRAFFIC_LIGHTS_HPP_
+// clang-format off
+#endif  // LANELET2_MAP_VALIDATOR__VALIDATORS__TRAFFIC_LIGHT__MISSING_REGULATORY_ELEMENTS_FOR_TRAFFIC_LIGHTS_HPP_  // NOLINT
+// clang-format on
diff --git a/...ry_element_details_for_traffic_lights.hpp → ...ry_element_details_for_traffic_lights.hpp b/...ry_element_details_for_traffic_lights.hpp → ...ry_element_details_for_traffic_lights.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef VALIDATORS__TRAFFIC_LIGHT__REGULATORY_ELEMENT_DETAILS_FOR_TRAFFIC_LIGHTS_HPP_
-#define VALIDATORS__TRAFFIC_LIGHT__REGULATORY_ELEMENT_DETAILS_FOR_TRAFFIC_LIGHTS_HPP_
+#ifndef LANELET2_MAP_VALIDATOR__VALIDATORS__TRAFFIC_LIGHT__REGULATORY_ELEMENT_DETAILS_FOR_TRAFFIC_LIGHTS_HPP_  // NOLINT
+#define LANELET2_MAP_VALIDATOR__VALIDATORS__TRAFFIC_LIGHT__REGULATORY_ELEMENT_DETAILS_FOR_TRAFFIC_LIGHTS_HPP_  // NOLINT
 
 #include <lanelet2_validation/Validation.h>
 #include <lanelet2_validation/ValidatorFactory.h>
@@ -43,4 +43,6 @@ class RegulatoryElementsDetailsForTrafficLightsValidator : public lanelet::valid
 }  // namespace validation
 }  // namespace lanelet
 
-#endif  // VALIDATORS__TRAFFIC_LIGHT__REGULATORY_ELEMENT_DETAILS_FOR_TRAFFIC_LIGHTS_HPP_
+// clang-format off
+#endif  // LANELET2_MAP_VALIDATOR__VALIDATORS__TRAFFIC_LIGHT__REGULATORY_ELEMENT_DETAILS_FOR_TRAFFIC_LIGHTS_HPP_  // NOLINT
+// clang-format on
diff --git a/map/autoware_lanelet2_map_validator/src/common/cli.cpp b/map/autoware_lanelet2_map_validator/src/common/cli.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "common/cli.hpp"
+#include "lanelet2_map_validator/cli.hpp"
 
 namespace po = boost::program_options;
 

diff --git a/map/autoware_lanelet2_map_validator/src/common/validation.cpp b/map/autoware_lanelet2_map_validator/src/common/validation.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "common/validation.hpp"
+#include "lanelet2_map_validator/validation.hpp"
 
 #include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
 #include <autoware_lanelet2_extension/projection/transverse_mercator_projector.hpp>
@@ -27,31 +27,30 @@ namespace autoware
 namespace validation
 {
 
-std::unique_ptr<lanelet::Projector> getProjector(const MetaConfig & config)
+std::unique_ptr<lanelet::Projector> getProjector(
+  const std::string & projector_type, const lanelet::GPSPoint & origin)
 {
-  const auto & val_config = config.command_line_config.validationConfig;
-  if (config.projector_type == projector_names::mgrs) {
+  if (projector_type == projector_names::mgrs) {
     return std::make_unique<lanelet::projection::MGRSProjector>();
-  } else if (config.projector_type == projector_names::transverse_mercator) {
+  } else if (projector_type == projector_names::transverse_mercator) {
     return std::make_unique<lanelet::projection::TransverseMercatorProjector>(
-      lanelet::Origin{val_config.origin});
-  } else if (config.projector_type == projector_names::utm) {
-    return std::make_unique<lanelet::projection::UtmProjector>(lanelet::Origin{val_config.origin});
+      lanelet::Origin{origin});
+  } else if (projector_type == projector_names::utm) {
+    return std::make_unique<lanelet::projection::UtmProjector>(lanelet::Origin{origin});
   }
-  return std::make_unique<lanelet::projection::MGRSProjector>();
+  return nullptr;
 }
 
-std::vector<lanelet::validation::DetectedIssues> validateMap(const MetaConfig & config)
+std::vector<lanelet::validation::DetectedIssues> validateMap(
+  const std::string & projector_type, const std::string & map_file,
+  const lanelet::validation::ValidationConfig & val_config)
 {
-  const auto & cm_config = config.command_line_config;
-  const auto & val_config = config.command_line_config.validationConfig;
-
   std::vector<lanelet::validation::DetectedIssues> issues;
   lanelet::LaneletMapPtr map;
   lanelet::validation::Strings errors;
   try {
-    const auto & projector = getProjector(config);
-    map = lanelet::load(cm_config.mapFile, *projector, &errors);
+    const auto & projector = getProjector(projector_type, val_config.origin);
+    map = lanelet::load(map_file, *projector, &errors);
     if (!errors.empty()) {
       issues.emplace_back("general", utils::transform(errors, [](auto & error) {
                             return lanelet::validation::Issue(

diff --git a/map/autoware_lanelet2_map_validator/src/main.cpp b/map/autoware_lanelet2_map_validator/src/main.cpp
@@ -12,13 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "common/cli.hpp"
-#include "common/utils.hpp"
-#include "common/validation.hpp"
-#include "lanelet2_validation/Validation.h"
+#include "lanelet2_map_validator/cli.hpp"
+#include "lanelet2_map_validator/utils.hpp"
+#include "lanelet2_map_validator/validation.hpp"
 
 #include <nlohmann/json.hpp>
 
+#include <lanelet2_validation/Validation.h>
+
 #include <filesystem>
 #include <fstream>
 #include <iomanip>
@@ -54,7 +55,9 @@ void process_requirements(
       temp_validator_config.command_line_config.validationConfig.checksFilter = validator_name;
 
       std::vector<lanelet::validation::DetectedIssues> temp_issues =
-        lanelet::autoware::validation::validateMap(temp_validator_config);
+        lanelet::autoware::validation::validateMap(
+          validator_config.projector_type, validator_config.command_line_config.mapFile,
+          validator_config.command_line_config.validationConfig);
 
       if (temp_issues.empty()) {
         // Validator passed
@@ -176,7 +179,9 @@ int main(int argc, char * argv[])
     input_file >> json_config;
     process_requirements(json_config, meta_config);
   } else {
-    auto issues = lanelet::autoware::validation::validateMap(meta_config);
+    auto issues = lanelet::autoware::validation::validateMap(
+      meta_config.projector_type, meta_config.command_line_config.mapFile,
+      meta_config.command_line_config.validationConfig);
     lanelet::validation::printAllIssues(issues);
   }
 

diff --git a/...let2_map_validator/src/validators/crosswalk/missing_regulatory_elements_for_crosswalk.cpp b/...let2_map_validator/src/validators/crosswalk/missing_regulatory_elements_for_crosswalk.cpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "common/utils.hpp"
-#include "validators/crosswalk/missing_regulatory_elements_for_crosswalks.hpp"
+#include "lanelet2_map_validator/utils.hpp"
+#include "lanelet2_map_validator/validators/crosswalk/missing_regulatory_elements_for_crosswalks.hpp"
 
 #include <range/v3/view/filter.hpp>
 

diff --git a/...let2_map_validator/src/validators/crosswalk/regulatory_element_details_for_crosswalks.cpp b/...let2_map_validator/src/validators/crosswalk/regulatory_element_details_for_crosswalks.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "validators/crosswalk/regulatory_element_details_for_crosswalks.hpp"
+#include "lanelet2_map_validator/validators/crosswalk/regulatory_element_details_for_crosswalks.hpp"
 
-#include "common/utils.hpp"
+#include "lanelet2_map_validator/utils.hpp"
 
 #include <autoware_lanelet2_extension/regulatory_elements/crosswalk.hpp>
 #include <range/v3/view/filter.hpp>

diff --git a/...et2_map_validator/src/validators/stop_line/missing_regulatory_elements_for_stop_lines.cpp b/...et2_map_validator/src/validators/stop_line/missing_regulatory_elements_for_stop_lines.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "validators/stop_line/missing_regulatory_elements_for_stop_lines.hpp"
+#include "lanelet2_map_validator/validators/stop_line/missing_regulatory_elements_for_stop_lines.hpp"
 
-#include "common/utils.hpp"
+#include "lanelet2_map_validator/utils.hpp"
 
 #include <range/v3/view/filter.hpp>
 #include <range/v3/view/transform.hpp>

diff --git a/...validator/src/validators/traffic_light/missing_regulatory_elements_for_traffic_lights.cpp b/...validator/src/validators/traffic_light/missing_regulatory_elements_for_traffic_lights.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "validators/traffic_light/missing_regulatory_elements_for_traffic_lights.hpp"
+#include "lanelet2_map_validator/validators/traffic_light/missing_regulatory_elements_for_traffic_lights.hpp"
 
-#include "common/utils.hpp"
+#include "lanelet2_map_validator/utils.hpp"
 
 #include <range/v3/view/filter.hpp>
 #include <range/v3/view/transform.hpp>

diff --git a/..._validator/src/validators/traffic_light/regulatory_element_details_for_traffic_lights.cpp b/..._validator/src/validators/traffic_light/regulatory_element_details_for_traffic_lights.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "validators/traffic_light/regulatory_element_details_for_traffic_lights.hpp"
+#include "lanelet2_map_validator/validators/traffic_light/regulatory_element_details_for_traffic_lights.hpp"
 
-#include "common/utils.hpp"
+#include "lanelet2_map_validator/utils.hpp"
 
 #include <range/v3/view/filter.hpp>
 

diff --git a/map/autoware_lanelet2_map_validator/test/src/test_missing_regulatory_elements.cpp b/map/autoware_lanelet2_map_validator/test/src/test_missing_regulatory_elements.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "validators/crosswalk/missing_regulatory_elements_for_crosswalks.hpp"
-#include "validators/stop_line/missing_regulatory_elements_for_stop_lines.hpp"
-#include "validators/traffic_light/missing_regulatory_elements_for_traffic_lights.hpp"
+#include "lanelet2_map_validator/validators/crosswalk/missing_regulatory_elements_for_crosswalks.hpp"
+#include "lanelet2_map_validator/validators/stop_line/missing_regulatory_elements_for_stop_lines.hpp"
+#include "lanelet2_map_validator/validators/traffic_light/missing_regulatory_elements_for_traffic_lights.hpp"
 
 #include <autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp>
 #include <autoware_lanelet2_extension/regulatory_elements/crosswalk.hpp>

diff --git a/map/autoware_lanelet2_map_validator/test/src/test_regulatory_element_details.cpp b/map/autoware_lanelet2_map_validator/test/src/test_regulatory_element_details.cpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "validators/crosswalk/regulatory_element_details_for_crosswalks.hpp"
-#include "validators/traffic_light/regulatory_element_details_for_traffic_lights.hpp"
+#include "lanelet2_map_validator/validators/crosswalk/regulatory_element_details_for_crosswalks.hpp"
+#include "lanelet2_map_validator/validators/traffic_light/regulatory_element_details_for_traffic_lights.hpp"
 
 #include <autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp>
 #include <autoware_lanelet2_extension/regulatory_elements/crosswalk.hpp>