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Signed-off-by: Mamoru Sobue <[email protected]>
autowarefoundation · Nov 20, 2024 · 5d8f6d3 · 5d8f6d3
1 parent 5988d6b
commit 5d8f6d3
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Showing 5 changed files with 19 additions and 12 deletions.
diff --git a/map/autoware_lanelet2_map_validator/src/common/map_loader.cpp b/map/autoware_lanelet2_map_validator/src/common/map_loader.cpp
@@ -47,8 +47,7 @@ std::unique_ptr<lanelet::Projector> getProjector(
   return nullptr;
 }
 
-std::pair<lanelet::LaneletMapPtr, std::vector<lanelet::validation::DetectedIssues>>
-loadAndValidateMapLoad(
+std::pair<lanelet::LaneletMapPtr, std::vector<lanelet::validation::DetectedIssues>> validateMapLoad(
   const std::string & projector_type, const std::string & map_file,
   const lanelet::validation::ValidationConfig & val_config)
 {

diff --git a/map/autoware_lanelet2_map_validator/src/common/validation.cpp b/map/autoware_lanelet2_map_validator/src/common/validation.cpp
@@ -306,13 +306,15 @@ void process_requirements(
 
     // Check prerequisites are OK
     const auto prerequisite_issues = check_prerequisite_completion(validators, validator_name);
+    appendIssues(total_issues, prerequisite_issues);
 
+    // NOTE: if prerequisite_issues is not empty, skip the content validation process
     const auto issues =
       prerequisite_issues.empty()
-        ? std::vector<lanelet::validation::DetectedIssues>()
-        : apply_validation(
+        ? apply_validation(
             lanelet_map, replace_validator(
-                           validator_config.command_line_config.validationConfig, validator_name));
+                           validator_config.command_line_config.validationConfig, validator_name))
+        : std::vector<lanelet::validation::DetectedIssues>();
 
     // Add validation results to the json data
     json & validator_json = find_validator_block(json_data, validator_name);
@@ -345,7 +347,7 @@ void process_requirements(
       }
       validator_json["issues"] = issues_json;
     }
-    appendIssues(total_issues, std::vector<lanelet::validation::DetectedIssues>(issues));
+    appendIssues(total_issues, issues);
   }
 
   // Show results

diff --git a/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/map_loader.hpp b/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/map_loader.hpp
@@ -27,8 +27,7 @@
 namespace lanelet::autoware::validation
 {
 
-std::pair<lanelet::LaneletMapPtr, std::vector<lanelet::validation::DetectedIssues>>
-loadAndValidateMapLoad(
+std::pair<lanelet::LaneletMapPtr, std::vector<lanelet::validation::DetectedIssues>> validateMapLoad(
   const std::string & projector_type, const std::string & map_file,
   const lanelet::validation::ValidationConfig & val_config);
 

diff --git a/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/utils.hpp b/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/utils.hpp
@@ -19,6 +19,7 @@
 #include <lanelet2_validation/ValidatorFactory.h>
 
 #include <string>
+#include <type_traits>
 #include <vector>
 
 namespace lanelet
@@ -27,10 +28,16 @@ namespace autoware
 {
 namespace validation
 {
-template <typename T>
-void appendIssues(std::vector<T> & to, std::vector<T> && from)
+template <typename Container, typename T>
+auto appendIssues(std::vector<T> & to, Container && from) ->
+  typename std::enable_if_t<std::is_same_v<T, typename std::decay_t<Container>::value_type>, void>
 {
-  to.insert(to.end(), std::make_move_iterator(from.begin()), std::make_move_iterator(from.end()));
+  if constexpr (std::is_rvalue_reference<decltype(from)>::value) {
+    to.insert(to.end(), std::make_move_iterator(from.begin()), std::make_move_iterator(from.end()));
+  }
+  if constexpr (std::is_lvalue_reference<decltype(from)>::value) {
+    to.insert(to.end(), from.begin(), from.end());
+  }
 }
 
 template <typename T>

diff --git a/map/autoware_lanelet2_map_validator/src/main.cpp b/map/autoware_lanelet2_map_validator/src/main.cpp
@@ -58,7 +58,7 @@ int main(int argc, char * argv[])
   if (!std::filesystem::is_regular_file(meta_config.command_line_config.mapFile)) {
     throw std::invalid_argument("Map file doesn't exist or is not a file!");
   }
-  const auto [lanelet_map_ptr, map_issue] = lanelet::autoware::validation::loadAndValidateMapLoad(
+  const auto [lanelet_map_ptr, map_issue] = lanelet::autoware::validation::validateMapLoad(
     meta_config.projector_type, meta_config.command_line_config.mapFile,
     meta_config.command_line_config.validationConfig);