style(pre-commit): autofix

system/leader_election_converter/README.md

@@ -8,45 +8,43 @@ The leader election converter node is responsible for relaying UDP packets and R
 
 The availability converter subscribes `/system/operation_mode/availability` and `/vehicle/status/mrm_state`, adds them together into a structure called `Availability` and sends it as a udp packet.
 
-
 ### Interface
 
-| Interface Type | Interface Name                        | Data Type                                         | Description                        |
-| -------------- | ------------------------------------- | ------------------------------------------------- | ---------------------------------- |
-| subscriber     | `/system/operation_mode/availability` | `tier4_system_msgs/msg/OperationModeAvailability` | Usable behavior of the ego.        |
-| subscriber     | `/vehicle/status/mrm_state`           | `autoware_auto_vehicle_msgs/msg/ControlModeReport`| Ego control mode.                  |
-| udp sender     | none                                  | `struct Availability`                             | Combination of the above two.      |
-
+| Interface Type | Interface Name                        | Data Type                                          | Description                   |
+| -------------- | ------------------------------------- | -------------------------------------------------- | ----------------------------- |
+| subscriber     | `/system/operation_mode/availability` | `tier4_system_msgs/msg/OperationModeAvailability`  | Usable behavior of the ego.   |
+| subscriber     | `/vehicle/status/mrm_state`           | `autoware_auto_vehicle_msgs/msg/ControlModeReport` | Ego control mode.             |
+| udp sender     | none                                  | `struct Availability`                              | Combination of the above two. |
 
 ## mrm converte
+
 The mrm converter subscribes `/system/fail_safe/mrm_state` into a structure called `MrmState` and sends it as a UDP packet.
 In addition, it receives a udp packet`MrmState` and publish `/system/mrm_request`.
 
 ### Interface
 
-| Interface Type | Interface Name                        | Data Type                                         | Description                        |
-| -------------- | ------------------------------------- | ------------------------------------------------- | ---------------------------------- |
-| subscriber     | `/system/fail_safe/mrm_state`         | `tier4_system_msgs/msg/MrmState`                  | MRM status of each ECU.            |
-| udp sender     | none                                  | `struct MrmState`                                 | Same as above.                     |
-| publisher      | `/system/election/mrm_request`        | `tier4_system_msgs/msg/MrmBehavior`               | Request of MRM behavior.           |
-| udp receiver   | none                                  | `struct MrmRequest`                               | Same as above.                     |
-
+| Interface Type | Interface Name                 | Data Type                           | Description              |
+| -------------- | ------------------------------ | ----------------------------------- | ------------------------ |
+| subscriber     | `/system/fail_safe/mrm_state`  | `tier4_system_msgs/msg/MrmState`    | MRM status of each ECU.  |
+| udp sender     | none                           | `struct MrmState`                   | Same as above.           |
+| publisher      | `/system/election/mrm_request` | `tier4_system_msgs/msg/MrmBehavior` | Request of MRM behavior. |
+| udp receiver   | none                           | `struct MrmRequest`                 | Same as above.           |
 
 ## log converter
-The log　converter receive udp packets into a structure called `ElectionCommunication` and `ElectionStatus`, and publish `/system/election/communication`, 
+
+The log　converter receive udp packets into a structure called `ElectionCommunication` and `ElectionStatus`, and publish `/system/election/communication`,
 `/system/election/status`, and `/system/fail_safe/over_all/mrm_state`.
 
 ### Interface
 
-| Interface Type | Interface Name                        | Data Type                                         | Description                        |
-| -------------- | ------------------------------------- | ------------------------------------------------- | ---------------------------------- |
-| udp receiver   | none                                  | `struct ElectionCommunication`                    | messages amoung election nodes.    |
-| udp receiver   | none                                  | `struct ElectionStatus`                           | Leader Election status.            |
-| publisher      | `/system/election/communication`      | `tier4_system_msgs/msg/ElectionCommunication`     | messages amoung election nodes.    |
-| publisher      | `/system/election/status`             | `tier4_system_msgs/msg/MrmState`                  | Leader Election status.            |
-| publisher      | `/system/fail_safe/over_all/mrm_state`| `autoware_adapi_v1_msgs/msg/mrm_state`            | System-wode MRM status.            |
+| Interface Type | Interface Name                         | Data Type                                     | Description                     |
+| -------------- | -------------------------------------- | --------------------------------------------- | ------------------------------- |
+| udp receiver   | none                                   | `struct ElectionCommunication`                | messages amoung election nodes. |
+| udp receiver   | none                                   | `struct ElectionStatus`                       | Leader Election status.         |
+| publisher      | `/system/election/communication`       | `tier4_system_msgs/msg/ElectionCommunication` | messages amoung election nodes. |
+| publisher      | `/system/election/status`              | `tier4_system_msgs/msg/MrmState`              | Leader Election status.         |
+| publisher      | `/system/fail_safe/over_all/mrm_state` | `autoware_adapi_v1_msgs/msg/mrm_state`        | System-wode MRM status.         |
 
 ## Parameters
 
 {{ json_to_markdown("system/leader_election_converter/schema/leader_election_converter.schema.json") }}
-

system/leader_election_converter/launch/leader_election_converter.launch.xml

@@ -1,4 +1,4 @@
-<launch> 
+<launch>
   <arg name="param_file" default="$(find-pkg-share leader_election_converter)/config/leader_electioin_converter.param.yaml"/>
   <arg name="input_control_mode" default="/vehicle/status/control_mode"/>
   <arg name="input_operation_mode_availability" default="/system/operation_mode/availability"/>

system/leader_election_converter/package.xml

@@ -10,11 +10,11 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_adapi_v1_msgs</depend>
+  <depend>autoware_auto_vehicle_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>tier4_system_msgs</depend>
-  <depend>autoware_auto_vehicle_msgs</depend>
-  <depend>autoware_adapi_v1_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

system/leader_election_converter/src/common/converter/availability_converter.cpp

@@ -12,15 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "availability_converter.hpp"
 
 #include "rclcpp/rclcpp.hpp"
-#include "availability_converter.hpp"
 
 namespace leader_election_converter
 {
 
-AvailabilityConverter::AvailabilityConverter(rclcpp::Node * node)
-: node_(node) {}
+AvailabilityConverter::AvailabilityConverter(rclcpp::Node * node) : node_(node)
+{
+}
 
 void AvailabilityConverter::setUdpSender(const std::string & dest_ip, const std::string & dest_port)
 {
@@ -30,22 +31,27 @@ void AvailabilityConverter::setUdpSender(const std::string & dest_ip, const std:
 void AvailabilityConverter::setSubscriber()
 {
   const auto qos = rclcpp::QoS(1).transient_local();
-  availability_callback_group_ = node_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  availability_callback_group_ =
+    node_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
   rclcpp::SubscriptionOptions availability_options = rclcpp::SubscriptionOptions();
   availability_options.callback_group = availability_callback_group_;
 
-  control_mode_callback_group_ = node_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false);
+  control_mode_callback_group_ =
+    node_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false);
   rclcpp::SubscriptionOptions control_mode_options = rclcpp::SubscriptionOptions();
-  control_mode_options.callback_group = control_mode_callback_group_; 
-  auto not_executed_callback = []([[maybe_unused]] const typename autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr msg) {};
+  control_mode_options.callback_group = control_mode_callback_group_;
+  auto not_executed_callback = []([[maybe_unused]] const typename autoware_auto_vehicle_msgs::msg::
+                                    ControlModeReport::ConstSharedPtr msg) {};
 
-  sub_operation_mode_availability_ = node_->create_subscription<tier4_system_msgs::msg::OperationModeAvailability>(
-    "~/input/operation_mode_availability", qos,
-    std::bind(&AvailabilityConverter::convertToUdp, this, std::placeholders::_1), availability_options);
+  sub_operation_mode_availability_ =
+    node_->create_subscription<tier4_system_msgs::msg::OperationModeAvailability>(
+      "~/input/operation_mode_availability", qos,
+      std::bind(&AvailabilityConverter::convertToUdp, this, std::placeholders::_1),
+      availability_options);
 
-  sub_control_mode_ = node_->create_subscription<autoware_auto_vehicle_msgs::msg::ControlModeReport>(
-    "~/input/control_mode", qos, not_executed_callback, control_mode_options);
-
+  sub_control_mode_ =
+    node_->create_subscription<autoware_auto_vehicle_msgs::msg::ControlModeReport>(
+      "~/input/control_mode", qos, not_executed_callback, control_mode_options);
 }
 
 void AvailabilityConverter::convertToUdp(

system/leader_election_converter/src/common/converter/availability_converter.hpp

@@ -12,16 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMMON__AVAILABILITY_CONVERTER_HPP_
-#define COMMON__AVAILABILITY_CONVERTER_HPP_
+#ifndef COMMON__CONVERTER__AVAILABILITY_CONVERTER_HPP_
+#define COMMON__CONVERTER__AVAILABILITY_CONVERTER_HPP_
 
-#include <autoware_auto_vehicle_msgs/msg/control_mode_report.hpp>
-#include <tier4_system_msgs/msg/operation_mode_availability.hpp>
+#include "udp_sender.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
-#include "udp_sender.hpp"
-
+#include <autoware_auto_vehicle_msgs/msg/control_mode_report.hpp>
+#include <tier4_system_msgs/msg/operation_mode_availability.hpp>
 
 namespace leader_election_converter
 {
@@ -41,25 +40,26 @@ struct Availability
 
 class AvailabilityConverter
 {
-
 public:
   AvailabilityConverter(rclcpp::Node * node);
   ~AvailabilityConverter() = default;
 
   void setUdpSender(const std::string & dest_ip, const std::string & dest_port);
   void setSubscriber();
-  void convertToUdp(const tier4_system_msgs::msg::OperationModeAvailability::ConstSharedPtr availability_msg);
+  void convertToUdp(
+    const tier4_system_msgs::msg::OperationModeAvailability::ConstSharedPtr availability_msg);
 
 private:
-    rclcpp::Node * node_;
-    std::unique_ptr<UdpSender<Availability>> udp_availability_sender_;
-    rclcpp::CallbackGroup::SharedPtr availability_callback_group_;
-    rclcpp::CallbackGroup::SharedPtr control_mode_callback_group_;
-    rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::ControlModeReport>::SharedPtr sub_control_mode_;
-    rclcpp::Subscription<tier4_system_msgs::msg::OperationModeAvailability>::SharedPtr sub_operation_mode_availability_;
-
+  rclcpp::Node * node_;
+  std::unique_ptr<UdpSender<Availability>> udp_availability_sender_;
+  rclcpp::CallbackGroup::SharedPtr availability_callback_group_;
+  rclcpp::CallbackGroup::SharedPtr control_mode_callback_group_;
+  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::ControlModeReport>::SharedPtr
+    sub_control_mode_;
+  rclcpp::Subscription<tier4_system_msgs::msg::OperationModeAvailability>::SharedPtr
+    sub_operation_mode_availability_;
 };
 
 }  // namespace leader_election_converter
 
-#endif  // COMMON__AVAILABILITY_CONVERTER_HPP_
+#endif  // COMMON__CONVERTER__AVAILABILITY_CONVERTER_HPP_

system/leader_election_converter/src/common/converter/log_converter.cpp

@@ -12,17 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "rclcpp/rclcpp.hpp"
 #include "log_converter.hpp"
 
+#include "rclcpp/rclcpp.hpp"
+
 namespace leader_election_converter
 {
 
 LogConverter::LogConverter(rclcpp::Node * node)
-: node_(node),
-is_election_comunication_running_(true),
-is_election_status_running_(true)
-{}
+: node_(node), is_election_comunication_running_(true), is_election_status_running_(true)
+{
+}
 
 LogConverter::~LogConverter()
 {
@@ -38,15 +38,20 @@ LogConverter::~LogConverter()
   }
 }
 
-void LogConverter::setUdpElectionCommunicatioinReceiver(const std::string & src_ip, const std::string & src_port)
+void LogConverter::setUdpElectionCommunicatioinReceiver(
+  const std::string & src_ip, const std::string & src_port)
 {
-  udp_election_comunication_thread_ = std::thread(&LogConverter::startUdpElectionCommunicationReceiver, this, src_ip, src_port);
+  udp_election_comunication_thread_ =
+    std::thread(&LogConverter::startUdpElectionCommunicationReceiver, this, src_ip, src_port);
 }
 
-void LogConverter::startUdpElectionCommunicationReceiver(const std::string & src_ip, const std::string & src_port)
+void LogConverter::startUdpElectionCommunicationReceiver(
+  const std::string & src_ip, const std::string & src_port)
 {
   try {
-    udp_election_comunication_receiver_ = std::make_unique<UdpReceiver<ElectionCommunication>>(src_ip, src_port, std::bind(&LogConverter::convertElectionCommunicationToTopic, this, std::placeholders::_1));
+    udp_election_comunication_receiver_ = std::make_unique<UdpReceiver<ElectionCommunication>>(
+      src_ip, src_port,
+      std::bind(&LogConverter::convertElectionCommunicationToTopic, this, std::placeholders::_1));
     while (is_election_comunication_running_) {
       udp_election_comunication_receiver_->receive();
     }
@@ -55,15 +60,20 @@ void LogConverter::startUdpElectionCommunicationReceiver(const std::string & src
   }
 }
 
-void LogConverter::setUdpElectionStatusReceiver(const std::string & src_ip, const std::string & src_port)
+void LogConverter::setUdpElectionStatusReceiver(
+  const std::string & src_ip, const std::string & src_port)
 {
-  udp_election_status_thread_ = std::thread(&LogConverter::startUdpElectionStatusReceiver, this, src_ip, src_port);
+  udp_election_status_thread_ =
+    std::thread(&LogConverter::startUdpElectionStatusReceiver, this, src_ip, src_port);
 }
 
-void LogConverter::startUdpElectionStatusReceiver(const std::string & src_ip, const std::string & src_port)
+void LogConverter::startUdpElectionStatusReceiver(
+  const std::string & src_ip, const std::string & src_port)
 {
   try {
-    udp_election_status_receiver_ = std::make_unique<UdpReceiver<ElectionStatus>>(src_ip, src_port, std::bind(&LogConverter::convertElectionStatusToTopic, this, std::placeholders::_1));
+    udp_election_status_receiver_ = std::make_unique<UdpReceiver<ElectionStatus>>(
+      src_ip, src_port,
+      std::bind(&LogConverter::convertElectionStatusToTopic, this, std::placeholders::_1));
     while (is_election_status_running_) {
       udp_election_status_receiver_->receive();
     }
@@ -74,8 +84,9 @@ void LogConverter::startUdpElectionStatusReceiver(const std::string & src_ip, co
 
 void LogConverter::setPublisher()
 {
-  pub_election_comunication_ = node_->create_publisher<tier4_system_msgs::msg::ElectionCommunication>(
-    "~/output/election_communication", rclcpp::QoS{1});
+  pub_election_comunication_ =
+    node_->create_publisher<tier4_system_msgs::msg::ElectionCommunication>(
+      "~/output/election_communication", rclcpp::QoS{1});
   pub_election_status_ = node_->create_publisher<tier4_system_msgs::msg::ElectionStatus>(
     "~/output/election_status", rclcpp::QoS{1});
   pub_over_all_mrm_state_ = node_->create_publisher<autoware_adapi_v1_msgs::msg::MrmState>(

system/leader_election_converter/src/common/converter/log_converter.hpp

@@ -12,21 +12,21 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMMON__LOG_CONVERTER_HPP_
-#define COMMON__LOG_CONVERTER_HPP_
+#ifndef COMMON__CONVERTER__LOG_CONVERTER_HPP_
+#define COMMON__CONVERTER__LOG_CONVERTER_HPP_
 
+#include "udp_receiver.hpp"
+#include "udp_sender.hpp"
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
 #include <tier4_system_msgs/msg/election_communication.hpp>
 #include <tier4_system_msgs/msg/election_status.hpp>
 #include <tier4_system_msgs/msg/mrm_state.hpp>
-#include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
 
-#include <rclcpp/rclcpp.hpp>
-#include <thread>
 #include <atomic>
-
-#include "udp_sender.hpp"
-#include "udp_receiver.hpp"
-
+#include <thread>
 
 namespace leader_election_converter
 {
@@ -59,20 +59,23 @@ class LogConverter
   LogConverter(rclcpp::Node * node);
   ~LogConverter();
 
-  void setUdpElectionCommunicatioinReceiver(const std::string & src_ip, const std::string & src_port);
+  void setUdpElectionCommunicatioinReceiver(
+    const std::string & src_ip, const std::string & src_port);
   void setUdpElectionStatusReceiver(const std::string & src_ip, const std::string & src_port);
   void setPublisher();
 
 private:
-  void startUdpElectionCommunicationReceiver(const std::string & src_ip, const std::string & src_port);
+  void startUdpElectionCommunicationReceiver(
+    const std::string & src_ip, const std::string & src_port);
   void startUdpElectionStatusReceiver(const std::string & src_ip, const std::string & src_port);
   void convertElectionCommunicationToTopic(const ElectionCommunication & node_msg);
   void convertElectionStatusToTopic(const ElectionStatus & status);
 
   rclcpp::Node * node_;
   std::unique_ptr<UdpReceiver<ElectionCommunication>> udp_election_comunication_receiver_;
   std::unique_ptr<UdpReceiver<ElectionStatus>> udp_election_status_receiver_;
-  rclcpp::Publisher<tier4_system_msgs::msg::ElectionCommunication>::SharedPtr pub_election_comunication_;
+  rclcpp::Publisher<tier4_system_msgs::msg::ElectionCommunication>::SharedPtr
+    pub_election_comunication_;
   rclcpp::Publisher<tier4_system_msgs::msg::ElectionStatus>::SharedPtr pub_election_status_;
   rclcpp::Publisher<autoware_adapi_v1_msgs::msg::MrmState>::SharedPtr pub_over_all_mrm_state_;
 
@@ -84,4 +87,4 @@ class LogConverter
 
 }  // namespace leader_election_converter
 
-#endif  // COMMON__LOG_CONVERTER_HPP_
+#endif  // COMMON__CONVERTER__LOG_CONVERTER_HPP_