Merge branch 'master' of https://github.com/tier4/scenario_simulator_v2…

… into feature/split_rviz_packages
tier4 · Feb 26, 2024 · 50e01b1 · 50e01b1
2 parents 30a8368 + 89d4b6b
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diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package arithmetic
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.3.0 (2024-02-26)
+------------------
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Contributors: Kotaro Yoshimoto
+
 1.2.0 (2024-02-22)
 ------------------
 * Merge https://github.com/tier4/scenario_simulator_v2 into feature/default_matching_distance

diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>arithmetic</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>arithmetic library for scenario_simulator_v2</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/math/geometry/CHANGELOG.rst b/common/math/geometry/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package geometry
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.3.0 (2024-02-26)
+------------------
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+  # Conflicts:
+  #	external/concealer/src/field_operator_application_for_autoware_universe.cpp
+* Contributors: Kotaro Yoshimoto
+
 1.2.0 (2024-02-22)
 ------------------
 * Merge https://github.com/tier4/scenario_simulator_v2 into feature/default_matching_distance

diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>geometry</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>geometry math library for scenario_simulator_v2 application</description>
   <maintainer email="[email protected]">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package scenario_simulator_exception
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.3.0 (2024-02-26)
+------------------
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+  # Conflicts:
+  #	external/concealer/src/field_operator_application_for_autoware_universe.cpp
+* Contributors: Kotaro Yoshimoto
+
 1.2.0 (2024-02-22)
 ------------------
 * Merge https://github.com/tier4/scenario_simulator_v2 into feature/default_matching_distance

diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>scenario_simulator_exception</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>Exception types for scenario simulator</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/simple_junit/CHANGELOG.rst b/common/simple_junit/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package junit_exporter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.3.0 (2024-02-26)
+------------------
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+  # Conflicts:
+  #	external/concealer/src/field_operator_application_for_autoware_universe.cpp
+* Contributors: Kotaro Yoshimoto
+
 1.2.0 (2024-02-22)
 ------------------
 * Merge https://github.com/tier4/scenario_simulator_v2 into feature/default_matching_distance

diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simple_junit</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>Lightweight JUnit library for ROS 2</description>
   <maintainer email="[email protected]">Masaya Kataoka</maintainer>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>

diff --git a/common/status_monitor/CHANGELOG.rst b/common/status_monitor/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package status_monitor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.3.0 (2024-02-26)
+------------------
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Contributors: Kotaro Yoshimoto
+
 1.2.0 (2024-02-22)
 ------------------
 * Merge https://github.com/tier4/scenario_simulator_v2 into feature/default_matching_distance

diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>status_monitor</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>none</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst
@@ -2,6 +2,22 @@
 Changelog for package concealer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.3.0 (2024-02-26)
+------------------
+* Merge pull request `#1190 <https://github.com/tier4/scenario_simulator_v2/issues/1190>`_ from tier4/feature/mrm_behavior/pull_over
+  Support `PULL_OVER` as minimul risk manuever behavior in `autoware_adapi_v1_msgs/system/msg/MrmState.msg`
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/feature/mrm_behavior/pull_over' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* refactor(concealer): convert a lambda function to local function
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+  # Conflicts:
+  #	external/concealer/src/field_operator_application_for_autoware_universe.cpp
+* feat(concealer): Add support for optional MrmState::PULL_OVER for mrm behavior
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
 1.2.0 (2024-02-22)
 ------------------
 * Merge https://github.com/tier4/scenario_simulator_v2 into feature/default_matching_distance

diff --git a/external/concealer/package.xml b/external/concealer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>concealer</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>Provides a class 'Autoware' to conceal miscellaneous things to simplify Autoware management of the simulator.</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/external/concealer/src/field_operator_application_for_autoware_universe.cpp b/external/concealer/src/field_operator_application_for_autoware_universe.cpp
@@ -96,6 +96,13 @@ DEFINE_STATIC_DATA_MEMBER_DETECTOR(AVOIDANCE_BY_LC_LEFT);
 DEFINE_STATIC_DATA_MEMBER_DETECTOR(AVOIDANCE_BY_LC_RIGHT);
 DEFINE_STATIC_DATA_MEMBER_DETECTOR(NO_DRIVABLE_LANE);
 
+// For MrmState::behavior
+DEFINE_STATIC_DATA_MEMBER_DETECTOR(COMFORTABLE_STOP);
+DEFINE_STATIC_DATA_MEMBER_DETECTOR(EMERGENCY_STOP);
+// DEFINE_STATIC_DATA_MEMBER_DETECTOR(NONE); // NOTE: This is defined above.
+DEFINE_STATIC_DATA_MEMBER_DETECTOR(UNKNOWN);
+DEFINE_STATIC_DATA_MEMBER_DETECTOR(PULL_OVER);
+
 #undef DEFINE_STATIC_DATA_MEMBER_DETECTOR
 
 /**
@@ -475,33 +482,61 @@ auto FieldOperatorApplicationFor<AutowareUniverse>::receiveEmergencyState(
   }
 }
 
-auto FieldOperatorApplicationFor<AutowareUniverse>::receiveMrmState(
-  const autoware_adapi_v1_msgs::msg::MrmState & message) -> void
+template <typename T>
+auto toMinimumRiskManeuverBehaviorString(const std::uint8_t & behavior_number) -> std::string
 {
-#define CASE(IDENTIFIER, VARIABLE)                        \
-  case autoware_adapi_v1_msgs::msg::MrmState::IDENTIFIER: \
-    VARIABLE = #IDENTIFIER;                               \
-    break
-
-  switch (message.state) {
-    CASE(MRM_FAILED, minimum_risk_maneuver_state);
-    CASE(MRM_OPERATING, minimum_risk_maneuver_state);
-    CASE(MRM_SUCCEEDED, minimum_risk_maneuver_state);
-    CASE(NORMAL, minimum_risk_maneuver_state);
-    CASE(UNKNOWN, minimum_risk_maneuver_state);
-    default:
-      throw common::Error("Unsupported MrmState::state, number: ", static_cast<int>(message.state));
+  static const std::unordered_map<std::uint8_t, std::string> behavior_string_map = [&]() {
+    std::unordered_map<std::uint8_t, std::string> behavior_string_map;
+
+#define EMPLACE(IDENTIFIER)                                  \
+  if constexpr (HasStatic##IDENTIFIER<T>::value) {           \
+    behavior_string_map.emplace(T::IDENTIFIER, #IDENTIFIER); \
+  }                                                          \
+  static_assert(true)
+
+    EMPLACE(COMFORTABLE_STOP);
+    EMPLACE(EMERGENCY_STOP);
+    EMPLACE(NONE);
+    EMPLACE(UNKNOWN);
+    EMPLACE(PULL_OVER);
+
+#undef EMPLACE
+    return behavior_string_map;
+  }();
+
+  if (const auto behavior = behavior_string_map.find(behavior_number);
+      behavior == behavior_string_map.end()) {
+    throw common::Error(
+      "Unexpected autoware_adapi_v1_msgs::msg::MrmState::behavior, number: ", behavior_number);
+  } else {
+    return behavior->second;
   }
+}
 
-  switch (message.behavior) {
-    CASE(COMFORTABLE_STOP, minimum_risk_maneuver_behavior);
-    CASE(EMERGENCY_STOP, minimum_risk_maneuver_behavior);
-    CASE(NONE, minimum_risk_maneuver_behavior);
-    CASE(UNKNOWN, minimum_risk_maneuver_behavior);
-    default:
-      throw common::Error(
-        "Unsupported MrmState::behavior, number: ", static_cast<int>(message.behavior));
+auto toMinimumRiskManeuverStateString(const std::uint8_t & state_number) -> std::string
+{
+  static const std::unordered_map<std::uint8_t, std::string> state_string_map = {
+    {autoware_adapi_v1_msgs::msg::MrmState::MRM_FAILED, "MRM_FAILED"},
+    {autoware_adapi_v1_msgs::msg::MrmState::MRM_OPERATING, "MRM_OPERATING"},
+    {autoware_adapi_v1_msgs::msg::MrmState::MRM_SUCCEEDED, "MRM_SUCCEEDED"},
+    {autoware_adapi_v1_msgs::msg::MrmState::NORMAL, "NORMAL"},
+    {autoware_adapi_v1_msgs::msg::MrmState::UNKNOWN, "UNKNOWN"},
+  };
+
+  if (const auto state = state_string_map.find(state_number); state == state_string_map.end()) {
+    throw common::Error(
+      "Unexpected autoware_adapi_v1_msgs::msg::MrmState::state, number: ", state_number);
+  } else {
+    return state->second;
   }
-#undef CASE
+}
+
+auto FieldOperatorApplicationFor<AutowareUniverse>::receiveMrmState(
+  const autoware_adapi_v1_msgs::msg::MrmState & message) -> void
+{
+  minimum_risk_maneuver_state = toMinimumRiskManeuverStateString(message.state);
+
+  minimum_risk_maneuver_behavior =
+    toMinimumRiskManeuverBehaviorString<autoware_adapi_v1_msgs::msg::MrmState>(message.behavior);
 }
 }  // namespace concealer
diff --git a/map/kashiwanoha_map/CHANGELOG.rst b/map/kashiwanoha_map/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package kashiwanoha_map
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.3.0 (2024-02-26)
+------------------
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Contributors: Kotaro Yoshimoto
+
 1.2.0 (2024-02-22)
 ------------------
 * Merge https://github.com/tier4/scenario_simulator_v2 into feature/default_matching_distance

diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>kashiwanoha_map</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>map package for kashiwanoha</description>
   <maintainer email="[email protected]">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>

diff --git a/mock/cpp_mock_scenarios/CHANGELOG.rst b/mock/cpp_mock_scenarios/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package cpp_mock_scenarios
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.3.0 (2024-02-26)
+------------------
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+  # Conflicts:
+  #	external/concealer/src/field_operator_application_for_autoware_universe.cpp
+* Contributors: Kotaro Yoshimoto
+
 1.2.0 (2024-02-22)
 ------------------
 * Merge https://github.com/tier4/scenario_simulator_v2 into feature/default_matching_distance

diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cpp_mock_scenarios</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>C++ mock scenarios</description>
   <maintainer email="[email protected]">masaya</maintainer>
   <license>Apache License 2.0</license>

diff --git a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package openscenario_experimental_catalog
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.3.0 (2024-02-26)
+------------------
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+  # Conflicts:
+  #	external/concealer/src/field_operator_application_for_autoware_universe.cpp
+* Contributors: Kotaro Yoshimoto
+
 1.2.0 (2024-02-22)
 ------------------
 * Merge https://github.com/tier4/scenario_simulator_v2 into feature/default_matching_distance

diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_experimental_catalog</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>TIER IV experimental catalogs for OpenSCENARIO</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/openscenario/openscenario_interpreter/CHANGELOG.rst b/openscenario/openscenario_interpreter/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package openscenario_interpreter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.3.0 (2024-02-26)
+------------------
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+  # Conflicts:
+  #	external/concealer/src/field_operator_application_for_autoware_universe.cpp
+* Contributors: Kotaro Yoshimoto
+
 1.2.0 (2024-02-22)
 ------------------
 * Merge https://github.com/tier4/scenario_simulator_v2 into feature/default_matching_distance

diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_interpreter</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>OpenSCENARIO 1.2.0 interpreter package for Autoware</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/openscenario/openscenario_interpreter_example/CHANGELOG.rst b/openscenario/openscenario_interpreter_example/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package openscenario_interpreter_example
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.3.0 (2024-02-26)
+------------------
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Merge remote-tracking branch 'origin/master' into feature/mrm_behavior/pull_over
+* Contributors: Kotaro Yoshimoto
+
 1.2.0 (2024-02-22)
 ------------------
 * Merge https://github.com/tier4/scenario_simulator_v2 into feature/default_matching_distance

diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml
@@ -3,7 +3,7 @@
 
 <package format="3">
   <name>openscenario_interpreter_example</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>Examples for some TIER IV OpenSCENARIO Interpreter's features</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>