Rename class ServiceWithValidation to Service

Signed-off-by: yamacir-kit <[email protected]>
tier4 · Dec 19, 2024 · 71094df · 71094df
1 parent 5ac238a
commit 71094df
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Showing 2 changed files with 18 additions and 18 deletions.
diff --git a/external/concealer/include/concealer/field_operator_application.hpp b/external/concealer/include/concealer/field_operator_application.hpp
@@ -33,7 +33,7 @@
 #include <concealer/autoware_universe.hpp>
 #include <concealer/launch.hpp>
 #include <concealer/publisher.hpp>
-#include <concealer/service_with_validation.hpp>
+#include <concealer/service.hpp>
 #include <concealer/subscriber.hpp>
 #include <concealer/task_queue.hpp>
 #include <concealer/transition_assertion.hpp>
@@ -119,14 +119,14 @@ struct FieldOperatorApplication : public rclcpp::Node,
   Subscriber<Trajectory>                      getTrajectory;
   Subscriber<TurnIndicatorsCommand>           getTurnIndicatorsCommand;
 
-  ServiceWithValidation<ClearRoute>                  requestClearRoute;
-  ServiceWithValidation<CooperateCommands>           requestCooperateCommands;
-  ServiceWithValidation<Engage>                      requestEngage;
-  ServiceWithValidation<InitializeLocalization>      requestInitialPose;
-  ServiceWithValidation<SetRoutePoints>              requestSetRoutePoints;
-  ServiceWithValidation<AutoModeWithModule>          requestSetRtcAutoMode;
-  ServiceWithValidation<SetVelocityLimit>            requestSetVelocityLimit;
-  ServiceWithValidation<ChangeOperationMode>         requestEnableAutowareControl;
+  Service<ClearRoute>             requestClearRoute;
+  Service<CooperateCommands>      requestCooperateCommands;
+  Service<Engage>                 requestEngage;
+  Service<InitializeLocalization> requestInitialPose;
+  Service<SetRoutePoints>         requestSetRoutePoints;
+  Service<AutoModeWithModule>     requestSetRtcAutoMode;
+  Service<SetVelocityLimit>       requestSetVelocityLimit;
+  Service<ChangeOperationMode>    requestEnableAutowareControl;
   // clang-format on
 
   /*

diff --git a/...ude/concealer/service_with_validation.hpp → ...l/concealer/include/concealer/service.hpp b/...ude/concealer/service_with_validation.hpp → ...l/concealer/include/concealer/service.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef CONCEALER__SERVICE_WITH_VALIDATION_HPP_
-#define CONCEALER__SERVICE_WITH_VALIDATION_HPP_
+#ifndef CONCEALER__SERVICE_HPP_
+#define CONCEALER__SERVICE_HPP_
 
 #include <autoware_adapi_v1_msgs/msg/response_status.hpp>
 #include <chrono>
@@ -28,7 +28,7 @@
 namespace concealer
 {
 template <typename T>
-class ServiceWithValidation
+class Service
 {
   const std::string service_name;
 
@@ -39,13 +39,13 @@ class ServiceWithValidation
   rclcpp::WallRate validation_rate;
 
 public:
-  template <typename FieldOperatorApplication>
-  explicit ServiceWithValidation(
-    const std::string & service_name, FieldOperatorApplication & autoware,
+  template <typename Node>
+  explicit Service(
+    const std::string & service_name, Node & node,
     const std::chrono::nanoseconds validation_interval = std::chrono::seconds(1))
   : service_name(service_name),
-    logger(autoware.get_logger()),
-    client(autoware.template create_client<T>(service_name, rmw_qos_profile_default)),
+    logger(node.get_logger()),
+    client(node.template create_client<T>(service_name, rmw_qos_profile_default)),
     validation_rate(validation_interval)
   {
   }
@@ -142,4 +142,4 @@ class ServiceWithValidation
 };
 }  // namespace concealer
 
-#endif  //CONCEALER__SERVICE_WITH_VALIDATION_HPP_
+#endif  //CONCEALER__SERVICE_HPP_