refactor(behavior_path_planner): use boost uuid as hash for debug

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
zulfaqar-azmi-t4 · Nov 30, 2023 · a1f0af2 · a1f0af2
1 parent 5d2c81f
commit a1f0af2
Show file tree

Hide file tree

Showing 3 changed files with 22 additions and 2 deletions.
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/uuid_helper.hpp b/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/uuid_helper.hpp
@@ -17,6 +17,9 @@
 
 #include <unique_identifier_msgs/msg/uuid.hpp>
 
+#include <boost/uuid/uuid.hpp>
+
+#include <algorithm>
 #include <random>
 #include <string>
 
@@ -40,6 +43,21 @@ inline std::string toHexString(const unique_identifier_msgs::msg::UUID & id)
   }
   return ss.str();
 }
+
+static inline boost::uuids::uuid toBoostUUID(const unique_identifier_msgs::msg::UUID & id)
+{
+  boost::uuids::uuid boost_uuid{};
+  std::copy(id.uuid.begin(), id.uuid.end(), boost_uuid.begin());
+  return boost_uuid;
+}
+
+static inline unique_identifier_msgs::msg::UUID toUUIDMsg(const boost::uuids::uuid & id)
+{
+  unique_identifier_msgs::msg::UUID ros_uuid{};
+  std::copy(id.begin(), id.end(), ros_uuid.uuid.begin());
+  return ros_uuid;
+}
+
 }  // namespace tier4_autoware_utils
 
 #endif  // TIER4_AUTOWARE_UTILS__ROS__UUID_HELPER_HPP_
diff --git a/...nclude/behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp b/...nclude/behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp
@@ -21,6 +21,8 @@
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/twist.hpp>
 
+#include <boost/uuid/uuid_hash.hpp>
+
 #include <string>
 #include <unordered_map>
 #include <utility>
@@ -214,7 +216,7 @@ struct CollisionCheckDebug
   Polygon2d extended_obj_polygon{};  ///< Detected object's extended collision polygon.
   autoware_auto_perception_msgs::msg::Shape obj_shape;  ///< object's shape.
 };
-using CollisionCheckDebugPair = std::pair<std::string, CollisionCheckDebug>;
+using CollisionCheckDebugPair = std::pair<boost::uuids::uuid, CollisionCheckDebug>;
 using CollisionCheckDebugMap =
   std::unordered_map<CollisionCheckDebugPair::first_type, CollisionCheckDebugPair::second_type>;
 

diff --git a/planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp b/planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp
@@ -598,7 +598,7 @@ CollisionCheckDebugPair createObjectDebug(const ExtendedPredictedObject & obj)
   debug.extended_obj_polygon = tier4_autoware_utils::toPolygon2d(obj.initial_pose.pose, obj.shape);
   debug.obj_shape = obj.shape;
   debug.current_twist = obj.initial_twist.twist;
-  return {tier4_autoware_utils::toHexString(obj.uuid), debug};
+  return {tier4_autoware_utils::toBoostUUID(obj.uuid), debug};
 }
 
 void updateCollisionCheckDebugMap(