fix(raw_vehicle_cmd_converter): remove external command converter val…

…idation (autowarefoundation#2711) * fix(raw_vehicle_cmd_converter): remove external command converter validation Signed-off-by: taikitanaka3 <taiki.tanaka@tier4.jp> * chore: fix Signed-off-by: taikitanaka3 <taiki.tanaka@tier4.jp>
asana17 · Feb 8, 2023 · 11da501 · 11da501
1 parent af82f1e
commit 11da501
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Showing 8 changed files with 21 additions and 21 deletions.
diff --git a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/accel_map.hpp b/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/accel_map.hpp
@@ -29,7 +29,7 @@ namespace raw_vehicle_cmd_converter
 class AccelMap
 {
 public:
-  bool readAccelMapFromCSV(const std::string & csv_path);
+  bool readAccelMapFromCSV(const std::string & csv_path, const bool validation = false);
   bool getThrottle(const double acc, const double vel, double & throttle) const;
   bool getAcceleration(const double throttle, const double vel, double & acc) const;
   std::vector<double> getVelIdx() const { return vel_index_; }

diff --git a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/brake_map.hpp b/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/brake_map.hpp
@@ -29,7 +29,7 @@ namespace raw_vehicle_cmd_converter
 class BrakeMap
 {
 public:
-  bool readBrakeMapFromCSV(const std::string & csv_path);
+  bool readBrakeMapFromCSV(const std::string & csv_path, const bool validation = false);
   bool getBrake(const double acc, const double vel, double & brake);
   bool getAcceleration(const double brake, const double vel, double & acc) const;
   std::vector<double> getVelIdx() const { return vel_index_; }

diff --git a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/steer_map.hpp b/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/steer_map.hpp
@@ -28,7 +28,7 @@ namespace raw_vehicle_cmd_converter
 class SteerMap
 {
 public:
-  bool readSteerMapFromCSV(const std::string & csv_path);
+  bool readSteerMapFromCSV(const std::string & csv_path, const bool validation = false);
   void getSteer(const double steer_rate, const double steer, double & output) const;
 
 private:

diff --git a/vehicle/raw_vehicle_cmd_converter/src/accel_map.cpp b/vehicle/raw_vehicle_cmd_converter/src/accel_map.cpp
@@ -25,7 +25,7 @@ using namespace std::literals::chrono_literals;
 
 namespace raw_vehicle_cmd_converter
 {
-bool AccelMap::readAccelMapFromCSV(const std::string & csv_path)
+bool AccelMap::readAccelMapFromCSV(const std::string & csv_path, const bool validation)
 {
   CSVLoader csv(csv_path);
   std::vector<std::vector<std::string>> table;
@@ -38,7 +38,7 @@ bool AccelMap::readAccelMapFromCSV(const std::string & csv_path)
   vel_index_ = CSVLoader::getRowIndex(table);
   throttle_index_ = CSVLoader::getColumnIndex(table);
   accel_map_ = CSVLoader::getMap(table);
-  if (!CSVLoader::validateMap(accel_map_, true)) {
+  if (validation && !CSVLoader::validateMap(accel_map_, true)) {
     return false;
   }
   return true;

diff --git a/vehicle/raw_vehicle_cmd_converter/src/brake_map.cpp b/vehicle/raw_vehicle_cmd_converter/src/brake_map.cpp
@@ -22,7 +22,7 @@
 
 namespace raw_vehicle_cmd_converter
 {
-bool BrakeMap::readBrakeMapFromCSV(const std::string & csv_path)
+bool BrakeMap::readBrakeMapFromCSV(const std::string & csv_path, const bool validation)
 {
   CSVLoader csv(csv_path);
   std::vector<std::vector<std::string>> table;
@@ -36,7 +36,7 @@ bool BrakeMap::readBrakeMapFromCSV(const std::string & csv_path)
   brake_index_ = CSVLoader::getColumnIndex(table);
   brake_map_ = CSVLoader::getMap(table);
   brake_index_rev_ = brake_index_;
-  if (!CSVLoader::validateMap(brake_map_, false)) {
+  if (validation && !CSVLoader::validateMap(brake_map_, false)) {
     return false;
   }
   std::reverse(std::begin(brake_index_rev_), std::end(brake_index_rev_));

diff --git a/vehicle/raw_vehicle_cmd_converter/src/node.cpp b/vehicle/raw_vehicle_cmd_converter/src/node.cpp
@@ -42,17 +42,17 @@ RawVehicleCommandConverterNode::RawVehicleCommandConverterNode(
   use_steer_ff_ = declare_parameter("use_steer_ff", true);
   use_steer_fb_ = declare_parameter("use_steer_fb", true);
   if (convert_accel_cmd_) {
-    if (!accel_map_.readAccelMapFromCSV(csv_path_accel_map)) {
+    if (!accel_map_.readAccelMapFromCSV(csv_path_accel_map, true)) {
       throw std::invalid_argument("Accel map is invalid.");
     }
   }
   if (convert_brake_cmd_) {
-    if (!brake_map_.readBrakeMapFromCSV(csv_path_brake_map)) {
+    if (!brake_map_.readBrakeMapFromCSV(csv_path_brake_map, true)) {
       throw std::invalid_argument("Brake map is invalid.");
     }
   }
   if (convert_steer_cmd_) {
-    if (!steer_map_.readSteerMapFromCSV(csv_path_steer_map)) {
+    if (!steer_map_.readSteerMapFromCSV(csv_path_steer_map, true)) {
       throw std::invalid_argument("Steer map is invalid.");
     }
     const auto kp_steer{declare_parameter("steer_pid.kp", 150.0)};

diff --git a/vehicle/raw_vehicle_cmd_converter/src/steer_map.cpp b/vehicle/raw_vehicle_cmd_converter/src/steer_map.cpp
@@ -22,7 +22,7 @@
 namespace raw_vehicle_cmd_converter
 {
 
-bool SteerMap::readSteerMapFromCSV(const std::string & csv_path)
+bool SteerMap::readSteerMapFromCSV(const std::string & csv_path, const bool validation)
 {
   CSVLoader csv(csv_path);
   std::vector<std::vector<std::string>> table;
@@ -35,7 +35,7 @@ bool SteerMap::readSteerMapFromCSV(const std::string & csv_path)
   steer_index_ = CSVLoader::getRowIndex(table);
   output_index_ = CSVLoader::getColumnIndex(table);
   steer_map_ = CSVLoader::getMap(table);
-  if (!CSVLoader::validateMap(steer_map_, true)) {
+  if (validation && !CSVLoader::validateMap(steer_map_, true)) {
     return false;
   }
   return true;

diff --git a/vehicle/raw_vehicle_cmd_converter/test/test_raw_vehicle_cmd_converter.cpp b/vehicle/raw_vehicle_cmd_converter/test/test_raw_vehicle_cmd_converter.cpp
@@ -95,9 +95,9 @@ TEST(ConverterTests, LoadExampleMap)
   const auto data_path =
     ament_index_cpp::get_package_share_directory("raw_vehicle_cmd_converter") + "/data/default/";
   // for invalid path
-  EXPECT_TRUE(accel_map.readAccelMapFromCSV(data_path + "accel_map.csv"));
-  EXPECT_TRUE(brake_map.readBrakeMapFromCSV(data_path + "brake_map.csv"));
-  EXPECT_TRUE(steer_map.readSteerMapFromCSV(data_path + "steer_map.csv"));
+  EXPECT_TRUE(accel_map.readAccelMapFromCSV(data_path + "accel_map.csv", true));
+  EXPECT_TRUE(brake_map.readBrakeMapFromCSV(data_path + "brake_map.csv", true));
+  EXPECT_TRUE(steer_map.readSteerMapFromCSV(data_path + "steer_map.csv", true));
 }
 
 TEST(ConverterTests, LoadValidPath)
@@ -112,14 +112,14 @@ TEST(ConverterTests, LoadValidPath)
   EXPECT_TRUE(loadSteerMapData(steer_map));
 
   // for invalid path
-  EXPECT_FALSE(accel_map.readAccelMapFromCSV("invalid.csv"));
-  EXPECT_FALSE(brake_map.readBrakeMapFromCSV("invalid.csv"));
-  EXPECT_FALSE(steer_map.readSteerMapFromCSV("invalid.csv"));
+  EXPECT_FALSE(accel_map.readAccelMapFromCSV("invalid.csv", true));
+  EXPECT_FALSE(brake_map.readBrakeMapFromCSV("invalid.csv", true));
+  EXPECT_FALSE(steer_map.readSteerMapFromCSV("invalid.csv", true));
 
   // for invalid maps
-  EXPECT_FALSE(accel_map.readAccelMapFromCSV(map_path + "test_1col_map.csv"));
-  EXPECT_FALSE(accel_map.readAccelMapFromCSV(map_path + "test_inconsistent_rows_map.csv"));
-  EXPECT_FALSE(accel_map.readAccelMapFromCSV(map_path + "test_not_interpolatable.csv"));
+  EXPECT_FALSE(accel_map.readAccelMapFromCSV(map_path + "test_1col_map.csv", true));
+  EXPECT_FALSE(accel_map.readAccelMapFromCSV(map_path + "test_inconsistent_rows_map.csv", true));
+  EXPECT_FALSE(accel_map.readAccelMapFromCSV(map_path + "test_not_interpolatable.csv", true));
 }
 
 TEST(ConverterTests, AccelMapCalculation)