refactor(oepration__mode_transition_manager): improve visibility for …

…debug topic (#2573)

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

control/operation_mode_transition_manager/src/state.cpp

@@ -14,6 +14,8 @@
 
 #include "state.hpp"
 
+#include "util.hpp"
+
 #include <motion_utils/motion_utils.hpp>
 #include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
@@ -197,7 +199,7 @@ std::pair<bool, bool> AutonomousMode::hasDangerLateralAcceleration()
 bool AutonomousMode::isModeChangeAvailable()
 {
   if (!check_engage_condition_) {
-    debug_info_.is_all_ok = true;
+    setAllOk(debug_info_);
     return true;
   }
 

control/operation_mode_transition_manager/src/util.hpp

@@ -0,0 +1,37 @@
+// Copyright 2022 Autoware Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef UTIL_HPP_
+#define UTIL_HPP_
+
+#include "operation_mode_transition_manager/msg/operation_mode_transition_manager_debug.hpp"
+
+using DebugInfo = operation_mode_transition_manager::msg::OperationModeTransitionManagerDebug;
+
+void setAllOk(DebugInfo & debug_info)
+{
+  debug_info.is_all_ok = true;
+  debug_info.engage_allowed_for_stopped_vehicle = true;
+  debug_info.large_acceleration_ok = true;
+  debug_info.large_lateral_acceleration_diff_ok = true;
+  debug_info.large_lateral_acceleration_ok = true;
+  debug_info.lateral_deviation_ok = true;
+  debug_info.speed_lower_deviation_ok = true;
+  debug_info.speed_upper_deviation_ok = true;
+  debug_info.stop_ok = true;
+  debug_info.trajectory_available_ok = true;
+  debug_info.yaw_deviation_ok = true;
+}
+
+#endif  // UTIL_HPP_