From 5dcb52b55ea9ef39f330a1a550a91d5db9e1afac Mon Sep 17 00:00:00 2001
From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>
Date: Mon, 18 Nov 2024 10:23:49 +0900
Subject: [PATCH] feat(autoware_traffic_light_multi_camera_fusion): resolve
 clang-tidy error (#9336)

* feat(autoware_traffic_light_multi_camera_fusion): resolve clang-tidy error

Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>

* add const to argument

Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>

---------

Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
---
 .../package.xml                               |  1 +
 ...traffic_light_multi_camera_fusion_node.cpp |  6 ++--
 ...traffic_light_multi_camera_fusion_node.hpp | 30 +++++++++----------
 3 files changed, 19 insertions(+), 18 deletions(-)

diff --git a/perception/autoware_traffic_light_multi_camera_fusion/package.xml b/perception/autoware_traffic_light_multi_camera_fusion/package.xml
index e029c79def9f9..111e34030c870 100644
--- a/perception/autoware_traffic_light_multi_camera_fusion/package.xml
+++ b/perception/autoware_traffic_light_multi_camera_fusion/package.xml
@@ -16,6 +16,7 @@
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>
+  <depend>message_filters</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
diff --git a/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp b/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp
index 70841b936af37..08c6600d91923 100644
--- a/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp
+++ b/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp
@@ -102,8 +102,8 @@ V at_or(const std::unordered_map<K, V> & map, const K & key, const V & value)
 autoware_perception_msgs::msg::TrafficLightElement convert(
   const tier4_perception_msgs::msg::TrafficLightElement & input)
 {
-  typedef tier4_perception_msgs::msg::TrafficLightElement OldElem;
-  typedef autoware_perception_msgs::msg::TrafficLightElement NewElem;
+  using OldElem = tier4_perception_msgs::msg::TrafficLightElement;
+  using NewElem = autoware_perception_msgs::msg::TrafficLightElement;
   static const std::unordered_map<OldElem::_color_type, NewElem::_color_type> color_map(
     {{OldElem::RED, NewElem::RED},
      {OldElem::AMBER, NewElem::AMBER},
@@ -292,7 +292,7 @@ void MultiCameraFusion::multiCameraFusion(std::map<IdType, FusionRecord> & fused
 }
 
 void MultiCameraFusion::groupFusion(
-  std::map<IdType, FusionRecord> & fused_record_map,
+  const std::map<IdType, FusionRecord> & fused_record_map,
   std::map<IdType, FusionRecord> & grouped_record_map)
 {
   grouped_record_map.clear();
diff --git a/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.hpp b/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.hpp
index 23bc59c26b293..bf41df9bb3a24 100644
--- a/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.hpp
+++ b/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.hpp
@@ -65,16 +65,16 @@ bool operator<(const FusionRecordArr & r1, const FusionRecordArr & r2)
 class MultiCameraFusion : public rclcpp::Node
 {
 public:
-  typedef sensor_msgs::msg::CameraInfo CamInfoType;
-  typedef tier4_perception_msgs::msg::TrafficLightRoi RoiType;
-  typedef tier4_perception_msgs::msg::TrafficLight SignalType;
-  typedef tier4_perception_msgs::msg::TrafficLightArray SignalArrayType;
-  typedef tier4_perception_msgs::msg::TrafficLightRoiArray RoiArrayType;
-  typedef tier4_perception_msgs::msg::TrafficLightRoi::_traffic_light_id_type IdType;
-  typedef autoware_perception_msgs::msg::TrafficLightGroup NewSignalType;
-  typedef autoware_perception_msgs::msg::TrafficLightGroupArray NewSignalArrayType;
+  using CamInfoType = sensor_msgs::msg::CameraInfo;
+  using RoiType = tier4_perception_msgs::msg::TrafficLightRoi;
+  using SignalType = tier4_perception_msgs::msg::TrafficLight;
+  using SignalArrayType = tier4_perception_msgs::msg::TrafficLightArray;
+  using RoiArrayType = tier4_perception_msgs::msg::TrafficLightRoiArray;
+  using IdType = tier4_perception_msgs::msg::TrafficLightRoi::_traffic_light_id_type;
+  using NewSignalType = autoware_perception_msgs::msg::TrafficLightGroup;
+  using NewSignalArrayType = autoware_perception_msgs::msg::TrafficLightGroupArray;
 
-  typedef std::pair<RoiArrayType, SignalArrayType> RecordArrayType;
+  using RecordArrayType = std::pair<RoiArrayType, SignalArrayType>;
 
   explicit MultiCameraFusion(const rclcpp::NodeOptions & node_options);
 
@@ -91,14 +91,14 @@ class MultiCameraFusion : public rclcpp::Node
     const std::map<IdType, FusionRecord> & grouped_record_map, NewSignalArrayType & msg_out);
 
   void groupFusion(
-    std::map<IdType, FusionRecord> & fused_record_map,
+    const std::map<IdType, FusionRecord> & fused_record_map,
     std::map<IdType, FusionRecord> & grouped_record_map);
 
-  typedef mf::sync_policies::ExactTime<CamInfoType, RoiArrayType, SignalArrayType> ExactSyncPolicy;
-  typedef mf::Synchronizer<ExactSyncPolicy> ExactSync;
-  typedef mf::sync_policies::ApproximateTime<CamInfoType, RoiArrayType, SignalArrayType>
-    ApproximateSyncPolicy;
-  typedef mf::Synchronizer<ApproximateSyncPolicy> ApproximateSync;
+  using ExactSyncPolicy = mf::sync_policies::ExactTime<CamInfoType, RoiArrayType, SignalArrayType>;
+  using ExactSync = mf::Synchronizer<ExactSyncPolicy>;
+  using ApproximateSyncPolicy =
+    mf::sync_policies::ApproximateTime<CamInfoType, RoiArrayType, SignalArrayType>;
+  using ApproximateSync = mf::Synchronizer<ApproximateSyncPolicy>;
 
   std::vector<std::unique_ptr<mf::Subscriber<SignalArrayType>>> signal_subs_;
   std::vector<std::unique_ptr<mf::Subscriber<RoiArrayType>>> roi_subs_;