Added linters to turn_signal_decider (autowarefoundation#155)

* Added linters to turn_signal_decider

* Removed duplicate dependencies

* Fix linting error

planning/scenario_planning/lane_driving/behavior_planning/turn_signal_decider/CMakeLists.txt

@@ -7,6 +7,8 @@ ament_auto_find_build_dependencies()
 ### Compile options
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter -Werror)
@@ -16,4 +18,9 @@ find_package(Eigen3 REQUIRED)
 
 ament_auto_add_executable(turn_signal_decider src/turn_signal_decider_node.cpp src/turn_signal_decider_core.cpp src/data_manager.cpp src/frenet_coordinate.cpp)
 
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 ament_auto_package()

planning/scenario_planning/lane_driving/behavior_planning/turn_signal_decider/include/turn_signal_decider/data_manager.hpp

@@ -11,20 +11,20 @@
 // 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.
-#pragma once
+#ifndef TURN_SIGNAL_DECIDER__DATA_MANAGER_HPP_
+#define TURN_SIGNAL_DECIDER__DATA_MANAGER_HPP_
 
-#include "rclcpp/rclcpp.hpp"
-
-#include "geometry_msgs/msg/pose_stamped.hpp"
-#include "tf2_ros/transform_listener.h"
+#include <memory>
 
 #include "autoware_lanelet2_msgs/msg/map_bin.hpp"
 #include "autoware_planning_msgs/msg/path_with_lane_id.hpp"
 #include "autoware_vehicle_msgs/msg/turn_signal.hpp"
-
+#include "geometry_msgs/msg/pose_stamped.hpp"
 #include "lanelet2_core/LaneletMap.h"
 #include "lanelet2_routing/RoutingGraph.h"
 #include "lanelet2_traffic_rules/TrafficRulesFactory.h"
+#include "rclcpp/rclcpp.hpp"
+#include "tf2_ros/transform_listener.h"
 
 namespace turn_signal_decider
 {
@@ -73,3 +73,4 @@ class DataManager
   bool isDataReady() const;
 };
 }  // namespace turn_signal_decider
+#endif  // TURN_SIGNAL_DECIDER__DATA_MANAGER_HPP_

planning/scenario_planning/lane_driving/behavior_planning/turn_signal_decider/include/turn_signal_decider/frenet_coordinate.hpp

@@ -11,11 +11,13 @@
 // 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.
-#pragma once
+#ifndef TURN_SIGNAL_DECIDER__FRENET_COORDINATE_HPP_
+#define TURN_SIGNAL_DECIDER__FRENET_COORDINATE_HPP_
+
+#include <vector>
 
 #include "autoware_planning_msgs/msg/path_with_lane_id.hpp"
 #include "geometry_msgs/msg/point.hpp"
-#include <vector>
 
 namespace turn_signal_decider
 {
@@ -34,3 +36,4 @@ bool convertToFrenetCoordinate3d(
   const std::vector<geometry_msgs::msg::Point> & linestring,
   const geometry_msgs::msg::Point & search_point_geom, FrenetCoordinate3d * frenet_coordinate);
 }  // namespace turn_signal_decider
+#endif  // TURN_SIGNAL_DECIDER__FRENET_COORDINATE_HPP_

planning/scenario_planning/lane_driving/behavior_planning/turn_signal_decider/include/turn_signal_decider/turn_signal_decider.hpp

@@ -11,19 +11,21 @@
 // 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.
-#pragma once
+#ifndef TURN_SIGNAL_DECIDER__TURN_SIGNAL_DECIDER_HPP_
+#define TURN_SIGNAL_DECIDER__TURN_SIGNAL_DECIDER_HPP_
 
-#include "rclcpp/rclcpp.hpp"
+#include <string>
 
 #include "autoware_vehicle_msgs/msg/turn_signal.hpp"
+#include "rclcpp/rclcpp.hpp"
 #include "turn_signal_decider/data_manager.hpp"
 #include "turn_signal_decider/frenet_coordinate.hpp"
 
 namespace turn_signal_decider
 {
 struct TurnSignalParameters
 {
-  double lane_change_search_distance;  // TODO: change this to time based threshold
+  double lane_change_search_distance;  // TODO(mitsudome-r): change this to time based threshold
   double intersection_search_distance;
 };
 
@@ -63,3 +65,4 @@ class TurnSignalDecider : public std::enable_shared_from_this<TurnSignalDecider>
   TurnSignalDecider(const std::string & node_name, const rclcpp::NodeOptions & node_options);
 };
 }  // namespace turn_signal_decider
+#endif  // TURN_SIGNAL_DECIDER__TURN_SIGNAL_DECIDER_HPP_

planning/scenario_planning/lane_driving/behavior_planning/turn_signal_decider/package.xml

@@ -19,6 +19,9 @@
   <depend>std_msgs</depend>
   <depend>tf2_ros</depend>
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

planning/scenario_planning/lane_driving/behavior_planning/turn_signal_decider/src/data_manager.cpp

@@ -11,10 +11,11 @@
 // 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.
-#include "turn_signal_decider/turn_signal_decider.hpp"
+#include <memory>
 
 #include "lanelet2_extension/utility/message_conversion.hpp"
 #include "lanelet2_extension/utility/utilities.hpp"
+#include "turn_signal_decider/turn_signal_decider.hpp"
 
 using autoware_planning_msgs::msg::PathWithLaneId;
 
@@ -83,10 +84,8 @@ void DataManager::onVehiclePoseUpdate()
   if (node_ != nullptr) {
     try {
       const auto current_time = node_->now();
-      const auto transform =
-        tf_buffer_->lookupTransform(
-        "map", "base_link", current_time, rclcpp::Duration::from_seconds(
-          0.1));
+      const auto transform = tf_buffer_->lookupTransform(
+        "map", "base_link", current_time, rclcpp::Duration::from_seconds(0.1));
       vehicle_pose_.pose.position.x = transform.transform.translation.x;
       vehicle_pose_.pose.position.y = transform.transform.translation.y;
       vehicle_pose_.pose.position.z = transform.transform.translation.z;
@@ -103,7 +102,7 @@ void DataManager::onVehiclePoseUpdate()
         RCLCPP_WARN_STREAM_THROTTLE(
           node_->get_logger(), *node_->get_clock(), std::chrono::milliseconds(5000).count(),
           ex.what());
-      } else { // if tf suddenly stops comming, then there must be something wrong.
+      } else {  // if tf suddenly stops comming, then there must be something wrong.
         RCLCPP_ERROR_STREAM_THROTTLE(
           node_->get_logger(), *node_->get_clock(), std::chrono::milliseconds(5000).count(),
           ex.what());

planning/scenario_planning/lane_driving/behavior_planning/turn_signal_decider/src/frenet_coordinate.cpp

@@ -11,7 +11,12 @@
 // 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.
+
+#include <limits>
+#include <vector>
+
 #include "turn_signal_decider/frenet_coordinate.hpp"
+
 #include "Eigen/Dense"
 
 namespace

planning/scenario_planning/lane_driving/behavior_planning/turn_signal_decider/src/turn_signal_decider_core.cpp

@@ -11,6 +11,12 @@
 // 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.
+
+#include <limits>
+#include <memory>
+#include <string>
+#include <utility>
+
 #include "turn_signal_decider/turn_signal_decider.hpp"
 
 using autoware_planning_msgs::msg::PathWithLaneId;
@@ -29,8 +35,7 @@ double getDistance3d(const geometry_msgs::msg::Point & p1, const geometry_msgs::
 namespace turn_signal_decider
 {
 TurnSignalDecider::TurnSignalDecider(
-  const std::string & node_name,
-  const rclcpp::NodeOptions & node_options)
+  const std::string & node_name, const rclcpp::NodeOptions & node_options)
 : rclcpp::Node(node_name, node_options), data_(this)
 {
   // setup data manager
@@ -49,20 +54,18 @@ TurnSignalDecider::TurnSignalDecider(
     "input/path_with_lane_id", rclcpp::QoS{1},
     std::bind(&DataManager::onPathWithLaneId, &data_, _1));
   map_subscription_ = this->create_subscription<autoware_lanelet2_msgs::msg::MapBin>(
-    "input/vector_map", rclcpp::QoS{1}.transient_local(), std::bind(&DataManager::onLaneletMap, &data_, _1));
+    "input/vector_map", rclcpp::QoS{1}.transient_local(),
+    std::bind(&DataManager::onLaneletMap, &data_, _1));
 
   // get ROS parameters
-  parameters_.lane_change_search_distance = this->declare_parameter(
-    "lane_change_search_distance",
-    double(30));
-  parameters_.intersection_search_distance = this->declare_parameter(
-    "intersection_search_distance",
-    double(30));
+  parameters_.lane_change_search_distance =
+    this->declare_parameter("lane_change_search_distance", static_cast<double>(30));
+  parameters_.intersection_search_distance =
+    this->declare_parameter("intersection_search_distance", static_cast<double>(30));
 
   // set publishers
-  turn_signal_publisher_ = this->create_publisher<TurnSignal>(
-    "output/turn_signal_cmd",
-    rclcpp::QoS{1});
+  turn_signal_publisher_ =
+    this->create_publisher<TurnSignal>("output/turn_signal_cmd", rclcpp::QoS{1});
 
   constexpr double turn_signal_update_period = 0.1;
   auto turn_signal_timer_callback = std::bind(&TurnSignalDecider::onTurnSignalTimer, this);
@@ -155,8 +158,8 @@ lanelet::routing::RelationType TurnSignalDecider::getRelation(
 
 bool TurnSignalDecider::isChangingLane(
   const autoware_planning_msgs::msg::PathWithLaneId & path,
-  const FrenetCoordinate3d & vehicle_pose_frenet,
-  TurnSignal * signal_state_ptr, double * distance_ptr) const
+  const FrenetCoordinate3d & vehicle_pose_frenet, TurnSignal * signal_state_ptr,
+  double * distance_ptr) const
 {
   if (signal_state_ptr == nullptr || distance_ptr == nullptr) {
     RCLCPP_ERROR(this->get_logger(), "Given argument is nullptr.");
@@ -210,8 +213,8 @@ bool TurnSignalDecider::isChangingLane(
 
 bool TurnSignalDecider::isTurning(
   const autoware_planning_msgs::msg::PathWithLaneId & path,
-  const FrenetCoordinate3d & vehicle_pose_frenet,
-  TurnSignal * signal_state_ptr, double * distance_ptr) const
+  const FrenetCoordinate3d & vehicle_pose_frenet, TurnSignal * signal_state_ptr,
+  double * distance_ptr) const
 {
   if (signal_state_ptr == nullptr || distance_ptr == nullptr) {
     RCLCPP_ERROR(this->get_logger(), "Given argument is nullptr.");

planning/scenario_planning/lane_driving/behavior_planning/turn_signal_decider/src/turn_signal_decider_node.cpp

@@ -11,16 +11,18 @@
 // 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.
+
+#include <memory>
+
 #include "turn_signal_decider/turn_signal_decider.hpp"
 
 int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
 
   rclcpp::NodeOptions node_options;
-  auto decider = std::make_shared<turn_signal_decider::TurnSignalDecider>(
-    "turn_signal_decider",
-    node_options);
+  auto decider =
+    std::make_shared<turn_signal_decider::TurnSignalDecider>("turn_signal_decider", node_options);
 
   rclcpp::spin(decider);