Merge pull request #183 from tier4/sync-upstream

chore: sync upstream

.clang-format

@@ -33,6 +33,9 @@ IncludeCategories:
   - Regex: .*_msgs/.*
     Priority: 3
     CaseSensitive: true
+  - Regex: .*_srvs/.*
+    Priority: 3
+    CaseSensitive: true
   # Other Package headers
   - Regex: <.*>
     Priority: 2

.github/labeler.yaml

@@ -6,9 +6,8 @@ ci:
   - .clang-format
   - .gitignore
   - .prettierignore
-document:
+documentation:
   - docs/**/*
-  - "**/*.txt"
   - "**/*.md"
   - "**/*.rst"
   - "**/*.jpg"

.github/sync-files.yaml

@@ -86,6 +86,7 @@
     - source: .github/workflows/clang-tidy-pr-comments.yaml
     - source: .github/workflows/clang-tidy-pr-comments-manually.yaml
     - source: .github/workflows/update-codeowners-from-packages.yaml
+    - source: .pre-commit-config.yaml
     - source: codecov.yaml
 
 - repository: autowarefoundation/autoware-documentation

.github/workflows/deploy-docs.yaml

@@ -21,7 +21,7 @@ jobs:
   prevent-no-label-execution:
     uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
     with:
-      label: documentation
+      label: deploy-docs
 
   deploy-docs:
     needs: prevent-no-label-execution

.github/workflows/update-codeowners-from-packages.yaml

@@ -27,6 +27,7 @@ jobs:
         uses: autowarefoundation/autoware-github-actions/update-codeowners-from-packages@v1
         with:
           token: ${{ steps.generate-token.outputs.token }}
+          global-codeowners: "@autowarefoundation/autoware-global-codeowners"
           pr-labels: |
             bot
             update-codeowners-from-packages

common/autoware_ad_api_specs/include/autoware_ad_api_specs/fail_safe.hpp

@@ -0,0 +1,36 @@
+// Copyright 2022 TIER IV, Inc.
+//
+// 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 AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_
+#define AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
+
+namespace autoware_ad_api::fail_safe
+{
+
+struct MrmState
+{
+  using Message = autoware_adapi_v1_msgs::msg::MrmState;
+  static constexpr char name[] = "/api/fail_safe/mrm_state";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+}  // namespace autoware_ad_api::fail_safe
+
+#endif  // AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_

common/autoware_auto_common/include/common/types.hpp

@@ -109,46 +109,6 @@ struct COMMON_PUBLIC PointXYZI
   }
 };
 
-struct COMMON_PUBLIC PointXYZ
-{
-  float32_t x{0.0F};
-  float32_t y{0.0F};
-  float32_t z{0.0F};
-  friend bool operator==(const PointXYZ & p1, const PointXYZ & p2) noexcept
-  {
-    return helper_functions::comparisons::rel_eq(
-             p1.x, p2.x, std::numeric_limits<float32_t>::epsilon()) &&
-
-           helper_functions::comparisons::rel_eq(
-             p1.y, p2.y, std::numeric_limits<float32_t>::epsilon()) &&
-
-           helper_functions::comparisons::rel_eq(
-             p1.z, p2.z, std::numeric_limits<float32_t>::epsilon());
-  }
-};
-
-struct COMMON_PUBLIC PointXYZTimestamp
-{
-  float32_t x{0.0F};
-  float32_t y{0.0F};
-  float32_t z{0.0F};
-  float32_t time_stamp{0.0F};
-  friend bool operator==(const PointXYZTimestamp & p1, const PointXYZTimestamp & p2) noexcept
-  {
-    return helper_functions::comparisons::rel_eq(
-             p1.x, p2.x, std::numeric_limits<float32_t>::epsilon()) &&
-
-           helper_functions::comparisons::rel_eq(
-             p1.y, p2.y, std::numeric_limits<float32_t>::epsilon()) &&
-
-           helper_functions::comparisons::rel_eq(
-             p1.z, p2.z, std::numeric_limits<float32_t>::epsilon()) &&
-
-           helper_functions::comparisons::rel_eq(
-             p1.time_stamp, p2.time_stamp, std::numeric_limits<float32_t>::epsilon());
-  }
-};
-
 using PointBlock = std::vector<PointXYZIF>;
 using PointPtrBlock = std::vector<const PointXYZIF *>;
 /// \brief Stores basic configuration information, does some simple validity checking

common/component_interface_specs/include/component_interface_specs/system.hpp

@@ -17,13 +17,23 @@
 
 #include <rclcpp/qos.hpp>
 
+#include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
 #include <tier4_system_msgs/srv/change_autoware_control.hpp>
 #include <tier4_system_msgs/srv/change_operation_mode.hpp>
 
 namespace system_interface
 {
 
+struct MrmState
+{
+  using Message = autoware_adapi_v1_msgs::msg::MrmState;
+  static constexpr char name[] = "/system/fail_safe/mrm_state";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
 struct ChangeAutowareControl
 {
   using Service = tier4_system_msgs::srv::ChangeAutowareControl;

common/component_interface_utils/include/component_interface_utils/rclcpp/exceptions.hpp

@@ -39,15 +39,15 @@ class ServiceException : public std::exception
   template <class T>
   void set(T & status) const
   {
-    status.success = false;
+    status.success = success_;
     status.code = code_;
     status.message = message_;
   }
 
   ResponseStatus status() const
   {
     ResponseStatus status;
-    status.success = false;
+    status.success = success_;
     status.code = code_;
     status.message = message_;
     return status;