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refactor(start_planner): rename pull out to start planner #108

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merged 1 commit into from
Jun 7, 2023
Merged

refactor(start_planner): rename pull out to start planner #108

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12 changes: 6 additions & 6 deletions autoware_iv_external_api_adaptor/src/rtc_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -97,7 +97,7 @@ RTCController::RTCController(const rclcpp::NodeOptions & options)
avoidance_by_lc_left_ = std::make_unique<RTCModule>(this, "avoidance_by_lane_change_left");
avoidance_by_lc_right_ = std::make_unique<RTCModule>(this, "avoidance_by_lane_change_right");
goal_planner_ = std::make_unique<RTCModule>(this, "goal_planner");
pull_out_ = std::make_unique<RTCModule>(this, "pull_out");
start_planner_ = std::make_unique<RTCModule>(this, "start_planner");

rtc_status_pub_ =
create_publisher<CooperateStatusArray>("/api/external/get/rtc_status", rclcpp::QoS(1));
Expand Down Expand Up @@ -164,7 +164,7 @@ void RTCController::onTimer()
avoidance_by_lc_left_->insertMessage(cooperate_statuses);
avoidance_by_lc_right_->insertMessage(cooperate_statuses);
goal_planner_->insertMessage(cooperate_statuses);
pull_out_->insertMessage(cooperate_statuses);
start_planner_->insertMessage(cooperate_statuses);

insertionSortAndValidation(cooperate_statuses);

Expand Down Expand Up @@ -218,8 +218,8 @@ void RTCController::setRTC(
goal_planner_->callService(request, responses);
break;
}
case Module::PULL_OUT: {
pull_out_->callService(request, responses);
case Module::START_PLANNER: {
start_planner_->callService(request, responses);
break;
}
case Module::TRAFFIC_LIGHT: {
Expand Down Expand Up @@ -295,8 +295,8 @@ void RTCController::setRTCAutoMode(
goal_planner_->callAutoModeService(auto_mode_request, auto_mode_response);
break;
}
case Module::PULL_OUT: {
pull_out_->callAutoModeService(auto_mode_request, auto_mode_response);
case Module::START_PLANNER: {
start_planner_->callAutoModeService(auto_mode_request, auto_mode_response);
break;
}
case Module::TRAFFIC_LIGHT: {
Expand Down
2 changes: 1 addition & 1 deletion autoware_iv_external_api_adaptor/src/rtc_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -84,7 +84,7 @@ class RTCController : public rclcpp::Node
std::unique_ptr<RTCModule> avoidance_by_lc_left_;
std::unique_ptr<RTCModule> avoidance_by_lc_right_;
std::unique_ptr<RTCModule> goal_planner_;
std::unique_ptr<RTCModule> pull_out_;
std::unique_ptr<RTCModule> start_planner_;

/* publishers */
rclcpp::Publisher<CooperateStatusArray>::SharedPtr rtc_status_pub_;
Expand Down