Add lanelet XML API (autowarefoundation#26)

BalajiEdutech · Oct 26, 2021 · dfb57dd · dfb57dd
1 parent 22fc3a8
commit dfb57dd
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Showing 2 changed files with 32 additions and 0 deletions.
diff --git a/autoware_iv_external_api_adaptor/src/map.cpp b/autoware_iv_external_api_adaptor/src/map.cpp
@@ -21,6 +21,16 @@ Map::Map(const rclcpp::NodeOptions & options)
 : Node("external_api_map", options)
 {
   using namespace std::placeholders;
+  autoware_api_utils::ServiceProxyNodeInterface proxy(this);
+
+  group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  srv_lanelet_xml_ = proxy.create_service<autoware_external_api_msgs::srv::GetTextFile>(
+    "/api/external/get/map/lanelet/xml",
+    std::bind(&Map::getLaneletXml, this, _1, _2),
+    rmw_qos_profile_services_default, group_);
+  cli_lanelet_xml_ = proxy.create_client<autoware_external_api_msgs::srv::GetTextFile>(
+    "/api/autoware/get/map/lanelet/xml",
+    rmw_qos_profile_services_default);
 
   pub_map_info_ = create_publisher<autoware_external_api_msgs::msg::MapHash>(
     "/api/external/get/map/info/hash", rclcpp::QoS(1).transient_local());
@@ -34,6 +44,19 @@ void Map::getMapHash(const autoware_external_api_msgs::msg::MapHash::SharedPtr m
   pub_map_info_->publish(*message);
 }
 
+void Map::getLaneletXml(
+  const autoware_external_api_msgs::srv::GetTextFile::Request::SharedPtr request,
+  const autoware_external_api_msgs::srv::GetTextFile::Response::SharedPtr response)
+{
+  auto [status, resp] = cli_lanelet_xml_->call(request);
+  if (!autoware_api_utils::is_success(status)) {
+    response->status = status;
+    return;
+  }
+  response->file = resp->file;
+  response->status = resp->status;
+}
+
 }  // namespace external_api
 
 #include "rclcpp_components/register_node_macro.hpp"

diff --git a/autoware_iv_external_api_adaptor/src/map.hpp b/autoware_iv_external_api_adaptor/src/map.hpp
@@ -16,6 +16,8 @@
 #define MAP_HPP_
 
 #include "rclcpp/rclcpp.hpp"
+#include "autoware_api_utils/autoware_api_utils.hpp"
+#include "autoware_external_api_msgs/srv/get_text_file.hpp"
 #include "autoware_external_api_msgs/msg/map_hash.hpp"
 
 namespace external_api
@@ -27,14 +29,21 @@ class Map : public rclcpp::Node
   explicit Map(const rclcpp::NodeOptions & options);
 
 private:
+  using GetTextFile = autoware_external_api_msgs::srv::GetTextFile;
   using MapHash = autoware_external_api_msgs::msg::MapHash;
 
   // ros interface
+  rclcpp::CallbackGroup::SharedPtr group_;
+  autoware_api_utils::Service<GetTextFile>::SharedPtr srv_lanelet_xml_;
+  autoware_api_utils::Client<GetTextFile>::SharedPtr cli_lanelet_xml_;
   rclcpp::Publisher<MapHash>::SharedPtr pub_map_info_;
   rclcpp::Subscription<MapHash>::SharedPtr sub_map_info_;
 
   // ros callback
   void getMapHash(const autoware_external_api_msgs::msg::MapHash::SharedPtr message);
+  void getLaneletXml(
+    const autoware_external_api_msgs::srv::GetTextFile::Request::SharedPtr request,
+    const autoware_external_api_msgs::srv::GetTextFile::Response::SharedPtr response);
 };
 
 }  // namespace external_api