Merge branch 'tier4/proposal' into fix/isTurning

autowarefoundation · Feb 10, 2022 · 65c6778 · 65c6778
2 parents 66a1031 + eb599ae
commit 65c6778
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diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml
@@ -1,24 +1,33 @@
 - repository: autowarefoundation/autoware
   files:
+    - source: CODE_OF_CONDUCT.md
+    - source: CONTRIBUTING.md
+    - source: DISCLAIMER.md
+    - source: LICENSE
     - source: .github/dependabot.yaml
     - source: .github/workflows/pre-commit-optional.yaml
     - source: .github/workflows/semantic-pull-request.yaml
-    - source: .github/workflows/spell-check.yaml
+    - source: .github/workflows/spell-check-differential.yaml
     - source: .clang-format
     - source: .markdown-link-check.json
     - source: .markdownlint.yaml
     - source: .pre-commit-config-optional.yaml
     - source: .prettierignore
-    - source: .prettierrc
+    - source: .prettierrc.yaml
     - source: .yamllint.yaml
     - source: CPPLINT.cfg
     - source: setup.cfg
 
 - repository: autowarefoundation/autoware_common
   files:
-    - source: .github/workflows/automatic-rebase.yaml
-    - source: .github/workflows/build-and-test-arm.yaml
-    - source: .github/workflows/build-and-test-arm-pr.yaml
     - source: .github/workflows/build-and-test.yaml
-    - source: .github/workflows/build-and-test-pr.yaml
+    - source: .github/workflows/build-and-test-differential.yaml
+    - source: .github/workflows/build-and-test-differential-self-hosted.yaml
+    - source: .github/workflows/build-and-test-self-hosted.yaml
+    - source: .github/workflows/check-build-depends.yaml
     - source: .github/workflows/pre-commit.yaml
+
+- repository: autowarefoundation/autoware-documentation
+  files:
+    - source: .github/workflows/deploy-docs.yaml
+    - source: .github/workflows/delete-closed-pr-docs.yaml
diff --git a/.github/workflows/automatic-rebase.yaml b/.github/workflows/automatic-rebase.yaml
diff --git a/.github/workflows/build-and-test-arm-pr.yaml → ...ld-and-test-differential-self-hosted.yaml b/.github/workflows/build-and-test-arm-pr.yaml → ...ld-and-test-differential-self-hosted.yaml
@@ -1,4 +1,4 @@
-name: build-and-test-arm-pr
+name: build-and-test-differential-self-hosted
 
 on:
   pull_request:
@@ -14,11 +14,11 @@ jobs:
     with:
       label: ARM64
 
-  build-and-test-arm:
+  build-and-test-differential-self-hosted:
     needs: prevent-no-label-execution
     if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
     runs-on: [self-hosted, linux, ARM64]
-    container: ros:galactic
+    container: ghcr.io/autowarefoundation/autoware-universe:latest
     steps:
       - name: Check out repository
         uses: actions/checkout@v2

diff --git a/.github/workflows/build-and-test-pr.yaml → ...orkflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-pr.yaml → ...orkflows/build-and-test-differential.yaml
@@ -1,12 +1,12 @@
-name: build-and-test-pr
+name: build-and-test-differential
 
 on:
   pull_request:
 
 jobs:
-  build-and-test:
+  build-and-test-differential:
     runs-on: ubuntu-latest
-    container: ros:galactic
+    container: ghcr.io/autowarefoundation/autoware-universe:latest
     steps:
       - name: Cancel previous runs
         uses: styfle/cancel-workflow-action@0.9.1
@@ -36,18 +36,27 @@ jobs:
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
           build-depends-repos: build_depends.repos
 
-      - name: Upload coverage to Codecov
-        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+      - name: Check the existence of coverage files
+        id: check-file-existence
+        uses: autowarefoundation/autoware-github-actions/check-file-existence@tier4/proposal
+        with:
+          files: |
+            lcov/total_coverage.info
+            coveragepy/.coverage
+          condition: or
+
+      - name: Upload coverage to CodeCov
+        if: ${{ steps.check-file-existence.outputs.exists == 'true' }}
         uses: codecov/codecov-action@v2
         with:
           files: lcov/total_coverage.info,coveragepy/.coverage
           fail_ci_if_error: false
           verbose: true
 
-  clang-tidy:
+  clang-tidy-differential:
     runs-on: ubuntu-latest
     container: ros:galactic
-    needs: build-and-test
+    needs: build-and-test-differential
     steps:
       - name: Check out repository
         uses: actions/checkout@v2

diff --git a/.github/workflows/build-and-test-arm.yaml → ...workflows/build-and-test-self-hosted.yaml b/.github/workflows/build-and-test-arm.yaml → ...workflows/build-and-test-self-hosted.yaml
@@ -1,14 +1,14 @@
-name: build-and-test-arm
+name: build-and-test-self-hosted
 
 on:
   schedule:
     - cron: 0 19 * * * # run at 4 AM JST
   workflow_dispatch:
 
 jobs:
-  build-and-test-arm:
-    runs-on: ARM64
-    container: ros:galactic
+  build-and-test-self-hosted:
+    runs-on: [self-hosted, linux, ARM64]
+    container: ghcr.io/autowarefoundation/autoware-universe:latest
     steps:
       - name: Check out repository
         uses: actions/checkout@v2

diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
@@ -2,17 +2,15 @@ name: build-and-test
 
 on:
   push:
-    branches:
-      - main
-      - tier4/proposal
   schedule:
     - cron: 0 19 * * * # run at 4 AM JST
   workflow_dispatch:
 
 jobs:
   build-and-test:
+    if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
     runs-on: ubuntu-latest
-    container: ros:galactic
+    container: ghcr.io/autowarefoundation/autoware-universe:latest
     steps:
       - name: Check out repository
         uses: actions/checkout@v2
@@ -36,9 +34,19 @@ jobs:
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
           build-depends-repos: build_depends.repos
 
-      - name: Upload coverage to Codecov
+      - name: Check the existence of coverage files
+        id: check-file-existence
+        uses: autowarefoundation/autoware-github-actions/check-file-existence@tier4/proposal
+        with:
+          files: |
+            lcov/total_coverage.info
+            coveragepy/.coverage
+          condition: or
+
+      - name: Upload coverage to CodeCov
+        if: ${{ steps.check-file-existence.outputs.exists == 'true' }}
         uses: codecov/codecov-action@v2
         with:
           files: lcov/total_coverage.info,coveragepy/.coverage
-          fail_ci_if_error: true
+          fail_ci_if_error: false
           verbose: true
diff --git a/.github/workflows/check-build-depends.yaml b/.github/workflows/check-build-depends.yaml
@@ -8,7 +8,7 @@ on:
 jobs:
   check-build-depends:
     runs-on: ubuntu-latest
-    container: ros:galactic
+    container: ghcr.io/autowarefoundation/autoware-universe:latest
     steps:
       - name: Cancel previous runs
         uses: styfle/cancel-workflow-action@0.9.1

diff --git a/.github/workflows/spell-check.yaml → ...b/workflows/spell-check-differential.yaml b/.github/workflows/spell-check.yaml → ...b/workflows/spell-check-differential.yaml
@@ -1,10 +1,10 @@
-name: spell-check
+name: spell-check-differential
 
 on:
   pull_request:
 
 jobs:
-  spell-check:
+  spell-check-differential:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -4,7 +4,7 @@ ci:
 
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.0.1
+    rev: v4.1.0
     hooks:
       - id: check-json
       - id: check-merge-conflict
@@ -24,7 +24,7 @@ repos:
         args: [-c, .markdownlint.yaml, --fix]
 
   - repo: https://github.com/pre-commit/mirrors-prettier
-    rev: v2.5.0
+    rev: v2.5.1
     hooks:
       - id: prettier
 
@@ -40,12 +40,12 @@ repos:
       - id: sort-package-xml
 
   - repo: https://github.com/shellcheck-py/shellcheck-py
-    rev: v0.8.0.1
+    rev: v0.8.0.3
     hooks:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.4.1-1
+    rev: v3.4.2-1
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]
@@ -56,7 +56,7 @@ repos:
       - id: isort
 
   - repo: https://github.com/psf/black
-    rev: 21.11b1
+    rev: 22.1.0
     hooks:
       - id: black
         args: [--line-length=100]
@@ -78,7 +78,7 @@ repos:
           ]
 
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v12.0.1
+    rev: v13.0.0
     hooks:
       - id: clang-format
 

diff --git a/.prettierignore b/.prettierignore
@@ -1 +1,2 @@
 *.param.yaml
+*.rviz
diff --git a/.yamllint.yaml b/.yamllint.yaml
@@ -5,6 +5,9 @@ ignore: |
   *.param.yaml
 
 rules:
+  braces:
+    level: error
+    max-spaces-inside: 1 # To format with Prettier
   comments:
     level: error
     min-spaces-from-content: 1 # To be compatible with C++ and Python

diff --git a/common/goal_distance_calculator/src/goal_distance_calculator_node.cpp b/common/goal_distance_calculator/src/goal_distance_calculator_node.cpp
@@ -56,14 +56,9 @@ GoalDistanceCalculatorNode::GoalDistanceCalculatorNode(const rclcpp::NodeOptions
   self_pose_listener_.waitForFirstPose();
 
   // Timer
-  double delta_time = 1.0 / static_cast<double>(node_param_.update_rate);
-  auto timer_callback_ = std::bind(&GoalDistanceCalculatorNode::onTimer, this);
-  const auto period_ns =
-    std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(delta_time));
-  timer_ = std::make_shared<rclcpp::GenericTimer<decltype(timer_callback_)>>(
-    this->get_clock(), period_ns, std::move(timer_callback_),
-    this->get_node_base_interface()->get_context());
-  this->get_node_timers_interface()->add_timer(timer_, nullptr);
+  const auto period_ns = rclcpp::Rate(node_param_.update_rate).period();
+  timer_ = rclcpp::create_timer(
+    this, get_clock(), period_ns, std::bind(&GoalDistanceCalculatorNode::onTimer, this));
   goal_distance_calculator_ = std::make_unique<GoalDistanceCalculator>();
 }
 

diff --git a/common/osqp_interface/include/osqp_interface/osqp_interface.hpp b/common/osqp_interface/include/osqp_interface/osqp_interface.hpp
@@ -44,7 +44,7 @@ using autoware::common::types::float64_t;
 class OSQP_INTERFACE_PUBLIC OSQPInterface
 {
 private:
-  OSQPWorkspace * m_work = nullptr;
+  std::unique_ptr<OSQPWorkspace, std::function<void(OSQPWorkspace *)>> m_work;
   std::unique_ptr<OSQPSettings> m_settings;
   std::unique_ptr<OSQPData> m_data;
   // store last work info since work is cleaned up at every execution to prevent memory leak.
@@ -59,6 +59,8 @@ class OSQP_INTERFACE_PUBLIC OSQPInterface
   // Runs the solver on the stored problem.
   std::tuple<std::vector<float64_t>, std::vector<float64_t>, int64_t, int64_t> solve();
 
+  static void OSQPWorkspaceDeleter(OSQPWorkspace * ptr) noexcept;
+
 public:
   /// \brief Constructor without problem formulation
   explicit OSQPInterface(
@@ -73,12 +75,11 @@ class OSQP_INTERFACE_PUBLIC OSQPInterface
   OSQPInterface(
     const Eigen::MatrixXd & P, const Eigen::MatrixXd & A, const std::vector<float64_t> & q,
     const std::vector<float64_t> & l, const std::vector<float64_t> & u, const c_float eps_abs);
-  ~OSQPInterface();
 
   /****************
    * OPTIMIZATION
    ****************/
-  /// \brief Solves the stored convec quadratic program (QP) problem using the OSQP solver.
+  /// \brief Solves the stored convex quadratic program (QP) problem using the OSQP solver.
   //
   /// \return The function returns a tuple containing the solution as two float vectors.
   /// \return The first element of the tuple contains the 'primal' solution.