fix: use adapi mrm state

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
tier4 · Aug 16, 2024 · fb42a33 · fb42a33
1 parent 07144ae
commit fb42a33
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Showing 4 changed files with 9 additions and 10 deletions.
diff --git a/system/leader_election_converter/README.md b/system/leader_election_converter/README.md
@@ -25,7 +25,7 @@ In addition, it receives a udp packet`MrmState` and publish `/system/mrm_request
 
 | Interface Type | Interface Name                 | Data Type                           | Description              |
 | -------------- | ------------------------------ | ----------------------------------- | ------------------------ |
-| subscriber     | `/system/fail_safe/mrm_state`  | `tier4_system_msgs/msg/MrmState`    | MRM status of each ECU.  |
+| subscriber     | `/system/fail_safe/mrm_state`  | `autoware_adapi_v1_msgs/msg/MrmState`    | MRM status of each ECU.  |
 | udp sender     | none                           | `struct MrmState`                   | Same as above.           |
 | publisher      | `/system/election/mrm_request` | `tier4_system_msgs/msg/MrmBehavior` | Request of MRM behavior. |
 | udp receiver   | none                           | `struct MrmRequest`                 | Same as above.           |

diff --git a/system/leader_election_converter/src/common/converter/log_converter.hpp b/system/leader_election_converter/src/common/converter/log_converter.hpp
@@ -23,7 +23,6 @@
 #include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
 #include <tier4_system_msgs/msg/election_communication.hpp>
 #include <tier4_system_msgs/msg/election_status.hpp>
-#include <tier4_system_msgs/msg/mrm_state.hpp>
 
 #include <atomic>
 #include <memory>

diff --git a/system/leader_election_converter/src/common/converter/mrm_converter.cpp b/system/leader_election_converter/src/common/converter/mrm_converter.cpp
@@ -65,7 +65,7 @@ void MrmConverter::setSubscriber()
   rclcpp::SubscriptionOptions options;
   options.callback_group = callback_group_;
 
-  sub_mrm_state_ = node_->create_subscription<tier4_system_msgs::msg::MrmState>(
+  sub_mrm_state_ = node_->create_subscription<autoware_adapi_v1_msgs::msg::MrmState>(
     "~/input/mrm_state", qos, std::bind(&MrmConverter::convertToUdp, this, std::placeholders::_1),
     options);
 }
@@ -77,11 +77,11 @@ void MrmConverter::setPublisher()
 }
 
 void MrmConverter::convertToUdp(
-  const tier4_system_msgs::msg::MrmState::ConstSharedPtr mrm_state_msg)
+  const autoware_adapi_v1_msgs::msg::MrmState::ConstSharedPtr mrm_state_msg)
 {
   MrmState mrm_state;
   mrm_state.state = mrm_state_msg->state;
-  mrm_state.behavior = mrm_state_msg->behavior.type;
+  mrm_state.behavior = mrm_state_msg->behavior;
 
   udp_mrm_state_sender_->send(mrm_state);
 }

diff --git a/system/leader_election_converter/src/common/converter/mrm_converter.hpp b/system/leader_election_converter/src/common/converter/mrm_converter.hpp
@@ -21,7 +21,7 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <tier4_system_msgs/msg/mrm_behavior.hpp>
-#include <tier4_system_msgs/msg/mrm_state.hpp>
+#include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
 
 #include <atomic>
 #include <memory>
@@ -33,8 +33,8 @@ namespace leader_election_converter
 
 typedef struct MrmState
 {
-  tier4_system_msgs::msg::MrmState::_state_type state;
-  tier4_system_msgs::msg::MrmBehavior::_type_type behavior;
+  autoware_adapi_v1_msgs::msg::MrmState::_state_type state;
+  autoware_adapi_v1_msgs::msg::MrmState::_behavior_type behavior;
 } MrmState;
 
 typedef struct MrmRequest
@@ -55,14 +55,14 @@ class MrmConverter
 
 private:
   void startUdpReceiver(const std::string & src_ip, const std::string & src_port);
-  void convertToUdp(const tier4_system_msgs::msg::MrmState::ConstSharedPtr mrm_state_msg);
+  void convertToUdp(const autoware_adapi_v1_msgs::msg::MrmState::ConstSharedPtr mrm_state_msg);
   void convertToTopic(const MrmRequest & mrm_request);
 
   rclcpp::Node * node_;
   std::unique_ptr<UdpSender<MrmState>> udp_mrm_state_sender_;
   std::unique_ptr<UdpReceiver<MrmRequest>> udp_mrm_request_receiver_;
   rclcpp::CallbackGroup::SharedPtr callback_group_;
-  rclcpp::Subscription<tier4_system_msgs::msg::MrmState>::SharedPtr sub_mrm_state_;
+  rclcpp::Subscription<autoware_adapi_v1_msgs::msg::MrmState>::SharedPtr sub_mrm_state_;
   rclcpp::Publisher<tier4_system_msgs::msg::MrmBehavior>::SharedPtr pub_mrm_request_;
 
   std::thread udp_receiver_thread_;