From 64a59ad8a5bbf22370847b02e20024230fbe3fd5 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 22 Feb 2023 09:38:54 +0900 Subject: [PATCH] refactor(behavior_planning): replace generateUUID() with tier4_autoware_utils's function (#2924) * fix(behavior_path_planner): replace generateUUID() with util function in tier4 autoware utils Signed-off-by: satoshi-ota * fix(behavior_velocity_planner): replace generateUUID() with util function in tier4 autoware utils Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../scene_module/scene_module_interface.hpp | 12 +----------- .../include/scene_module/scene_module_interface.hpp | 7 +------ 2 files changed, 2 insertions(+), 17 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp index a775c1dd08510..62f188277003e 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp @@ -46,6 +46,7 @@ using autoware_adapi_v1_msgs::msg::SteeringFactor; using autoware_auto_planning_msgs::msg::PathWithLaneId; using rtc_interface::RTCInterface; using steering_factor_interface::SteeringFactorInterface; +using tier4_autoware_utils::generateUUID; using tier4_planning_msgs::msg::AvoidanceDebugMsgArray; using unique_identifier_msgs::msg::UUID; using visualization_msgs::msg::MarkerArray; @@ -267,17 +268,6 @@ class SceneModuleInterface void clearWaitingApproval() { is_waiting_approval_ = false; } - static UUID generateUUID() - { - // Generate random number - UUID uuid; - std::mt19937 gen(std::random_device{}()); - std::independent_bits_engine bit_eng(gen); - std::generate(uuid.uuid.begin(), uuid.uuid.end(), bit_eng); - - return uuid; - } - public: BT::NodeStatus current_state_; }; diff --git a/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp b/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp index 528726787887f..2ae809dd3e776 100644 --- a/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp +++ b/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp @@ -399,12 +399,7 @@ class SceneModuleManagerInterfaceWithRTC : public SceneModuleManagerInterface void generateUUID(const int64_t & module_id) { - // Generate random number - UUID uuid; - std::mt19937 gen(std::random_device{}()); - std::independent_bits_engine bit_eng(gen); - std::generate(uuid.uuid.begin(), uuid.uuid.end(), bit_eng); - map_uuid_.insert({module_id, uuid}); + map_uuid_.insert({module_id, tier4_autoware_utils::generateUUID()}); } void removeUUID(const int64_t & module_id)