From b512fcacea421e5137fcff1b6416db630b945d2c Mon Sep 17 00:00:00 2001 From: fsi-yoshiara Date: Thu, 20 Nov 2025 09:29:17 +0900 Subject: [PATCH 1/9] Add vtl_adapter module with headers, sources, and launch files --- .../vtl_adapter/vtl_command_converter.hpp | 24 ++++++++--- vtl_adapter/src/vtl_command_converter.cpp | 42 ++++++++++++++++--- 2 files changed, 56 insertions(+), 10 deletions(-) diff --git a/vtl_adapter/include/vtl_adapter/vtl_command_converter.hpp b/vtl_adapter/include/vtl_adapter/vtl_command_converter.hpp index 78c6538..6ae4a2c 100644 --- a/vtl_adapter/include/vtl_adapter/vtl_command_converter.hpp +++ b/vtl_adapter/include/vtl_adapter/vtl_command_converter.hpp @@ -46,6 +46,10 @@ using InterfaceConverterMap = using IFConverterDataPipeline = interface_converter_data_pipeline::IFConverterDataPipeline; +using RouteState = autoware_adapi_v1_msgs::msg::RouteState; +using Route = autoware_adapi_v1_msgs::msg::Route; +using OperationModeState = autoware_adapi_v1_msgs::msg::OperationModeState; + class VtlCommandConverter { public: @@ -61,11 +65,15 @@ class VtlCommandConverter rclcpp::Publisher::SharedPtr command_pub_; // Subscription - rclcpp::Subscription::SharedPtr state_sub_; - + rclcpp::Subscription::SharedPtr sub_routing_state_; + rclcpp::Subscription::SharedPtr sub_routing_route_; + rclcpp::Subscription::SharedPtr sub_Operation_mode_state_; + rclcpp::Subscription::SharedPtr sub_autonomous_driving_start_button_; // Callback - void onState(const SubInputState::ConstSharedPtr msg); - + void onState(const RouteState::ConstSharedPtr msg); + void onRoute(const Route::ConstSharedPtr msg); + void on_operation_mode_state(const OperationModeState::ConstSharedPtr msg); + void autonomous_driving_start_button(??) // Preprocess std::shared_ptr createConverter( const MainInputCommandArr::ConstSharedPtr& original_command) const; @@ -73,8 +81,14 @@ class VtlCommandConverter const std::shared_ptr& converter_multimap) const; //member variables - SubInputState::ConstSharedPtr state_; + uint16 state_; + uint16 Route_; std::shared_ptr converter_pipeline_; + bool is_autoware_control_; + bool is_in_transition_; + uint8_t mode_; + bool is_accept_; + bool is_repuest_; }; } // namespace vtl_command_converter diff --git a/vtl_adapter/src/vtl_command_converter.cpp b/vtl_adapter/src/vtl_command_converter.cpp index 371899b..dfd758e 100644 --- a/vtl_adapter/src/vtl_command_converter.cpp +++ b/vtl_adapter/src/vtl_command_converter.cpp @@ -37,10 +37,23 @@ void VtlCommandConverter::init(rclcpp::Node* node) subscriber_option.callback_group = group; // Subscription - state_sub_ = node->create_subscription( - "/autoware_state_machine/state", 1, - std::bind(&VtlCommandConverter::onState, this, _1), - subscriber_option); + sub_routing_state_ = node->create_subscription( + "/api/routing/state", rclcpp::QoS{1}.transient_local(), + std::bind(&VtlCommandConverter::onState, this, std::placeholders::_1)); + + sub_routing_route_ = node->create_subscription( + "/api/routing/route", rclcpp::QoS{1}.transient_local(), + std::bind(&VtlCommandConverter::onRoute, this, std::placeholders::_1)); + + sub_operation_mode_state_ = create_subscription( + "/api/operation_mode/state", rclcpp::QoS(1).transient_local(), + std::bind(&VtlCommandConverter::on_operation_mode_state, this, _1)); + + sub_autonomous_driving_start_button_ = ??( + "??",rclcpp::QoS(1).transient_local(), + std::bind(&VtlCommandConverter::autonomous_driving_start_button, this, _1)); + + // Publisher command_pub_ = node->create_publisher( "~/output/infrastructure_commands", @@ -69,11 +82,30 @@ void VtlCommandConverter::onCommand(const MainInputCommandArr::ConstSharedPtr ms converter_pipeline_->add(converter_multimap); } -void VtlCommandConverter::onState(const SubInputState::ConstSharedPtr msg) +void VtlCommandConverter::onState(const RouteState::ConstSharedPtr msg) { state_ = msg; } +void VtlCommandConverter::onRoute(const Route::ConstSharedPtr msg) +{ + Route_ = msg; +} + +void VtlCommandConverter::on_operation_mode_state(const OperationModeState::ConstSharedPtr msg) +{ + is_autoware_control_ = msg->is_autoware_control_enabled; + is_in_transition_ = msg->is_in_transition; + mode_ = msg->mode; +} + +void VtlCommandConverter::autonomous_driving_start_button(??) +{ + is_accept_ = msg->is_accept; + is_repuest_ = msg->is_request; +} + + std::shared_ptr VtlCommandConverter::createConverter( const MainInputCommandArr::ConstSharedPtr& original_command) const { From 62c4819b51cd993f39d70079f3f1265d842e44d0 Mon Sep 17 00:00:00 2001 From: fsi-yoshiara Date: Thu, 20 Nov 2025 09:56:22 +0900 Subject: [PATCH 2/9] Update vtl_adapter files --- .../eve_vtl_interface_converter.hpp | 3 +- .../vtl_adapter/vtl_command_converter.hpp | 1 + vtl_adapter/launch/vtl_adapter.launch.xml | 2 +- .../src/eve_vtl_interface_converter.cpp | 31 ++++++++++++------- vtl_adapter/src/vtl_command_converter.cpp | 1 - 5 files changed, 23 insertions(+), 15 deletions(-) diff --git a/vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp b/vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp index 129a996..70b5f26 100644 --- a/vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp +++ b/vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp @@ -46,7 +46,8 @@ class EveVTLInterfaceConverter bool init(const InfrastructureCommand& input_command); std::string convertInfraCommand(const uint8_t& input_command) const; std::optional convertADState( - const StateMachine::ConstSharedPtr& state) const; + const RouteState::ConstSharedPtr& state) const; + InfrastructureCommand command_; std::shared_ptr vtl_attr_; diff --git a/vtl_adapter/include/vtl_adapter/vtl_command_converter.hpp b/vtl_adapter/include/vtl_adapter/vtl_command_converter.hpp index 6ae4a2c..16b110c 100644 --- a/vtl_adapter/include/vtl_adapter/vtl_command_converter.hpp +++ b/vtl_adapter/include/vtl_adapter/vtl_command_converter.hpp @@ -69,6 +69,7 @@ class VtlCommandConverter rclcpp::Subscription::SharedPtr sub_routing_route_; rclcpp::Subscription::SharedPtr sub_Operation_mode_state_; rclcpp::Subscription::SharedPtr sub_autonomous_driving_start_button_; + // Callback void onState(const RouteState::ConstSharedPtr msg); void onRoute(const Route::ConstSharedPtr msg); diff --git a/vtl_adapter/launch/vtl_adapter.launch.xml b/vtl_adapter/launch/vtl_adapter.launch.xml index bb76900..1f4b022 100644 --- a/vtl_adapter/launch/vtl_adapter.launch.xml +++ b/vtl_adapter/launch/vtl_adapter.launch.xml @@ -12,7 +12,7 @@ --> - + diff --git a/vtl_adapter/src/eve_vtl_interface_converter.cpp b/vtl_adapter/src/eve_vtl_interface_converter.cpp index 1d010bf..17adb98 100644 --- a/vtl_adapter/src/eve_vtl_interface_converter.cpp +++ b/vtl_adapter/src/eve_vtl_interface_converter.cpp @@ -250,7 +250,7 @@ std::string EveVTLInterfaceConverter::convertInfraCommand(const uint8_t& input_c } std::optional - EveVTLInterfaceConverter::convertADState(const StateMachine::ConstSharedPtr& state) const + EveVTLInterfaceConverter::convertADState() { if (!vtl_attr_) { RCLCPP_WARN_THROTTLE( @@ -267,19 +267,26 @@ std::optional } const auto permit_state = permit_state_opt.value(); - if (!state) { - RCLCPP_WARN_THROTTLE( - node_->get_logger(), *node_->get_clock(), ERROR_THROTTLE_MSEC, - "EveVTLInterfaceConverter::%s: state is null", __func__); - return std::nullopt; - } const auto& srv_state = state->service_layer_state; bool is_valid_state = false; - if (permit_state == eve_vtl_spec::VALUE_PERMIT_STATE_DRIVING) { - const bool fill_lower_bound = (srv_state >= StateMachine::STATE_RUNNING); - const bool fill_upper_bound = (srv_state < StateMachine::STATE_ARRIVED_GOAL); - is_valid_state = (fill_lower_bound && fill_upper_bound); - } + bool isReadyForDeparture_flg=false; + bool driving_flg=false; + + if(state_ == autoware_adapi_v1_msgs::msg::RouteState::SET){ + if (route_.size() != 0){ + if(is_autoware_control_ && !is_in_transition_ ){ + if(mode_ != AUTONOMOUS){ + if(is_accept && is_request){ + isReadyForDeparture_flg= true; + } + else{ + driving_flg=true; + } + } + } + } + } + is_valid_state = (isReadyForDeparture_flg || driving_flg); else if (permit_state == eve_vtl_spec::VALUE_PERMIT_STATE_NULL) { is_valid_state = true; } diff --git a/vtl_adapter/src/vtl_command_converter.cpp b/vtl_adapter/src/vtl_command_converter.cpp index dfd758e..bb52aea 100644 --- a/vtl_adapter/src/vtl_command_converter.cpp +++ b/vtl_adapter/src/vtl_command_converter.cpp @@ -63,7 +63,6 @@ void VtlCommandConverter::init(rclcpp::Node* node) "VtlCommandConverter: initialized."); } - std::shared_ptr VtlCommandConverter::converterPipeline() { return converter_pipeline_; From d43eb7f6bc2a7c5c0072d149df5038efab8ec050 Mon Sep 17 00:00:00 2001 From: fsi-yoshiara Date: Thu, 20 Nov 2025 16:47:26 +0900 Subject: [PATCH 3/9] Argument modification --- .../eve_vtl_interface_converter.hpp | 13 +++++---- .../vtl_adapter/vtl_command_converter.hpp | 11 +++---- .../src/eve_vtl_interface_converter.cpp | 29 +++++++++---------- vtl_adapter/src/vtl_command_converter.cpp | 21 +++++++------- vtl_adapter/src/vtl_state_converter.cpp | 1 + 5 files changed, 37 insertions(+), 38 deletions(-) diff --git a/vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp b/vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp index 70b5f26..d75d19c 100644 --- a/vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp +++ b/vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp @@ -20,7 +20,11 @@ #include "rclcpp/rclcpp.hpp" #include "tier4_v2x_msgs/msg/infrastructure_command.hpp" #include "tier4_v2x_msgs/msg/key_value.hpp" -#include "autoware_state_machine_msgs/msg/state_machine.hpp" + +#include "autoware_adapi_v1_msgs/msg/RouteState.hpp" +#include "autoware_adapi_v1_msgs/msg/Route.hpp" +#include "autoware_adapi_v1_msgs/msg/OperationModeState.hpp" +#include "vtl_adapter/vtl_command_converter.hpp" #include "vtl_adapter/eve_vtl_attribute.hpp" @@ -29,7 +33,6 @@ namespace eve_vtl_interface_converter using EveVTLAttr = eve_vtl_attribute::EveVTLAttr; using InfrastructureCommand = tier4_v2x_msgs::msg::InfrastructureCommand; -using StateMachine = autoware_state_machine_msgs::msg::StateMachine; class EveVTLInterfaceConverter { @@ -39,14 +42,12 @@ class EveVTLInterfaceConverter const std::shared_ptr& vtlAttribute() const; const InfrastructureCommand& command() const; - std::optional request( - const StateMachine::ConstSharedPtr& state) const; + std::optional request; bool response(const uint8_t& response_bit) const; private: bool init(const InfrastructureCommand& input_command); std::string convertInfraCommand(const uint8_t& input_command) const; - std::optional convertADState( - const RouteState::ConstSharedPtr& state) const; + std::optional convertADState; InfrastructureCommand command_; diff --git a/vtl_adapter/include/vtl_adapter/vtl_command_converter.hpp b/vtl_adapter/include/vtl_adapter/vtl_command_converter.hpp index 16b110c..d842796 100644 --- a/vtl_adapter/include/vtl_adapter/vtl_command_converter.hpp +++ b/vtl_adapter/include/vtl_adapter/vtl_command_converter.hpp @@ -23,7 +23,9 @@ #include "v2i_interface_msgs/msg/infrastructure_command_array.hpp" // sub input -#include "autoware_state_machine_msgs/msg/state_machine.hpp" +#include "autoware_adapi_v1_msgs/msg/RouteState.hpp" +#include "autoware_adapi_v1_msgs/msg/Route.hpp" +#include "autoware_adapi_v1_msgs/msg/OperationModeState.hpp" #include "vtl_adapter/interface_converter_data_pipeline.hpp" #include "vtl_adapter/eve_vtl_interface_converter.hpp" @@ -37,8 +39,6 @@ using MainOutputCommandArr = v2i_interface_msgs::msg::InfrastructureCommandArray using MainOutputCommand = v2i_interface_msgs::msg::InfrastructureCommand; using InterfaceConverter = eve_vtl_interface_converter::EveVTLInterfaceConverter; -using SubInputState = autoware_state_machine_msgs::msg::StateMachine; - using InterfaceConverterMultiMap = std::unordered_multimap>; using InterfaceConverterMap = @@ -68,13 +68,14 @@ class VtlCommandConverter rclcpp::Subscription::SharedPtr sub_routing_state_; rclcpp::Subscription::SharedPtr sub_routing_route_; rclcpp::Subscription::SharedPtr sub_Operation_mode_state_; - rclcpp::Subscription::SharedPtr sub_autonomous_driving_start_button_; + //rclcpp::Subscription::SharedPtr sub_autonomous_driving_start_button_; // Callback void onState(const RouteState::ConstSharedPtr msg); void onRoute(const Route::ConstSharedPtr msg); void on_operation_mode_state(const OperationModeState::ConstSharedPtr msg); - void autonomous_driving_start_button(??) + //void autonomous_driving_start_button(??) + // Preprocess std::shared_ptr createConverter( const MainInputCommandArr::ConstSharedPtr& original_command) const; diff --git a/vtl_adapter/src/eve_vtl_interface_converter.cpp b/vtl_adapter/src/eve_vtl_interface_converter.cpp index 17adb98..d254da0 100644 --- a/vtl_adapter/src/eve_vtl_interface_converter.cpp +++ b/vtl_adapter/src/eve_vtl_interface_converter.cpp @@ -45,8 +45,7 @@ const InfrastructureCommand& EveVTLInterfaceConverter::command() const return command_; } -std::optional EveVTLInterfaceConverter::request( - const StateMachine::ConstSharedPtr& state) const +std::optional EveVTLInterfaceConverter::request { if (!vtl_attr_) { RCLCPP_WARN_THROTTLE( @@ -55,8 +54,8 @@ std::optional EveVTLInterfaceConverter::request( return std::nullopt; } const auto command_str = convertInfraCommand(command_.state); - const auto state_str = convertADState(state); - return vtl_attr_->request(command_str, state_str); + const auto state_str = convertADState; + return vtl_attr_ ->request(command_str, state_str); } bool EveVTLInterfaceConverter::response(const uint8_t& response_bit) const @@ -266,22 +265,20 @@ std::optional return eve_vtl_spec::VALUE_PERMIT_STATE_NULL; } const auto permit_state = permit_state_opt.value(); - const auto& srv_state = state->service_layer_state; bool is_valid_state = false; - bool isReadyForDeparture_flg=false; - bool driving_flg=false; + bool isReadyForDeparture_flg = false; + bool driving_flg = false; - if(state_ == autoware_adapi_v1_msgs::msg::RouteState::SET){ - if (route_.size() != 0){ - if(is_autoware_control_ && !is_in_transition_ ){ - if(mode_ != AUTONOMOUS){ - if(is_accept && is_request){ - isReadyForDeparture_flg= true; + if (state_ == autoware_adapi_v1_msgs::msg::RouteState::SET) { + if (route_.size() != 0) { + if (is_autoware_control_ && !is_in_transition_ ) { + if (mode_ != AUTONOMOUS) { + if (is_accept || is_request) { + isReadyForDeparture_flg = true; } - else{ - driving_flg=true; - } + } else { + driving_flg = true; } } } diff --git a/vtl_adapter/src/vtl_command_converter.cpp b/vtl_adapter/src/vtl_command_converter.cpp index bb52aea..fea0868 100644 --- a/vtl_adapter/src/vtl_command_converter.cpp +++ b/vtl_adapter/src/vtl_command_converter.cpp @@ -49,9 +49,9 @@ void VtlCommandConverter::init(rclcpp::Node* node) "/api/operation_mode/state", rclcpp::QoS(1).transient_local(), std::bind(&VtlCommandConverter::on_operation_mode_state, this, _1)); - sub_autonomous_driving_start_button_ = ??( +/* sub_autonomous_driving_start_button_ = ??( "??",rclcpp::QoS(1).transient_local(), - std::bind(&VtlCommandConverter::autonomous_driving_start_button, this, _1)); + std::bind(&VtlCommandConverter::autonomous_driving_start_button, this, _1)); */ // Publisher @@ -81,30 +81,29 @@ void VtlCommandConverter::onCommand(const MainInputCommandArr::ConstSharedPtr ms converter_pipeline_->add(converter_multimap); } -void VtlCommandConverter::onState(const RouteState::ConstSharedPtr msg) +void VtlCommandConverter::onState(uint16 msg) { state_ = msg; } -void VtlCommandConverter::onRoute(const Route::ConstSharedPtr msg) +void VtlCommandConverter::onRoute(uint16 msg) { Route_ = msg; } void VtlCommandConverter::on_operation_mode_state(const OperationModeState::ConstSharedPtr msg) { - is_autoware_control_ = msg->is_autoware_control_enabled; - is_in_transition_ = msg->is_in_transition; - mode_ = msg->mode; + is_autoware_control_ = msg ->is_autoware_control_enabled; + is_in_transition_ = msg ->is_in_transition; + mode_ = msg ->mode; } void VtlCommandConverter::autonomous_driving_start_button(??) { - is_accept_ = msg->is_accept; - is_repuest_ = msg->is_request; + is_accept_ = msg ->is_accept; + is_repuest_ = msg ->is_request; } - std::shared_ptr VtlCommandConverter::createConverter( const MainInputCommandArr::ConstSharedPtr& original_command) const { @@ -147,7 +146,7 @@ std::optional VtlCommandConverter::requestCommand( } std::unordered_map command_map; for (const auto& [id, converter] : *converter_multimap) { - const auto& req = converter->request(state_); + const auto& req = converter->request; if (!req) { RCLCPP_DEBUG(node_->get_logger(), "VtlCommandConverter:%s: failed to request (id=%d).", __func__, id); diff --git a/vtl_adapter/src/vtl_state_converter.cpp b/vtl_adapter/src/vtl_state_converter.cpp index 8f54556..e16d624 100644 --- a/vtl_adapter/src/vtl_state_converter.cpp +++ b/vtl_adapter/src/vtl_state_converter.cpp @@ -38,6 +38,7 @@ void VtlStateConverter::init(rclcpp::Node* node) "~/input/infrastructure_states", 1, std::bind(&VtlStateConverter::onState, this, _1), subscriber_option); + // Publisher state_pub_ = node->create_publisher( "~/output/infrastructure_states", From 52c5483d00cec6a9553892b09190430e5fd74219 Mon Sep 17 00:00:00 2001 From: fsi-yoshiara Date: Tue, 25 Nov 2025 14:00:04 +0900 Subject: [PATCH 4/9] Add Comment --- vtl_adapter/README.md | 2 +- .../vtl_adapter/eve_vtl_interface_converter.hpp | 1 - .../include/vtl_adapter/vtl_command_converter.hpp | 12 ++++++------ vtl_adapter/src/eve_vtl_interface_converter.cpp | 4 ++-- vtl_adapter/src/vtl_command_converter.cpp | 10 +++++----- 5 files changed, 14 insertions(+), 15 deletions(-) diff --git a/vtl_adapter/README.md b/vtl_adapter/README.md index a33fd25..0f3f209 100644 --- a/vtl_adapter/README.md +++ b/vtl_adapter/README.md @@ -9,7 +9,7 @@ In the v2i_interface, update the received common ros2 topic for VTL. - input - from [autoware.universe](https://github.com/autowarefoundation/autoware.universe/) - - `/awapi/tmp/infrastructure_commands` \[[tier4_v2x_msgs/msg/InfrastructureCommandArray](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_v2x_msgs/msg/InfrastructureCommandArray.msg)\]:
Control command to V2I infrastructure. It has an array structure to control multiple infrastructures at the same time. + - `/api/external/get/virtual_traffic_light/commands` \[[tier4_v2x_msgs/msg/InfrastructureCommandArray](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_v2x_msgs/msg/InfrastructureCommandArray.msg)\]:
Control command to V2I infrastructure. It has an array structure to control multiple infrastructures at the same time. - output - to [autoware.universe](https://github.com/autowarefoundation/autoware.universe/) - `/system/v2x/virtual_traffic_light_status` \[[tier4_v2x_msgs/msg/VirtualTrafficLightStateArray](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_v2x_msgs/msg/VirtualTrafficLightStateArray.msg)\]:
ROS2 interface from `v2i_status` (UDP). diff --git a/vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp b/vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp index d75d19c..2a9cead 100644 --- a/vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp +++ b/vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp @@ -49,7 +49,6 @@ class EveVTLInterfaceConverter std::string convertInfraCommand(const uint8_t& input_command) const; std::optional convertADState; - InfrastructureCommand command_; std::shared_ptr vtl_attr_; rclcpp::Node* node_; diff --git a/vtl_adapter/include/vtl_adapter/vtl_command_converter.hpp b/vtl_adapter/include/vtl_adapter/vtl_command_converter.hpp index d842796..029cc6b 100644 --- a/vtl_adapter/include/vtl_adapter/vtl_command_converter.hpp +++ b/vtl_adapter/include/vtl_adapter/vtl_command_converter.hpp @@ -67,14 +67,14 @@ class VtlCommandConverter // Subscription rclcpp::Subscription::SharedPtr sub_routing_state_; rclcpp::Subscription::SharedPtr sub_routing_route_; - rclcpp::Subscription::SharedPtr sub_Operation_mode_state_; + rclcpp::Subscription::SharedPtr sub_operation_mode_state_; //rclcpp::Subscription::SharedPtr sub_autonomous_driving_start_button_; // Callback void onState(const RouteState::ConstSharedPtr msg); void onRoute(const Route::ConstSharedPtr msg); - void on_operation_mode_state(const OperationModeState::ConstSharedPtr msg); - //void autonomous_driving_start_button(??) + void onOperationModeState(const OperationModeState::ConstSharedPtr msg); + //void autonomousDrivingStartButton(??) // Preprocess std::shared_ptr createConverter( @@ -84,13 +84,13 @@ class VtlCommandConverter //member variables uint16 state_; - uint16 Route_; + uint16 route_; std::shared_ptr converter_pipeline_; bool is_autoware_control_; bool is_in_transition_; uint8_t mode_; - bool is_accept_; - bool is_repuest_; + /*bool is_accept_; + bool is_repuest_;*/ }; } // namespace vtl_command_converter diff --git a/vtl_adapter/src/eve_vtl_interface_converter.cpp b/vtl_adapter/src/eve_vtl_interface_converter.cpp index d254da0..077df16 100644 --- a/vtl_adapter/src/eve_vtl_interface_converter.cpp +++ b/vtl_adapter/src/eve_vtl_interface_converter.cpp @@ -274,9 +274,9 @@ std::optional if (route_.size() != 0) { if (is_autoware_control_ && !is_in_transition_ ) { if (mode_ != AUTONOMOUS) { - if (is_accept || is_request) { + //if (is_accept || is_request) { isReadyForDeparture_flg = true; - } + //} } else { driving_flg = true; } diff --git a/vtl_adapter/src/vtl_command_converter.cpp b/vtl_adapter/src/vtl_command_converter.cpp index fea0868..7069f7a 100644 --- a/vtl_adapter/src/vtl_command_converter.cpp +++ b/vtl_adapter/src/vtl_command_converter.cpp @@ -47,7 +47,7 @@ void VtlCommandConverter::init(rclcpp::Node* node) sub_operation_mode_state_ = create_subscription( "/api/operation_mode/state", rclcpp::QoS(1).transient_local(), - std::bind(&VtlCommandConverter::on_operation_mode_state, this, _1)); + std::bind(&VtlCommandConverter::onOperationModeState, this, _1)); /* sub_autonomous_driving_start_button_ = ??( "??",rclcpp::QoS(1).transient_local(), @@ -88,21 +88,21 @@ void VtlCommandConverter::onState(uint16 msg) void VtlCommandConverter::onRoute(uint16 msg) { - Route_ = msg; + route_ = msg; } -void VtlCommandConverter::on_operation_mode_state(const OperationModeState::ConstSharedPtr msg) +void VtlCommandConverter::onOperationModeState(const OperationModeState::ConstSharedPtr msg) { is_autoware_control_ = msg ->is_autoware_control_enabled; is_in_transition_ = msg ->is_in_transition; mode_ = msg ->mode; } -void VtlCommandConverter::autonomous_driving_start_button(??) +/*void VtlCommandConverter::autonomous_driving_start_button(??) { is_accept_ = msg ->is_accept; is_repuest_ = msg ->is_request; -} +}*/ std::shared_ptr VtlCommandConverter::createConverter( const MainInputCommandArr::ConstSharedPtr& original_command) const From 7599088ea36fd1df94e35759cdb4fc142cdd80aa Mon Sep 17 00:00:00 2001 From: fsi-yoshihaa Date: Thu, 27 Nov 2025 16:49:51 +0900 Subject: [PATCH 5/9] Changes due to build errors --- .../eve_vtl_interface_converter.hpp | 35 +++++++++-- .../vtl_adapter/vtl_command_converter.hpp | 26 -------- vtl_adapter/package.xml | 2 +- .../src/eve_vtl_interface_converter.cpp | 63 +++++++++++++++---- vtl_adapter/src/vtl_command_converter.cpp | 42 +------------ vtl_adapter/src/vtl_state_converter.cpp | 1 - 6 files changed, 81 insertions(+), 88 deletions(-) diff --git a/vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp b/vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp index 2a9cead..b205c22 100644 --- a/vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp +++ b/vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp @@ -21,10 +21,9 @@ #include "tier4_v2x_msgs/msg/infrastructure_command.hpp" #include "tier4_v2x_msgs/msg/key_value.hpp" -#include "autoware_adapi_v1_msgs/msg/RouteState.hpp" -#include "autoware_adapi_v1_msgs/msg/Route.hpp" -#include "autoware_adapi_v1_msgs/msg/OperationModeState.hpp" -#include "vtl_adapter/vtl_command_converter.hpp" +#include "autoware_adapi_v1_msgs/msg/route_state.hpp" +#include "autoware_adapi_v1_msgs/msg/route.hpp" +#include "autoware_adapi_v1_msgs/msg/operation_mode_state.hpp" #include "vtl_adapter/eve_vtl_attribute.hpp" @@ -34,6 +33,11 @@ namespace eve_vtl_interface_converter using EveVTLAttr = eve_vtl_attribute::EveVTLAttr; using InfrastructureCommand = tier4_v2x_msgs::msg::InfrastructureCommand; +using RouteState = autoware_adapi_v1_msgs::msg::RouteState; +using Route = autoware_adapi_v1_msgs::msg::Route; +using OperationModeState = autoware_adapi_v1_msgs::msg::OperationModeState; +using RouteData = autoware_adapi_v1_msgs::msg::RouteData; + class EveVTLInterfaceConverter { public: @@ -42,16 +46,35 @@ class EveVTLInterfaceConverter const std::shared_ptr& vtlAttribute() const; const InfrastructureCommand& command() const; - std::optional request; + std::optional request() const; bool response(const uint8_t& response_bit) const; private: bool init(const InfrastructureCommand& input_command); std::string convertInfraCommand(const uint8_t& input_command) const; - std::optional convertADState; + std::optional convertADState() const; + + // Subscription + rclcpp::Subscription::SharedPtr sub_routing_state_; + rclcpp::Subscription::SharedPtr sub_routing_route_; + rclcpp::Subscription::SharedPtr sub_operation_mode_state_; + //rclcpp::Subscription::SharedPtr sub_autonomous_driving_start_button_; + + // Callback + void onState(const RouteState::ConstSharedPtr msg); + void onRoute(const Route::ConstSharedPtr msg); + void onOperationModeState(const OperationModeState::ConstSharedPtr msg); + //void autonomousDrivingStartButton(??) InfrastructureCommand command_; std::shared_ptr vtl_attr_; rclcpp::Node* node_; + uint16_t state_; + Route route_; + bool is_autoware_control_; + bool is_in_transition_; + uint8_t mode_; + /*bool is_accept_; + bool is_repuest_;*/ }; } // namespace eve_vtl_interface_converter diff --git a/vtl_adapter/include/vtl_adapter/vtl_command_converter.hpp b/vtl_adapter/include/vtl_adapter/vtl_command_converter.hpp index 029cc6b..e0acb21 100644 --- a/vtl_adapter/include/vtl_adapter/vtl_command_converter.hpp +++ b/vtl_adapter/include/vtl_adapter/vtl_command_converter.hpp @@ -23,9 +23,6 @@ #include "v2i_interface_msgs/msg/infrastructure_command_array.hpp" // sub input -#include "autoware_adapi_v1_msgs/msg/RouteState.hpp" -#include "autoware_adapi_v1_msgs/msg/Route.hpp" -#include "autoware_adapi_v1_msgs/msg/OperationModeState.hpp" #include "vtl_adapter/interface_converter_data_pipeline.hpp" #include "vtl_adapter/eve_vtl_interface_converter.hpp" @@ -46,10 +43,6 @@ using InterfaceConverterMap = using IFConverterDataPipeline = interface_converter_data_pipeline::IFConverterDataPipeline; -using RouteState = autoware_adapi_v1_msgs::msg::RouteState; -using Route = autoware_adapi_v1_msgs::msg::Route; -using OperationModeState = autoware_adapi_v1_msgs::msg::OperationModeState; - class VtlCommandConverter { public: @@ -64,18 +57,6 @@ class VtlCommandConverter // Publisher rclcpp::Publisher::SharedPtr command_pub_; - // Subscription - rclcpp::Subscription::SharedPtr sub_routing_state_; - rclcpp::Subscription::SharedPtr sub_routing_route_; - rclcpp::Subscription::SharedPtr sub_operation_mode_state_; - //rclcpp::Subscription::SharedPtr sub_autonomous_driving_start_button_; - - // Callback - void onState(const RouteState::ConstSharedPtr msg); - void onRoute(const Route::ConstSharedPtr msg); - void onOperationModeState(const OperationModeState::ConstSharedPtr msg); - //void autonomousDrivingStartButton(??) - // Preprocess std::shared_ptr createConverter( const MainInputCommandArr::ConstSharedPtr& original_command) const; @@ -83,14 +64,7 @@ class VtlCommandConverter const std::shared_ptr& converter_multimap) const; //member variables - uint16 state_; - uint16 route_; std::shared_ptr converter_pipeline_; - bool is_autoware_control_; - bool is_in_transition_; - uint8_t mode_; - /*bool is_accept_; - bool is_repuest_;*/ }; } // namespace vtl_command_converter diff --git a/vtl_adapter/package.xml b/vtl_adapter/package.xml index c494fb1..0920c5d 100644 --- a/vtl_adapter/package.xml +++ b/vtl_adapter/package.xml @@ -30,7 +30,7 @@ rclcpp_components tier4_v2x_msgs v2i_interface_msgs - autoware_state_machine_msgs + autoware_adapi_v1_msgs ament_cmake_gtest ament_lint_auto diff --git a/vtl_adapter/src/eve_vtl_interface_converter.cpp b/vtl_adapter/src/eve_vtl_interface_converter.cpp index 077df16..dd27ef2 100644 --- a/vtl_adapter/src/eve_vtl_interface_converter.cpp +++ b/vtl_adapter/src/eve_vtl_interface_converter.cpp @@ -28,11 +28,29 @@ Class public function *************************************************************** */ + EveVTLInterfaceConverter::EveVTLInterfaceConverter( const InfrastructureCommand& input_command, rclcpp::Node* node) : command_(input_command), node_(node) { + using namespace std::placeholders; init(input_command); + // Subscription + sub_routing_state_ = node->create_subscription( + "/api/routing/state", rclcpp::QoS{1}.transient_local(), + std::bind(&EveVTLInterfaceConverter::onState, this, std::placeholders::_1)); + + sub_routing_route_ = node->create_subscription( + "/api/routing/route", rclcpp::QoS{1}.transient_local(), + std::bind(&EveVTLInterfaceConverter::onRoute, this, std::placeholders::_1)); + + sub_operation_mode_state_ = node->create_subscription( + "/api/operation_mode/state", rclcpp::QoS(1).transient_local(), + std::bind(&EveVTLInterfaceConverter::onOperationModeState, this, _1)); + +/* sub_autonomous_driving_start_button_ = ??( + "??",rclcpp::QoS(1).transient_local(), + std::bind(&EveVTLInterfaceConverter::autonomous_driving_start_button, this, _1)); */ } const std::shared_ptr& EveVTLInterfaceConverter::vtlAttribute() const @@ -45,7 +63,30 @@ const InfrastructureCommand& EveVTLInterfaceConverter::command() const return command_; } -std::optional EveVTLInterfaceConverter::request +void EveVTLInterfaceConverter::onState(const RouteState::ConstSharedPtr msg) +{ + state_ = msg->state; +} + +void EveVTLInterfaceConverter::onRoute(const Route::ConstSharedPtr msg) +{ + route_ = msg; +} + +void EveVTLInterfaceConverter::onOperationModeState(const OperationModeState::ConstSharedPtr msg) +{ + is_autoware_control_ = msg->is_autoware_control_enabled; + is_in_transition_ = msg->is_in_transition; + mode_ = msg->mode; +} + +/*void VtlCommandConverter::autonomous_driving_start_button(??) +{ + is_accept_ = msg ->is_accept; + is_repuest_ = msg ->is_request; +}*/ + +std::optional EveVTLInterfaceConverter::request() const { if (!vtl_attr_) { RCLCPP_WARN_THROTTLE( @@ -54,7 +95,7 @@ std::optional EveVTLInterfaceConverter::request return std::nullopt; } const auto command_str = convertInfraCommand(command_.state); - const auto state_str = convertADState; + const auto state_str = convertADState() const; return vtl_attr_ ->request(command_str, state_str); } @@ -248,8 +289,7 @@ std::string EveVTLInterfaceConverter::convertInfraCommand(const uint8_t& input_c (eve_vtl_spec::VALUE_SECTION_REQ) : (eve_vtl_spec::VALUE_SECTION_NULL); } -std::optional - EveVTLInterfaceConverter::convertADState() +std::optional EveVTLInterfaceConverter::convertADState() const { if (!vtl_attr_) { RCLCPP_WARN_THROTTLE( @@ -265,13 +305,12 @@ std::optional return eve_vtl_spec::VALUE_PERMIT_STATE_NULL; } const auto permit_state = permit_state_opt.value(); - const auto& srv_state = state->service_layer_state; bool is_valid_state = false; bool isReadyForDeparture_flg = false; bool driving_flg = false; if (state_ == autoware_adapi_v1_msgs::msg::RouteState::SET) { - if (route_.size() != 0) { + if (route_.data.size() != 0) { if (is_autoware_control_ && !is_in_transition_ ) { if (mode_ != AUTONOMOUS) { //if (is_accept || is_request) { @@ -282,9 +321,8 @@ std::optional } } } - } - is_valid_state = (isReadyForDeparture_flg || driving_flg); - else if (permit_state == eve_vtl_spec::VALUE_PERMIT_STATE_NULL) { + is_valid_state = (isReadyForDeparture_flg || driving_flg); + } else if (permit_state == eve_vtl_spec::VALUE_PERMIT_STATE_NULL) { is_valid_state = true; } @@ -292,9 +330,8 @@ std::optional RCLCPP_WARN_STREAM_THROTTLE( node_->get_logger(), *node_->get_clock(), ERROR_THROTTLE_MSEC, "EveVTLInterfaceConverter::" << __func__ << - ": state is invalid: " << srv_state); + ": state is invalid " ); } return (is_valid_state) ? permit_state_opt : std::nullopt; -} - -} // namespace eve_vtl_interface_converter +} +}// namespace eve_vtl_interface_converter diff --git a/vtl_adapter/src/vtl_command_converter.cpp b/vtl_adapter/src/vtl_command_converter.cpp index 7069f7a..ef40eab 100644 --- a/vtl_adapter/src/vtl_command_converter.cpp +++ b/vtl_adapter/src/vtl_command_converter.cpp @@ -36,24 +36,7 @@ void VtlCommandConverter::init(rclcpp::Node* node) auto subscriber_option = rclcpp::SubscriptionOptions(); subscriber_option.callback_group = group; - // Subscription - sub_routing_state_ = node->create_subscription( - "/api/routing/state", rclcpp::QoS{1}.transient_local(), - std::bind(&VtlCommandConverter::onState, this, std::placeholders::_1)); - sub_routing_route_ = node->create_subscription( - "/api/routing/route", rclcpp::QoS{1}.transient_local(), - std::bind(&VtlCommandConverter::onRoute, this, std::placeholders::_1)); - - sub_operation_mode_state_ = create_subscription( - "/api/operation_mode/state", rclcpp::QoS(1).transient_local(), - std::bind(&VtlCommandConverter::onOperationModeState, this, _1)); - -/* sub_autonomous_driving_start_button_ = ??( - "??",rclcpp::QoS(1).transient_local(), - std::bind(&VtlCommandConverter::autonomous_driving_start_button, this, _1)); */ - - // Publisher command_pub_ = node->create_publisher( "~/output/infrastructure_commands", @@ -81,29 +64,6 @@ void VtlCommandConverter::onCommand(const MainInputCommandArr::ConstSharedPtr ms converter_pipeline_->add(converter_multimap); } -void VtlCommandConverter::onState(uint16 msg) -{ - state_ = msg; -} - -void VtlCommandConverter::onRoute(uint16 msg) -{ - route_ = msg; -} - -void VtlCommandConverter::onOperationModeState(const OperationModeState::ConstSharedPtr msg) -{ - is_autoware_control_ = msg ->is_autoware_control_enabled; - is_in_transition_ = msg ->is_in_transition; - mode_ = msg ->mode; -} - -/*void VtlCommandConverter::autonomous_driving_start_button(??) -{ - is_accept_ = msg ->is_accept; - is_repuest_ = msg ->is_request; -}*/ - std::shared_ptr VtlCommandConverter::createConverter( const MainInputCommandArr::ConstSharedPtr& original_command) const { @@ -146,7 +106,7 @@ std::optional VtlCommandConverter::requestCommand( } std::unordered_map command_map; for (const auto& [id, converter] : *converter_multimap) { - const auto& req = converter->request; + const auto& req = converter->request() const; if (!req) { RCLCPP_DEBUG(node_->get_logger(), "VtlCommandConverter:%s: failed to request (id=%d).", __func__, id); diff --git a/vtl_adapter/src/vtl_state_converter.cpp b/vtl_adapter/src/vtl_state_converter.cpp index e16d624..8f54556 100644 --- a/vtl_adapter/src/vtl_state_converter.cpp +++ b/vtl_adapter/src/vtl_state_converter.cpp @@ -38,7 +38,6 @@ void VtlStateConverter::init(rclcpp::Node* node) "~/input/infrastructure_states", 1, std::bind(&VtlStateConverter::onState, this, _1), subscriber_option); - // Publisher state_pub_ = node->create_publisher( "~/output/infrastructure_states", From 53311e95496d261009af70f67cf4c0e482b3a8bf Mon Sep 17 00:00:00 2001 From: fsi-yoshihaa Date: Thu, 27 Nov 2025 20:13:43 +0900 Subject: [PATCH 6/9] build succeeded --- .../eve_vtl_interface_converter.hpp | 10 ++++---- vtl_adapter/package.xml | 1 + .../src/eve_vtl_interface_converter.cpp | 24 +++++++++---------- vtl_adapter/src/vtl_command_converter.cpp | 2 +- 4 files changed, 20 insertions(+), 17 deletions(-) diff --git a/vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp b/vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp index b205c22..a740165 100644 --- a/vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp +++ b/vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp @@ -24,6 +24,7 @@ #include "autoware_adapi_v1_msgs/msg/route_state.hpp" #include "autoware_adapi_v1_msgs/msg/route.hpp" #include "autoware_adapi_v1_msgs/msg/operation_mode_state.hpp" +#include "eve_cmd_gate_msgs/msg/engage_request_state.hpp" #include "vtl_adapter/eve_vtl_attribute.hpp" @@ -37,6 +38,7 @@ using RouteState = autoware_adapi_v1_msgs::msg::RouteState; using Route = autoware_adapi_v1_msgs::msg::Route; using OperationModeState = autoware_adapi_v1_msgs::msg::OperationModeState; using RouteData = autoware_adapi_v1_msgs::msg::RouteData; +using AutonomousDrivingStartButton =eve_cmd_gate_msgs::msg::EngageRequestState; class EveVTLInterfaceConverter { @@ -57,13 +59,13 @@ class EveVTLInterfaceConverter rclcpp::Subscription::SharedPtr sub_routing_state_; rclcpp::Subscription::SharedPtr sub_routing_route_; rclcpp::Subscription::SharedPtr sub_operation_mode_state_; - //rclcpp::Subscription::SharedPtr sub_autonomous_driving_start_button_; + rclcpp::Subscription::SharedPtr sub_autonomous_driving_start_button_; // Callback void onState(const RouteState::ConstSharedPtr msg); void onRoute(const Route::ConstSharedPtr msg); void onOperationModeState(const OperationModeState::ConstSharedPtr msg); - //void autonomousDrivingStartButton(??) + void onAutonomousDrivingStartButton(const AutonomousDrivingStartButton::ConstSharedPtr msg); InfrastructureCommand command_; std::shared_ptr vtl_attr_; @@ -73,8 +75,8 @@ class EveVTLInterfaceConverter bool is_autoware_control_; bool is_in_transition_; uint8_t mode_; - /*bool is_accept_; - bool is_repuest_;*/ + bool is_accept_; + bool is_request_; }; } // namespace eve_vtl_interface_converter diff --git a/vtl_adapter/package.xml b/vtl_adapter/package.xml index 0920c5d..56ddfc5 100644 --- a/vtl_adapter/package.xml +++ b/vtl_adapter/package.xml @@ -31,6 +31,7 @@ tier4_v2x_msgs v2i_interface_msgs autoware_adapi_v1_msgs + eve_cmd_gate_msgs ament_cmake_gtest ament_lint_auto diff --git a/vtl_adapter/src/eve_vtl_interface_converter.cpp b/vtl_adapter/src/eve_vtl_interface_converter.cpp index dd27ef2..49924ca 100644 --- a/vtl_adapter/src/eve_vtl_interface_converter.cpp +++ b/vtl_adapter/src/eve_vtl_interface_converter.cpp @@ -48,9 +48,9 @@ EveVTLInterfaceConverter::EveVTLInterfaceConverter( "/api/operation_mode/state", rclcpp::QoS(1).transient_local(), std::bind(&EveVTLInterfaceConverter::onOperationModeState, this, _1)); -/* sub_autonomous_driving_start_button_ = ??( - "??",rclcpp::QoS(1).transient_local(), - std::bind(&EveVTLInterfaceConverter::autonomous_driving_start_button, this, _1)); */ + sub_autonomous_driving_start_button_ = node->create_subscription( + "/eve_cmd_gate/engage_request_state",rclcpp::QoS(1).transient_local(), + std::bind(&EveVTLInterfaceConverter::onAutonomousDrivingStartButton, this, _1)); } const std::shared_ptr& EveVTLInterfaceConverter::vtlAttribute() const @@ -70,7 +70,7 @@ void EveVTLInterfaceConverter::onState(const RouteState::ConstSharedPtr msg) void EveVTLInterfaceConverter::onRoute(const Route::ConstSharedPtr msg) { - route_ = msg; + route_.data = msg->data; } void EveVTLInterfaceConverter::onOperationModeState(const OperationModeState::ConstSharedPtr msg) @@ -80,11 +80,11 @@ void EveVTLInterfaceConverter::onOperationModeState(const OperationModeState::Co mode_ = msg->mode; } -/*void VtlCommandConverter::autonomous_driving_start_button(??) +void EveVTLInterfaceConverter::onAutonomousDrivingStartButton(const AutonomousDrivingStartButton::ConstSharedPtr msg) { - is_accept_ = msg ->is_accept; - is_repuest_ = msg ->is_request; -}*/ + is_accept_ = msg ->is_engage_requesting; + is_request_ = msg ->is_engage_accepted; +} std::optional EveVTLInterfaceConverter::request() const { @@ -95,7 +95,7 @@ std::optional EveVTLInterfaceConverter::request() const return std::nullopt; } const auto command_str = convertInfraCommand(command_.state); - const auto state_str = convertADState() const; + const auto state_str = convertADState(); return vtl_attr_ ->request(command_str, state_str); } @@ -312,10 +312,10 @@ std::optional EveVTLInterfaceConverter::convertADState() const if (state_ == autoware_adapi_v1_msgs::msg::RouteState::SET) { if (route_.data.size() != 0) { if (is_autoware_control_ && !is_in_transition_ ) { - if (mode_ != AUTONOMOUS) { - //if (is_accept || is_request) { + if (mode_ != OperationModeState::AUTONOMOUS) { + if (is_accept_ || is_request_) { isReadyForDeparture_flg = true; - //} + } } else { driving_flg = true; } diff --git a/vtl_adapter/src/vtl_command_converter.cpp b/vtl_adapter/src/vtl_command_converter.cpp index ef40eab..58d2663 100644 --- a/vtl_adapter/src/vtl_command_converter.cpp +++ b/vtl_adapter/src/vtl_command_converter.cpp @@ -106,7 +106,7 @@ std::optional VtlCommandConverter::requestCommand( } std::unordered_map command_map; for (const auto& [id, converter] : *converter_multimap) { - const auto& req = converter->request() const; + const auto& req = converter->request(); if (!req) { RCLCPP_DEBUG(node_->get_logger(), "VtlCommandConverter:%s: failed to request (id=%d).", __func__, id); From 6361ccffda1ca9c4a2718e6c4c0e4a903d6a9120 Mon Sep 17 00:00:00 2001 From: fsi-yoshihaa Date: Fri, 28 Nov 2025 18:02:28 +0900 Subject: [PATCH 7/9] =?UTF-8?q?85&86=E8=A1=8C=E7=9B=AE=E8=AA=AD=E3=81=BF?= =?UTF-8?q?=E8=BE=BC=E3=82=80=E3=82=82=E3=81=AE=E3=81=8C=E9=80=86=E3=81=AB?= =?UTF-8?q?=E3=81=AA=E3=81=A3=E3=81=A6=E3=81=84=E3=81=9F=E3=81=9F=E3=82=81?= =?UTF-8?q?=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- vtl_adapter/src/eve_vtl_interface_converter.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/vtl_adapter/src/eve_vtl_interface_converter.cpp b/vtl_adapter/src/eve_vtl_interface_converter.cpp index 49924ca..45aeb88 100644 --- a/vtl_adapter/src/eve_vtl_interface_converter.cpp +++ b/vtl_adapter/src/eve_vtl_interface_converter.cpp @@ -75,15 +75,15 @@ void EveVTLInterfaceConverter::onRoute(const Route::ConstSharedPtr msg) void EveVTLInterfaceConverter::onOperationModeState(const OperationModeState::ConstSharedPtr msg) { - is_autoware_control_ = msg->is_autoware_control_enabled; + is_autoware_control_enabled_ = msg->is_autoware_control_enabled; is_in_transition_ = msg->is_in_transition; mode_ = msg->mode; } void EveVTLInterfaceConverter::onAutonomousDrivingStartButton(const AutonomousDrivingStartButton::ConstSharedPtr msg) { - is_accept_ = msg ->is_engage_requesting; - is_request_ = msg ->is_engage_accepted; + is_accept_ = msg ->is_engage_accepted; + is_request_ = msg ->is_engage_requesting; } std::optional EveVTLInterfaceConverter::request() const @@ -311,7 +311,7 @@ std::optional EveVTLInterfaceConverter::convertADState() const if (state_ == autoware_adapi_v1_msgs::msg::RouteState::SET) { if (route_.data.size() != 0) { - if (is_autoware_control_ && !is_in_transition_ ) { + if (is_autoware_control_enabled_ && !is_in_transition_ ) { if (mode_ != OperationModeState::AUTONOMOUS) { if (is_accept_ || is_request_) { isReadyForDeparture_flg = true; From 88e1f8dfc1a55f74656ee4bd9a618068268d394b Mon Sep 17 00:00:00 2001 From: koji-oka-fsi Date: Tue, 16 Dec 2025 14:47:00 +0900 Subject: [PATCH 8/9] beta/2.0.0 for test --- vtl_adapter/launch/vtl_adapter.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/vtl_adapter/launch/vtl_adapter.launch.xml b/vtl_adapter/launch/vtl_adapter.launch.xml index 1f4b022..bb76900 100644 --- a/vtl_adapter/launch/vtl_adapter.launch.xml +++ b/vtl_adapter/launch/vtl_adapter.launch.xml @@ -12,7 +12,7 @@ --> - + From 0c7bea74fb5657636c8042fd46111c44f0688540 Mon Sep 17 00:00:00 2001 From: koji-oka-fsi Date: Tue, 16 Dec 2025 14:54:45 +0900 Subject: [PATCH 9/9] Fixing missing commits --- vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp b/vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp index a740165..8835879 100644 --- a/vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp +++ b/vtl_adapter/include/vtl_adapter/eve_vtl_interface_converter.hpp @@ -72,7 +72,7 @@ class EveVTLInterfaceConverter rclcpp::Node* node_; uint16_t state_; Route route_; - bool is_autoware_control_; + bool is_autoware_control_enabled_; bool is_in_transition_; uint8_t mode_; bool is_accept_;