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feat(tier4_state_rviz_plugin): change to read topic by polling #7492

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feat(tier4_state_rviz_plugin): change to read topic by polling #7492

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ba63b03
replace rclcpp::Subscription to tier4_autoware_utils::InterProcessPol…
Jun 14, 2024
572e660
Merge branch 'main' into feat/tier4_state_rviz_plugin/sub_by_polling
Autumn60 Jun 14, 2024
b5b8afd
Merge branch 'main' into feat/tier4_state_rviz_plugin/sub_by_polling
Autumn60 Jun 17, 2024
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5 changes: 3 additions & 2 deletions common/tier4_state_rviz_plugin/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
<depend>qtbase5-dev</depend>
<depend>rclcpp</depend>
<depend>rviz_common</depend>
<depend>tier4_autoware_utils</depend>
<depend>tier4_control_msgs</depend>
<depend>tier4_external_api_msgs</depend>
<depend>tier4_planning_msgs</depend>
Expand All @@ -29,6 +30,6 @@

<export>
<build_type>ament_cmake</build_type>
<rviz plugin="${prefix}/plugins/plugin_description.xml"/>
<rviz plugin="${prefix}/plugins/plugin_description.xml" />
</export>
</package>
</package>
17 changes: 15 additions & 2 deletions common/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,9 @@
#include <rclcpp/rclcpp.hpp>
#include <rviz_common/panel.hpp>

// Autoware
#include <tier4_autoware_utils/ros/polling_subscriber.hpp>

#include <autoware_adapi_v1_msgs/msg/planning_behavior.hpp>
#include <autoware_adapi_v1_msgs/msg/steering_factor_array.hpp>
#include <autoware_adapi_v1_msgs/msg/velocity_factor_array.hpp>
Expand Down Expand Up @@ -59,11 +62,21 @@ class VelocitySteeringFactorsPanel : public rviz_common::Panel
QTableWidget * velocity_factors_table_{nullptr};
QTableWidget * steering_factors_table_{nullptr};

rclcpp::Subscription<VelocityFactorArray>::SharedPtr sub_velocity_factors_;
rclcpp::Subscription<SteeringFactorArray>::SharedPtr sub_steering_factors_;
tier4_autoware_utils::InterProcessPollingSubscriber<VelocityFactorArray>::SharedPtr
sub_velocity_factors_;
tier4_autoware_utils::InterProcessPollingSubscriber<SteeringFactorArray>::SharedPtr
sub_steering_factors_;
// rclcpp::Subscription<VelocityFactorArray>::SharedPtr sub_velocity_factors_;
// rclcpp::Subscription<SteeringFactorArray>::SharedPtr sub_steering_factors_;

void onTimer();
void onVelocityFactors(const VelocityFactorArray::ConstSharedPtr msg);
void onSteeringFactors(const SteeringFactorArray::ConstSharedPtr msg);

// timer
rclcpp::TimerBase::SharedPtr timer_;

static constexpr double check_rate = 20.0; // [Hz]
};
} // namespace rviz_plugins

Expand Down
36 changes: 30 additions & 6 deletions common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
//

Check warning on line 1 in common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Code Duplication 

The module contains 2 functions with similar structure: VelocitySteeringFactorsPanel::makeSteeringFactorsGroup,VelocitySteeringFactorsPanel::makeVelocityFactorsGroup. Avoid duplicated, aka copy-pasted, code inside the module. More duplication lowers the code health.
// Copyright 2023 TIER IV, Inc. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
Expand Down Expand Up @@ -90,13 +90,37 @@
raw_node_ = this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node();

// Planning
sub_velocity_factors_ = raw_node_->create_subscription<VelocityFactorArray>(
"/api/planning/velocity_factors", 10,
std::bind(&VelocitySteeringFactorsPanel::onVelocityFactors, this, _1));
sub_velocity_factors_ =
tier4_autoware_utils::InterProcessPollingSubscriber<VelocityFactorArray>::create_subscription(
raw_node_.get(), "/api/planning/velocity_factors", 10);

sub_steering_factors_ = raw_node_->create_subscription<SteeringFactorArray>(
"/api/planning/steering_factors", 10,
std::bind(&VelocitySteeringFactorsPanel::onSteeringFactors, this, _1));
sub_steering_factors_ =
tier4_autoware_utils::InterProcessPollingSubscriber<SteeringFactorArray>::create_subscription(
raw_node_.get(), "/api/planning/steering_factors", 10);

// timer
auto on_timer = std::bind(&VelocitySteeringFactorsPanel::onTimer, this);
auto period = std::chrono::duration_cast<std::chrono::nanoseconds>(
std::chrono::duration<double>(1.0 / check_rate));
timer_ = std::make_shared<rclcpp::GenericTimer<decltype(on_timer)>>(
raw_node_->get_clock(), period, std::move(on_timer),
raw_node_->get_node_base_interface()->get_context());
raw_node_->get_node_timers_interface()->add_timer(timer_, nullptr);
}

void VelocitySteeringFactorsPanel::onTimer()
{
// VelocityFactors
{
auto steering_factors = sub_steering_factors_->takeNewData();
if (steering_factors) onSteeringFactors(steering_factors);
}

// SteeringFactors
{
auto velocity_factors = sub_velocity_factors_->takeNewData();
if (velocity_factors) onVelocityFactors(velocity_factors);
}
}

void VelocitySteeringFactorsPanel::onVelocityFactors(const VelocityFactorArray::ConstSharedPtr msg)
Expand Down
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