refactor(vehicle_cmd_gate): rename adapi pause interface (autowarefou…

…ndation#3794)

* refactor(vehicle_cmd_gate): rename adapi pause interface

Signed-off-by: Takagi, Isamu <[email protected]>

* refactor: fix internal name

Signed-off-by: Takagi, Isamu <[email protected]>

---------

Signed-off-by: Takagi, Isamu <[email protected]>

control/vehicle_cmd_gate/CMakeLists.txt

@@ -7,7 +7,7 @@ autoware_package()
 ament_auto_add_library(vehicle_cmd_gate_node SHARED
  src/vehicle_cmd_gate.cpp
  src/vehicle_cmd_filter.cpp
- src/pause_interface.cpp
+ src/adapi_pause_interface.cpp
  src/moderate_stop_interface.cpp
 )
 

control/vehicle_cmd_gate/src/pause_interface.cpp → control/vehicle_cmd_gate/src/adapi_pause_interface.cpp

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pause_interface.hpp"
+#include "adapi_pause_interface.hpp"
 
 namespace vehicle_cmd_gate
 {
 
-PauseInterface::PauseInterface(rclcpp::Node * node) : node_(node)
+AdapiPauseInterface::AdapiPauseInterface(rclcpp::Node * node) : node_(node)
 {
  const auto adaptor = component_interface_utils::NodeAdaptor(node);
- adaptor.init_srv(srv_set_pause_, this, &PauseInterface::on_pause);
+ adaptor.init_srv(srv_set_pause_, this, &AdapiPauseInterface::on_pause);
  adaptor.init_pub(pub_is_paused_);
  adaptor.init_pub(pub_is_start_requested_);
 
@@ -29,12 +29,12 @@ PauseInterface::PauseInterface(rclcpp::Node * node) : node_(node)
  publish();
 }
 
-bool PauseInterface::is_paused()
+bool AdapiPauseInterface::is_paused()
 {
  return is_paused_;
 }
 
-void PauseInterface::publish()
+void AdapiPauseInterface::publish()
 {
  if (prev_is_paused_ != is_paused_) {
  IsPaused::Message msg;
@@ -53,12 +53,12 @@ void PauseInterface::publish()
  }
 }
 
-void PauseInterface::update(const AckermannControlCommand & control)
+void AdapiPauseInterface::update(const AckermannControlCommand & control)
 {
  is_start_requested_ = eps < std::abs(control.longitudinal.speed);
 }
 
-void PauseInterface::on_pause(
+void AdapiPauseInterface::on_pause(
  const SetPause::Service::Request::SharedPtr req, const SetPause::Service::Response::SharedPtr res)
 {
  is_paused_ = req->pause;

control/vehicle_cmd_gate/src/pause_interface.hpp → control/vehicle_cmd_gate/src/adapi_pause_interface.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PAUSE_INTERFACE_HPP_
-#define PAUSE_INTERFACE_HPP_
+#ifndef ADAPI_PAUSE_INTERFACE_HPP_
+#define ADAPI_PAUSE_INTERFACE_HPP_
 
 #include <component_interface_specs/control.hpp>
 #include <component_interface_utils/rclcpp.hpp>
@@ -24,7 +24,7 @@
 namespace vehicle_cmd_gate
 {
 
-class PauseInterface
+class AdapiPauseInterface
 {
 private:
  static constexpr double eps = 1e-3;
@@ -34,7 +34,7 @@ class PauseInterface
  using IsStartRequested = control_interface::IsStartRequested;
 
 public:
- explicit PauseInterface(rclcpp::Node * node);
+ explicit AdapiPauseInterface(rclcpp::Node * node);
  bool is_paused();
  void publish();
  void update(const AckermannControlCommand & control);
@@ -57,4 +57,4 @@ class PauseInterface
 
 } // namespace vehicle_cmd_gate
 
-#endif // PAUSE_INTERFACE_HPP_
+#endif // ADAPI_PAUSE_INTERFACE_HPP_

control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp

@@ -197,7 +197,7 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options)
  updater_.add("emergency_stop_operation", this, &VehicleCmdGate::checkExternalEmergencyStop);
 
  // Pause interface
- pause_ = std::make_unique<PauseInterface>(this);
+ adapi_pause_ = std::make_unique<AdapiPauseInterface>(this);
  moderate_stop_interface_ = std::make_unique<ModerateStopInterface>(this);
 
  // Timer
@@ -399,9 +399,9 @@ void VehicleCmdGate::publishControlCommands(const Commands & commands)
  filtered_commands.control = createStopControlCmd();
  }
 
- // Check pause
- pause_->update(filtered_commands.control);
- if (pause_->is_paused()) {
+ // Check pause. Place this check after all other checks as it needs the final output.
+ adapi_pause_->update(filtered_commands.control);
+ if (adapi_pause_->is_paused()) {
  filtered_commands.control.longitudinal.speed = 0.0;
  filtered_commands.control.longitudinal.acceleration = stop_hold_acceleration_;
  }
@@ -417,7 +417,7 @@ void VehicleCmdGate::publishControlCommands(const Commands & commands)
  // Publish commands
  vehicle_cmd_emergency_pub_->publish(vehicle_cmd_emergency);
  control_cmd_pub_->publish(filtered_commands.control);
- pause_->publish();
+ adapi_pause_->publish();
  moderate_stop_interface_->publish();
 
  // Save ControlCmd to steering angle when disengaged
@@ -434,7 +434,7 @@ void VehicleCmdGate::publishEmergencyStopControlCommands()
  control_cmd = createEmergencyStopControlCmd();
 
  // Update control command
- pause_->update(control_cmd);
+ adapi_pause_->update(control_cmd);
 
  // gear
  GearCommand gear;
@@ -482,7 +482,7 @@ void VehicleCmdGate::publishStatus()
  engage_pub_->publish(autoware_engage);
  pub_external_emergency_->publish(external_emergency);
  operation_mode_pub_->publish(current_operation_mode_);
- pause_->publish();
+ adapi_pause_->publish();
  moderate_stop_interface_->publish();
 }
 

control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp

@@ -15,8 +15,8 @@
 #ifndef VEHICLE_CMD_GATE_HPP_
 #define VEHICLE_CMD_GATE_HPP_
 
+#include "adapi_pause_interface.hpp"
 #include "moderate_stop_interface.hpp"
-#include "pause_interface.hpp"
 #include "vehicle_cmd_filter.hpp"
 
 #include <diagnostic_updater/diagnostic_updater.hpp>
@@ -217,7 +217,7 @@ class VehicleCmdGate : public rclcpp::Node
  VehicleCmdFilter filter_on_transition_;
 
  // Pause interface for API
- std::unique_ptr<PauseInterface> pause_;
+ std::unique_ptr<AdapiPauseInterface> adapi_pause_;
  std::unique_ptr<ModerateStopInterface> moderate_stop_interface_;
 };