fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
autowarefoundation · Apr 3, 2023 · 4691ced · 4691ced
1 parent 3659416
commit 4691ced
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Showing 5 changed files with 24 additions and 11 deletions.
diff --git a/...havior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp b/...havior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
@@ -277,7 +277,9 @@ class SceneModuleInterface
   {
     std::unordered_map<std::string, std::shared_ptr<RTCInterface>> rtc_interface_ptr_map;
     for (const auto & rtc_type : rtc_types) {
-      const auto rtc_interface_name = rtc_type == "" ? name : name + "_" + rtc_type;
+      const auto snake_case_name = util::convertToSnakeCase(name);
+      const auto rtc_interface_name =
+        rtc_type == "" ? snake_case_name : snake_case_name + "_" + rtc_type;
       rtc_interface_ptr_map.emplace(
         rtc_type, std::make_shared<RTCInterface>(&node, rtc_interface_name));
     }

diff --git a/...ath_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp b/...ath_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp
@@ -51,7 +51,9 @@ class SceneModuleManagerInterface
     enable_simultaneous_execution_(config.enable_simultaneous_execution)
   {
     for (const auto & rtc_type : rtc_types) {
-      const auto rtc_interface_name = rtc_type == "" ? name : name + "_" + rtc_type;
+      const auto snake_case_name = util::convertToSnakeCase(name);
+      const auto rtc_interface_name =
+        rtc_type == "" ? snake_case_name : snake_case_name + "_" + rtc_type;
       rtc_interface_ptr_map_.emplace(
         rtc_type, std::make_shared<RTCInterface>(node, rtc_interface_name));
     }

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp
@@ -535,6 +535,8 @@ double calcLaneChangeBuffer(
 
 lanelet::ConstLanelets getLaneletsFromPath(
   const PathWithLaneId & path, const std::shared_ptr<route_handler::RouteHandler> & route_handler);
+
+std::string convertToSnakeCase(const std::string & input_str);
 }  // namespace behavior_path_planner::util
 
 #endif  // BEHAVIOR_PATH_PLANNER__UTILITIES_HPP_
diff --git a/...ehavior_path_planner/src/scene_module/lane_change/external_request_lane_change_module.cpp b/...ehavior_path_planner/src/scene_module/lane_change/external_request_lane_change_module.cpp
@@ -33,22 +33,15 @@
 namespace behavior_path_planner
 {
 #ifdef USE_OLD_ARCHITECTURE
-std::string getTopicName(const ExternalRequestLaneChangeModule::Direction & direction)
-{
-  const std::string direction_name =
-    direction == ExternalRequestLaneChangeModule::Direction::RIGHT ? "right" : "left";
-  return "ext_request_lane_change_" + direction_name;
-}
-
 ExternalRequestLaneChangeModule::ExternalRequestLaneChangeModule(
   const std::string & name, rclcpp::Node & node, std::shared_ptr<LaneChangeParameters> parameters,
   const Direction & direction)
-: SceneModuleInterface{name, node, createRTCInterfaceMap(node, name, {getTopicName(direction)})},
+: SceneModuleInterface{name, node, createRTCInterfaceMap(node, name, {""})},
   parameters_{std::move(parameters)},
   direction_{direction}
 {
   steering_factor_interface_ptr_ =
-    std::make_unique<SteeringFactorInterface>(&node, getTopicName(direction));
+    std::make_unique<SteeringFactorInterface>(&node, util::convertToSnakeCase(name));
 }
 
 void ExternalRequestLaneChangeModule::onEntry()

diff --git a/planning/behavior_path_planner/src/utilities.cpp b/planning/behavior_path_planner/src/utilities.cpp
@@ -2691,4 +2691,18 @@ lanelet::ConstLanelets getLaneletsFromPath(
 
   return lanelets;
 }
+
+std::string convertToSnakeCase(const std::string & input_str)
+{
+  std::string output_str = std::string{std::tolower(input_str.at(0))};
+  for (size_t i = 1; i < input_str.length(); ++i) {
+    const auto input_chr = input_str.at(i);
+    if (std::isupper(input_chr)) {
+      output_str += "_" + std::string{std::tolower(input_chr)};
+    } else {
+      output_str += input_chr;
+    }
+  }
+  return output_str;
+}
 }  // namespace behavior_path_planner::util