revert all cpp and hpp h

usdot-fhwa-stol · Nov 26, 2024 · 29298b4 · 29298b4
1 parent 7cc26ab
commit 29298b4
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Showing 63 changed files with 10,347 additions and 12,065 deletions.
diff --git a/approaching_emergency_vehicle_plugin/src/approaching_emergency_vehicle_plugin_node.cpp b/approaching_emergency_vehicle_plugin/src/approaching_emergency_vehicle_plugin_node.cpp
diff --git a/basic_autonomy/src/basic_autonomy.cpp b/basic_autonomy/src/basic_autonomy.cpp
@@ -774,7 +774,7 @@ namespace basic_autonomy
             for (size_t i = 0; i < points.size(); i++)
             {
                 carma_planning_msgs::msg::TrajectoryPlanPoint tpp;
-                rclcpp::Duration relative_time = rclcpp::Duration::from_nanoseconds(static_cast<int64_t>(times[i] * 1e9)); // Conversion of times[i] from seconds to nanoseconds
+                rclcpp::Duration relative_time(times[i] * 1e9); // Conversion of times[i] from seconds to nanoseconds
                 tpp.target_time = startTime + relative_time;
                 tpp.x = points[i].x();
                 tpp.y = points[i].y();
@@ -1283,7 +1283,7 @@ namespace basic_autonomy
                 autoware_point.heading.real = std::cos(yaw/2);
                 autoware_point.heading.imag = std::sin(yaw/2);
 
-                autoware_point.time_from_start = rclcpp::Duration::from_nanoseconds(static_cast<int64_t>(times[i] * 1e9));
+                autoware_point.time_from_start = rclcpp::Duration(times[i] * 1e9);
                 RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Setting waypoint idx: " << i <<", with planner: << " << trajectory_points[i].planner_plugin_name << ", x: " << trajectory_points[i].x <<
                                         ", y: " << trajectory_points[i].y <<
                                         ", speed: " << lag_speeds[i]* 2.23694 << "mph");

diff --git a/bsm_generator/src/bsm_generator_node.cpp b/bsm_generator/src/bsm_generator_node.cpp
diff --git a/bsm_generator/src/bsm_generator_worker.cpp b/bsm_generator/src/bsm_generator_worker.cpp
@@ -15,85 +15,86 @@
  */
 
 #include "bsm_generator/bsm_generator_worker.hpp"
-
 #include <random>
 
 namespace bsm_generator
 {
-
-BSMGeneratorWorker::BSMGeneratorWorker() {}
-
-uint8_t BSMGeneratorWorker::getNextMsgCount()
-{
-  uint8_t old_msg_count = msg_count_;
-  msg_count_++;
-  if (msg_count_ == 128) {
-    msg_count_ = 0;
-  }
-  return old_msg_count;
-}
-
-std::vector<uint8_t> BSMGeneratorWorker::getMsgId(const rclcpp::Time now, double secs)
-{
-  // need to change ID every designated period
-  rclcpp::Duration id_timeout = rclcpp::Duration::from_nanoseconds(secs * 1e9);
-
-  generator_.seed(std::random_device{}());  // guarantee randomness
-  std::uniform_int_distribution<int> dis(0, INT_MAX);
-
-  std::vector<uint8_t> id(4);
-
-  if (first_msg_id_) {
-    last_id_generation_time_ = now;
-    first_msg_id_ = false;
-    random_id_ = dis(generator_);
-  }
-
-  if (now - last_id_generation_time_ >= id_timeout) {
-    random_id_ = dis(generator_);
-    RCLCPP_DEBUG_STREAM(
-      rclcpp::get_logger("bsm_generator"), "Newly generated random id: " << random_id_);
-    last_id_generation_time_ = now;
-  }
-
-  for (int i = 0; i < id.size(); ++i) {
-    id[i] = random_id_ >> (8 * i);
-  }
-  return id;
-}
-
-uint16_t BSMGeneratorWorker::getSecMark(const rclcpp::Time now)
-{
-  return static_cast<uint16_t>((now.nanoseconds() / 1000000) % 60000);
-}
-
-float BSMGeneratorWorker::getSpeedInRange(const double speed)
-{
-  return static_cast<float>(std::max(std::min(speed, 163.8), 0.0));
-}
-
-float BSMGeneratorWorker::getSteerWheelAngleInRange(const double angle)
-{
-  return static_cast<float>(std::max(std::min(angle * 57.2958, 189.0), -189.0));
-}
-
-float BSMGeneratorWorker::getLongAccelInRange(const float accel)
-{
-  return std::max(std::min(accel, 20.0f), -20.0f);
-}
-
-float BSMGeneratorWorker::getYawRateInRange(const double yaw_rate)
-{
-  return static_cast<float>(std::max(std::min(yaw_rate, 327.67), -327.67));
-}
-
-uint8_t BSMGeneratorWorker::getBrakeAppliedStatus(const double brake)
-{
-  return brake >= 0.05 ? 0b1111 : 0;
-}
-
-float BSMGeneratorWorker::getHeadingInRange(const float heading)
-{
-  return std::max(std::min(heading, 359.9875f), 0.0f);
-}
-}  // namespace bsm_generator
+
+    BSMGeneratorWorker::BSMGeneratorWorker() {}
+
+    uint8_t BSMGeneratorWorker::getNextMsgCount()
+    {
+        uint8_t old_msg_count = msg_count_;
+        msg_count_++;
+        if(msg_count_ == 128)
+        {
+            msg_count_ = 0;
+        }
+        return old_msg_count;
+    }
+
+    std::vector<uint8_t> BSMGeneratorWorker::getMsgId(const rclcpp::Time now, double secs)
+    {
+        // need to change ID every designated period
+        rclcpp::Duration id_timeout(secs * 1e9);
+
+        generator_.seed(std::random_device{}()); // guarantee randomness
+        std::uniform_int_distribution<int> dis(0,INT_MAX);
+
+        std::vector<uint8_t> id(4);
+
+        if (first_msg_id_) {
+            last_id_generation_time_ = now;
+            first_msg_id_ = false;
+            random_id_ = dis(generator_);
+        }
+
+        if(now - last_id_generation_time_ >= id_timeout)
+        {
+            random_id_ = dis(generator_);
+            RCLCPP_DEBUG_STREAM(rclcpp::get_logger("bsm_generator"), "Newly generated random id: " << random_id_);
+            last_id_generation_time_ = now;
+        }
+
+        for(int i = 0; i < id.size(); ++i)
+        {
+            id[i] = random_id_ >> (8 * i);
+        }
+        return id;
+    }
+
+    uint16_t BSMGeneratorWorker::getSecMark(const rclcpp::Time now)
+    {
+        return static_cast<uint16_t>((now.nanoseconds() / 1000000) % 60000);
+    }
+
+    float BSMGeneratorWorker::getSpeedInRange(const double speed)
+    {
+        return static_cast<float>(std::max(std::min(speed, 163.8), 0.0));
+    }
+
+    float BSMGeneratorWorker::getSteerWheelAngleInRange(const double angle)
+    {
+        return static_cast<float>(std::max(std::min(angle * 57.2958, 189.0), -189.0));
+    }
+
+    float BSMGeneratorWorker::getLongAccelInRange(const float accel)
+    {
+        return std::max(std::min(accel, 20.0f), -20.0f);
+    }
+
+    float BSMGeneratorWorker::getYawRateInRange(const double yaw_rate)
+    {
+        return static_cast<float>(std::max(std::min(yaw_rate, 327.67), -327.67));
+    }
+
+    uint8_t BSMGeneratorWorker::getBrakeAppliedStatus(const double brake)
+    {
+        return brake >= 0.05 ? 0b1111 : 0;
+    }
+
+    float BSMGeneratorWorker::getHeadingInRange(const float heading)
+    {
+        return std::max(std::min(heading, 359.9875f), 0.0f);
+    }
+} // namespace bsm_generator