Add new architecture-type awf/universe/20250130

Signed-off-by: yamacir-kit <[email protected]>

external/concealer/include/concealer/available.hpp

@@ -0,0 +1,29 @@
+// Copyright 2015 TIER IV, Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef CONCEALER__AVAILABLE_HPP_
+#define CONCEALER__AVAILABLE_HPP_
+
+#include <rclcpp/rclcpp.hpp>
+
+namespace concealer
+{
+template <typename T>
+constexpr auto available(const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &) -> bool
+{
+  return true;
+}
+}  // namespace concealer
+
+#endif  // CONCEALER__AVAILABLE_HPP_

external/concealer/include/concealer/get_parameter.hpp

@@ -0,0 +1,34 @@
+// Copyright 2015 TIER IV, Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef CONCEALER__GET_PARAMETER_HPP_
+#define CONCEALER__GET_PARAMETER_HPP_
+
+#include <rclcpp/rclcpp.hpp>
+
+namespace concealer
+{
+template <typename T>
+auto getParameter(
+  const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr & node,
+  const std::string & name, T value = {})
+{
+  if (not node->has_parameter(name)) {
+    node->declare_parameter(name, rclcpp::ParameterValue(value));
+  }
+  return node->get_parameter(name).get_value<T>();
+}
+}  // namespace concealer
+
+#endif  // CONCEALER__GET_PARAMETER_HPP_

external/concealer/include/concealer/path_with_lane_id.hpp

@@ -23,6 +23,7 @@
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
 #endif
 
+#include <concealer/available.hpp>
 #include <concealer/convert.hpp>
 
 namespace concealer
@@ -44,6 +45,16 @@ using PathWithLaneId = decltype(std::tuple_cat(
 static_assert(0 < std::tuple_size_v<PathWithLaneId>);
 }  // namespace priority
 
+#if __has_include(<autoware_internal_planning_msgs/msg/path_with_lane_id.hpp>)
+template <>
+auto available<autoware_internal_planning_msgs::msg::PathWithLaneId>(const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &) -> bool;
+#endif
+
+#if __has_include(<tier4_planning_msgs/msg/path_with_lane_id.hpp>)
+template <>
+auto available<tier4_planning_msgs::msg::PathWithLaneId>(const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &) -> bool;
+#endif
+
 #if __has_include(<autoware_internal_planning_msgs/msg/path_with_lane_id.hpp>) and \
     __has_include(<tier4_planning_msgs/msg/path_with_lane_id.hpp>)
 template <>

external/concealer/include/concealer/subscriber.hpp

@@ -18,6 +18,7 @@
 #include <concealer/convert.hpp>
 #include <memory>
 #include <rclcpp/rclcpp.hpp>
+#include <scenario_simulator_exception/exception.hpp>
 
 namespace concealer
 {
@@ -37,23 +38,23 @@ struct Subscriber<Message>
   explicit Subscriber(
     const std::string & topic, const rclcpp::QoS & quality_of_service, Autoware & autoware,
     const Callback & callback)
-  : subscription(autoware.template create_subscription<Message>(
+  : subscription(available<Message>(autoware.get_node_parameters_interface()) ? autoware.template create_subscription<Message>(
       topic, quality_of_service,
       [this, callback](const typename Message::ConstSharedPtr & message) {
         if (std::atomic_store(&current_value, message); current_value) {
           callback((*this)());
         }
-      }))
+      }) : throw common::scenario_simulator_exception::Error("no viable message type for topic ", std::quoted(topic)))
   {
   }
 
   template <typename Autoware>
   explicit Subscriber(
     const std::string & topic, const rclcpp::QoS & quality_of_service, Autoware & autoware)
-  : subscription(autoware.template create_subscription<Message>(
+  : subscription(available<Message>(autoware.get_node_parameters_interface()) ? autoware.template create_subscription<Message>(
       topic, quality_of_service, [this](const typename Message::ConstSharedPtr & message) {
         std::atomic_store(&current_value, message);
-      }))
+      }) : nullptr)
   {
   }
 };
@@ -79,24 +80,24 @@ struct Subscriber<Message, T, Ts...> : public Subscriber<T, Ts...>
     const std::string & topic, const rclcpp::QoS & quality_of_service, Autoware & autoware,
     const Callback & callback)
   : Subscriber<T, Ts...>(topic, quality_of_service, autoware, callback),
-    subscription(autoware.template create_subscription<Message>(
+    subscription(available<Message>(autoware.get_node_parameters_interface()) ? autoware.template create_subscription<Message>(
       topic, quality_of_service,
       [this, callback](const typename Message::ConstSharedPtr & message) {
         if (std::atomic_store(&current_value, message); current_value) {
           callback((*this)());
         }
-      }))
+      }) : nullptr)
   {
   }
 
   template <typename Autoware>
   explicit Subscriber(
     const std::string & topic, const rclcpp::QoS & quality_of_service, Autoware & autoware)
   : Subscriber<T, Ts...>(topic, quality_of_service, autoware),
-    subscription(autoware.template create_subscription<Message>(
+    subscription(available<Message>(autoware.get_node_parameters_interface()) ? autoware.template create_subscription<Message>(
       topic, quality_of_service, [this](const typename Message::ConstSharedPtr & message) {
         std::atomic_store(&current_value, message);
-      }))
+      }) : nullptr)
   {
   }
 };

external/concealer/src/path_with_lane_id.cpp

@@ -12,10 +12,39 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <concealer/get_parameter.hpp>
 #include <concealer/path_with_lane_id.hpp>
 
 namespace concealer
 {
+#if __has_include(<autoware_internal_planning_msgs/msg/path_with_lane_id.hpp>)
+template <>
+auto available<autoware_internal_planning_msgs::msg::PathWithLaneId>(
+  const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr & node) -> bool
+{
+  if (const auto architecture_type = getParameter<std::string>(node, "architecture_type");
+      architecture_type.find("awf/universe") != std::string::npos) {
+    return "awf/universe/20250130" <= architecture_type;
+  } else {
+    return false;
+  }
+}
+#endif
+
+#if __has_include(<tier4_planning_msgs/msg/path_with_lane_id.hpp>)
+template <>
+auto available<tier4_planning_msgs::msg::PathWithLaneId>(
+  const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr & node) -> bool
+{
+  if (const auto architecture_type = getParameter<std::string>(node, "architecture_type");
+      architecture_type.find("awf/universe") != std::string::npos) {
+    return architecture_type < "awf/universe/20250130";
+  } else {
+    return false;
+  }
+}
+#endif
+
 #if __has_include(<autoware_internal_planning_msgs/msg/path_with_lane_id.hpp>) and \
     __has_include(<tier4_planning_msgs/msg/path_with_lane_id.hpp>)
 template <>

test_runner/scenario_test_runner/launch/scenario_test_runner.launch.py

@@ -35,7 +35,8 @@
 def architecture_types():
     # awf/universe/20230906: autoware_perception_msgs/TrafficSignalArray for traffic lights
     # awf/universe/20240605: autoware_perception_msgs/TrafficLightGroupArray for traffic lights
-    return ["awf/universe/20230906", "awf/universe/20240605"]
+    # awf/universe/20250130: [Pilot.Auto >= 0.41.1] autoware_internal_planning_msgs/msg/PathWithLaneId for concealer
+    return ["awf/universe/20230906", "awf/universe/20240605", "awf/universe/20250130"]
 
 
 def default_autoware_launch_package_of(architecture_type):
@@ -46,6 +47,7 @@ def default_autoware_launch_package_of(architecture_type):
     return {
         "awf/universe/20230906": "autoware_launch",
         "awf/universe/20240605": "autoware_launch",
+        "awf/universe/20250130": "autoware_launch",
     }[architecture_type]
 
 
@@ -57,6 +59,7 @@ def default_autoware_launch_file_of(architecture_type):
     return {
         "awf/universe/20230906": "planning_simulator.launch.xml",
         "awf/universe/20240605": "planning_simulator.launch.xml",
+        "awf/universe/20250130": "planning_simulator.launch.xml",
     }[architecture_type]