Merge branch 'main' into clang-tidy-b66

Author: kobayu858

.github/actions/evaluate-job-result/action.yaml

@@ -14,6 +14,10 @@ on:
         default: humble
         required: false
         type: string
+      run-condition:
+        default: true
+        required: false
+        type: boolean
       container-suffix:
         required: false
         default: ""
@@ -28,6 +32,7 @@ env:
 
 jobs:
   build-and-test-differential:
+    if: ${{ inputs.run-condition }}
     runs-on: ${{ inputs.runner }}
     container: ${{ inputs.container }}${{ inputs.container-suffix }}
     steps:

.github/workflows/build-and-test-differential.yaml

@@ -40,98 +40,44 @@ jobs:
         shell: bash
 
   build-and-test-differential:
+    if: ${{ always() }}
     needs:
       - require-label
     uses: ./.github/workflows/build-and-test-differential.yaml
     with:
       container: ghcr.io/autowarefoundation/autoware:universe-devel
+      run-condition: ${{ needs.require-label.outputs.result == 'true' }}
     secrets:
       codecov-token: ${{ secrets.CODECOV_TOKEN }}
 
   build-and-test-differential-cuda:
+    if: ${{ always() }}
     needs: check-if-cuda-job-is-needed
-    if: ${{ needs.check-if-cuda-job-is-needed.outputs.cuda_job_is_needed == 'true' }}
     uses: ./.github/workflows/build-and-test-differential.yaml
     with:
       container: ghcr.io/autowarefoundation/autoware:universe-devel
       container-suffix: -cuda
+      run-condition: ${{ needs.check-if-cuda-job-is-needed.outputs.cuda_job_is_needed == 'true' }}
     secrets:
       codecov-token: ${{ secrets.CODECOV_TOKEN }}
 
-  build-test-pr:
-    needs:
-      - build-and-test-differential
-      - build-and-test-differential-cuda
-    if: ${{ always() }}
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Initialize Summary
-        run: echo "### Build Test PR Results" > $GITHUB_STEP_SUMMARY
-        shell: bash
-
-      - name: Evaluate build-and-test-differential
-        uses: ./.github/actions/evaluate-job-result
-        with:
-          job_result: ${{ needs.build-and-test-differential.result }}
-          job_name: build-and-test-differential
-          expected_results: success
-
-      - name: Evaluate build-and-test-differential-cuda
-        if: ${{ always() }}
-        uses: ./.github/actions/evaluate-job-result
-        with:
-          job_result: ${{ needs.build-and-test-differential-cuda.result }}
-          job_name: build-and-test-differential-cuda
-          expected_results: success,skipped
-
   clang-tidy-differential:
+    if: ${{ always() }} # always run to provide report for status check
     needs:
       - check-if-cuda-job-is-needed
       - build-and-test-differential
-    if: ${{ needs.check-if-cuda-job-is-needed.outputs.cuda_job_is_needed == 'false' }}
     uses: ./.github/workflows/clang-tidy-differential.yaml
     with:
       container: ghcr.io/autowarefoundation/autoware:universe-devel
+      run-condition: ${{ needs.check-if-cuda-job-is-needed.outputs.cuda_job_is_needed == 'false' && needs.build-and-test-differential.result == 'success' }}
 
   clang-tidy-differential-cuda:
+    if: ${{ always() }} # always run to provide report for status check
     needs:
+      - check-if-cuda-job-is-needed
       - build-and-test-differential-cuda
     uses: ./.github/workflows/clang-tidy-differential.yaml
     with:
       container: ghcr.io/autowarefoundation/autoware:universe-devel
       container-suffix: -cuda
-
-  clang-tidy-pr:
-    needs:
-      - clang-tidy-differential
-      - clang-tidy-differential-cuda
-    if: ${{ always() }}
-    runs-on: ubuntu-latest
-    steps:
-      - name: Initialize Summary
-        run: echo "### Clang Tidy PR Results" > $GITHUB_STEP_SUMMARY
-        shell: bash
-
-      - name: Check clang-tidy success
-        if: ${{ needs.clang-tidy-differential.result == 'success' || needs.clang-tidy-differential-cuda.result == 'success' }}
-        run: |
-          echo "✅ Either one of the following has succeeded:" >> $GITHUB_STEP_SUMMARY
-
-      - name: Fail if conditions not met
-        if: ${{ !(needs.clang-tidy-differential.result == 'success' || needs.clang-tidy-differential-cuda.result == 'success') }}
-        run: |
-          echo "::error::❌ Either one of the following should have succeeded:"
-          echo "::error::clang-tidy-differential: ${{ needs.clang-tidy-differential.result }}"
-          echo "::error::clang-tidy-differential-cuda: ${{ needs.clang-tidy-differential-cuda.result }}"
-
-          echo "❌ Either one of the following should have succeeded:" >> $GITHUB_STEP_SUMMARY
-
-          exit 1
-
-      - name: Print the results
-        if: ${{ always() }}
-        run: |
-          echo "- **clang-tidy-differential:** ${{ needs.clang-tidy-differential.result }}" >> $GITHUB_STEP_SUMMARY
-          echo "- **clang-tidy-differential-cuda:** ${{ needs.clang-tidy-differential-cuda.result }}" >> $GITHUB_STEP_SUMMARY
+      run-condition: ${{ needs.check-if-cuda-job-is-needed.outputs.cuda_job_is_needed == 'true' && needs.build-and-test-differential-cuda.result == 'success' }}

.github/workflows/build-test-tidy-pr.yaml

@@ -14,9 +14,14 @@ on:
         default: ubuntu-24.04
         required: false
         type: string
+      run-condition:
+        default: true
+        required: false
+        type: boolean
 
 jobs:
   clang-tidy-differential:
+    if: ${{ inputs.run-condition }}
     runs-on: ${{ inputs.runner }}
     container: ${{ inputs.container }}${{ inputs.container-suffix }}
     steps:

.github/workflows/clang-tidy-differential.yaml

@@ -2,6 +2,13 @@
 # https://github.com/autowarefoundation/sync-file-templates
 # To make changes, update the source repository and follow the guidelines in its README.
 
+# https://pre-commit.ci/#configuration
+ci:
+  autofix_commit_msg: "style(pre-commit-optional): autofix"
+  # we already have our own daily update mechanism, we set this to quarterly
+  autoupdate_schedule: quarterly
+  autoupdate_commit_msg: "ci(pre-commit-optional): quarterly autoupdate"
+
 repos:
   - repo: https://github.com/tcort/markdown-link-check
     rev: v3.12.2

.pre-commit-config-optional.yaml

@@ -316,54 +316,56 @@ dc   | dc dc dc  dc ||zc|
   // iterate points
   // Requires 'OMP_NUM_THREADS=N'
   omp_set_num_threads(omp_num_threads_);
-#pragma omp parallel for
-  for (int i = 0; i < iterations; i++) {
-    int stride = p_step * i;
-    unsigned char * data = &painted_pointcloud_msg.data[0];
-    unsigned char * output = &painted_pointcloud_msg.data[0];
-    // cppcheck-suppress-begin invalidPointerCast
-    float p_x = *reinterpret_cast<const float *>(&data[stride + x_offset]);
-    float p_y = *reinterpret_cast<const float *>(&data[stride + y_offset]);
-    float p_z = *reinterpret_cast<const float *>(&data[stride + z_offset]);
-    // cppcheck-suppress-end invalidPointerCast
-    point_lidar << p_x, p_y, p_z;
-    point_camera = lidar2cam_affine * point_lidar;
-    p_x = point_camera.x();
-    p_y = point_camera.y();
-    p_z = point_camera.z();
-
-    if (camera_projectors_[image_id].isOutsideHorizontalView(p_x, p_z)) {
-      continue;
-    }
+  std::vector<std::vector<Eigen::Vector2d>> local_vectors(omp_num_threads_);
+#pragma omp parallel
+  {
+#pragma omp for
+    for (int i = 0; i < iterations; i++) {
+      int stride = p_step * i;
+      unsigned char * data = &painted_pointcloud_msg.data[0];
+      unsigned char * output = &painted_pointcloud_msg.data[0];
+      // cppcheck-suppress-begin invalidPointerCast
+      float p_x = *reinterpret_cast<const float *>(&data[stride + x_offset]);
+      float p_y = *reinterpret_cast<const float *>(&data[stride + y_offset]);
+      float p_z = *reinterpret_cast<const float *>(&data[stride + z_offset]);
+      // cppcheck-suppress-end invalidPointerCast
+      point_lidar << p_x, p_y, p_z;
+      point_camera = lidar2cam_affine * point_lidar;
+      p_x = point_camera.x();
+      p_y = point_camera.y();
+      p_z = point_camera.z();
+
+      if (camera_projectors_[image_id].isOutsideHorizontalView(p_x, p_z)) {
+        continue;
+      }
 
-    // project
-    Eigen::Vector2d projected_point;
-    if (camera_projectors_[image_id].calcImageProjectedPoint(
-          cv::Point3d(p_x, p_y, p_z), projected_point)) {
-      // iterate 2d bbox
-      for (const auto & feature_object : objects) {
-        sensor_msgs::msg::RegionOfInterest roi = feature_object.feature.roi;
-        // paint current point if it is inside bbox
-        int label2d = feature_object.object.classification.front().label;
-        if (
-          !isUnknown(label2d) && isInsideBbox(projected_point.x(), projected_point.y(), roi, 1.0)) {
-          // cppcheck-suppress invalidPointerCast
-          auto p_class = reinterpret_cast<float *>(&output[stride + class_offset]);
-          for (const auto & cls : isClassTable_) {
-            // add up the class values if the point belongs to multiple classes
-            *p_class = cls.second(label2d) ? (class_index_[cls.first] + *p_class) : *p_class;
+      // project
+      Eigen::Vector2d projected_point;
+      if (camera_projectors_[image_id].calcImageProjectedPoint(
+            cv::Point3d(p_x, p_y, p_z), projected_point)) {
+        // iterate 2d bbox
+        for (const auto & feature_object : objects) {
+          sensor_msgs::msg::RegionOfInterest roi = feature_object.feature.roi;
+          // paint current point if it is inside bbox
+          int label2d = feature_object.object.classification.front().label;
+          if (
+            !isUnknown(label2d) &&
+            isInsideBbox(projected_point.x(), projected_point.y(), roi, 1.0)) {
+            // cppcheck-suppress invalidPointerCast
+            auto p_class = reinterpret_cast<float *>(&output[stride + class_offset]);
+            for (const auto & cls : isClassTable_) {
+              // add up the class values if the point belongs to multiple classes
+              *p_class = cls.second(label2d) ? (class_index_[cls.first] + *p_class) : *p_class;
+            }
           }
         }
+        if (debugger_) {
+          int thread_id = omp_get_thread_num();
+          local_vectors[thread_id].push_back(projected_point);
+        }
       }
-#if 0
-      // Parallelizing loop don't support push_back
-      if (debugger_) {
-        debug_image_points.push_back(projected_point);
-      }
-#endif
     }
   }
-
   if (debugger_) {
     std::unique_ptr<ScopedTimeTrack> inner_st_ptr;
     if (time_keeper_)
@@ -373,6 +375,10 @@ dc   | dc dc dc  dc ||zc|
       debug_image_rois.push_back(feature_object.feature.roi);
     }
 
+    for (const auto & local_vec : local_vectors) {
+      debug_image_points.insert(debug_image_points.end(), local_vec.begin(), local_vec.end());
+    }
+
     debugger_->image_rois_ = debug_image_rois;
     debugger_->obstacle_points_ = debug_image_points;
     debugger_->publishImage(image_id, input_roi_msg.header.stamp);

perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp

@@ -18,7 +18,7 @@ Enabling and disabling modules involves managing settings in key configuration a
 
 ### Key Files for Configuration
 
-The `default_preset.yaml` file acts as the primary configuration file, where planning modules can be disable or enabled. Furthermore, users can also set the type of motion planner across various motion planners. For example:
+The `default_preset.yaml` file acts as the primary configuration file, where planning modules can be disabled or enabled. Furthermore, users can also set the type of motion planner across various motion planners. For example:
 
 - `launch_avoidance_module`: Set to `true` to enable the avoidance module, or `false` to disable it.
 - `motion_stop_planner_type`: Set `default` to either `obstacle_stop_planner` or `obstacle_cruise_planner`.
@@ -35,23 +35,23 @@ The [launch files](https://github.com/autowarefoundation/autoware.universe/tree/
 
 corresponds to launch_avoidance_module from `default_preset.yaml`.
 
-### Parameters configuration
+### Parameter Configuration
 
 There are multiple parameters available for configuration, and users have the option to modify them in [here](https://github.com/autowarefoundation/autoware_launch/tree/main/autoware_launch/config/planning). It's important to note that not all parameters are adjustable via `rqt_reconfigure`. To ensure the changes are effective, modify the parameters and then restart Autoware. Additionally, detailed information about each parameter is available in the corresponding documents under the planning tab.
 
 ### Integrating a Custom Module into Autoware: A Step-by-Step Guide
 
 This guide outlines the steps for integrating your custom module into Autoware:
 
-- Add your modules to the `default_preset.yaml` file. For example
+- Add your modules to the `default_preset.yaml` file. For example:
 
 ```yaml
 - arg:
   name: launch_intersection_module
   default: "true"
 ```
 
-- Incorporate your modules into the [launcher](https://github.com/autowarefoundation/autoware.universe/tree/main/launch/tier4_planning_launch/launch/scenario_planning). For example in [behavior_planning.launch.xml](https://github.com/autowarefoundation/autoware.universe/blob/main/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml):
+- Incorporate your modules into the [launcher](https://github.com/autowarefoundation/autoware.universe/tree/main/launch/tier4_planning_launch/launch/scenario_planning). For example, in [behavior_planning.launch.xml](https://github.com/autowarefoundation/autoware.universe/blob/main/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml):
 
 ```xml
 <arg name="launch_intersection_module" default="true"/>
@@ -63,14 +63,14 @@ This guide outlines the steps for integrating your custom module into Autoware:
 />
 ```
 
-- If applicable, place your parameter folder within the appropriate existing parameter folder. For example [intersection_module's parameters](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml) is in [behavior_velocity_planner](https://github.com/autowarefoundation/autoware_launch/tree/main/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner).
-- Insert the path of your parameters in the [tier4_planning_component.launch.xml](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/launch/components/tier4_planning_component.launch.xml). For example `behavior_velocity_planner_intersection_module_param_path` is used.
+- If applicable, place your parameter folder within the appropriate existing parameter folder. For example, [intersection_module's parameters](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml) are in [behavior_velocity_planner](https://github.com/autowarefoundation/autoware_launch/tree/main/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner).
+- Insert the path of your parameters in the [tier4_planning_component.launch.xml](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/launch/components/tier4_planning_component.launch.xml). For example, `behavior_velocity_planner_intersection_module_param_path` is used.
 
 ```xml
 <arg name="behavior_velocity_planner_intersection_module_param_path" value="$(var behavior_velocity_config_path)/intersection.param.yaml"/>
 ```
 
-- Define your parameter path variable within the corresponding launcher. For example in [behavior_planning.launch.xml](https://github.com/autowarefoundation/autoware.universe/blob/04aa54bf5fb0c88e70198ca74b9ac343cc3457bf/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml#L191)
+- Define your parameter path variable within the corresponding launcher. For example, in [behavior_planning.launch.xml](https://github.com/autowarefoundation/autoware.universe/blob/04aa54bf5fb0c88e70198ca74b9ac343cc3457bf/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml#L191)
 
 ```xml
 <param from="$(var behavior_velocity_planner_intersection_module_param_path)"/>
@@ -82,7 +82,7 @@ This guide outlines the steps for integrating your custom module into Autoware:
 
 ## Join Our Community-Driven Effort
 
-Autoware thrives on community collaboration. Every contribution, big or small, is invaluable to us. Whether it's reporting bugs, suggesting improvements, offering new ideas, or anything else you can think of – we welcome it all with open arms.
+Autoware thrives on community collaboration. Every contribution, big or small, is invaluable to us. Whether it's reporting bugs, suggesting improvements, offering new ideas, or anything else you can think of – we welcome all contributions with open arms.
 
 ### How to Contribute?
 
@@ -105,7 +105,7 @@ Interested in joining our meetings? We’d love to have you! For more informatio
 
 Occasionally, we publish papers specific to the Planning Component in Autoware. We encourage you to explore these publications and find valuable insights for your work. If you find them useful and incorporate any of our methodologies or algorithms in your projects, citing our papers would be immensely helpful. This support allows us to reach a broader audience and continue contributing to the field.
 
-If you use the Jerk Constrained Velocity Planning algorithm in [Motion Velocity Smoother](./autoware_velocity_smoother/README.md) module in the Planning Component, we kindly request you to cite the relevant paper.
+If you use the Jerk Constrained Velocity Planning algorithm in the [Motion Velocity Smoother](./autoware_velocity_smoother/README.md) module in the Planning Component, we kindly request you cite the relevant paper.
 
 <!-- cspell:ignore Shimizu, Horibe, Watanabe, Kato -->