feat(lanelet2_map_validator): generation script for new validators (#180

) * temporary commit Signed-off-by: TaikiYamada4 <[email protected]> * Added python script Signed-off-by: TaikiYamada4 <[email protected]> * Finished except docs Signed-off-by: TaikiYamada4 <[email protected]> * Added documents related stuff Signed-off-by: TaikiYamada4 <[email protected]> * Moved stuff to templates Signed-off-by: TaikiYamada4 <[email protected]> * Revised files to suit the current directory Signed-off-by: TaikiYamada4 <[email protected]> * Added arguments Signed-off-by: TaikiYamada4 <[email protected]> * Added prints Signed-off-by: TaikiYamada4 <[email protected]> * added #include <string> to test code Signed-off-by: TaikiYamada4 <[email protected]> * Fixed typo Signed-off-by: TaikiYamada4 <[email protected]> * Write explanation of create_new_validator.py Signed-off-by: TaikiYamada4 <[email protected]> * Added back slashes to example command Signed-off-by: TaikiYamada4 <[email protected]> * Enable the generation script to be run by `ros2 run` Signed-off-by: TaikiYamada4 <[email protected]> --------- Signed-off-by: TaikiYamada4 <[email protected]>
autowarefoundation · Dec 26, 2024 · 5e7d3cd · 5e7d3cd
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diff --git a/map/autoware_lanelet2_map_validator/CMakeLists.txt b/map/autoware_lanelet2_map_validator/CMakeLists.txt
@@ -31,6 +31,11 @@ target_link_libraries(autoware_lanelet2_map_validator
   autoware_lanelet2_map_validator_lib
 )
 
+install(PROGRAMS
+  template/create_new_validator.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
 if(BUILD_TESTING)
   file(GLOB_RECURSE test_src "test/src/test_*.cpp")
   ament_auto_add_library(autoware_lanelet2_map_validator_test_lib ${test_src})

diff --git a/map/autoware_lanelet2_map_validator/docs/how_to_contribute.md b/map/autoware_lanelet2_map_validator/docs/how_to_contribute.md
@@ -37,7 +37,51 @@ This section is aimed at contributors who want to add their own validators. If y
 
 <!--- cSpell:enable --->
 
-Contributors are encouraged to make their validators by following the class structure shown in [`validator_template.cpp`](https://github.com/autowarefoundation/autoware_tools/blob/main/map/autoware_lanelet2_map_validator/src/validators/validator_template.cpp) and [`validator_template.hpp`](https://github.com/autowarefoundation/autoware_tools/blob/main/map/autoware_lanelet2_map_validator/src/validators/validator_template.hpp). Looking at other implementations may also be helpful.
+Contributors are encouraged to make their validators by following the class structure shown in [`validator_template.cpp`](https://github.com/autowarefoundation/autoware_tools/blob/main/map/autoware_lanelet2_map_validator/template/validator_template.cpp) and [`validator_template.hpp`](https://github.com/autowarefoundation/autoware_tools/blob/main/map/autoware_lanelet2_map_validator/template/validator_template.hpp).
+
+#### `create_new_validator.py` may be useful
+
+You can use the script [`create_new_validator.py`](https://github.com/autowarefoundation/autoware_tools/blob/main/map/autoware_lanelet2_map_validator/template/create_new_validator.py) to generate the required files below.
+
+- Source codes (cpp and hpp)
+- Test code (cpp)
+- Document file (md)
+
+You can use this by the command like this example:
+
+```shell
+create_new_validator.py \
+--base_directory ./ \
+--category_name traffic_light \
+--code_name traffic_light_facing \
+--class_name TrafficLightFacingValidator \
+--validator_name mapping.traffic_light.correct_facing \
+--check_function_name check_traffic_light_facing
+```
+
+OR
+
+```shell
+ros2 run autoware_lanelet2_map_validator create_new_validator.py \
+--base_directory ./ \
+--category_name traffic_light \
+--code_name traffic_light_facing \
+--class_name TrafficLightFacingValidator \
+--validator_name mapping.traffic_light.correct_facing \
+--check_function_name check_traffic_light_facing
+```
+
+All arguments are required.
+
+- `--base_directory`: The directory to the `autoware_lanelet2_map_validator` package.
+- `--category_name`: The category (like lanelet, traffic_light...) where your validator belongs to. Look [Design Concept](#design-concept) to see the list of categories.
+- `--code_name`: The name for the files. The source code names will be like `<code_name>.cpp` and `<code_name.hpp>`
+- `--class_name`: The base class name of your validator which will be defined in your new header file.
+- `--validator_name`: The name of the validator which will be displayed when `autoware_lanelet2_map_validator` is executed with a `--print` option. The naming rules are explained in [Restrictions for validator class implementation](#restrictions-for-validator-class-implementation).
+- `--check_function_name`: The main function name of your validator which will be defined in your header file, and its implementation will be written in the cpp source file.
+
+It may be quicker to recognize what this script do by trying the command out.
+If you feel typing these arguments exhausting, you can overwrite the `default` value in the python script, but do not forget not to commit those changes.
 
 #### Restrictions for path structure
 

diff --git a/map/autoware_lanelet2_map_validator/template/create_new_validator.py b/map/autoware_lanelet2_map_validator/template/create_new_validator.py
@@ -0,0 +1,126 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 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.
+
+import argparse
+import os
+import shutil
+
+
+def create_files(
+    base_directory, category_name, code_name, class_name, validator_name, check_function_name
+):
+    # Define directories
+    template_directory = os.path.join(base_directory, "template")
+    src_directory = os.path.join(base_directory, "src/validators", category_name)
+    include_directory = os.path.join(
+        base_directory, "src/include/lanelet2_map_validator/validators", category_name
+    )
+    docs_directory = os.path.join(base_directory, "docs", category_name)
+    test_directory = os.path.join(base_directory, "test/src", category_name)
+
+    # Define source and destination file paths
+    cpp_template = os.path.join(template_directory, "validator_template.cpp")
+    hpp_template = os.path.join(template_directory, "validator_template.hpp")
+    test_template = os.path.join(template_directory, "test_validator_template.cpp")
+    docs_template = os.path.join(template_directory, "validator_template.md")
+    cpp_new = os.path.join(src_directory, f"{code_name}.cpp")
+    print("Create " + cpp_new)
+    hpp_new = os.path.join(include_directory, f"{code_name}.hpp")
+    print("Create " + hpp_new)
+    test_new = os.path.join(test_directory, f"test_{code_name}.cpp")
+    print("Create " + test_new)
+    docs_new = os.path.join(docs_directory, f"{code_name}.md")
+    print("Create " + docs_new)
+
+    # Copy template files
+    shutil.copy(cpp_template, cpp_new)
+    shutil.copy(hpp_template, hpp_new)
+    shutil.copy(test_template, test_new)
+    shutil.copy(docs_template, docs_new)
+
+    # This is only for documents!!
+    with open(docs_new, "r") as file:
+        content = file.read()
+    content = content.replace("validator_template", code_name)
+    with open(docs_new, "w") as file:
+        file.write(content)
+
+    # Replace class name in the new files
+    for file_path in [cpp_new, hpp_new, test_new, docs_new]:
+        with open(file_path, "r") as file:
+            content = file.read()
+        # Replace the class name
+        content = content.replace("ValidatorTemplate", class_name)
+        content = content.replace("mapping.validator.template", validator_name)
+        content = content.replace("checkFunction", check_function_name)
+        content = content.replace(
+            "validator_template.hpp",
+            "lanelet2_map_validator/validators/" + category_name + "/" + code_name + ".hpp",
+        )
+        content = content.replace(
+            "MAP__AUTOWARE_LANELET2_MAP_VALIDATOR__TEMPLATE__VALIDATOR_TEMPLATE_HPP_",
+            "LANELET2_MAP_VALIDATOR__VALIDATORS__"
+            + category_name.upper()
+            + "__"
+            + code_name.upper()
+            + "_HPP_",
+        )
+        with open(file_path, "w") as file:
+            file.write(content)
+
+
+if __name__ == "__main__":
+    # Arguments
+    parser = argparse.ArgumentParser(description="Generate files for a new validator.")
+    parser.add_argument(
+        "--base_directory", default="./", help="Path to the autoware_lanelet2_map_validator package"
+    )
+    parser.add_argument(
+        "--category_name", default="enter_category", help="Category name of the validator"
+    )
+    parser.add_argument(
+        "--code_name",
+        default="enter_code_name",
+        help="Code name for the validator files (e.g. code_name.cpp, code_name.hpp)",
+    )
+    parser.add_argument(
+        "--class_name", default="EnterClassNameValidator", help="Class name for the validator"
+    )
+    parser.add_argument(
+        "--validator_name",
+        default="mapping.category.something",
+        help="Full validator name (e. g. mapping.category.something)",
+    )
+    parser.add_argument(
+        "--check_function_name",
+        default="enter_function_name",
+        help="Check function name for the validator",
+    )
+
+    args = parser.parse_args()
+
+    # User-defined parameters
+    directory_path = args.base_directory  # Replace with package directory path
+    category_name = args.category_name
+    code_name = args.code_name
+    class_name = args.class_name
+    validator_name = args.validator_name
+    check_function_name = args.check_function_name
+
+    create_files(
+        directory_path, category_name, code_name, class_name, validator_name, check_function_name
+    )
+    print("Process complete.")
diff --git a/map/autoware_lanelet2_map_validator/template/test_validator_template.cpp b/map/autoware_lanelet2_map_validator/template/test_validator_template.cpp
@@ -0,0 +1,48 @@
+// Copyright 2024 Autoware Foundation
+//
+// 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.
+
+#include "map_validation_tester.hpp"
+#include "validator_template.hpp"
+
+#include <gtest/gtest.h>
+#include <lanelet2_core/LaneletMap.h>
+
+#include <string>
+
+class TestValidatorTemplate : public MapValidationTester
+{
+private:
+};
+
+TEST_F(TestValidatorTemplate, ValidatorAvailability)  // NOLINT for gtest
+{
+  std::string expected_validator_name = lanelet::autoware::validation::ValidatorTemplate::name();
+
+  lanelet::validation::Strings validators =
+    lanelet::validation::availabeChecks(expected_validator_name);  // cspell:disable-line
+
+  const uint32_t expected_validator_num = 1;
+  EXPECT_EQ(expected_validator_num, validators.size());
+  EXPECT_EQ(expected_validator_name, validators[0]);
+}
+
+TEST_F(TestValidatorTemplate, SampleMap)  // NOLINT for gtest
+{
+  load_target_map("sample_map.osm");
+
+  lanelet::autoware::validation::ValidatorTemplate checker;
+  const auto & issues = checker(*map_);
+
+  EXPECT_EQ(issues.size(), 0);
+}
diff --git a/...tor/src/validators/validator_template.cpp → ...validator/template/validator_template.cpp b/...tor/src/validators/validator_template.cpp → ...validator/template/validator_template.cpp
@@ -14,6 +14,8 @@
 
 #include "validator_template.hpp"
 
+#include "lanelet2_map_validator/utils.hpp"
+
 namespace lanelet::autoware::validation
 {
 namespace
@@ -25,7 +27,15 @@ lanelet::validation::Issues ValidatorTemplate::operator()(const lanelet::Lanelet
 {
   lanelet::validation::Issues issues;
 
-  // Remove this line and write down how to append issues
+  lanelet::autoware::validation::appendIssues(issues, checkFunction(map));
+
+  return issues;
+}
+
+lanelet::validation::Issues ValidatorTemplate::checkFunction(const lanelet::LaneletMap & map)
+{
+  lanelet::validation::Issues issues;
+
   (void)map;
 
   return issues;

diff --git a/...tor/src/validators/validator_template.hpp → ...validator/template/validator_template.hpp b/...tor/src/validators/validator_template.hpp → ...validator/template/validator_template.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef VALIDATORS__VALIDATOR_TEMPLATE_HPP_
-#define VALIDATORS__VALIDATOR_TEMPLATE_HPP_
+#ifndef MAP__AUTOWARE_LANELET2_MAP_VALIDATOR__TEMPLATE__VALIDATOR_TEMPLATE_HPP_
+#define MAP__AUTOWARE_LANELET2_MAP_VALIDATOR__TEMPLATE__VALIDATOR_TEMPLATE_HPP_
 
 #include <lanelet2_validation/Validation.h>
 #include <lanelet2_validation/ValidatorFactory.h>
@@ -29,7 +29,8 @@ class ValidatorTemplate : public lanelet::validation::MapValidator
   lanelet::validation::Issues operator()(const lanelet::LaneletMap & map) override;
 
 private:
+  lanelet::validation::Issues checkFunction(const lanelet::LaneletMap & map);
 };
 }  // namespace lanelet::autoware::validation
 
-#endif  // VALIDATORS__VALIDATOR_TEMPLATE_HPP_
+#endif  // MAP__AUTOWARE_LANELET2_MAP_VALIDATOR__TEMPLATE__VALIDATOR_TEMPLATE_HPP_
diff --git a/map/autoware_lanelet2_map_validator/template/validator_template.md b/map/autoware_lanelet2_map_validator/template/validator_template.md
@@ -0,0 +1,18 @@
+# validator_template
+
+## Validator name
+
+mapping.validator.template
+
+## Feature
+
+Feature explanation here.
+
+| Issue Code | Message | Severity | Description | Approach |
+| ---------- | ------- | -------- | ----------- | -------- |
+|            |         |          |             |          |
+
+## Related source codes
+
+- validator_template.cpp
+- validator_template.hpp