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chore(glog): add initialization check #6792

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May 9, 2024
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chore(glog): add initialization check #6792

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2 changes: 1 addition & 1 deletion common/glog_component/CMakeLists.txt
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Expand Up @@ -8,7 +8,7 @@ autoware_package()
ament_auto_add_library(glog_component SHARED
src/glog_component.cpp
)
target_link_libraries(glog_component glog)
target_link_libraries(glog_component glog::glog)

rclcpp_components_register_node(glog_component
PLUGIN "GlogComponent"
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2 changes: 1 addition & 1 deletion common/glog_component/package.xml
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Expand Up @@ -13,7 +13,7 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>

<depend>libgoogle-glog-dev</depend>
<depend>glog</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>

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6 changes: 4 additions & 2 deletions common/glog_component/src/glog_component.cpp
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Expand Up @@ -17,8 +17,10 @@
GlogComponent::GlogComponent(const rclcpp::NodeOptions & node_options)
: Node("glog_component", node_options)
{
google::InitGoogleLogging("glog_component");
google::InstallFailureSignalHandler();
if (!google::IsGoogleLoggingInitialized()) {
google::InitGoogleLogging("glog_component");
google::InstallFailureSignalHandler();
}
}

#include <rclcpp_components/register_node_macro.hpp>
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2 changes: 0 additions & 2 deletions evaluator/perception_online_evaluator/CMakeLists.txt
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Expand Up @@ -6,8 +6,6 @@ autoware_package()

find_package(pluginlib REQUIRED)

find_package(glog REQUIRED)

ament_auto_add_library(${PROJECT_NAME}_node SHARED
src/metrics_calculator.cpp
src/${PROJECT_NAME}_node.cpp
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2 changes: 1 addition & 1 deletion evaluator/perception_online_evaluator/package.xml
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Expand Up @@ -21,8 +21,8 @@
<depend>diagnostic_msgs</depend>
<depend>eigen</depend>
<depend>geometry_msgs</depend>
<depend>glog</depend>
<depend>lanelet2_extension</depend>
<depend>libgoogle-glog-dev</depend>
<depend>motion_utils</depend>
<depend>nav_msgs</depend>
<depend>object_recognition_utils</depend>
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6 changes: 4 additions & 2 deletions evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp
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Expand Up @@ -43,8 +43,10 @@ PerceptionOnlineEvaluatorNode::PerceptionOnlineEvaluatorNode(
{
using std::placeholders::_1;

google::InitGoogleLogging("perception_online_evaluator_node");
google::InstallFailureSignalHandler();
if (!google::IsGoogleLoggingInitialized()) {
google::InitGoogleLogging("perception_online_evaluator_node");
google::InstallFailureSignalHandler();
}

objects_sub_ = create_subscription<PredictedObjects>(
"~/input/objects", 1, std::bind(&PerceptionOnlineEvaluatorNode::onObjects, this, _1));
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2 changes: 1 addition & 1 deletion localization/ndt_scan_matcher/package.xml
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Expand Up @@ -22,7 +22,7 @@
<depend>diagnostic_msgs</depend>
<depend>fmt</depend>
<depend>geometry_msgs</depend>
<depend>libgoogle-glog-dev</depend>
<depend>glog</depend>
<depend>libpcl-all-dev</depend>
<depend>localization_util</depend>
<depend>nav_msgs</depend>
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6 changes: 4 additions & 2 deletions localization/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp
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Expand Up @@ -20,8 +20,10 @@

int main(int argc, char ** argv)
{
google::InitGoogleLogging(argv[0]); // NOLINT
google::InstallFailureSignalHandler();
if (!google::IsGoogleLoggingInitialized()) {
google::InitGoogleLogging(argv[0]); // NOLINT
google::InstallFailureSignalHandler();
}

rclcpp::init(argc, argv);
auto ndt_scan_matcher = std::make_shared<NDTScanMatcher>();
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2 changes: 1 addition & 1 deletion localization/pose_estimator_arbiter/package.xml
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Expand Up @@ -15,8 +15,8 @@
<depend>autoware_auto_mapping_msgs</depend>
<depend>diagnostic_msgs</depend>
<depend>geometry_msgs</depend>
<depend>glog</depend>
<depend>lanelet2_extension</depend>
<depend>libgoogle-glog-dev</depend>
<depend>magic_enum</depend>
<depend>pcl_conversions</depend>
<depend>pcl_ros</depend>
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6 changes: 4 additions & 2 deletions ...ization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter_node.cpp
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Expand Up @@ -18,8 +18,10 @@

int main(int argc, char * argv[])
{
google::InitGoogleLogging(argv[0]);
google::InstallFailureSignalHandler();
if (!google::IsGoogleLoggingInitialized()) {
google::InitGoogleLogging(argv[0]);
google::InstallFailureSignalHandler();
}

rclcpp::init(argc, argv);
auto node = std::make_shared<pose_estimator_arbiter::PoseEstimatorArbiter>();
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2 changes: 1 addition & 1 deletion localization/yabloc/yabloc_common/package.xml
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Expand Up @@ -19,9 +19,9 @@
<depend>autoware_auto_mapping_msgs</depend>
<depend>cv_bridge</depend>
<depend>geometry_msgs</depend>
<depend>glog</depend>
<depend>lanelet2_core</depend>
<depend>lanelet2_extension</depend>
<depend>libgoogle-glog-dev</depend>
<depend>pcl_conversions</depend>
<depend>rclcpp</depend>
<depend>sensor_msgs</depend>
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6 changes: 4 additions & 2 deletions localization/yabloc/yabloc_common/src/ground_server/ground_server_node.cpp
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Expand Up @@ -18,8 +18,10 @@

int main(int argc, char ** argv)
{
google::InitGoogleLogging(argv[0]);
google::InstallFailureSignalHandler();
if (!google::IsGoogleLoggingInitialized()) {
google::InitGoogleLogging(argv[0]);
google::InstallFailureSignalHandler();
}

rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<yabloc::ground_server::GroundServer>());
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6 changes: 4 additions & 2 deletions ...ion/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_node.cpp
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Expand Up @@ -18,8 +18,10 @@

int main(int argc, char * argv[])
{
google::InitGoogleLogging(argv[0]);
google::InstallFailureSignalHandler();
if (!google::IsGoogleLoggingInitialized()) {
google::InitGoogleLogging(argv[0]);
google::InstallFailureSignalHandler();
}

namespace mpf = yabloc::modularized_particle_filter;
rclcpp::init(argc, argv);
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2 changes: 1 addition & 1 deletion perception/map_based_prediction/package.xml
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Expand Up @@ -17,9 +17,9 @@

<depend>autoware_auto_perception_msgs</depend>
<depend>autoware_perception_msgs</depend>
<depend>glog</depend>
<depend>interpolation</depend>
<depend>lanelet2_extension</depend>
<depend>libgoogle-glog-dev</depend>
<depend>motion_utils</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
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6 changes: 4 additions & 2 deletions perception/map_based_prediction/src/map_based_prediction_node.cpp
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@@ -1,4 +1,4 @@
// Copyright 2021 Tier IV, Inc.

Check notice on line 1 in perception/map_based_prediction/src/map_based_prediction_node.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Lines of Code in a Single File 

The lines of code increases from 1771 to 1773, improve code health by reducing it to 1000. The number of Lines of Code in a single file. More Lines of Code lowers the code health.

Check notice on line 1 in perception/map_based_prediction/src/map_based_prediction_node.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 6.52 to 6.54, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -715,8 +715,10 @@
MapBasedPredictionNode::MapBasedPredictionNode(const rclcpp::NodeOptions & node_options)
: Node("map_based_prediction", node_options), debug_accumulated_time_(0.0)
{
google::InitGoogleLogging("map_based_prediction_node");
google::InstallFailureSignalHandler();
if (!google::IsGoogleLoggingInitialized()) {
google::InitGoogleLogging("map_based_prediction_node");
google::InstallFailureSignalHandler();
}

Check warning on line 721 in perception/map_based_prediction/src/map_based_prediction_node.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Large Method 

MapBasedPredictionNode::MapBasedPredictionNode increases from 89 to 91 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
enable_delay_compensation_ = declare_parameter<bool>("enable_delay_compensation");
prediction_time_horizon_ = declare_parameter<double>("prediction_time_horizon");
lateral_control_time_horizon_ =
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5 changes: 1 addition & 4 deletions perception/multi_object_tracker/CMakeLists.txt
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Expand Up @@ -48,16 +48,13 @@ ament_auto_add_library(multi_object_tracker_node SHARED

target_link_libraries(multi_object_tracker_node
Eigen3::Eigen
glog::glog
)

ament_auto_add_executable(${PROJECT_NAME}
src/multi_object_tracker_node.cpp
)

target_link_libraries(${PROJECT_NAME}
multi_object_tracker_node glog
)

ament_auto_package(INSTALL_TO_SHARE
launch
config
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2 changes: 1 addition & 1 deletion perception/multi_object_tracker/package.xml
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Expand Up @@ -16,8 +16,8 @@
<depend>autoware_auto_perception_msgs</depend>
<depend>diagnostic_updater</depend>
<depend>eigen</depend>
<depend>glog</depend>
<depend>kalman_filter</depend>
<depend>libgoogle-glog-dev</depend>
<depend>mussp</depend>
<depend>object_recognition_utils</depend>
<depend>rclcpp</depend>
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6 changes: 4 additions & 2 deletions perception/multi_object_tracker/src/multi_object_tracker_node.cpp
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Expand Up @@ -20,8 +20,10 @@

int main(int argc, char ** argv)
{
google::InitGoogleLogging(argv[0]); // NOLINT
google::InstallFailureSignalHandler();
if (!google::IsGoogleLoggingInitialized()) {
google::InitGoogleLogging(argv[0]); // NOLINT
google::InstallFailureSignalHandler();
}

rclcpp::init(argc, argv);
rclcpp::NodeOptions options;
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2 changes: 1 addition & 1 deletion perception/radar_object_tracker/package.xml
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Expand Up @@ -16,9 +16,9 @@

<depend>autoware_auto_perception_msgs</depend>
<depend>eigen</depend>
<depend>glog</depend>
<depend>kalman_filter</depend>
<depend>lanelet2_extension</depend>
<depend>libgoogle-glog-dev</depend>
<depend>mussp</depend>
<depend>nlohmann-json-dev</depend>
<depend>object_recognition_utils</depend>
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6 changes: 4 additions & 2 deletions perception/radar_object_tracker/src/radar_object_tracker_node/radar_object_tracker_node.cpp
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@@ -1,4 +1,4 @@
// Copyright 2023 TIER IV, Inc.

Check notice on line 1 in perception/radar_object_tracker/src/radar_object_tracker_node/radar_object_tracker_node.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 5.19 to 5.25, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -196,8 +196,10 @@
tf_listener_(tf_buffer_)
{
// glog for debug
google::InitGoogleLogging("radar_object_tracker");
google::InstallFailureSignalHandler();
if (!google::IsGoogleLoggingInitialized()) {
google::InitGoogleLogging("radar_object_tracker");
google::InstallFailureSignalHandler();
}

// Create publishers and subscribers
detected_object_sub_ = create_subscription<autoware_auto_perception_msgs::msg::DetectedObjects>(
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2 changes: 1 addition & 1 deletion perception/tracking_object_merger/package.xml
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Expand Up @@ -15,7 +15,7 @@

<depend>autoware_auto_perception_msgs</depend>
<depend>eigen</depend>
<depend>libgoogle-glog-dev</depend>
<depend>glog</depend>
<depend>mussp</depend>
<depend>object_recognition_utils</depend>
<depend>rclcpp</depend>
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6 changes: 4 additions & 2 deletions perception/tracking_object_merger/src/decorative_tracker_merger.cpp
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Expand Up @@ -88,8 +88,10 @@ DecorativeTrackerMergerNode::DecorativeTrackerMergerNode(const rclcpp::NodeOptio
tf_listener_(tf_buffer_)
{
// glog for debug
google::InitGoogleLogging("decorative_object_merger_node");
google::InstallFailureSignalHandler();
if (!google::IsGoogleLoggingInitialized()) {
google::InitGoogleLogging("decorative_object_merger_node");
google::InstallFailureSignalHandler();
}

// Subscriber
sub_main_objects_ = create_subscription<TrackedObjects>(
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