Refactor callback functions for standardization

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

planning/planning_test_manager/include/planning_interface_test_manager/planning_interface_test_manager.hpp

@@ -96,9 +96,13 @@ class PlanningIntefaceTestManager
   // Node
   rclcpp::Node::SharedPtr test_node_ =
     std::make_shared<rclcpp::Node>("planning_interface_test_node");
-  int count_{0};
-  void countCallback(const Trajectory trajectory);
-  void countCallbackMaxVelocity(const VelocityLimit max_velocity);
+  size_t count_{0};
+
+  template <typename MessageT>
+  void countCallback([[maybe_unused]] const typename MessageT::SharedPtr msg)
+  {
+    ++count_;
+  }
 
   Odometry genDefaultOdom() { return Odometry{}; }
   PointCloud2 genDefaultPointCloud() { return PointCloud2{}; }
@@ -111,7 +115,6 @@ class PlanningIntefaceTestManager
   void publishNominalTrajectory(rclcpp::Node::SharedPtr node);
   void publishAbnormalTrajectory(
     rclcpp::Node::SharedPtr node, const Trajectory & abnormal_trajectory);
-
 };  // class PlanningIntefaceTestManager
 
 }  // namespace planning_test_manager

planning/planning_test_manager/src/planning_interface_test_manager.cpp

@@ -80,7 +80,8 @@ void PlanningIntefaceTestManager::setTrajectorySubscriber()
   // Count the number of trajectory received.
   traj_sub_ = test_node_->create_subscription<Trajectory>(
     output_trajectory_name_, 10,
-    std::bind(&PlanningIntefaceTestManager::countCallback, this, std::placeholders::_1));
+    std::bind(
+      &PlanningIntefaceTestManager::countCallback<Trajectory>, this, std::placeholders::_1));
 }
 
 // test for normal working
@@ -121,19 +122,6 @@ void PlanningIntefaceTestManager::publishAbnormalTrajectory(
   rclcpp::sleep_for(std::chrono::milliseconds(100));
 }
 
-void PlanningIntefaceTestManager::countCallback([[maybe_unused]] const Trajectory trajectory)
-{
-  // Increment the counter.
-  ++count_;
-}
-
-void PlanningIntefaceTestManager::countCallbackMaxVelocity(
-  [[maybe_unused]] const VelocityLimit max_velocity)
-{
-  // Increment the counter.
-  ++count_;
-}
-
 int PlanningIntefaceTestManager::getReceivedTopicNum() { return count_; }
 
 }  // namespace planning_test_manager