From 1a077ae44ecaa012463c51c325bfaea092892e3a Mon Sep 17 00:00:00 2001
From: TaikiYamada4 <taiki.yamada@tier4.jp>
Date: Thu, 5 Dec 2024 10:17:45 +0900
Subject: [PATCH] Use findUsages in missing_referrers_for_traffic_lights

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>
---
 .../missing_referrers_for_traffic_lights.hpp  | 11 -----------
 .../missing_referrers_for_traffic_lights.cpp  | 19 ++-----------------
 2 files changed, 2 insertions(+), 28 deletions(-)

diff --git a/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/traffic_light/missing_referrers_for_traffic_lights.hpp b/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/traffic_light/missing_referrers_for_traffic_lights.hpp
index c7ebe527..0061e29a 100644
--- a/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/traffic_light/missing_referrers_for_traffic_lights.hpp
+++ b/map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/traffic_light/missing_referrers_for_traffic_lights.hpp
@@ -36,17 +36,6 @@ class MissingReferrersForTrafficLightsValidator : public lanelet::validation::Ma
    */
   lanelet::validation::Issues check_missing_referrers_for_traffic_lights(
     const lanelet::LaneletMap & map);
-
-  /**
-   * @brief Returns lanelets that refers the regulatory element specified by the input id
-   * from the input lanelet map.
-   *
-   * @param map
-   * @param reg_elem_id
-   * @return lanelet::ConstLanelets
-   */
-  lanelet::ConstLanelets collect_referring_lanelets(
-    const lanelet::LaneletMap & map, const lanelet::Id reg_elem_id);
 };
 }  // namespace lanelet::autoware::validation
 
diff --git a/map/autoware_lanelet2_map_validator/src/validators/traffic_light/missing_referrers_for_traffic_lights.cpp b/map/autoware_lanelet2_map_validator/src/validators/traffic_light/missing_referrers_for_traffic_lights.cpp
index 84281bb7..6245277e 100644
--- a/map/autoware_lanelet2_map_validator/src/validators/traffic_light/missing_referrers_for_traffic_lights.cpp
+++ b/map/autoware_lanelet2_map_validator/src/validators/traffic_light/missing_referrers_for_traffic_lights.cpp
@@ -51,8 +51,8 @@ MissingReferrersForTrafficLightsValidator::check_missing_referrers_for_traffic_l
     }
 
     // At least one lanelet should refer a traffic_light regulatory element
-    const lanelet::ConstLanelets referring_lanelets =
-      collect_referring_lanelets(map, reg_elem->id());
+    const lanelet::ConstLanelets referring_lanelets = map.laneletLayer.findUsages(reg_elem);
+
     if (referring_lanelets.size() == 0) {
       issues.emplace_back(
         lanelet::validation::Severity::Error, lanelet::validation::Primitive::RegulatoryElement,
@@ -66,19 +66,4 @@ MissingReferrersForTrafficLightsValidator::check_missing_referrers_for_traffic_l
 
   return issues;
 }
-
-lanelet::ConstLanelets MissingReferrersForTrafficLightsValidator::collect_referring_lanelets(
-  const lanelet::LaneletMap & map, const lanelet::Id target_reg_elem_id)
-{
-  lanelet::ConstLanelets lanelet_group;
-  for (const lanelet::ConstLanelet & lanelet : map.laneletLayer) {
-    for (lanelet::RegulatoryElementConstPtr reg_elem : lanelet.regulatoryElements()) {
-      if (reg_elem->id() == target_reg_elem_id) {
-        lanelet_group.push_back(lanelet);
-      }
-    }
-  }
-  return lanelet_group;
-}
-
 }  // namespace lanelet::autoware::validation