From 3fd6cde4f5cd295755bf2495a40f26bce38e18eb Mon Sep 17 00:00:00 2001
From: yamacir-kit <httperror@404-notfound.jp>
Date: Tue, 24 Dec 2024 15:30:17 +0900
Subject: [PATCH] Cleanup `ControlModeCommand` service callback

Signed-off-by: yamacir-kit <httperror@404-notfound.jp>
---
 external/concealer/src/autoware_universe.cpp  | 27 +++++++++++--------
 .../traffic_simulator/entity/ego_entity.hpp   |  2 +-
 2 files changed, 17 insertions(+), 12 deletions(-)

diff --git a/external/concealer/src/autoware_universe.cpp b/external/concealer/src/autoware_universe.cpp
index 7467290ce20..57490a28aae 100644
--- a/external/concealer/src/autoware_universe.cpp
+++ b/external/concealer/src/autoware_universe.cpp
@@ -46,17 +46,22 @@ AutowareUniverse::AutowareUniverse(bool simulate_localization)
     [this](
       const ControlModeCommand::Request::SharedPtr request,
       ControlModeCommand::Response::SharedPtr response) {
-      if (request->mode == ControlModeCommand::Request::AUTONOMOUS) {
-        current_control_mode.store(ControlModeReport::AUTONOMOUS);
-        response->success = true;
-      } else if (request->mode == ControlModeCommand::Request::MANUAL) {
-        /*
-          NOTE: MANUAL request will come when a remote override is triggered.
-          But scenario_simulator_v2 don't support a remote override for now.
-        */
-        response->success = false;
-      } else {
-        response->success = false;
+      switch (request->mode) {
+        case ControlModeCommand::Request::AUTONOMOUS:
+          current_control_mode.store(ControlModeReport::AUTONOMOUS);
+          response->success = true;
+          break;
+        case ControlModeCommand::Request::MANUAL:
+          /*
+             NOTE: MANUAL request will come when a remote override is
+             triggered. But scenario_simulator_v2 don't support a remote
+             override for now.
+          */
+          response->success = false;
+          break;
+        default:
+          response->success = false;
+          break;
       }
     })),
   localization_update_timer(
diff --git a/simulation/traffic_simulator/include/traffic_simulator/entity/ego_entity.hpp b/simulation/traffic_simulator/include/traffic_simulator/entity/ego_entity.hpp
index cbb9f01861f..44f2e23601e 100644
--- a/simulation/traffic_simulator/include/traffic_simulator/entity/ego_entity.hpp
+++ b/simulation/traffic_simulator/include/traffic_simulator/entity/ego_entity.hpp
@@ -31,7 +31,7 @@ namespace traffic_simulator
 {
 namespace entity
 {
-class EgoEntity : public VehicleEntity, public concealer::FieldOperatorApplication
+class EgoEntity : public VehicleEntity, private concealer::FieldOperatorApplication
 {
   bool is_controlled_by_simulator_{false};
   std::optional<double> target_speed_;