From 544fd7bc54c81342bbabfbb7238bb3667e09ae95 Mon Sep 17 00:00:00 2001
From: yamacir-kit <httperror@404-notfound.jp>
Date: Thu, 19 Dec 2024 13:54:46 +0900
Subject: [PATCH] Remove static member function
 `EgoEntity::makeFieldOperatorApplication`

Signed-off-by: yamacir-kit <httperror@404-notfound.jp>
---
 .../concealer/field_operator_application.hpp   |  9 +--------
 .../traffic_simulator/entity/ego_entity.hpp    |  4 ----
 .../src/entity/ego_entity.cpp                  | 18 +++++++++---------
 3 files changed, 10 insertions(+), 21 deletions(-)

diff --git a/external/concealer/include/concealer/field_operator_application.hpp b/external/concealer/include/concealer/field_operator_application.hpp
index d5be067e0b0..13026c8e5cb 100644
--- a/external/concealer/include/concealer/field_operator_application.hpp
+++ b/external/concealer/include/concealer/field_operator_application.hpp
@@ -31,7 +31,6 @@
 #include <autoware_vehicle_msgs/msg/gear_command.hpp>
 #include <autoware_vehicle_msgs/msg/turn_indicators_command.hpp>
 #include <concealer/autoware_universe.hpp>
-#include <concealer/launch.hpp>
 #include <concealer/publisher.hpp>
 #include <concealer/service.hpp>
 #include <concealer/subscriber.hpp>
@@ -136,13 +135,7 @@ struct FieldOperatorApplication : public rclcpp::Node,
   */
   TaskQueue task_queue;
 
-  CONCEALER_PUBLIC explicit FieldOperatorApplication(const pid_t = 0);
-
-  template <typename... Ts>
-  CONCEALER_PUBLIC explicit FieldOperatorApplication(Ts &&... xs)
-  : FieldOperatorApplication(ros2_launch(std::forward<decltype(xs)>(xs)...))
-  {
-  }
+  CONCEALER_PUBLIC explicit FieldOperatorApplication(const pid_t);
 
   ~FieldOperatorApplication();
 
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 91cab0f7f97..5580e106e39 100644
--- a/simulation/traffic_simulator/include/traffic_simulator/entity/ego_entity.hpp
+++ b/simulation/traffic_simulator/include/traffic_simulator/entity/ego_entity.hpp
@@ -35,10 +35,6 @@ class EgoEntity : public VehicleEntity
 {
   const std::unique_ptr<concealer::FieldOperatorApplication> field_operator_application;
 
-  static auto makeFieldOperatorApplication(
-    const Configuration &, const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &)
-    -> std::unique_ptr<concealer::FieldOperatorApplication>;
-
   bool is_controlled_by_simulator_{false};
   std::optional<double> target_speed_;
   traffic_simulator_msgs::msg::BehaviorParameter behavior_parameter_;
diff --git a/simulation/traffic_simulator/src/entity/ego_entity.cpp b/simulation/traffic_simulator/src/entity/ego_entity.cpp
index e4f9560c180..194ef8287d1 100644
--- a/simulation/traffic_simulator/src/entity/ego_entity.cpp
+++ b/simulation/traffic_simulator/src/entity/ego_entity.cpp
@@ -14,6 +14,7 @@
 
 #include <boost/lexical_cast.hpp>
 #include <concealer/field_operator_application.hpp>
+#include <concealer/launch.hpp>
 #include <functional>
 #include <memory>
 #include <optional>
@@ -32,7 +33,7 @@ namespace traffic_simulator
 {
 namespace entity
 {
-auto EgoEntity::makeFieldOperatorApplication(
+auto makeFieldOperatorApplication(
   const Configuration & configuration,
   const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr & node_parameters)
   -> std::unique_ptr<concealer::FieldOperatorApplication>
@@ -56,11 +57,12 @@ auto EgoEntity::makeFieldOperatorApplication(
     parameters.push_back("localization_sim_mode:=" + std::string(getParameter<bool>(node_parameters, "simulate_localization") ? "api" : "pose_twist_estimator"));
     // clang-format on
 
-    return getParameter<bool>(node_parameters, "launch_autoware", true)
-             ? std::make_unique<concealer::FieldOperatorApplication>(
-                 getParameter<std::string>(node_parameters, "autoware_launch_package"),
-                 getParameter<std::string>(node_parameters, "autoware_launch_file"), parameters)
-             : std::make_unique<concealer::FieldOperatorApplication>();
+    return std::make_unique<concealer::FieldOperatorApplication>(
+      getParameter<bool>(node_parameters, "launch_autoware", true)
+        ? concealer::ros2_launch(
+            getParameter<std::string>(node_parameters, "autoware_launch_package"),
+            getParameter<std::string>(node_parameters, "autoware_launch_file"), parameters)
+        : 0);
   } else {
     throw common::SemanticError(
       "Unexpected architecture_type ", std::quoted(architecture_type), " was given.");
@@ -113,9 +115,7 @@ auto EgoEntity::getRouteLanelets(double /*unused horizon*/) -> lanelet::Ids
 {
   lanelet::Ids ids{};
 
-  if (const auto universe =
-        dynamic_cast<concealer::FieldOperatorApplication *>(field_operator_application.get());
-      universe) {
+  if (const auto universe = field_operator_application.get(); universe) {
     for (const auto & point : universe->getPathWithLaneId().points) {
       ids += point.lane_ids;
     }