Cleanup class SubscriberWrapper

Signed-off-by: yamacir-kit <[email protected]>
tier4 · Dec 5, 2024 · 7ccebb2 · 7ccebb2
1 parent a81e664
commit 7ccebb2
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Showing 3 changed files with 28 additions and 35 deletions.
diff --git a/external/concealer/include/concealer/autoware_universe.hpp b/external/concealer/include/concealer/autoware_universe.hpp
@@ -54,12 +54,12 @@ class AutowareUniverse : public rclcpp::Node,
   using AckermannControlCommand     = autoware_auto_control_msgs::msg::AckermannControlCommand;
   using AccelWithCovarianceStamped  = geometry_msgs::msg::AccelWithCovarianceStamped;
 
-  SubscriberWrapper<AckermannControlCommand, ThreadSafety::safe> getAckermannControlCommand;
+  SubscriberWrapper<AckermannControlCommand> getAckermannControlCommand;
 public:
-  SubscriberWrapper<GearCommand,             ThreadSafety::safe> getGearCommand;
+  SubscriberWrapper<GearCommand>             getGearCommand;
 private:
-  SubscriberWrapper<TurnIndicatorsCommand,   ThreadSafety::safe> getTurnIndicatorsCommand;
-  SubscriberWrapper<PathWithLaneId,          ThreadSafety::safe> getPathWithLaneId;
+  SubscriberWrapper<TurnIndicatorsCommand>   getTurnIndicatorsCommand;
+  SubscriberWrapper<PathWithLaneId>          getPathWithLaneId;
 
   PublisherWrapper<AccelWithCovarianceStamped>  setAcceleration;
   PublisherWrapper<nav_msgs::msg::Odometry>     setOdometry;

diff --git a/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp b/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp
@@ -64,10 +64,10 @@ class FieldOperatorApplicationFor<AutowareUniverse>
   // clang-format off
   SubscriberWrapper<autoware_auto_control_msgs::msg::AckermannControlCommand>     getAckermannControlCommand;
 #if __has_include(<autoware_system_msgs/msg/autoware_state.hpp>)
-  SubscriberWrapper<autoware_system_msgs::msg::AutowareState, ThreadSafety::safe>    getAutowareState;
+  SubscriberWrapper<autoware_system_msgs::msg::AutowareState>                     getAutowareState;
 #endif
 #if __has_include(<autoware_auto_system_msgs/msg/autoware_state.hpp>)
-  SubscriberWrapper<autoware_auto_system_msgs::msg::AutowareState, ThreadSafety::safe> getAutowareAutoState;
+  SubscriberWrapper<autoware_auto_system_msgs::msg::AutowareState>                getAutowareAutoState;
 #endif
   SubscriberWrapper<tier4_rtc_msgs::msg::CooperateStatusArray>                    getCooperateStatusArray;
   SubscriberWrapper<tier4_external_api_msgs::msg::Emergency>                      getEmergencyState;

diff --git a/external/concealer/include/concealer/subscriber_wrapper.hpp b/external/concealer/include/concealer/subscriber_wrapper.hpp
@@ -20,46 +20,39 @@
 
 namespace concealer
 {
-enum class ThreadSafety : bool { unsafe, safe };
-
-template <typename MessageType, ThreadSafety thread_safety = ThreadSafety::unsafe>
+template <typename Message>
 class SubscriberWrapper
 {
-  typename MessageType::ConstSharedPtr current_value = std::make_shared<const MessageType>();
+  typename Message::ConstSharedPtr current_value = std::make_shared<const Message>();
 
-  typename rclcpp::Subscription<MessageType>::SharedPtr subscription;
+  typename rclcpp::Subscription<Message>::SharedPtr subscription;
 
 public:
-  auto operator()() const -> decltype(auto)
-  {
-    if constexpr (thread_safety == ThreadSafety::unsafe) {
-      return *current_value;
-    } else {
-      return *std::atomic_load(&current_value);
-    }
-  }
+  auto operator()() const -> const auto & { return *std::atomic_load(&current_value); }
 
-  template <typename NodeInterface>
-  SubscriberWrapper(
-    const std::string & topic, const rclcpp::QoS & quality_of_service,
-    NodeInterface & autoware_interface,
-    const std::function<void(const MessageType &)> & callback = {})
-  : subscription(autoware_interface.template create_subscription<MessageType>(
+  template <typename Autoware, typename Callback>
+  explicit SubscriberWrapper(
+    const std::string & topic, const rclcpp::QoS & quality_of_service, Autoware & autoware,
+    const Callback & callback)
+  : subscription(autoware.template create_subscription<Message>(
       topic, quality_of_service,
-      [this, callback](const typename MessageType::ConstSharedPtr message) {
-        if constexpr (thread_safety == ThreadSafety::safe) {
-          std::atomic_store(&current_value, message);
-          if (current_value and callback) {
-            callback(*std::atomic_load(&current_value));
-          }
-        } else {
-          if (current_value = message; current_value and callback) {
-            callback(*current_value);
-          }
+      [this, callback](const typename Message::ConstSharedPtr & message) {
+        if (std::atomic_store(&current_value, message); current_value) {
+          callback(*std::atomic_load(&current_value));
         }
       }))
   {
   }
+
+  template <typename Autoware>
+  explicit SubscriberWrapper(
+    const std::string & topic, const rclcpp::QoS & quality_of_service, Autoware & autoware)
+  : subscription(autoware.template create_subscription<Message>(
+      topic, quality_of_service, [this](const typename Message::ConstSharedPtr & message) {
+        std::atomic_store(&current_value, message);
+      }))
+  {
+  }
 };
 }  // namespace concealer