Update some member functions of FieldOperatorApplication to be non-…

…virtual Signed-off-by: yamacir-kit <[email protected]>
tier4 · Dec 13, 2024 · a9d81db · a9d81db
1 parent be05813
commit a9d81db
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Showing 5 changed files with 11 additions and 54 deletions.
diff --git a/external/concealer/include/concealer/field_operator_application.hpp b/external/concealer/include/concealer/field_operator_application.hpp
@@ -145,7 +145,7 @@ struct FieldOperatorApplication : public rclcpp::Node,
   SubscriberWrapper<autoware_adapi_v1_msgs::msg::MrmState>                        getMrmState;
   SubscriberWrapper<tier4_planning_msgs::msg::PathWithLaneId>                     getPathWithLaneId;
   SubscriberWrapper<tier4_planning_msgs::msg::Trajectory>                         getTrajectory;
-  SubscriberWrapper<autoware_vehicle_msgs::msg::TurnIndicatorsCommand>            getTurnIndicatorsCommandImpl;
+  SubscriberWrapper<autoware_vehicle_msgs::msg::TurnIndicatorsCommand>            getTurnIndicatorsCommand;
 
   ServiceWithValidation<autoware_adapi_v1_msgs::srv::ClearRoute>                  requestClearRoute;
   ServiceWithValidation<tier4_rtc_msgs::srv::CooperateCommands>                   requestCooperateCommands;
@@ -202,23 +202,20 @@ struct FieldOperatorApplication : public rclcpp::Node,
 
   virtual auto clearRoute() -> void = 0;
 
-  virtual auto getAutowareStateName() const -> std::string = 0;
+  auto getAutowareStateName() const { return autoware_state; }
 
-  virtual auto getMinimumRiskManeuverBehaviorName() const -> std::string = 0;
+  auto getMinimumRiskManeuverBehaviorName() const { return minimum_risk_maneuver_behavior; }
 
-  virtual auto getMinimumRiskManeuverStateName() const -> std::string = 0;
+  auto getMinimumRiskManeuverStateName() const { return minimum_risk_maneuver_state; }
 
-  virtual auto getEmergencyStateName() const -> std::string = 0;
+  auto getEmergencyStateName() const { return minimum_risk_maneuver_state; }
 
   virtual auto getWaypoints() const -> traffic_simulator_msgs::msg::WaypointsArray = 0;
 
   /*   */ auto initialized() const noexcept { return initialize_was_called; }
 
   virtual auto requestAutoModeForCooperation(const std::string &, bool) -> void = 0;
 
-  virtual auto getTurnIndicatorsCommand() const
-    -> autoware_vehicle_msgs::msg::TurnIndicatorsCommand = 0;
-
   virtual auto rethrow() const noexcept(false) -> void;
 
   virtual auto sendCooperateCommand(const std::string &, const std::string &) -> void = 0;

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
@@ -22,31 +22,16 @@ namespace concealer
 template <>
 struct FieldOperatorApplicationFor<AutowareUniverse> : public FieldOperatorApplication
 {
-  template <typename... Ts>
-  CONCEALER_PUBLIC explicit FieldOperatorApplicationFor(Ts &&... xs)
-  : FieldOperatorApplication(std::forward<decltype(xs)>(xs)...)
-  {
-  }
+  using FieldOperatorApplication::FieldOperatorApplication;
 
   auto engage() -> void override;
 
   auto engageable() const -> bool override;
 
   auto engaged() const -> bool override;
 
-  auto getAutowareStateName() const -> std::string override;
-
   auto getWaypoints() const -> traffic_simulator_msgs::msg::WaypointsArray override;
 
-  auto getTurnIndicatorsCommand() const
-    -> autoware_vehicle_msgs::msg::TurnIndicatorsCommand override;
-
-  auto getEmergencyStateName() const -> std::string override;
-
-  auto getMinimumRiskManeuverBehaviorName() const -> std::string override;
-
-  auto getMinimumRiskManeuverStateName() const -> std::string override;
-
   auto initialize(const geometry_msgs::msg::Pose &) -> void override;
 
   auto plan(const std::vector<geometry_msgs::msg::PoseStamped> &) -> void override;

diff --git a/external/concealer/include/concealer/service_with_validation.hpp b/external/concealer/include/concealer/service_with_validation.hpp
@@ -73,7 +73,8 @@ class ServiceWithValidation
   {
   public:
     template <typename... Ts>
-    explicit TimeoutError(Ts &&... xs) : common::scenario_simulator_exception::Error(std::forward<decltype(xs)>(xs)...)
+    explicit TimeoutError(Ts &&... xs)
+    : common::scenario_simulator_exception::Error(std::forward<decltype(xs)>(xs)...)
     {
     }
   };

diff --git a/external/concealer/src/field_operator_application.cpp b/external/concealer/src/field_operator_application.cpp
@@ -43,6 +43,7 @@ auto toAutowareStateString(std::uint8_t state) -> char const *
 #undef CASE
 }
 
+// clang-format off
 FieldOperatorApplication::FieldOperatorApplication(const pid_t pid)
 : rclcpp::Node("concealer_user", "simulation", rclcpp::NodeOptions().use_global_arguments(false)),
   process_id(pid),
@@ -113,7 +114,7 @@ FieldOperatorApplication::FieldOperatorApplication(const pid_t pid)
   }),
   getPathWithLaneId("/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id", rclcpp::QoS(1), *this),
   getTrajectory("/api/iv_msgs/planning/scenario_planning/trajectory", rclcpp::QoS(1), *this),
-  getTurnIndicatorsCommandImpl("/control/command/turn_indicators_cmd", rclcpp::QoS(1), *this),
+  getTurnIndicatorsCommand("/control/command/turn_indicators_cmd", rclcpp::QoS(1), *this),
   requestClearRoute("/api/routing/clear_route", *this),
   requestCooperateCommands("/api/external/set/rtc_commands", *this),
   requestEngage("/api/external/set/engage", *this),
@@ -125,6 +126,7 @@ FieldOperatorApplication::FieldOperatorApplication(const pid_t pid)
   requestEnableAutowareControl("/api/operation_mode/enable_autoware_control", *this)
 {
 }
+// clang-format on
 
 FieldOperatorApplication::~FieldOperatorApplication()
 {

diff --git a/external/concealer/src/field_operator_application_for_autoware_universe.cpp b/external/concealer/src/field_operator_application_for_autoware_universe.cpp
@@ -350,34 +350,6 @@ auto FieldOperatorApplicationFor<AutowareUniverse>::getWaypoints() const
   return waypoints;
 }
 
-auto FieldOperatorApplicationFor<AutowareUniverse>::getTurnIndicatorsCommand() const
-  -> autoware_vehicle_msgs::msg::TurnIndicatorsCommand
-{
-  return getTurnIndicatorsCommandImpl();
-}
-
-auto FieldOperatorApplicationFor<AutowareUniverse>::getAutowareStateName() const -> std::string
-{
-  return autoware_state;
-}
-
-auto FieldOperatorApplicationFor<AutowareUniverse>::getEmergencyStateName() const -> std::string
-{
-  return minimum_risk_maneuver_state;
-}
-
-auto FieldOperatorApplicationFor<AutowareUniverse>::getMinimumRiskManeuverBehaviorName() const
-  -> std::string
-{
-  return minimum_risk_maneuver_behavior;
-}
-
-auto FieldOperatorApplicationFor<AutowareUniverse>::getMinimumRiskManeuverStateName() const
-  -> std::string
-{
-  return minimum_risk_maneuver_state;
-}
-
 auto FieldOperatorApplicationFor<AutowareUniverse>::setVelocityLimit(double velocity_limit) -> void
 {
   task_queue.delay([this, velocity_limit]() {