From cd96887a5dad48ffd21e444485a94bbdf7fa747b Mon Sep 17 00:00:00 2001
From: yamacir-kit <httperror@404-notfound.jp>
Date: Mon, 16 Dec 2024 16:09:21 +0900
Subject: [PATCH] Cleanup class template `SubscriberWrapper`

Signed-off-by: yamacir-kit <httperror@404-notfound.jp>
---
 .../include/concealer/autoware_universe.hpp   |  8 +--
 .../concealer/field_operator_application.hpp  |  2 +-
 .../include/concealer/subscriber_wrapper.hpp  | 51 ++++++++-----------
 3 files changed, 27 insertions(+), 34 deletions(-)

diff --git a/external/concealer/include/concealer/autoware_universe.hpp b/external/concealer/include/concealer/autoware_universe.hpp
index 20df13aafac..18a4d15c080 100644
--- a/external/concealer/include/concealer/autoware_universe.hpp
+++ b/external/concealer/include/concealer/autoware_universe.hpp
@@ -56,10 +56,10 @@ class AutowareUniverse : public rclcpp::Node,
   using TurnIndicatorsReport        = autoware_vehicle_msgs::msg::TurnIndicatorsReport;
   using VelocityReport              = autoware_vehicle_msgs::msg::VelocityReport;
 
-  SubscriberWrapper<Control,                ThreadSafety::safe> getCommand;
-  SubscriberWrapper<GearCommand,            ThreadSafety::safe> getGearCommand;
-  SubscriberWrapper<TurnIndicatorsCommand,  ThreadSafety::safe> getTurnIndicatorsCommand;
-  SubscriberWrapper<PathWithLaneId,         ThreadSafety::safe> getPathWithLaneId;
+  SubscriberWrapper<Control>               getCommand;
+  SubscriberWrapper<GearCommand>           getGearCommand;
+  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.hpp b/external/concealer/include/concealer/field_operator_application.hpp
index 686a44e37ac..c0ee1ff7070 100644
--- a/external/concealer/include/concealer/field_operator_application.hpp
+++ b/external/concealer/include/concealer/field_operator_application.hpp
@@ -131,7 +131,7 @@ struct FieldOperatorApplication : public rclcpp::Node,
   std::string minimum_risk_maneuver_behavior;
 
   // clang-format off
-  SubscriberWrapper<autoware_system_msgs::msg::AutowareState, ThreadSafety::safe> getAutowareState;
+  SubscriberWrapper<autoware_system_msgs::msg::AutowareState>                     getAutowareState;
   SubscriberWrapper<autoware_control_msgs::msg::Control>                          getCommand;
   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
index 8247a872e3a..eb4fde75af0 100644
--- 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