[tmp] RJD-1057 (4/5): Remove non-API member functions: EntityManager’s member functions forwarded to EntityBase (2/2)

[TauTheLepton]

Description

DO NOT MERGE | THIS IS A TEMPORARY PR | WHEN THE RIGHT TIME COMES, TARGET WILL BE CHANGED TO MASTER

Abstract

This pull request mainly consists of refactoring and introduces changes in the API and EntityManager.

Background

This pull request is an extension of the #1473.
Due to the fact that these pull requests combined would have been too large for a review, they have been split into two.

As a result of the previous PR, changes have been made to the API and EntityManager classes.
These changes created a great opportunity to declutter / tidy up the code of these classes.
This pull request consists of the code cleanup and refactoring. Many of the changes introduced are just changes to the order of functions inside the implementation file to keep them grouped by functionality and consistent with the header file.

Some other minor changes have been introduced as well, like the addition of the ostream_helpers.cpp.

What is more, the functions EntityManager::spawnEntity and (most importantly) API::spawn have been modified to return the Entity object pointer:

Before:

scenario_simulator_v2/simulation/traffic_simulator/include/traffic_simulator/api/api.hpp

Lines 134 to 140 in 5fa7281

	template <typename Pose>
	auto spawn(
	const std::string & name, const Pose & pose,
	const traffic_simulator_msgs::msg::VehicleParameters & parameters,
	const std::string & behavior = VehicleBehavior::defaultBehavior(),
	const std::string & model3d = "")
	{

After:

scenario_simulator_v2/simulation/traffic_simulator/include/traffic_simulator/api/api.hpp

Lines 108 to 113 in 61d9686

	template <typename PoseType, typename ParamsType>
	auto spawn(
	const std::string & name, const PoseType & pose, const ParamsType & parameters,
	const std::string & behavior = "", const std::string & model3d = "")
	-> std::shared_ptr<entity::EntityBase>
	{

This change has been applied in the whole codebase, which includes multiple cpp mock scenarios.

Cpp mock scenarios have been all changed like the following:

Before:

scenario_simulator_v2/mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp

Lines 68 to 75 in 5fa7281

	api_.spawn(
	"npc",
	traffic_simulator::helper::constructCanonicalizedLaneletPose(
	34741, 10.0, 0.0, api_.getHdmapUtils()),
	getVehicleParameters());
	auto npc_entity = api_.getEntity("npc");
	npc_entity->setLinearVelocity(10);
	npc_entity->requestSpeedChange(10, true);

After:

scenario_simulator_v2/mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp

Lines 68 to 74 in 61d9686

	auto npc_entity = api_.spawn(
	"npc",
	traffic_simulator::helper::constructCanonicalizedLaneletPose(
	34741, 10.0, 0.0, api_.getHdmapUtils()),
	getVehicleParameters());
	npc_entity->setLinearVelocity(10);
	npc_entity->requestSpeedChange(10, true);

Details

Below are all changes made in this PR

API

• Renamed member configuration to configuration_
• Most of the constructor logic has been moved to API::init() member function
  

  scenario_simulator_v2/simulation/traffic_simulator/src/api/api.cpp

  Lines 21 to 35 in 61d9686

  	auto API::init() -> bool
  	{
  	if (not configuration_.standalone_mode) {
  	simulation_api_schema::InitializeRequest request;
  	request.set_initialize_time(clock_.getCurrentSimulationTime());
  	request.set_lanelet2_map_path(configuration_.lanelet2_map_path().string());
  	request.set_realtime_factor(clock_.realtime_factor);
  	request.set_step_time(clock_.getStepTime());
  	simulation_interface::toProto(
  	clock_.getCurrentRosTime(), *request.mutable_initialize_ros_time());
  	return zeromq_client_.call(request).result().success();
  	} else {
  	return true;
  	}
  	}

• Added member function setSiulationStepTime
  

  scenario_simulator_v2/simulation/traffic_simulator/src/api/api.cpp

  Lines 39 to 53 in 61d9686

  	auto API::setSimulationStepTime(const double step_time) -> bool
  	{
  	/**
  	* @note Pausing the simulation by setting the realtime_factor_ value to 0 is not supported and causes the simulation crash.
  	* For that reason, before performing the action, it needs to be ensured that the incoming request data is a positive number.
  	*/
  	if (step_time >= 0.001) {
  	clock_.realtime_factor = step_time;
  	simulation_api_schema::UpdateStepTimeRequest request;
  	request.set_simulation_step_time(clock_.getStepTime());
  	return zeromq_client_.call(request).result().success();
  	} else {
  	return false;
  	}
  	}

• Removed member function getZMQSocketPort in favor of using getROS2Parameter
• 3 spawn functions
  

  scenario_simulator_v2/simulation/traffic_simulator/include/traffic_simulator/api/api.hpp

  Lines 134 to 233 in 5fa7281

  	template <typename Pose>
  	auto spawn(
  	const std::string & name, const Pose & pose,
  	const traffic_simulator_msgs::msg::VehicleParameters & parameters,
  	const std::string & behavior = VehicleBehavior::defaultBehavior(),
  	const std::string & model3d = "")
  	{
  	auto register_to_entity_manager = [&]() {
  	if (behavior == VehicleBehavior::autoware()) {
  	return entity_manager_ptr_->isEntityExist(name) or
  	entity_manager_ptr_->spawnEntity<entity::EgoEntity>(
  	name, pose, parameters, getCurrentTime(), configuration, node_parameters_);
  	} else {
  	return entity_manager_ptr_->spawnEntity<entity::VehicleEntity>(
  	name, pose, parameters, getCurrentTime(), behavior);
  	}
  	};
  	auto register_to_environment_simulator = [&]() {
  	if (configuration.standalone_mode) {
  	return true;
  	} else if (const auto entity = entity_manager_ptr_->getEntityOrNullptr(name); not entity) {
  	throw common::SemanticError(
  	"Entity ", name, " can not be registered in simulator - it has not been spawned yet.");
  	} else {
  	simulation_api_schema::SpawnVehicleEntityRequest req;
  	simulation_interface::toProto(parameters, *req.mutable_parameters());
  	req.mutable_parameters()->set_name(name);
  	req.set_asset_key(model3d);
  	simulation_interface::toProto(entity->getMapPose(), *req.mutable_pose());
  	req.set_is_ego(behavior == VehicleBehavior::autoware());
  	/// @todo Should be filled from function API
  	req.set_initial_speed(0.0);
  	return zeromq_client_.call(req).result().success();
  	}
  	};
  	return register_to_entity_manager() and register_to_environment_simulator();
  	}
  	template <typename Pose>
  	auto spawn(
  	const std::string & name, const Pose & pose,
  	const traffic_simulator_msgs::msg::PedestrianParameters & parameters,
  	const std::string & behavior = PedestrianBehavior::defaultBehavior(),
  	const std::string & model3d = "")
  	{
  	auto register_to_entity_manager = [&]() {
  	return entity_manager_ptr_->spawnEntity<entity::PedestrianEntity>(
  	name, pose, parameters, getCurrentTime(), behavior);
  	};
  	auto register_to_environment_simulator = [&]() {
  	if (configuration.standalone_mode) {
  	return true;
  	} else if (const auto entity = entity_manager_ptr_->getEntityOrNullptr(name); not entity) {
  	throw common::SemanticError(
  	"Entity ", name, " can not be registered in simulator - it has not been spawned yet.");
  	} else {
  	simulation_api_schema::SpawnPedestrianEntityRequest req;
  	simulation_interface::toProto(parameters, *req.mutable_parameters());
  	req.mutable_parameters()->set_name(name);
  	req.set_asset_key(model3d);
  	simulation_interface::toProto(entity->getMapPose(), *req.mutable_pose());
  	return zeromq_client_.call(req).result().success();
  	}
  	};
  	return register_to_entity_manager() and register_to_environment_simulator();
  	}
  	template <typename Pose>
  	auto spawn(
  	const std::string & name, const Pose & pose,
  	const traffic_simulator_msgs::msg::MiscObjectParameters & parameters,
  	const std::string & model3d = "")
  	{
  	auto register_to_entity_manager = [&]() {
  	return entity_manager_ptr_->spawnEntity<entity::MiscObjectEntity>(
  	name, pose, parameters, getCurrentTime());
  	};
  	auto register_to_environment_simulator = [&]() {
  	if (configuration.standalone_mode) {
  	return true;
  	} else if (const auto entity = entity_manager_ptr_->getEntityOrNullptr(name); not entity) {
  	throw common::SemanticError(
  	"Entity ", name, " can not be registered in simulator - it has not been spawned yet.");
  	} else {
  	simulation_api_schema::SpawnMiscObjectEntityRequest req;
  	simulation_interface::toProto(parameters, *req.mutable_parameters());
  	req.mutable_parameters()->set_name(name);
  	req.set_asset_key(model3d);
  	simulation_interface::toProto(entity->getMapPose(), *req.mutable_pose());
  	return zeromq_client_.call(req).result().success();
  	}
  	};
  	return register_to_entity_manager() and register_to_environment_simulator();
  	}

  
  have been combined in 1 spawn function
  

  scenario_simulator_v2/simulation/traffic_simulator/include/traffic_simulator/api/api.hpp

  Lines 108 to 176 in 61d9686

  	template <typename PoseType, typename ParamsType>
  	auto spawn(
  	const std::string & name, const PoseType & pose, const ParamsType & parameters,
  	const std::string & behavior = "", const std::string & model3d = "")
  	-> std::shared_ptr<entity::EntityBase>
  	{
  	using VehicleParameters = traffic_simulator_msgs::msg::VehicleParameters;
  	using PedestrianParameters = traffic_simulator_msgs::msg::PedestrianParameters;
  	using MiscObjectParameters = traffic_simulator_msgs::msg::MiscObjectParameters;
  	auto register_to_entity_manager = [&]() {
  	if constexpr (std::is_same<ParamsType, VehicleParameters>::value) {
  	if (behavior == VehicleBehavior::autoware()) {
  	return entity_manager_ptr_->spawnEntity<entity::EgoEntity>(
  	name, pose, parameters, getCurrentTime(), configuration_, node_parameters_);
  	} else {
  	return entity_manager_ptr_->spawnEntity<entity::VehicleEntity>(
  	name, pose, parameters, getCurrentTime(),
  	behavior.empty() ? VehicleBehavior::defaultBehavior() : behavior);
  	}
  	} else if constexpr (std::is_same<ParamsType, PedestrianParameters>::value) {
  	return entity_manager_ptr_->spawnEntity<entity::PedestrianEntity>(
  	name, pose, parameters, getCurrentTime(),
  	behavior.empty() ? PedestrianBehavior::defaultBehavior() : behavior);
  	} else if constexpr (std::is_same<ParamsType, MiscObjectParameters>::value) {
  	return entity_manager_ptr_->spawnEntity<entity::MiscObjectEntity>(
  	name, pose, parameters, getCurrentTime());
  	} else {
  	THROW_SEMANTIC_ERROR("Entity ", std::quoted(name), " has an undefined type.");
  	}
  	};
  	auto prepare_and_send_request = [&](const auto & entity, auto & reqest) -> bool {
  	simulation_interface::toProto(parameters, *reqest.mutable_parameters());
  	reqest.mutable_parameters()->set_name(name);
  	reqest.set_asset_key(model3d);
  	simulation_interface::toProto(entity->getMapPose(), *reqest.mutable_pose());
  	return zeromq_client_.call(reqest).result().success();
  	};
  	auto register_to_environment_simulator = [&](const auto & entity) -> bool {
  	if (configuration_.standalone_mode) {
  	return true;
  	} else {
  	if constexpr (std::is_same<ParamsType, VehicleParameters>::value) {
  	simulation_api_schema::SpawnVehicleEntityRequest reqest;
  	reqest.set_is_ego(behavior == VehicleBehavior::autoware());
  	/// @todo Should be filled from function API
  	reqest.set_initial_speed(0.0);
  	return prepare_and_send_request(entity, reqest);
  	} else if constexpr (std::is_same<ParamsType, PedestrianParameters>::value) {
  	simulation_api_schema::SpawnPedestrianEntityRequest reqest;
  	return prepare_and_send_request(entity, reqest);
  	} else if constexpr (std::is_same<ParamsType, MiscObjectParameters>::value) {
  	simulation_api_schema::SpawnMiscObjectEntityRequest reqest;
  	return prepare_and_send_request(entity, reqest);
  	} else {
  	return false;
  	}
  	}
  	};
  	const auto entity = register_to_entity_manager();
  	if (entity && register_to_environment_simulator(entity)) {
  	return entity;
  	} else {
  	THROW_SEMANTIC_ERROR("Spawn entity ", std::quoted(name), " resulted in failure.");
  	}
  	}

• The remaining functions that were defined using the FORWARD_TO_ENTITY_MANAGER macro have been converted to standard functions
  • isAnyEgoSpawned
  • getEgoEntity
  • isEntityExist
  • getEntityNames
  • getEntityOrNullptr
  • resetBehaviorPlugin
  • isNpcLogicStarted
  • getHdmapUtils

All other changes are minor refactoring or just reordering functions in the file, which GitHub shows as changes.

EntityBase

• Add member function as
  

  scenario_simulator_v2/simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp

  Lines 66 to 85 in 61d9686

  	/* */ auto as() -> std::shared_ptr<EntityType>
  	{
  	if (auto derived = std::dynamic_pointer_cast<EntityType>(shared_from_this()); !derived) {
  	THROW_SEMANTIC_ERROR(
  	"Entity ", std::quoted(name), " is not ", std::quoted(typeid(EntityType).name()), "type");
  	} else {
  	return derived;
  	}
  	}
  	template <typename EntityType>
  	/* */ auto as() const -> std::shared_ptr<const EntityType>
  	{
  	if (auto derived = std::dynamic_pointer_cast<const EntityType>(shared_from_this()); !derived) {
  	THROW_SEMANTIC_ERROR(
  	"Entity ", std::quoted(name), " is not ", std::quoted(typeid(EntityType).name()), "type");
  	} else {
  	return derived;
  	}
  	}

• Change getGoalPoses return type
  • auto getGoalPoses() -> std::vector<CanonicalizedLaneletPose>
    →
    auto getGoalPoses() -> std::vector<geometry_msgs::msg::Pose>

All other changes are minor refactoring or just reordering functions in the file, which GitHub shows as changes.

EntityManager

• Renamed member configuration to configuration_
• Moved member function getOrigin to free function
  

  scenario_simulator_v2/simulation/traffic_simulator/include/traffic_simulator/utils/node_parameters.hpp

  Lines 42 to 43 in 61d9686

  	auto getOrigin(const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr & node_parameters)
  	-> geographic_msgs::msg::GeoPoint;

• Removed these member functions in favor of using Entity member function directly:
  • getObstacle
  • getWaypoints
  • getGoalPoses
• Removed these member functions in favor of using Entity field directly:
  • getPedestrianParameters
  • getVehicleParameters
• As mentioned in Background, the spawnEntity function now returns a pointer to the created entity.
• Removed member function createPublisher
• Removed member function createSubscription

All other changes are minor refactoring or just reordering functions in the file, which GitHub shows as changes.

MiscObjectEntity

• Change getGoalPoses return type
  • auto getGoalPoses() -> std::vector<CanonicalizedLaneletPose>
    →
    auto getGoalPoses() -> std::vector<geometry_msgs::msg::Pose>

PedestrianEntity

• Change getGoalPoses return type
  • auto getGoalPoses() -> std::vector<CanonicalizedLaneletPose>
    →
    auto getGoalPoses() -> std::vector<geometry_msgs::msg::Pose>
• Added member function auto getParameters() const -> const traffic_simulator_msgs::msg::PedestrianParameters &;

VehicleEntity

• Change getGoalPoses return type
  • auto getGoalPoses() -> std::vector<CanonicalizedLaneletPose>
    →
    auto getGoalPoses() -> std::vector<geometry_msgs::msg::Pose>
• Added member function auto getParameters() const -> const traffic_simulator_msgs::msg::VehicleParameters &;

References

INTERNAL LINK 1
INTERNAL LINK 2

Destructive Changes

--

Known Limitations

--

[sonarqubecloud]

Quality Gate passed

Issues
18 New issues
0 Accepted issues

Measures
0 Security Hotspots
55.4% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarCloud

[sonarqubecloud]

Quality Gate passed

Issues
17 New issues
0 Accepted issues

Measures
0 Security Hotspots
45.8% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud

[TauTheLepton]

No regressions confirmed here.