RJD-1057 (3/5): Remove non-API member functions: EntityManager’s member functions forwarded to EntityBase (1/2)

docs/developer_guide/TrafficSimulator.md

@@ -79,14 +79,15 @@ public:
 private:
   void update()
   {
-    if (api_.reachPosition("ego",
+    const auto entity = getEntity("ego");
+    if (entity->isInPosition(
       traffic_simulator::helper::constructLaneletPose(34615, 10.0), 5))
     {
       api_.requestAcquirePosition("ego",
         traffic_simulator::helper::constructLaneletPose(35026, 0.0) );
       api_.setTargetSpeed("npc2", 13, true);
     }
-    if (api_.reachPosition("ego",
+    if (entity->isInPosition(
       traffic_simulator::helper::constructLaneletPose(34579, 0.0), 5))
     {
       api_.setTargetSpeed("npc2", 3, true);

mock/cpp_mock_scenarios/src/behavior_plugin/load_do_nothing_plugin.cpp

@@ -40,14 +40,15 @@ class LoadDoNothingPluginScenario : public cpp_mock_scenarios::CppScenarioNode
   void onUpdate() override
   {
     /// @note When using the do_nothing plugin, the return value of the `getCurrentAction` function is always do_nothing.
+
     if (
-      api_.getCurrentAction("ego") != "do_nothing" ||
-      api_.getCurrentAction("pedestrian") != "do_nothing") {
+      api_.getEntity("ego")->getCurrentAction() != "do_nothing" ||
+      api_.getEntity("pedestrian")->getCurrentAction() != "do_nothing") {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
     if (
-      api_.getCurrentAction("vehicle_spawn_with_behavior_tree") == "do_nothing" ||
-      api_.getCurrentAction("pedestrian_spawn_with_behavior_tree") == "do_nothing") {
+      api_.getEntity("vehicle_spawn_with_behavior_tree")->getCurrentAction() == "do_nothing" ||
+      api_.getEntity("pedestrian_spawn_with_behavior_tree")->getCurrentAction() == "do_nothing") {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
     api_.resetBehaviorPlugin(
@@ -57,8 +58,8 @@ class LoadDoNothingPluginScenario : public cpp_mock_scenarios::CppScenarioNode
       "pedestrian_spawn_with_behavior_tree",
       traffic_simulator::entity::PedestrianEntity::BuiltinBehavior::doNothing());
     if (
-      api_.getCurrentAction("vehicle_spawn_with_behavior_tree") != "do_nothing" ||
-      api_.getCurrentAction("pedestrian_spawn_with_behavior_tree") != "do_nothing") {
+      api_.getEntity("vehicle_spawn_with_behavior_tree")->getCurrentAction() != "do_nothing" ||
+      api_.getEntity("pedestrian_spawn_with_behavior_tree")->getCurrentAction() != "do_nothing") {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
 

mock/cpp_mock_scenarios/src/collision/crashing_npc.cpp

@@ -56,19 +56,21 @@ class CrashingNpcScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    api_.setLinearVelocity("ego", 0.0);
-    api_.requestSpeedChange("ego", 15, true);
+    auto ego_entity = api_.getEntity("ego");
+    ego_entity->setLinearVelocity(0.0);
+    ego_entity->requestSpeedChange(15, true);
     traffic_simulator_msgs::msg::BehaviorParameter behavior_parameter;
     behavior_parameter.see_around = false;
-    api_.setBehaviorParameter("ego", behavior_parameter);
+    ego_entity->setBehaviorParameter(behavior_parameter);
 
     api_.spawn(
       "npc",
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 10.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    api_.setLinearVelocity("npc", 0.0);
-    api_.requestSpeedChange("npc", 5, true);
+    auto npc_entity = api_.getEntity("npc");
+    npc_entity->setLinearVelocity(0.0);
+    npc_entity->requestSpeedChange(5, true);
   }
 };
 }  // namespace cpp_mock_scenarios

mock/cpp_mock_scenarios/src/collision/spawn_with_offset.cpp

@@ -54,16 +54,18 @@ class SpawnWithOffsetScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 0.2, 1.3, api_.getHdmapUtils()),
       getVehicleParameters());
-    api_.setLinearVelocity("ego", 0);
-    api_.requestSpeedChange("ego", 0, true);
+    auto ego_entity = api_.getEntity("ego");
+    ego_entity->setLinearVelocity(0);
+    ego_entity->requestSpeedChange(0, true);
 
     api_.spawn(
       "bob",
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 0.0, -0.874, api_.getHdmapUtils()),
       getPedestrianParameters());
-    api_.setLinearVelocity("bob", 0);
-    api_.requestSpeedChange("bob", 0, true);
+    auto bob_entity = api_.getEntity("bob");
+    bob_entity->setLinearVelocity(0);
+    bob_entity->requestSpeedChange(0, true);
   }
 };
 }  // namespace cpp_mock_scenarios

mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp

@@ -104,7 +104,8 @@ void CppScenarioNode::spawnEgoEntity(
   api_.updateFrame();
   std::this_thread::sleep_for(std::chrono::duration<double>(1.0 / 20.0));
   api_.spawn("ego", spawn_lanelet_pose, parameters, traffic_simulator::VehicleBehavior::autoware());
-  api_.asFieldOperatorApplication("ego").declare_parameter<bool>("allow_goal_modification", true);
+  auto ego_entity = api_.getEgoEntity("ego");
+  ego_entity->setParameter<bool>("allow_goal_modification", true);
   api_.attachLidarSensor("ego", 0.0);
 
   api_.attachDetectionSensor("ego", 200.0, true, 0.0, 0, 0.0, 0.0);
@@ -123,12 +124,12 @@ void CppScenarioNode::spawnEgoEntity(
     // clang-format on
     return configuration;
   }());
-  api_.requestAssignRoute("ego", goal_lanelet_poses);
+  ego_entity->requestAssignRoute(goal_lanelet_poses);
 
   using namespace std::chrono_literals;
-  while (!api_.asFieldOperatorApplication("ego").engaged()) {
-    if (api_.asFieldOperatorApplication("ego").engageable()) {
-      api_.asFieldOperatorApplication("ego").engage();
+  while (!ego_entity->isEngaged()) {
+    if (ego_entity->isEngageable()) {
+      ego_entity->engage();
     }
     api_.updateFrame();
     std::this_thread::sleep_for(std::chrono::duration<double>(1.0 / 20.0));

mock/cpp_mock_scenarios/src/crosswalk/stop_at_crosswalk.cpp

@@ -40,7 +40,7 @@ class StopAtCrosswalkScenario : public cpp_mock_scenarios::CppScenarioNode
   {
     const auto t = api_.getCurrentTime();
     // LCOV_EXCL_START
-    if (api_.entityExists("bob") && api_.checkCollision("ego", "bob")) {
+    if (api_.isEntityExist("bob") && api_.checkCollision("ego", "bob")) {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
     /**
@@ -50,17 +50,18 @@ class StopAtCrosswalkScenario : public cpp_mock_scenarios::CppScenarioNode
      * @sa https://wandbox.org/permlink/dSNRX7K2bQiqSI7P
      */
     if (t == 1.0) {
-      if (t != api_.getCurrentTwist("bob").linear.x) {
+      if (t != api_.getEntity("bob")->getCurrentTwist().linear.x) {
         stop(cpp_mock_scenarios::Result::FAILURE);
       }
     }
+    const auto ego_linear_velocity = api_.getEntity("ego")->getCurrentTwist().linear.x;
     if (t >= 6.6) {
       if (7.5 >= t) {
-        if (std::fabs(0.1) <= api_.getCurrentTwist("ego").linear.x) {
+        if (std::fabs(0.1) <= ego_linear_velocity) {
           stop(cpp_mock_scenarios::Result::FAILURE);
         }
       } else {
-        if (0.1 >= api_.getCurrentTwist("ego").linear.x) {
+        if (0.1 >= ego_linear_velocity) {
           stop(cpp_mock_scenarios::Result::FAILURE);
         }
       }
@@ -78,23 +79,24 @@ class StopAtCrosswalkScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         120545, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    api_.setLinearVelocity("ego", 10);
-    api_.requestSpeedChange("ego", 8, true);
-    api_.requestAssignRoute(
-      "ego", std::vector<traffic_simulator::CanonicalizedLaneletPose>{
-               traffic_simulator::helper::constructCanonicalizedLaneletPose(
-                 34675, 0.0, 0.0, api_.getHdmapUtils()),
-               traffic_simulator::helper::constructCanonicalizedLaneletPose(
-                 34690, 0.0, 0.0, api_.getHdmapUtils())});
+    auto ego_entity = api_.getEntity("ego");
+    ego_entity->setLinearVelocity(10);
+    ego_entity->requestSpeedChange(8, true);
+    ego_entity->requestAssignRoute(std::vector<traffic_simulator::CanonicalizedLaneletPose>{
+      traffic_simulator::helper::constructCanonicalizedLaneletPose(
+        34675, 0.0, 0.0, api_.getHdmapUtils()),
+      traffic_simulator::helper::constructCanonicalizedLaneletPose(
+        34690, 0.0, 0.0, api_.getHdmapUtils())});
 
     api_.spawn(
       "bob",
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34378, 0.0, 0.0, api_.getHdmapUtils()),
       getPedestrianParameters());
-    api_.setLinearVelocity("bob", 0);
-    api_.requestSpeedChange(
-      "bob", 1.0, traffic_simulator::speed_change::Transition::LINEAR,
+    auto bob_entity = api_.getEntity("bob");
+    bob_entity->setLinearVelocity(0);
+    bob_entity->requestSpeedChange(
+      1.0, traffic_simulator::speed_change::Transition::LINEAR,
       traffic_simulator::speed_change::Constraint(
         traffic_simulator::speed_change::Constraint::Type::LONGITUDINAL_ACCELERATION, 1.0),
       true);

mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp

@@ -39,13 +39,13 @@ class AccelerateAndFollowScenario : public cpp_mock_scenarios::CppScenarioNode
 private:
   void onUpdate() override
   {
-    double ego_accel = api_.getCurrentAccel("ego").linear.x;
-    double ego_twist = api_.getCurrentTwist("ego").linear.x;
-    // double npc_accel = static_cast<EntityStatus>(api_.getEntityStatus("npc")).action_status.accel.linear.x;
-    double npc_twist = api_.getCurrentTwist("npc").linear.x;
-    ;
+    double ego_linear_acceleration = api_.getEntity("ego")->getCurrentAccel().linear.x;
+    double ego_linear_velocity = api_.getEntity("ego")->getCurrentTwist().linear.x;
+    // double npc_linear_acceleration =  api_.getEntity("npc")->getCurrentAccel().linear.x;
+    double npc_linear_velocity = api_.getEntity("npc")->getCurrentTwist().linear.x;
+
     // LCOV_EXCL_START
-    if (npc_twist > (ego_twist + 1) && ego_accel < 0) {
+    if (npc_linear_velocity > (ego_linear_velocity + 1) && ego_linear_acceleration < 0) {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
     if (api_.checkCollision("ego", "npc")) {
@@ -63,15 +63,16 @@ class AccelerateAndFollowScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    api_.setLinearVelocity("ego", 3);
+    api_.getEntity("ego")->setLinearVelocity(3);
 
     api_.spawn(
       "npc",
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 10.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    api_.setLinearVelocity("npc", 10);
-    api_.requestSpeedChange("npc", 10, true);
+    auto npc_entity = api_.getEntity("npc");
+    npc_entity->setLinearVelocity(10);
+    npc_entity->requestSpeedChange(10, true);
   }
 };
 }  // namespace cpp_mock_scenarios

mock/cpp_mock_scenarios/src/follow_front_entity/decelerate_and_follow.cpp

@@ -39,13 +39,13 @@ class DecelerateAndFollowScenario : public cpp_mock_scenarios::CppScenarioNode
 private:
   void onUpdate() override
   {
-    double ego_accel = api_.getCurrentAccel("ego").linear.x;
-    double ego_twist = api_.getCurrentTwist("ego").linear.x;
-    // double npc_accel = static_cast<EntityStatus>(api_.getEntityStatus("npc")).action_status.accel.linear.x;
-    double npc_twist = api_.getCurrentTwist("npc").linear.x;
-    ;
+    double ego_linear_acceleration = api_.getEntity("ego")->getCurrentAccel().linear.x;
+    double ego_linear_velocity = api_.getEntity("ego")->getCurrentTwist().linear.x;
+    // double npc_linear_acceleration = api_.getEntity("npc")->getCurrentAccel().linear.x;
+    double npc_linear_velocity = api_.getEntity("npc")->getCurrentTwist().linear.x;
+
     // LCOV_EXCL_START
-    if (ego_twist > (npc_twist + 1) && ego_accel > 0) {
+    if (ego_linear_velocity > (npc_linear_velocity + 1) && ego_linear_acceleration > 0) {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
     if (api_.checkCollision("ego", "npc")) {
@@ -63,15 +63,16 @@ class DecelerateAndFollowScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    api_.setLinearVelocity("ego", 15);
+    api_.getEntity("ego")->setLinearVelocity(15);
 
     api_.spawn(
       "npc",
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 15.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    api_.setLinearVelocity("npc", 10);
-    api_.requestSpeedChange("npc", 10, true);
+    auto npc_entity = api_.getEntity("npc");
+    npc_entity->setLinearVelocity(10);
+    npc_entity->requestSpeedChange(10, true);
   }
 };
 }  // namespace cpp_mock_scenarios

mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp

@@ -40,7 +40,7 @@ class AcquirePositionInWorldFrameScenario : public cpp_mock_scenarios::CppScenar
   bool requested = false;
   void onUpdate() override
   {
-    if (api_.isInLanelet("ego", 34408, 0.1)) {
+    if (api_.getEntity("ego")->isInLanelet(34408, 0.1)) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
     }
   }
@@ -51,16 +51,16 @@ class AcquirePositionInWorldFrameScenario : public cpp_mock_scenarios::CppScenar
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 10.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    api_.setEntityStatus(
-      "ego",
+    auto ego_entity = api_.getEntity("ego");
+    ego_entity->setStatus(
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34513, 0.0, 0.0, api_.getHdmapUtils()),
       traffic_simulator::helper::constructActionStatus(10));
-    api_.requestSpeedChange("ego", 10, true);
+    ego_entity->requestSpeedChange(10, true);
     const geometry_msgs::msg::Pose goal_pose = traffic_simulator::pose::toMapPose(
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34408, 1.0, 0.0, api_.getHdmapUtils()));
-    api_.requestAcquirePosition("ego", goal_pose);
+    ego_entity->requestAcquirePosition(goal_pose);
   }
 };
 }  // namespace cpp_mock_scenarios

mock/cpp_mock_scenarios/src/follow_lane/assign_route_in_world_frame.cpp

@@ -40,7 +40,7 @@ class AcquireRouteInWorldFrameScenario : public cpp_mock_scenarios::CppScenarioN
   bool requested = false;
   void onUpdate() override
   {
-    if (api_.isInLanelet("ego", 34630, 0.1)) {
+    if (api_.getEntity("ego")->isInLanelet(34630, 0.1)) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
     }
   }
@@ -51,16 +51,17 @@ class AcquireRouteInWorldFrameScenario : public cpp_mock_scenarios::CppScenarioN
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34513, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    api_.setLinearVelocity("ego", 10);
-    api_.requestSpeedChange("ego", 10, true);
+    auto ego_entity = api_.getEntity("ego");
+    ego_entity->setLinearVelocity(10);
+    ego_entity->requestSpeedChange(10, true);
     std::vector<geometry_msgs::msg::Pose> goal_poses;
     goal_poses.emplace_back(traffic_simulator::pose::toMapPose(
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34408, 1.0, 0.0, api_.getHdmapUtils())));
     goal_poses.emplace_back(traffic_simulator::pose::toMapPose(
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34408, 10, 0.0, api_.getHdmapUtils())));
-    api_.requestAssignRoute("ego", goal_poses);
+    ego_entity->requestAssignRoute(goal_poses);
   }
 };
 }  // namespace cpp_mock_scenarios

mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp

@@ -39,15 +39,15 @@ class CancelRequestScenario : public cpp_mock_scenarios::CppScenarioNode
   bool canceled = false;
   void onUpdate() override
   {
-    if (api_.reachPosition(
-          "ego",
+    const auto ego_entity = api_.getEntity("ego");
+    if (ego_entity->isInPosition(
           traffic_simulator::helper::constructCanonicalizedLaneletPose(
             34513, 30, 0, api_.getHdmapUtils()),
           3.0)) {
-      api_.cancelRequest("ego");
+      ego_entity->cancelRequest();
       canceled = true;
     }
-    if (api_.isInLanelet("ego", 34507, 0.1)) {
+    if (ego_entity->isInLanelet(34507, 0.1)) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
     }
   }
@@ -58,11 +58,12 @@ class CancelRequestScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34513, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    api_.setLinearVelocity("ego", 7);
-    api_.requestSpeedChange("ego", 7, true);
+    auto ego_entity = api_.getEntity("ego");
+    ego_entity->setLinearVelocity(7);
+    ego_entity->requestSpeedChange(7, true);
     const geometry_msgs::msg::Pose goal_pose = traffic_simulator::pose::toMapPose(
       traffic_simulator::helper::constructLaneletPose(34408, 0.0, 0.0), api_.getHdmapUtils());
-    api_.requestAcquirePosition("ego", goal_pose);
+    ego_entity->requestAcquirePosition(goal_pose);
   }
 };
 }  // namespace cpp_mock_scenarios