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

[TauTheLepton]

Description

Important

Right before merging this PR, please change the target branch of #1337 to master.

Otherwise that PR (which is next in line to be merged) will be closed automatically.

Abstract

This pull request mainly consists of refactoring and introduces changes in the API and EntityManager.
This pull request was divided into some parts (#1552, #1543, #1540, #1539) to make it easier to review.

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.

Tip

When reviewing the changes, it may be easier to see the actual modifications by opening both versions of each file side by side rather than looking at the diff generated by GitHub.
This is due to the fact that GitHub shows lots of changes where mostly copying and pasting the code has been done (for reordering purposes).

Cpp mock scenarios

The change mentioned above has been applied in the whole codebase, which includes most of the 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 65 to 70 in 3592d90

	api_.spawn(
	"npc", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 10.0, 0.0),
	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 65 to 69 in b3f7235

	auto & npc_entity = api_.spawn(
	"npc", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 10.0, 0.0),
	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_
  • Merged by RJD-1057: Change order of functions / variables #1540
• Most of the constructor logic has been moved to API::init() member function
  • Merged by RJD-1057: Change order of functions / variables #1540
• Added member function setSiulationStepTime
  

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

  Lines 39 to 53 in b3f7235

  	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
  • Merged by RJD-1057: Change order of functions / variables #1540
• 3 spawn functions have been combined into 1 spawn function (additional template parameter ParamsType was introduced for this reason)
  • Merged by #154３
• The remaining member functions that were defined using the FORWARD_TO_ENTITY_MANAGER macro have been converted to standard member functions
  • Merged by RJD-1057: Change order of functions / variables #1540

Important

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

EntityManager

• Renamed member configuration to configuration_
  • Merged by RJD-1057: Change order of functions / variables #1540
• 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 f029407

  	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
  • Merged by RJD-1057: Remove some entity type specific functions in EntityManager #1552
• As mentioned in Background, the spawnEntity function now returns a reference to the created entity
  • Merged by Use new spawn API for getting entity #1544
• Removed member function createPublisher, createSubscription
  • Merged by RJD-1057: Change order of functions / variables #1540

Important

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

EntityBase

• Add member functions as
  • Merged by RJD-1057: Remove some entity type specific functions in EntityManager #1552
• Change getGoalPoses return type
  • auto getGoalPoses() -> std::vector<CanonicalizedLaneletPose>
    →
    auto getGoalPoses() -> std::vector<geometry_msgs::msg::Pose>

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 &;

Ostream helpers

Merged by #1539.

All existing operators std::ostream & operator<< have been moved from file helper.[ch]pp to a dedicated file ostream_helper.[ch]pp.
In addition many more operators have been added for the types

References

INTERNAL LINK 1
INTERNAL LINK 2

Destructive Changes

--

Known Limitations

--

[github-actions]

Failure optional scenarios

Note

This is an experimental check and does not block merging the pull-request.
But, please be aware that this may indicate a regression.

scenario failed: execution_time_test

      <failure type="SimulationFailure" message="CustomCommandAction typed &quot;exitFailure&quot; was triggered by the named Conditions {&quot;update time checker&quot;, &quot;avoid startup&quot;}: {&quot;update time checker&quot;: Is the /simulation/interpreter/execution_time/update (= 0.005911999999999999720612375853) is greaterThan 0.005?}, {&quot;avoid startup&quot;: Is the simulation time (= 7.549999999999981170617502357345) is greaterThan 1.000000000000000000000000000000?}" />

[github-actions]

Failure optional scenarios

Note

This is an experimental check and does not block merging the pull-request.
But, please be aware that this may indicate a regression.

scenario failed: execution_time_test

      <failure type="SimulationFailure" message="CustomCommandAction typed &quot;exitFailure&quot; was triggered by the named Conditions {&quot;update time checker&quot;, &quot;avoid startup&quot;}: {&quot;update time checker&quot;: Is the /simulation/interpreter/execution_time/update (= 0.005399000000000000153155266247) is greaterThan 0.005?}, {&quot;avoid startup&quot;: Is the simulation time (= 6.549999999999984723331181157846) is greaterThan 1.000000000000000000000000000000?}" />

[TauTheLepton]

@hakuturu583 (or anyone merging this PR)

When you decide to merge this PR, right before merging, please change the target branch of #1337 to master.
This will prevent #1337 from automatically closing.

[sonarqubecloud]

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
55.6% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud