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

[TauTheLepton]

Description

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.

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).

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 EntityBase reference:

Before:

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

Lines 135 to 140 in 3592d90

	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 109 to 117 in ce817e2

	template <
	typename PoseType, typename ParamsType,
	typename = std::enable_if_t<std::disjunction_v<
	std::is_same<std::decay_t<ParamsType>, traffic_simulator_msgs::msg::VehicleParameters>,
	std::is_same<std::decay_t<ParamsType>, traffic_simulator_msgs::msg::PedestrianParameters>,
	std::is_same<std::decay_t<ParamsType>, traffic_simulator_msgs::msg::MiscObjectParameters>>>>
	auto spawn(
	const std::string & name, const PoseType & pose, const ParamsType & parameters,
	const std::string & behavior = "", const std::string & model3d = "") -> entity::EntityBase &

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_

• 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 b3f7235

  	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 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

• 3 spawn functions

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

     Lines 135 to 140 in eb845c9

     	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 = "")

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

     Lines 176 to 181 in eb845c9

     	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 = "")

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

     Lines 208 to 212 in eb845c9

     	template <typename Pose>
     	auto spawn(
     	const std::string & name, const Pose & pose,
     	const traffic_simulator_msgs::msg::MiscObjectParameters & parameters,
     	const std::string & model3d = "")

  have been combined into 1 spawn function (additional template parameter ParamsType was introduced for this reason)
  

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

  Lines 109 to 117 in ce817e2

  	template <
  	typename PoseType, typename ParamsType,
  	typename = std::enable_if_t<std::disjunction_v<
  	std::is_same<std::decay_t<ParamsType>, traffic_simulator_msgs::msg::VehicleParameters>,
  	std::is_same<std::decay_t<ParamsType>, traffic_simulator_msgs::msg::PedestrianParameters>,
  	std::is_same<std::decay_t<ParamsType>, traffic_simulator_msgs::msg::MiscObjectParameters>>>>
  	auto spawn(
  	const std::string & name, const PoseType & pose, const ParamsType & parameters,
  	const std::string & behavior = "", const std::string & model3d = "") -> entity::EntityBase &

• The remaining member functions that were defined using the FORWARD_TO_ENTITY_MANAGER macro have been converted to standard member functions:

  • getEgoEntity
  • getEntityNames
  • getEntityPointer
  • getFirstEgoName
  • getHdmapUtils
  • isEntityExist
  • isNpcLogicStarted
  • resetBehaviorPlugin

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_
• 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:
  • getPedestrianParameters
  • getVehicleParameters
• As mentioned in Background, the spawnEntity function now returns a reference to the created entity
  

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

  Lines 106 to 109 in 66575dd

  	template <typename EntityType, typename PoseType, typename ParametersType, typename... Ts>
  	auto spawnEntity(
  	const std::string & name, const PoseType & pose, const ParametersType & parameters,
  	const double current_time, Ts &&... xs) -> entity::EntityBase &

• Removed member function createPublisher
• Removed member function createSubscription

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

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

    Lines 73 to 74 in 66575dd

    	template <typename EntityType>
    	/* */ auto as() -> EntityType &

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

    Lines 84 to 85 in 66575dd

    	template <typename EntityType>
    	/* */ auto as() const -> const EntityType &

• 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

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

• traffic_simulator_msgs::msg::LaneletPose
• traffic_simulator_msgs::msg::EntitySubtype
• traffic_simulator_msgs::msg::Axle
• traffic_simulator_msgs::msg::Axles
• traffic_simulator_msgs::msg::BoundingBox
• traffic_simulator_msgs::msg::Performance
• traffic_simulator_msgs::msg::VehicleParameters

References

INTERNAL LINK 1
INTERNAL LINK 2

Destructive Changes

--

Known Limitations

--

[HansRobo]

This pull-request was closed automatically, because the target branch was deleted due to merging its pull-request.
So, I reopened this pull-request and replace the target branch with master.

[HansRobo]

@TauTheLepton Could you fix typos pointed out by spell-check CI?

[TauTheLepton]

@HansRobo

@TauTheLepton Could you fix typos pointed out by spell-check CI?

Done

Please note, that there is an error in "Documentation" check in CI. I believe it is not caused by my changes.

[sonarqubecloud]

Quality Gate passed

Issues
17 New issues
0 Accepted issues

Measures
0 Security Hotspots
46.3% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud