Merge branch 'RJD-1057-remove-functions-forwarded-to-entity-base-midd…

…le' into RJD-1057-remove-functions-forwarded-to-entity-base-with-middle

Signed-off-by: Mateusz Palczuk <[email protected]>

simulation/traffic_simulator/CMakeLists.txt

@@ -56,8 +56,8 @@ ament_auto_add_library(traffic_simulator SHARED
   src/traffic_lights/traffic_light.cpp
   src/traffic_lights/traffic_lights.cpp
   src/traffic_lights/traffic_lights_base.cpp
-  src/traffic_lights/traffic_lights_marker_publisher.cpp
-  src/traffic_lights/traffic_lights_publisher.cpp
+  src/traffic_lights/traffic_light_marker_publisher.cpp
+  src/traffic_lights/traffic_light_publisher.cpp
   src/utils/distance.cpp
   src/utils/node_parameters.cpp
   src/utils/pose.cpp

simulation/traffic_simulator/include/traffic_simulator/entity/ego_entity.hpp

@@ -165,5 +165,4 @@ class EgoEntity : public VehicleEntity
 };
 }  // namespace entity
 }  // namespace traffic_simulator
-
 #endif  // TRAFFIC_SIMULATOR__ENTITY__EGO_ENTITY_HPP_

simulation/traffic_simulator/include/traffic_simulator/traffic_lights/traffic_lights_marker_publisher.hpp → simulation/traffic_simulator/include/traffic_simulator/traffic_lights/traffic_light_marker_publisher.hpp

@@ -12,19 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TRAFFIC_SIMULATOR__TRAFFIC_LIGHTS__TRAFFIC_LIGHTS_MARKER_PUBLISHER_HPP
-#define TRAFFIC_SIMULATOR__TRAFFIC_LIGHTS__TRAFFIC_LIGHTS_MARKER_PUBLISHER_HPP
+#ifndef TRAFFIC_SIMULATOR__TRAFFIC_LIGHTS__TRAFFIC_LIGHT_MARKER_PUBLISHER_HPP
+#define TRAFFIC_SIMULATOR__TRAFFIC_LIGHTS__TRAFFIC_LIGHT_MARKER_PUBLISHER_HPP
 
 #include <rclcpp/rclcpp.hpp>
 #include <traffic_simulator/traffic_lights/traffic_light.hpp>
 
 namespace traffic_simulator
 {
-class TrafficLightsMarkerPublisher
+class TrafficLightMarkerPublisher
 {
 public:
   template <typename NodeTypePointer>
-  explicit TrafficLightsMarkerPublisher(
+  explicit TrafficLightMarkerPublisher(
     const NodeTypePointer & node_ptr, const std::string & frame = "map")
   : frame_(frame),
     clock_ptr_(node_ptr->get_clock()),
@@ -44,4 +44,4 @@ class TrafficLightsMarkerPublisher
   const rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr publisher_;
 };
 }  // namespace traffic_simulator
-#endif  // TRAFFIC_SIMULATOR__TRAFFIC_LIGHTS__TRAFFIC_LIGHTS_MARKER_PUBLISHER_HPP
+#endif  // TRAFFIC_SIMULATOR__TRAFFIC_LIGHTS__TRAFFIC_LIGHT_MARKER_PUBLISHER_HPP

simulation/traffic_simulator/include/traffic_simulator/traffic_lights/traffic_lights_publisher.hpp → simulation/traffic_simulator/include/traffic_simulator/traffic_lights/traffic_light_publisher.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TRAFFIC_SIMULATOR__TRAFFIC_LIGHTS__TRAFFIC_LIGHTS_PUBLISHER_HPP_
-#define TRAFFIC_SIMULATOR__TRAFFIC_LIGHTS__TRAFFIC_LIGHTS_PUBLISHER_HPP_
+#ifndef TRAFFIC_SIMULATOR__TRAFFIC_LIGHTS__TRAFFIC_LIGHT_PUBLISHER_HPP_
+#define TRAFFIC_SIMULATOR__TRAFFIC_LIGHTS__TRAFFIC_LIGHT_PUBLISHER_HPP_
 
 #include <memory>
 #include <rclcpp/rclcpp.hpp>
@@ -24,30 +24,30 @@
 
 namespace traffic_simulator
 {
-class TrafficLightsPublisherBase
+class TrafficLightPublisherBase
 {
 public:
   virtual auto publish(const TrafficLightsBase & traffic_lights) const -> void = 0;
-  virtual ~TrafficLightsPublisherBase() = default;
+  virtual ~TrafficLightPublisherBase() = default;
 };
 
 template <typename MessageType>
-class TrafficLightsPublisher : public TrafficLightsPublisherBase
+class TrafficLightPublisher : public TrafficLightPublisherBase
 {
 public:
   template <typename NodeTypePointer>
-  explicit TrafficLightsPublisher(
+  explicit TrafficLightPublisher(
     const NodeTypePointer & node_ptr, const std::string & topic_name,
     const std::string & frame = "camera_link")
-  : TrafficLightsPublisherBase(),
+  : TrafficLightPublisherBase(),
     frame_(frame),
     clock_ptr_(node_ptr->get_clock()),
     traffic_light_state_array_publisher_(rclcpp::create_publisher<MessageType>(
       node_ptr, topic_name, rclcpp::QoS(10).transient_local()))
   {
   }
 
-  ~TrafficLightsPublisher() override = default;
+  ~TrafficLightPublisher() override = default;
 
   auto publish(const TrafficLightsBase & traffic_lights) const -> void override;
 
@@ -57,4 +57,4 @@ class TrafficLightsPublisher : public TrafficLightsPublisherBase
   const typename rclcpp::Publisher<MessageType>::SharedPtr traffic_light_state_array_publisher_;
 };
 }  // namespace traffic_simulator
-#endif  // TRAFFIC_SIMULATOR__TRAFFIC_LIGHTS__TRAFFIC_LIGHTS_PUBLISHER_HPP_
+#endif  // TRAFFIC_SIMULATOR__TRAFFIC_LIGHTS__TRAFFIC_LIGHT_PUBLISHER_HPP_

simulation/traffic_simulator/include/traffic_simulator/traffic_lights/traffic_lights.hpp

@@ -17,8 +17,8 @@
 
 #include <autoware_auto_perception_msgs/msg/traffic_signal_array.hpp>
 #include <autoware_perception_msgs/msg/traffic_signal_array.hpp>
+#include <traffic_simulator/traffic_lights/traffic_light_publisher.hpp>
 #include <traffic_simulator/traffic_lights/traffic_lights_base.hpp>
-#include <traffic_simulator/traffic_lights/traffic_lights_publisher.hpp>
 
 namespace traffic_simulator
 {
@@ -30,7 +30,7 @@ class ConventionalTrafficLights : public TrafficLightsBase
     const NodeTypePointer & node_ptr, const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils)
   : TrafficLightsBase(node_ptr, hdmap_utils),
     backward_compatible_publisher_ptr_(
-      std::make_unique<TrafficLightsPublisher<traffic_simulator_msgs::msg::TrafficLightArrayV1>>(
+      std::make_unique<TrafficLightPublisher<traffic_simulator_msgs::msg::TrafficLightArrayV1>>(
         node_ptr, "/simulation/traffic_lights"))
   {
   }
@@ -47,7 +47,7 @@ class ConventionalTrafficLights : public TrafficLightsBase
     marker_publisher_ptr_->drawMarkers(traffic_lights_map_);
   }
 
-  const std::unique_ptr<TrafficLightsPublisherBase> backward_compatible_publisher_ptr_;
+  const std::unique_ptr<TrafficLightPublisherBase> backward_compatible_publisher_ptr_;
 };
 
 class V2ITrafficLights : public TrafficLightsBase
@@ -81,7 +81,7 @@ class V2ITrafficLights : public TrafficLightsBase
   template <typename NodeTypePointer>
   auto makePublisher(
     const NodeTypePointer & node_ptr, const std::string & architecture_type,
-    const std::string & topic_name) -> std::unique_ptr<TrafficLightsPublisherBase>
+    const std::string & topic_name) -> std::unique_ptr<TrafficLightPublisherBase>
   {
     /*
        Here autoware_perception_msgs is used for all awf/universe/....
@@ -93,7 +93,7 @@ class V2ITrafficLights : public TrafficLightsBase
     */
     if (architecture_type.find("awf/universe") != std::string::npos) {
       return std::make_unique<
-        TrafficLightsPublisher<autoware_perception_msgs::msg::TrafficSignalArray>>(
+        TrafficLightPublisher<autoware_perception_msgs::msg::TrafficSignalArray>>(
         node_ptr, topic_name);
     } else {
       throw common::SemanticError(
@@ -102,8 +102,8 @@ class V2ITrafficLights : public TrafficLightsBase
     }
   }
 
-  const std::unique_ptr<TrafficLightsPublisherBase> publisher_ptr_;
-  const std::unique_ptr<TrafficLightsPublisherBase> legacy_topic_publisher_ptr_;
+  const std::unique_ptr<TrafficLightPublisherBase> publisher_ptr_;
+  const std::unique_ptr<TrafficLightPublisherBase> legacy_topic_publisher_ptr_;
 };
 
 class TrafficLights

simulation/traffic_simulator/include/traffic_simulator/traffic_lights/traffic_lights_base.hpp

@@ -23,7 +23,7 @@
 #include <traffic_simulator/hdmap_utils/hdmap_utils.hpp>
 #include <traffic_simulator/traffic_lights/configurable_rate_updater.hpp>
 #include <traffic_simulator/traffic_lights/traffic_light.hpp>
-#include <traffic_simulator/traffic_lights/traffic_lights_marker_publisher.hpp>
+#include <traffic_simulator/traffic_lights/traffic_light_marker_publisher.hpp>
 #include <traffic_simulator_msgs/msg/traffic_light_array_v1.hpp>
 #include <unordered_map>
 #include <vector>
@@ -44,7 +44,7 @@ class TrafficLightsBase
     const NodeTypePointer & node_ptr, const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils)
   : hdmap_utils_(hdmap_utils),
     clock_ptr_(node_ptr->get_clock()),
-    marker_publisher_ptr_(std::make_unique<TrafficLightsMarkerPublisher>(node_ptr)),
+    marker_publisher_ptr_(std::make_unique<TrafficLightMarkerPublisher>(node_ptr)),
     rate_updater_(node_ptr, [this]() { update(); })
   {
   }
@@ -95,7 +95,7 @@ class TrafficLightsBase
   const rclcpp::Clock::SharedPtr clock_ptr_;
 
   std::unordered_map<lanelet::Id, TrafficLight> traffic_lights_map_;
-  const std::unique_ptr<TrafficLightsMarkerPublisher> marker_publisher_ptr_;
+  const std::unique_ptr<TrafficLightMarkerPublisher> marker_publisher_ptr_;
   ConfigurableRateUpdater rate_updater_;
 };
 }  // namespace traffic_simulator

simulation/traffic_simulator/src/traffic_lights/traffic_lights_marker_publisher.cpp → simulation/traffic_simulator/src/traffic_lights/traffic_light_marker_publisher.cpp

@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <traffic_simulator/traffic_lights/traffic_lights_marker_publisher.hpp>
+#include <traffic_simulator/traffic_lights/traffic_light_marker_publisher.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
 namespace traffic_simulator
 {
-auto TrafficLightsMarkerPublisher::deleteMarkers() const -> void
+auto TrafficLightMarkerPublisher::deleteMarkers() const -> void
 {
   visualization_msgs::msg::MarkerArray marker_array;
   visualization_msgs::msg::Marker marker;
@@ -26,7 +26,7 @@ auto TrafficLightsMarkerPublisher::deleteMarkers() const -> void
   publisher_->publish(marker_array);
 }
 
-auto TrafficLightsMarkerPublisher::drawMarkers(
+auto TrafficLightMarkerPublisher::drawMarkers(
   const std::unordered_map<lanelet::Id, TrafficLight> & traffic_lights_map) const -> void
 {
   visualization_msgs::msg::MarkerArray marker_array;

simulation/traffic_simulator/src/traffic_lights/traffic_lights_publisher.cpp → simulation/traffic_simulator/src/traffic_lights/traffic_light_publisher.cpp

@@ -14,26 +14,26 @@
 
 #include <autoware_auto_perception_msgs/msg/traffic_signal_array.hpp>
 #include <autoware_perception_msgs/msg/traffic_signal_array.hpp>
-#include <traffic_simulator/traffic_lights/traffic_lights_publisher.hpp>
+#include <traffic_simulator/traffic_lights/traffic_light_publisher.hpp>
 
 namespace traffic_simulator
 {
 template <>
-auto TrafficLightsPublisher<autoware_auto_perception_msgs::msg::TrafficSignalArray>::publish(
+auto TrafficLightPublisher<autoware_auto_perception_msgs::msg::TrafficSignalArray>::publish(
   const TrafficLightsBase & traffic_lights) const -> void
 {
   traffic_light_state_array_publisher_->publish(traffic_lights.generateAutowareAutoPerceptionMsg());
 }
 
 template <>
-auto TrafficLightsPublisher<autoware_perception_msgs::msg::TrafficSignalArray>::publish(
+auto TrafficLightPublisher<autoware_perception_msgs::msg::TrafficSignalArray>::publish(
   const TrafficLightsBase & traffic_lights) const -> void
 {
   traffic_light_state_array_publisher_->publish(traffic_lights.generateAutowarePerceptionMsg());
 }
 
 template <>
-auto TrafficLightsPublisher<traffic_simulator_msgs::msg::TrafficLightArrayV1>::publish(
+auto TrafficLightPublisher<traffic_simulator_msgs::msg::TrafficLightArrayV1>::publish(
   const TrafficLightsBase & traffic_lights) const -> void
 {
   traffic_light_state_array_publisher_->publish(traffic_lights.generateTrafficSimulatorV1Msg());

simulation/traffic_simulator/test/src/expect_eq_macros.hpp

@@ -59,12 +59,6 @@
   EXPECT_DOUBLE_EQ(DATA0.z, DATA1.z);      \
   EXPECT_DOUBLE_EQ(DATA0.w, DATA1.w);
 
-#define EXPECT_QUATERNION_EQ_STREAM(DATA0, DATA1, STREAM_MESSAGE) \
-  EXPECT_DOUBLE_EQ(DATA0.x, DATA1.x) << STREAM_MESSAGE;           \
-  EXPECT_DOUBLE_EQ(DATA0.y, DATA1.y) << STREAM_MESSAGE;           \
-  EXPECT_DOUBLE_EQ(DATA0.z, DATA1.z) << STREAM_MESSAGE;           \
-  EXPECT_DOUBLE_EQ(DATA0.w, DATA1.w) << STREAM_MESSAGE;
-
 #define EXPECT_QUATERNION_NEAR(DATA0, DATA1, EPS) \
   EXPECT_NEAR(DATA0.x, DATA1.x, EPS);             \
   EXPECT_NEAR(DATA0.y, DATA1.y, EPS);             \
@@ -136,16 +130,4 @@
   EXPECT_EQ(DATA0.trajectory_shape, DATA1.trajectory_shape);         \
   EXPECT_LANE_CHANGE_CONSTRAINT_EQ(DATA0.constraint, DATA1.constraint);
 
-#define EXPECT_COLOR_RGBA_EQ_STREAM(DATA0, DATA1, STREAM_MESSAGE) \
-  EXPECT_DOUBLE_EQ(DATA0.r, DATA1.r) << STREAM_MESSAGE;           \
-  EXPECT_DOUBLE_EQ(DATA0.g, DATA1.g) << STREAM_MESSAGE;           \
-  EXPECT_DOUBLE_EQ(DATA0.b, DATA1.b) << STREAM_MESSAGE;           \
-  EXPECT_DOUBLE_EQ(DATA0.a, DATA1.a) << STREAM_MESSAGE;
-
-#define EXPECT_COLOR_RGBA_NEAR_STREAM(DATA0, DATA1, EPS, STREAM_MESSAGE) \
-  EXPECT_NEAR(DATA0.r, DATA1.r, EPS) << STREAM_MESSAGE;                  \
-  EXPECT_NEAR(DATA0.g, DATA1.g, EPS) << STREAM_MESSAGE;                  \
-  EXPECT_NEAR(DATA0.b, DATA1.b, EPS) << STREAM_MESSAGE;                  \
-  EXPECT_NEAR(DATA0.a, DATA1.a, EPS) << STREAM_MESSAGE;
-
 #endif  // TRAFFIC_SIMULATOR__TEST__EXPECT_EQ_MACROS_HPP_

simulation/traffic_simulator/test/src/traffic_lights/CMakeLists.txt

@@ -1,8 +1,2 @@
 ament_add_gtest(test_traffic_light test_traffic_light.cpp)
 target_link_libraries(test_traffic_light traffic_simulator)
-
-ament_add_gtest(test_traffic_lights
-  test_traffic_lights_internal.cpp
-  test_traffic_lights.cpp
-)
-target_link_libraries(test_traffic_lights traffic_simulator)