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

[TauTheLepton]

Description

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

Abstract

This pull request introduces the change of exposing direct access to Entity objects through the API. This change increases flexibility of using the API and removes the need to have many forwarding functions to Entities member functions.

Background

This pull request is one of many that aim to modularize the scenario_simulator_v2.

Details

The main goal of this PR was to remove numerous member functions of EntityManager (and subsequently some of API too) that forwarded calls to Entities member functions:

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

Lines 162 to 216 in 0dbf4ec

	#define FORWARD_TO_ENTITY(IDENTIFIER, ...) \
	/*! \
	@brief Forward to arguments to the EntityBase::IDENTIFIER function. \
	@return return value of the EntityBase::IDENTIFIER function. \
	@note This function was defined by FORWARD_TO_ENTITY macro. 　 　　　　　 \
	*/ \
	template <typename... Ts> \
	decltype(auto) IDENTIFIER(const std::string & name, Ts &&... xs) __VA_ARGS__ \
	try { \
	return entities_.at(name)->IDENTIFIER(std::forward<decltype(xs)>(xs)...); \
	} catch (const std::out_of_range &) { \
	THROW_SEMANTIC_ERROR("entity : ", name, "does not exist"); \
	} \
	static_assert(true, "")
	// clang-format on
	FORWARD_TO_ENTITY(activateOutOfRangeJob, );
	FORWARD_TO_ENTITY(asFieldOperatorApplication, const);
	FORWARD_TO_ENTITY(cancelRequest, );
	FORWARD_TO_ENTITY(get2DPolygon, const);
	FORWARD_TO_ENTITY(getBehaviorParameter, const);
	FORWARD_TO_ENTITY(getBoundingBox, const);
	FORWARD_TO_ENTITY(getCanonicalizedStatusBeforeUpdate, const);
	FORWARD_TO_ENTITY(getCurrentAccel, const);
	FORWARD_TO_ENTITY(getCurrentTwist, const);
	FORWARD_TO_ENTITY(getDefaultMatchingDistanceForLaneletPoseCalculation, const);
	FORWARD_TO_ENTITY(getEntityType, const);
	FORWARD_TO_ENTITY(getEntityTypename, const);
	FORWARD_TO_ENTITY(getLinearJerk, const);
	FORWARD_TO_ENTITY(getRouteLanelets, const);
	FORWARD_TO_ENTITY(getStandStillDuration, const);
	FORWARD_TO_ENTITY(getTraveledDistance, const);
	FORWARD_TO_ENTITY(isControlledBySimulator, );
	FORWARD_TO_ENTITY(laneMatchingSucceed, const);
	FORWARD_TO_ENTITY(reachPosition, const);
	FORWARD_TO_ENTITY(requestAcquirePosition, );
	FORWARD_TO_ENTITY(requestAssignRoute, );
	FORWARD_TO_ENTITY(requestClearRoute, );
	FORWARD_TO_ENTITY(requestFollowTrajectory, );
	FORWARD_TO_ENTITY(requestLaneChange, );
	FORWARD_TO_ENTITY(requestSynchronize, );
	FORWARD_TO_ENTITY(requestWalkStraight, );
	FORWARD_TO_ENTITY(setAcceleration, );
	FORWARD_TO_ENTITY(setAccelerationLimit, );
	FORWARD_TO_ENTITY(setAccelerationRateLimit, );
	FORWARD_TO_ENTITY(setBehaviorParameter, );
	FORWARD_TO_ENTITY(setControlledBySimulator, );
	FORWARD_TO_ENTITY(setDecelerationLimit, );
	FORWARD_TO_ENTITY(setDecelerationRateLimit, );
	FORWARD_TO_ENTITY(setLinearJerk, );
	FORWARD_TO_ENTITY(setLinearVelocity, );
	FORWARD_TO_ENTITY(setMapPose, );
	FORWARD_TO_ENTITY(setTwist, );
	FORWARD_TO_ENTITY(setVelocityLimit, );
	FORWARD_TO_ENTITY(requestSpeedChange, );

This has largely been achieved by exposing direct access to Entity and its member functions through the API::getEntity function:

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

Line 303 in 8940b3e

auto getEntity(const std::string & name) const -> std::shared_ptr<entity::EntityBase>;

The following change was to adjust all cpp mock scenarios to use the new interface.
This is the main reason why this PR is so large - all mock scenarios had to be corrected.

Scenarios using the new interface have been changed similarly to the example below.
Before:

scenario_simulator_v2/mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp

Lines 41 to 64 in 0dbf4ec

	void onUpdate() override
	{
	if (api_.isInLanelet("ego", 34408, 0.1)) {
	stop(cpp_mock_scenarios::Result::SUCCESS);
	}
	}
	void onInitialize() override
	{
	api_.spawn(
	"ego",
	traffic_simulator::helper::constructCanonicalizedLaneletPose(
	34741, 10.0, 0.0, api_.getHdmapUtils()),
	getVehicleParameters());
	api_.setEntityStatus(
	"ego",
	traffic_simulator::helper::constructCanonicalizedLaneletPose(
	34513, 0.0, 0.0, api_.getHdmapUtils()),
	traffic_simulator::helper::constructActionStatus(10));
	api_.requestSpeedChange("ego", 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);
	}

After:

scenario_simulator_v2/mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp

Lines 41 to 64 in 8940b3e

	void onUpdate() override
	{
	if (api_.getEntity("ego")->isInLanelet(34408, 0.1)) {
	stop(cpp_mock_scenarios::Result::SUCCESS);
	}
	}
	void onInitialize() override
	{
	api_.spawn(
	"ego",
	traffic_simulator::helper::constructCanonicalizedLaneletPose(
	34741, 10.0, 0.0, api_.getHdmapUtils()),
	getVehicleParameters());
	auto entity = api_.getEntity("ego");
	entity->setStatus(
	traffic_simulator::helper::constructCanonicalizedLaneletPose(
	34513, 0.0, 0.0, api_.getHdmapUtils()),
	traffic_simulator::helper::constructActionStatus(10));
	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()));
	entity->requestAcquirePosition(goal_pose);
	}

Similar changes had to be applied to the whole codebase relying on the API like simulator_core.hpp.

What is more, EgoEntity has been modified in such a way, that the function

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

Line 68 in 0dbf4ec

auto asFieldOperatorApplication() const -> concealer::FieldOperatorApplication & override;

has been replaced with a set of other functions below:

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

Lines 155 to 164 in 8940b3e

	auto engage() -> void;
	auto isEngaged() const -> bool;
	auto isEngageable() const -> bool;
	auto replanRoute(const std::vector<geometry_msgs::msg::PoseStamped> & route) -> void;
	auto sendCooperateCommand(const std::string & module_name, const std::string & command) -> void;
	auto requestAutoModeForCooperation(const std::string & module_name, bool enable) -> void;
	auto getMinimumRiskManeuverBehaviorName() const -> std::string;
	auto getMinimumRiskManeuverStateName() const -> std::string;
	auto getEmergencyStateName() const -> std::string;
	auto getTurnIndicatorsCommandName() const -> const std::string;

This change simplifies the interface of calling Ego specific actions like engage or sendCooperateCommand.

References

INTERNAL LINK

Destructive Changes

Known Limitations

[sonarcloud]

Quality Gate passed

Issues
5 New issues
0 Accepted issues

Measures
0 Security Hotspots
37.7% Coverage on New Code
1.0% Duplication on New Code

See analysis details on SonarQube Cloud