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

…le' into RJD-1057-remove-functions-forwarded-to-entity-base-refactor
tier4 · Jan 16, 2025 · 7700bf0 · 7700bf0
2 parents 88de6b2 + 82d6085
commit 7700bf0
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Showing 3 changed files with 12 additions and 17 deletions.
diff --git a/external/concealer/include/concealer/field_operator_application.hpp b/external/concealer/include/concealer/field_operator_application.hpp
@@ -132,7 +132,7 @@ struct FieldOperatorApplication : public rclcpp::Node,
 
   auto clearRoute() -> void;
 
-  auto setVelocityLimit(const double velocity_limit) -> void;
+  auto emplaceSetVelocityLimitTask(const double velocity_limit) -> void;
 
   auto enableAutowareControl() -> void;
 
@@ -166,8 +166,6 @@ struct FieldOperatorApplication : public rclcpp::Node,
   auto getTurnIndicatorsCommandName() const -> std::string;
 
   auto requestAutoModeForCooperation(const std::string & module_name, const bool enable) -> void;
-
-  auto getWaypoints() const -> traffic_simulator_msgs::msg::WaypointsArray;
 };
 }  // namespace concealer
 

diff --git a/external/concealer/src/field_operator_application.cpp b/external/concealer/src/field_operator_application.cpp
@@ -346,17 +346,6 @@ auto FieldOperatorApplication::getTurnIndicatorsCommandName() const -> std::stri
   }
 }
 
-auto FieldOperatorApplication::getWaypoints() const -> traffic_simulator_msgs::msg::WaypointsArray
-{
-  traffic_simulator_msgs::msg::WaypointsArray waypoints;
-
-  for (const auto & point : getTrajectory().points) {
-    waypoints.waypoints.emplace_back(point.pose.position);
-  }
-
-  return waypoints;
-}
-
 auto FieldOperatorApplication::initialize(const geometry_msgs::msg::Pose & initial_pose) -> void
 {
   if (not std::exchange(initialized, true)) {
@@ -544,7 +533,7 @@ auto FieldOperatorApplication::sendCooperateCommand(
   }
 }
 
-auto FieldOperatorApplication::setVelocityLimit(const double velocity_limit) -> void
+auto FieldOperatorApplication::emplaceSetVelocityLimitTask(const double velocity_limit) -> void
 {
   task_queue.delay([this, velocity_limit]() {
     auto request = std::make_shared<SetVelocityLimit::Request>();

diff --git a/simulation/traffic_simulator/src/entity/ego_entity.cpp b/simulation/traffic_simulator/src/entity/ego_entity.cpp
@@ -111,7 +111,15 @@ auto EgoEntity::getCurrentPose() const -> const geometry_msgs::msg::Pose &
 
 auto EgoEntity::getWaypoints() -> const traffic_simulator_msgs::msg::WaypointsArray
 {
-  return FieldOperatorApplication::getWaypoints();
+  traffic_simulator_msgs::msg::WaypointsArray waypoints_array;
+  const auto trajectory = getTrajectory().points;
+  waypoints_array.waypoints.reserve(trajectory.size());
+
+  std::transform(
+    trajectory.cbegin(), trajectory.cend(), std::back_inserter(waypoints_array.waypoints),
+    [](const auto & point) { return point.pose.position; });
+
+  return waypoints_array;
 }
 
 void EgoEntity::updateFieldOperatorApplication()
@@ -274,7 +282,7 @@ auto EgoEntity::requestSpeedChange(
 auto EgoEntity::setVelocityLimit(double value) -> void
 {
   behavior_parameter_.dynamic_constraints.max_speed = value;
-  FieldOperatorApplication::setVelocityLimit(value);
+  emplaceSetVelocityLimitTask(value);
 }
 
 auto EgoEntity::setMapPose(const geometry_msgs::msg::Pose & map_pose) -> void