Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

RJD-1057: Unify spawn API #1543

Draft
wants to merge 2 commits into
base: RJD1057/change-order-of-members
Choose a base branch
from
Draft

RJD-1057: Unify spawn API #1543

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
fc9fdc1
Unify spawn API
f0reachARR Mar 6, 2025
473a988
Apply formatter
f0reachARR Mar 6, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -300,7 +300,7 @@ class SimulatorCore
}

template <typename... Ts>
static auto applyAddEntityAction(Ts &&... xs)
static auto applyAddEntityAction(Ts &&... xs) -> decltype(auto)
{
return core->spawn(std::forward<decltype(xs)>(xs)...);
}
Expand Down
146 changes: 57 additions & 89 deletions simulation/traffic_simulator/include/traffic_simulator/api/api.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -106,108 +106,76 @@ class API
auto updateFrame() -> bool;

// entities, ego - spawn
template <typename Pose>
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 Pose & pose,
const traffic_simulator_msgs::msg::VehicleParameters & parameters,
const std::string & behavior = VehicleBehavior::defaultBehavior(),
const std::string & model3d = "")
const std::string & name, const PoseType & pose, const ParamsType & parameters,
const std::string & behavior = "", const std::string & model3d = "") -> entity::EntityBase &
{
auto register_to_entity_manager = [&]() {
if (behavior == VehicleBehavior::autoware()) {
return entity_manager_ptr_->isEntityExist(name) or
entity_manager_ptr_->spawnEntity<entity::EgoEntity>(
name, pose, parameters, getCurrentTime(), configuration_, node_parameters_);
} else {
return entity_manager_ptr_->spawnEntity<entity::VehicleEntity>(
name, pose, parameters, getCurrentTime(), behavior);
}
};

auto register_to_environment_simulator = [&]() {
if (configuration_.standalone_mode) {
return true;
} else if (!entity_manager_ptr_->isEntityExist(name)) {
throw common::SemanticError(
"Entity ", name, " can not be registered in simulator - it has not been spawned yet.");
} else {
simulation_api_schema::SpawnVehicleEntityRequest req;
simulation_interface::toProto(parameters, *req.mutable_parameters());
req.mutable_parameters()->set_name(name);
req.set_asset_key(model3d);
simulation_interface::toProto(
entity_manager_ptr_->getEntity(name).getMapPose(), *req.mutable_pose());
req.set_is_ego(behavior == VehicleBehavior::autoware());
/// @todo Should be filled from function API
req.set_initial_speed(0.0);
return zeromq_client_.call(req).result().success();
}
};

return register_to_entity_manager() and register_to_environment_simulator();
}

template <typename PoseType>
auto spawn(
const std::string & name, const PoseType & pose,
const traffic_simulator_msgs::msg::PedestrianParameters & parameters,
const std::string & behavior = PedestrianBehavior::defaultBehavior(),
const std::string & model3d = "")
{
auto register_to_entity_manager = [&]() {
return entity_manager_ptr_->spawnEntity<entity::PedestrianEntity>(
name, pose, parameters, getCurrentTime(), behavior);
};

auto register_to_environment_simulator = [&]() {
if (configuration_.standalone_mode) {
return true;
} else if (!entity_manager_ptr_->isEntityExist(name)) {
throw common::SemanticError(
"Entity ", name, " can not be registered in simulator - it has not been spawned yet.");
} else {
simulation_api_schema::SpawnPedestrianEntityRequest req;
simulation_interface::toProto(parameters, *req.mutable_parameters());
req.mutable_parameters()->set_name(name);
req.set_asset_key(model3d);
simulation_interface::toProto(
entity_manager_ptr_->getEntity(name).getMapPose(), *req.mutable_pose());
return zeromq_client_.call(req).result().success();
using VehicleParameters = traffic_simulator_msgs::msg::VehicleParameters;
using PedestrianParameters = traffic_simulator_msgs::msg::PedestrianParameters;
using MiscObjectParameters = traffic_simulator_msgs::msg::MiscObjectParameters;

auto register_to_entity_manager = [&]() -> entity::EntityBase & {
if constexpr (std::is_same_v<ParamsType, VehicleParameters>) {
if (behavior == VehicleBehavior::autoware()) {
return entity_manager_ptr_->spawnEntity<entity::EgoEntity>(
name, pose, parameters, getCurrentTime(), configuration_, node_parameters_);
} else {
return entity_manager_ptr_->spawnEntity<entity::VehicleEntity>(
name, pose, parameters, getCurrentTime(),
behavior.empty() ? VehicleBehavior::defaultBehavior() : behavior);
}
} else if constexpr (std::is_same_v<ParamsType, PedestrianParameters>) {
return entity_manager_ptr_->spawnEntity<entity::PedestrianEntity>(
name, pose, parameters, getCurrentTime(),
behavior.empty() ? PedestrianBehavior::defaultBehavior() : behavior);
} else if constexpr (std::is_same_v<ParamsType, MiscObjectParameters>) {
return entity_manager_ptr_->spawnEntity<entity::MiscObjectEntity>(
name, pose, parameters, getCurrentTime());
}
};

return register_to_entity_manager() and register_to_environment_simulator();
}

template <typename PoseType>
auto spawn(
const std::string & name, const PoseType & pose,
const traffic_simulator_msgs::msg::MiscObjectParameters & parameters,
const std::string & model3d = "")
{
auto register_to_entity_manager = [&]() {
return entity_manager_ptr_->spawnEntity<entity::MiscObjectEntity>(
name, pose, parameters, getCurrentTime());
auto prepare_and_send_request = [&](const auto & entity, auto & request) -> bool {
simulation_interface::toProto(parameters, *request.mutable_parameters());
request.mutable_parameters()->set_name(name);
request.set_asset_key(model3d);
simulation_interface::toProto(entity.getMapPose(), *request.mutable_pose());
return zeromq_client_.call(request).result().success();
};

auto register_to_environment_simulator = [&]() {
auto register_to_environment_simulator = [&](const auto & entity) -> bool {
if (configuration_.standalone_mode) {
return true;
} else if (!entity_manager_ptr_->isEntityExist(name)) {
throw common::SemanticError(
"Entity ", name, " can not be registered in simulator - it has not been spawned yet.");
} else {
simulation_api_schema::SpawnMiscObjectEntityRequest req;
simulation_interface::toProto(parameters, *req.mutable_parameters());
req.mutable_parameters()->set_name(name);
req.set_asset_key(model3d);
simulation_interface::toProto(
entity_manager_ptr_->getEntity(name).getMapPose(), *req.mutable_pose());
return zeromq_client_.call(req).result().success();
if constexpr (std::is_same_v<ParamsType, VehicleParameters>) {
simulation_api_schema::SpawnVehicleEntityRequest request;
request.set_is_ego(behavior == VehicleBehavior::autoware());
/// @todo Should be filled from function API
request.set_initial_speed(0.0);
return prepare_and_send_request(entity, request);
} else if constexpr (std::is_same_v<ParamsType, PedestrianParameters>) {
simulation_api_schema::SpawnPedestrianEntityRequest request;
return prepare_and_send_request(entity, request);
} else if constexpr (std::is_same_v<ParamsType, MiscObjectParameters>) {
simulation_api_schema::SpawnMiscObjectEntityRequest request;
return prepare_and_send_request(entity, request);
} else {
return false;
}
}
};

return register_to_entity_manager() and register_to_environment_simulator();
auto & entity = register_to_entity_manager();
if (register_to_environment_simulator(entity)) {
return entity;
} else {
THROW_SEMANTIC_ERROR("Spawn entity ", std::quoted(name), " resulted in failure.");
}
}

// sensors - attach
Expand Down
4 changes: 2 additions & 2 deletions simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -106,7 +106,7 @@ class EntityManager
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)
const double current_time, Ts &&... xs) -> entity::EntityBase &
{
static_assert(
std::disjunction<
Expand Down Expand Up @@ -179,7 +179,7 @@ class EntityManager
success) {
// FIXME: this ignores V2I traffic lights
iter->second->setTrafficLights(traffic_lights_ptr_->getConventionalTrafficLights());
return success;
return *(iter->second);
} else {
THROW_SEMANTIC_ERROR("Entity ", std::quoted(name), " is already exists.");
}
Expand Down
Loading