Adjust mock scenarios to new API

Signed-off-by: Mateusz Palczuk <mateusz.palczuk@robotec.ai>
tier4 · Jul 31, 2024 · 8940b3e · 8940b3e
1 parent 1869aa1
commit 8940b3e
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Showing 4 changed files with 34 additions and 18 deletions.
diff --git a/mock/cpp_mock_scenarios/src/spawn/spawn_in_map_frame.cpp b/mock/cpp_mock_scenarios/src/spawn/spawn_in_map_frame.cpp
@@ -41,7 +41,7 @@ class SpawnInMapFrameScenario : public cpp_mock_scenarios::CppScenarioNode
     const auto map_pose = traffic_simulator::pose::toMapPose(
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         120545, 0.0, 0.0, api_.getHdmapUtils()));
-    if (api_.reachPosition("ego", map_pose, 0.1)) {
+    if (api_.getEntity("ego")->reachPosition(map_pose, 0.1)) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
     } else {
       stop(cpp_mock_scenarios::Result::FAILURE);

diff --git a/mock/cpp_mock_scenarios/src/synchronized_action/synchronized_action.cpp b/mock/cpp_mock_scenarios/src/synchronized_action/synchronized_action.cpp
@@ -44,11 +44,14 @@ class SynchronizedAction : public cpp_mock_scenarios::CppScenarioNode
 
   void onUpdate() override
   {
+    auto npc = api_.getEntity("npc");
+    auto ego = api_.getEntity("ego");
+
     // SUCCESS
     if (
-      api_.requestSynchronize("npc", "ego", ego_target, npc_target, 0, 0.5) &&
-      api_.reachPosition("ego", ego_target, 1.0) && api_.reachPosition("npc", npc_target, 1.0) &&
-      api_.getCurrentTwist("npc").linear.x < 0.5) {
+      npc->requestSynchronize("ego", ego_target, npc_target, 0, 0.5) &&
+      ego->reachPosition(ego_target, 1.0) && npc->reachPosition(npc_target, 1.0) &&
+      npc->getCurrentTwist().linear.x < 0.5) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
     }
 
@@ -67,24 +70,29 @@ class SynchronizedAction : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34976, 20, 0, api_.getHdmapUtils()),
       getVehicleParameters());
-    api_.setLinearVelocity("ego", 3);
-    api_.requestSpeedChange("ego", 3, true);
+
+    auto ego = api_.getEntity("ego");
+    ego->setLinearVelocity(3);
+    ego->requestSpeedChange(3, true);
 
     std::vector<geometry_msgs::msg::Pose> goal_poses;
     goal_poses.emplace_back(traffic_simulator::helper::constructCanonicalizedLaneletPose(
       34579, 20, 0, api_.getHdmapUtils()));
-    api_.requestAssignRoute("ego", goal_poses);
+    ego->requestAssignRoute(goal_poses);
 
     api_.spawn(
       "npc",
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34576, 0, 0, api_.getHdmapUtils()),
       getVehicleParameters());
+
+    auto npc = api_.getEntity("npc");
+
     std::vector<geometry_msgs::msg::Pose> npc_goal_poses;
     npc_goal_poses.emplace_back(traffic_simulator::helper::constructCanonicalizedLaneletPose(
       34564, 20, 0, api_.getHdmapUtils()));
-    api_.requestAssignRoute("npc", npc_goal_poses);
-    api_.setLinearVelocity("npc", 6);
+    npc->requestAssignRoute(npc_goal_poses);
+    npc->setLinearVelocity(6);
   }
 
   auto getSampleLaneletPose(const traffic_simulator::LaneletPose & lanelet_pose)

diff --git a/mock/cpp_mock_scenarios/src/synchronized_action/synchronized_action_with_speed.cpp b/mock/cpp_mock_scenarios/src/synchronized_action/synchronized_action_with_speed.cpp
@@ -44,11 +44,14 @@ class SynchronizedActionWithSpeed : public cpp_mock_scenarios::CppScenarioNode
 
   void onUpdate() override
   {
+    auto npc = api_.getEntity("npc");
+    auto ego = api_.getEntity("ego");
+
     // SUCCESS
     if (
-      api_.requestSynchronize("npc", "ego", ego_target, npc_target, 2, 0.5) &&
-      api_.reachPosition("ego", ego_target, 1.0) && api_.reachPosition("npc", npc_target, 1.0) &&
-      api_.getCurrentTwist("npc").linear.x < 2.5) {
+      npc->requestSynchronize("ego", ego_target, npc_target, 2, 0.5) &&
+      ego->reachPosition(ego_target, 1.0) && npc->reachPosition(npc_target, 1.0) &&
+      npc->getCurrentTwist().linear.x < 2.5) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
     }
 
@@ -67,24 +70,29 @@ class SynchronizedActionWithSpeed : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34976, 20, 0, api_.getHdmapUtils()),
       getVehicleParameters());
-    api_.setLinearVelocity("ego", 3);
-    api_.requestSpeedChange("ego", 3, true);
+
+    auto ego = api_.getEntity("ego");
+    ego->setLinearVelocity(3);
+    ego->requestSpeedChange(3, true);
 
     std::vector<geometry_msgs::msg::Pose> goal_poses;
     goal_poses.emplace_back(traffic_simulator::helper::constructCanonicalizedLaneletPose(
       34579, 20, 0, api_.getHdmapUtils()));
-    api_.requestAssignRoute("ego", goal_poses);
+    ego->requestAssignRoute(goal_poses);
 
     api_.spawn(
       "npc",
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34576, 0, 0, api_.getHdmapUtils()),
       getVehicleParameters());
+
+    auto npc = api_.getEntity("npc");
+
     std::vector<geometry_msgs::msg::Pose> npc_goal_poses;
     npc_goal_poses.emplace_back(traffic_simulator::helper::constructCanonicalizedLaneletPose(
       34564, 20, 0, api_.getHdmapUtils()));
-    api_.requestAssignRoute("npc", npc_goal_poses);
-    api_.setLinearVelocity("npc", 6);
+    npc->requestAssignRoute(npc_goal_poses);
+    npc->setLinearVelocity(6);
   }
 
   auto getSampleLaneletPose(const traffic_simulator::LaneletPose & lanelet_pose)

diff --git a/mock/cpp_mock_scenarios/src/traffic_simulation_demo.cpp b/mock/cpp_mock_scenarios/src/traffic_simulation_demo.cpp
@@ -163,7 +163,7 @@ class TrafficSimulationDemoScenario : public cpp_mock_scenarios::CppScenarioNode
       "obstacle", traffic_simulator::helper::constructPose(10, 5, 0, 0, 0, -1.57),
       getMiscObjectParameters());
     api_.getEntity("obstacle")
-      ->setCanonicalizedStatus(
+      ->setStatus(
         ego_entity->getMapPose(), traffic_simulator::helper::constructPose(10, 5, 0, 0, 0, -1.57),
         traffic_simulator::helper::constructActionStatus());