fix compile erro in spawn function

Signed-off-by: Masaya Kataoka <[email protected]>
tier4 · Feb 10, 2025 · 8a76a41 · 8a76a41
1 parent 1f8227d
commit 8a76a41
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Showing 2 changed files with 29 additions and 37 deletions.
diff --git a/mock/context_gamma_scenarios/src/context_gamma_planner/CMakeLists.txt b/mock/context_gamma_scenarios/src/context_gamma_planner/CMakeLists.txt
@@ -1,12 +1,12 @@
-# ament_auto_add_executable(spawn
-#   spawn.cpp
-# )
-# target_link_libraries(spawn
-#   ${PROTOBUF_LIBRARY}
-#   pthread
-#   sodium
-#   zmq
-# )
+ament_auto_add_executable(spawn
+  spawn.cpp
+)
+target_link_libraries(spawn
+  ${PROTOBUF_LIBRARY}
+  pthread
+  sodium
+  zmq
+)
 
 ament_auto_add_executable(stop_at_crosswalk
   stop_at_crosswalk.cpp

diff --git a/mock/context_gamma_scenarios/src/context_gamma_planner/spawn.cpp b/mock/context_gamma_scenarios/src/context_gamma_planner/spawn.cpp
@@ -15,8 +15,8 @@
 #include <quaternion_operation/quaternion_operation.h>
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
-#include <context_gamma_scenarios/catalogs.hpp>
-#include <context_gamma_scenarios/context_gamma_scenario_node.hpp>
+#include <cpp_mock_scenarios/catalogs.hpp>
+#include <cpp_mock_scenarios/cpp_scenario_node.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <traffic_simulator/api/api.hpp>
 
@@ -25,11 +25,11 @@
 #include <string>
 #include <vector>
 
-class SpawnScenario : public context_gamma_scenarios::ContextGammaScenarioNode
+class SpawnScenario : public cpp_mock_scenarios::CppScenarioNode
 {
 public:
   explicit SpawnScenario(const rclcpp::NodeOptions & option)
-  : context_gamma_scenarios::ContextGammaScenarioNode(
+  : cpp_mock_scenarios::CppScenarioNode(
       "spawn", ament_index_cpp::get_package_share_directory("kashiwanoha_map") + "/map",
       "lanelet2_map.osm", __FILE__, false, option)
   {
@@ -43,47 +43,39 @@ class SpawnScenario : public context_gamma_scenarios::ContextGammaScenarioNode
 
     // LCOV_EXCL_STOP
     if (t >= 5) {
-      stop(context_gamma_scenarios::Result::SUCCESS);
+      stop(cpp_mock_scenarios::Result::SUCCESS);
     }
   }
 
   void onInitialize() override
   {
     //Vehicle setting
     api_.spawn(
-      "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        120545, 0, 0, api_.getHdmapUtils()),
+      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(120545, 0, 0),
       getVehicleParameters(), traffic_simulator::VehicleBehavior::contextGamma());
-    api_.setEntityStatus(
-      "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        120545, 0, 0, api_.getHdmapUtils()),
+    auto & ego = api_.getEntity("ego");
+    ego.setStatus(
+      traffic_simulator::helper::constructCanonicalizedLaneletPose(120545, 0, 0),
       traffic_simulator::helper::constructActionStatus(10));
-    api_.requestSpeedChange("ego", 0, true);
-    api_.requestAssignRoute(
-      "ego", std::vector<traffic_simulator::CanonicalizedLaneletPose>{
-               traffic_simulator::helper::constructCanonicalizedLaneletPose(
-                 34675, 0.0, 0, api_.getHdmapUtils()),
-               traffic_simulator::helper::constructCanonicalizedLaneletPose(
-                 34690, 0.0, 0, api_.getHdmapUtils()),
-             });
+    ego.requestSpeedChange(0, true);
+    ego.requestAssignRoute(std::vector<traffic_simulator::CanonicalizedLaneletPose>{
+      traffic_simulator::helper::constructCanonicalizedLaneletPose(34675, 0.0, 0),
+      traffic_simulator::helper::constructCanonicalizedLaneletPose(34690, 0.0, 0),
+    });
 
     //Pedestrian setting
     api_.spawn(
-      "bob",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34378, 0.0, 0, api_.getHdmapUtils()),
+      "bob", traffic_simulator::helper::constructCanonicalizedLaneletPose(34378, 0.0, 0),
       getPedestrianParameters(), traffic_simulator::PedestrianBehavior::contextGamma());
-    api_.requestSpeedChange(
-      "bob", 0.0, traffic_simulator::speed_change::Transition::LINEAR,
+    auto & bob = api_.getEntity("bob");
+    bob.requestSpeedChange(
+      0.0, traffic_simulator::speed_change::Transition::LINEAR,
       traffic_simulator::speed_change::Constraint(
         traffic_simulator::speed_change::Constraint::Type::LONGITUDINAL_ACCELERATION, 1.0),
       true);
     const geometry_msgs::msg::Pose goal_pose = traffic_simulator::pose::toMapPose(
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34378, 7.5, 0, 0, 0, 0, api_.getHdmapUtils()));
-    api_.requestAcquirePosition("bob", goal_pose);
+      traffic_simulator::helper::constructCanonicalizedLaneletPose(34378, 7.5, 0, 0, 0, 0));
+    bob.requestAcquirePosition(goal_pose);
   }
 };