refactor: delete TasQueue

tier4 · Sep 10, 2024 · 7dbfe81 · 7dbfe81
1 parent 86513b2
commit 7dbfe81
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Showing 8 changed files with 1 addition and 143 deletions.
diff --git a/external/concealer/CMakeLists.txt b/external/concealer/CMakeLists.txt
@@ -19,8 +19,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/execute.cpp
   src/field_operator_application.cpp
   src/field_operator_application_for_autoware_universe.cpp
-  src/is_package_exists.cpp
-  src/task_queue.cpp)
+  src/is_package_exists.cpp)
 
 target_link_libraries(${PROJECT_NAME}
   atomic)

diff --git a/external/concealer/include/concealer/field_operator_application.hpp b/external/concealer/include/concealer/field_operator_application.hpp
@@ -27,7 +27,6 @@
 #include <chrono>
 #include <concealer/autoware_stream.hpp>
 #include <concealer/launch.hpp>
-#include <concealer/task_queue.hpp>
 #include <concealer/visibility.hpp>
 #include <exception>
 #include <geometry_msgs/msg/accel.hpp>
@@ -66,8 +65,6 @@ class FieldOperatorApplication : public rclcpp::Node
 protected:
   const pid_t process_id = 0;
 
-  TaskQueue task_queue;
-
   bool initialize_was_called = false;
 
   auto stopRequest() noexcept -> void;
@@ -148,8 +145,6 @@ class FieldOperatorApplication : public rclcpp::Node
   virtual auto getTurnIndicatorsCommand() const
     -> autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand;
 
-  virtual auto rethrow() const noexcept(false) -> void;
-
   virtual auto sendCooperateCommand(const std::string &, const std::string &) -> void = 0;
 
   virtual auto setVelocityLimit(double) -> void = 0;

diff --git a/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp b/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp
@@ -35,7 +35,6 @@
 #include <concealer/publisher_wrapper.hpp>
 #include <concealer/service_with_validation.hpp>
 #include <concealer/subscriber_wrapper.hpp>
-#include <concealer/task_queue.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 #include <tier4_external_api_msgs/msg/emergency.hpp>
 #include <tier4_external_api_msgs/srv/engage.hpp>

diff --git a/external/concealer/include/concealer/task_queue.hpp b/external/concealer/include/concealer/task_queue.hpp
diff --git a/external/concealer/src/field_operator_application.cpp b/external/concealer/src/field_operator_application.cpp
@@ -158,8 +158,6 @@ auto FieldOperatorApplication::getTurnIndicatorsCommand() const
   turn_indicators_command.stamp = now();
   return turn_indicators_command;
 }
-
-auto FieldOperatorApplication::rethrow() const -> void { task_queue.rethrow(); }
 }  // namespace concealer
 
 namespace autoware_auto_vehicle_msgs::msg

diff --git a/external/concealer/src/field_operator_application_for_autoware_universe.cpp b/external/concealer/src/field_operator_application_for_autoware_universe.cpp
@@ -24,7 +24,6 @@ FieldOperatorApplicationFor<AutowareUniverse>::~FieldOperatorApplicationFor()
 {
   shutdownAutoware();
   // All tasks should be complete before the services used in them will be deinitialized.
-  task_queue.stopAndJoin();
 }
 
 template <auto N, typename Tuples>
@@ -373,13 +372,11 @@ auto FieldOperatorApplicationFor<AutowareUniverse>::engage() -> void
 
 auto FieldOperatorApplicationFor<AutowareUniverse>::engageable() const -> bool
 {
-  rethrow();
   return isWaitingForEngage();
 }
 
 auto FieldOperatorApplicationFor<AutowareUniverse>::engaged() const -> bool
 {
-  rethrow();
   return isDriving();
 }
 

diff --git a/external/concealer/src/task_queue.cpp b/external/concealer/src/task_queue.cpp
diff --git a/simulation/traffic_simulator/src/entity/ego_entity.cpp b/simulation/traffic_simulator/src/entity/ego_entity.cpp
@@ -139,7 +139,6 @@ auto EgoEntity::getWaypoints() -> const traffic_simulator_msgs::msg::WaypointsAr
 
 void EgoEntity::updateFieldOperatorApplication() const
 {
-  field_operator_application->rethrow();
   field_operator_application->spinSome();
 }