Review changes

Signed-off-by: Aleksander Kamiński <[email protected]>
o3de · Aug 26, 2024 · 9ee4ac6 · 9ee4ac6
1 parent 929629f
commit 9ee4ac6
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Showing 6 changed files with 15 additions and 33 deletions.
diff --git a/Gems/ROS2/Code/Include/ROS2/Lidar/RaycastResults.h b/Gems/ROS2/Code/Include/ROS2/Lidar/RaycastResults.h
@@ -63,9 +63,6 @@ namespace ROS2
         RaycastResults(RaycastResults&& other);
 
         [[nodiscard]] bool IsEmpty() const;
-        template<RaycastResultFlags F>
-        [[nodiscard]] bool IsFlagSatisfied(RaycastResultFlags requestedFlags) const;
-        [[nodiscard]] bool SatisfiesResultFlags(RaycastResultFlags flags) const;
 
         template<RaycastResultFlags F>
         [[nodiscard]] bool IsFieldPresent() const;
@@ -109,12 +106,6 @@ namespace ROS2
         FieldInternal<RaycastResultFlags::Intensity> m_intensities;
     };
 
-    template<RaycastResultFlags F>
-    bool RaycastResults::IsFlagSatisfied(RaycastResultFlags requestedFlags) const
-    {
-        return !IsFlagEnabled(F, requestedFlags) || IsFieldPresent<F>();
-    }
-
     template<RaycastResultFlags F>
     bool RaycastResults::IsFieldPresent() const
     {

diff --git a/Gems/ROS2/Code/Source/Lidar/LidarCore.cpp b/Gems/ROS2/Code/Source/Lidar/LidarCore.cpp
@@ -183,7 +183,7 @@ namespace ROS2
         AZ::ComponentApplicationBus::BroadcastResult(entity, &AZ::ComponentApplicationRequests::FindEntity, m_entityId);
         const auto entityTransform = entity->FindComponent<AzFramework::TransformComponent>();
 
-        AZ::Outcome<RaycastResults, const char*> results = AZ::Failure("EBus failure occured.");
+        AZ::Outcome<RaycastResults, const char*> results = AZ::Failure("EBus failure occurred.");
         LidarRaycasterRequestBus::EventResult(
             results, m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::PerformRaycast, entityTransform->GetWorldTM());
         if (!results.IsSuccess())

diff --git a/Gems/ROS2/Code/Source/Lidar/PointCloudMessageBuilder.cpp b/Gems/ROS2/Code/Source/Lidar/PointCloudMessageBuilder.cpp
@@ -24,30 +24,23 @@ namespace ROS2
 
     PointCloud2MessageBuilder& PointCloud2MessageBuilder::AddField(const char* name, uint8_t dataType, size_t count)
     {
-        AZ_Assert(m_message.has_value(), "Programmer error: Message builder was invalid. Double result retrieval.");
-
         sensor_msgs::msg::PointField point_field;
         point_field.name = name;
         point_field.count = count;
         point_field.datatype = dataType;
         point_field.offset = m_offset;
-        m_message.value().fields.push_back(point_field);
+        m_message.fields.push_back(point_field);
 
         m_offset += point_field.count * sizeOfPointField(dataType);
         return *this;
     }
 
-    sensor_msgs::msg::PointCloud2 PointCloud2MessageBuilder::Build()
+    sensor_msgs::msg::PointCloud2 PointCloud2MessageBuilder::Get()
     {
-        AZ_Assert(m_message.has_value(), "Programmer error: Message builder was invalid. Double result retrieval.");
-        auto& message = m_message.value();
-
-        message.point_step = m_offset;
-        message.row_step = message.width * message.point_step;
-        message.data.resize(message.height * message.row_step);
+        m_message.point_step = m_offset;
+        m_message.row_step = m_message.width * m_message.point_step;
+        m_message.data.resize(m_message.row_step);
 
-        sensor_msgs::msg::PointCloud2 result = m_message.value();
-        m_message = {}; // Builder invalidated.
-        return result;
+        return m_message;
     }
 } // namespace ROS2
diff --git a/Gems/ROS2/Code/Source/Lidar/PointCloudMessageBuilder.h b/Gems/ROS2/Code/Source/Lidar/PointCloudMessageBuilder.h
@@ -17,10 +17,10 @@ namespace ROS2
     public:
         PointCloud2MessageBuilder(const AZStd::string& frameId, builtin_interfaces::msg::Time timeStamp, size_t count);
         PointCloud2MessageBuilder& AddField(const char* name, uint8_t dataType, size_t count = 1);
-        sensor_msgs::msg::PointCloud2 Build();
+        sensor_msgs::msg::PointCloud2 Get();
 
     private:
         size_t m_offset = 0U;
-        AZStd::optional<sensor_msgs::msg::PointCloud2> m_message;
+        sensor_msgs::msg::PointCloud2 m_message;
     };
 } // namespace ROS2
diff --git a/Gems/ROS2/Code/Source/Lidar/ROS2LidarSensorComponent.cpp b/Gems/ROS2/Code/Source/Lidar/ROS2LidarSensorComponent.cpp
@@ -165,7 +165,7 @@ namespace ROS2
         {
             builder.AddField("intensity", sensor_msgs::msg::PointField::FLOAT32);
         }
-        sensor_msgs::msg::PointCloud2 message = builder.Build();
+        sensor_msgs::msg::PointCloud2 message = builder.Get();
 
 
         sensor_msgs::PointCloud2Iterator<float> messageXIt(message, "x");

diff --git a/Gems/ROS2/Code/Source/Lidar/RaycastResults.cpp b/Gems/ROS2/Code/Source/Lidar/RaycastResults.cpp
@@ -18,8 +18,12 @@ namespace ROS2
     }
 
     RaycastResults::RaycastResults(RaycastResults&& other)
+        : m_count{ other.m_count }
+        , m_points{ AZStd::move(other.m_points) }
+        , m_ranges{ AZStd::move(other.m_ranges) }
+        , m_intensities{ AZStd::move(other.m_intensities) }
     {
-        *this = other;
+        other.m_count = 0U;
     }
 
     void RaycastResults::Clear()
@@ -60,12 +64,6 @@ namespace ROS2
         return GetCount() == 0U;
     }
 
-    bool RaycastResults::SatisfiesResultFlags(RaycastResultFlags flags) const
-    {
-        return IsFlagSatisfied<RaycastResultFlags::Point>(flags) && IsFlagSatisfied<RaycastResultFlags::Range>(flags) &&
-            IsFlagSatisfied<RaycastResultFlags::Intensity>(flags);
-    }
-
     size_t RaycastResults::GetCount() const
     {
         return m_count;