o3de-extras/Gems/SimulationInterfaces/Code/Source/Services/GetEntitiesStatesServiceHandler.cpp

/*
 * Copyright (c) Contributors to the Open 3D Engine Project.
 * For complete copyright and license terms please see the LICENSE at the root of this distribution.
 *
 * SPDX-License-Identifier: Apache-2.0 OR MIT
 *
 */

#include "GetEntitiesStatesServiceHandler.h"
#include <ROS2/ROS2Bus.h>
#include <ROS2/Utilities/ROS2Conversions.h>
#include <SimulationInterfaces/SimulationEntityManagerRequestBus.h>
#include <Utils/Utils.h>

namespace ROS2SimulationInterfaces
{
    AZStd::unordered_set<AZ::u8> GetEntitiesStatesServiceHandler::GetProvidedFeatures()
    {
        return AZStd::unordered_set<AZ::u8>{ SimulationFeatures::ENTITY_TAGS,
                                             SimulationFeatures::ENTITY_BOUNDS_BOX,
                                             SimulationFeatures::ENTITY_BOUNDS_CONVEX,
                                             SimulationFeatures::ENTITY_CATEGORIES,
                                             SimulationFeatures::ENTITY_STATE_GETTING };
    }

    AZStd::optional<GetEntitiesStatesServiceHandler::Response> GetEntitiesStatesServiceHandler::HandleServiceRequest(
        const std::shared_ptr<rmw_request_id_t> header, const Request& request)
    {
        AZ::Outcome<SimulationInterfaces::MultipleEntitiesStates, SimulationInterfaces::FailedResult> outcome;

        GetEntitiesStatesServiceHandler::Response response;
        response.result.result = simulation_interfaces::msg::Result::RESULT_OK;

        const auto getFilterResult = Utils::GetEntityFiltersFromRequest<Request>(request);
        if (!getFilterResult.IsSuccess())
        {
            response.result.result = simulation_interfaces::msg::Result::RESULT_OPERATION_FAILED;
            response.result.error_message = getFilterResult.GetError().c_str();
            return response;
        }
        SimulationInterfaces::EntityFilters filter = getFilterResult.GetValue();
        SimulationInterfaces::SimulationEntityManagerRequestBus::BroadcastResult(
            outcome, &SimulationInterfaces::SimulationEntityManagerRequests::GetEntitiesStates, filter);

        if (!outcome.IsSuccess())
        {
            const auto& failedResult = outcome.GetError();
            response.result.result = aznumeric_cast<uint8_t>(failedResult.error_code);
            response.result.error_message = failedResult.error_string.c_str();
            return response;
        }

        const auto& multipleEntitiesStates = outcome.GetValue();
        std::vector<std::string> stdEntities;
        std::vector<simulation_interfaces::msg::EntityState> stdEntityStates;

        AZStd::transform(
            multipleEntitiesStates.begin(),
            multipleEntitiesStates.end(),
            std::back_inserter(stdEntities),
            [](const auto& pair)
            {
                return pair.first.c_str();
            });
        AZStd::transform(
            multipleEntitiesStates.begin(),
            multipleEntitiesStates.end(),
            std::back_inserter(stdEntityStates),
            [](const auto& pair)
            {
                const SimulationInterfaces::EntityState& entityState = pair.second;
                simulation_interfaces::msg::EntityState simulationInterfacesEntityState;
                simulationInterfacesEntityState.header.stamp = ROS2::ROS2Interface::Get()->GetROSTimestamp();
                simulationInterfacesEntityState.header.frame_id = ROS2::ROS2Interface::Get()->GetNode()->get_name();
                simulationInterfacesEntityState.pose = ROS2::ROS2Conversions::ToROS2Pose(entityState.m_pose);
                simulationInterfacesEntityState.twist.linear = ROS2::ROS2Conversions::ToROS2Vector3(entityState.m_twist_linear);
                simulationInterfacesEntityState.twist.angular = ROS2::ROS2Conversions::ToROS2Vector3(entityState.m_twist_angular);
                return simulationInterfacesEntityState;
            });
        response.entities = stdEntities;
        response.states = stdEntityStates;

        return response;
    }
} // namespace ROS2SimulationInterfaces