o3de-extras/Gems/SimulationInterfaces/Code/Source/Services/GetSpawnablesServiceHandler.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 "GetSpawnablesServiceHandler.h"
#include <SimulationInterfaces/SimulationEntityManagerRequestBus.h>

namespace ROS2SimulationInterfaces
{

    AZStd::unordered_set<SimulationFeatureType> GetSpawnablesServiceHandler::GetProvidedFeatures()
    {
        return AZStd::unordered_set<SimulationFeatureType>{ SimulationFeatures::SPAWNABLES };
    }

    AZStd::optional<GetSpawnablesServiceHandler::Response> GetSpawnablesServiceHandler::HandleServiceRequest(
        const std::shared_ptr<rmw_request_id_t> header, const Request& request)
    {
        AZ::Outcome<SimulationInterfaces::SpawnableList, SimulationInterfaces::FailedResult> outcome;
        SimulationInterfaces::SimulationEntityManagerRequestBus::BroadcastResult(
            outcome, &SimulationInterfaces::SimulationEntityManagerRequests::GetSpawnables);
        Response response;
        response.result.result = simulation_interfaces::msg::Result::RESULT_OK;
        if (!outcome.IsSuccess())
        {
            const auto& failedResult = outcome.GetError();
            response.result.result = failedResult.m_errorCode;
            response.result.error_message = failedResult.m_errorString.c_str();
            return response;
        }

        auto convertToROS2 = [](const SimulationInterfaces::Spawnable& spawnable)
        {
            simulation_interfaces::msg::Spawnable simSpawnable;
            simSpawnable.uri = spawnable.m_uri.c_str();
            simSpawnable.description = spawnable.m_description.c_str();
            return simSpawnable;
        };

        const auto& spawnableList = outcome.GetValue();
        AZStd::ranges::transform(spawnableList, AZStd::back_inserter(response.spawnables), convertToROS2);

        return response;
    }
} // namespace ROS2SimulationInterfaces