add despawn_function argument

simulation/traffic_simulator/include/traffic_simulator/api/api.hpp

@@ -73,7 +73,8 @@ class API
       node, entity_manager_ptr_->getHdmapUtils(),
       getROS2Parameter<std::string>("architecture_type", "awf/universe/20240605"))),
     traffic_controller_ptr_(std::make_shared<traffic::TrafficController>(
-      entity_manager_ptr_, configuration.auto_sink_entity_types)),
+      [this](const std::string & name) { despawn(name); }, entity_manager_ptr_,
+      configuration.auto_sink_entity_types)),
     clock_pub_(rclcpp::create_publisher<rosgraph_msgs::msg::Clock>(
       node, "/clock", rclcpp::QoS(rclcpp::KeepLast(1)).best_effort(),
       rclcpp::PublisherOptionsWithAllocator<AllocatorT>())),

simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_controller.hpp

@@ -43,6 +43,7 @@ class TrafficController
 {
 public:
   explicit TrafficController(
+    const std::function<void(const std::string &)> & despawn_,
     const std::shared_ptr<entity::EntityManager> entity_manager_ptr,
     const std::set<std::uint8_t> auto_sink_entity_types /*= {}*/);
 
@@ -57,6 +58,7 @@ class TrafficController
 
 private:
   auto appendAutoSinks(const std::set<std::uint8_t> & auto_sink_entity_types) -> void;
+  const std::function<void(const std::string &)> despawn_;
   const std::shared_ptr<entity::EntityManager> entity_manager_ptr_;
   std::vector<std::shared_ptr<TrafficModuleBase>> modules_;
 };

simulation/traffic_simulator/include/traffic_simulator/traffic/traffic_sink.hpp

@@ -81,6 +81,7 @@ class TrafficSink : public TrafficModuleBase
    * @param config TrafficSink configuration
    */
   explicit TrafficSink(
+    const std::function<void(const std::string &)> & despawn_function,
     const std::shared_ptr<entity::EntityManager> entity_manager_ptr,
     const TrafficSinkConfig & config);
   /** 
@@ -95,8 +96,9 @@ class TrafficSink : public TrafficModuleBase
 private:
   auto isEntitySinkable(const std::string & entity_name) const noexcept(false) -> bool;
 
-  const TrafficSinkConfig config_;
+  const std::function<void(const std::string &)> despawn_;
   const std::shared_ptr<entity::EntityManager> entity_manager_ptr_;
+  const TrafficSinkConfig config_;
 };
 }  // namespace traffic
 }  // namespace traffic_simulator

simulation/traffic_simulator/src/traffic/traffic_controller.cpp

@@ -37,9 +37,10 @@ namespace traffic_simulator
 namespace traffic
 {
 TrafficController::TrafficController(
+  const std::function<void(const std::string &)> & despawn,
   const std::shared_ptr<entity::EntityManager> entity_manager_ptr,
   const std::set<std::uint8_t> auto_sink_entity_types)
-: entity_manager_ptr_(entity_manager_ptr), modules_()
+: despawn_(despawn), entity_manager_ptr_(entity_manager_ptr), modules_()
 {
   if (not auto_sink_entity_types.empty()) {
     appendAutoSinks(auto_sink_entity_types);
@@ -59,7 +60,7 @@ auto TrafficController::appendAutoSinks(const std::set<std::uint8_t> & auto_sink
       const auto pose = pose::toMapPose(lanelet_pose, hdmap_utils_ptr);
       const auto traffic_sink_config = TrafficSinkConfig(
         sink_radius, pose.position, auto_sink_entity_types, std::make_optional(lanelet_id));
-      addModule<TrafficSink>(entity_manager_ptr_, traffic_sink_config);
+      addModule<TrafficSink>(despawn_, entity_manager_ptr_, traffic_sink_config);
     }
   }
 }

simulation/traffic_simulator/src/traffic/traffic_sink.cpp

@@ -40,8 +40,9 @@ namespace traffic_simulator
 namespace traffic
 {
 TrafficSink::TrafficSink(
+  const std::function<void(const std::string &)> & despawn,
   const std::shared_ptr<entity::EntityManager> entity_manager_ptr, const TrafficSinkConfig & config)
-: TrafficModuleBase(), config_(config), entity_manager_ptr_(entity_manager_ptr)
+: TrafficModuleBase(), despawn_(despawn), entity_manager_ptr_(entity_manager_ptr), config_(config)
 {
 }
 
@@ -50,7 +51,7 @@ auto TrafficSink::execute(
 {
   for (const auto & entity_name : entity_manager_ptr_->getEntityNames()) {
     if (isEntitySinkable(entity_name)) {
-      entity_manager_ptr_->despawnEntity(entity_name);
+      despawn_(entity_name);
     }
   }
 }