[infra] drop the unused lcm interface

backend/automotive_simulator.cc

@@ -19,16 +19,13 @@
 #include "drake/automotive/prius_vis.h"
 #include "drake/common/drake_throw.h"
 #include "drake/common/text_logging.h"
-#include "drake/lcm/drake_lcm.h"
-#include "drake/lcmt_viewer_draw.hpp"
 #include "drake/multibody/joints/floating_base_types.h"
 #include "drake/multibody/parsers/urdf_parser.h"
 #include "drake/multibody/rigid_body_plant/create_load_robot_message.h"
 #include "drake/systems/analysis/runge_kutta2_integrator.h"
 #include "drake/systems/framework/basic_vector.h"
 #include "drake/systems/framework/context.h"
 #include "drake/systems/framework/system.h"
-#include "drake/systems/lcm/lcmt_drake_signal_translator.h"
 #include "drake/systems/primitives/multiplexer.h"
 
 #include "backend/agent_plugin_loader.h"
@@ -52,21 +49,15 @@ using drake::maliput::api::RoadGeometry;
 using drake::maliput::api::RoadGeometryId;
 using drake::multibody::joints::kRollPitchYaw;
 using drake::systems::AbstractValue;
-using drake::systems::lcm::LcmPublisherSystem;
 using drake::systems::OutputPort;
 using drake::systems::rendering::PoseBundle;
 using drake::systems::RungeKutta2Integrator;
 using drake::systems::System;
 using drake::systems::SystemOutput;
 
-template <typename T>
-AutomotiveSimulator<T>::AutomotiveSimulator()
-    : AutomotiveSimulator(std::make_unique<drake::lcm::DrakeLcm>()) {}
 
 template <typename T>
-AutomotiveSimulator<T>::AutomotiveSimulator(
-    std::unique_ptr<drake::lcm::DrakeLcmInterface> lcm)
-    : lcm_(std::move(lcm)) {
+AutomotiveSimulator<T>::AutomotiveSimulator() {
   aggregator_ =
       builder_
           ->template AddSystem<drake::systems::rendering::PoseAggregator<T>>();
@@ -84,18 +75,6 @@ AutomotiveSimulator<T>::AutomotiveSimulator(
   bundle_to_draw_->set_name("bundle_to_draw");
 }
 
-template <typename T>
-AutomotiveSimulator<T>::~AutomotiveSimulator() {
-  // Forces the LCM instance to be destroyed before any of the subscribers are
-  // destroyed.
-  lcm_.reset();
-}
-
-template <typename T>
-drake::lcm::DrakeLcmInterface* AutomotiveSimulator<T>::get_lcm() {
-  return lcm_.get();
-}
-
 template <typename T>
 drake::systems::DiagramBuilder<T>* AutomotiveSimulator<T>::get_builder() {
   DELPHYNE_DEMAND(!has_started());

backend/automotive_simulator.h

@@ -24,13 +24,10 @@
 #include "drake/automotive/simple_car.h"
 #include "drake/automotive/trajectory_car.h"
 #include "drake/common/drake_copyable.h"
-#include "drake/lcm/drake_lcm_interface.h"
-#include "drake/lcmt_viewer_load_robot.hpp"
 #include "drake/multibody/rigid_body_tree.h"
 #include "drake/systems/analysis/simulator.h"
 #include "drake/systems/framework/diagram.h"
 #include "drake/systems/framework/diagram_builder.h"
-#include "drake/systems/lcm/lcm_publisher_system.h"
 #include "drake/systems/rendering/pose_aggregator.h"
 #include "drake/systems/rendering/pose_bundle.h"
 #include "drake/systems/rendering/pose_bundle_to_draw_message.h"
@@ -61,12 +58,6 @@ class AutomotiveSimulator {
   /// A constructor that configures this object to use DrakeLcm, which
   /// encapsulates a _real_ LCM instance.
   AutomotiveSimulator();
-  explicit AutomotiveSimulator(
-      std::unique_ptr<drake::lcm::DrakeLcmInterface> lcm);
-  ~AutomotiveSimulator();
-
-  /// Returns the LCM object used by this AutomotiveSimulator.
-  drake::lcm::DrakeLcmInterface* get_lcm();
 
   /// Returns the DiagramBuilder.
   /// @pre Start() has NOT been called.

backend/translation_systems/drake_to_ign.h

@@ -78,34 +78,34 @@ class DrakeToIgn : public drake::systems::LeafSystem<double> {
   static const unsigned int kPositionVectorSize{3};
   static const unsigned int kOrientationVectorSize{4};
 
-  // @brief Converts an array of floats (LCM's type for positions) to an
+  // @brief Converts an array of floats to an
   // ignition position message.
   //
-  // @param[in] lcm_position The LCM position array.
+  // @param[in] position The position array
   // @param[out] ign_position The ignition position message.
-  static void LcmPositionToIgnition(const float lcm_position[3],
+  static void PositionArrayToIgnition(const float position[3],
                                     ignition::msgs::Vector3d* ign_position) {
     DELPHYNE_DEMAND(ign_position != nullptr);
 
-    ign_position->set_x(lcm_position[0]);
-    ign_position->set_y(lcm_position[1]);
-    ign_position->set_z(lcm_position[2]);
+    ign_position->set_x(position[0]);
+    ign_position->set_y(position[1]);
+    ign_position->set_z(position[2]);
   }
 
-  // @brief Converts an array of floats (LCM's type for quaternions) to an
-  // ignition quaterion message.
+  // @brief Converts an array of floats to an
+  // ignition quaternion message.
   //
-  // @param[in] lcm_quaternion The LCM orientation array.
+  // @param[in] quaternion The orientation array.
   // @param[out] ign_quaternion The ign quaternion message.
-  static void LcmQuaternionToIgnition(
-      const float lcm_quaternion[4],
+  static void QuaternionArrayToIgnition(
+      const float quaternion[4],
       ignition::msgs::Quaternion* ign_quaternion) {
     DELPHYNE_DEMAND(ign_quaternion != nullptr);
 
-    ign_quaternion->set_w(lcm_quaternion[0]);
-    ign_quaternion->set_x(lcm_quaternion[1]);
-    ign_quaternion->set_y(lcm_quaternion[2]);
-    ign_quaternion->set_z(lcm_quaternion[3]);
+    ign_quaternion->set_w(quaternion[0]);
+    ign_quaternion->set_x(quaternion[1]);
+    ign_quaternion->set_y(quaternion[2]);
+    ign_quaternion->set_z(quaternion[3]);
   }
 
   // @brief Converts an array of floats (LCM's type for a color) to an

backend/translation_systems/lcm_viewer_draw_to_ign_model_v.cc

@@ -47,12 +47,12 @@ void LcmViewerDrawToIgnModelV::DoDrakeToIgnTranslation(
 
     // Checks position size and translates.
     DELPHYNE_DEMAND(lcm_message.position[i].size() == kPositionVectorSize);
-    LcmPositionToIgnition(lcm_message.position[i].data(),
+    PositionArrayToIgnition(lcm_message.position[i].data(),
                           pose->mutable_position());
 
     // Checks orientation size and translates.
     DELPHYNE_DEMAND(lcm_message.quaternion[i].size() == kOrientationVectorSize);
-    LcmQuaternionToIgnition(lcm_message.quaternion[i].data(),
+    QuaternionArrayToIgnition(lcm_message.quaternion[i].data(),
                             pose->mutable_orientation());
   }
 }

backend/translation_systems/lcm_viewer_load_robot_to_ign_model_v.cc

@@ -55,8 +55,8 @@ void LcmViewerLoadRobotToIgnModelV::DoDrakeToIgnTranslation(
         LcmGeometryToIgnition(geometry, new_visual->mutable_geometry());
 
         ignition::msgs::Pose* pose = new_visual->mutable_pose();
-        LcmPositionToIgnition(geometry.position, pose->mutable_position());
-        LcmQuaternionToIgnition(geometry.quaternion,
+        PositionArrayToIgnition(geometry.position, pose->mutable_position());
+        QuaternionArrayToIgnition(geometry.quaternion,
                                 pose->mutable_orientation());
 
         ignition::msgs::Material* material = new_visual->mutable_material();

test/regression/cpp/automotive_simulator_test.cc

@@ -18,14 +18,8 @@
 #include "drake/automotive/maliput/dragway/road_geometry.h"
 #include "drake/automotive/prius_vis.h"
 #include "drake/common/find_resource.h"
-#include "drake/lcm/drake_mock_lcm.h"
-#include "drake/lcmt_simple_car_state_t.hpp"
-#include "drake/lcmt_viewer_draw.hpp"
 #include "drake/systems/framework/basic_vector.h"
 #include "drake/systems/framework/diagram_context.h"
-#include "drake/systems/lcm/lcm_publisher_system.h"
-#include "drake/systems/lcm/lcm_subscriber_system.h"
-#include "drake/systems/lcm/lcmt_drake_signal_translator.h"
 #include "drake/systems/rendering/pose_bundle.h"
 
 #include "protobuf/simple_car_state.pb.h"
@@ -120,21 +114,9 @@ TEST_F(AutomotiveSimulatorTest, TestGetScene) {
 // Simple touches on the getters.
 TEST_F(AutomotiveSimulatorTest, BasicTest) {
   auto simulator = std::make_unique<AutomotiveSimulator<double>>();
-  EXPECT_NE(nullptr, simulator->get_lcm());
   EXPECT_NE(nullptr, simulator->get_builder());
 }
 
-// Obtains the serialized version of the last message transmitted on LCM channel
-// @p channel. Uses @p translator to decode the message into @p result.
-void GetLastPublishedSimpleCarState(
-    const std::string& channel,
-    const drake::systems::lcm::LcmAndVectorBaseTranslator& translator,
-    const drake::lcm::DrakeMockLcm* mock_lcm, SimpleCarState<double>* result) {
-  const std::vector<uint8_t>& message =
-      mock_lcm->get_last_published_message(channel);
-  translator.Deserialize(message.data(), message.size(), result);
-}
-
 // Covers simple-car, Start and StepBy
 TEST_F(AutomotiveSimulatorTest, TestPriusSimpleCar) {
   ignition::msgs::SimpleCarState state_message;
@@ -149,8 +131,7 @@ TEST_F(AutomotiveSimulatorTest, TestPriusSimpleCar) {
   node.Subscribe<ignition::msgs::SimpleCarState>("agents/0/state", callback);
 
   // Set up a basic simulation with just a Prius SimpleCar.
-  auto simulator = std::make_unique<AutomotiveSimulator<double>>(
-      std::make_unique<drake::lcm::DrakeMockLcm>());
+  auto simulator = std::make_unique<AutomotiveSimulator<double>>();
 
   auto initial_state = std::make_unique<SimpleCarState<double>>();
   std::map<std::string, linb::any> simple_params;
@@ -195,8 +176,7 @@ TEST_F(AutomotiveSimulatorTest, TestPriusSimpleCar) {
 
 // Tests the ability to initialize a SimpleCar to a non-zero initial state.
 TEST_F(AutomotiveSimulatorTest, TestPriusSimpleCarInitialState) {
-  auto simulator = std::make_unique<AutomotiveSimulator<double>>(
-      std::make_unique<drake::lcm::DrakeMockLcm>());
+  auto simulator = std::make_unique<AutomotiveSimulator<double>>();
   const double kX{10};
   const double kY{5.5};
   const double kHeading{M_PI_2};
@@ -234,12 +214,7 @@ TEST_F(AutomotiveSimulatorTest, TestPriusSimpleCarInitialState) {
 
 TEST_F(AutomotiveSimulatorTest, TestMobilControlledSimpleCar) {
   // Set up a basic simulation with a MOBIL- and IDM-controlled SimpleCar.
-  auto simulator = std::make_unique<AutomotiveSimulator<double>>(
-      std::make_unique<drake::lcm::DrakeMockLcm>());
-
-  drake::lcm::DrakeMockLcm* lcm =
-      dynamic_cast<drake::lcm::DrakeMockLcm*>(simulator->get_lcm());
-  ASSERT_NE(lcm, nullptr);
+  auto simulator = std::make_unique<AutomotiveSimulator<double>>();
 
   const drake::maliput::api::RoadGeometry* road{};
   EXPECT_NO_THROW(
@@ -348,8 +323,7 @@ TEST_F(AutomotiveSimulatorTest, TestMobilControlledSimpleCar) {
 //  // start at position zero; the first has a speed of 1 m/s, while the other
 //  is
 //  // stationary. They both follow a straight 100 m long line.
-//  auto simulator = std::make_unique<AutomotiveSimulator<double>>(
-//      std::make_unique<drake::lcm::DrakeMockLcm>());
+//  auto simulator = std::make_unique<AutomotiveSimulator<double>>();
 //
 //  std::map<std::string, linb::any> traj_params;
 //  traj_params["curve"] = curve;
@@ -469,8 +443,7 @@ double GetXPosition(const ignition::msgs::Model_V& message, double y) {
 }
 
 TEST_F(AutomotiveSimulatorTest, TestBadMaliputRailcars) {
-  auto simulator = std::make_unique<AutomotiveSimulator<double>>(
-      std::make_unique<drake::lcm::DrakeMockLcm>());
+  auto simulator = std::make_unique<AutomotiveSimulator<double>>();
 
   const double kR{0.5};
   MaliputRailcarParams<double> params;
@@ -527,12 +500,7 @@ TEST_F(AutomotiveSimulatorTest, TestBadMaliputRailcars) {
 
 // Covers AddMaliputRailcar().
 TEST_F(AutomotiveSimulatorTest, TestMaliputRailcar) {
-  auto simulator = std::make_unique<AutomotiveSimulator<double>>(
-      std::make_unique<drake::lcm::DrakeMockLcm>());
-
-  drake::lcm::DrakeMockLcm* lcm =
-      dynamic_cast<drake::lcm::DrakeMockLcm*>(simulator->get_lcm());
-  ASSERT_NE(lcm, nullptr);
+  auto simulator = std::make_unique<AutomotiveSimulator<double>>();
   const double kR{0.5};
   MaliputRailcarParams<double> params;
   params.set_r(kR);
@@ -597,8 +565,7 @@ TEST_F(AutomotiveSimulatorTest, TestMaliputRailcar) {
 // LcmPublisherSystem are instantiated in AutomotiveSimulator's Diagram and
 // collectively result in the correct ignition messages being published.
 TEST_F(AutomotiveSimulatorTest, TestLcmOutput) {
-  auto simulator = std::make_unique<AutomotiveSimulator<double>>(
-      std::make_unique<drake::lcm::DrakeMockLcm>());
+  auto simulator = std::make_unique<AutomotiveSimulator<double>>();
 
   std::map<std::string, linb::any> simple_params;
   auto state1 = std::make_unique<SimpleCarState<double>>();
@@ -684,8 +651,7 @@ TEST_F(AutomotiveSimulatorTest, TestLcmOutput) {
 // Verifies that exceptions are thrown if a vehicle with a non-unique name is
 // added to the simulation.
 TEST_F(AutomotiveSimulatorTest, TestDuplicateVehicleNameException) {
-  auto simulator = std::make_unique<AutomotiveSimulator<double>>(
-      std::make_unique<drake::lcm::DrakeMockLcm>());
+  auto simulator = std::make_unique<AutomotiveSimulator<double>>();
 
   auto state1 = std::make_unique<SimpleCarState<double>>();
   auto state2 = std::make_unique<SimpleCarState<double>>();
@@ -730,8 +696,7 @@ TEST_F(AutomotiveSimulatorTest, TestDuplicateVehicleNameException) {
 // Verifies that the velocity outputs of the MaliputRailcars are connected to
 // the PoseAggregator, which prevents a regression of #5894.
 TEST_F(AutomotiveSimulatorTest, TestRailcarVelocityOutput) {
-  auto simulator = std::make_unique<AutomotiveSimulator<double>>(
-      std::make_unique<drake::lcm::DrakeMockLcm>());
+  auto simulator = std::make_unique<AutomotiveSimulator<double>>();
 
   const double kR{0.5};
   MaliputRailcarParams<double> params;
@@ -820,37 +785,6 @@ TEST_F(AutomotiveSimulatorTest, TestBuild2) {
   EXPECT_NO_THROW(simulator->GetDiagram());
 }
 
-// Verifies that messages are no longer being published in LCM
-// DRAKE_VIEWER_LOAD_ROBOT and DRAKE_VIEWER_DRAW channels.
-TEST_F(AutomotiveSimulatorTest, TestNoLcm) {
-  auto simulator = std::make_unique<AutomotiveSimulator<double>>(
-      std::make_unique<drake::lcm::DrakeMockLcm>());
-
-  auto simple_state = std::make_unique<SimpleCarState<double>>();
-
-  std::map<std::string, linb::any> simple_params;
-  simulator->AddLoadableAgent("simple-car", simple_params, "Model1",
-                              std::move(simple_state));
-
-  simulator->Start();
-  simulator->StepBy(1e-3);
-
-  const drake::lcm::DrakeLcmInterface* lcm = simulator->get_lcm();
-  ASSERT_NE(lcm, nullptr);
-
-  const drake::lcm::DrakeMockLcm* mock_lcm =
-      dynamic_cast<const drake::lcm::DrakeMockLcm*>(lcm);
-  ASSERT_NE(mock_lcm, nullptr);
-
-  // There should be no message published in DRAKE_VIEWER_LOAD_ROBOT
-  EXPECT_THROW(mock_lcm->get_last_published_message("DRAKE_VIEWER_LOAD_ROBOT"),
-               std::runtime_error);
-
-  // There should be no message published in DRAKE_VIEWER_DRAW
-  EXPECT_THROW(mock_lcm->get_last_published_message("DRAKE_VIEWER_DRAW"),
-               std::runtime_error);
-}
-
 // Tests that AddLoadableAgent basically works.
 TEST_F(AutomotiveSimulatorTest, TestAddLoadableAgentBasic) {
   auto simulator = std::make_unique<AutomotiveSimulator<double>>();