From 9018b214c8361c0f975479509678882faebdf5a8 Mon Sep 17 00:00:00 2001
From: kosuke55 <kosuke.tnp@gmail.com>
Date: Wed, 8 Nov 2023 22:02:32 +0900
Subject: [PATCH] fix

style(pre-commit): autofix
---
 .../goal_planner/goal_planner_module.hpp         | 16 ++++++++++------
 .../goal_planner/goal_planner_module.cpp         |  8 ++++----
 2 files changed, 14 insertions(+), 10 deletions(-)

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp
index ccd1da462f8ca..e4044d7191805 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp
@@ -101,12 +101,10 @@ class PullOverStatus
     pull_over_lanes_.clear();
     lanes_.clear();
     has_decided_path_ = false;
-    is_safe_static_objects_ = false;
     is_safe_dynamic_objects_ = false;
     prev_found_path_ = false;
     prev_is_safe_dynamic_objects_ = false;
     has_decided_velocity_ = false;
-    has_requested_approval_ = false;
   }
 
   DEFINE_SETTER_GETTER(std::shared_ptr<PullOverPath>, lane_parking_pull_over_path)
@@ -118,12 +116,10 @@ class PullOverStatus
   DEFINE_SETTER_GETTER(lanelet::ConstLanelets, pull_over_lanes)
   DEFINE_SETTER_GETTER(std::vector<DrivableLanes>, lanes)
   DEFINE_SETTER_GETTER(bool, has_decided_path)
-  DEFINE_SETTER_GETTER(bool, is_safe_static_objects)
   DEFINE_SETTER_GETTER(bool, is_safe_dynamic_objects)
   DEFINE_SETTER_GETTER(bool, prev_found_path)
   DEFINE_SETTER_GETTER(bool, prev_is_safe_dynamic_objects)
   DEFINE_SETTER_GETTER(bool, has_decided_velocity)
-  DEFINE_SETTER_GETTER(bool, has_requested_approval)
   DEFINE_SETTER_GETTER(Pose, refined_goal_pose)
   DEFINE_SETTER_GETTER(Pose, closest_goal_candidate_pose)
 
@@ -137,12 +133,10 @@ class PullOverStatus
   lanelet::ConstLanelets pull_over_lanes_{};
   std::vector<DrivableLanes> lanes_{};
   bool has_decided_path_{false};
-  bool is_safe_static_objects_{false};
   bool is_safe_dynamic_objects_{false};
   bool prev_found_path_{false};
   bool prev_is_safe_dynamic_objects_{false};
   bool has_decided_velocity_{false};
-  bool has_requested_approval_{false};
 
   Pose refined_goal_pose_{};
   Pose closest_goal_candidate_pose_{};
@@ -220,6 +214,16 @@ class ThreadSafeData
     return pull_over_path_->isValidPath();
   }
 
+  PullOverPlannerType getPullOverPlannerType() const
+  {
+    const std::lock_guard<std::recursive_mutex> lock(mutex_);
+    if (!pull_over_path_) {
+      return PullOverPlannerType::NONE;
+    }
+
+    return pull_over_path_->type;
+  };
+
   void reset()
   {
     const std::lock_guard<std::recursive_mutex> lock(mutex_);
diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
index 6259408ffaf5a..adc77ac49d58c 100644
--- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
@@ -802,7 +802,7 @@ void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output
 
 void GoalPlannerModule::setDrivableAreaInfo(BehaviorModuleOutput & output) const
 {
-  if (thread_safe_data_.get_pull_over_path()->type == PullOverPlannerType::FREESPACE) {
+  if (thread_safe_data_.getPullOverPlannerType() == PullOverPlannerType::FREESPACE) {
     const double drivable_area_margin = planner_data_->parameters.vehicle_width;
     output.drivable_area_info.drivable_margin =
       planner_data_->parameters.vehicle_width / 2.0 + drivable_area_margin;
@@ -953,7 +953,7 @@ BehaviorModuleOutput GoalPlannerModule::planWithGoalModification()
   path_reference_ = getPreviousModuleOutput().reference_path;
 
   // return to lane parking if it is possible
-  if (thread_safe_data_.get_pull_over_path()->type == PullOverPlannerType::FREESPACE) {
+  if (thread_safe_data_.getPullOverPlannerType() == PullOverPlannerType::FREESPACE) {
     returnToLaneParking();
   }
 
@@ -1010,7 +1010,7 @@ BehaviorModuleOutput GoalPlannerModule::planWaitingApprovalWithGoalModification(
   const auto distance_to_path_change = calcDistanceToPathChange();
 
   // generate drivable area info for new architecture
-  if (thread_safe_data_.get_pull_over_path()->type == PullOverPlannerType::FREESPACE) {
+  if (thread_safe_data_.getPullOverPlannerType() == PullOverPlannerType::FREESPACE) {
     const double drivable_area_margin = planner_data_->parameters.vehicle_width;
     out.drivable_area_info.drivable_margin =
       planner_data_->parameters.vehicle_width / 2.0 + drivable_area_margin;
@@ -1811,7 +1811,7 @@ void GoalPlannerModule::setDebugData()
     marker.pose = thread_safe_data_.get_modified_goal_pose()
                     ? thread_safe_data_.get_modified_goal_pose()->goal_pose
                     : planner_data_->self_odometry->pose.pose;
-    marker.text = magic_enum::enum_name(thread_safe_data_.get_pull_over_path()->type);
+    marker.text = magic_enum::enum_name(thread_safe_data_.getPullOverPlannerType());
     marker.text += " " + std::to_string(status_.get_current_path_idx()) + "/" +
                    std::to_string(thread_safe_data_.get_pull_over_path()->partial_paths.size() - 1);
     if (isStuck()) {