revert SelectedPullOverPath

Signed-off-by: Mamoru Sobue <[email protected]>
autowarefoundation · Dec 2, 2024 · b172a68 · b172a68
1 parent 1f868c8
commit b172a68
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Showing 4 changed files with 110 additions and 129 deletions.
diff --git a/...planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/...planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp
@@ -105,13 +105,6 @@ struct PoseWithString
   }
 };
 
-struct SelectedPullOverPath
-{
-  PullOverPath path;
-  rclcpp::Time selected_time;
-  std::optional<rclcpp::Time> last_path_idx_increment_time;
-};
-
 struct PullOverContextData
 {
   PullOverContextData() = delete;
@@ -136,8 +129,11 @@ struct PullOverContextData
   const bool is_stopped;
   const LaneParkingResponse lane_parking_response;
   const FreespaceParkingResponse freespace_parking_response;
-  // TODO(soblin): due to deceleratePath(), this cannot be const member(velocity is modified by it)
-  std::optional<SelectedPullOverPath> selected_pull_over_path_opt;
+  // TODO(soblin): due to deceleratePath(), this cannot be const member(velocity is modified by it),
+  // and bind following three member, rename as "SelectedPullOverPath"
+  std::optional<PullOverPath> pull_over_path_opt;
+  std::optional<rclcpp::Time> last_path_update_time;
+  std::optional<rclcpp::Time> last_path_idx_increment_time;
 };
 
 bool isOnModifiedGoal(

diff --git a/...th_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp b/...th_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp
@@ -46,8 +46,7 @@ class LaneParkingRequest
   void update(
     const PlannerData & planner_data, const ModuleStatus & current_status,
     const BehaviorModuleOutput & previous_module_output,
-    const std::optional<std::pair<PullOverPath, rclcpp::Time>> & selected_pull_over_path,
-    const PathDecisionState & prev_data);
+    const std::optional<PullOverPath> & pull_over_path, const PathDecisionState & prev_data);
 
   const GoalPlannerParameters parameters_;
   const autoware::universe_utils::LinearRing2d vehicle_footprint_;
@@ -63,10 +62,7 @@ class LaneParkingRequest
   {
     return last_previous_module_output_;
   }
-  const std::optional<std::pair<PullOverPath, rclcpp::Time>> & get_selected_pull_over_path() const
-  {
-    return selected_pull_over_path_;
-  }
+  const std::optional<PullOverPath> & get_pull_over_path() const { return pull_over_path_; }
   const PathDecisionState & get_prev_data() const { return prev_data_; }
   LaneParkingRequest clone() const;
 
@@ -75,8 +71,7 @@ class LaneParkingRequest
   ModuleStatus current_status_;
   BehaviorModuleOutput previous_module_output_;
   BehaviorModuleOutput last_previous_module_output_;
-  std::optional<std::pair<PullOverPath, rclcpp::Time>>
-    selected_pull_over_path_;  //<! pull over path selected by main thread
+  std::optional<PullOverPath> pull_over_path_;  //<! pull over path selected by main thread
   PathDecisionState prev_data_;
 };
 
@@ -103,8 +98,8 @@ class FreespaceParkingRequest
   const ModuleStatus & getCurrentStatus() const { return current_status_; }
   void update(
     const PlannerData & planner_data, const ModuleStatus & current_status,
-    const std::optional<std::pair<PullOverPath, rclcpp::Time>> & selected_pull_over_path,
-    const bool is_stopped);
+    const std::optional<PullOverPath> & pull_over_path,
+    const std::optional<rclcpp::Time> & last_path_update_time, const bool is_stopped);
 
   const GoalPlannerParameters parameters_;
   const autoware::universe_utils::LinearRing2d vehicle_footprint_;
@@ -116,9 +111,10 @@ class FreespaceParkingRequest
   {
     return occupancy_grid_map_;
   }
-  const std::optional<std::pair<PullOverPath, rclcpp::Time>> & get_selected_pull_over_path() const
+  const std::optional<PullOverPath> & get_pull_over_path() const { return pull_over_path_; }
+  const std::optional<rclcpp::Time> & get_last_path_update_time() const
   {
-    return selected_pull_over_path_;
+    return last_path_update_time_;
   }
   bool is_stopped() const { return is_stopped_; }
 
@@ -128,7 +124,8 @@ class FreespaceParkingRequest
   std::shared_ptr<PlannerData> planner_data_;
   ModuleStatus current_status_;
   std::shared_ptr<OccupancyGridBasedCollisionDetector> occupancy_grid_map_;
-  std::optional<std::pair<PullOverPath, rclcpp::Time>> selected_pull_over_path_;
+  std::optional<PullOverPath> pull_over_path_;
+  std::optional<rclcpp::Time> last_path_update_time_;
   bool is_stopped_;
 
   void initializeOccupancyGridMap(