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fix(bpp): overwrite turn signal by latter module #6543

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fix(bpp): overwrite turn signal by latter module #6543

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1a135cd
fix(bpp): overwrite turn signal by latter module
satoshi-ota Mar 5, 2024
5546035
fix(avoidance): return previous module turn signal if it's in success…
satoshi-ota Mar 7, 2024
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4 changes: 2 additions & 2 deletions planning/behavior_path_avoidance_module/src/scene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -888,7 +888,7 @@
updatePathShifter(data.safe_shift_line);

if (data.success) {
removeRegisteredShiftLines();
return getPreviousModuleOutput();
}

if (data.yield_required) {
Expand Down Expand Up @@ -942,7 +942,7 @@
linear_shift_path, path_shifter_.getShiftLines().front(), helper_->getEgoShift(), avoid_data_,
planner_data_);
const auto current_seg_idx = planner_data_->findEgoSegmentIndex(spline_shift_path.path.points);
output.turn_signal_info = planner_data_->turn_signal_decider.use_prior_turn_signal(
output.turn_signal_info = planner_data_->turn_signal_decider.overwrite_turn_signal(

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planning/behavior_path_avoidance_module/src/scene.cpp#L945 

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spline_shift_path.path, getEgoPose(), current_seg_idx, original_signal, new_signal,
planner_data_->parameters.ego_nearest_dist_threshold,
planner_data_->parameters.ego_nearest_yaw_threshold);
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2 changes: 1 addition & 1 deletion planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp
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Expand Up @@ -971,7 +971,7 @@
const auto original_signal = getPreviousModuleOutput().turn_signal_info;
const auto new_signal = calcTurnSignalInfo();
const auto current_seg_idx = planner_data_->findEgoSegmentIndex(output.path.points);
output.turn_signal_info = planner_data_->turn_signal_decider.use_prior_turn_signal(
output.turn_signal_info = planner_data_->turn_signal_decider.overwrite_turn_signal(

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planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp#L974 

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output.path, getEgoPose(), current_seg_idx, original_signal, new_signal,
planner_data_->parameters.ego_nearest_dist_threshold,
planner_data_->parameters.ego_nearest_yaw_threshold);
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2 changes: 1 addition & 1 deletion planning/behavior_path_lane_change_module/src/interface.cpp
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Expand Up @@ -441,7 +441,7 @@ TurnSignalInfo LaneChangeInterface::getCurrentTurnSignalInfo(
}

// check the priority of turn signals
return module_type_->getTurnSignalDecider().use_prior_turn_signal(
return module_type_->getTurnSignalDecider().overwrite_turn_signal(
path, current_pose, current_nearest_seg_idx, original_turn_signal_info,
current_turn_signal_info, nearest_dist_threshold, nearest_yaw_threshold);
}
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6 changes: 3 additions & 3 deletions planning/behavior_path_lane_change_module/src/scene.cpp
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Expand Up @@ -148,7 +148,7 @@
output.turn_signal_info = prev_turn_signal_info_;
extendOutputDrivableArea(output);
const auto current_seg_idx = planner_data_->findEgoSegmentIndex(output.path.points);
output.turn_signal_info = planner_data_->turn_signal_decider.use_prior_turn_signal(
output.turn_signal_info = planner_data_->turn_signal_decider.overwrite_turn_signal(

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output.path, getEgoPose(), current_seg_idx, prev_turn_signal_info_, output.turn_signal_info,
planner_data_->parameters.ego_nearest_dist_threshold,
planner_data_->parameters.ego_nearest_yaw_threshold);
Expand Down Expand Up @@ -183,7 +183,7 @@
extendOutputDrivableArea(output);

const auto current_seg_idx = planner_data_->findEgoSegmentIndex(output.path.points);
output.turn_signal_info = planner_data_->turn_signal_decider.use_prior_turn_signal(
output.turn_signal_info = planner_data_->turn_signal_decider.overwrite_turn_signal(

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output.path, getEgoPose(), current_seg_idx, prev_turn_signal_info_, output.turn_signal_info,
planner_data_->parameters.ego_nearest_dist_threshold,
planner_data_->parameters.ego_nearest_yaw_threshold);
Expand Down Expand Up @@ -226,7 +226,7 @@
extendOutputDrivableArea(output);

const auto current_seg_idx = planner_data_->findEgoSegmentIndex(output.path.points);
output.turn_signal_info = planner_data_->turn_signal_decider.use_prior_turn_signal(
output.turn_signal_info = planner_data_->turn_signal_decider.overwrite_turn_signal(

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output.path, getEgoPose(), current_seg_idx, prev_turn_signal_info_, output.turn_signal_info,
planner_data_->parameters.ego_nearest_dist_threshold,
planner_data_->parameters.ego_nearest_yaw_threshold);
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5 changes: 5 additions & 0 deletions ...behavior_path_planner_common/include/behavior_path_planner_common/turn_signal_decider.hpp
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Expand Up @@ -82,6 +82,11 @@ class TurnSignalDecider
const TurnSignalInfo & intersection_signal_info, const TurnSignalInfo & behavior_signal_info,
const double nearest_dist_threshold, const double nearest_yaw_threshold);

TurnSignalInfo overwrite_turn_signal(
const PathWithLaneId & path, const Pose & current_pose, const size_t current_seg_idx,
const TurnSignalInfo & original_signal, const TurnSignalInfo & new_signal,
const double nearest_dist_threshold, const double nearest_yaw_threshold);

TurnSignalInfo use_prior_turn_signal(
const PathWithLaneId & path, const Pose & current_pose, const size_t current_seg_idx,
const TurnSignalInfo & original_signal, const TurnSignalInfo & new_signal,
Expand Down
26 changes: 26 additions & 0 deletions planning/behavior_path_planner_common/src/turn_signal_decider.cpp
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@@ -1,4 +1,4 @@
// Copyright 2023 TIER IV, Inc.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Missing Arguments Abstractions 

The average number of function arguments in this module is 4.15 across 13 functions. The average arguments threshold is 4.00. The functions in this file have too many arguments, indicating a lack of encapsulation or too many responsibilities in the same functions. Avoid adding more.

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✅ Getting better: Overall Code Complexity 

The mean cyclomatic complexity decreases from 7.25 to 6.92, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.

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✅ Getting better: Primitive Obsession 

The ratio of primitive types in function arguments decreases from 34.04% to 33.33%, threshold = 30.0%. The functions in this file have too many primitive types (e.g. int, double, float) in their function argument lists. Using many primitive types lead to the code smell Primitive Obsession. Avoid adding more primitive arguments.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -392,6 +392,32 @@
return intersection_signal_info.turn_signal;
}

TurnSignalInfo TurnSignalDecider::overwrite_turn_signal(

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const PathWithLaneId & path, const Pose & current_pose, const size_t current_seg_idx,
const TurnSignalInfo & original_signal, const TurnSignalInfo & new_signal,
const double nearest_dist_threshold, const double nearest_yaw_threshold)
{
const auto get_distance = [&](const Pose & input_point) {
const size_t nearest_seg_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints(
path.points, input_point, nearest_dist_threshold, nearest_yaw_threshold);
return motion_utils::calcSignedArcLength(
path.points, current_pose.position, current_seg_idx, input_point.position, nearest_seg_idx);
};

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const auto & new_desired_start_point = new_signal.desired_start_point;
const auto & new_required_start_point = new_signal.required_start_point;

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const double dist_to_new_desired_start = get_distance(new_desired_start_point) - base_link2front_;

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const double dist_to_new_required_start =
get_distance(new_required_start_point) - base_link2front_;

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if (dist_to_new_desired_start > 0.0 && dist_to_new_required_start > 0.0) {
return original_signal;

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}

return new_signal;

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}

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ New issue: Excess Number of Function Arguments 

TurnSignalDecider::overwrite_turn_signal has 7 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.

TurnSignalInfo TurnSignalDecider::use_prior_turn_signal(
const PathWithLaneId & path, const Pose & current_pose, const size_t current_seg_idx,
const TurnSignalInfo & original_signal, const TurnSignalInfo & new_signal,
Expand Down
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