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fix(avoidance): transit rtc cooperate state to FAILED from RUNNING #6998

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merged 1 commit into from
May 21, 2024
Merged

fix(avoidance): transit rtc cooperate state to FAILED from RUNNING #6998

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26 changes: 22 additions & 4 deletions planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@
#include <rclcpp/node.hpp>
#include <rclcpp/time.hpp>

#include <limits>
#include <memory>
#include <string>
#include <unordered_map>
Expand Down Expand Up @@ -138,9 +139,15 @@ class AvoidanceModule : public SceneModuleInterface
void removeCandidateRTCStatus()
{
if (rtc_interface_ptr_map_.at("left")->isRegistered(candidate_uuid_)) {
rtc_interface_ptr_map_.at("left")->removeCooperateStatus(candidate_uuid_);
} else if (rtc_interface_ptr_map_.at("right")->isRegistered(candidate_uuid_)) {
rtc_interface_ptr_map_.at("right")->removeCooperateStatus(candidate_uuid_);
rtc_interface_ptr_map_.at("left")->updateCooperateStatus(
candidate_uuid_, true, State::FAILED, std::numeric_limits<double>::lowest(),
std::numeric_limits<double>::lowest(), clock_->now());
}

if (rtc_interface_ptr_map_.at("right")->isRegistered(candidate_uuid_)) {
rtc_interface_ptr_map_.at("right")->updateCooperateStatus(
candidate_uuid_, true, State::FAILED, std::numeric_limits<double>::lowest(),
std::numeric_limits<double>::lowest(), clock_->now());
}
}

Expand Down Expand Up @@ -362,10 +369,21 @@ class AvoidanceModule : public SceneModuleInterface

unlockNewModuleLaunch();

for (const auto & left_shift : left_shift_array_) {
rtc_interface_ptr_map_.at("left")->updateCooperateStatus(
left_shift.uuid, true, State::FAILED, std::numeric_limits<double>::lowest(),
std::numeric_limits<double>::lowest(), clock_->now());
}

for (const auto & right_shift : right_shift_array_) {
rtc_interface_ptr_map_.at("right")->updateCooperateStatus(
right_shift.uuid, true, State::FAILED, std::numeric_limits<double>::lowest(),
std::numeric_limits<double>::lowest(), clock_->now());
}

if (!path_shifter_.getShiftLines().empty()) {
left_shift_array_.clear();
right_shift_array_.clear();
removeRTCStatus();
}

generator_.reset();
Expand Down
1 change: 0 additions & 1 deletion planning/behavior_path_avoidance_module/src/scene.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2023 TIER IV, Inc.

Check notice on line 1 in planning/behavior_path_avoidance_module/src/scene.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Lines of Code in a Single File 

The lines of code decreases from 1241 to 1240, improve code health by reducing it to 1000. The number of Lines of Code in a single file. More Lines of Code lowers the code health.
//
// 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 @@ -1283,7 +1283,6 @@
void AvoidanceModule::processOnEntry()
{
initVariables();
removeRTCStatus();
}

void AvoidanceModule::processOnExit()
Expand Down
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