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fix: remove rtc staus when no avoidance candidate is output #1636

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merged 5 commits into from
Aug 22, 2022
Merged

fix: remove rtc staus when no avoidance candidate is output #1636

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5f723c6
fix: remove rtc staus when no avoidance candidate is output
tkimura4 Aug 19, 2022
5bbf257
remove only candidate rtc status
tkimura4 Aug 19, 2022
ed42cc6
Update planning/behavior_path_planner/include/behavior_path_planner/s…
tkimura4 Aug 22, 2022
fbe4cba
Update planning/behavior_path_planner/src/scene_module/avoidance/avoi…
tkimura4 Aug 22, 2022
d88adfa
Update planning/behavior_path_planner/src/scene_module/avoidance/avoi…
tkimura4 Aug 22, 2022
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12 changes: 12 additions & 0 deletions ...or_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -83,6 +83,7 @@ class AvoidanceModule : public SceneModuleInterface

RegisteredShiftPointArray left_shift_array_;
RegisteredShiftPointArray right_shift_array_;
UUID candidate_uuid_;
UUID uuid_left_;
UUID uuid_right_;

Expand All @@ -91,11 +92,13 @@ class AvoidanceModule : public SceneModuleInterface
if (candidate.lateral_shift > 0.0) {
rtc_interface_left_.updateCooperateStatus(
uuid_left_, isExecutionReady(), candidate.distance_to_path_change, clock_->now());
candidate_uuid_ = uuid_left_;
return;
}
if (candidate.lateral_shift < 0.0) {
rtc_interface_right_.updateCooperateStatus(
uuid_right_, isExecutionReady(), candidate.distance_to_path_change, clock_->now());
candidate_uuid_ = uuid_right_;
return;
}

Expand Down Expand Up @@ -126,6 +129,15 @@ class AvoidanceModule : public SceneModuleInterface
rtc_interface_right_.clearCooperateStatus();
}

void removeCandidateRTCStatus()
{
if (rtc_interface_left_.isRegistered(candidate_uuid_)) {
rtc_interface_left_.removeCooperateStatus(candidate_uuid_);
} else if (rtc_interface_right_.isRegistered(candidate_uuid_)) {
rtc_interface_right_.removeCooperateStatus(candidate_uuid_);
}
}

void removePreviousRTCStatusLeft()
{
if (rtc_interface_left_.isRegistered(uuid_left_)) {
Expand Down
4 changes: 4 additions & 0 deletions planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2129,6 +2129,7 @@ BehaviorModuleOutput AvoidanceModule::plan()
addShiftPointIfApproved(*new_shift_points);
} else if (isWaitingApproval()) {
clearWaitingApproval();
removeCandidateRTCStatus();
}

// generate path with shift points that have been inserted.
Expand Down Expand Up @@ -2219,6 +2220,9 @@ BehaviorModuleOutput AvoidanceModule::planWaitingApproval()
if (candidate.distance_to_path_change > threshold_to_update_status) {
updateCandidateRTCStatus(candidate);
waitApproval();
} else {
clearWaitingApproval();
removeCandidateRTCStatus();
}
out.path_candidate = std::make_shared<PathWithLaneId>(candidate.path_candidate);
return out;
Expand Down