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refactor(behavior_path_planner): unify rtc_interface_ptr in SceneModuleInterface #3242
refactor(behavior_path_planner): unify rtc_interface_ptr in SceneModuleInterface #3242
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Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #3242 +/- ##
==========================================
- Coverage 12.38% 12.35% -0.04%
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Files 1363 1363
Lines 95194 95956 +762
Branches 27007 27592 +585
==========================================
+ Hits 11793 11853 +60
- Misses 71044 71661 +617
- Partials 12357 12442 +85
*This pull request uses carry forward flags. Click here to find out more.
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Signed-off-by: Takayuki Murooka <[email protected]>
Signed-off-by: Takayuki Murooka <[email protected]>
Signed-off-by: Takayuki Murooka <[email protected]>
Signed-off-by: Takayuki Murooka <[email protected]>
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Signed-off-by: Takayuki Murooka <[email protected]>
Signed-off-by: Takayuki Murooka <[email protected]>
…leInterface (autowarefoundation#3242) * refactor(behavior_path_planner): unify rtc_interface instance Signed-off-by: Takayuki Murooka <[email protected]> * fix bug Signed-off-by: Takayuki Murooka <[email protected]> * fix bug Signed-off-by: Takayuki Murooka <[email protected]> * fix Signed-off-by: Takayuki Murooka <[email protected]> * minor change Signed-off-by: Takayuki Murooka <[email protected]> * fix build Signed-off-by: Takayuki Murooka <[email protected]> --------- Signed-off-by: Takayuki Murooka <[email protected]>
Description
Currently, by default, SceneModuleInterface has
rtc_interface_ptr_
and its related functions such as lock/unlockRTCCommand.However, some derived classes from SceneModuleInterface like avoidance have
rtc_interface_ptr_left/right_
though they still havertc_interface_ptr_
, which makes the developers confused.In addition, lock/unlockRTCCommand functions have to be modified following an implicit rule depending on the types of
rtc_interface_ptr_
(e.g. only one rtc_interface_ptr, or left and right rtc_interface_ptrs)To remove the implicit rule and redundant implementation for higher maintainability,
I unified rtc_interface (and its uuid) as an unordered_map.
I removed functions related to
rtc_interface_ptr_
in detailed modules since they can be removed thanks to the above unification.TODO
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