fix(ndt_scan_matcher): delete diagnostics thread #5532

YamatoAndo · 2023-11-09T09:08:02Z

Description

As a result of verification, the following error occurred within the timer_diagnostics function, causing the node to crash.

Therefore, to make it thread-safe, we decided to remove the thread processing.
Furthermore, to ensure thread safety, I've made sure that functions other than callback_sensor_points do not access state_ptr_.

Tests performed

LSim works.

Notes for reviewers

We plan to make significant improvements to the diagnostics of the ndt_scan_matcher in the near future.
#5076

Interface changes

N/A

Effects on system behavior

N/A

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Signed-off-by: yamato-ando <Yamato ANDO>

codecov · 2023-11-09T09:16:21Z

Codecov Report

Attention: 44 lines in your changes are missing coverage. Please review.

Comparison is base (a3e87cc) 15.37% compared to head (c6f2e80) 15.37%.
Report is 4 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #5532   +/-   ##
=======================================
  Coverage   15.37%   15.37%           
=======================================
  Files        1697     1697           
  Lines      117496   117430   -66     
  Branches    37763    37728   -35     
=======================================
- Hits        18063    18053   -10     
+ Misses      78861    78837   -24     
+ Partials    20572    20540   -32

Flag	Coverage Δ		*Carryforward flag
differential	`3.90% <0.00%> (?)`
total	`15.37% <ø> (+<0.01%)`	⬆️	Carriedforward from a3e87cc

*This pull request uses carry forward flags. Click here to find out more.

Files	Coverage Δ
...ils/include/motion_utils/trajectory/trajectory.hpp	`65.65% <ø> (ø)`
...alization/gyro_odometer/src/gyro_odometer_core.cpp	`47.72% <ø> (+0.71%)`	⬆️
...tag_based_localizer/src/ar_tag_based_localizer.cpp	`5.14% <ø> (+1.52%)`	⬆️
...ization/ndt_scan_matcher/src/map_update_module.cpp	`2.59% <0.00%> (-0.04%)`	⬇️
...ion/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp	`3.93% <0.00%> (-1.88%)`	⬇️

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kminoda

LGTM

…5532) Signed-off-by: yamato-ando <Yamato ANDO> Co-authored-by: yamato-ando <Yamato ANDO>

fix(ndt_scan_matcher): delete diagnostics thread (autowarefoundation#5532)

…5532) Signed-off-by: yamato-ando <Yamato ANDO> Co-authored-by: yamato-ando <Yamato ANDO>

* feat(avoidance): keep stopping until all shift lines are registered Signed-off-by: satoshi-ota <[email protected]> * feat(map_loader): display curbstone as marker array (autowarefoundation#4958) display curbstone as marker array Signed-off-by: Shohei Sakai <[email protected]> Co-authored-by: kminoda <[email protected]> * revert refactoring due to cherry-pick * feat(ndt_scan_matcher): use glog (autowarefoundation#5465) (#1031) * feat(ndt_scan_matcher): use glog * style(pre-commit): autofix * update * style(pre-commit): autofix --------- Signed-off-by: kminoda <[email protected]> Co-authored-by: kminoda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(out_of_lane): improve reuse of previous decision (#1017) * Do not directly reuse a prev stop point but project it on the new path Signed-off-by: Maxime CLEMENT <[email protected]> * Improve reuse of the previously inserted stop point Signed-off-by: Maxime CLEMENT <[email protected]> * Fix precision of inserted stop point Signed-off-by: Maxime CLEMENT <[email protected]> --------- Signed-off-by: Maxime CLEMENT <[email protected]> * fix(system_monitor): output command line (autowarefoundation#5430) (#1057) * fix(system_monitor): output command line * style(pre-commit): autofix --------- Signed-off-by: takeshi.iwanari <[email protected]> Co-authored-by: takeshi-iwanari <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * chore: pull tracking object merger from awf/main Signed-off-by: yoshiri <[email protected]> * feat(intersection): check path margin for overshoot vehicles on red light (autowarefoundation#5394) (#1056) Co-authored-by: Mamoru Sobue <[email protected]> * fix(ndt_scan_matcher): delete diagnostics thread (autowarefoundation#5532) Signed-off-by: yamato-ando <Yamato ANDO> Co-authored-by: yamato-ando <Yamato ANDO> * fix(ndt_scan_matcher): delete unmerged feature * fix(ndt_scan_matcher): fixed a lock scope in update_ndt (autowarefoundation#5951) Fixed the lock scope in update_ndt Signed-off-by: Shintaro SAKODA <[email protected]> * fix(static_drivable_area_expansion): fix bug in expansion logic for hatched road marking (autowarefoundation#5842) (#1075) fix(utils): fix drivable area expansion logic for zebra zone Signed-off-by: satoshi-ota <[email protected]> * fix(bvp): traffic light state debug (#1083) Signed-off-by: Mehmet Dogru <[email protected]> * fix(traffic_light): stop if the traffic light signal timed out (autowarefoundation#5819) (#1124) * fix(traffic_light): stop if the traffic light signal timed out * fix(traffic_light): fix README format --------- Signed-off-by: Fumiya Watanabe <[email protected]> Signed-off-by: Tomohito Ando <[email protected]> Co-authored-by: Fumiya Watanabe <[email protected]> * refactor(mpc_lateral_controller): add debug info of qp solver (autowarefoundation#5459) (#1098) * add debug info of qp solver * no info for EigenLeastSquareLLT * return 0 in base class --------- Signed-off-by: kyoichi-sugahara <[email protected]> Co-authored-by: Kyoichi Sugahara <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --------- Signed-off-by: satoshi-ota <[email protected]> Signed-off-by: Shohei Sakai <[email protected]> Signed-off-by: kminoda <[email protected]> Signed-off-by: Maxime CLEMENT <[email protected]> Signed-off-by: takeshi.iwanari <[email protected]> Signed-off-by: yoshiri <[email protected]> Signed-off-by: yamato-ando <Yamato ANDO> Signed-off-by: Shintaro SAKODA <[email protected]> Signed-off-by: Mehmet Dogru <[email protected]> Signed-off-by: Fumiya Watanabe <[email protected]> Signed-off-by: Tomohito Ando <[email protected]> Signed-off-by: kyoichi-sugahara <[email protected]> Co-authored-by: satoshi-ota <[email protected]> Co-authored-by: kminoda <[email protected]> Co-authored-by: Tomohito ANDO <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <[email protected]> Co-authored-by: takeshi-iwanari <[email protected]> Co-authored-by: yoshiri <[email protected]> Co-authored-by: Mamoru Sobue <[email protected]> Co-authored-by: Yamato Ando <[email protected]> Co-authored-by: Shinnosuke Hirakawa <[email protected]> Co-authored-by: SakodaShintaro <[email protected]> Co-authored-by: Satoshi OTA <[email protected]> Co-authored-by: Mehmet Dogru <[email protected]> Co-authored-by: Fumiya Watanabe <[email protected]> Co-authored-by: Kyoichi Sugahara <[email protected]>

fix(ndt_scan_matcher): delete diagnostics thread

c6f2e80

Signed-off-by: yamato-ando <Yamato ANDO>

YamatoAndo requested review from KYabuuchi, kminoda and Motsu-san as code owners November 9, 2023 09:08

github-actions bot added the component:localization Vehicle's position determination in its environment. (auto-assigned) label Nov 9, 2023

YamatoAndo added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Nov 9, 2023

kminoda approved these changes Nov 9, 2023

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YamatoAndo merged commit 4f2d513 into autowarefoundation:main Nov 9, 2023
31 of 33 checks passed

YamatoAndo added a commit to tier4/autoware.universe that referenced this pull request Nov 9, 2023

fix(ndt_scan_matcher): delete diagnostics thread (autowarefoundation#…

d595785

…5532) Signed-off-by: yamato-ando <Yamato ANDO> Co-authored-by: yamato-ando <Yamato ANDO>

TakaHoribe mentioned this pull request Nov 9, 2023

fix(ndt_scan_matcher): delete diagnostics thread (#5532) tier4/autoware.universe#1010

Merged

7 tasks

TakaHoribe added a commit to tier4/autoware.universe that referenced this pull request Nov 9, 2023

Merge pull request #1010 from tier4/fix/delete_ndt_diagnostics_thread

2b6bf3f

fix(ndt_scan_matcher): delete diagnostics thread (autowarefoundation#5532)

shmpwk pushed a commit to tier4/autoware.universe that referenced this pull request Nov 16, 2023

fix(ndt_scan_matcher): delete diagnostics thread (autowarefoundation#…

847a661

…5532) Signed-off-by: yamato-ando <Yamato ANDO> Co-authored-by: yamato-ando <Yamato ANDO>

shmpwk pushed a commit to tier4/autoware.universe that referenced this pull request Nov 16, 2023

fix(ndt_scan_matcher): delete diagnostics thread (autowarefoundation#…

ec91117

…5532) Signed-off-by: yamato-ando <Yamato ANDO> Co-authored-by: yamato-ando <Yamato ANDO>

shmpwk pushed a commit to tier4/autoware.universe that referenced this pull request Nov 16, 2023

fix(ndt_scan_matcher): delete diagnostics thread (autowarefoundation#…

63bf017

…5532) Signed-off-by: yamato-ando <Yamato ANDO> Co-authored-by: yamato-ando <Yamato ANDO>

shmpwk mentioned this pull request Nov 16, 2023

fix(ndt_scan_matcher): delete diagnostic thread and its dependencies tier4/autoware.universe#1021

Closed

4 tasks

This was referenced Nov 22, 2023

chore: sync upstream tier4/autoware.universe#1034

Merged

chore: sync upstream tier4/autoware.universe#1035

Merged

0x126 pushed a commit to tier4/autoware.universe that referenced this pull request Dec 18, 2023

fix(ndt_scan_matcher): delete diagnostics thread (autowarefoundation#…

fe1d1ba

…5532) Signed-off-by: yamato-ando <Yamato ANDO> Co-authored-by: yamato-ando <Yamato ANDO>

0x126 mentioned this pull request Dec 18, 2023

fix(ndt scan matcher): delete diagnostics thread tier4/autoware.universe#1074

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7 tasks

saka1-s pushed a commit to saka1-s/autoware.universe that referenced this pull request Feb 2, 2024

fix(ndt_scan_matcher): delete diagnostics thread (autowarefoundation#…

34bbde6

…5532) Signed-off-by: yamato-ando <Yamato ANDO> Co-authored-by: yamato-ando <Yamato ANDO>

TomohitoAndo pushed a commit to tier4/autoware.universe that referenced this pull request Feb 21, 2024

fix(ndt_scan_matcher): delete diagnostics thread (autowarefoundation#…

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…5532) Signed-off-by: yamato-ando <Yamato ANDO> Co-authored-by: yamato-ando <Yamato ANDO>

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fix(ndt_scan_matcher): delete diagnostics thread #5532

fix(ndt_scan_matcher): delete diagnostics thread #5532

YamatoAndo commented Nov 9, 2023

codecov bot commented Nov 9, 2023 •

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fix(ndt_scan_matcher): delete diagnostics thread #5532

fix(ndt_scan_matcher): delete diagnostics thread #5532

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YamatoAndo commented Nov 9, 2023

Description

Related links

Tests performed

Notes for reviewers

Interface changes

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

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