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fix(tier4_autoware_utils): exception handling in tier4 autoware utils #1268

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merged 5 commits into from
Jul 9, 2022
Merged

fix(tier4_autoware_utils): exception handling in tier4 autoware utils #1268

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eda3df0
fix(tier4_autoware_utils): fix exception handling (WIP)
rej55 Jul 5, 2022
beb8784
fix(tier4_autoware_utils): fix for overlapping points and test
rej55 Jul 7, 2022
d3fca4e
fix(tier4_autoware_utils): formatting
rej55 Jul 7, 2022
d19df0c
fix(trajectory_follower): fix for overlapping points and test
rej55 Jul 7, 2022
1a924e9
ci(pre-commit): autofix
pre-commit-ci[bot] Jul 7, 2022
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53 changes: 44 additions & 9 deletions common/tier4_autoware_utils/include/tier4_autoware_utils/trajectory/path_with_lane_id.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,12 +38,22 @@ namespace tier4_autoware_utils
template <>
inline boost::optional<geometry_msgs::msg::Point> calcLongitudinalOffsetPoint(
const std::vector<autoware_auto_planning_msgs::msg::PathPointWithLaneId> & points,
const size_t src_idx, const double offset)
const size_t src_idx, const double offset, const bool throw_exception)
{
validateNonEmpty(points);
try {
validateNonEmpty(points);
} catch (const std::exception & e) {
std::cerr << e.what() << std::endl;
return {};
}

if (points.size() - 1 < src_idx) {
throw std::out_of_range("Invalid source index");
const auto e = std::out_of_range("Invalid source index");
if (throw_exception) {
throw e;
}
std::cerr << e.what() << std::endl;
return {};
}

if (points.size() == 1) {
Expand Down Expand Up @@ -92,7 +102,12 @@ inline boost::optional<geometry_msgs::msg::Point> calcLongitudinalOffsetPoint(
const std::vector<autoware_auto_planning_msgs::msg::PathPointWithLaneId> & points,
const geometry_msgs::msg::Point & src_point, const double offset)
{
validateNonEmpty(points);
try {
validateNonEmpty(points);
} catch (const std::exception & e) {
std::cerr << e.what() << std::endl;
return {};
}

if (offset < 0.0) {
auto reverse_points = points;
Expand All @@ -117,12 +132,22 @@ inline boost::optional<geometry_msgs::msg::Point> calcLongitudinalOffsetPoint(
template <>
inline boost::optional<geometry_msgs::msg::Pose> calcLongitudinalOffsetPose(
const std::vector<autoware_auto_planning_msgs::msg::PathPointWithLaneId> & points,
const size_t src_idx, const double offset)
const size_t src_idx, const double offset, const bool throw_exception)
{
validateNonEmpty(points);
try {
validateNonEmpty(points);
} catch (const std::exception & e) {
std::cerr << e.what() << std::endl;
return {};
}

if (points.size() - 1 < src_idx) {
throw std::out_of_range("Invalid source index");
const auto e = std::out_of_range("Invalid source index");
if (throw_exception) {
throw e;
}
std::cerr << e.what() << std::endl;
return {};
}

if (points.size() == 1) {
Expand Down Expand Up @@ -184,7 +209,12 @@ inline boost::optional<geometry_msgs::msg::Pose> calcLongitudinalOffsetPose(
const std::vector<autoware_auto_planning_msgs::msg::PathPointWithLaneId> & points,
const geometry_msgs::msg::Point & src_point, const double offset)
{
validateNonEmpty(points);
try {
validateNonEmpty(points);
} catch (const std::exception & e) {
std::cerr << e.what() << std::endl;
return {};
}

const size_t src_seg_idx = findNearestSegmentIndex(points, src_point);
const double signed_length_src_offset =
Expand All @@ -206,7 +236,12 @@ inline boost::optional<size_t> insertTargetPoint(
std::vector<autoware_auto_planning_msgs::msg::PathPointWithLaneId> & points,
const double overlap_threshold)
{
validateNonEmpty(points);
try {
validateNonEmpty(points);
} catch (const std::exception & e) {
std::cerr << e.what() << std::endl;
return {};
}

// invalid segment index
if (seg_idx + 1 >= points.size()) {
Expand Down
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