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fix(avoidance): reset rtc status in yield status #3798

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merged 1 commit into from
May 23, 2023
Merged

fix(avoidance): reset rtc status in yield status #3798

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1 change: 1 addition & 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 @@ -199,6 +199,7 @@ class AvoidanceModule : public SceneModuleInterface

// -- for pre-processing --
void initVariables();
void initRTCStatus();
AvoidancePlanningData calcAvoidancePlanningData(DebugData & debug) const;

ObjectDataArray registered_objects_;
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31 changes: 23 additions & 8 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 @@ -540,17 +540,20 @@ AvoidanceState AvoidanceModule::updateEgoState(const AvoidancePlanningData & dat

void AvoidanceModule::updateEgoBehavior(const AvoidancePlanningData & data, ShiftedPath & path)
{
if (parameters_->disable_path_update) {
return;
}

switch (data.state) {
case AvoidanceState::NOT_AVOID: {
break;
}
case AvoidanceState::YIELD: {
insertYieldVelocity(path);
insertWaitPoint(parameters_->use_constraints_for_decel, path);
initRTCStatus();
removeAllRegisteredShiftPoints(path_shifter_);
clearWaitingApproval();
unlockNewModuleLaunch();
removeRTCStatus();
break;
}
case AvoidanceState::AVOID_PATH_NOT_READY: {
Expand Down Expand Up @@ -2816,13 +2819,14 @@ BehaviorModuleOutput AvoidanceModule::plan()
}

avoidance_data_.state = updateEgoState(data);
if (!parameters_->disable_path_update) {

// update output data
{
updateEgoBehavior(data, avoidance_path);
updateInfoMarker(avoidance_data_);
updateDebugMarker(avoidance_data_, path_shifter_, debug_data_);
}

updateInfoMarker(avoidance_data_);
updateDebugMarker(avoidance_data_, path_shifter_, debug_data_);

output.path = std::make_shared<PathWithLaneId>(avoidance_path.path);
output.reference_path = getPreviousModuleOutput().reference_path;
path_reference_ = getPreviousModuleOutput().reference_path;
Expand Down Expand Up @@ -3160,12 +3164,14 @@ void AvoidanceModule::updateData()
void AvoidanceModule::processOnEntry()
{
initVariables();
initRTCStatus();
waitApproval();
}

void AvoidanceModule::processOnExit()
{
initVariables();
initRTCStatus();
}

void AvoidanceModule::initVariables()
Expand All @@ -3174,8 +3180,6 @@ void AvoidanceModule::initVariables()
prev_linear_shift_path_ = ShiftedPath();
prev_reference_ = PathWithLaneId();
path_shifter_ = PathShifter{};
left_shift_array_.clear();
right_shift_array_.clear();

debug_data_ = DebugData();
debug_marker_.markers.clear();
Expand All @@ -3187,6 +3191,17 @@ void AvoidanceModule::initVariables()
is_avoidance_maneuver_starts = false;
}

void AvoidanceModule::initRTCStatus()
{
removeRTCStatus();
clearWaitingApproval();
left_shift_array_.clear();
right_shift_array_.clear();
uuid_map_.at("left") = generateUUID();
uuid_map_.at("right") = generateUUID();
candidate_uuid_ = generateUUID();
}

TurnSignalInfo AvoidanceModule::calcTurnSignalInfo(const ShiftedPath & path) const
{
const auto shift_lines = path_shifter_.getShiftLines();
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