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feat(planner_manager): output module add/delete infomation #4006

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merged 1 commit into from
Jun 19, 2023
Merged

feat(planner_manager): output module add/delete infomation #4006

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35 changes: 35 additions & 0 deletions planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,39 @@ using tier4_planning_msgs::msg::StopReasonArray;
using SceneModulePtr = std::shared_ptr<SceneModuleInterface>;
using SceneModuleManagerPtr = std::shared_ptr<SceneModuleManagerInterface>;

enum Action {
ADD = 0,
DELETE,
MOVE,
};

struct ModuleUpdateInfo
{
explicit ModuleUpdateInfo(
const SceneModulePtr & module_ptr, const Action & action, const std::string & description)
: status(module_ptr->getCurrentStatus()),
action(action),
module_name(module_ptr->name()),
description(description)
{
}

explicit ModuleUpdateInfo(
const std::string & name, const Action & action, const ModuleStatus & status,
const std::string & description)
: status(status), action(action), module_name(name), description(description)
{
}

ModuleStatus status;

Action action;

std::string module_name;

std::string description;
};

struct SceneModuleStatus
{
explicit SceneModuleStatus(const std::string & n) : module_name(n) {}
Expand Down Expand Up @@ -400,6 +433,8 @@ class PlannerManager

mutable std::unordered_map<std::string, double> processing_time_;

mutable std::vector<ModuleUpdateInfo> debug_info_;

bool verbose_{false};
};
} // namespace behavior_path_planner
Expand Down
30 changes: 25 additions & 5 deletions planning/behavior_path_planner/src/planner_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@ BehaviorModuleOutput PlannerManager::run(const std::shared_ptr<PlannerData> & da
{
resetProcessingTime();
stop_watch_.tic("total_time");
debug_info_.clear();

if (!root_lanelet_) {
root_lanelet_ = updateRootLanelet(data);
Expand Down Expand Up @@ -113,6 +114,7 @@ BehaviorModuleOutput PlannerManager::run(const std::shared_ptr<PlannerData> & da
*/
addApprovedModule(highest_priority_module);
clearCandidateModules();
debug_info_.emplace_back(highest_priority_module, Action::ADD, "To Approval");
}
return BehaviorModuleOutput{};
}();
Expand Down Expand Up @@ -452,6 +454,8 @@ BehaviorModuleOutput PlannerManager::runApprovedModules(const std::shared_ptr<Pl

std::for_each(
std::next(itr), approved_module_ptrs_.end(), [this](auto & m) { deleteExpiredModules(m); });

debug_info_.emplace_back(*itr, Action::MOVE, "Back To Waiting Approval");
}

approved_module_ptrs_.erase(itr, approved_module_ptrs_.end());
Expand All @@ -465,7 +469,10 @@ BehaviorModuleOutput PlannerManager::runApprovedModules(const std::shared_ptr<Pl
approved_module_ptrs_.begin(), approved_module_ptrs_.end(),
[](const auto & m) { return m->getCurrentStatus() == ModuleStatus::FAILURE; });

std::for_each(itr, approved_module_ptrs_.end(), [this](auto & m) { deleteExpiredModules(m); });
std::for_each(itr, approved_module_ptrs_.end(), [this](auto & m) {
debug_info_.emplace_back(m, Action::DELETE, "From Approved");
deleteExpiredModules(m);
});

if (itr != approved_module_ptrs_.end()) {
clearCandidateModules();
Expand Down Expand Up @@ -513,8 +520,10 @@ BehaviorModuleOutput PlannerManager::runApprovedModules(const std::shared_ptr<Pl
* ModuleStatus::SUCCESS.
*/
if (lane_change_itr == approved_module_ptrs_.end()) {
std::for_each(
success_itr, approved_module_ptrs_.end(), [this](auto & m) { deleteExpiredModules(m); });
std::for_each(success_itr, approved_module_ptrs_.end(), [this](auto & m) {
debug_info_.emplace_back(m, Action::DELETE, "From Approved");
deleteExpiredModules(m);
});

approved_module_ptrs_.erase(success_itr, approved_module_ptrs_.end());
clearCandidateModules();
Expand All @@ -529,8 +538,10 @@ BehaviorModuleOutput PlannerManager::runApprovedModules(const std::shared_ptr<Pl
* change First In module's input.
*/
if (not_success_itr == approved_module_ptrs_.rend()) {
std::for_each(
success_itr, approved_module_ptrs_.end(), [this](auto & m) { deleteExpiredModules(m); });
std::for_each(success_itr, approved_module_ptrs_.end(), [this](auto & m) {
debug_info_.emplace_back(m, Action::DELETE, "From Approved");
deleteExpiredModules(m);
});

approved_module_ptrs_.erase(success_itr, approved_module_ptrs_.end());
clearCandidateModules();
Expand Down Expand Up @@ -671,6 +682,15 @@ void PlannerManager::print() const
<< "]->";
}

string_stream << "\n";
string_stream << "update module info: ";
for (const auto & i : debug_info_) {
string_stream << "[Module:" << i.module_name << " Status:" << magic_enum::enum_name(i.status)
<< " Action:" << magic_enum::enum_name(i.action)
<< " Description:" << i.description << "]\n"
<< std::setw(28);
}

string_stream << "\n" << std::fixed << std::setprecision(1);
string_stream << "processing time : ";
for (const auto & t : processing_time_) {
Expand Down