feat(behavior_path_planner)!: remove macro

planning/behavior_path_planner/CMakeLists.txt

@@ -7,21 +7,26 @@ autoware_package()
 find_package(OpenCV REQUIRED)
 find_package(magic_enum CONFIG REQUIRED)
 
-set(COMPILE_WITH_OLD_ARCHITECTURE FALSE)
-
-set(common_src
+ament_auto_add_library(behavior_path_planner_node SHARED
+  src/planner_manager.cpp
   src/steering_factor_interface.cpp
   src/behavior_path_planner_node.cpp
   src/scene_module/scene_module_visitor.cpp
   src/scene_module/avoidance/avoidance_module.cpp
+  src/scene_module/avoidance/manager.cpp
   src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp
+  src/scene_module/dynamic_avoidance/manager.cpp
   src/scene_module/start_planner/start_planner_module.cpp
+  src/scene_module/start_planner/manager.cpp
   src/scene_module/goal_planner/goal_planner_module.cpp
+  src/scene_module/goal_planner/manager.cpp
   src/scene_module/side_shift/side_shift_module.cpp
+  src/scene_module/side_shift/manager.cpp
   src/scene_module/lane_change/interface.cpp
   src/scene_module/lane_change/normal.cpp
   src/scene_module/lane_change/external_request.cpp
   src/scene_module/lane_change/avoidance_by_lane_change.cpp
+  src/scene_module/lane_change/manager.cpp
   src/turn_signal_decider.cpp
   src/utils/utils.cpp
   src/utils/path_utils.cpp
@@ -50,33 +55,6 @@ set(common_src
   src/marker_util/lane_change/debug.cpp
 )
 
-if(COMPILE_WITH_OLD_ARCHITECTURE)
-  ament_auto_add_library(behavior_path_planner_node SHARED
-    src/behavior_tree_manager.cpp
-    src/scene_module/scene_module_bt_node_interface.cpp
-    src/scene_module/lane_following/lane_following_module.cpp
-    ${common_src}
-  )
-
-  target_compile_definitions(behavior_path_planner_node PRIVATE USE_OLD_ARCHITECTURE)
-
-  message(WARNING "Build behavior_path_planner with OLD framework...")
-
-else()
-  ament_auto_add_library(behavior_path_planner_node SHARED
-    src/planner_manager.cpp
-    src/scene_module/avoidance/manager.cpp
-    src/scene_module/dynamic_avoidance/manager.cpp
-    src/scene_module/start_planner/manager.cpp
-    src/scene_module/goal_planner/manager.cpp
-    src/scene_module/side_shift/manager.cpp
-    src/scene_module/lane_change/manager.cpp
-    ${common_src}
-  )
-
-  message(WARNING "Build behavior_path_planner with NEW framework...")
-endif()
-
 target_include_directories(behavior_path_planner_node SYSTEM PUBLIC
   ${EIGEN3_INCLUDE_DIR}
 )

planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp

@@ -16,26 +16,14 @@
 #define BEHAVIOR_PATH_PLANNER__BEHAVIOR_PATH_PLANNER_NODE_HPP_
 
 #include "behavior_path_planner/data_manager.hpp"
-#include "behavior_path_planner/scene_module/scene_module_interface.hpp"
-
-#ifdef USE_OLD_ARCHITECTURE
-#include "behavior_path_planner/behavior_tree_manager.hpp"
-#include "behavior_path_planner/scene_module/avoidance/avoidance_module.hpp"
-#include "behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp"
-#include "behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp"
-#include "behavior_path_planner/scene_module/lane_following/lane_following_module.hpp"
-#include "behavior_path_planner/scene_module/side_shift/side_shift_module.hpp"
-#include "behavior_path_planner/scene_module/start_planner/start_planner_module.hpp"
-#else
 #include "behavior_path_planner/planner_manager.hpp"
 #include "behavior_path_planner/scene_module/avoidance/manager.hpp"
 #include "behavior_path_planner/scene_module/dynamic_avoidance/manager.hpp"
 #include "behavior_path_planner/scene_module/goal_planner/manager.hpp"
 #include "behavior_path_planner/scene_module/lane_change/manager.hpp"
+#include "behavior_path_planner/scene_module/scene_module_interface.hpp"
 #include "behavior_path_planner/scene_module/side_shift/manager.hpp"
 #include "behavior_path_planner/scene_module/start_planner/manager.hpp"
-#endif
-
 #include "behavior_path_planner/steering_factor_interface.hpp"
 #include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"
 #include "behavior_path_planner/utils/goal_planner/goal_planner_parameters.hpp"
@@ -127,11 +115,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node
 
   std::shared_ptr<PlannerData> planner_data_;
 
-#ifdef USE_OLD_ARCHITECTURE
-  std::shared_ptr<BehaviorTreeManager> bt_manager_;
-#else
   std::shared_ptr<PlannerManager> planner_manager_;
-#endif
 
   std::unique_ptr<SteeringFactorInterface> steering_factor_interface_ptr_;
   Scenario::SharedPtr current_scenario_{nullptr};
@@ -160,10 +144,6 @@ class BehaviorPathPlannerNode : public rclcpp::Node
 
   BehaviorPathPlannerParameters getCommonParam();
 
-#ifdef USE_OLD_ARCHITECTURE
-  BehaviorTreeManagerParam getBehaviorTreeManagerParam();
-#endif
-
   AvoidanceParameters getAvoidanceParam();
   DynamicAvoidanceParameters getDynamicAvoidanceParam();
   LaneChangeParameters getLaneChangeParam();
@@ -196,15 +176,9 @@ class BehaviorPathPlannerNode : public rclcpp::Node
   /**
    * @brief extract path from behavior tree output
    */
-#ifdef USE_OLD_ARCHITECTURE
-  PathWithLaneId::SharedPtr getPath(
-    const BehaviorModuleOutput & bt_out, const std::shared_ptr<PlannerData> & planner_data,
-    const std::shared_ptr<BehaviorTreeManager> & bt_manager);
-#else
   PathWithLaneId::SharedPtr getPath(
     const BehaviorModuleOutput & bt_out, const std::shared_ptr<PlannerData> & planner_data,
     const std::shared_ptr<PlannerManager> & planner_manager);
-#endif
 
   bool keepInputPoints(const std::vector<std::shared_ptr<SceneModuleStatus>> & statuses) const;
 
@@ -246,19 +220,13 @@ class BehaviorPathPlannerNode : public rclcpp::Node
   /**
    * @brief publish path candidate
    */
-#ifdef USE_OLD_ARCHITECTURE
-  void publishPathCandidate(
-    const std::vector<std::shared_ptr<SceneModuleInterface>> & scene_modules,
-    const std::shared_ptr<PlannerData> & planner_data);
-#else
   void publishPathCandidate(
     const std::vector<std::shared_ptr<SceneModuleManagerInterface>> & managers,
     const std::shared_ptr<PlannerData> & planner_data);
 
   void publishPathReference(
     const std::vector<std::shared_ptr<SceneModuleManagerInterface>> & managers,
     const std::shared_ptr<PlannerData> & planner_data);
-#endif
 
   /**
    * @brief convert path with lane id to path for publish path candidate

planning/behavior_path_planner/include/behavior_path_planner/module_status.hpp

@@ -15,25 +15,15 @@
 #ifndef BEHAVIOR_PATH_PLANNER__MODULE_STATUS_HPP_
 #define BEHAVIOR_PATH_PLANNER__MODULE_STATUS_HPP_
 
-#ifdef USE_OLD_ARCHITECTURE
-#include <behaviortree_cpp_v3/basic_types.h>
-#endif
-
 namespace behavior_path_planner
 {
-
-#ifdef USE_OLD_ARCHITECTURE
-using ModuleStatus = BT::NodeStatus;
-#else
 enum class ModuleStatus {
   IDLE = 0,
   RUNNING = 1,
   SUCCESS = 2,
   FAILURE = 3,
   // SKIPPED = 4,
 };
-#endif
-
 }  // namespace behavior_path_planner
 
 #endif  // BEHAVIOR_PATH_PLANNER__MODULE_STATUS_HPP_

planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp

@@ -46,14 +46,9 @@ using tier4_planning_msgs::msg::AvoidanceDebugMsg;
 class AvoidanceModule : public SceneModuleInterface
 {
 public:
-#ifdef USE_OLD_ARCHITECTURE
-  AvoidanceModule(
-    const std::string & name, rclcpp::Node & node, std::shared_ptr<AvoidanceParameters> parameters);
-#else
   AvoidanceModule(
     const std::string & name, rclcpp::Node & node, std::shared_ptr<AvoidanceParameters> parameters,
     const std::unordered_map<std::string, std::shared_ptr<RTCInterface> > & rtc_interface_ptr_map);
-#endif
 
   ModuleStatus updateState() override;
   ModuleStatus getNodeStatusWhileWaitingApproval() const override { return ModuleStatus::SUCCESS; }
@@ -67,12 +62,10 @@ class AvoidanceModule : public SceneModuleInterface
   void updateData() override;
   void acceptVisitor(const std::shared_ptr<SceneModuleVisitor> & visitor) const override;
 
-#ifndef USE_OLD_ARCHITECTURE
   void updateModuleParams(const std::shared_ptr<AvoidanceParameters> & parameters)
   {
     parameters_ = parameters;
   }
-#endif
   std::shared_ptr<AvoidanceDebugMsgArray> get_debug_msg_array() const;
 
 private:

planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp

@@ -109,11 +109,6 @@ class DynamicAvoidanceModule : public SceneModuleInterface
     }
   };
 
-#ifdef USE_OLD_ARCHITECTURE
-  DynamicAvoidanceModule(
-    const std::string & name, rclcpp::Node & node,
-    std::shared_ptr<DynamicAvoidanceParameters> parameters);
-#else
   DynamicAvoidanceModule(
     const std::string & name, rclcpp::Node & node,
     std::shared_ptr<DynamicAvoidanceParameters> parameters,
@@ -123,7 +118,6 @@ class DynamicAvoidanceModule : public SceneModuleInterface
   {
     parameters_ = parameters;
   }
-#endif
 
   bool isExecutionRequested() const override;
   bool isExecutionReady() const override;

planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp

@@ -87,11 +87,6 @@ struct PUllOverStatus
 class GoalPlannerModule : public SceneModuleInterface
 {
 public:
-#ifdef USE_OLD_ARCHITECTURE
-  GoalPlannerModule(
-    const std::string & name, rclcpp::Node & node,
-    const std::shared_ptr<GoalPlannerParameters> & parameters);
-#else
   GoalPlannerModule(
     const std::string & name, rclcpp::Node & node,
     const std::shared_ptr<GoalPlannerParameters> & parameters,
@@ -101,7 +96,6 @@ class GoalPlannerModule : public SceneModuleInterface
   {
     parameters_ = parameters;
   }
-#endif
 
   BehaviorModuleOutput run() override;
   bool isExecutionRequested() const override;
@@ -152,10 +146,7 @@ class GoalPlannerModule : public SceneModuleInterface
 
   tier4_autoware_utils::LinearRing2d vehicle_footprint_;
 
-// save last time and pose
-#ifdef USE_OLD_ARCHITECTURE
-  std::unique_ptr<rclcpp::Time> last_received_time_;
-#endif
+  // save last time and pose
   std::unique_ptr<rclcpp::Time> last_approved_time_;
   std::unique_ptr<rclcpp::Time> last_increment_time_;
   std::unique_ptr<rclcpp::Time> last_path_update_time_;