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fix(lane_change): fix state transition in lane change for multiple module cooperation #4836

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merged 1 commit into from
Sep 1, 2023
Merged

fix(lane_change): fix state transition in lane change for multiple module cooperation #4836

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10 changes: 2 additions & 8 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 @@ -364,16 +364,10 @@ class PlannerManager
* @param planner data.
* @return root lanelet.
*/
lanelet::ConstLanelet updateRootLanelet(
const std::shared_ptr<PlannerData> & data, bool success_lane_change = false) const
lanelet::ConstLanelet updateRootLanelet(const std::shared_ptr<PlannerData> & data) const
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{
lanelet::ConstLanelet ret{};
if (success_lane_change) {
data->route_handler->getClosestPreferredLaneletWithinRoute(
data->self_odometry->pose.pose, &ret);
} else {
data->route_handler->getClosestLaneletWithinRoute(data->self_odometry->pose.pose, &ret);
}
data->route_handler->getClosestLaneletWithinRoute(data->self_odometry->pose.pose, &ret);
RCLCPP_DEBUG(logger_, "update start lanelet. id:%ld", ret.id());
return ret;
}
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/planner_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -550,7 +550,7 @@ BehaviorModuleOutput PlannerManager::runApprovedModules(const std::shared_ptr<Pl
[](const auto & m) { return m->name().find("lane_change") != std::string::npos; });

if (success_lane_change) {
root_lanelet_ = updateRootLanelet(data, true);
root_lanelet_ = updateRootLanelet(data);
}

std::for_each(success_module_itr, approved_module_ptrs_.end(), [&](auto & m) {
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19 changes: 3 additions & 16 deletions planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -88,14 +88,11 @@ ModuleStatus LaneChangeInterface::updateState()
}

if (!module_type_->isValidPath()) {
return ModuleStatus::RUNNING;
return ModuleStatus::SUCCESS;
}

if (module_type_->isAbortState()) {
if (module_type_->hasFinishedAbort()) {
resetLaneChangeModule();
}
return ModuleStatus::RUNNING;
return module_type_->hasFinishedAbort() ? ModuleStatus::SUCCESS : ModuleStatus::RUNNING;
}

if (module_type_->hasFinishedLaneChange()) {
Expand Down Expand Up @@ -154,10 +151,7 @@ ModuleStatus LaneChangeInterface::updateState()
getLogger().get_child(module_type_->getModuleTypeStr()), *clock_, 5000,
"Lane change path is unsafe. Cancel lane change.");
module_type_->toCancelState();
if (!isWaitingApproval()) {
resetLaneChangeModule();
}
return ModuleStatus::RUNNING;
return isWaitingApproval() ? ModuleStatus::RUNNING : ModuleStatus::SUCCESS;
}

if (!module_type_->isAbortEnabled()) {
Expand Down Expand Up @@ -192,13 +186,6 @@ ModuleStatus LaneChangeInterface::updateState()
return ModuleStatus::RUNNING;
}

void LaneChangeInterface::resetLaneChangeModule()
{
processOnExit();
removeRTCStatus();
processOnEntry();
}

void LaneChangeInterface::updateData()
{
module_type_->setPreviousModulePaths(
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