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refactor(lane_change): replace any code that can use transient data #8999

Merged
merged 12 commits into from
Oct 4, 2024
Merged

refactor(lane_change): replace any code that can use transient data #8999

merged 12 commits into from
Oct 4, 2024

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zulfaqar-azmi-t4
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@zulfaqar-azmi-t4 zulfaqar-azmi-t4 commented Oct 1, 2024 •
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Description

This PR refactors lane change code using TransientData to improve code quality and readability, and reduce complexity.

The function that is no longer used is removed.
Also is_ego stuck is added to transient data.

Related links

Parent Issue:

  • Link

How was this PR tested?

TIER IV internal evaluator
TIER IV internal evaluator - after swapping filterObjects

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Oct 1, 2024
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github-actions bot commented Oct 1, 2024 •
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Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

@zulfaqar-azmi-t4 zulfaqar-azmi-t4 force-pushed the RT1-8004-replace-any-code-that-can-use-transient-data branch from 6babfcf to eef3cc4 Compare October 1, 2024 10:00
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 marked this pull request as ready for review October 2, 2024 04:56
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 force-pushed the RT1-8004-replace-any-code-that-can-use-transient-data branch from eef3cc4 to 91b60e9 Compare October 3, 2024 07:26
@zulfaqar-azmi-t4
RT1-8004 replace hasEnoughLength
0acc358 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4
RT1-8004 Removed isNearEndOfCurrentLanes
e894fef 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4
RT1-8004 refactor sample longitudinal acc values
fe059e1 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4
remove calc maximum lane change length
bb661b5 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4
Revert "remove calc maximum lane change length"
4a31684 
This reverts commit e9cc386.
@zulfaqar-azmi-t4
Revert "RT1-8004 refactor sample longitudinal acc values"
3b7e4aa 
This reverts commit 775bcdb.
@zulfaqar-azmi-t4
replace generateCenterLinePath
487fcdc 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4
RT1-8004 simplify stuck detection
53790d9 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4
swap call to update filtered_objects and update transient data
9e59029 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4
RT1-8004 fix conflict
67114cc 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 force-pushed the RT1-8004-replace-any-code-that-can-use-transient-data branch from 91b60e9 to 67114cc Compare October 4, 2024 05:37
@zulfaqar-azmi-t4
RT1-8004 Rename isVehicleStuck to is_ego_stuck()
a6d0e98 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@github-actions github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label Oct 4, 2024
@zulfaqar-azmi-t4
RT1-8004 change calcPrepareDuration to snake case
24548b8 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
mkquda
mkquda approved these changes Oct 4, 2024
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LGTM.

@zulfaqar-azmi-t4 zulfaqar-azmi-t4 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Oct 4, 2024
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 enabled auto-merge (squash) October 4, 2024 06:39
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 merged commit 85f578c into autowarefoundation:main Oct 4, 2024
35 of 36 checks passed
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 deleted the RT1-8004-replace-any-code-that-can-use-transient-data branch October 4, 2024 06:53
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codecov bot commented Oct 4, 2024

Codecov Report

Attention: Patch coverage is 2.12766% with 46 lines in your changes missing coverage. Please review.

Project coverage is 26.22%. Comparing base (3288946) to head (24548b8).
Report is 8 commits behind head on main.

Files with missing lines Patch % Lines
...are_behavior_path_lane_change_module/src/scene.cpp 0.00% 46 Missing ⚠️
Additional details and impacted files 
@@           Coverage Diff           @@
##             main    #8999   +/-   ##
=======================================
  Coverage   26.21%   26.22%           
=======================================
  Files        1302     1303    +1     
  Lines       96925    96913   -12     
  Branches    39159    39132   -27     
=======================================
+ Hits        25409    25411    +2     
+ Misses      68928    68911   -17     
- Partials     2588     2591    +3
Flag Coverage Δ *Carryforward flag
differential 15.54% <2.12%> (?)
total 26.23% <ø> (+0.02%) ⬆️ Carriedforward from 3288946

*This pull request uses carry forward flags. Click here to find out more.

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

prakash-kannaiah pushed a commit to prakash-kannaiah/autoware.universe that referenced this pull request Oct 9, 2024
@zulfaqar-azmi-t4 @prakash-kannaiah
refactor(lane_change): replace any code that can use transient data (a…
ee377f9 
…utowarefoundation#8999)

* RT1-8004 replace hasEnoughLength

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* RT1-8004 Removed isNearEndOfCurrentLanes

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* RT1-8004 refactor sample longitudinal acc values

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* remove calc maximum lane change length

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* Revert "remove calc maximum lane change length"

This reverts commit e9cc386.

* Revert "RT1-8004 refactor sample longitudinal acc values"

This reverts commit 775bcdb.

* replace generateCenterLinePath

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* RT1-8004 simplify stuck detection

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* swap call to update filtered_objects and update transient data

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* RT1-8004 fix conflict

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* RT1-8004 Rename isVehicleStuck to is_ego_stuck()

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* RT1-8004 change calcPrepareDuration to snake case

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

---------

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: prakash-kannaiah <prakashkanan.pk@gmail.com>
zulfaqar-azmi-t4 added a commit to tier4/autoware.universe that referenced this pull request Dec 20, 2024
@zulfaqar-azmi-t4
refactor(lane_change): replace any code that can use transient data (a…
cbad31a 
…utowarefoundation#8999)

* RT1-8004 replace hasEnoughLength

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* RT1-8004 Removed isNearEndOfCurrentLanes

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* RT1-8004 refactor sample longitudinal acc values

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* remove calc maximum lane change length

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* Revert "remove calc maximum lane change length"

This reverts commit e9cc386.

* Revert "RT1-8004 refactor sample longitudinal acc values"

This reverts commit 775bcdb.

* replace generateCenterLinePath

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* RT1-8004 simplify stuck detection

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* swap call to update filtered_objects and update transient data

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* RT1-8004 fix conflict

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* RT1-8004 Rename isVehicleStuck to is_ego_stuck()

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* RT1-8004 change calcPrepareDuration to snake case

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

---------

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
kyoichi-sugahara pushed a commit to tier4/autoware.universe that referenced this pull request Dec 20, 2024
@zulfaqar-azmi-t4 @kyoichi-sugahara
refactor(lane_change): replace any code that can use transient data (a…
808fe84 
…utowarefoundation#8999)

* RT1-8004 replace hasEnoughLength

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* RT1-8004 Removed isNearEndOfCurrentLanes

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* RT1-8004 refactor sample longitudinal acc values

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* remove calc maximum lane change length

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* Revert "remove calc maximum lane change length"

This reverts commit e9cc386.

* Revert "RT1-8004 refactor sample longitudinal acc values"

This reverts commit 775bcdb.

* replace generateCenterLinePath

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* RT1-8004 simplify stuck detection

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* swap call to update filtered_objects and update transient data

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* RT1-8004 fix conflict

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* RT1-8004 Rename isVehicleStuck to is_ego_stuck()

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* RT1-8004 change calcPrepareDuration to snake case

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

---------

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
kyoichi-sugahara pushed a commit to tier4/autoware.universe that referenced this pull request Dec 21, 2024
@zulfaqar-azmi-t4 @kyoichi-sugahara
refactor(lane_change): replace any code that can use transient data (a…
88352a1 
…utowarefoundation#8999)

* RT1-8004 replace hasEnoughLength

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* RT1-8004 Removed isNearEndOfCurrentLanes

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* RT1-8004 refactor sample longitudinal acc values

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* remove calc maximum lane change length

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* Revert "remove calc maximum lane change length"

This reverts commit e9cc386.

* Revert "RT1-8004 refactor sample longitudinal acc values"

This reverts commit 775bcdb.

* replace generateCenterLinePath

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* RT1-8004 simplify stuck detection

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* swap call to update filtered_objects and update transient data

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* RT1-8004 fix conflict

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* RT1-8004 Rename isVehicleStuck to is_ego_stuck()

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* RT1-8004 change calcPrepareDuration to snake case

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

---------

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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@mkquda mkquda mkquda approved these changes

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