Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

feat(goal_planner): move goal_candidates from ThreadSafeData to GoalPlannerData #9292

Merged
merged 1 commit into from
Nov 18, 2024
Merged

feat(goal_planner): move goal_candidates from ThreadSafeData to GoalPlannerData #9292

merged 1 commit into from
Nov 18, 2024

Conversation

soblin
Copy link
Contributor

@soblin soblin commented Nov 11, 2024 •
edited
Loading

Description

depends #9270 ,the diff is below

tier4/autoware.universe@tier4:autoware.universe:refactor/goal-candidate...refactor/goal-candidate2

once goal_candidates are generated at main thread, they remain at the same positions, and only safety information is updated, keeping the same number. so GoalPlannerModule owns the goal_candidate and set it once to GoalPlannerData.

  • main-thread --> GoalPlannerData

Related links

Parent Issue:

  • Link

How was this PR tested?

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 Nov 11, 2024
@github-actions GitHub Actions
Copy link

github-actions bot commented Nov 11, 2024 •
edited
Loading

Thank you for contributing to the Autoware project!

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

Please ensure:

@soblin soblin marked this pull request as ready for review November 11, 2024 14:26
kosuke55
kosuke55 reviewed Nov 12, 2024
View reviewed changes
...behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
@@ -1369,7 +1374,7 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput(
thread_safe_data_.clearPullOverPath();

// update goal candidates
auto goal_candidates = thread_safe_data_.get_goal_candidates();
auto goal_candidates = goal_candidates_;
Copy link
Contributor

@kosuke55 kosuke55 Nov 12, 2024 •
edited
Loading

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

there is no goal_candidates_ member variable in the module?
goal_planner_data_ has goal_candidates?

Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I added goal_candidates_ member to GoalPlannerModule

@soblin
feat(goal_planner): move goal_candidates from ThreadSafeData to GoalP…
af9bd9d 
…lannerData

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
@soblin soblin force-pushed the refactor/goal-candidate2 branch from 8322a6c to af9bd9d Compare November 13, 2024 07:42
@soblin soblin added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Nov 13, 2024
@codecov Codecov
Copy link

codecov bot commented Nov 13, 2024 •
edited
Loading

Codecov Report

Attention: Patch coverage is 0% with 20 lines in your changes missing coverage. Please review.

Project coverage is 29.28%. Comparing base (391beda) to head (af9bd9d).
Report is 42 commits behind head on main.

Files with missing lines Patch % Lines
...th_goal_planner_module/src/goal_planner_module.cpp 0.00% 20 Missing ⚠️
Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #9292      +/-   ##
==========================================
- Coverage   29.29%   29.28%   -0.02%     
==========================================
  Files        1334     1337       +3     
  Lines      102798   102854      +56     
  Branches    39985    39981       -4     
==========================================
  Hits        30119    30119              
- Misses      69811    69866      +55     
- Partials     2868     2869       +1
Flag Coverage Δ *Carryforward flag
differential 0.52% <0.00%> (?)
total 29.30% <ø> (+<0.01%) ⬆️ Carriedforward from 391beda

*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.

@kosuke55
Copy link
Contributor

internal disucussion:
https://star4.slack.com/archives/C04ATE0264Q/p1731668946967969?thread_ts=1731371250.232619&cid=C04ATE0264Q

  • gp_planner_data.goal_candidates_
    • main -> other thread
  • goal_candidates_
    • used in only main, not need to lock.

@soblin soblin merged commit 2a2bffa into autowarefoundation:main Nov 18, 2024
41 of 42 checks passed
@soblin soblin deleted the refactor/goal-candidate2 branch November 18, 2024 11:38
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@kosuke55 kosuke55 kosuke55 approved these changes

@danielsanchezaran danielsanchezaran Awaiting requested review from danielsanchezaran danielsanchezaran is a code owner

@kyoichi-sugahara kyoichi-sugahara Awaiting requested review from kyoichi-sugahara kyoichi-sugahara is a code owner

@satoshi-ota satoshi-ota Awaiting requested review from satoshi-ota satoshi-ota is a code owner

@shmpwk shmpwk Awaiting requested review from shmpwk shmpwk is a code owner

@TomohitoAndo TomohitoAndo Awaiting requested review from TomohitoAndo TomohitoAndo is a code owner

@tkimura4 tkimura4 Awaiting requested review from tkimura4 tkimura4 is a code owner

Assignees
No one assigned
Labels
component:planning Route planning, decision-making, and navigation. (auto-assigned) run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci)
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
2 participants
@soblin @kosuke55