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fix(behavior_path_planner): fix RTC status update in avoidance module with multiple shift point case #1295

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merged 1 commit into from
Jul 8, 2022
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fix(behavior_path_planner): fix RTC status update in avoidance module with multiple shift point case #1295

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14 changes: 14 additions & 0 deletions ...or_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -107,6 +107,20 @@ class AvoidanceModule : public SceneModuleInterface
rtc_interface_right_.clearCooperateStatus();
}

void removePreviousRTCStatusLeft()
{
if (rtc_interface_left_.isRegistered(uuid_left_)) {
rtc_interface_left_.removeCooperateStatus(uuid_left_);
}
}

void removePreviousRTCStatusRight()
{
if (rtc_interface_right_.isRegistered(uuid_right_)) {
rtc_interface_right_.removeCooperateStatus(uuid_right_);
}
}

// data used in previous planning
ShiftedPath prev_output_;
ShiftedPath prev_linear_shift_path_; // used for shift point check
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15 changes: 7 additions & 8 deletions planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2096,6 +2096,13 @@ BehaviorModuleOutput AvoidanceModule::plan()
debug_data_.new_shift_points = *new_shift_points;
DEBUG_PRINT("new_shift_points size = %lu", new_shift_points->size());
printShiftPoints(*new_shift_points, "new_shift_points");
if (new_shift_points->back().getRelativeLength() > 0.0) {
removePreviousRTCStatusRight();
} else if (new_shift_points->back().getRelativeLength() < 0.0) {
removePreviousRTCStatusLeft();
} else {
RCLCPP_WARN_STREAM(getLogger(), "Direction is UNKNOWN");
}
addShiftPointIfApproved(*new_shift_points);
} else if (isWaitingApproval()) {
clearWaitingApproval();
Expand Down Expand Up @@ -2189,14 +2196,6 @@ void AvoidanceModule::addShiftPointIfApproved(const AvoidPointArray & shift_poin
// register original points for consistency
registerRawShiftPoints(shift_points);

TurnSignalInfo turn_signal_info;
turn_signal_info.signal_distance = std::numeric_limits<double>::lowest();
if (shift_points.back().getRelativeLength() > 0.0) {
turn_signal_info.turn_signal.command = TurnIndicatorsCommand::ENABLE_LEFT;
} else if (shift_points.back().getRelativeLength() < 0.0) {
turn_signal_info.turn_signal.command = TurnIndicatorsCommand::ENABLE_RIGHT;
}

uuid_left_ = generateUUID();
uuid_right_ = generateUUID();

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