Skip to content

Commit 5a6b542

Browse files
committed
tmp
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
1 parent 0dcab13 commit 5a6b542

File tree

1 file changed

+26
-3
lines changed
  • planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module

1 file changed

+26
-3
lines changed

planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp

+26-3
Original file line numberDiff line numberDiff line change
@@ -148,10 +148,21 @@ class AvoidanceModule : public SceneModuleInterface
148148
*/
149149
void removeCandidateRTCStatus()
150150
{
151+
// if (rtc_interface_ptr_map_.at("left")->isRegistered(candidate_uuid_)) {
152+
// rtc_interface_ptr_map_.at("left")->removeCooperateStatus(candidate_uuid_);
153+
// } else if (rtc_interface_ptr_map_.at("right")->isRegistered(candidate_uuid_)) {
154+
// rtc_interface_ptr_map_.at("right")->removeCooperateStatus(candidate_uuid_);
155+
// }
151156
if (rtc_interface_ptr_map_.at("left")->isRegistered(candidate_uuid_)) {
152-
rtc_interface_ptr_map_.at("left")->removeCooperateStatus(candidate_uuid_);
153-
} else if (rtc_interface_ptr_map_.at("right")->isRegistered(candidate_uuid_)) {
154-
rtc_interface_ptr_map_.at("right")->removeCooperateStatus(candidate_uuid_);
157+
rtc_interface_ptr_map_.at("left")->updateCooperateStatus(
158+
candidate_uuid_, true, State::FAILED, std::numeric_limits<double>::min(),
159+
std::numeric_limits<double>::max(), clock_->now());
160+
}
161+
162+
if (rtc_interface_ptr_map_.at("right")->isRegistered(candidate_uuid_)) {
163+
rtc_interface_ptr_map_.at("right")->updateCooperateStatus(
164+
candidate_uuid_, true, State::FAILED, std::numeric_limits<double>::min(),
165+
std::numeric_limits<double>::max(), clock_->now());
155166
}
156167
}
157168

@@ -373,6 +384,18 @@ class AvoidanceModule : public SceneModuleInterface
373384

374385
unlockNewModuleLaunch();
375386

387+
for (const auto & left_shift : left_shift_array_) {
388+
rtc_interface_ptr_map_.at("left")->updateCooperateStatus(
389+
left_shift.uuid, true, State::FAILED, std::numeric_limits<double>::min(),
390+
std::numeric_limits<double>::max(), clock_->now());
391+
}
392+
393+
for (const auto & right_shift : right_shift_array_) {
394+
rtc_interface_ptr_map_.at("right")->updateCooperateStatus(
395+
right_shift.uuid, true, State::FAILED, std::numeric_limits<double>::min(),
396+
std::numeric_limits<double>::max(), clock_->now());
397+
}
398+
376399
if (!path_shifter_.getShiftLines().empty()) {
377400
left_shift_array_.clear();
378401
right_shift_array_.clear();

0 commit comments

Comments
 (0)