tmp

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

Author: satoshi-ota

planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp

@@ -137,10 +137,21 @@ class AvoidanceModule : public SceneModuleInterface
    */
   void removeCandidateRTCStatus()
   {
+    // if (rtc_interface_ptr_map_.at("left")->isRegistered(candidate_uuid_)) {
+    //   rtc_interface_ptr_map_.at("left")->removeCooperateStatus(candidate_uuid_);
+    // } else if (rtc_interface_ptr_map_.at("right")->isRegistered(candidate_uuid_)) {
+    //   rtc_interface_ptr_map_.at("right")->removeCooperateStatus(candidate_uuid_);
+    // }
     if (rtc_interface_ptr_map_.at("left")->isRegistered(candidate_uuid_)) {
-      rtc_interface_ptr_map_.at("left")->removeCooperateStatus(candidate_uuid_);
-    } else if (rtc_interface_ptr_map_.at("right")->isRegistered(candidate_uuid_)) {
-      rtc_interface_ptr_map_.at("right")->removeCooperateStatus(candidate_uuid_);
+      rtc_interface_ptr_map_.at("left")->updateCooperateStatus(
+        candidate_uuid_, true, State::FAILED, std::numeric_limits<double>::min(),
+        std::numeric_limits<double>::max(), clock_->now());
+    }
+
+    if (rtc_interface_ptr_map_.at("right")->isRegistered(candidate_uuid_)) {
+      rtc_interface_ptr_map_.at("right")->updateCooperateStatus(
+        candidate_uuid_, true, State::FAILED, std::numeric_limits<double>::min(),
+        std::numeric_limits<double>::max(), clock_->now());
     }
   }
 
@@ -362,6 +373,18 @@ class AvoidanceModule : public SceneModuleInterface
 
     unlockNewModuleLaunch();
 
+    for (const auto & left_shift : left_shift_array_) {
+      rtc_interface_ptr_map_.at("left")->updateCooperateStatus(
+        left_shift.uuid, true, State::FAILED, std::numeric_limits<double>::min(),
+        std::numeric_limits<double>::max(), clock_->now());
+    }
+
+    for (const auto & right_shift : right_shift_array_) {
+      rtc_interface_ptr_map_.at("right")->updateCooperateStatus(
+        right_shift.uuid, true, State::FAILED, std::numeric_limits<double>::min(),
+        std::numeric_limits<double>::max(), clock_->now());
+    }
+
     if (!path_shifter_.getShiftLines().empty()) {
       left_shift_array_.clear();
       right_shift_array_.clear();