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feat(behavior_velocity_traffic_light): ensure stopping if a signal, once received, is not received again #6468

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2 changes: 2 additions & 0 deletions planning/behavior_velocity_planner/src/node.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -323,6 +323,8 @@ void BehaviorVelocityPlannerNode::onTrafficSignals(
{
std::lock_guard<std::mutex> lock(mutex_);

planner_data_.has_received_signal_ = true;

// clear previous observation
planner_data_.traffic_light_id_map_raw_.clear();
const auto traffic_light_id_map_last_observed_old =
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Original file line number Diff line number Diff line change
Expand Up @@ -83,6 +83,9 @@ struct PlannerData
std::optional<tier4_planning_msgs::msg::VelocityLimit> external_velocity_limit;
tier4_v2x_msgs::msg::VirtualTrafficLightStateArray::ConstSharedPtr virtual_traffic_light_states;

// this value becomes true once the signal message is received
bool has_received_signal_ = false;

// velocity smoother
std::shared_ptr<motion_velocity_smoother::SmootherBase> velocity_smoother_;
// route handler
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14 changes: 12 additions & 2 deletions planning/behavior_velocity_traffic_light_module/src/scene.cpp
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2020 Tier IV, Inc.

Check notice on line 1 in planning/behavior_velocity_traffic_light_module/src/scene.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity

The mean cyclomatic complexity increases from 4.42 to 4.50, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -281,15 +281,25 @@
{
updateTrafficSignal();

// If it never receives traffic signal, it will PASS.
if (!traffic_signal_stamp_) {
// Pass through if no traffic signal information has been received yet
// This is to prevent stopping on the planning simulator
if (!planner_data_->has_received_signal_) {
return false;
}

// Stop if there is no upcoming traffic signal information
// This is to safely stop in cases such that traffic light recognition is not working properly or
// the map is incorrect
if (!traffic_signal_stamp_) {
return true;
}

// Stop if the traffic signal information has timed out
if (isTrafficSignalTimedOut()) {
return true;
}

// Check if the current traffic signal state requires stopping
return traffic_light_utils::isTrafficSignalStop(lane_, looking_tl_state_);
}

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