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fix(start_planner): issue when ego does not straddle lane bounds and starts from 0 speed #7004

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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2023 TIER IV, Inc.

Check notice on line 1 in planning/behavior_path_planner_common/src/turn_signal_decider.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity

The mean cyclomatic complexity increases from 8.46 to 8.54, 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 @@ -731,10 +731,13 @@
return std::make_pair(TurnSignalInfo{}, true);
}

if (!straddleRoadBound(path, shift_line, current_lanelets, p.vehicle_info)) {
// Check if the ego will cross lane bounds.
// Note that pull out requires blinkers, even if the ego does not cross lane bounds
if (!is_pull_out && !straddleRoadBound(path, shift_line, current_lanelets, p.vehicle_info)) {
return std::make_pair(TurnSignalInfo{}, true);
}

// If the ego has stopped and its close to completing its shift, turn off the blinkers

Check warning on line 740 in planning/behavior_path_planner_common/src/turn_signal_decider.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method

TurnSignalDecider::getBehaviorTurnSignalInfo increases in cyclomatic complexity from 23 to 24, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
constexpr double STOPPED_THRESHOLD = 0.1; // [m/s]
if (ego_speed < STOPPED_THRESHOLD && !override_ego_stopped_check) {
if (isNearEndOfShift(
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -74,6 +74,8 @@ struct PullOutStatus
//! record the first time when ego started forward-driving (maybe after backward driving
//! completion) in AUTONOMOUS operation mode
std::optional<rclcpp::Time> first_engaged_and_driving_forward_time{std::nullopt};
// record if the ego has departed from the start point
bool has_departed{false};

PullOutStatus() {}
};
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2022 TIER IV, Inc.

Check notice on line 1 in planning/behavior_path_start_planner_module/src/start_planner_module.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Lines of Code in a Single File

The lines of code increases from 1352 to 1359, improve code health by reducing it to 1000. The number of Lines of Code in a single file. More Lines of Code lowers the code health.
//
// 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 @@ -247,6 +247,13 @@
status_.first_engaged_and_driving_forward_time = clock_->now();
}

constexpr double moving_velocity_threshold = 0.1;
const double & ego_velocity = planner_data_->self_odometry->twist.twist.linear.x;
if (status_.first_engaged_and_driving_forward_time && ego_velocity > moving_velocity_threshold) {
// Ego is engaged, and has moved
status_.has_departed = true;
}

Check notice on line 256 in planning/behavior_path_start_planner_module/src/start_planner_module.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Complex Method

StartPlannerModule::updateData increases in cyclomatic complexity from 9 to 11, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
status_.backward_driving_complete = hasFinishedBackwardDriving();
if (status_.backward_driving_complete) {
updateStatusAfterBackwardDriving();
Expand Down Expand Up @@ -1265,8 +1272,10 @@
// In Geometric pull out, the ego stops once and then steers the wheels to the opposite direction.
// This sometimes causes the getBehaviorTurnSignalInfo method to detect the ego as stopped and
// close to complete its shift, so it wrongly turns off the blinkers, this override helps avoid
// this issue.
const bool override_ego_stopped_check = std::invoke([&]() {
// this issue. Also, if the ego is not engaged (so it is stopped), the blinkers should still be
// activated.

const bool geometric_planner_has_not_finished_first_path = std::invoke([&]() {
if (status_.planner_type != PlannerType::GEOMETRIC) {
return false;
}
Expand All @@ -1277,6 +1286,9 @@
return distance_from_ego_to_stop_point < distance_threshold;
});

const bool override_ego_stopped_check =
!status_.has_departed || geometric_planner_has_not_finished_first_path;

const auto [new_signal, is_ignore] = planner_data_->getBehaviorTurnSignalInfo(
path, shift_start_idx, shift_end_idx, current_lanes, current_shift_length,
status_.driving_forward, egos_lane_is_shifted, override_ego_stopped_check, is_pull_out);
Expand Down
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