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fix(bvp): don't remove rtc cooperate status
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
1 parent 89f81c0 commit 8526341

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2 files changed

+9
-2
lines changed

2 files changed

+9
-2
lines changed

planning/behavior_velocity_planner_common/include/behavior_velocity_planner_common/scene_module_interface.hpp

+5-1
Original file line numberDiff line numberDiff line change
@@ -245,7 +245,11 @@ class SceneModuleManagerInterfaceWithRTC : public SceneModuleManagerInterface
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void removeRTCStatus(const UUID & uuid) { rtc_interface_.removeCooperateStatus(uuid); }
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248-
void publishRTCStatus(const Time & stamp) { rtc_interface_.publishCooperateStatus(stamp); }
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void publishRTCStatus(const Time & stamp)
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{
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rtc_interface_.removeExpiredCooperateStatus();
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rtc_interface_.publishCooperateStatus(stamp);
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}
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UUID getUUID(const int64_t & module_id) const;
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planning/behavior_velocity_planner_common/src/scene_module_interface.cpp

+4-1
Original file line numberDiff line numberDiff line change
@@ -272,7 +272,10 @@ void SceneModuleManagerInterfaceWithRTC::deleteExpiredModules(
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for (const auto & scene_module : copied_scene_modules) {
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if (isModuleExpired(scene_module)) {
275-
removeRTCStatus(getUUID(scene_module->getModuleId()));
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const UUID uuid = getUUID(scene_module->getModuleId());
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updateRTCStatus(
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uuid, scene_module->isSafe(), State::SUCCEEDED, std::numeric_limits<double>::lowest(),
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clock_->now());
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removeUUID(scene_module->getModuleId());
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unregisterModule(scene_module);
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}

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