Skip to content

Commit 049e9dc

Browse files
committed
Revert "fix(avoidance): transit rtc cooperate state to FAILED from RUNNING (autowarefoundation#6998)"
This reverts commit affc2e7.
1 parent 016adba commit 049e9dc

File tree

2 files changed

+5
-22
lines changed
  • planning/behavior_path_avoidance_module

2 files changed

+5
-22
lines changed

planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp

+4-22
Original file line numberDiff line numberDiff line change
@@ -26,7 +26,6 @@
2626
#include <rclcpp/node.hpp>
2727
#include <rclcpp/time.hpp>
2828

29-
#include <limits>
3029
#include <memory>
3130
#include <string>
3231
#include <unordered_map>
@@ -139,15 +138,9 @@ class AvoidanceModule : public SceneModuleInterface
139138
void removeCandidateRTCStatus()
140139
{
141140
if (rtc_interface_ptr_map_.at("left")->isRegistered(candidate_uuid_)) {
142-
rtc_interface_ptr_map_.at("left")->updateCooperateStatus(
143-
candidate_uuid_, true, State::FAILED, std::numeric_limits<double>::lowest(),
144-
std::numeric_limits<double>::lowest(), clock_->now());
145-
}
146-
147-
if (rtc_interface_ptr_map_.at("right")->isRegistered(candidate_uuid_)) {
148-
rtc_interface_ptr_map_.at("right")->updateCooperateStatus(
149-
candidate_uuid_, true, State::FAILED, std::numeric_limits<double>::lowest(),
150-
std::numeric_limits<double>::lowest(), clock_->now());
141+
rtc_interface_ptr_map_.at("left")->removeCooperateStatus(candidate_uuid_);
142+
} else if (rtc_interface_ptr_map_.at("right")->isRegistered(candidate_uuid_)) {
143+
rtc_interface_ptr_map_.at("right")->removeCooperateStatus(candidate_uuid_);
151144
}
152145
}
153146

@@ -369,21 +362,10 @@ class AvoidanceModule : public SceneModuleInterface
369362

370363
unlockNewModuleLaunch();
371364

372-
for (const auto & left_shift : left_shift_array_) {
373-
rtc_interface_ptr_map_.at("left")->updateCooperateStatus(
374-
left_shift.uuid, true, State::FAILED, std::numeric_limits<double>::lowest(),
375-
std::numeric_limits<double>::lowest(), clock_->now());
376-
}
377-
378-
for (const auto & right_shift : right_shift_array_) {
379-
rtc_interface_ptr_map_.at("right")->updateCooperateStatus(
380-
right_shift.uuid, true, State::FAILED, std::numeric_limits<double>::lowest(),
381-
std::numeric_limits<double>::lowest(), clock_->now());
382-
}
383-
384365
if (!path_shifter_.getShiftLines().empty()) {
385366
left_shift_array_.clear();
386367
right_shift_array_.clear();
368+
removeRTCStatus();
387369
}
388370

389371
generator_.reset();

planning/behavior_path_avoidance_module/src/scene.cpp

+1
Original file line numberDiff line numberDiff line change
@@ -1283,6 +1283,7 @@ void AvoidanceModule::updateData()
12831283
void AvoidanceModule::processOnEntry()
12841284
{
12851285
initVariables();
1286+
removeRTCStatus();
12861287
}
12871288

12881289
void AvoidanceModule::processOnExit()

0 commit comments

Comments
 (0)