fix(goal_planner): fix time_keeper race (autowarefoundation#8780) (#1555)

shmpwk · soblin · kosuke55 · commit 8da75b7d7e4d · 2024-11-11T18:07:05.000+09:00
Signed-off-by: Mamoru Sobue &lt;mamoru.sobue@tier4.jp&gt;
Co-authored-by: Mamoru Sobue &lt;hilo.soblin@gmail.com&gt;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
@@ -1258,8 +1258,6 @@ bool GoalPlannerModule::hasNotDecidedPath(
   const std::shared_ptr<SafetyCheckParams> & safety_check_params,
   const std::shared_ptr<GoalSearcherBase> goal_searcher) const
 {
-  universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);
-
   return checkDecidingPathStatus(
            planner_data, occupancy_grid_map, parameters, ego_predicted_path_params,
            objects_filtering_params, safety_check_params, goal_searcher)
@@ -2370,8 +2368,6 @@ std::pair<bool, bool> GoalPlannerModule::isSafePath(
   const std::shared_ptr<ObjectsFilteringParams> & objects_filtering_params,
   const std::shared_ptr<SafetyCheckParams> & safety_check_params) const
 {
-  universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);
-
   if (!thread_safe_data_.get_pull_over_path()) {
     return {false, false};
   }

Original file line number	Diff line number	Diff line change
`@@ -1258,8 +1258,6 @@ bool GoalPlannerModule::hasNotDecidedPath(`
`1258`	`1258`	`const std::shared_ptr<SafetyCheckParams> & safety_check_params,`
`1259`	`1259`	`const std::shared_ptr<GoalSearcherBase> goal_searcher) const`
`1260`	`1260`	`{`
`1261`		`- universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);`
`1262`		`-`
`1263`	`1261`	`return checkDecidingPathStatus(`
`1264`	`1262`	`planner_data, occupancy_grid_map, parameters, ego_predicted_path_params,`
`1265`	`1263`	`objects_filtering_params, safety_check_params, goal_searcher)`
`@@ -2370,8 +2368,6 @@ std::pair<bool, bool> GoalPlannerModule::isSafePath(`
`2370`	`2368`	`const std::shared_ptr<ObjectsFilteringParams> & objects_filtering_params,`
`2371`	`2369`	`const std::shared_ptr<SafetyCheckParams> & safety_check_params) const`
`2372`	`2370`	`{`
`2373`		`- universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);`
`2374`		`-`
`2375`	`2371`	`if (!thread_safe_data_.get_pull_over_path()) {`
`2376`	`2372`	`return {false, false};`
`2377`	`2373`	`}`