Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

feat: output avoidance debug array whenever the avoidance module is enabled #835

Merged
merged 1 commit into from
May 9, 2022
Merged

feat: output avoidance debug array whenever the avoidance module is enabled #835

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 1 addition & 2 deletions ...or_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -157,8 +157,7 @@ class AvoidanceModule : public SceneModuleInterface
// debug
mutable DebugData debug_data_;
void setDebugData(const PathShifter & shifter, const DebugData & debug);
mutable std::vector<AvoidanceDebugMsg> debug_avoidance_initializer_for_object;
mutable std::vector<AvoidanceDebugMsg> debug_avoidance_initializer_for_shift_point;
mutable std::vector<AvoidanceDebugMsg> debug_avoidance_initializer_for_shift_point_;
// =====================================
// ========= helper functions ==========
// =====================================
Expand Down
2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/behavior_tree_manager.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -129,7 +129,7 @@ AvoidanceDebugMsgArray BehaviorTreeManager::getAvoidanceDebugMsgArray()
const auto avoidance_module = std::find_if(
scene_modules_.begin(), scene_modules_.end(),
[](const std::shared_ptr<SceneModuleInterface> & module_ptr) {
return module_ptr->current_state_ == BT::NodeStatus::SUCCESS;
return module_ptr->name() == "Avoidance";
});
if (avoidance_module != scene_modules_.end()) {
const auto & ptr = avoidance_module->get()->getAvoidanceDebugMsgArray();
Expand Down
28 changes: 9 additions & 19 deletions planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -77,8 +77,6 @@ bool AvoidanceModule::isExecutionReady() const
{
DebugData debug;
static_cast<void>(calcAvoidancePlanningData(debug));
debug_avoidance_msg_array_ptr_ =
std::make_shared<AvoidanceDebugMsgArray>(debug.avoidance_debug_msg_array);
}

if (current_state_ == BT::NodeStatus::RUNNING) {
Expand All @@ -95,8 +93,6 @@ BT::NodeStatus AvoidanceModule::updateState()
DebugData debug;
const auto avoid_data = calcAvoidancePlanningData(debug);
const bool has_avoidance_target = !avoid_data.objects.empty();
debug_avoidance_msg_array_ptr_ =
std::make_shared<AvoidanceDebugMsgArray>(debug.avoidance_debug_msg_array);
if (!is_plan_running && !has_avoidance_target) {
current_state_ = BT::NodeStatus::SUCCESS;
} else {
Expand Down Expand Up @@ -298,8 +294,13 @@ ObjectDataArray AvoidanceModule::calcAvoidanceTargetObjects(

// debug
{
debug_avoidance_initializer_for_object = avoidance_debug_msg_array;
debug.avoidance_debug_msg_array.avoidance_info = std::move(avoidance_debug_msg_array);
auto & debug_data_avoidance = debug_data_.avoidance_debug_msg_array.avoidance_info;
debug_data_avoidance = avoidance_debug_msg_array;
debug_data_avoidance.insert(
debug_data_avoidance.end(), debug_avoidance_initializer_for_shift_point_.begin(),
debug_avoidance_initializer_for_shift_point_.end());
debug_avoidance_msg_array_ptr_ =
std::make_shared<AvoidanceDebugMsgArray>(debug_data_.avoidance_debug_msg_array);
debug.farthest_linestring_from_overhang =
std::make_shared<lanelet::ConstLineStrings3d>(debug_linestring);
debug.current_lanelets = std::make_shared<lanelet::ConstLanelets>(current_lanes);
Expand Down Expand Up @@ -595,14 +596,7 @@ AvoidPointArray AvoidanceModule::calcRawShiftPointsFromObjects(
avoidance_debug_msg_array.push_back(avoidance_debug_msg);
}

{
debug_avoidance_initializer_for_shift_point = std::move(avoidance_debug_msg_array);
auto & debug_data_avoidance = debug_data_.avoidance_debug_msg_array.avoidance_info;
debug_data_avoidance = debug_avoidance_initializer_for_object;
debug_data_avoidance.insert(
debug_data_avoidance.end(), debug_avoidance_initializer_for_shift_point.begin(),
debug_avoidance_initializer_for_shift_point.end());
}
debug_avoidance_initializer_for_shift_point_ = std::move(avoidance_debug_msg_array);
fillAdditionalInfoFromLongitudinal(avoid_points);

return avoid_points;
Expand Down Expand Up @@ -2177,8 +2171,6 @@ BehaviorModuleOutput AvoidanceModule::planWaitingApproval()
// we can execute the plan() since it handles the approval appropriately.
BehaviorModuleOutput out = plan();
out.path_candidate = std::make_shared<PathWithLaneId>(planCandidate());
debug_avoidance_msg_array_ptr_ =
std::make_shared<AvoidanceDebugMsgArray>(debug_data_.avoidance_debug_msg_array);
return out;
}

Expand Down Expand Up @@ -2401,9 +2393,6 @@ void AvoidanceModule::updateData()
{
debug_data_ = DebugData();
avoidance_data_ = calcAvoidancePlanningData(debug_data_);
const auto avoidance_debug_msgs = debug_data_.avoidance_debug_msg_array.avoidance_info;
debug_avoidance_msg_array_ptr_ =
std::make_shared<AvoidanceDebugMsgArray>(debug_data_.avoidance_debug_msg_array);

// TODO(Horibe): this is not tested yet, disable now.
updateRegisteredObject(avoidance_data_.objects);
Expand Down Expand Up @@ -2551,6 +2540,7 @@ void AvoidanceModule::initVariables()
path_shifter_ = PathShifter{};

debug_avoidance_msg_array_ptr_.reset();
debug_avoidance_initializer_for_shift_point_.clear();
debug_data_ = DebugData();

registered_raw_shift_points_ = {};
Expand Down