refactor(goal_planner): use the PullOverPath, PullOverPathCandidates copied from ThreadData to reduce access #8994
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…copied from ThreadData to reduce access Signed-off-by: Mamoru Sobue <[email protected]>
Signed-off-by: Mamoru Sobue <[email protected]>
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Signed-off-by: Mamoru Sobue <[email protected]>
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Signed-off-by: Mamoru Sobue <[email protected]>
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soblin
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Oct 2, 2024
| @@ -540,21 +540,24 @@ void GoalPlannerModule::updateData() | |||
| path_reference_ = std::make_shared<PathWithLaneId>(getPreviousModuleOutput().reference_path); | |||
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| const bool found_pull_over_path = thread_safe_data_.foundPullOverPath(); | |||
| const std::optional<PullOverPath> pull_over_path = | |||
| std::optional<PullOverPath> pull_over_path_recv = | |||
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ここでthread_safe_data.get_pull_over_pathをコピーしてます
| dynamic_target_objects); | ||
| dynamic_target_objects, std::move(pull_over_path_recv), | ||
| thread_safe_data_.get_pull_over_path_candidates()); | ||
| const auto & ctx_data = context_data_.value(); |
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pull_over_path_candidates()もコピーしてきます．以降はctx_dataを使いまわします．
ほとんどの変更はthread_safe_dataへのアクセスがctx_dataへのアクセスに変わっているだけです
soblin
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kosuke55,
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shmpwk,
TomohitoAndo and
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kosuke55
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Oct 3, 2024
...behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #8994 +/- ##
==========================================
- Coverage 26.17% 26.16% -0.02%
==========================================
Files 1298 1302 +4
Lines 96986 97035 +49
Branches 39196 39189 -7
==========================================
Hits 25387 25387
- Misses 68986 69031 +45
- Partials 2613 2617 +4
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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Description
https://tier4.atlassian.net/wiki/spaces/~621c200f9c3cce006949b60e/pages/3286696258/GoalPlanner#%E8%89%B2%E3%82%93%E3%81%AA%E7%AE%87%E6%89%80%E3%81%A7.set_foo(%E2%80%A6)%E3%82%92%E5%91%BC%E3%81%B0%E3%81%AA%E3%81%84%E3%82%88%E3%81%86%E3%81%AB%E3%81%99%E3%82%8B%EF%BC%8E
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