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fix(goal_planner): fix parking_path curvature and DecidingState transition #9022

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merged 3 commits into from
Oct 4, 2024
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fix(goal_planner): fix parking_path curvature and DecidingState transition #9022

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e1f0893
fix(goal_planner): fix decide state transition
soblin Oct 3, 2024
a5303ef
fix parking path curvature
soblin Oct 3, 2024
8823c0a
fix deciding_start_time
soblin Oct 3, 2024
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9 changes: 4 additions & 5 deletions ...goal_planner_module/include/autoware/behavior_path_goal_planner_module/decision_state.hpp
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Expand Up @@ -35,15 +35,15 @@ class PathDecisionState
};

DecisionKind state{DecisionKind::NOT_DECIDED};
rclcpp::Time stamp{};
std::optional<rclcpp::Time> deciding_start_time{std::nullopt};
bool is_stable_safe{false};
std::optional<rclcpp::Time> safe_start_time{std::nullopt};
};

class PathDecisionStateController
{
public:
PathDecisionStateController() = default;
explicit PathDecisionStateController(rclcpp::Logger logger) : logger_(logger) {}

/**
* @brief update current state and save old current state to prev state
Expand All @@ -62,11 +62,10 @@ class PathDecisionStateController

PathDecisionState get_current_state() const { return current_state_; }

PathDecisionState get_prev_state() const { return prev_state_; }

private:
rclcpp::Logger logger_;

PathDecisionState current_state_{};
PathDecisionState prev_state_{};

/**
* @brief update current state and save old current state to prev state
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Only prev_state_.stamp was used for saving the time when DECIDING state started.
So I deleted prev_state_ and save deciding_start_time instead.

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2 changes: 1 addition & 1 deletion ...planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp
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Expand Up @@ -321,7 +321,7 @@ class GoalPlannerModule : public SceneModuleInterface
// context_data_ is initialized in updateData(), used in plan() and refreshed in postProcess()
std::optional<PullOverContextData> context_data_{std::nullopt};
// path_decision_controller is updated in updateData(), and used in plan()
PathDecisionStateController path_decision_controller_{};
PathDecisionStateController path_decision_controller_{getLogger()};
std::unique_ptr<LastApprovalData> last_approval_data_{nullptr};

// approximate distance from the start point to the end point of pull_over.
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38 changes: 28 additions & 10 deletions ...avior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
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@@ -1,4 +1,4 @@
// Copyright 2021 Tier IV, Inc.

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ℹ Getting worse: Lines of Code in a Single File 

The lines of code increases from 1997 to 2017, improve code health by reducing it to 1000. The number of Lines of Code in a single file. More Lines of Code lowers the code health.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -2643,7 +2643,6 @@
found_pull_over_path, now, static_target_objects, dynamic_target_objects, modified_goal_opt,
planner_data, occupancy_grid_map, is_current_safe, parameters, goal_searcher, is_activated,
pull_over_path, ego_polygons_expanded);
prev_state_ = current_state_;
current_state_ = next_state;
}

Expand All @@ -2658,10 +2657,7 @@
const std::optional<PullOverPath> & pull_over_path_opt,
std::vector<Polygon2d> & ego_polygons_expanded) const
{
auto next_state = prev_state_;

// update timestamp
next_state.stamp = now;
auto next_state = current_state_;

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Added line #L2660 was not covered by tests

// update safety
if (!parameters.safety_check_params.enable_safety_check) {
Expand All @@ -2684,7 +2680,6 @@

// Once this function returns true, it will continue to return true thereafter
if (next_state.state == PathDecisionState::DecisionKind::DECIDED) {
next_state.state = PathDecisionState::DecisionKind::DECIDED;
return next_state;
}

Expand All @@ -2699,20 +2694,26 @@
// If it is dangerous against dynamic objects before approval, do not determine the path.
// This eliminates a unsafe path to be approved
if (enable_safety_check && !next_state.is_stable_safe && !is_activated) {
RCLCPP_DEBUG(
logger_,
"[DecidingPathStatus]: NOT_DECIDED. path is not safe against dynamic objects before "
"approval");
next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED;
return next_state;
}

const auto & current_path = pull_over_path.getCurrentPath();
if (prev_state_.state == PathDecisionState::DecisionKind::DECIDING) {
if (current_state_.state == PathDecisionState::DecisionKind::DECIDING) {
const double hysteresis_factor = 0.9;

// check goal pose collision
if (
modified_goal_opt && !goal_searcher->isSafeGoalWithMarginScaleFactor(
modified_goal_opt.value(), hysteresis_factor, occupancy_grid_map,
planner_data, static_target_objects)) {
RCLCPP_DEBUG(logger_, "[DecidingPathStatus]: DECIDING->NOT_DECIDED. goal is not safe");
next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED;
next_state.deciding_start_time = std::nullopt;
return next_state;
}

Expand All @@ -2727,24 +2728,36 @@
/*extract_static_objects=*/false, parameters.maximum_deceleration,
parameters.object_recognition_collision_check_max_extra_stopping_margin,
ego_polygons_expanded, true)) {
RCLCPP_DEBUG(
logger_, "[DecidingPathStatus]: DECIDING->NOT_DECIDED. path has collision with objects");
next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED;
next_state.deciding_start_time = std::nullopt;
return next_state;
}

if (enable_safety_check && !next_state.is_stable_safe) {
RCLCPP_DEBUG(
logger_,
"[DecidingPathStatus]: DECIDING->NOT_DECIDED. path is not safe against dynamic objects");
next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED;
return next_state;
}

// if enough time has passed since deciding status starts, transition to DECIDED
constexpr double check_collision_duration = 1.0;
const double elapsed_time_from_deciding = (now - prev_state_.stamp).seconds();
const double elapsed_time_from_deciding =
(now - current_state_.deciding_start_time.value()).seconds();
if (elapsed_time_from_deciding > check_collision_duration) {
RCLCPP_DEBUG(logger_, "[DecidingPathStatus]: DECIDING->DECIDED. has enough safe time passed");
next_state.state = PathDecisionState::DecisionKind::DECIDED;
next_state.deciding_start_time = std::nullopt;
return next_state;
}

// if enough time has NOT passed since deciding status starts, keep DECIDING
RCLCPP_DEBUG(
logger_, "[DecidingPathStatus]: keep DECIDING. elapsed_time_from_deciding: %f",
elapsed_time_from_deciding);
return next_state;
}

Expand All @@ -2766,10 +2779,15 @@
// if object recognition for path collision check is enabled, transition to DECIDING to check
// collision for a certain period of time. Otherwise, transition to DECIDED directly.
if (parameters.use_object_recognition) {
next_state.state = PathDecisionState::DecisionKind::DECIDED;
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In prior PR, I mistakenly changed the next state to DECIDED. DECIDING is correct for this case.

RCLCPP_DEBUG(
logger_,
"[DecidingPathStatus]: NOT_DECIDED->DECIDING. start checking collision for certain "
"period of time");
next_state.state = PathDecisionState::DecisionKind::DECIDING;

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next_state.deciding_start_time = now;
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fixedto return DECIDING as the next state.

return next_state;
}
return {PathDecisionState::DecisionKind::DECIDED, now};
return {PathDecisionState::DecisionKind::DECIDED, std::nullopt};

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❌ Getting worse: Complex Method 

PathDecisionStateController::get_next_state already has high cyclomatic complexity, and now it increases in Lines of Code from 96 to 117. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

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}

} // namespace autoware::behavior_path_planner
2 changes: 1 addition & 1 deletion ...toware_behavior_path_goal_planner_module/src/pull_over_planner/pull_over_planner_base.cpp
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Expand Up @@ -73,7 +73,7 @@ std::optional<PullOverPath> PullOverPath::create(
double parking_path_max_curvature{};
std::tie(full_path_curvatures, full_path_max_curvature) = calculateCurvaturesAndMax(full_path);
std::tie(parking_path_curvatures, parking_path_max_curvature) =
calculateCurvaturesAndMax(full_path);
calculateCurvaturesAndMax(parking_path);

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I was using full_path for calculating the curvature of parking_path by mistake

return PullOverPath(
type, goal_id, id, start_pose, end_pose, partial_paths, full_path, parking_path,
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