fix(lane_change): remove overridden run() function

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
autowarefoundation · Jun 11, 2024 · a443644 · a443644
1 parent 30cd2bd
commit a443644
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Showing 2 changed files with 3 additions and 22 deletions.
diff --git a/...r_path_lane_change_module/include/autoware_behavior_path_lane_change_module/interface.hpp b/...r_path_lane_change_module/include/autoware_behavior_path_lane_change_module/interface.hpp
@@ -91,25 +91,6 @@ class LaneChangeInterface : public SceneModuleInterface
 
   MarkerArray getModuleVirtualWall() override;
 
-  // TODO(someone): remove this, and use base class function
-  [[deprecated]] BehaviorModuleOutput run() override
-  {
-    updateData();
-
-    if (!isWaitingApproval()) {
-      return plan();
-    }
-
-    // module is waiting approval. Check it.
-    if (isActivated()) {
-      RCLCPP_DEBUG(getLogger(), "Was waiting approval, and now approved. Do plan().");
-      return plan();
-    } else {
-      RCLCPP_DEBUG(getLogger(), "keep waiting approval... Do planCandidate().");
-      return planWaitingApproval();
-    }
-  }
-
 protected:
   std::shared_ptr<LaneChangeParameters> parameters_;
 

diff --git a/planning/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/autoware_behavior_path_lane_change_module/src/interface.cpp
@@ -120,8 +120,8 @@ BehaviorModuleOutput LaneChangeInterface::plan()
     const auto path =
       assignToCandidate(module_type_->getLaneChangePath(), module_type_->getEgoPosition());
     updateRTCStatus(
-      path.start_distance_to_path_change, path.finish_distance_to_path_change, true,
-      State::RUNNING);
+      path.start_distance_to_path_change, path.finish_distance_to_path_change,
+      post_process_safety_status_.is_safe, State::RUNNING);
   }
 
   return output;
@@ -146,7 +146,7 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval()
 
   if (!module_type_->isValidPath()) {
     updateRTCStatus(
-      std::numeric_limits<double>::lowest(), std::numeric_limits<double>::lowest(), true,
+      std::numeric_limits<double>::lowest(), std::numeric_limits<double>::lowest(), false,
       State::FAILED);
     path_candidate_ = std::make_shared<PathWithLaneId>();
     return out;