fix(behavior_path_planner): rename macro

planning/behavior_path_planner/CMakeLists.txt

@@ -7,9 +7,7 @@ autoware_package()
 find_package(OpenCV REQUIRED)
 find_package(magic_enum CONFIG REQUIRED)
 
-# use planner manager that supports behavior tree
-set(USE_BT TRUE)
-message(STATUS "USE_BEHAVIOR_TREE: " ${USE_BT})
+set(COMPILE_WITH_OLD_ARCHITECTURE TRUE)
 
 set(common_src
   src/utilities.cpp
@@ -40,7 +38,7 @@ set(common_src
   src/marker_util/lane_change/debug.cpp
 )
 
-if(USE_BT)
+if(COMPILE_WITH_OLD_ARCHITECTURE)
   ament_auto_add_library(behavior_path_planner_node SHARED
     src/behavior_tree_manager.cpp
     src/scene_module/scene_module_bt_node_interface.cpp
@@ -54,17 +52,17 @@ if(USE_BT)
     ${common_src}
   )
 
-  target_compile_definitions(behavior_path_planner_node PRIVATE USE_BEHAVIOR_TREE)
+  target_compile_definitions(behavior_path_planner_node PRIVATE USE_OLD_ARCHITECTURE)
 
-  message(WARNING "Build behavior_path_planner with BT...")
+  message(WARNING "Build behavior_path_planner with OLD framework...")
 
 else()
   ament_auto_add_library(behavior_path_planner_node SHARED
     src/planner_manager.cpp
     ${common_src}
   )
 
-  message(WARNING "Build behavior_path_planner without BT...")
+  message(WARNING "Build behavior_path_planner with NEW framework...")
 endif()
 
 target_include_directories(behavior_path_planner_node SYSTEM PUBLIC

planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp

@@ -18,7 +18,7 @@
 #include "behavior_path_planner/data_manager.hpp"
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
 
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
 #include "behavior_path_planner/behavior_tree_manager.hpp"
 #include "behavior_path_planner/scene_module/avoidance/avoidance_module.hpp"
 #include "behavior_path_planner/scene_module/lane_change/external_request_lane_change_module.hpp"
@@ -107,7 +107,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node
   rclcpp::Subscription<Scenario>::SharedPtr scenario_subscriber_;
   rclcpp::Subscription<PredictedObjects>::SharedPtr perception_subscriber_;
   rclcpp::Subscription<OccupancyGrid>::SharedPtr occupancy_grid_subscriber_;
-#ifndef USE_BEHAVIOR_TREE
+#ifndef USE_OLD_ARCHITECTURE
   rclcpp::Subscription<OperationModeState>::SharedPtr operation_mode_subscriber_;
 #endif
   rclcpp::Publisher<PathWithLaneId>::SharedPtr path_publisher_;
@@ -118,13 +118,13 @@ class BehaviorPathPlannerNode : public rclcpp::Node
   rclcpp::TimerBase::SharedPtr timer_;
 
   std::map<std::string, rclcpp::Publisher<Path>::SharedPtr> path_candidate_publishers_;
-#ifndef USE_BEHAVIOR_TREE
+#ifndef USE_OLD_ARCHITECTURE
   std::map<std::string, rclcpp::Publisher<Path>::SharedPtr> path_reference_publishers_;
 #endif
 
   std::shared_ptr<PlannerData> planner_data_;
 
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
   std::shared_ptr<BehaviorTreeManager> bt_manager_;
 #else
   std::shared_ptr<PlannerManager> planner_manager_;
@@ -149,15 +149,15 @@ class BehaviorPathPlannerNode : public rclcpp::Node
   // update planner data
   std::shared_ptr<PlannerData> createLatestPlannerData();
 
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
   // parameters
   std::shared_ptr<AvoidanceParameters> avoidance_param_ptr;
   std::shared_ptr<LaneChangeParameters> lane_change_param_ptr;
 #endif
 
   BehaviorPathPlannerParameters getCommonParam();
 
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
   BehaviorTreeManagerParam getBehaviorTreeManagerParam();
   SideShiftParameters getSideShiftParam();
   AvoidanceParameters getAvoidanceParam();
@@ -174,7 +174,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node
   void onOccupancyGrid(const OccupancyGrid::ConstSharedPtr msg);
   void onMap(const HADMapBin::ConstSharedPtr map_msg);
   void onRoute(const LaneletRoute::ConstSharedPtr route_msg);
-#ifndef USE_BEHAVIOR_TREE
+#ifndef USE_OLD_ARCHITECTURE
   void onOperationMode(const OperationModeState::ConstSharedPtr msg);
 #endif
   SetParametersResult onSetParam(const std::vector<rclcpp::Parameter> & parameters);
@@ -235,7 +235,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node
   /**
    * @brief publish path candidate
    */
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
   void publishPathCandidate(
     const std::vector<std::shared_ptr<SceneModuleInterface>> & scene_modules);
 #else

planning/behavior_path_planner/include/behavior_path_planner/module_status.hpp

@@ -15,14 +15,14 @@
 #ifndef BEHAVIOR_PATH_PLANNER__MODULE_STATUS_HPP_
 #define BEHAVIOR_PATH_PLANNER__MODULE_STATUS_HPP_
 
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
 #include <behaviortree_cpp_v3/basic_types.h>
 #endif
 
 namespace behavior_path_planner
 {
 
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
 using ModuleStatus = BT::NodeStatus;
 #else
 enum class ModuleStatus {

planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp

@@ -63,7 +63,7 @@ class SceneModuleInterface
     uuid_(generateUUID()),
     current_state_{ModuleStatus::SUCCESS}
   {
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
     std::string module_ns;
     module_ns.resize(name.size());
     std::transform(name.begin(), name.end(), module_ns.begin(), tolower);
@@ -224,7 +224,7 @@ class SceneModuleInterface
    */
   void setData(const std::shared_ptr<const PlannerData> & data) { planner_data_ = data; }
 
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
   void publishDebugMarker() { pub_debug_marker_->publish(debug_marker_); }
 #endif
 
@@ -255,7 +255,7 @@ class SceneModuleInterface
 
   rclcpp::Logger logger_;
 
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
   rclcpp::Publisher<MarkerArray>::SharedPtr pub_debug_marker_;
 #endif
 

planning/behavior_path_planner/src/behavior_path_planner_node.cpp

@@ -91,7 +91,7 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod
   occupancy_grid_subscriber_ = create_subscription<OccupancyGrid>(
     "~/input/occupancy_grid_map", 1, std::bind(&BehaviorPathPlannerNode::onOccupancyGrid, this, _1),
     createSubscriptionOptions(this));
-#ifndef USE_BEHAVIOR_TREE
+#ifndef USE_OLD_ARCHITECTURE
   operation_mode_subscriber_ = create_subscription<OperationModeState>(
     "/system/operation_mode/state", 1,
     std::bind(&BehaviorPathPlannerNode::onOperationMode, this, _1),
@@ -113,15 +113,15 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod
     "~/input/route", qos_transient_local, std::bind(&BehaviorPathPlannerNode::onRoute, this, _1),
     createSubscriptionOptions(this));
 
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
   avoidance_param_ptr = std::make_shared<AvoidanceParameters>(getAvoidanceParam());
   lane_change_param_ptr = std::make_shared<LaneChangeParameters>(getLaneChangeParam());
 #endif
 
   m_set_param_res = this->add_on_set_parameters_callback(
     std::bind(&BehaviorPathPlannerNode::onSetParam, this, std::placeholders::_1));
 
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
   // behavior tree manager
   {
     RCLCPP_INFO(get_logger(), "use behavior tree.");
@@ -224,7 +224,7 @@ BehaviorPathPlannerParameters BehaviorPathPlannerNode::getCommonParam()
 {
   BehaviorPathPlannerParameters p{};
 
-#ifndef USE_BEHAVIOR_TREE
+#ifndef USE_OLD_ARCHITECTURE
   p.verbose = declare_parameter<bool>("verbose");
 #endif
 
@@ -305,7 +305,7 @@ BehaviorPathPlannerParameters BehaviorPathPlannerNode::getCommonParam()
   return p;
 }
 
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
 SideShiftParameters BehaviorPathPlannerNode::getSideShiftParam()
 {
   const auto dp = [this](const std::string & str, auto def_val) {
@@ -329,7 +329,7 @@ SideShiftParameters BehaviorPathPlannerNode::getSideShiftParam()
 }
 #endif
 
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
 AvoidanceParameters BehaviorPathPlannerNode::getAvoidanceParam()
 {
   AvoidanceParameters p{};
@@ -485,7 +485,7 @@ AvoidanceParameters BehaviorPathPlannerNode::getAvoidanceParam()
 }
 #endif
 
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
 LaneFollowingParameters BehaviorPathPlannerNode::getLaneFollowingParam()
 {
   LaneFollowingParameters p{};
@@ -501,7 +501,7 @@ LaneFollowingParameters BehaviorPathPlannerNode::getLaneFollowingParam()
 }
 #endif
 
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
 LaneChangeParameters BehaviorPathPlannerNode::getLaneChangeParam()
 {
   const auto dp = [this](const std::string & str, auto def_val) {
@@ -580,7 +580,7 @@ LaneChangeParameters BehaviorPathPlannerNode::getLaneChangeParam()
 }
 #endif
 
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
 PullOverParameters BehaviorPathPlannerNode::getPullOverParam()
 {
   const auto dp = [this](const std::string & str, auto def_val) {
@@ -678,7 +678,7 @@ PullOverParameters BehaviorPathPlannerNode::getPullOverParam()
 }
 #endif
 
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
 PullOutParameters BehaviorPathPlannerNode::getPullOutParam()
 {
   const auto dp = [this](const std::string & str, auto def_val) {
@@ -736,7 +736,7 @@ PullOutParameters BehaviorPathPlannerNode::getPullOutParam()
 }
 #endif
 
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
 BehaviorTreeManagerParam BehaviorPathPlannerNode::getBehaviorTreeManagerParam()
 {
   BehaviorTreeManagerParam p{};
@@ -779,7 +779,7 @@ bool BehaviorPathPlannerNode::isDataReady()
     return missing("self_acceleration");
   }
 
-#ifndef USE_BEHAVIOR_TREE
+#ifndef USE_OLD_ARCHITECTURE
   if (!planner_data_->operation_mode) {
     return missing("operation_mode");
   }
@@ -806,7 +806,7 @@ std::shared_ptr<PlannerData> BehaviorPathPlannerNode::createLatestPlannerData()
     // so that the each modules do not have to care about the "route jump".
     if (!is_first_time) {
       RCLCPP_DEBUG(get_logger(), "new route is received. reset behavior tree.");
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
       bt_manager_->resetBehaviorTree();
 #else
       planner_manager_->reset();
@@ -837,14 +837,14 @@ void BehaviorPathPlannerNode::run()
   // create latest planner data
   const auto planner_data = createLatestPlannerData();
 
-#ifndef USE_BEHAVIOR_TREE
+#ifndef USE_OLD_ARCHITECTURE
   if (planner_data->operation_mode->mode != OperationModeState::AUTONOMOUS) {
     planner_manager_->resetRootLanelet(planner_data);
   }
 #endif
 
   // run behavior planner
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
   const auto output = bt_manager_->run(planner_data);
 #else
   const auto output = planner_manager_->run(planner_data);
@@ -872,7 +872,7 @@ void BehaviorPathPlannerNode::run()
       get_logger(), *get_clock(), 5000, "behavior path output is empty! Stop publish.");
   }
 
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
   publishPathCandidate(bt_manager_->getSceneModules());
 #else
   publishPathCandidate(planner_manager_->getSceneModuleManagers());
@@ -893,7 +893,7 @@ void BehaviorPathPlannerNode::run()
     debug_maximum_drivable_area_publisher_->publish(maximum_drivable_area);
   }
 
-#ifndef USE_BEHAVIOR_TREE
+#ifndef USE_OLD_ARCHITECTURE
   planner_manager_->print();
   planner_manager_->publishDebugMarker();
 #endif
@@ -988,7 +988,7 @@ void BehaviorPathPlannerNode::publish_bounds(const PathWithLaneId & path)
 
 void BehaviorPathPlannerNode::publishSceneModuleDebugMsg()
 {
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
   const auto debug_messages_data_ptr = bt_manager_->getAllSceneModuleDebugMsgData();
 
   const auto avoidance_debug_message = debug_messages_data_ptr->getAvoidanceModuleDebugMsg();
@@ -1003,7 +1003,7 @@ void BehaviorPathPlannerNode::publishSceneModuleDebugMsg()
 #endif
 }
 
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
 void BehaviorPathPlannerNode::publishPathCandidate(
   const std::vector<std::shared_ptr<SceneModuleInterface>> & scene_modules)
 {
@@ -1095,7 +1095,7 @@ PathWithLaneId::SharedPtr BehaviorPathPlannerNode::getPath(
     get_logger(), "BehaviorTreeManager: output is %s.", bt_output.path ? "FOUND" : "NOT FOUND");
 
   PathWithLaneId connected_path;
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
   const auto module_status_ptr_vec = bt_manager_->getModulesStatus();
 #else
   const auto module_status_ptr_vec = planner_manager_->getSceneModuleStatus();
@@ -1181,7 +1181,7 @@ void BehaviorPathPlannerNode::onRoute(const LaneletRoute::ConstSharedPtr msg)
   route_ptr_ = msg;
   has_received_route_ = true;
 }
-#ifndef USE_BEHAVIOR_TREE
+#ifndef USE_OLD_ARCHITECTURE
 void BehaviorPathPlannerNode::onOperationMode(const OperationModeState::ConstSharedPtr msg)
 {
   const std::lock_guard<std::mutex> lock(mutex_pd_);
@@ -1194,7 +1194,7 @@ SetParametersResult BehaviorPathPlannerNode::onSetParam(
 {
   rcl_interfaces::msg::SetParametersResult result;
 
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
   if (!lane_change_param_ptr && !avoidance_param_ptr) {
     result.successful = false;
     result.reason = "param not initialized";
@@ -1206,7 +1206,7 @@ SetParametersResult BehaviorPathPlannerNode::onSetParam(
   result.reason = "success";
 
   try {
-#ifdef USE_BEHAVIOR_TREE
+#ifdef USE_OLD_ARCHITECTURE
     update_param(
       parameters, "avoidance.publish_debug_marker", avoidance_param_ptr->publish_debug_marker);
     update_param(