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fix(planner_manager): remove succeeded candidate module #3346

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merged 1 commit into from
Apr 11, 2023
Merged

fix(planner_manager): remove succeeded candidate module #3346

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9 changes: 7 additions & 2 deletions planning/behavior_path_planner/src/planner_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -294,17 +294,22 @@ std::pair<SceneModulePtr, BehaviorModuleOutput> PlannerManager::runCandidateModu
processing_time_.at(name) += stop_watch_.toc(name, true);
}

const auto remove_failure_modules = [this](auto & m) {
const auto remove_expired_modules = [this](auto & m) {
if (m->getCurrentStatus() == ModuleStatus::FAILURE) {
deleteExpiredModules(m);
return true;
}

if (m->getCurrentStatus() == ModuleStatus::SUCCESS) {
deleteExpiredModules(m);
return true;
}

return false;
};

executable_modules.erase(
std::remove_if(executable_modules.begin(), executable_modules.end(), remove_failure_modules),
std::remove_if(executable_modules.begin(), executable_modules.end(), remove_expired_modules),
executable_modules.end());

if (executable_modules.empty()) {
Expand Down