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chore(intersection): publish decision status string #4456

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merged 1 commit into from
Jul 31, 2023
Merged

chore(intersection): publish decision status string #4456

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31 changes: 31 additions & 0 deletions planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,6 +86,8 @@ IntersectionModule::IntersectionModule(
before_creep_state_machine_.setState(StateMachine::State::STOP);
stuck_private_area_timeout_.setMarginTime(planner_param_.stuck_vehicle.timeout_private_area);
stuck_private_area_timeout_.setState(StateMachine::State::STOP);
decision_state_pub_ =
node_.create_publisher<std_msgs::msg::String>("~/debug/intersection/decision_state", 1);
}

void IntersectionModule::initializeRTCStatus()
Expand Down Expand Up @@ -648,6 +650,35 @@ bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path, StopReason *
// calculate the
const auto decision_result = modifyPathVelocityDetail(path, stop_reason);

std::string decision_type = "intersection" + std::to_string(module_id_) + " : ";
if (std::get_if<IntersectionModule::Indecisive>(&decision_result)) {
decision_type += "Indecisive";
}
if (std::get_if<IntersectionModule::StuckStop>(&decision_result)) {
decision_type += "StuckStop";
}
if (std::get_if<IntersectionModule::NonOccludedCollisionStop>(&decision_result)) {
decision_type += "NonOccludedCollisionStop";
}
if (std::get_if<IntersectionModule::FirstWaitBeforeOcclusion>(&decision_result)) {
decision_type += "FirstWaitBeforeOcclusion";
}
if (std::get_if<IntersectionModule::PeekingTowardOcclusion>(&decision_result)) {
decision_type += "PeekingTowardOcclusion";
}
if (std::get_if<IntersectionModule::OccludedCollisionStop>(&decision_result)) {
decision_type += "OccludedCollisionStop";
}
if (std::get_if<IntersectionModule::Safe>(&decision_result)) {
decision_type += "Safe";
}
if (std::get_if<IntersectionModule::TrafficLightArrowSolidOn>(&decision_result)) {
decision_type += "TrafficLightArrowSolidOn";
}
std_msgs::msg::String decision_result_msg;
decision_result_msg.data = decision_type;
decision_state_pub_->publish(decision_result_msg);

prepareRTCStatus(decision_result, *path);

const double baselink2front = planner_data_->vehicle_info_.max_longitudinal_offset_m;
Expand Down
2 changes: 2 additions & 0 deletions planning/behavior_velocity_intersection_module/src/scene_intersection.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@
#include <tier4_autoware_utils/tier4_autoware_utils.hpp>

#include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
#include <std_msgs/msg/string.hpp>

#include <lanelet2_core/LaneletMap.h>
#include <lanelet2_routing/RoutingGraph.h>
Expand Down Expand Up @@ -272,6 +273,7 @@ class IntersectionModule : public SceneModuleInterface
*/

util::DebugData debug_data_;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr decision_state_pub_;
};

} // namespace behavior_velocity_planner
Expand Down