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feat(rtc_interface, lane_change): check state transition for cooperate status #8855

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merged 5 commits into from
Sep 12, 2024
Merged

feat(rtc_interface, lane_change): check state transition for cooperate status #8855

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4fcea01
update rtc state transition
go-sakayori Sep 12, 2024
e9527f4
remove transition from failuer and succeeded
go-sakayori Sep 12, 2024
61c0f4c
fix
go-sakayori Sep 12, 2024
eba9d50
check initial state for cooperate status
go-sakayori Sep 12, 2024
58e1ae2
change rtc cooperate status according to module status
go-sakayori Sep 12, 2024
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45 changes: 38 additions & 7 deletions planning/autoware_rtc_interface/src/rtc_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -258,20 +258,51 @@
status.module = module_;
status.safe = safe;
status.command_status.type = Command::DEACTIVATE;
status.state.type = state;
status.state.type = State::WAITING_FOR_EXECUTION;
status.start_distance = start_distance;
status.finish_distance = finish_distance;
status.auto_mode = is_auto_mode_enabled_;
registered_status_.statuses.push_back(status);

if (state != State::WAITING_FOR_EXECUTION)
RCLCPP_WARN_STREAM(
getLogger(), "[updateCooperateStatus] Cannot register "
<< state_to_string(state) << " as initial state" << std::endl);

return;
}

auto update_status = [&](auto & status) {
status.stamp = stamp;
status.safe = safe;
status.state.type = state;
status.start_distance = start_distance;
status.finish_distance = finish_distance;
};

// If the registered status is found, update status by considering the state transition
if (
itr->state.type == State::WAITING_FOR_EXECUTION &&
(state == State::WAITING_FOR_EXECUTION || state == State::RUNNING || state == State::FAILED)) {
update_status(*itr);
return;
}

if (itr->state.type == State::RUNNING && state != State::WAITING_FOR_EXECUTION) {
update_status(*itr);
return;
}

// If the registered status is found, update status
itr->stamp = stamp;
itr->safe = safe;
itr->state.type = state;
itr->start_distance = start_distance;
itr->finish_distance = finish_distance;
if (itr->state.type == State::ABORTING && (state == State::ABORTING || state == State::FAILED)) {

Check warning on line 296 in planning/autoware_rtc_interface/src/rtc_interface.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Complex Conditional 

RTCInterface::updateCooperateStatus has 2 complex conditionals with 5 branches, threshold = 2. A complex conditional is an expression inside a branch (e.g. if, for, while) which consists of multiple, logical operators such as AND/OR. The more logical operators in an expression, the more severe the code smell.
update_status(*itr);
return;
}

RCLCPP_WARN_STREAM(
getLogger(), "[updateCooperateStatus] uuid : " << uuid_to_string(uuid)
<< " cannot transit from "
<< state_to_string(itr->state.type) << " to "
<< state_to_string(state) << std::endl);

Check notice on line 305 in planning/autoware_rtc_interface/src/rtc_interface.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ New issue: Complex Method 

RTCInterface::updateCooperateStatus has a cyclomatic complexity of 12, threshold = 9. 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.
}

void RTCInterface::removeCooperateStatus(const UUID & uuid)
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3 changes: 0 additions & 3 deletions planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -160,9 +160,6 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval()
stop_pose_ = module_type_->getStopPose();

if (!module_type_->isValidPath()) {
updateRTCStatus(
std::numeric_limits<double>::lowest(), std::numeric_limits<double>::lowest(), false,
State::FAILED);
path_candidate_ = std::make_shared<PathWithLaneId>();
return out;
}
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