Cleanup WaypointState.msg and add steering_state=STR_BACK

ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp

@@ -284,8 +284,8 @@ void DecisionMakerNode::setWaypointState(autoware_msgs::LaneArray& lane_array)
                     lane.waypoints.at(wp_idx).pose.pose.position.y, lane.waypoints.at(wp_idx + 1).pose.pose.position.x,
                     lane.waypoints.at(wp_idx + 1).pose.pose.position.y))
             {
-              lane.waypoints.at(wp_idx).wpstate.stopline_state = g_vmap.findByKey(Key<RoadSign>(stopline.signid)).type;
-              // lane.waypoints.at(wp_idx + 1).wpstate.stopline_state = 1;
+              lane.waypoints.at(wp_idx).wpstate.stop_state = g_vmap.findByKey(Key<RoadSign>(stopline.signid)).type;
+              // lane.waypoints.at(wp_idx + 1).wpstate.stop_state = 1;
             }
           }
         }
@@ -311,7 +311,7 @@ void DecisionMakerNode::callbackFromLaneWaypoint(const autoware_msgs::LaneArray
       wp.wpstate.aid = 0;
       wp.wpstate.steering_state = autoware_msgs::WaypointState::NULLSTATE;
       wp.wpstate.accel_state = autoware_msgs::WaypointState::NULLSTATE;
-      wp.wpstate.stopline_state = autoware_msgs::WaypointState::NULLSTATE;
+      wp.wpstate.stop_state = autoware_msgs::WaypointState::NULLSTATE;
       wp.wpstate.lanechange_state = autoware_msgs::WaypointState::NULLSTATE;
       wp.wpstate.event_state = 0;
     }
@@ -361,12 +361,12 @@ void DecisionMakerNode::callbackFromFinalWaypoint(const autoware_msgs::Lane &msg
   {
     if (i < current_finalwaypoints_.waypoints.size())
     {
-      if (current_finalwaypoints_.waypoints.at(i).wpstate.stopline_state == autoware_msgs::WaypointState::TYPE_STOPLINE)
+      if (current_finalwaypoints_.waypoints.at(i).wpstate.stop_state == autoware_msgs::WaypointState::TYPE_STOPLINE)
       {
         ctx->setCurrentState(state_machine::DRIVE_ACC_STOPLINE_STATE);
         closest_stopline_waypoint_ = CurrentStoplineTarget_.gid;
       }
-      if (current_finalwaypoints_.waypoints.at(i).wpstate.stopline_state == autoware_msgs::WaypointState::TYPE_STOP)
+      if (current_finalwaypoints_.waypoints.at(i).wpstate.stop_state == autoware_msgs::WaypointState::TYPE_STOP)
         ctx->setCurrentState(state_machine::DRIVE_ACC_STOP_STATE);
     }
   }

ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_stateupdate.cpp

@@ -196,7 +196,7 @@ void DecisionMakerNode::updateLaneWaypointsArray(void)
     for (auto& wp : lane.waypoints)
     {
       wp.twist.twist.linear.x = 0.0;
-      wp.wpstate.stopline_state = 0;
+      wp.wpstate.stop_state = 0;
     }
   }
   for (auto& lane : current_shifted_lane_array_.lanes)
@@ -206,7 +206,7 @@ void DecisionMakerNode::updateLaneWaypointsArray(void)
       // if stopped at stopline, to delete flags already used.
       if (CurrentStoplineTarget_.gid - 2 <= wp.gid && wp.gid <= CurrentStoplineTarget_.gid + 2)
       {
-        wp.wpstate.stopline_state = 0;
+        wp.wpstate.stop_state = 0;
       }
     }
   }
@@ -262,7 +262,7 @@ void DecisionMakerNode::setAllStoplineStop(void)
             b->x = lane.waypoints.at(wp_idx).pose.pose.position.x;
             b->y = lane.waypoints.at(wp_idx).pose.pose.position.y;
             if (amathutils::find_distance(a, b) <= 4)  //
-              lane.waypoints.at(wp_idx).wpstate.stopline_state = 1;
+              lane.waypoints.at(wp_idx).wpstate.stop_state = 1;
           }
         }
       }

ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/waypoint_loader_core.cpp

@@ -139,7 +139,7 @@ void WaypointLoaderNode::saveLaneArray(const std::vector<std::string>& paths,
       ofs << std::fixed << std::setprecision(4) << el.pose.pose.position.x << "," << el.pose.pose.position.y << ","
           << el.pose.pose.position.z << "," << tf::getYaw(el.pose.pose.orientation) << ","
           << mps2kmph(el.twist.twist.linear.x) << "," << (int)el.change_flag << "," << (int)el.wpstate.steering_state
-          << "," << (int)el.wpstate.accel_state << "," << (int)el.wpstate.stopline_state << ","
+          << "," << (int)el.wpstate.accel_state << "," << (int)el.wpstate.stop_state << ","
           << (int)el.wpstate.event_state << std::endl;
     }
     idx++;
@@ -294,7 +294,7 @@ void WaypointLoaderNode::parseWaypointForVer3(const std::string& line, const std
   wp->change_flag = std::stoi(map["change_flag"]);
   wp->wpstate.steering_state = (map.find("steering_flag") != map.end()) ? std::stoi(map["steering_flag"]) : 0;
   wp->wpstate.accel_state = (map.find("accel_flag") != map.end()) ? std::stoi(map["accel_flag"]) : 0;
-  wp->wpstate.stopline_state = (map.find("stop_flag") != map.end()) ? std::stoi(map["stop_flag"]) : 0;
+  wp->wpstate.stop_state = (map.find("stop_flag") != map.end()) ? std::stoi(map["stop_flag"]) : 0;
   wp->wpstate.event_state = (map.find("event_flag") != map.end()) ? std::stoi(map["event_flag"]) : 0;
 }
 

ros/src/msgs/autoware_msgs/msg/WaypointState.msg

@@ -1,16 +1,27 @@
 int32 aid
 uint8 NULLSTATE=0
+
+# lanechange
 uint8 lanechange_state
 
+# bilinker
 uint8 steering_state
 uint8 STR_LEFT=1
 uint8 STR_RIGHT=2
 uint8 STR_STRAIGHT=3
+uint8 STR_BACK=4
 
 uint8 accel_state
-uint8 stopline_state
-  uint8 TYPE_NULL=0
-  uint8 TYPE_STOPLINE=1
-  uint8 TYPE_STOP=2
-# 1 is stopline, 2 is stop which 2 can only be released manually.
-uint64 event_state
+
+uint8 stop_state
+# 1 is stopline, 2 is stop which can only be released manually.
+uint8 TYPE_STOPLINE=1
+uint8 TYPE_STOP=2
+
+uint8 event_state
+uint8 TYPE_EVENT_NULL = 0
+uint8 TYPE_EVENT_GOAL = 1
+uint8 TYPE_EVENT_MIDDLE_GOAL = 2
+uint8 TYPE_EVENT_POSITION_STOP = 3
+uint8 TYPE_EVENT_BUS_STOP = 4
+uint8 TYPE_EVENT_PARKING = 5