From 89112787570bfd4b57163131824f7729a557e21e Mon Sep 17 00:00:00 2001
From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com>
Date: Thu, 28 Dec 2023 15:11:05 +0900
Subject: [PATCH] feat!: remove planning factor type (#5793)

remove planning factor type

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>
---
 .../src/velocity_steering_factors_panel.cpp   |  3 -
 .../src/behavior_path_planner_node.cpp        |  8 +-
 system/default_ad_api/src/planning.cpp        | 86 -------------------
 3 files changed, 1 insertion(+), 96 deletions(-)

diff --git a/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp b/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp
index e27fc9b6cfa81..6ea142ed66a1b 100644
--- a/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp
+++ b/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp
@@ -174,9 +174,6 @@ void VelocitySteeringFactorsPanel::onSteeringFactors(const SteeringFactorArray::
         case SteeringFactor::APPROACHING:
           label->setText("APPROACHING");
           break;
-        case SteeringFactor::TRYING:
-          label->setText("TRYING");
-          break;
         case SteeringFactor::TURNING:
           label->setText("TURNING");
           break;
diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
index 9fd397bb8a8b1..12715520e1146 100644
--- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
+++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -490,16 +490,10 @@ void BehaviorPathPlannerNode::publish_steering_factor(
 
     const auto [intersection_pose, intersection_distance] =
       planner_data->turn_signal_decider.getIntersectionPoseAndDistance();
-    const uint16_t steering_factor_state = std::invoke([&intersection_flag]() {
-      if (intersection_flag) {
-        return SteeringFactor::TURNING;
-      }
-      return SteeringFactor::TRYING;
-    });
 
     steering_factor_interface_ptr_->updateSteeringFactor(
       {intersection_pose, intersection_pose}, {intersection_distance, intersection_distance},
-      PlanningBehavior::INTERSECTION, steering_factor_direction, steering_factor_state, "");
+      PlanningBehavior::INTERSECTION, steering_factor_direction, SteeringFactor::TURNING, "");
   } else {
     steering_factor_interface_ptr_->clearSteeringFactors();
   }
diff --git a/system/default_ad_api/src/planning.cpp b/system/default_ad_api/src/planning.cpp
index 17491482a18fe..ed2dcee92eb2b 100644
--- a/system/default_ad_api/src/planning.cpp
+++ b/system/default_ad_api/src/planning.cpp
@@ -63,82 +63,6 @@ T merge_factors(const rclcpp::Time stamp, const std::vector<typename T::ConstSha
   return message;
 }
 
-uint16_t convert_velocity_behavior(const std::string & behavior)
-{
-  using autoware_adapi_v1_msgs::msg::PlanningBehavior;
-  using autoware_adapi_v1_msgs::msg::VelocityFactor;
-
-  if (behavior == PlanningBehavior::AVOIDANCE) {
-    return VelocityFactor::AVOIDANCE;
-  }
-  if (behavior == PlanningBehavior::CROSSWALK) {
-    return VelocityFactor::CROSSWALK;
-  }
-  if (behavior == PlanningBehavior::INTERSECTION) {
-    return VelocityFactor::INTERSECTION;
-  }
-  if (behavior == PlanningBehavior::LANE_CHANGE) {
-    return VelocityFactor::LANE_CHANGE;
-  }
-  if (behavior == PlanningBehavior::MERGE) {
-    return VelocityFactor::MERGE;
-  }
-  if (behavior == PlanningBehavior::NO_DRIVABLE_LANE) {
-    return VelocityFactor::NO_DRIVABLE_LANE;
-  }
-  if (behavior == PlanningBehavior::NO_STOPPING_AREA) {
-    return VelocityFactor::NO_STOPPING_AREA;
-  }
-  if (behavior == PlanningBehavior::REAR_CHECK) {
-    return VelocityFactor::REAR_CHECK;
-  }
-  if (behavior == PlanningBehavior::ROUTE_OBSTACLE) {
-    return VelocityFactor::ROUTE_OBSTACLE;
-  }
-  if (behavior == PlanningBehavior::SIDEWALK) {
-    return VelocityFactor::SIDEWALK;
-  }
-  if (behavior == PlanningBehavior::STOP_SIGN) {
-    return VelocityFactor::STOP_SIGN;
-  }
-  if (behavior == PlanningBehavior::SURROUNDING_OBSTACLE) {
-    return VelocityFactor::SURROUNDING_OBSTACLE;
-  }
-  if (behavior == PlanningBehavior::TRAFFIC_SIGNAL) {
-    return VelocityFactor::TRAFFIC_SIGNAL;
-  }
-  if (behavior == PlanningBehavior::USER_DEFINED_DETECTION_AREA) {
-    return VelocityFactor::USER_DEFINED_DETECTION_AREA;
-  }
-  if (behavior == PlanningBehavior::VIRTUAL_TRAFFIC_LIGHT) {
-    return VelocityFactor::V2I_GATE_CONTROL_ENTER;
-  }
-  return VelocityFactor::UNKNOWN;
-}
-
-uint16_t convert_steering_behavior(const std::string & behavior)
-{
-  using autoware_adapi_v1_msgs::msg::PlanningBehavior;
-  using autoware_adapi_v1_msgs::msg::SteeringFactor;
-
-  if (behavior == PlanningBehavior::AVOIDANCE) {
-    return SteeringFactor::AVOIDANCE_PATH_CHANGE;
-  }
-  if (behavior == PlanningBehavior::GOAL_PLANNER) {
-    return SteeringFactor::GOAL_PLANNER;
-  }
-  if (behavior == PlanningBehavior::INTERSECTION) {
-    return SteeringFactor::INTERSECTION;
-  }
-  if (behavior == PlanningBehavior::LANE_CHANGE) {
-    return SteeringFactor::LANE_CHANGE;
-  }
-  if (behavior == PlanningBehavior::START_PLANNER) {
-    return SteeringFactor::START_PLANNER;
-  }
-  return SteeringFactor::UNKNOWN;
-}
-
 PlanningNode::PlanningNode(const rclcpp::NodeOptions & options) : Node("planning", options)
 {
   // TODO(Takagi, Isamu): remove default value
@@ -203,16 +127,6 @@ void PlanningNode::on_timer()
   auto velocity = merge_factors<VelocityFactorArray>(now(), velocity_factors_);
   auto steering = merge_factors<SteeringFactorArray>(now(), steering_factors_);
 
-  // Set velocity factor type for compatibility.
-  for (auto & factor : velocity.factors) {
-    factor.type = convert_velocity_behavior(factor.behavior);
-  }
-
-  // Set steering factor type for compatibility.
-  for (auto & factor : steering.factors) {
-    factor.type = convert_steering_behavior(factor.behavior);
-  }
-
   // Set the distance if it is nan.
   if (trajectory_ && kinematic_state_) {
     for (auto & factor : velocity.factors) {