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feat(intersection): publish and visualize the reason for dangerous si…
…tuation to blame past detection fault retrospectively (autowarefoundation#6143) Signed-off-by: Mamoru Sobue <[email protected]> Signed-off-by: anhnv3991 <[email protected]>
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65
planning/behavior_velocity_intersection_module/src/decision_result.cpp
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| // Copyright 2024 Tier IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
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| #include "decision_result.hpp" | ||
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|
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| namespace behavior_velocity_planner::intersection | ||
| { | ||
| std::string formatDecisionResult(const DecisionResult & decision_result) | ||
| { | ||
| if (std::holds_alternative<InternalError>(decision_result)) { | ||
| const auto state = std::get<InternalError>(decision_result); | ||
| return "InternalError because " + state.error; | ||
| } | ||
| if (std::holds_alternative<OverPassJudge>(decision_result)) { | ||
| const auto state = std::get<OverPassJudge>(decision_result); | ||
| return "OverPassJudge:\nsafety_report:" + state.safety_report + "\nevasive_report:\n" + | ||
| state.evasive_report; | ||
| } | ||
| if (std::holds_alternative<StuckStop>(decision_result)) { | ||
| return "StuckStop"; | ||
| } | ||
| if (std::holds_alternative<YieldStuckStop>(decision_result)) { | ||
| const auto state = std::get<YieldStuckStop>(decision_result); | ||
| return "YieldStuckStop:\nsafety_report:" + state.safety_report; | ||
| } | ||
| if (std::holds_alternative<NonOccludedCollisionStop>(decision_result)) { | ||
| const auto state = std::get<NonOccludedCollisionStop>(decision_result); | ||
| return "NonOccludedCollisionStop\nsafety_report:" + state.safety_report; | ||
| } | ||
| if (std::holds_alternative<FirstWaitBeforeOcclusion>(decision_result)) { | ||
| return "FirstWaitBeforeOcclusion"; | ||
| } | ||
| if (std::holds_alternative<PeekingTowardOcclusion>(decision_result)) { | ||
| return "PeekingTowardOcclusion"; | ||
| } | ||
| if (std::holds_alternative<OccludedCollisionStop>(decision_result)) { | ||
| const auto state = std::get<OccludedCollisionStop>(decision_result); | ||
| return "OccludedCollisionStop\nsafety_report:" + state.safety_report; | ||
| } | ||
| if (std::holds_alternative<OccludedAbsenceTrafficLight>(decision_result)) { | ||
| const auto state = std::get<OccludedAbsenceTrafficLight>(decision_result); | ||
| return "OccludedAbsenceTrafficLight\nsafety_report:" + state.safety_report; | ||
| } | ||
| if (std::holds_alternative<Safe>(decision_result)) { | ||
| return "Safe"; | ||
| } | ||
| if (std::holds_alternative<FullyPrioritized>(decision_result)) { | ||
| const auto state = std::get<FullyPrioritized>(decision_result); | ||
| return "FullyPrioritized\nsafety_report:" + state.safety_report; | ||
| } | ||
| return ""; | ||
| } | ||
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| } // namespace behavior_velocity_planner::intersection |
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