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fix(vehicle_cmd_gate): fix the problems while transition from/to stopped state #5183

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Feb 9, 2024
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fix(vehicle_cmd_gate): fix the problems while transition from/to stopped state #5183

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19 changes: 17 additions & 2 deletions control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -430,13 +430,17 @@

// Check engage
if (!is_engaged_) {
filtered_commands.control = createStopControlCmd();
filtered_commands.control.longitudinal = createLongitudinalStopControlCmd();

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}

// Check pause. Place this check after all other checks as it needs the final output.
adapi_pause_->update(filtered_commands.control);
if (adapi_pause_->is_paused()) {
filtered_commands.control = createStopControlCmd();
if (is_engaged_) {
filtered_commands.control.longitudinal = createLongitudinalStopControlCmd();

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} else {
filtered_commands.control = createStopControlCmd();

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}

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

VehicleCmdGate::publishControlCommands increases in cyclomatic complexity from 12 to 13, 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.
}

// Check if command filtering option is enable
Expand Down Expand Up @@ -599,6 +603,17 @@
return cmd;
}

LongitudinalCommand VehicleCmdGate::createLongitudinalStopControlCmd() const

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{
LongitudinalCommand cmd;
const auto t = this->now();

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cmd.stamp = t;
cmd.speed = 0.0;
cmd.acceleration = stop_hold_acceleration_;

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return cmd;
}

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AckermannControlCommand VehicleCmdGate::createEmergencyStopControlCmd() const
{
AckermannControlCommand cmd;
Expand Down
2 changes: 2 additions & 0 deletions control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,6 +55,7 @@ namespace vehicle_cmd_gate
using autoware_adapi_v1_msgs::msg::MrmState;
using autoware_adapi_v1_msgs::msg::OperationModeState;
using autoware_auto_control_msgs::msg::AckermannControlCommand;
using autoware_auto_control_msgs::msg::LongitudinalCommand;
using autoware_auto_vehicle_msgs::msg::GearCommand;
using autoware_auto_vehicle_msgs::msg::HazardLightsCommand;
using autoware_auto_vehicle_msgs::msg::SteeringReport;
Expand Down Expand Up @@ -220,6 +221,7 @@ class VehicleCmdGate : public rclcpp::Node
// Algorithm
AckermannControlCommand prev_control_cmd_;
AckermannControlCommand createStopControlCmd() const;
LongitudinalCommand createLongitudinalStopControlCmd() const;
AckermannControlCommand createEmergencyStopControlCmd() const;

std::shared_ptr<rclcpp::Time> prev_time_;
Expand Down
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