fix(bpp): transition from IDLE to WAITING APPROVAL (autowarefoundatio…

…n#6051) * fix(bpp): explicitly set the initial state Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * remove isWaitingApproval() from state transition Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Update planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp Co-authored-by: Fumiya Watanabe <[email protected]> * explicitly set the initial state Signed-off-by: Zulfaqar Azmi <[email protected]> * remove setInitState in start_planner_module Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Zulfaqar Azmi <[email protected]> Co-authored-by: Fumiya Watanabe <[email protected]>
tier4 · Feb 2, 2024 · 41366fb · 41366fb
1 parent 1279359
commit 41366fb
Showing 1 changed file with 6 additions and 9 deletions.
diff --git a/..._planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp b/..._planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp
@@ -373,13 +373,10 @@ class SceneModuleInterface
       RCLCPP_DEBUG(getLogger(), "%s", message.data());
     };
     if (current_state_ == ModuleStatus::IDLE) {
-      if (canTransitIdleToRunningState()) {
-        log_debug_throttled("transiting from IDLE to RUNNING");
-        return ModuleStatus::RUNNING;
-      }
-
-      log_debug_throttled("transiting from IDLE to IDLE");
-      return ModuleStatus::IDLE;
+      auto init_state = setInitState();
+      RCLCPP_DEBUG(
+        getLogger(), "transiting from IDLE to %s", magic_enum::enum_name(init_state).data());
+      return init_state;
     }
 
     if (current_state_ == ModuleStatus::RUNNING) {
@@ -460,9 +457,9 @@ class SceneModuleInterface
   virtual bool canTransitFailureState() = 0;
 
   /**
-   * @brief State transition condition IDLE -> RUNNING
+   * @brief Explicitly set the initial state
    */
-  virtual bool canTransitIdleToRunningState() = 0;
+  virtual ModuleStatus setInitState() const { return ModuleStatus::RUNNING; }
 
   /**
    * @brief Get candidate path. This information is used for external judgement.