Merge pull request #1525 from tier4/fix/beta/v0.29.0/lc_rtc_status

fix(lane_change): transit rtc status to failure for some condition
tier4 · Sep 9, 2024 · 79dc610 · 79dc610
2 parents 3967636 + 13e3e60
commit 79dc610
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Showing 2 changed files with 7 additions and 1 deletion.
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp
@@ -257,11 +257,17 @@ bool LaneChangeInterface::canTransitFailureState()
 
   if (!module_type_->isValidPath()) {
     log_debug_throttled("Transit to failure state due not to find valid path");
+    updateRTCStatus(
+      std::numeric_limits<double>::lowest(), std::numeric_limits<double>::lowest(), true,
+      State::FAILED);
     return true;
   }
 
   if (module_type_->isAbortState() && module_type_->hasFinishedAbort()) {
     log_debug_throttled("Abort process has completed.");
+    updateRTCStatus(
+      std::numeric_limits<double>::lowest(), std::numeric_limits<double>::lowest(), true,
+      State::FAILED);
     return true;
   }
 

diff --git a/...common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp b/...common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp
@@ -340,7 +340,7 @@ class SceneModuleInterface
         }
 
         if (rtc.second->isTerminated(uuid_map_.at(rtc.first))) {
-          return true;
+          return false;
         }
 
         return rtc.second->isActivated(uuid_map_.at(rtc.first));