From b6650a533a48dc5955e216307b6989a1046e9036 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Mon, 26 Aug 2024 15:05:12 +0900 Subject: [PATCH 1/2] fix(lane_change): update rtc status for some failure condition (#8604) update rtc status for some failure condition Signed-off-by: Go Sakayori --- .../src/interface.cpp | 6 ++++++ 1 file changed, 6 insertions(+) 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 index 3f42eeb23f8f6..6db83e9011632 100644 --- 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::lowest(), std::numeric_limits::lowest(), true, + State::FAILED); return true; } if (module_type_->isAbortState() && module_type_->hasFinishedAbort()) { log_debug_throttled("Abort process has completed."); + updateRTCStatus( + std::numeric_limits::lowest(), std::numeric_limits::lowest(), true, + State::FAILED); return true; } From 13e3e602bdb87eeb735323f236505876c9d0051f Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Mon, 22 Jul 2024 13:56:02 +0900 Subject: [PATCH 2/2] fix(bpp): fix approved request search (#8119) fix existApprovedRequest condition Signed-off-by: Go Sakayori --- .../interface/scene_module_interface.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp index d9ad89283d304..54254bf13e07f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_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));