From 26a48db309218d136477bfe00dfaa610be5432cf Mon Sep 17 00:00:00 2001 From: Muhammad Zulfaqar Azmi Date: Thu, 11 Jan 2024 13:41:53 +0900 Subject: [PATCH] fix abort issue Signed-off-by: Muhammad Zulfaqar Azmi --- .../src/interface.cpp | 15 +++++---------- 1 file changed, 5 insertions(+), 10 deletions(-) diff --git a/planning/behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_lane_change_module/src/interface.cpp index e1e4824ed45f1..7f64e6820b73b 100644 --- a/planning/behavior_path_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_lane_change_module/src/interface.cpp @@ -84,6 +84,7 @@ void LaneChangeInterface::updateData() module_type_->setPreviousDrivableAreaInfo(getPreviousModuleOutput().drivable_area_info); module_type_->setPreviousTurnSignalInfo(getPreviousModuleOutput().turn_signal_info); module_type_->updateSpecialData(); + setObjectDebugVisualization(); module_type_->resetStopPose(); } @@ -224,6 +225,10 @@ bool LaneChangeInterface::canTransitFailureState() }; log_debug_throttled(__func__); + if (module_type_->isAbortState() && !module_type_->hasFinishedAbort()) { + log_debug_throttled("Abort process has on going."); + return false; + } if (isWaitingApproval()) { log_debug_throttled("Can't transit to failure state. Module is WAITING_FOR_APPROVAL"); @@ -288,16 +293,6 @@ bool LaneChangeInterface::canTransitFailureState() bool LaneChangeInterface::canTransitIdleToWaitingApprovalState() { - setObjectDebugVisualization(); - - auto log_debug_throttled = [&](std::string_view message) -> void { - RCLCPP_DEBUG(getLogger(), "%s", message.data()); - }; - - log_debug_throttled(__func__); - - log_debug_throttled("Can lane change safely. Executing lane change."); - module_type_->toNormalState(); return true; }