From 3df32d512b6ce78cd0b4e78b7e8a6c58f1252917 Mon Sep 17 00:00:00 2001
From: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Date: Thu, 30 Nov 2023 17:23:26 +0900
Subject: [PATCH] update states

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
 .../behavior_path_planner_interface_design.md | 182 ++++++++++++++++++
 1 file changed, 182 insertions(+)

diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_interface_design.md b/planning/behavior_path_planner/docs/behavior_path_planner_interface_design.md
index d401cbde5a16c..fbfbaa6c72afa 100644
--- a/planning/behavior_path_planner/docs/behavior_path_planner_interface_design.md
+++ b/planning/behavior_path_planner/docs/behavior_path_planner_interface_design.md
@@ -76,6 +76,188 @@ stop
 @enduml
 ```
 
+### Running Approved Modules
+
+```plantuml
+@startuml
+title PlannerManager::runApprovedModules Method Execution Flow
+
+skinparam defaultTextAlignment center
+skinparam noteTextAlignment left
+skinparam backgroundColor #FFFFFF
+skinparam ArrowColor #333333
+skinparam ArrowFontColor #333333
+
+start
+
+:Initialize results and output;
+:output = getReferencePath(data);
+:results.emplace("root", output);
+
+if (approved_module_ptrs_ is empty) then (yes)
+  :Return output;
+  stop
+else (no)
+endif
+
+partition #LightBlue "Module Reordering" {
+  :Move certain modules to end based on conditions;
+}
+
+partition #LightGreen "Lock & Unlock Approved Modules" {
+  :Lock output paths of approved modules;
+  :Unlock last module if conditions met;
+}
+
+partition #Orange "Execute Approved Modules" {
+  repeat :For each module_ptr in approved_module_ptrs_;
+    :Run module and store result;
+  repeat while (More module_ptr left) is (yes)
+}
+
+partition #LightYellow "Handle Waiting Approval Modules" {
+  :Check and handle waiting approval modules;
+  :Update observers;
+  if (Modules found waiting for approval) then (yes)
+    :Clear and handle candidate modules;
+    :Update and erase modules from approved list;
+    :Update observers;
+  endif
+}
+
+partition #LightGray "Remove Failure Modules" {
+  :Remove modules with FAILURE status;
+  :Update observers;
+  if (Modules removed) then (yes)
+    :Clear candidate modules;
+  endif
+}
+
+if (approved_module_ptrs_ is empty after removal) then (yes)
+  :Return root result;
+  stop
+else (no)
+endif
+
+partition #Coral "Finalize Output" {
+  :Determine final output based on last module's result;
+  :Handle success modules and update root lanelet if necessary;
+  :Update observers;
+}
+
+:Return approved_modules_output;
+
+stop
+@enduml
+```
+
+### Getting Requested Modules
+
+```plantuml
+@startuml
+title PlannerManager::getRequestModules Method Execution Flow
+
+skinparam defaultTextAlignment center
+skinparam noteTextAlignment left
+skinparam backgroundColor #FFFFFF
+skinparam ArrowColor #333333
+skinparam ArrowFontColor #333333
+skinparam partitionBackgroundColor #CCFF33
+
+start
+if (previous_module_output.path is null) then (yes)
+  :Log error: "Current module output is null...";
+  stop
+else (no)
+endif
+
+:Initialize request_modules as empty vector;
+
+partition "Process Managers" {
+  repeat :For each manager_ptr in manager_ptrs_;
+    :stop_watch_.tic(manager_ptr->name());
+    :Determine conditions for module execution;
+    if (skip_module) then (yes)
+      :toc(manager_ptr->name());
+    else (no)
+      :Check and possibly add new module;
+    endif
+    :toc(manager_ptr->name());
+  repeat while (Any manager_ptr left)
+}
+
+:Return request_modules;
+
+stop
+@enduml
+```
+
+### Running Requested Modules
+
+```plantuml
+@startuml
+title PlannerManager::runRequestModules Method Execution Flow
+
+skinparam defaultTextAlignment center
+skinparam noteTextAlignment left
+skinparam backgroundColor #FFFFFF
+skinparam ArrowColor #333333
+skinparam ArrowFontColor #333333
+
+start
+
+:Initialize vectors for modules and results;
+:Sort request_modules by priority;
+
+partition #LightBlue "Remove Non-executable Modules" {
+  repeat :For each module_ptr in sorted_request_modules;
+    :Determine conditions for module execution;
+    if (Module is executable) then (yes)
+      :Add to executable_modules;
+    endif
+  repeat while (Any module_ptr left) is (yes) not (no)
+}
+
+partition #LightGreen "Run Executable Modules" {
+  repeat :For each module_ptr in executable_modules;
+    :Run module and store result;
+  repeat while (Any module_ptr left) is (yes) not (no)
+}
+
+partition #Orange "Remove Expired Modules" {
+  :Remove modules with FAILURE or SUCCESS status;
+  :Update observers of managers;
+}
+
+if (executable_modules is empty) then (yes)
+  :clearCandidateModules();
+  stop
+else (no)
+endif
+
+partition #LightYellow "Separate by Approval Condition" {
+  repeat :For each module in executable_modules;
+    if (Module is waiting approval) then (yes)
+      :Add to waiting_approved_modules;
+    else (no)
+      :Add to already_approved_modules;
+    endif
+  repeat while (Any module left) is (yes) not (no)
+}
+
+partition #LightGray "Select Highest Priority Module" {
+  :Choose highest priority from approved or waiting modules;
+}
+
+:Update candidate modules;
+:Return highest priority module and its result;
+
+stop
+@enduml
+```
+
+### Update Module State
+
 ```plantuml
 @startuml
 skinparam defaultTextAlignment center