Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

fix(bpp-goal_planner): fix turn signal info for the right side pulling over #4410

Merged
merged 1 commit into from
Jul 27, 2023
Merged

fix(bpp-goal_planner): fix turn signal info for the right side pulling over #4410

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
11 changes: 9 additions & 2 deletions planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2021 Tier IV, Inc.

Check notice on line 1 in planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Lines of Code in a Single File 

The lines of code increases from 1090 to 1097, improve code health by reducing it to 1000. The number of Lines of Code in a single file. More Lines of Code lowers the code health.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -1108,8 +1108,15 @@
const double distance_to_end =
calcSignedArcLength(full_path.points, current_pose.position, end_pose.position);
const bool is_before_end_pose = distance_to_end >= 0.0;
turn_signal.turn_signal.command =
is_before_end_pose ? TurnIndicatorsCommand::ENABLE_LEFT : TurnIndicatorsCommand::NO_COMMAND;
if (is_before_end_pose) {
if (left_side_parking_) {
turn_signal.turn_signal.command = TurnIndicatorsCommand::ENABLE_LEFT;

Check warning on line 1113 in planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp

View check run for this annotation

Codecov / codecov/patch

planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp#L1113 

Added line #L1113 was not covered by tests
} else {
turn_signal.turn_signal.command = TurnIndicatorsCommand::ENABLE_RIGHT;

Check warning on line 1115 in planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp

View check run for this annotation

Codecov / codecov/patch

planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp#L1115 

Added line #L1115 was not covered by tests
}
} else {
turn_signal.turn_signal.command = TurnIndicatorsCommand::NO_COMMAND;

Check warning on line 1118 in planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp

View check run for this annotation

Codecov / codecov/patch

planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp#L1118 

Added line #L1118 was not covered by tests
}
}

// calc desired/required start/end point
Expand Down
Loading