fix(bpp): transition from IDLE to WAITING APPROVAL #6051

zulfaqar-azmi-t4 · 2024-01-11T07:23:00Z

Description

Current state transition skips WAITING_APPROVAL and jumps from IDLE to RUNNING.
This cause some minor issue during refactoring lane change.

Since transitioning to WAITING_APPROVAL is needed, and most of the modules doesn't use the function, this PR renamed the canTransitionIdleToRunningState to canTransitionIdleToWaitingApprovalState.

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Evaluator result TIER IV internal link

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...ath_planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp

kyoichi-sugahara

LGTM!
If there is no degression, you can merge this change fot start/goal planner side 👍

...ath_planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp

codecov · 2024-02-01T04:32:21Z

Codecov Report

Attention: 4 lines in your changes are missing coverage. Please review.

Comparison is base (a1d4df1) 14.38% compared to head (78b543e) 14.38%.

Files	Patch %	Lines
...th_goal_planner_module/src/goal_planner_module.cpp	0.00%	2 Missing ⚠️
...e/behavior_path_dynamic_avoidance_module/scene.hpp	0.00%	1 Missing ⚠️
...ude/behavior_path_lane_change_module/interface.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #6051   +/-   ##
=======================================
  Coverage   14.38%   14.38%           
=======================================
  Files        1907     1907           
  Lines      129935   129922   -13     
  Branches    37616    37613    -3     
=======================================
  Hits        18695    18695           
+ Misses      90230    90217   -13     
  Partials    21010    21010

Flag	Coverage Δ		*Carryforward flag
differential	`11.89% <0.00%> (?)`
total	`14.38% <ø> (+<0.01%)`	⬆️	Carriedforward from a1d4df1

*This pull request uses carry forward flags. Click here to find out more.

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Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

…anner_common/interface/scene_module_interface.hpp Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

HansRobo · 2024-02-01T13:02:32Z

I updated this branch to import #6278.
This will help you pass build-and-test-differential faster.

zulfaqar-azmi-t4 · 2024-02-02T00:40:54Z

Thank you so much @HansRobo!!

…n#6051) * fix(bpp): explicitly set the initial state Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * remove isWaitingApproval() from state transition Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Update planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * explicitly set the initial state Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * remove setInitState in start_planner_module Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>

zulfaqar-azmi-t4 requested review from kosuke55, kyoichi-sugahara, satoshi-ota, shmpwk, TomohitoAndo, tkimura4, rej55, danielsanchezaran, soblin, maxime-clem, TakaHoribe and takayuki5168 as code owners January 11, 2024 07:23

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Jan 11, 2024

zulfaqar-azmi-t4 mentioned this pull request Jan 11, 2024

refactor(lane_change): remove waitApproval dependencies #6052

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zulfaqar-azmi-t4 assigned rej55 and satoshi-ota and unassigned rej55 Jan 11, 2024

satoshi-ota approved these changes Jan 11, 2024

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...ath_planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp Outdated Show resolved Hide resolved

zulfaqar-azmi-t4 assigned kyoichi-sugahara and kosuke55 Jan 11, 2024

zulfaqar-azmi-t4 marked this pull request as draft January 12, 2024 08:42

zulfaqar-azmi-t4 force-pushed the fix-scene-module-interface-state-transition branch 2 times, most recently from 834e055 to 767b0a0 Compare January 15, 2024 05:48

zulfaqar-azmi-t4 marked this pull request as ready for review January 17, 2024 05:35

zulfaqar-azmi-t4 force-pushed the fix-scene-module-interface-state-transition branch from 767b0a0 to e4d2748 Compare January 25, 2024 10:11

zulfaqar-azmi-t4 requested a review from yuki-takagi-66 as a code owner January 25, 2024 10:11

zulfaqar-azmi-t4 force-pushed the fix-scene-module-interface-state-transition branch from e4d2748 to e98ac1c Compare January 31, 2024 05:20

kyoichi-sugahara approved these changes Jan 31, 2024

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zulfaqar-azmi-t4 added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jan 31, 2024

zulfaqar-azmi-t4 requested a review from rej55 January 31, 2024 09:04

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tkimura4 approved these changes Jan 31, 2024

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shmpwk enabled auto-merge (squash) January 31, 2024 10:26

zulfaqar-azmi-t4 requested a review from rej55 January 31, 2024 10:37

rej55 approved these changes Jan 31, 2024

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zulfaqar-azmi-t4 and others added 6 commits February 1, 2024 15:13

fix(bpp): explicitly set the initial state

dc7ea57

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

remove isWaitingApproval() from state transition

0cf610b

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

Update planning/behavior_path_planner_common/include/behavior_path_pl…

6d3e073

…anner_common/interface/scene_module_interface.hpp Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>

explicitly set the initial state

7ca14ad

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

remove setInitState in start_planner_module

c7265fd

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

add const

12b65d8

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

zulfaqar-azmi-t4 force-pushed the fix-scene-module-interface-state-transition branch from 0c72939 to 12b65d8 Compare February 1, 2024 06:14

Merge branch 'main' into fix-scene-module-interface-state-transition

78b543e

shmpwk merged commit 64799b6 into autowarefoundation:main Feb 2, 2024
20 of 23 checks passed

zulfaqar-azmi-t4 deleted the fix-scene-module-interface-state-transition branch February 2, 2024 00:40

tier4-autoware-public-bot bot mentioned this pull request Feb 7, 2024

chore: sync upstream tier4/autoware.universe#1130

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fix(bpp): transition from IDLE to WAITING APPROVAL #6051

fix(bpp): transition from IDLE to WAITING APPROVAL #6051

zulfaqar-azmi-t4 commented Jan 11, 2024 •

edited by tkimura4

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codecov bot commented Feb 1, 2024 •

edited

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HansRobo commented Feb 1, 2024

zulfaqar-azmi-t4 commented Feb 2, 2024

fix(bpp): transition from IDLE to WAITING APPROVAL #6051

fix(bpp): transition from IDLE to WAITING APPROVAL #6051

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zulfaqar-azmi-t4 commented Jan 11, 2024 • edited by tkimura4 Loading

Description

Tests performed

Effects on system behavior

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codecov bot commented Feb 1, 2024 • edited Loading

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HansRobo commented Feb 1, 2024

zulfaqar-azmi-t4 commented Feb 2, 2024

zulfaqar-azmi-t4 commented Jan 11, 2024 •

edited by tkimura4

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codecov bot commented Feb 1, 2024 •

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