add permissive movement to allowed #2373
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| can_make_early_arrival = ((early_arrival_state_by_algo_optional.get().second == lanelet::CarmaTrafficSignalState::PROTECTED_MOVEMENT_ALLOWED) | ||
| || (early_arrival_state_by_algo_optional.get().second == lanelet::CarmaTrafficSignalState::PERMISSIVE_MOVEMENT_ALLOWED)); |
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All of the OR or AND conditions added in this PR can be made concise by using helper function called
isAllowedMovement where
bool isAllowedMovement(const lanelet::CarmaTrafficSignalState& state) {
return state == lanelet::CarmaTrafficSignalState::PROTECTED_MOVEMENT_ALLOWED ||
state == lanelet::CarmaTrafficSignalState::PERMISSIVE_MOVEMENT_ALLOWED;
}
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Same goes for isClearanceMovement() function and add the permissive clearance to supported signals as well
| @@ -369,15 +369,20 @@ std::tuple<rclcpp::Time, bool, bool> LCIStrategicPlugin::get_final_entry_time_an | |||
| RCLCPP_DEBUG_STREAM(rclcpp::get_logger("lci_strategic_plugin"), "normal_arrival_signal_end_time: " << std::to_string(lanelet::time::toSec(normal_arrival_state_green_et_optional.get().first))); | |||
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| // nearest_green_signal_start_time = normal_arrival_signal_end_time (green guaranteed) - green_signal_duration | |||
| nearest_green_signal_start_time = rclcpp::Time(lanelet::time::toSec(normal_arrival_state_green_et_optional.get().first - traffic_light->signal_durations[lanelet::CarmaTrafficSignalState::PROTECTED_MOVEMENT_ALLOWED]) * 1e9); | |||
| if(traffic_light->signal_durations[lanelet::CarmaTrafficSignalState::PROTECTED_MOVEMENT_ALLOWED]){ | |||
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Can we create a helper function like getAllowedState(const lanelet::CarmaTrafficSignalPtr& signal)
which can iterate over the available states and return correct "green" state from either of protected or permissive. Same applies to getClearanceState()
this way we don't need to create this if function, which is increasing the cognitive complexity
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Thats a nice suggestion
| @@ -251,6 +250,17 @@ rclcpp::Duration LCIStrategicPlugin::get_earliest_entry_time(double remaining_di | |||
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| } | |||
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| int LCIStrategicPlugin::getClearanceDuration(lanelet::CarmaTrafficSignalPtr traffic_light) | |||
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The name is little misleading as it is getting movement allowed durations not clearance
PR Details
This PR adds Permissive movements to the lci strategic plugin planning logic. It extends the functionality for protected movements to permissive movements as well.
Description
During voices integration testing it was found that SPAT messages published by the virtual econolite controller were being published with the permissive movement type.
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