planning: remove a redundant status from pull_over_status PlanningCon…

…text
seekme-ai · Nov 8, 2019 · 4487e14 · 4487e14
1 parent 22a5150
commit 4487e14
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Showing 5 changed files with 18 additions and 20 deletions.
diff --git a/modules/planning/proto/planning_status.proto b/modules/planning/proto/planning_status.proto
@@ -96,13 +96,12 @@ message PullOverStatus {
   }
   optional PullOverType pull_over_type = 1;
   optional bool plan_pull_over_path = 2 [default = false];
-  optional bool is_feasible = 3 [default = false];  // default must be false
-  optional apollo.common.PointENU position = 4;
-  optional double theta = 5;
-  optional double length_front = 6;
-  optional double length_back = 7;
-  optional double width_left = 8;
-  optional double width_right = 9;
+  optional apollo.common.PointENU position = 3;
+  optional double theta = 4;
+  optional double length_front = 5;
+  optional double length_back = 6;
+  optional double width_left = 7;
+  optional double width_right = 8;
 }
 
 message ReroutingStatus {

diff --git a/modules/planning/scenarios/scenario_manager.cc b/modules/planning/scenarios/scenario_manager.cc
@@ -209,7 +209,7 @@ ScenarioConfig::ScenarioType ScenarioManager::SelectPullOverScenario(
     const auto& pull_over_status =
         PlanningContext::Instance()->planning_status().pull_over();
     if (adc_distance_to_dest < scenario_config.max_distance_stop_search() &&
-        !pull_over_status.is_feasible()) {
+        !pull_over_status.has_position()) {
       pull_over_scenario = false;
     }
   }

diff --git a/modules/planning/scenarios/util/util.cc b/modules/planning/scenarios/util/util.cc
@@ -84,9 +84,10 @@ PullOverStatus CheckADCPullOver(const ReferenceLineInfo& reference_line_info,
                                 const ScenarioPullOverConfig& scenario_config) {
   const auto& pull_over_status =
       PlanningContext::Instance()->planning_status().pull_over();
-  if (!pull_over_status.is_feasible() || !pull_over_status.has_position() ||
+  if (!pull_over_status.has_position() ||
       !pull_over_status.position().has_x() ||
-      !pull_over_status.position().has_y() || !pull_over_status.has_theta()) {
+      !pull_over_status.position().has_y() ||
+      !pull_over_status.has_theta()) {
     ADEBUG << "pull_over status not set properly: "
            << pull_over_status.DebugString();
     return UNKNOWN;
@@ -145,9 +146,10 @@ PullOverStatus CheckADCPullOverPathPoint(
     const common::PathPoint& path_point) {
   const auto& pull_over_status =
       PlanningContext::Instance()->planning_status().pull_over();
-  if (!pull_over_status.is_feasible() || !pull_over_status.has_position() ||
+  if (!pull_over_status.has_position() ||
       !pull_over_status.position().has_x() ||
-      !pull_over_status.position().has_y() || !pull_over_status.has_theta()) {
+      !pull_over_status.position().has_y() ||
+      !pull_over_status.has_theta()) {
     ADEBUG << "pull_over status not set properly: "
            << pull_over_status.DebugString();
     return UNKNOWN;
@@ -167,9 +169,10 @@ PullOverStatus CheckADCPullOverOpenSpace(
     const ScenarioPullOverConfig& scenario_config) {
   const auto& pull_over_status =
       PlanningContext::Instance()->planning_status().pull_over();
-  if (!pull_over_status.is_feasible() || !pull_over_status.has_position() ||
+  if (!pull_over_status.has_position() ||
       !pull_over_status.position().has_x() ||
-      !pull_over_status.position().has_y() || !pull_over_status.has_theta()) {
+      !pull_over_status.position().has_y() ||
+      !pull_over_status.has_theta()) {
     ADEBUG << "pull_over status not set properly: "
            << pull_over_status.DebugString();
     return UNKNOWN;

diff --git a/modules/planning/tasks/deciders/path_bounds_decider/path_bounds_decider.cc b/modules/planning/tasks/deciders/path_bounds_decider/path_bounds_decider.cc
@@ -423,8 +423,7 @@ Status PathBoundsDecider::GeneratePullOverPathBound(
                                ->mutable_pull_over();
   // If already found a pull-over position, simply check if it's valid.
   int curr_idx = -1;
-  if (pull_over_status->is_feasible() &&
-      pull_over_status->has_position()) {
+  if (pull_over_status->has_position()) {
     curr_idx = IsPointWithinPathBound(
         reference_line_info, pull_over_status->position().x(),
         pull_over_status->position().y(), *path_bound);
@@ -440,8 +439,6 @@ Status PathBoundsDecider::GeneratePullOverPathBound(
     std::tuple<double, double, double, int> pull_over_configuration;
     if (!SearchPullOverPosition(frame, reference_line_info, *path_bound,
                                 &pull_over_configuration)) {
-      pull_over_status->set_is_feasible(false);
-
       const std::string msg = "Failed to find a proper pull-over position.";
       AERROR << msg;
       return Status(ErrorCode::PLANNING_ERROR, msg);
@@ -450,7 +447,6 @@ Status PathBoundsDecider::GeneratePullOverPathBound(
     curr_idx = std::get<3>(pull_over_configuration);
 
     // If have found a pull-over position, update planning-context
-    pull_over_status->set_is_feasible(true);
     pull_over_status->mutable_position()->set_x(
         std::get<0>(pull_over_configuration));
     pull_over_status->mutable_position()->set_y(

diff --git a/modules/planning/traffic_rules/destination.cc b/modules/planning/traffic_rules/destination.cc
@@ -84,7 +84,7 @@ int Destination::MakeDecisions(Frame* frame,
   if (FLAGS_enable_scenario_pull_over) {
     const auto& pull_over_status =
         PlanningContext::Instance()->planning_status().pull_over();
-    if (pull_over_status.is_feasible() && pull_over_status.has_position() &&
+    if (pull_over_status.has_position() &&
         pull_over_status.position().has_x() &&
         pull_over_status.position().has_y()) {
       // build stop decision based on pull-over position