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

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zulfaqar-azmi-t4
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@zulfaqar-azmi-t4 zulfaqar-azmi-t4 commented Jan 11, 2024

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.

Tests performed

Evaluator result TIER IV internal link

Effects on system behavior

Not applicable.

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@zulfaqar-azmi-t4 zulfaqar-azmi-t4 marked this pull request as draft January 12, 2024 08:42
@zulfaqar-azmi-t4 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 zulfaqar-azmi-t4 marked this pull request as ready for review January 17, 2024 05:35
@zulfaqar-azmi-t4 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 zulfaqar-azmi-t4 force-pushed the fix-scene-module-interface-state-transition branch from e4d2748 to e98ac1c Compare January 31, 2024 05:20
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@kyoichi-sugahara kyoichi-sugahara left a comment

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

@zulfaqar-azmi-t4 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
@shmpwk shmpwk enabled auto-merge (squash) January 31, 2024 10:26
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codecov bot commented Feb 1, 2024

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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zulfaqar-azmi-t4 and others added 6 commits February 1, 2024 15:13
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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>
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 force-pushed the fix-scene-module-interface-state-transition branch from 0c72939 to 12b65d8 Compare February 1, 2024 06:14
@HansRobo
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HansRobo commented Feb 1, 2024

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

@shmpwk shmpwk merged commit 64799b6 into autowarefoundation:main Feb 2, 2024
20 of 23 checks passed
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Thank you so much @HansRobo!!

@zulfaqar-azmi-t4 zulfaqar-azmi-t4 deleted the fix-scene-module-interface-state-transition branch February 2, 2024 00:40
anhnv3991 pushed a commit to anhnv3991/autoware.universe that referenced this pull request Feb 13, 2024
…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>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
…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>
satoshi-ota pushed a commit to tier4/autoware.universe that referenced this pull request Jun 6, 2024
…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>
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