feat(bpp-interface): add empty path validation (#6868)

satoshi-ota · web-flow · commit 702b183b2889 · 2024-04-23T04:13:26.000Z
Signed-off-by: satoshi-ota &lt;satoshi.ota928@gmail.com&gt;
diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp
@@ -141,7 +141,13 @@ class SceneModuleInterface
   virtual BehaviorModuleOutput run()
   {
     updateData();
-    return isWaitingApproval() ? planWaitingApproval() : plan();
+    const auto output = isWaitingApproval() ? planWaitingApproval() : plan();
+    try {
+      motion_utils::validateNonEmpty(output.path.points);
+    } catch (const std::exception & ex) {
+      throw std::invalid_argument("[" + name_ + "]" + ex.what());
+    }
+    return output;
   }
 
   /**

Original file line number	Diff line number	Diff line change
`@@ -141,7 +141,13 @@ class SceneModuleInterface`
`141`	`141`	`virtual BehaviorModuleOutput run()`
`142`	`142`	`{`
`143`	`143`	`updateData();`
`144`		`- return isWaitingApproval() ? planWaitingApproval() : plan();`
	`144`	`+ const auto output = isWaitingApproval() ? planWaitingApproval() : plan();`
	`145`	`+ try {`
	`146`	`+ motion_utils::validateNonEmpty(output.path.points);`
	`147`	`+ } catch (const std::exception & ex) {`
	`148`	`+ throw std::invalid_argument("[" + name_ + "]" + ex.what());`
	`149`	`+ }`
	`150`	`+ return output;`
`145`	`151`	`}`
`146`	`152`
`147`	`153`	`/**`