fix(goal_planner): fix time_keeper race (#8780)

soblin · web-flow · commit 8f7919503e93 · 2024-09-05T13:50:32.000Z
Signed-off-by: Mamoru Sobue &lt;mamoru.sobue@tier4.jp&gt;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
@@ -1243,8 +1243,6 @@ bool GoalPlannerModule::hasNotDecidedPath(
   const std::shared_ptr<SafetyCheckParams> & safety_check_params,
   const std::shared_ptr<GoalSearcherBase> goal_searcher) const
 {
-  universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);
-
   return checkDecidingPathStatus(
            planner_data, occupancy_grid_map, parameters, ego_predicted_path_params,
            objects_filtering_params, safety_check_params, goal_searcher)
@@ -2360,8 +2358,6 @@ std::pair<bool, bool> GoalPlannerModule::isSafePath(
   const std::shared_ptr<ObjectsFilteringParams> & objects_filtering_params,
   const std::shared_ptr<SafetyCheckParams> & safety_check_params) const
 {
-  universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);
-
   if (!thread_safe_data_.get_pull_over_path()) {
     return {false, false};
   }

Original file line number	Diff line number	Diff line change
`@@ -1243,8 +1243,6 @@ bool GoalPlannerModule::hasNotDecidedPath(`
`1243`	`1243`	`const std::shared_ptr<SafetyCheckParams> & safety_check_params,`
`1244`	`1244`	`const std::shared_ptr<GoalSearcherBase> goal_searcher) const`
`1245`	`1245`	`{`
`1246`		`- universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);`
`1247`		`-`
`1248`	`1246`	`return checkDecidingPathStatus(`
`1249`	`1247`	`planner_data, occupancy_grid_map, parameters, ego_predicted_path_params,`
`1250`	`1248`	`objects_filtering_params, safety_check_params, goal_searcher)`
`@@ -2360,8 +2358,6 @@ std::pair<bool, bool> GoalPlannerModule::isSafePath(`
`2360`	`2358`	`const std::shared_ptr<ObjectsFilteringParams> & objects_filtering_params,`
`2361`	`2359`	`const std::shared_ptr<SafetyCheckParams> & safety_check_params) const`
`2362`	`2360`	`{`
`2363`		`- universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);`
`2364`		`-`
`2365`	`2361`	`if (!thread_safe_data_.get_pull_over_path()) {`
`2366`	`2362`	`return {false, false};`
`2367`	`2363`	`}`