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feat(autoware_behavior_path_planner): remove max_module_size param #7764

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Merged
merged 3 commits into from
Jul 3, 2024
Merged

feat(autoware_behavior_path_planner): remove max_module_size param #7764

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dda08b3
feat(behavior_path_planner): remove max_module_size param
kyoichi-sugahara Jul 1, 2024
dcbb15c
feat: Add max_iteration_num parameter to PlannerManager constructor
kyoichi-sugahara Jul 2, 2024
1c73e93
Update behavior_path_planner_node.cpp
kyoichi-sugahara Jul 2, 2024
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11 changes: 0 additions & 11 deletions ...havior_path_planner/autoware_behavior_path_planner/config/scene_module_manager.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,79 +9,69 @@
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 6
max_module_size: 1

external_request_lane_change_right:
enable_rtc: false
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 6
max_module_size: 1

lane_change_left:
enable_rtc: false
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 5
max_module_size: 1

lane_change_right:
enable_rtc: false
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 5
max_module_size: 1

start_planner:
enable_rtc: false
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 0
max_module_size: 1

side_shift:
enable_rtc: false
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 2
max_module_size: 1

goal_planner:
enable_rtc: false
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: true
priority: 1
max_module_size: 1

static_obstacle_avoidance:
enable_rtc: false
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 4
max_module_size: 1

avoidance_by_lane_change:
enable_rtc: false
enable_simultaneous_execution_as_approved_module: false
enable_simultaneous_execution_as_candidate_module: false
keep_last: false
priority: 3
max_module_size: 1

dynamic_obstacle_avoidance:
enable_rtc: false
enable_simultaneous_execution_as_approved_module: true
enable_simultaneous_execution_as_candidate_module: true
keep_last: false
priority: 7
max_module_size: 1

sampling_planner:
enable_module: true
Expand All @@ -90,4 +80,3 @@
enable_simultaneous_execution_as_candidate_module: false
keep_last: true
priority: 16
max_module_size: 1
2 changes: 0 additions & 2 deletions ...ner/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design.md
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Original file line number Diff line number Diff line change
Expand Up @@ -88,7 +88,6 @@ struct ModuleConfigParameters
bool enable_simultaneous_execution_as_approved_module{false};
bool enable_simultaneous_execution_as_candidate_module{false};
uint8_t priority{0};
uint8_t max_module_size{0};
};
```

Expand All @@ -101,7 +100,6 @@ Code is [here](https://github.com/autowarefoundation/autoware.universe/blob/b173
| `enable_simultaneous_execution_as_candidate_module` | bool | if true, the manager allows its scene modules to run with other scene modules as **candidate module**. |
| `enable_simultaneous_execution_as_approved_module` | bool | if true, the manager allows its scene modules to run with other scene modules as **approved module**. |
| `priority` | uint8_t | the manager decides execution priority based on this parameter. The smaller the number is, the higher the priority is. |
| `max_module_size` | uint8_t | the sub-manager can run some modules simultaneously. this parameter set the maximum number of the launched modules. |

### Scene modules

Expand Down
2 changes: 1 addition & 1 deletion ...autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -96,7 +96,7 @@ struct SceneModuleStatus
class PlannerManager
{
public:
PlannerManager(rclcpp::Node & node, const size_t max_iteration_num);
explicit PlannerManager(rclcpp::Node & node);

/**
* @brief run all candidate and approved modules.
Expand Down
3 changes: 1 addition & 2 deletions ...g/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,8 +70,7 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod

const std::lock_guard<std::mutex> lock(mutex_manager_); // for planner_manager_

const auto & p = planner_data_->parameters;
planner_manager_ = std::make_shared<PlannerManager>(*this, p.max_iteration_num);
planner_manager_ = std::make_shared<PlannerManager>(*this);

for (const auto & name : declare_parameter<std::vector<std::string>>("launch_modules")) {
// workaround: Since ROS 2 can't get empty list, launcher set [''] on the parameter.
Expand Down
2 changes: 1 addition & 1 deletion planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@

namespace autoware::behavior_path_planner
{
PlannerManager::PlannerManager(rclcpp::Node & node, const size_t max_iteration_num)
PlannerManager::PlannerManager(rclcpp::Node & node)
: plugin_loader_(
"autoware_behavior_path_planner",
"autoware::behavior_path_planner::SceneModuleManagerInterface"),
Expand Down
12 changes: 10 additions & 2 deletions ...nclude/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp
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Expand Up @@ -205,7 +205,16 @@ class SceneModuleManagerInterface
});
}

bool canLaunchNewModule() const { return observers_.size() < config_.max_module_size; }
/**
* Determine if a new module can be launched. It ensures that only one instance of a particular
* scene module type is registered at a time.
*
* When this returns true:
* - A new instance of the scene module can be launched.
* - No other instance of the same name of scene module is currently active or registered.
*
*/
bool canLaunchNewModule() const { return observers_.empty(); }

/**
* Determine if the module is always executable, regardless of the state of other modules.
Expand Down Expand Up @@ -290,7 +299,6 @@ class SceneModuleManagerInterface
*node, ns + "enable_simultaneous_execution_as_candidate_module");
config_.keep_last = getOrDeclareParameter<bool>(*node, ns + "keep_last");
config_.priority = getOrDeclareParameter<int>(*node, ns + "priority");
config_.max_module_size = getOrDeclareParameter<int>(*node, ns + "max_module_size");
}

// init rtc configuration
Expand Down
1 change: 0 additions & 1 deletion ...behavior_path_planner_common/include/autoware/behavior_path_planner_common/parameters.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,6 @@ struct ModuleConfigParameters
bool enable_simultaneous_execution_as_candidate_module{false};
bool keep_last{false};
uint8_t priority{0};
uint8_t max_module_size{0};
};

struct BehaviorPathPlannerParameters
Expand Down
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