fix(avoidance): return previous module turn signal if it's in success state

satoshi-ota · zulfaqar-azmi-t4 · commit 69225a5b4b08 · 2024-03-07T20:23:35.000+09:00
Signed-off-by: satoshi-ota &lt;satoshi.ota928@gmail.com&gt;
diff --git a/planning/behavior_path_avoidance_module/src/scene.cpp b/planning/behavior_path_avoidance_module/src/scene.cpp
@@ -888,7 +888,7 @@ BehaviorModuleOutput AvoidanceModule::plan()
   updatePathShifter(data.safe_shift_line);
 
   if (data.success) {
-    removeRegisteredShiftLines();
+    return getPreviousModuleOutput();
   }
 
   if (data.yield_required) {

Original file line number	Diff line number	Diff line change
`@@ -888,7 +888,7 @@ BehaviorModuleOutput AvoidanceModule::plan()`
`888`	`888`	`updatePathShifter(data.safe_shift_line);`
`889`	`889`
`890`	`890`	`if (data.success) {`
`891`		`- removeRegisteredShiftLines();`
	`891`	`+ return getPreviousModuleOutput();`
`892`	`892`	`}`
`893`	`893`
`894`	`894`	`if (data.yield_required) {`