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refactor(goal_planner): remove enable_safety_check because it is default #10052

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Jan 31, 2025
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refactor(goal_planner): remove enable_safety_check because it is default #10052

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1 change: 0 additions & 1 deletion ...ning/behavior_path_planner/autoware_behavior_path_goal_planner_module/README.md
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Expand Up @@ -384,7 +384,6 @@ In addition, the safety check has a time hysteresis, and if the path is judged "

| Name | Unit | Type | Description | Default value |
| :----------------------------------- | :---- | :----- | :------------------------------------------------------------------------------------------------------- | :--------------------------- |
| enable_safety_check | [-] | bool | flag whether to use safety check | true |
| method | [-] | string | method for safety check. `RSS` or `integral_predicted_polygon` | `integral_predicted_polygon` |
| keep_unsafe_time | [s] | double | safety check Hysteresis time. if the path is judged "safe" for the time it is finally treated as "safe". | 3.0 |
| check_all_predicted_path | - | bool | Flag to check all predicted paths | true |
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29 changes: 12 additions & 17 deletions ...g/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/decision_state.cpp
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Expand Up @@ -57,22 +57,18 @@
auto next_state = current_state_;

// update safety
if (!parameters.safety_check_params.enable_safety_check) {
next_state.is_stable_safe = true;
} else {
if (is_current_safe) {
if (!next_state.safe_start_time) {
next_state.safe_start_time = now;
next_state.is_stable_safe = false;
} else {
next_state.is_stable_safe =
((now - next_state.safe_start_time.value()).seconds() >
parameters.safety_check_params.keep_unsafe_time);
}
} else {
next_state.safe_start_time = std::nullopt;
if (is_current_safe) {
if (!next_state.safe_start_time) {
next_state.safe_start_time = now;
next_state.is_stable_safe = false;
} else {
next_state.is_stable_safe =

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planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/decision_state.cpp#L65 

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((now - next_state.safe_start_time.value()).seconds() >
parameters.safety_check_params.keep_unsafe_time);

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planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/decision_state.cpp#L67 

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}
} else {
next_state.safe_start_time = std::nullopt;
next_state.is_stable_safe = false;

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planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/decision_state.cpp#L71 

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}

// Once this function returns true, it will continue to return true thereafter
Expand All @@ -87,10 +83,9 @@
}

const auto & pull_over_path = pull_over_path_opt.value();
const bool enable_safety_check = parameters.safety_check_params.enable_safety_check;
// If it is dangerous against dynamic objects before approval, do not determine the path.
// This eliminates a unsafe path to be approved
if (enable_safety_check && !next_state.is_stable_safe && !is_activated) {
if (!next_state.is_stable_safe && !is_activated) {

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✅ No longer an issue: Complex Conditional 

PathDecisionStateController::get_next_state no longer has a complex conditional
RCLCPP_DEBUG(
logger_,
"[DecidingPathStatus]: NOT_DECIDED. path is not safe against dynamic objects before "
Expand Down Expand Up @@ -132,7 +127,7 @@
return next_state;
}

if (enable_safety_check && !next_state.is_stable_safe) {
if (!next_state.is_stable_safe) {

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✅ Getting better: Complex Method 

PathDecisionStateController::get_next_state decreases in cyclomatic complexity from 18 to 15, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
RCLCPP_DEBUG(
logger_,
"[DecidingPathStatus]: DECIDING->NOT_DECIDED. path is not safe against dynamic objects");
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5 changes: 0 additions & 5 deletions ...avior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
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Expand Up @@ -79,11 +79,6 @@ GoalPlannerModule::GoalPlannerModule(
is_lane_parking_cb_running_{false},
is_freespace_parking_cb_running_{false}
{
// TODO(soblin): remove safety_check_params.enable_safety_check because it does not make sense
if (!parameters_.safety_check_params.enable_safety_check) {
throw std::domain_error("goal_planner never works without safety check");
}

occupancy_grid_map_ = std::make_shared<OccupancyGridBasedCollisionDetector>();

// planner when goal modification is not allowed
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7 changes: 4 additions & 3 deletions planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp
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@@ -1,4 +1,4 @@
// Copyright 2023 TIER IV, Inc.

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✅ No longer an issue: Large Method 

GoalPlannerModuleManager::initGoalPlannerParameters is no longer above the threshold for lines of code. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -368,6 +368,10 @@
{
p.safety_check_params.enable_safety_check =
node->declare_parameter<bool>(safety_check_ns + "enable_safety_check");
// NOTE(soblin): remove safety_check_params.enable_safety_check because it does not make sense
if (!p.safety_check_params.enable_safety_check) {
throw std::domain_error("goal_planner never works without safety check");
}

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❌ New issue: Complex Method 

GoalPlannerModuleManager::initGoalPlannerParameters has a cyclomatic complexity of 9, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
p.safety_check_params.keep_unsafe_time =
node->declare_parameter<double>(safety_check_ns + "keep_unsafe_time");
p.safety_check_params.method = node->declare_parameter<std::string>(safety_check_ns + "method");
Expand Down Expand Up @@ -785,10 +789,7 @@

// SafetyCheckParams
const std::string safety_check_ns = path_safety_check_ns + "safety_check_params.";
{

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Large Method 

GoalPlannerModuleManager::updateModuleParams decreases from 353 to 350 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
updateParam<bool>(
parameters, safety_check_ns + "enable_safety_check",
p->safety_check_params.enable_safety_check);
updateParam<double>(
parameters, safety_check_ns + "keep_unsafe_time", p->safety_check_params.keep_unsafe_time);
updateParam<std::string>(parameters, safety_check_ns + "method", p->safety_check_params.method);
Expand Down
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