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fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback #9234

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merged 1 commit into from
Nov 5, 2024
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fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback #9234

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5 changes: 1 addition & 4 deletions ...vior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2020-2023 Tier IV, Inc.

Check notice on line 1 in planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Lines of Code in a Single File 

The lines of code decreases from 1090 to 1088, improve code health by reducing it to 1000. The number of Lines of Code in a single file. More Lines of Code lowers the code health.
//
// 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 @@ -199,8 +199,6 @@

collision_info_pub_ =
node.create_publisher<tier4_debug_msgs::msg::StringStamped>("~/debug/collision_info", 1);

vehicle_stop_checker_ = std::make_unique<autoware::motion_utils::VehicleStopChecker>(&node);
}

bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason)
Expand Down Expand Up @@ -1389,8 +1387,7 @@
bool CrosswalkModule::checkRestartSuppression(
const PathWithLaneId & ego_path, const std::optional<StopFactor> & stop_factor) const
{
const auto is_vehicle_stopped = vehicle_stop_checker_->isVehicleStopped();
if (!is_vehicle_stopped) {
if (!planner_data_->isVehicleStopped()) {
return false;
}

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3 changes: 0 additions & 3 deletions ...vior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
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Expand Up @@ -18,7 +18,6 @@
#include "autoware/behavior_velocity_crosswalk_module/util.hpp"

#include <autoware/behavior_velocity_planner_common/scene_module_interface.hpp>
#include <autoware/motion_utils/vehicle/vehicle_state_checker.hpp>
#include <autoware/universe_utils/geometry/boost_geometry.hpp>
#include <autoware/universe_utils/system/stop_watch.hpp>
#include <autoware_lanelet2_extension/regulatory_elements/crosswalk.hpp>
Expand Down Expand Up @@ -474,8 +473,6 @@ class CrosswalkModule : public SceneModuleInterface
// Debug
mutable DebugData debug_data_;

std::unique_ptr<autoware::motion_utils::VehicleStopChecker> vehicle_stop_checker_{nullptr};

// Stop watch
StopWatch<std::chrono::milliseconds> stop_watch_;

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