-
Notifications
You must be signed in to change notification settings - Fork 123
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
<!-- Thanks for the contribution, this is awesome. --> # PR Details ## Description <!--- Describe your changes in detail --> This PR has numerous fixes for making workzone use case work. Notable changes include: - When TCM is received, the wm_broadcaster does not immediately process (get affected_llts and regulatory elements) and schedule, but it only schedules it. And only when it is activated, it processes necessary information from map, so that new map updates are not lost due to the order of the TCM messages received. - Since carma-cloud is not able to send TCM with points with direction opposite to that of the road, there is now a custom logic in detecting "Speed-TCM" and creating duplicate geofence only with opposite direction. This is needed so that the two-directional portion of the road's speed can be changed for both directions. Carma-cloud's workzone related speed TCM is now required to include "SIG_WZ" string in their label - Calculation for SPAT's min_end_time is fixed as it accounts for moy (minute of year) now. - Original assumption for traffic light's SPAT message was that it would only broadcast different states consecutively. However, it broadcasts back-to-back STOP_AND_REMAIN states that are valid (one is for current direction, the next is for letting other direction's cars to finish its movement). It accounts for that now by only "setting" the "last recorded state" when new, different state is received - There was jerk at the end of the stop-and-wait. It was due to buffer stopping points added in the end which were duplicates. Therefore, yaw calculated between them was always 0, which gave constant jerk to one side. It is fixed by copying over the last valid yaw - Minor fixes for service name, launch files NOTE: Currently unit tests for carma_wm_ctrl has a lot of failing tests due to geofenceFromMsg function is refactored out from geofenceCallback into addGeofence. (develop itself has many failing tests as well that need be fixed before or at the same time) ## Related Issue #1417 <!--- This project only accepts pull requests related to open issues --> <!--- If suggesting a new feature or change, please discuss it in an issue first --> <!--- If fixing a bug, there should be an issue describing it with steps to reproduce --> <!--- Please link to the issue here: --> ## Motivation and Context <!--- Why is this change required? What problem does it solve? --> ## How Has This Been Tested? <!--- Please describe in detail how you tested your changes. --> <!--- Include details of your testing environment, and the tests you ran to --> <!--- see how your change affects other areas of the code, etc. --> ## Types of changes <!--- What types of changes does your code introduce? Put an `x` in all the boxes that apply: --> - [x] Defect fix (non-breaking change that fixes an issue) - [ ] New feature (non-breaking change that adds functionality) - [ ] Breaking change (fix or feature that cause existing functionality to change) ## Checklist: <!--- Go over all the following points, and put an `x` in all the boxes that apply. --> <!--- If you're unsure about any of these, don't hesitate to ask. We're here to help! --> - [X] I have added any new packages to the sonar-scanner.properties file - [ ] My change requires a change to the documentation. - [X] I have updated the documentation accordingly. - [X] I have read the **CONTRIBUTING** document. [CARMA Contributing Guide](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md) - [X] I have added tests to cover my changes. - [ ] All new and existing tests passed.
- Loading branch information
Showing
28 changed files
with
368 additions
and
160 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.