planning: output planning topic msg when something goes wrong. (#2098)

040cd7da · Jiangtao Hu · Dong Li · 16891b61 · 040cd7da · 040cd7da
3 changed file
--- a/modules/planning/integration_tests/planning_test_base.cc
+++ b/modules/planning/integration_tests/planning_test_base.cc
@@ -186,11 +186,6 @@ bool PlanningTestBase::RunPlanning(const std::string& test_case_name,
 }

 bool PlanningTestBase::IsValidTrajectory(const ADCTrajectory& trajectory) {
-  if (trajectory.trajectory_point().empty()) {
-    AERROR << "trajectory has NO point.";
-    return false;
-  }
-
  for (int i = 0; i < trajectory.trajectory_point_size(); ++i) {
    const auto& point = trajectory.trajectory_point(i);


--- a/modules/planning/planning.cc
+++ b/modules/planning/planning.cc
@@ -219,8 +219,9 @@ void Planning::RunOnce() {
  }

  if (!status.ok() || !IsVehicleStateValid(vehicle_state)) {
-    AERROR << "Update VehicleStateProvider failed.";
-    not_ready->set_reason("Update VehicleStateProvider failed.");
+    std::string msg("Update VehicleStateProvider failed");
+    AERROR << msg;
+    not_ready->set_reason(msg);
    status.Save(not_ready_pb.mutable_header()->mutable_status());
    PublishPlanningPb(&not_ready_pb, start_timestamp);
    return;
@@ -228,7 +229,11 @@ void Planning::RunOnce() {

  if (!ReferenceLineProvider::instance()->UpdateRoutingResponse(
          AdapterManager::GetRoutingResponse()->GetLatestObserved())) {
-    AERROR << "Failed to update routing in reference line provider";
+    std::string msg("Failed to update routing in reference line provider");
+    AERROR << msg;
+    not_ready->set_reason(msg);
+    status.Save(not_ready_pb.mutable_header()->mutable_status());
+    PublishPlanningPb(&not_ready_pb, start_timestamp);
    return;
  }

@@ -250,7 +255,11 @@ void Planning::RunOnce() {
  status = InitFrame(frame_num, stitching_trajectory.back(), start_timestamp,
                     vehicle_state);
  if (!frame_) {
-    AERROR << "Failed to init frame";
+    std::string msg("Failed to init frame");
+    AERROR << msg;
+    not_ready->set_reason(msg);
+    status.Save(not_ready_pb.mutable_header()->mutable_status());
+    PublishPlanningPb(&not_ready_pb, start_timestamp);
    return;
  }
  auto* trajectory_pb = frame_->mutable_trajectory();
@@ -260,15 +269,22 @@ void Planning::RunOnce() {
  trajectory_pb->mutable_latency_stats()->set_init_frame_time_ms(
      Clock::NowInSeconds() - start_timestamp);
  if (!status.ok()) {
-    AERROR << "Init frame failed";
+    std::string msg("Failed to init frame");
+    AERROR << msg;
    if (FLAGS_publish_estop) {
      ADCTrajectory estop;
      estop.mutable_estop();
      status.Save(estop.mutable_header()->mutable_status());
      PublishPlanningPb(&estop, start_timestamp);
+    } else {
+      not_ready->set_reason(msg);
+      status.Save(not_ready_pb.mutable_header()->mutable_status());
+      PublishPlanningPb(&not_ready_pb, start_timestamp);
    }
+
    auto seq_num = frame_->SequenceNum();
    FrameHistory::instance()->Add(seq_num, std::move(frame_));
+
    return;
  }


--- a/modules/planning/testdata/garage_test/result_out_of_map_0.pb.txt
+++ b/modules/planning/testdata/garage_test/result_out_of_map_0.pb.txt
 header {
  module_name: "planning"
-}
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-total_path_time: 7.9999999999999885
-is_replan: true
-gear: GEAR_DRIVE
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-    y: 4140761.7226097216
-    z: 0
-    theta: 1.2866508336700004
-    kappa: 0.0057515850184131955
-    s: 0
-    dkappa: 0
-    ddkappa: 0
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-  v: 4.4250001907348633
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-  relative_time: 0
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-    dkappa: -4.7140532124188658e-05
-    ddkappa: 0
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