Planning: sanity check in open_space roi decider.

modules/planning/scenarios/park_and_go/stage_check.cc

@@ -33,7 +33,7 @@ Stage::StageStatus ParkAndGoStageCheck::Process(
   CHECK_NOTNULL(frame);
 
   scenario_config_.CopyFrom(GetContext()->scenario_config);
-  ADCInitStatus(frame);
+  ADCInitStatus();
   frame->mutable_open_space_info()->set_is_on_open_space_trajectory(true);
   bool plan_ok = ExecuteTaskOnOpenSpace(frame);
   if (!plan_ok) {
@@ -59,7 +59,7 @@ Stage::StageStatus ParkAndGoStageCheck::FinishStage(const bool success) {
   return Stage::FINISHED;
 }
 
-void ParkAndGoStageCheck::ADCInitStatus(Frame* frame) {
+void ParkAndGoStageCheck::ADCInitStatus() {
   auto* park_and_go_status = PlanningContext::Instance()
                                  ->mutable_planning_status()
                                  ->mutable_park_and_go();

modules/planning/scenarios/park_and_go/stage_check.h

@@ -54,7 +54,7 @@ class ParkAndGoStageCheck : public Stage {
 
  private:
   bool CheckObstacle(const ReferenceLineInfo& reference_line_info);
-  void ADCInitStatus(Frame* frame);
+  void ADCInitStatus();
 
  private:
   ScenarioParkAndGoConfig scenario_config_;

modules/planning/tasks/deciders/open_space_decider/open_space_roi_decider.cc

@@ -120,7 +120,14 @@ Status OpenSpaceRoiDecider::Process(Frame *frame) {
 
     ADEBUG << "nearby_path: " << nearby_path.DebugString();
     ADEBUG << "found nearby_path";
-
+    if (!PlanningContext::Instance()
+             ->planning_status()
+             .park_and_go()
+             .has_adc_init_position()) {
+      const std::string msg = "ADC initial position is unavailable";
+      AERROR << msg;
+      return Status(ErrorCode::PLANNING_ERROR, msg);
+    }
     SetOriginFromADC(frame, nearby_path);
     ADEBUG << "SetOrigin";
     SetParkAndGoEndPose(frame);
@@ -152,6 +159,7 @@ void OpenSpaceRoiDecider::SetOriginFromADC(Frame *const frame,
   // get ADC box
   const auto &park_and_go_status =
       PlanningContext::Instance()->planning_status().park_and_go();
+
   const double adc_init_x = park_and_go_status.adc_init_position().x();
   const double adc_init_y = park_and_go_status.adc_init_position().y();
   const double adc_init_heading = park_and_go_status.adc_init_heading();