Fix/concealer 7/transition

[yamacir-kit]

Description

Abstract

This pull request fixes some bugs in Autoware state control in scenario_simulator_v2.

Background

None.

Details

• FieldOperatorApplication::initialize, plan, and engage now wait if the current Autoware state is earlier than expected. This allows Autoware to transition states appropriately even if it takes a long time to process a service request after accepting it.
• The member function FieldOperatorApplication::waitForAutowareStateToBe now takes not only the target state but also the state at the time of the call. This allows state waiting to be performed for that range of states, and also allows the wait to be properly terminated if the state is ahead of the target state (which occurs when the member function is called and the Autoware state changes at the same time).
• The default retry interval for service requests has been extended from 1 second to 3 seconds. This means that requests are rarely resent endlessly when Autoware takes more than 1 second to respond to a service. However, there are no specifications for how long Autoware requires for a service response, and it is also affected by machine specifications, so it is not possible to set an appropriate value based on technical grounds. Therefore, 3 seconds is also just an arbitrary number that has been experimentally verified to not cause any major problems at present.

References

None.

Destructive Changes

None.

Known Limitations

None.

[github-actions]

Checklist for reviewers ☑️

All references to "You" in the following text refer to the code reviewer.

• Is this pull request written in a way that is easy to read from a third-party perspective?
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• If this pull request contains a destructive change, does this pull request contain the migration guide?
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[github-actions]

Failure optional scenarios

Note

This is an experimental check and does not block merging the pull-request.
But, please be aware that this may indicate a regression.

scenario failed: execution_time_test

      <failure type="SimulationFailure" message="CustomCommandAction typed &quot;exitFailure&quot; was triggered by the named Conditions {&quot;update time checker&quot;, &quot;avoid startup&quot;}: {&quot;update time checker&quot;: Is the /simulation/interpreter/execution_time/update (= 0.007603000000000000382915921193) is greaterThan 0.005?}, {&quot;avoid startup&quot;: Is the simulation time (= 1.050000000000000266453525910038) is greaterThan 1.000000000000000000000000000000?}" />

[HansRobo]

LGTM, waiting for green CIs.

[github-actions]

Failure optional scenarios

Note

This is an experimental check and does not block merging the pull-request.
But, please be aware that this may indicate a regression.

scenario failed: execution_time_test

      <failure type="SimulationFailure" message="CustomCommandAction typed &quot;exitFailure&quot; was triggered by the named Conditions {&quot;update time checker&quot;, &quot;avoid startup&quot;}: {&quot;update time checker&quot;: Is the /simulation/interpreter/execution_time/update (= 0.005442999999999999921618254461) is greaterThan 0.005?}, {&quot;avoid startup&quot;: Is the simulation time (= 13.000000000000049737991503207013) is greaterThan 1.000000000000000000000000000000?}" />

[sonarqubecloud]

Quality Gate passed

Issues
4 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud