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Code live lock when no path is found #194

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Merged
AtsushiSakai merged 1 commit into from
May 30, 2019
Merged

Code live lock when no path is found #194

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18 changes: 15 additions & 3 deletions PathPlanning/ProbabilisticRoadMap/probabilistic_road_map.py
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Original file line number Diff line number Diff line change
Expand Up @@ -161,12 +161,18 @@ def generate_roadmap(sample_x, sample_y, rr, obkdtree):

def dijkstra_planning(sx, sy, gx, gy, ox, oy, rr, road_map, sample_x, sample_y):
"""
sx: start x position [m]
sy: start y position [m]
gx: goal x position [m]
gx: goal x position [m]
gy: goal y position [m]
ox: x position list of Obstacles [m]
oy: y position list of Obstacles [m]
reso: grid resolution [m]
rr: robot radius[m]
rr: robot radius [m]
road_map: ??? [m]
sample_x: ??? [m]
sample_y: ??? [m]

@return: Two lists of path coordinates ([x1, x2, ...], [y1, y2, ...]), empty list when no path was found
"""

nstart = Node(sx, sy, 0.0, -1)
Expand All @@ -175,9 +181,12 @@ def dijkstra_planning(sx, sy, gx, gy, ox, oy, rr, road_map, sample_x, sample_y):
openset, closedset = dict(), dict()
openset[len(road_map) - 2] = nstart

path_found = True

while True:
if not openset:
print("Cannot find path")
path_found = False
break

c_id = min(openset, key=lambda o: openset[o].cost)
Expand Down Expand Up @@ -217,6 +226,9 @@ def dijkstra_planning(sx, sy, gx, gy, ox, oy, rr, road_map, sample_x, sample_y):
openset[n_id].pind = c_id
else:
openset[n_id] = node

if path_found is False:
return [], []

# generate final course
rx, ry = [ngoal.x], [ngoal.y]
Expand Down