18.3.6

Description

Abstract

When multiple TrafficSignalState are specified in Phase in TrafficSignalController, states except the last one are missing.
This is because TrafficSignalState::evaluate overwrite the state of traffic light every time.
The traffic light state manipulation previously only provided an overwrite operation with set, but by adding clear/add, I have made it possible to perform flexible operations and reset the state only once per frame in this pull-request.

Details

Test with TrafficSignals.yaml

Traffic lights output comparison when traffic signal controller controller-1 is on phase-3.

before this pull-request

---
traffic_lights:
- lanelet_way_id: 34836
  traffic_light_bulbs:
  - enum_revision: 0
    color: 1
    shape: 1
    status: 2
    confidence: 1.0
- lanelet_way_id: 34802
  traffic_light_bulbs:
  - enum_revision: 0
    color: 3
    shape: 2
    status: 2
    confidence: 1.0

after this pull-request

---
traffic_lights:
- lanelet_way_id: 34836
  traffic_light_bulbs:
  - enum_revision: 0
    color: 1
    shape: 1
    status: 2
    confidence: 1.0
- lanelet_way_id: 34802
  traffic_light_bulbs:
  - enum_revision: 0
    color: 3
    shape: 2
    status: 2
    confidence: 1.0
  - enum_revision: 0 # this bulb is missing before this pull-request
    color: 1
    shape: 1
    status: 2
    confidence: 1.0

References

Regression Test: OK

Destructive Changes

None

Known Limitations

None

Related Issues