From b7d36da812ff483fa173c67e80c23423b337c4c7 Mon Sep 17 00:00:00 2001 From: lihaoxiang1989 Date: Mon, 4 Jul 2022 10:27:30 +0800 Subject: [PATCH 1/2] Planning: Decider Name missing in debug info --- .../tasks/deciders/speed_bounds_decider/speed_bounds_decider.cc | 1 + .../tasks/deciders/st_bounds_decider/st_bounds_decider.cc | 1 + 2 files changed, 2 insertions(+) diff --git a/modules/planning/tasks/deciders/speed_bounds_decider/speed_bounds_decider.cc b/modules/planning/tasks/deciders/speed_bounds_decider/speed_bounds_decider.cc index 40577f5b87..af792aa2ff 100644 --- a/modules/planning/tasks/deciders/speed_bounds_decider/speed_bounds_decider.cc +++ b/modules/planning/tasks/deciders/speed_bounds_decider/speed_bounds_decider.cc @@ -171,6 +171,7 @@ void SpeedBoundsDecider::RecordSTGraphDebug( return; } + st_graph_debug->set_name(Name()); for (const auto &boundary : st_graph_data.st_boundaries()) { auto boundary_debug = st_graph_debug->add_boundary(); boundary_debug->set_name(boundary->id()); diff --git a/modules/planning/tasks/deciders/st_bounds_decider/st_bounds_decider.cc b/modules/planning/tasks/deciders/st_bounds_decider/st_bounds_decider.cc index 7cb6b4b7b2..c44769ad81 100644 --- a/modules/planning/tasks/deciders/st_bounds_decider/st_bounds_decider.cc +++ b/modules/planning/tasks/deciders/st_bounds_decider/st_bounds_decider.cc @@ -411,6 +411,7 @@ void STBoundsDecider::RecordSTGraphDebug( return; } + st_graph_debug->set_name(Name()); // Plot ST-obstacle boundaries. for (const auto& boundary : st_graph_data) { auto boundary_debug = st_graph_debug->add_boundary(); From b8706abd1cee42d0434c87e944492e7d49a8228c Mon Sep 17 00:00:00 2001 From: lihaoxiang1989 Date: Mon, 4 Jul 2022 10:29:25 +0800 Subject: [PATCH 2/2] wrong debug info from lat controller --- modules/control/controller/lat_controller.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/control/controller/lat_controller.cc b/modules/control/controller/lat_controller.cc index 3d870faa16..b85814dd08 100644 --- a/modules/control/controller/lat_controller.cc +++ b/modules/control/controller/lat_controller.cc @@ -99,7 +99,7 @@ bool LatController::LoadControlConf(const ControlConf *control_conf) { ts_ = control_conf->lat_controller_conf().ts(); if (ts_ <= 0.0) { - AERROR << "[MPCController] Invalid control update interval."; + AERROR << "[LatController] Invalid control update interval."; return false; } cf_ = control_conf->lat_controller_conf().cf();