plan_delegator.cpp

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/*
 * Copyright (C) 2022-2023 LEIDOS.
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */
 
#include <stdexcept>
#include <unordered_set>
#include <carma_wm/Geometry.hpp>
#include "plan_delegator.hpp"
 
namespace plan_delegator
{
    namespace std_ph = std::placeholders;
 
    namespace
    {
        void setManeuverStartingLaneletId(carma_planning_msgs::msg::Maneuver& mvr, lanelet::Id start_id) {
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"),"Updating maneuver starting_lane_id to " << start_id);
 
            switch(mvr.type) {
                case carma_planning_msgs::msg::Maneuver::LANE_CHANGE:
                    mvr.lane_change_maneuver.starting_lane_id = std::to_string(start_id);
                    break;
                case carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_STRAIGHT:
                    mvr.intersection_transit_straight_maneuver.starting_lane_id = std::to_string(start_id);
                    break;
                case carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_LEFT_TURN:
                    mvr.intersection_transit_left_turn_maneuver.starting_lane_id = std::to_string(start_id);
                    break;
                case carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_RIGHT_TURN:
                    mvr.intersection_transit_right_turn_maneuver.starting_lane_id = std::to_string(start_id);
                    break;
                case carma_planning_msgs::msg::Maneuver::STOP_AND_WAIT:
                    mvr.stop_and_wait_maneuver.starting_lane_id = std::to_string(start_id);
                    break;
                default:
                    throw std::invalid_argument("Maneuver type does not have starting and ending lane ids");
            }
        }
 
        void setManeuverEndingLaneletId(carma_planning_msgs::msg::Maneuver& mvr, lanelet::Id end_id) {
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"),"Updating maneuver ending_lane_id to " << end_id);
 
            switch(mvr.type) {
                case carma_planning_msgs::msg::Maneuver::LANE_CHANGE:
                    mvr.lane_change_maneuver.ending_lane_id = std::to_string(end_id);
                    break;
                case carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_STRAIGHT:
                    mvr.intersection_transit_straight_maneuver.ending_lane_id = std::to_string(end_id);
                    break;
                case carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_LEFT_TURN:
                    mvr.intersection_transit_left_turn_maneuver.ending_lane_id = std::to_string(end_id);
                    break;
                case carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_RIGHT_TURN:
                    mvr.intersection_transit_right_turn_maneuver.ending_lane_id = std::to_string(end_id);
                    break;
                case carma_planning_msgs::msg::Maneuver::STOP_AND_WAIT:
                    mvr.stop_and_wait_maneuver.ending_lane_id = std::to_string(end_id);
                    break;
                default:
                    throw std::invalid_argument("Maneuver type does not have starting and ending lane ids");
            }
        }
 
        std::string getManeuverStartingLaneletId(carma_planning_msgs::msg::Maneuver mvr) {
            switch(mvr.type) {
                case carma_planning_msgs::msg::Maneuver::LANE_CHANGE:
                    return mvr.lane_change_maneuver.starting_lane_id;
                case carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_STRAIGHT:
                    return mvr.intersection_transit_straight_maneuver.starting_lane_id;
                case carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_LEFT_TURN:
                    return mvr.intersection_transit_left_turn_maneuver.starting_lane_id;
                case carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_RIGHT_TURN:
                    return mvr.intersection_transit_right_turn_maneuver.starting_lane_id;
                case carma_planning_msgs::msg::Maneuver::STOP_AND_WAIT:
                    return mvr.stop_and_wait_maneuver.starting_lane_id;
                default:
                    throw std::invalid_argument("Maneuver type does not have starting and ending lane ids");
            }
        }
 
        std::string getManeuverEndingLaneletId(carma_planning_msgs::msg::Maneuver mvr) {
            switch(mvr.type) {
                case carma_planning_msgs::msg::Maneuver::LANE_CHANGE:
                    return mvr.lane_change_maneuver.ending_lane_id;
                case carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_STRAIGHT:
                    return mvr.intersection_transit_straight_maneuver.ending_lane_id;
                case carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_LEFT_TURN:
                    return mvr.intersection_transit_left_turn_maneuver.ending_lane_id;
                case carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_RIGHT_TURN:
                    return mvr.intersection_transit_right_turn_maneuver.ending_lane_id;
                case carma_planning_msgs::msg::Maneuver::STOP_AND_WAIT:
                    return mvr.stop_and_wait_maneuver.ending_lane_id;
                default:
                    throw std::invalid_argument("Maneuver type does not have starting and ending lane ids");
            }
        }
    } //namespace
 
 
    PlanDelegator::PlanDelegator(const rclcpp::NodeOptions &options) : carma_ros2_utils::CarmaLifecycleNode(options),
                                                                        tf2_buffer_(std::make_shared<tf2_ros::Buffer>(this->get_clock())),
                                                                        wml_(this->get_node_base_interface(), this->get_node_logging_interface(),
                                                                            this->get_node_topics_interface(), this->get_node_parameters_interface())
    {
        // Create initial config
        config_ = Config();
 
        config_.planning_topic_prefix = declare_parameter<std::string>("planning_topic_prefix", config_.planning_topic_prefix);
        config_.planning_topic_suffix = declare_parameter<std::string>("planning_topic_suffix", config_.planning_topic_suffix);
        config_.trajectory_planning_rate = declare_parameter<double>("trajectory_planning_rate", config_.trajectory_planning_rate);
        config_.max_trajectory_duration = declare_parameter<double>("trajectory_duration_threshold", config_.max_trajectory_duration);
        config_.min_crawl_speed = declare_parameter<double>("min_speed", config_.min_crawl_speed);
        config_.duration_to_signal_before_lane_change = declare_parameter<double>("duration_to_signal_before_lane_change", config_.duration_to_signal_before_lane_change);
        config_.max_traj_generation_reattempt = declare_parameter<int>("max_traj_generation_reattempt", config_.max_traj_generation_reattempt);
        config_.tactical_plugin_service_call_timeout = declare_parameter<int>("tactical_plugin_service_call_timeout", config_.tactical_plugin_service_call_timeout);
    }
 
    carma_ros2_utils::CallbackReturn PlanDelegator::handle_on_configure(const rclcpp_lifecycle::State &)
    {
        // Reset config
        config_ = Config();
 
        get_parameter<std::string>("planning_topic_prefix", config_.planning_topic_prefix);
        get_parameter<std::string>("planning_topic_suffix", config_.planning_topic_suffix);
        get_parameter<double>("trajectory_planning_rate", config_.trajectory_planning_rate);
        get_parameter<double>("trajectory_duration_threshold", config_.max_trajectory_duration);
        get_parameter<double>("min_speed", config_.min_crawl_speed);
        get_parameter<double>("duration_to_signal_before_lane_change", config_.duration_to_signal_before_lane_change);
        get_parameter<int>("tactical_plugin_service_call_timeout", config_.tactical_plugin_service_call_timeout);
        get_parameter<int>("max_traj_generation_reattempt", config_.max_traj_generation_reattempt);
 
        RCLCPP_INFO_STREAM(rclcpp::get_logger("plan_delegator"),"Done loading parameters: " << config_);
 
        // Setup publishers
        traj_pub_ = create_publisher<carma_planning_msgs::msg::TrajectoryPlan>("plan_trajectory", 5);
        upcoming_lane_change_status_pub_ = create_publisher<carma_planning_msgs::msg::UpcomingLaneChangeStatus>("upcoming_lane_change_status", 1);
        turn_signal_command_pub_ = create_publisher<autoware_msgs::msg::LampCmd>("lamp_cmd", 1);
 
        // Setup subscribers
        plan_sub_ = create_subscription<carma_planning_msgs::msg::ManeuverPlan>("final_maneuver_plan", 5, std::bind(&PlanDelegator::maneuverPlanCallback, this, std_ph::_1));
        twist_sub_ = create_subscription<geometry_msgs::msg::TwistStamped>("current_velocity", 5,
            [this](geometry_msgs::msg::TwistStamped::UniquePtr twist) {this->latest_twist_ = *twist;});
        pose_sub_ = create_subscription<geometry_msgs::msg::PoseStamped>("current_pose", 5, std::bind(&PlanDelegator::poseCallback, this, std_ph::_1));
        guidance_state_sub_ = create_subscription<carma_planning_msgs::msg::GuidanceState>("guidance_state", 5,  std::bind(&PlanDelegator::guidanceStateCallback, this, std_ph::_1));
 
        lookupFrontBumperTransform();
        wm_ = wml_.getWorldModel();
        return CallbackReturn::SUCCESS;
    }
 
    carma_ros2_utils::CallbackReturn PlanDelegator::handle_on_activate(const rclcpp_lifecycle::State &)
    {
        timer_callback_group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
        traj_timer_ = create_timer(get_clock(),
            std::chrono::milliseconds((int)(1 / config_.trajectory_planning_rate * 1000)),
            std::bind(&PlanDelegator::onTrajPlanTick, this), timer_callback_group_);
         return CallbackReturn::SUCCESS;
    }
 
    void PlanDelegator::guidanceStateCallback(carma_planning_msgs::msg::GuidanceState::UniquePtr msg)
    {
        guidance_engaged = (msg->state == carma_planning_msgs::msg::GuidanceState::ENGAGED);
    }
 
    void PlanDelegator::maneuverPlanCallback(carma_planning_msgs::msg::ManeuverPlan::UniquePtr plan)
    {
        RCLCPP_INFO_STREAM(rclcpp::get_logger("plan_delegator"),"Received request to delegate plan ID " << std::string(plan->maneuver_plan_id));
        // do basic check to see if the input is valid
        auto copy_plan = *plan;
        received_maneuver_plan_ = true;
        if (isManeuverPlanValid(copy_plan))
        {
            latest_maneuver_plan_ = copy_plan;
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"),"Received plan with " << latest_maneuver_plan_.maneuvers.size() << " maneuvers");
 
            // Update the parameters associated with each maneuver
            for (auto& maneuver : latest_maneuver_plan_.maneuvers) {
                updateManeuverParameters(maneuver);
            }
        }
        else {
            RCLCPP_WARN_STREAM(rclcpp::get_logger("plan_delegator"),"Received empty plan, no maneuvers found in plan ID " << std::string(plan->maneuver_plan_id));
        }
 
        // Update upcoming_lane_change_information_ and current_lane_change_information_ based on the received maneuver plan
        if(!latest_maneuver_plan_.maneuvers.empty()){
            // Get ego vehicle's current downtrack
            lanelet::BasicPoint2d current_loc(latest_pose_.pose.position.x, latest_pose_.pose.position.y);
            double current_downtrack = wm_->routeTrackPos(current_loc).downtrack;
 
            // Set upcoming_lane_change_information_ based on the first found lane change in the plan that begins after current_downtrack, if one exists
            upcoming_lane_change_information_ = boost::optional<LaneChangeInformation>(); // Reset to empty optional
            for(const auto& maneuver : latest_maneuver_plan_.maneuvers){
                if(maneuver.type == carma_planning_msgs::msg::Maneuver::LANE_CHANGE){
                    if(current_downtrack >= maneuver.lane_change_maneuver.start_dist){
                        // Skip this lane change maneuver since ego vehicle has passed the lane change start point (this is not an 'upcoming' lane change)
                        continue;
                    }
                    else{
                        LaneChangeInformation upcoming_lane_change_information = getLaneChangeInformation(maneuver);
                        upcoming_lane_change_information_ = boost::optional<LaneChangeInformation>(upcoming_lane_change_information);
                        break;
                    }
                }
            }
 
            // Set current_lane_change_information_ if the first maneuver is a lane change
            current_lane_change_information_ = boost::optional<LaneChangeInformation>(); // Reset to empty optional
            if(latest_maneuver_plan_.maneuvers[0].type == carma_planning_msgs::msg::Maneuver::LANE_CHANGE){
                LaneChangeInformation current_lane_change_information = getLaneChangeInformation(latest_maneuver_plan_.maneuvers[0]);
                current_lane_change_information_ = boost::optional<LaneChangeInformation>(current_lane_change_information);
            }
        }
    }
 
    void PlanDelegator::poseCallback(geometry_msgs::msg::PoseStamped::UniquePtr pose_msg)
    {
        latest_pose_ = *pose_msg;
 
        // Publish the upcoming lane change status
        publishUpcomingLaneChangeStatus(upcoming_lane_change_information_);
 
        // Publish the current turn signal command
        publishTurnSignalCommand(current_lane_change_information_, upcoming_lane_change_status_);
    }
 
    LaneChangeInformation PlanDelegator::getLaneChangeInformation(const carma_planning_msgs::msg::Maneuver& lane_change_maneuver){
        LaneChangeInformation lane_change_information;
 
        lane_change_information.starting_downtrack = lane_change_maneuver.lane_change_maneuver.start_dist;
 
        // Get the starting and ending lanelets for this lane change maneuver
        lanelet::ConstLanelet starting_lanelet = wm_->getMap()->laneletLayer.get(std::stoi(lane_change_maneuver.lane_change_maneuver.starting_lane_id));
        lanelet::ConstLanelet ending_lanelet = wm_->getMap()->laneletLayer.get(std::stoi(lane_change_maneuver.lane_change_maneuver.ending_lane_id));
 
        // Determine if lane change is a left or right lane change and update lane_change_information accordingly.
        // This function runs directly inside the final_maneuver_plan subscription callback (once per received
        // plan), so it must never throw here: an uncaught exception in a subscription callback can crash this
        // node outright. Previously it did throw whenever the walk from starting_lanelet to a shared boundary
        // with ending_lanelet hit a lanelet with no routable successor -- which happens whenever an intervening
        // lanelet is closed (e.g. by a TCM) or simply missing adjacency data in the map. Below, that same walk
        // is attempted first since it is exact when it works, but any inability to complete it (no following
        // lanelet, a routing loop) now falls through to a purely geometric left/right estimate instead of
        // failing, so a lane change is always reported instead of crashing.
        boost::optional<bool> is_right_lane_change;
 
        if(starting_lanelet.leftBound() == ending_lanelet.rightBound()){
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"), "Lanelet " << std::to_string(starting_lanelet.id()) << " shares left boundary with " << std::to_string(ending_lanelet.id()));
            is_right_lane_change = false;
        }
        else if(starting_lanelet.rightBound() == ending_lanelet.leftBound()){
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"), "Lanelet " << std::to_string(starting_lanelet.id()) << " shares right boundary with " << std::to_string(ending_lanelet.id()));
            is_right_lane_change = true;
        }
        else
        {
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"), "Searching for shared boundary with starting lanechange lanelet " << std::to_string(starting_lanelet.id()) << " and ending lanelet " << std::to_string(ending_lanelet.id()));
            lanelet::ConstLanelet current_lanelet = starting_lanelet;
            std::unordered_set<lanelet::Id> visited{current_lanelet.id()};
 
            while(!is_right_lane_change){
                // Assumption: Adjacent lanelets share lane boundary
                auto following_lanelets = wm_->getMapRoutingGraph()->following(current_lanelet, false);
                bool no_successor = following_lanelets.empty();
                lanelet::ConstLanelet candidate_lanelet = no_successor ? current_lanelet : following_lanelets.front();
                bool loop_detected = !no_successor && visited.count(candidate_lanelet.id()) > 0;
 
                if(no_successor)
                {
                    RCLCPP_WARN_STREAM(rclcpp::get_logger("plan_delegator"), "No following lanelets from lanelet " << current_lanelet.id()
                        << " reachable without a lane change (possibly closed or missing from the map); "
                        << "falling back to a geometric left/right estimate for lane change from "
                        << starting_lanelet.id() << " to " << ending_lanelet.id());
                }
 
                if (loop_detected)
                {
                    RCLCPP_WARN_STREAM(rclcpp::get_logger("plan_delegator"), "Detected a routing loop while searching for a shared boundary between lanelet "
                        << starting_lanelet.id() << " and " << ending_lanelet.id() << "; falling back to a geometric left/right estimate");
                }
 
                if(no_successor || loop_detected)
                {
                    break;
                }
 
                current_lanelet = candidate_lanelet;
                visited.insert(current_lanelet.id());
 
                RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"), "Now checking for shared lane boundary with lanelet " << std::to_string(current_lanelet.id()) << " and ending lanelet " << std::to_string(ending_lanelet.id()));
                if(current_lanelet.leftBound() == ending_lanelet.rightBound()){
                    RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"), "Lanelet " << std::to_string(current_lanelet.id()) << " shares left boundary with " << std::to_string(ending_lanelet.id()));
                    is_right_lane_change = false;
                }
                else if(current_lanelet.rightBound() == ending_lanelet.leftBound()){
                    RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"), "Lanelet " << std::to_string(current_lanelet.id()) << " shares right boundary with " << std::to_string(ending_lanelet.id()));
                    is_right_lane_change = true;
                }
            }
        }
 
        if(!is_right_lane_change)
        {
            // Could not confirm a shared boundary via routing (e.g. an intervening lanelet was closed or missing
            // from the map). Fall back to pure geometry: which side of the starting lanelet's heading does the
            // ending lanelet fall on? This only needs the two lanelets' own centerlines, so it works even when
            // they are otherwise disconnected in the routing graph.
            lanelet::BasicLineString2d starting_centerline = starting_lanelet.centerline2d().basicLineString();
            lanelet::BasicPoint2d start_pt = starting_centerline.front();
            lanelet::BasicPoint2d heading_vec = starting_centerline.back() - start_pt;
            lanelet::BasicPoint2d to_target = ending_lanelet.centerline2d().basicLineString().front() - start_pt;
            double cross = heading_vec.x() * to_target.y() - heading_vec.y() * to_target.x();
 
            RCLCPP_WARN_STREAM(rclcpp::get_logger("plan_delegator"), "Could not find a shared lane boundary between starting lanelet "
                << starting_lanelet.id() << " and ending lanelet " << ending_lanelet.id()
                << "; estimating lane change direction geometrically instead.");
 
            is_right_lane_change = (cross < 0.0);
        }
 
        lane_change_information.is_right_lane_change = is_right_lane_change.get();
        return lane_change_information;
    }
 
    void PlanDelegator::publishUpcomingLaneChangeStatus(const boost::optional<LaneChangeInformation>& upcoming_lane_change_information){
        // Initialize an UpcomingLaneChangeStatus message, which will be populated based on upcoming_lane_change_information
        carma_planning_msgs::msg::UpcomingLaneChangeStatus upcoming_lane_change_status;
 
        // Update upcoming_lane_change_status
        if(upcoming_lane_change_information){
            // Get the downtrack distance between the ego vehicle and the start of the upcoming lane change maneuver
            lanelet::BasicPoint2d current_loc(latest_pose_.pose.position.x, latest_pose_.pose.position.y);
            double current_downtrack = wm_->routeTrackPos(current_loc).downtrack;
            upcoming_lane_change_status.downtrack_until_lanechange = std::max(0.0, upcoming_lane_change_information.get().starting_downtrack - current_downtrack);
 
            // Set upcoming lane change status as a right lane change or left lane change
            if(upcoming_lane_change_information.get().is_right_lane_change){
                upcoming_lane_change_status.lane_change = carma_planning_msgs::msg::UpcomingLaneChangeStatus::RIGHT;
            }
            else{
                upcoming_lane_change_status.lane_change = carma_planning_msgs::msg::UpcomingLaneChangeStatus::LEFT;
            }
        }
        else{
            upcoming_lane_change_status.lane_change = carma_planning_msgs::msg::UpcomingLaneChangeStatus::NONE;
        }
 
        // Publish upcoming_lane_change_status
        upcoming_lane_change_status_pub_->publish(upcoming_lane_change_status);
 
        // Store UpcomingLaneChangeStatus in upcoming_lane_change_status_
        upcoming_lane_change_status_ = upcoming_lane_change_status;
    }
 
    void PlanDelegator::publishTurnSignalCommand(const boost::optional<LaneChangeInformation>& current_lane_change_information, const carma_planning_msgs::msg::UpcomingLaneChangeStatus& upcoming_lane_change_status)
    {
        // Initialize turn signal command message
        // NOTE: A LampCmd message can have its 'r' OR 'l' field set to 1 to indicate an activated right or left turn signal, respectively. Both fields cannot be set to 1 at the same time.
        autoware_msgs::msg::LampCmd turn_signal_command;
 
        // Publish turn signal command with priority placed on the current lane change, if one exists
        if(current_lane_change_information){
            // Publish turn signal command for the current lane change based on the lane change direction
            if(current_lane_change_information.get().is_right_lane_change){
                turn_signal_command.r = 1;
            }
            else{
                turn_signal_command.l = 1;
            }
            turn_signal_command_pub_->publish(turn_signal_command);
        }
        else if(upcoming_lane_change_status.lane_change != carma_planning_msgs::msg::UpcomingLaneChangeStatus::NONE){
            // Only publish turn signal command for upcoming lane change if it will begin in less than the time defined by config_.duration_to_signal_before_lane_change
            if((upcoming_lane_change_status.downtrack_until_lanechange / latest_twist_.twist.linear.x) <= config_.duration_to_signal_before_lane_change){
                if(upcoming_lane_change_status.lane_change == carma_planning_msgs::msg::UpcomingLaneChangeStatus::RIGHT){
                    turn_signal_command.r = 1;
                }
                else{
                    turn_signal_command.l = 1;
                }
                turn_signal_command_pub_->publish(turn_signal_command);
            }
        }
        else{
            // Publish turn signal command with neither turn signal activated
            turn_signal_command_pub_->publish(turn_signal_command);
        }
 
        // Store turn signal command in latest_turn_signal_command_
        latest_turn_signal_command_ = turn_signal_command;
    }
 
    carma_ros2_utils::ClientPtr<carma_planning_msgs::srv::PlanTrajectory> PlanDelegator::getPlannerClientByName(const std::string& planner_name)
    {
        if(planner_name.size() == 0)
        {
            throw std::invalid_argument("Invalid trajectory planner name because it has zero length!");
        }
        if(trajectory_planners_.find(planner_name) == trajectory_planners_.end())
        {
            RCLCPP_INFO_STREAM(rclcpp::get_logger("plan_delegator"),"Discovered new trajectory planner: " << planner_name);
 
            trajectory_planners_.emplace(
                planner_name, create_client<carma_planning_msgs::srv::PlanTrajectory>(config_.planning_topic_prefix + planner_name + config_.planning_topic_suffix));
        }
        return trajectory_planners_[planner_name];
    }
 
    bool PlanDelegator::isManeuverPlanValid(const carma_planning_msgs::msg::ManeuverPlan& maneuver_plan) const noexcept
    {
        // currently it only checks if maneuver list is empty
        return !maneuver_plan.maneuvers.empty();
    }
 
    bool PlanDelegator::isTrajectoryValid(const carma_planning_msgs::msg::TrajectoryPlan& trajectory_plan) const noexcept
    {
        // currently it only checks if trajectory contains less than 2 points
        return !(trajectory_plan.trajectory_points.size() < 2);
    }
 
    bool PlanDelegator::isManeuverExpired(const carma_planning_msgs::msg::Maneuver& maneuver, rclcpp::Time current_time) const
    {
        RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"), "maneuver start time:" << std::to_string(rclcpp::Time(GET_MANEUVER_PROPERTY(maneuver, start_time)).seconds()));
        RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"), "maneuver end time:" << std::to_string(rclcpp::Time(GET_MANEUVER_PROPERTY(maneuver, end_time)).seconds()));
        RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"), "current time:" << std::to_string(now().seconds()));
        bool isexpired = rclcpp::Time(GET_MANEUVER_PROPERTY(maneuver, end_time), get_clock()->get_clock_type()) <= current_time; // TODO maneuver expiration should maybe be based off of distance not time? https://github.com/usdot-fhwa-stol/carma-platform/issues/1107
        RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"), "isexpired:" << isexpired);
        // TODO: temporary disabling expiration check
        return false;
    }
 
    std::shared_ptr<carma_planning_msgs::srv::PlanTrajectory::Request>
    PlanDelegator::composePlanTrajectoryRequest(
        const carma_planning_msgs::msg::TrajectoryPlan& latest_trajectory_plan,
        const carma_planning_msgs::msg::ManeuverPlan& locked_maneuver_plan,
        const uint16_t& current_maneuver_index) const
    {
        auto plan_req = std::make_shared<carma_planning_msgs::srv::PlanTrajectory::Request>();
        plan_req->maneuver_plan = locked_maneuver_plan;
 
        // set current vehicle state if we have NOT planned any previous trajectories
        if(latest_trajectory_plan.trajectory_points.empty())
        {
            plan_req->header.stamp = latest_pose_.header.stamp;
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"), "latest_pose_.header.stamp: " << std::to_string(rclcpp::Time(latest_pose_.header.stamp).seconds()));
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"), "plan_req->header.stamp: " << std::to_string(rclcpp::Time(plan_req->header.stamp).seconds()));
 
            plan_req->vehicle_state.longitudinal_vel = latest_twist_.twist.linear.x;
            plan_req->vehicle_state.x_pos_global = latest_pose_.pose.position.x;
            plan_req->vehicle_state.y_pos_global = latest_pose_.pose.position.y;
            double roll, pitch, yaw;
            carma_wm::geometry::rpyFromQuaternion(latest_pose_.pose.orientation, roll, pitch, yaw);
            plan_req->vehicle_state.orientation = yaw;
            plan_req->maneuver_index_to_plan = current_maneuver_index;
        }
        // set vehicle state based on last two planned trajectory points
        else
        {
            carma_planning_msgs::msg::TrajectoryPlanPoint last_point = latest_trajectory_plan.trajectory_points.back();
            carma_planning_msgs::msg::TrajectoryPlanPoint second_last_point = *(latest_trajectory_plan.trajectory_points.rbegin() + 1);
            plan_req->vehicle_state.x_pos_global = last_point.x;
            plan_req->vehicle_state.y_pos_global = last_point.y;
            auto distance_diff = std::sqrt(std::pow(last_point.x - second_last_point.x, 2) + std::pow(last_point.y - second_last_point.y, 2));
            rclcpp::Duration time_diff = rclcpp::Time(last_point.target_time) - rclcpp::Time(second_last_point.target_time);
            auto time_diff_sec = time_diff.seconds();
            plan_req->maneuver_index_to_plan = current_maneuver_index;
            // this assumes the vehicle does not have significant lateral velocity
            plan_req->header.stamp = latest_trajectory_plan.trajectory_points.back().target_time;
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"), "plan_req->header.stamp: " << std::to_string(rclcpp::Time(plan_req->header.stamp).seconds()));
 
            plan_req->vehicle_state.longitudinal_vel = distance_diff / time_diff_sec;
            // TODO develop way to set yaw value for future points
        }
        return plan_req;
    }
 
    bool PlanDelegator::isTrajectoryLongEnough(const carma_planning_msgs::msg::TrajectoryPlan& plan) const noexcept
    {
        rclcpp::Duration time_diff = rclcpp::Time(plan.trajectory_points.back().target_time) - rclcpp::Time(plan.trajectory_points.front().target_time);
        return time_diff.seconds() >= config_.max_trajectory_duration;
    }
 
    void PlanDelegator::updateManeuverParameters(carma_planning_msgs::msg::Maneuver& maneuver)
    {
        if (!wm_->getMap())
        {
            RCLCPP_ERROR_STREAM(rclcpp::get_logger("plan_delegator"), "Map is not set yet");
            return;
        }
 
        // Update maneuver starting and ending downtrack distances
        double original_start_dist = GET_MANEUVER_PROPERTY(maneuver, start_dist);
        double original_end_dist = GET_MANEUVER_PROPERTY(maneuver, end_dist);
        RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"),"Changing maneuver distances for planner: " << GET_MANEUVER_PROPERTY(maneuver, parameters.planning_tactical_plugin));
        double adjusted_start_dist = original_start_dist - length_to_front_bumper_;
        RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"),"original_start_dist:" << original_start_dist);
        RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"),"adjusted_start_dist:" << adjusted_start_dist);
        double adjusted_end_dist = original_end_dist - length_to_front_bumper_;
        RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"),"original_end_dist:" << original_end_dist);
        RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"),"adjusted_end_dist:" << adjusted_end_dist);
        SET_MANEUVER_PROPERTY(maneuver, start_dist, adjusted_start_dist);
        SET_MANEUVER_PROPERTY(maneuver, end_dist, adjusted_end_dist);
 
        // Shift maneuver starting and ending lanelets
        // NOTE: Assumes that maneuver start and end downtrack distances have not been shifted by more than one lanelet
        if(maneuver.type == carma_planning_msgs::msg::Maneuver::LANE_FOLLOWING && !maneuver.lane_following_maneuver.lane_ids.empty()){
            // (1) Add new beginning lanelet to maneuver if necessary and (2) remove ending lanelet from maneuver if necessary
 
            // Obtain the original starting lanelet from the maneuver
            lanelet::Id original_starting_lanelet_id = std::stoi(maneuver.lane_following_maneuver.lane_ids.front());
            lanelet::ConstLanelet original_starting_lanelet = wm_->getMap()->laneletLayer.get(original_starting_lanelet_id);
 
            // Get the downtrack of the start of the original starting lanelet
            lanelet::BasicPoint2d original_starting_lanelet_centerline_start_point = lanelet::utils::to2D(original_starting_lanelet.centerline()).front();
            double original_starting_lanelet_centerline_start_point_dt = wm_->routeTrackPos(original_starting_lanelet_centerline_start_point).downtrack;
 
            if(adjusted_start_dist < original_starting_lanelet_centerline_start_point_dt){
 
                auto previous_lanelets = wm_->getMapRoutingGraph()->previous(original_starting_lanelet, false);
 
                if(!previous_lanelets.empty()){
 
                    auto llt_on_route_optional = wm_->getFirstLaneletOnShortestPath(previous_lanelets);
 
                    lanelet::ConstLanelet previous_lanelet_to_add;
 
                    if (llt_on_route_optional){
                        previous_lanelet_to_add = llt_on_route_optional.value();
                    }
                    else{
                        RCLCPP_WARN_STREAM(rclcpp::get_logger("plan_delegator"), "When adjusting maneuver for lane follow, no previous lanelet found on the shortest path for lanelet "
                            << original_starting_lanelet.id() << ". Picking arbitrary lanelet: " << previous_lanelets[0].id() << ", instead");
                        previous_lanelet_to_add = previous_lanelets[0];
                    }
 
                    // lane_ids array is ordered by increasing downtrack, so this new starting lanelet is inserted at the front
                    maneuver.lane_following_maneuver.lane_ids.insert(maneuver.lane_following_maneuver.lane_ids.begin(), std::to_string(previous_lanelet_to_add.id()));
 
                    RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"), "Inserted lanelet " << std::to_string(previous_lanelet_to_add.id()) << " to beginning of maneuver.");
                }
                else{
                    RCLCPP_WARN_STREAM(rclcpp::get_logger("plan_delegator"), "No previous lanelet was found for lanelet " << original_starting_lanelet.id());
                }
            }
 
            // Obtain the maneuver ending lanelet
            lanelet::Id original_ending_lanelet_id = std::stoi(maneuver.lane_following_maneuver.lane_ids.back());
            lanelet::ConstLanelet original_ending_lanelet = wm_->getMap()->laneletLayer.get(original_ending_lanelet_id);
 
            // Get the downtrack of the start of the maneuver ending lanelet
            lanelet::BasicPoint2d original_ending_lanelet_centerline_start_point = lanelet::utils::to2D(original_ending_lanelet.centerline()).front();
            double original_ending_lanelet_centerline_start_point_dt = wm_->routeTrackPos(original_ending_lanelet_centerline_start_point).downtrack;
 
            if(adjusted_end_dist < original_ending_lanelet_centerline_start_point_dt){
                RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"),"Original ending lanelet " << original_ending_lanelet.id() << " removed from lane_ids since the updated maneuver no longer crosses it");
 
                // lane_ids array is ordered by increasing downtrack, so the last element in the array corresponds to the original ending lanelet
                maneuver.lane_following_maneuver.lane_ids.pop_back();
            }
        }
        else if (maneuver.type != carma_planning_msgs::msg::Maneuver::LANE_FOLLOWING){
            // (1) Update starting maneuver lanelet if necessary and (2) Update ending maneuver lanelet if necessary
 
            // Obtain the original starting lanelet from the maneuver
            lanelet::Id original_starting_lanelet_id = std::stoi(getManeuverStartingLaneletId(maneuver));
            lanelet::ConstLanelet original_starting_lanelet = wm_->getMap()->laneletLayer.get(original_starting_lanelet_id);
 
            // Get the downtrack of the start of the lanelet
            lanelet::BasicPoint2d original_starting_lanelet_centerline_start_point = lanelet::utils::to2D(original_starting_lanelet.centerline()).front();
            double original_starting_lanelet_centerline_start_point_dt = wm_->routeTrackPos(original_starting_lanelet_centerline_start_point).downtrack;
 
            if(adjusted_start_dist < original_starting_lanelet_centerline_start_point_dt){
                auto previous_lanelets = wm_->getMapRoutingGraph()->previous(original_starting_lanelet, false);
                if(!previous_lanelets.empty()){
                    auto llt_on_route_optional = wm_->getFirstLaneletOnShortestPath(previous_lanelets);
                    lanelet::ConstLanelet previous_lanelet_to_add;
 
                    if (llt_on_route_optional){
                        previous_lanelet_to_add = llt_on_route_optional.value();
                    }
                    else{
                        RCLCPP_WARN_STREAM(rclcpp::get_logger("plan_delegator"), "When adjusting non-lane follow maneuver, no previous lanelet found on the shortest path for lanelet "
                            << original_starting_lanelet.id() << ". Picking arbitrary lanelet: " << previous_lanelets[0].id() << ", instead");
                        previous_lanelet_to_add = previous_lanelets[0];
                    }
                    setManeuverStartingLaneletId(maneuver, previous_lanelet_to_add.id());
                }
                else{
                    RCLCPP_WARN_STREAM(rclcpp::get_logger("plan_delegator"), "No previous lanelet was found for lanelet " << original_starting_lanelet.id());
                }
            }
 
            // Obtain the original ending lanelet from the maneuver
            lanelet::Id original_ending_lanelet_id = std::stoi(getManeuverEndingLaneletId(maneuver));
            lanelet::ConstLanelet original_ending_lanelet = wm_->getMap()->laneletLayer.get(original_ending_lanelet_id);
 
            // Get the downtrack of the start of the ending lanelet
            lanelet::BasicPoint2d original_ending_lanelet_centerline_start_point = lanelet::utils::to2D(original_ending_lanelet.centerline()).front();
            double original_ending_lanelet_centerline_start_point_dt = wm_->routeTrackPos(original_ending_lanelet_centerline_start_point).downtrack;
 
            if(adjusted_end_dist < original_ending_lanelet_centerline_start_point_dt){
                auto previous_lanelets = wm_->getMapRoutingGraph()->previous(original_ending_lanelet, false);
 
                if(!previous_lanelets.empty()){
                    setManeuverEndingLaneletId(maneuver, previous_lanelets[0].id());
                }
                else{
                    RCLCPP_WARN_STREAM(rclcpp::get_logger("plan_delegator"), "No previous lanelet was found for lanelet " << original_starting_lanelet.id());
                }
            }
        }
    }
 
    carma_planning_msgs::msg::TrajectoryPlan PlanDelegator::planTrajectory()
    {
        carma_planning_msgs::msg::TrajectoryPlan latest_trajectory_plan;
        bool full_plan_generation_failed = false;
        if(!guidance_engaged)
        {
            RCLCPP_INFO_STREAM(rclcpp::get_logger("plan_delegator"),"Guidance is not engaged. Plan delegator will not plan trajectory.");
            return latest_trajectory_plan;
        }
        // latest_maneuver_plan may get updated, so local copy to avoid race condition
        auto locked_maneuver_plan = latest_maneuver_plan_;
 
        // Flag for the first received trajectory plan service response
        bool first_trajectory_plan = true;
 
        // Track the index of the starting maneuver in the maneuver plan that this trajectory plan service request is for
        uint16_t current_maneuver_index = 0;
 
        // Loop through maneuver list to make service call to applicable Tactical Plugin
        while(current_maneuver_index < locked_maneuver_plan.maneuvers.size())
        {
            auto& maneuver = locked_maneuver_plan.maneuvers[current_maneuver_index];
 
            // ignore expired maneuvers
            if(isManeuverExpired(maneuver, get_clock()->now()))
            {
                RCLCPP_INFO_STREAM(rclcpp::get_logger("plan_delegator"),"Dropping expired maneuver: " << GET_MANEUVER_PROPERTY(maneuver, parameters.maneuver_id));
                // Update the maneuver plan index for the next loop
                ++current_maneuver_index;
                continue;
            }
            lanelet::BasicPoint2d current_loc(latest_pose_.pose.position.x, latest_pose_.pose.position.y);
            double current_downtrack = wm_->routeTrackPos(current_loc).downtrack;
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"),"current_downtrack" << current_downtrack);
            double maneuver_end_dist = GET_MANEUVER_PROPERTY(maneuver, end_dist);
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"),"maneuver_end_dist" << maneuver_end_dist);
 
            // ignore maneuver that is passed.
            if (current_downtrack > maneuver_end_dist)
            {
                RCLCPP_INFO_STREAM(rclcpp::get_logger("plan_delegator"),"Dropping passed maneuver: " << GET_MANEUVER_PROPERTY(maneuver, parameters.maneuver_id));
                // Update the maneuver plan index for the next loop
                ++current_maneuver_index;
                continue;
            }
 
            // get corresponding ros service client for plan trajectory
            auto maneuver_planner = GET_MANEUVER_PROPERTY(maneuver, parameters.planning_tactical_plugin);
 
            auto client = getPlannerClientByName(maneuver_planner);
 
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"),"Current planner: " << maneuver_planner);
 
            // compose service request
            auto plan_req = composePlanTrajectoryRequest(
                latest_trajectory_plan, locked_maneuver_plan, current_maneuver_index);
 
            auto future_response = client->async_send_request(plan_req);
 
            auto future_status = future_response.wait_for(std::chrono::milliseconds(config_.tactical_plugin_service_call_timeout));
 
            if (future_status != std::future_status::ready)
            {
                RCLCPP_WARN_STREAM(rclcpp::get_logger("plan_delegator"),"Unsuccessful service call to trajectory planner:" << maneuver_planner << " for plan ID " << std::string(locked_maneuver_plan.maneuver_plan_id));
                // if one service call fails, it should end plan immediately because it is there is no point to generate plan with empty space
                full_plan_generation_failed = true;
                break;
            }
 
            // If successful service request
            auto plan_response = future_response.get();
            // validate trajectory before add to the plan
            if(!isTrajectoryValid(plan_response->trajectory_plan))
            {
                RCLCPP_WARN_STREAM(rclcpp::get_logger("plan_delegator"),
                    "Found invalid trajectory with less than 2 trajectory "
                    << "points for maneuver_plan_id: "
                    << std::string(locked_maneuver_plan.maneuver_plan_id));
                full_plan_generation_failed = true;
                break;
            }
            //Remove duplicate point from start of trajectory
            if(latest_trajectory_plan.trajectory_points.size() != 0 &&
                latest_trajectory_plan.trajectory_points.back().target_time == plan_response->trajectory_plan.trajectory_points.front().target_time)
            {
                RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"),"Removing duplicate point for planner: " << maneuver_planner);
                plan_response->trajectory_plan.trajectory_points.erase(plan_response->trajectory_plan.trajectory_points.begin());
                RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"),"plan_response->trajectory_plan size: " << plan_response->trajectory_plan.trajectory_points.size());
            }
            latest_trajectory_plan.trajectory_points.insert(latest_trajectory_plan.trajectory_points.end(),
                                                            plan_response->trajectory_plan.trajectory_points.begin(),
                                                            plan_response->trajectory_plan.trajectory_points.end());
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"),"new latest_trajectory_plan size: " << latest_trajectory_plan.trajectory_points.size());
 
            // Assign the trajectory plan's initial longitudinal velocity based on the first tactical plugin's response
            if(first_trajectory_plan == true)
            {
                latest_trajectory_plan.initial_longitudinal_velocity = plan_response->trajectory_plan.initial_longitudinal_velocity;
                first_trajectory_plan = false;
            }
 
            if(isTrajectoryLongEnough(latest_trajectory_plan))
            {
                RCLCPP_INFO_STREAM(rclcpp::get_logger("plan_delegator"),"Plan Trajectory completed for " << std::string(locked_maneuver_plan.maneuver_plan_id));
                break;
            }
 
            // Update the maneuver plan index based on the last maneuver index converted to a trajectory
            // This is required since inlanecruising_plugin can plan a trajectory over contiguous LANE_FOLLOWING maneuvers
            if(plan_response->related_maneuvers.size() > 0)
            {
                current_maneuver_index = plan_response->related_maneuvers.back() + 1;
            }
        }
 
        if (full_plan_generation_failed)
        {
            RCLCPP_WARN_STREAM(rclcpp::get_logger("plan_delegator"),
                "Plan_delegator's current run wasn't fully able to generate trajectory!");
 
            carma_planning_msgs::msg::TrajectoryPlan empty_plan;
            return empty_plan;
        }
 
        return latest_trajectory_plan;
    }
 
    void PlanDelegator::onTrajPlanTick()
    {
        // Guidance not engaged or haven't received a maneuver plan yet
        if (!guidance_engaged || !received_maneuver_plan_)
        {
            return;
        }
        carma_planning_msgs::msg::TrajectoryPlan trajectory_plan = planTrajectory();
 
        // Check if planned trajectory is valid before send out
        if(isTrajectoryValid(trajectory_plan))
        {
            trajectory_plan.header.stamp = get_clock()->now();
            last_successful_traj_ = trajectory_plan;
            traj_pub_->publish(trajectory_plan);
            consecutive_traj_gen_failure_num_ = 0;
        }
        else
        {
            consecutive_traj_gen_failure_num_ ++;
            RCLCPP_WARN_STREAM(rclcpp::get_logger("plan_delegator"),
                "Guidance is engaged, but new planned trajectory has less than 2 points. " <<
                "It will not be published! Consecutive failure count: "
                << consecutive_traj_gen_failure_num_);
 
            // Case where traj generation fails after a successful one
            if (last_successful_traj_.has_value()
                && consecutive_traj_gen_failure_num_
                    <= config_.max_traj_generation_reattempt)
            {
                RCLCPP_WARN_STREAM(rclcpp::get_logger("plan_delegator"),
                    "Instead, last available trajectory is published with outdated timestamp of:"
                    << std::to_string(
                        rclcpp::Time(last_successful_traj_.value().header.stamp).seconds()));
                traj_pub_->publish(last_successful_traj_.value());
            }
            // Case where traj generation fails from the beginning.
            // Attempt replanning for configured number of tries before throwing runtime error.
            else if (!last_successful_traj_.has_value() &&
                consecutive_traj_gen_failure_num_ <= config_.max_traj_generation_reattempt)
            {
                RCLCPP_WARN_STREAM(rclcpp::get_logger("plan_delegator"),
                    "Instead, tried publishing last available trajectory, but it's not available!");
            }
            else
            {
                RCLCPP_ERROR_STREAM(rclcpp::get_logger("plan_delegator"),
                    "No valid trajectory is available to publish! "
                    "Please check the planner plugins and their configurations.");
                throw std::runtime_error("No valid trajectory is available to publish!");
            }
        }
    }
 
    void PlanDelegator::lookupFrontBumperTransform()
    {
        tf2_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf2_buffer_);
        tf2_buffer_->setUsingDedicatedThread(true);
        try
        {
            geometry_msgs::msg::TransformStamped tf = tf2_buffer_->lookupTransform("base_link", "vehicle_front", rclcpp::Time(0), rclcpp::Duration(20.0, 0)); //save to local copy of transform 20 sec timeout
            length_to_front_bumper_ = tf.transform.translation.x;
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger("plan_delegator"),"length_to_front_bumper_: " << length_to_front_bumper_);
 
        }
        catch (const tf2::TransformException &ex)
        {
            RCLCPP_WARN_STREAM(rclcpp::get_logger("plan_delegator"), ex.what());
        }
    }
 
} // namespace plan_delegator
 
 
#include "rclcpp_components/register_node_macro.hpp"
 
// Register the component with class_loader
RCLCPP_COMPONENTS_REGISTER_NODE(plan_delegator::PlanDelegator)