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Fixing potential issues #15220

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Fixing potential issues #15220

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1 change: 1 addition & 0 deletions modules/common/util/message_util.h
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,7 @@ bool DumpMessage(const std::shared_ptr<T>& msg,
const std::string& dump_dir = "/tmp") {
if (!msg) {
AWARN << "Message to be dumped is nullptr!";
return false;
}

auto type_name = T::descriptor()->full_name();
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2 changes: 1 addition & 1 deletion modules/dreamview/backend/sim_control_manager/sim_control_manager.cc
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Expand Up @@ -97,10 +97,10 @@ void SimControlManager::Restart(double x, double y) {
// reset start point for dynamic model.
if (!IsEnabled() || !model_ptr_) {
AERROR << "Sim control is invalid,Failed to restart!";
return;
}
model_ptr_->Stop();
model_ptr_->Start(x, y);
return;
}

void SimControlManager::RunOnce() { model_ptr_->RunOnce(); }
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1 change: 1 addition & 0 deletions modules/dreamview/backend/simulation_world/simulation_world_updater.cc
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Expand Up @@ -460,6 +460,7 @@ void SimulationWorldUpdater::RegisterMessageHandlers() {
MonitorMessageItem::INFO, "Successfully add a routing.");
if (!default_routing_) {
AERROR << "Failed to add a routing" << std::endl;
return;
}
Json response = JsonUtil::ProtoToTypedJson("AddDefaultRoutingPath",
*default_routing_);
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48 changes: 24 additions & 24 deletions modules/perception/inference/tensorrt/rt_net.cc
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Expand Up @@ -129,37 +129,37 @@ void RTNet::addConvLayer(const LayerParameter &layer_param,
convLayer->setDilation(nvinfer1::DimsHW{dilationH, dilationW});

convLayer->setNbGroups(G);
}

if ((*weight_map)[layer_param.name().c_str()].size() > 0) {
convLayer->setKernelWeights((*weight_map)[layer_param.name().c_str()][0]);
if ((*weight_map)[layer_param.name().c_str()].size() > 0) {
convLayer->setKernelWeights((*weight_map)[layer_param.name().c_str()][0]);

if ((*weight_map)[layer_param.name().c_str()].size() > 1) {
convLayer->setBiasWeights((*weight_map)[layer_param.name().c_str()][1]);
if ((*weight_map)[layer_param.name().c_str()].size() > 1) {
convLayer->setBiasWeights((*weight_map)[layer_param.name().c_str()][1]);
}
}
}
std::vector<nvinfer1::Weights> lw;
lw.resize(2);
lw[0] = convLayer->getKernelWeights();
lw[1] = convLayer->getBiasWeights();
(*weight_map)[layer_param.name().c_str()] = lw;
std::vector<nvinfer1::Weights> lw;
lw.resize(2);
lw[0] = convLayer->getKernelWeights();
lw[1] = convLayer->getBiasWeights();
(*weight_map)[layer_param.name().c_str()] = lw;

convLayer->setName(layer_param.name().c_str());
ConstructMap(layer_param, convLayer, tensor_map, tensor_modify_map);
convLayer->setName(layer_param.name().c_str());
ConstructMap(layer_param, convLayer, tensor_map, tensor_modify_map);

#if LOAD_DEBUG
auto tmp_out_dims = convLayer->getOutput(0)->getDimensions();
std::string dim_string = "input: ";
for (int i = 0; i < 3; ++i) {
absl::StrAppend(&dim_string, " ",
convLayer->getInput(0)->getDimensions().d[i]);
}
absl::StrAppend(&dim_string, " | output: ");
for (int i = 0; i < 3; ++i) {
absl::StrAppend(&dim_string, " ", tmp_out_dims.d[i]);
}
AINFO << layer_param.name() << dim_string;
auto tmp_out_dims = convLayer->getOutput(0)->getDimensions();
std::string dim_string = "input: ";
for (int i = 0; i < 3; ++i) {
absl::StrAppend(&dim_string, " ",
convLayer->getInput(0)->getDimensions().d[i]);
}
absl::StrAppend(&dim_string, " | output: ");
for (int i = 0; i < 3; ++i) {
absl::StrAppend(&dim_string, " ", tmp_out_dims.d[i]);
}
AINFO << layer_param.name() << dim_string;
#endif
}
}

void RTNet::addDeconvLayer(const LayerParameter &layer_param,
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1 change: 1 addition & 0 deletions modules/perception/lidar/lib/detector/point_pillars_detection/point_pillars.cc
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Expand Up @@ -470,6 +470,7 @@ void PointPillars::InitTRT() {
OnnxToTRTModel(rpn_onnx_file_, &rpn_engine_);
if (pfe_engine_ == nullptr || rpn_engine_ == nullptr) {
AERROR << "Failed to load ONNX file.";
return;
}

// create execution context from the engine
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8 changes: 4 additions & 4 deletions modules/perception/onboard/component/camera_bev_detection_component.cc
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Expand Up @@ -250,6 +250,10 @@ bool CameraBevDetectionComponent::Proc(
std::shared_ptr<apollo::perception::PerceptionObstacles> out_message(
new (std::nothrow) apollo::perception::PerceptionObstacles);
apollo::common::ErrorCode error_code = apollo::common::OK;
if (cambackmsg == nullptr) {
AERROR << "camera_back msg is not ready!";
return false;
}
const double msg_timestamp =
cambackmsg->measurement_time() + timestamp_offset_;

Expand Down Expand Up @@ -313,10 +317,6 @@ bool CameraBevDetectionComponent::Proc(
pipeline::DataFrame data_frame_cambr;
data_frame_cambr.camera_frame = &cambr_frame;

if (cambackmsg == nullptr) {
AERROR << "camera_back msg is not ready!";
return false;
}
camera::CameraFrame &camb_frame = camera_frames_[5];
const std::string &camb_name = camera_names_[5];
FillCamMessage(cambackmsg, camb_name, &camb_frame);
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1 change: 1 addition & 0 deletions modules/planning/planner/lattice/lattice_planner.cc
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Expand Up @@ -299,6 +299,7 @@ Status LatticePlanner::PlanOnReferenceLine(
std::dynamic_pointer_cast<LatticeTrajectory1d>(trajectory_pair.first);
if (!lattice_traj_ptr) {
ADEBUG << "Dynamically casting trajectory1d ptr. failed.";
return Status(ErrorCode::PLANNING_ERROR, "Failed to cast trajectory");
}

if (lattice_traj_ptr->has_target_position()) {
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4 changes: 2 additions & 2 deletions modules/planning/tasks/deciders/open_space_decider/open_space_roi_decider.cc
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Expand Up @@ -1208,12 +1208,12 @@ bool OpenSpaceRoiDecider::GetParkAndGoBoundary(
bool OpenSpaceRoiDecider::GetParkingSpot(Frame *const frame,
std::array<Vec2d, 4> *vertices,
Path *nearby_path) {
const auto &routing_request = frame->local_view().routing->routing_request();
auto plot_type = routing_request.parking_info().parking_space_type();
if (frame == nullptr) {
AERROR << "Invalid frame, fail to GetParkingSpotFromMap from frame. ";
return false;
}
const auto &routing_request = frame->local_view().routing->routing_request();
auto plot_type = routing_request.parking_info().parking_space_type();

LaneInfoConstPtr nearest_lane;
// Check if last frame lane is available
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