From 9553e729f3fa0915d9b86967548c5503f165c970 Mon Sep 17 00:00:00 2001
From: mohammad alqudah <alqudah.mohammad@tier4.jp>
Date: Wed, 15 Jan 2025 15:40:34 +0900
Subject: [PATCH] ensure param update value is valid

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
---
 .../src/manager.cpp                           | 42 +++++++++++++------
 1 file changed, 29 insertions(+), 13 deletions(-)

diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp
index 50043af6f619f..c4b52e2d4ed31 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp
@@ -314,7 +314,17 @@ void LaneChangeModuleManager::updateModuleParams(const std::vector<rclcpp::Param
 
   {
     const std::string ns = "lane_change.";
-    updateParam<double>(parameters, ns + "time_limit", p->time_limit);
+    auto time_limit = p->time_limit;
+    updateParam<double>(parameters, ns + "time_limit", time_limit);
+    if (time_limit >= 10.0) {
+      p->time_limit = time_limit;
+    } else {
+      RCLCPP_WARN_THROTTLE(
+        node_->get_logger(), *node_->get_clock(), 1000,
+        "WARNING! Parameter 'time_limit' is not updated becasue the value (%.3f ms) is not valid, "
+        "keep current value (%.3f ms)",
+        time_limit, p->time_limit);
+    }
     updateParam<double>(parameters, ns + "backward_lane_length", p->backward_lane_length);
     updateParam<double>(
       parameters, ns + "backward_length_buffer_for_end_of_lane",
@@ -356,9 +366,10 @@ void LaneChangeModuleManager::updateModuleParams(const std::vector<rclcpp::Param
     if (longitudinal_acc_sampling_num > 0) {
       p->trajectory.lon_acc_sampling_num = longitudinal_acc_sampling_num;
     } else {
-      RCLCPP_WARN_ONCE(
-        node_->get_logger(),
-        "Parameter 'lon_acc_sampling_num' is not updated because the value (%d) is not positive",
+      RCLCPP_WARN_THROTTLE(
+        node_->get_logger(), *node_->get_clock(), 1000,
+        "WARNING! Parameter 'lon_acc_sampling_num' is not updated because the value (%d) is not "
+        "positive",
         longitudinal_acc_sampling_num);
     }
 
@@ -367,9 +378,10 @@ void LaneChangeModuleManager::updateModuleParams(const std::vector<rclcpp::Param
     if (lateral_acc_sampling_num > 0) {
       p->trajectory.lat_acc_sampling_num = lateral_acc_sampling_num;
     } else {
-      RCLCPP_WARN_ONCE(
-        node_->get_logger(),
-        "Parameter 'lat_acc_sampling_num' is not updated because the value (%d) is not positive",
+      RCLCPP_WARN_THROTTLE(
+        node_->get_logger(), *node_->get_clock(), 1000,
+        "WARNING! Parameter 'lat_acc_sampling_num' is not updated because the value (%d) is not "
+        "positive",
         lateral_acc_sampling_num);
     }
 
@@ -411,8 +423,8 @@ void LaneChangeModuleManager::updateModuleParams(const std::vector<rclcpp::Param
       }
       p->trajectory.lat_acc_map = lat_acc_map;
     } else {
-      RCLCPP_WARN_ONCE(
-        node_->get_logger(),
+      RCLCPP_WARN_THROTTLE(
+        node_->get_logger(), *node_->get_clock(), 1000,
         "Mismatched size for lateral acceleration. Expected size: %lu, but velocity: %lu, "
         "min_values: %lu, max_values: %lu",
         std::max(2ul, velocity.size()), velocity.size(), min_values.size(), max_values.size());
@@ -520,7 +532,9 @@ void LaneChangeModuleManager::updateModuleParams(const std::vector<rclcpp::Param
     bool enable_on_prepare_phase = true;
     updateParam<bool>(parameters, ns + "enable_on_prepare_phase", enable_on_prepare_phase);
     if (!enable_on_prepare_phase) {
-      RCLCPP_WARN_ONCE(node_->get_logger(), "WARNING! Lane Change cancel function is disabled.");
+      RCLCPP_WARN_THROTTLE(
+        node_->get_logger(), *node_->get_clock(), 1000,
+        "WARNING! Lane Change cancel function is disabled.");
       p->cancel.enable_on_prepare_phase = enable_on_prepare_phase;
     }
 
@@ -528,7 +542,9 @@ void LaneChangeModuleManager::updateModuleParams(const std::vector<rclcpp::Param
     updateParam<bool>(
       parameters, ns + "enable_on_lane_changing_phase", enable_on_lane_changing_phase);
     if (!enable_on_lane_changing_phase) {
-      RCLCPP_WARN_ONCE(node_->get_logger(), "WARNING! Lane Change abort function is disabled.");
+      RCLCPP_WARN_THROTTLE(
+        node_->get_logger(), *node_->get_clock(), 1000,
+        "WARNING! Lane Change abort function is disabled.");
       p->cancel.enable_on_lane_changing_phase = enable_on_lane_changing_phase;
     }
 
@@ -537,8 +553,8 @@ void LaneChangeModuleManager::updateModuleParams(const std::vector<rclcpp::Param
     if (deceleration_sampling_num > 0) {
       p->cancel.deceleration_sampling_num = deceleration_sampling_num;
     } else {
-      RCLCPP_WARN_ONCE(
-        node_->get_logger(),
+      RCLCPP_WARN_THROTTLE(
+        node_->get_logger(), *node_->get_clock(), 1000,
         "Parameter 'deceleration_sampling_num' is not updated because the value (%d) is not "
         "positive",
         deceleration_sampling_num);