Evaluate if isManeuverExpired should use distance instead of time

[msmcconnell]

Types of Issue

• [ ] Anomaly report (something appears to not work correctly)
• [x] Enhancement request (describe the enhancement being requested)
• [ ] Other (please ensure the description clarifies why the issue doesn’t fall into either of the above categories)

Descriptive summary

The plan_delegator currently uses Time as a metric to determine if a maneuver is expired. This is a fairly unreliable indecator given the very approximate speed profiles generate by maneuver planning. It might be more reliable to use the distance instead. See the PlanDelegator::isManeuverExpired method.

Additionally, the origional CARMA3 design has the strategic plugin notify when the maneuver was completed, so something might have been lost in implementation.

Carma version where this issue was discovered

develop and release/vanden-plas

Expected behavior

See description

Actual behavior

See description

Steps to reproduce the actual behavior

1. Do this
2. Then do this...

Related work