Scenario Selector "activating_scenarios" Field in Scenario Mesage Design Question

[stevenbrills]

Hi, this is a question pertaining to the choice of having the "activating_scenarios" field in the Scenario message definition. From the scenario selector code, I can see that when the timed callback is executed, the current scenario is update based on the position of the vehicle, after which the "activating-scenarios" is populated only if the updated current scenario is parking. And if the updated current scenario is parking, only then is the field "activating_scenarios" populated and that too with the type "Parking". Now, the freespace planner checks this field to determine if parking planning should be enabled, but why not simply update the current scenario field and check against that? Why is Lane Driving mode checked against the "current_scenario" and Parking against "activating_scenarios"? I would love to know the reasoning for this approach.

Thank you.