Resolve conflict

modules/routing/graph/BUILD

+load("//tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "graph",
+    deps = [
+        ":routing_topo_node",
+        ":routing_topo_graph",
+    ],
+)
+
+cc_library(
+    name = "routing_topo_node",
+    srcs = [
+        "topo_node.cc",
+    ],
+    hdrs = [
+        "topo_node.h",
+    ],
+    deps = [
+        "//modules/common/proto:common_proto",
+        "//modules/map/proto:map_proto",
+        "//modules/routing/proto:routing_proto",
+    ],
+)
+
+cc_library(
+    name = "routing_topo_graph",
+    srcs = [
+        "topo_graph.cc",
+    ],
+    hdrs = [
+        "topo_graph.h",
+    ],
+    deps = [
+        ":routing_topo_node",
+        "//modules/common/proto:common_proto",
+        "//modules/map/proto:map_proto",
+        "//modules/routing/proto:routing_proto",
+        "//modules/common:common",
+        "//modules/routing/common"
+    ],
+)
+
+cpplint()

modules/routing/strategy/a_star_strategy.cc

@@ -20,12 +20,9 @@
 #include <limits>
 #include <queue>
 
-#include "ros/ros.h"
-
-#include "graph/topo_edge.h"
-#include "graph/topo_graph.h"
-#include "graph/topo_node.h"
-#include "strategy/a_star_strategy.h"
+#include "modules/routing/graph/topo_graph.h"
+#include "modules/routing/graph/topo_node.h"
+#include "modules/routing/strategy/a_star_strategy.h"
 
 namespace apollo {
 namespace routing {
@@ -96,7 +93,7 @@ bool AStarStrategy::search(
     const std::unordered_set<const TopoNode*>& black_list,
     std::vector<const TopoNode*>* const result_nodes) {
   clear();
-  ROS_INFO("Start A* search algorithm.");
+  AINFO << "Start A* search algorithm.";
 
   _closed_set.insert(black_list.begin(), black_list.end());
 
@@ -114,7 +111,7 @@ bool AStarStrategy::search(
     current_node = open_set_detail.top();
     if (current_node == dest_node) {
       if (!reconstruct(_came_from, current_node.topo_node, result_nodes)) {
-        ROS_ERROR("Failed to reconstruct route.");
+        AERROR << "Failed to reconstruct route.";
         return false;
       }
       return true;
@@ -152,8 +149,7 @@ bool AStarStrategy::search(
       }
     }
   }
-  ROS_ERROR("Failed to find goal lane with id %s",
-            dest_node->lane_id().c_str());
+  AERROR << "Failed to find goal lane";
   return false;
 }
 

modules/routing/strategy/a_star_strategy.h

@@ -20,7 +20,7 @@
 #include <unordered_map>
 #include <unordered_set>
 
-#include "strategy/strategy.h"
+#include "modules/routing/strategy/strategy.h"
 
 namespace apollo {
 namespace routing {

modules/routing/topo_creator/BUILD

-#load("//tools:cpplint.bzl", "cpplint")
-#
-#package(default_visibility = ["//visibility:public"])
-#
-#cc_library(
-#    name = "edge_creator",
-#    srcs = [
-#        "edge_creator.cc",
-#    ],
-#    hdrs = [
-#        "edge_creator.h",
-#    ],
-#    deps = [
-#        "//external:gflags",
-#    ],
-#)
-#
-#cc_library(
-#    name = "graph_creator",
-#    srcs = [
-#        "graph_creator.cc",
-#    ],
-#    hdrs = [
-#        "graph_creator.h",
-#    ],
-#    deps = [
-#        "//external:gflags",
-#        ":edge_creator",
-#        ":node_creator",
-#    ],
-#)
-#
-#cc_library(
-#    name = "node_creator",
-#    srcs = [
-#        "node_creator.cc",
-#    ],
-#    hdrs = [
-#        "node_creator.h",
-#    ],
-#    deps = [
-#        "//external:gflags",
-#    ],
-#)
-#
-#cc_binary(
-#    name = "topo_creator",
-#    srcs = ["topo_creator.cc"],
-#    deps = [
-#        "//external:gflags",
-#        ":graph_creator",
-#        "//modules/common:log",
-#        "//modules/routing/common",
-#        "//modules/control/proto:control_proto",
-#    ],
-#)
-#
-#cpplint()
+load("//tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "edge_creator",
+    srcs = [
+        "edge_creator.cc",
+    ],
+    hdrs = [
+        "edge_creator.h",
+    ],
+    deps = [
+        "//external:gflags",
+        "//modules/routing/proto:routing_proto",
+        "//modules/map/proto:map_proto",
+        "//modules/common:common",
+        "//modules/routing/common"
+    ],
+)
+
+cc_library(
+    name = "graph_creator",
+    srcs = [
+        "graph_creator.cc",
+    ],
+    hdrs = [
+        "graph_creator.h",
+    ],
+    deps = [
+        "//external:gflags",
+        ":edge_creator",
+       ":node_creator",
+        "//modules/routing/proto:routing_proto",
+        "//modules/map/proto:map_proto",
+        "//modules/common:common",
+        "//modules/routing/common"
+    ],
+)
+
+cc_library(
+    name = "node_creator",
+    srcs = [
+        "node_creator.cc",
+    ],
+    hdrs = [
+        "node_creator.h",
+    ],
+    deps = [
+        "//external:gflags",
+        "//modules/routing/proto:routing_proto",
+        "//modules/map/proto:map_proto",
+        "//modules/common:common",
+        "//modules/routing/common"
+    ],
+)
+
+cc_binary(
+    name = "topo_creator",
+    srcs = ["topo_creator.cc"],
+    deps = [
+        "//external:gflags",
+        ":graph_creator",
+        "//modules/common:log",
+        "//modules/routing/proto:routing_proto",
+        "//modules/map/proto:map_proto",
+        "//modules/common:common",
+        "//modules/routing/common"
+    ],
+)
+
+cpplint()

modules/routing/topo_creator/edge_creator.cc

@@ -23,9 +23,9 @@ namespace routing {
 
 namespace {
 
-using ::apollo::routing::common::Node;
-using ::apollo::routing::common::Edge;
-using ::apollo::routing::common::CurveRange;
+using ::apollo::routing::Node;
+using ::apollo::routing::Edge;
+using ::apollo::routing::CurveRange;
 
 const double CHANGE_PENALTY = 50;  // equal to 50 meter length
 const double BASE_CHANGING_LENGTH = 50;

modules/routing/topo_creator/edge_creator.h

@@ -25,22 +25,22 @@ namespace routing {
 class EdgeCreator {
  public:
   static void get_pb_edge(
-      const ::apollo::routing::common::Node& node_from,
-      const ::apollo::routing::common::Node& node_to,
-      const ::apollo::routing::common::Edge::DirectionType& type,
-      ::apollo::routing::common::Edge* pb_edge);
+      const ::apollo::routing::Node& node_from,
+      const ::apollo::routing::Node& node_to,
+      const ::apollo::routing::Edge::DirectionType& type,
+      ::apollo::routing::Edge* pb_edge);
 
  private:
   static void init_edge_info(
-      const ::apollo::routing::common::Node& node_from,
-      const ::apollo::routing::common::Node& node_to,
-      const ::apollo::routing::common::Edge::DirectionType& type,
-      ::apollo::routing::common::Edge* pb_edge);
+      const ::apollo::routing::Node& node_from,
+      const ::apollo::routing::Node& node_to,
+      const ::apollo::routing::Edge::DirectionType& type,
+      ::apollo::routing::Edge* pb_edge);
   static void init_edge_cost(
-      const ::apollo::routing::common::Node& node_from,
-      const ::apollo::routing::common::Node& node_to,
-      const ::apollo::routing::common::Edge::DirectionType& type,
-      ::apollo::routing::common::Edge* pb_edge);
+      const ::apollo::routing::Node& node_from,
+      const ::apollo::routing::Node& node_to,
+      const ::apollo::routing::Edge::DirectionType& type,
+      ::apollo::routing::Edge* pb_edge);
 };
 
 }  // namespace routing

modules/routing/topo_creator/graph_creator.cc

@@ -14,11 +14,11 @@
   * limitations under the License.
   *****************************************************************************/
 
-#include "modules/routing/topo_creator/topo_creator/graph_creator.h"
+#include "modules/routing/topo_creator/graph_creator.h"
 
 #include "glog/logging.h"
 
-#include "common/utils.h"
+#include "modules/routing/common/utils.h"
 #include "modules/routing/topo_creator/edge_creator.h"
 #include "modules/routing/topo_creator/node_creator.h"
 
@@ -29,10 +29,10 @@ namespace {
 
 using ::google::protobuf::RepeatedPtrField;
 
-using ::apollo::common::hdmap::Id;
+using ::apollo::hdmap::Id;
 
-using ::apollo::routing::common::Node;
-using ::apollo::routing::common::Edge;
+using ::apollo::routing::Node;
+using ::apollo::routing::Edge;
 
 std::string get_edge_id(const std::string& from_id, const std::string& to_id) {
   return from_id + "->" + to_id;

modules/routing/topo_creator/graph_creator.h

@@ -20,8 +20,8 @@
 #include <unordered_map>
 #include <unordered_set>
 
-#include "modules/routing/topo_creator/map.pb.h"
-#include "modules/routing/topo_creator/topo_graph.pb.h"
+#include "modules/map/proto/map.pb.h"
+#include "modules/routing/proto/topo_graph.pb.h"
 
 namespace apollo {
 namespace routing {
@@ -37,16 +37,16 @@ class GraphCreator {
 
  private:
   void add_edge(
-      const ::apollo::routing::common::Node& from_node,
-      const ::google::protobuf::RepeatedPtrField<::apollo::common::hdmap::Id>&
+      const ::apollo::routing::Node& from_node,
+      const ::google::protobuf::RepeatedPtrField<::apollo::hdmap::Id>&
           to_node_vec,
-      const ::apollo::routing::common::Edge::DirectionType& type);
+      const ::apollo::routing::Edge::DirectionType& type);
 
  private:
   std::string _base_map_file_path;
   std::string _dump_topo_file_path;
-  ::apollo::common::hdmap::Map _pbmap;
-  ::apollo::routing::common::Graph _graph;
+  ::apollo::hdmap::Map _pbmap;
+  ::apollo::routing::Graph _graph;
   std::unordered_map<std::string, int> _node_index_map;
   std::unordered_map<std::string, std::string> _road_id_map;
   std::unordered_set<std::string> _showed_edge_id_set;

modules/routing/topo_creator/node_creator.cc

@@ -25,13 +25,13 @@ namespace {
 
 using ::google::protobuf::RepeatedPtrField;
 
-using ::apollo::common::hdmap::Lane;
-using ::apollo::common::hdmap::LaneBoundary;
-using ::apollo::common::hdmap::LaneBoundaryType;
+using ::apollo::hdmap::Lane;
+using ::apollo::hdmap::LaneBoundary;
+using ::apollo::hdmap::LaneBoundaryType;
 
-using ::apollo::routing::common::Node;
-using ::apollo::routing::common::Edge;
-using ::apollo::routing::common::CurveRange;
+using ::apollo::routing::Node;
+using ::apollo::routing::Edge;
+using ::apollo::routing::CurveRange;
 
 const double BASE_SPEED = 4.167;       // 15kmh
 const double LEFT_TURN_PENALTY = 50;   // meter
@@ -113,11 +113,11 @@ void NodeCreator::init_node_cost(const Lane& lane, Node* const node) {
       (speed_limit >= BASE_SPEED) ? (1 / sqrt(speed_limit / BASE_SPEED)) : 1.0;
   double cost = lane_length * ratio;
   if (lane.has_turn()) {
-    if (lane.turn() == ::apollo::common::hdmap::Lane::LEFT_TURN) {
+    if (lane.turn() == ::apollo::hdmap::Lane::LEFT_TURN) {
       cost += LEFT_TURN_PENALTY;
-    } else if (lane.turn() == ::apollo::common::hdmap::Lane::RIGHT_TURN) {
+    } else if (lane.turn() == ::apollo::hdmap::Lane::RIGHT_TURN) {
       cost += RIGHT_TURN_PENALTY;
-    } else if (lane.turn() == ::apollo::common::hdmap::Lane::U_TURN) {
+    } else if (lane.turn() == ::apollo::hdmap::Lane::U_TURN) {
       cost += UTURN_PENALTY;
     }
   }

modules/routing/topo_creator/node_creator.h

@@ -17,29 +17,29 @@
 #ifndef MODULES_ROUTING_TOPO_CREATOR_NODE_CREATOR_H
 #define MODULES_ROUTING_TOPO_CREATOR_NODE_CREATOR_H
 
-#include "modules/routing/topo_creator/map_lane.pb.h"
-#include "modules/routing/topo_creator/topo_graph.pb.h"
+#include "modules/map/proto/map_lane.pb.h"
+#include "modules/routing/proto/topo_graph.pb.h"
 
 namespace apollo {
 namespace routing {
 
 class NodeCreator {
  public:
-  static void get_pb_node(const ::apollo::common::hdmap::Lane& lane,
+  static void get_pb_node(const ::apollo::hdmap::Lane& lane,
                           const std::string& road_id,
-                          ::apollo::routing::common::Node* pb_node);
+                          ::apollo::routing::Node* pb_node);
 
  private:
   static void add_out_boundary(
-      const ::apollo::common::hdmap::LaneBoundary& bound, double lane_length,
+      const ::apollo::hdmap::LaneBoundary& bound, double lane_length,
       ::google::protobuf::RepeatedPtrField<
-          ::apollo::routing::common::CurveRange>* const out_range);
+          ::apollo::routing::CurveRange>* const out_range);
 
-  static void init_node_info(const ::apollo::common::hdmap::Lane& lane,
+  static void init_node_info(const ::apollo::hdmap::Lane& lane,
                              const std::string& road_id,
-                             ::apollo::routing::common::Node* const node);
-  static void init_node_cost(const ::apollo::common::hdmap::Lane& lane,
-                             ::apollo::routing::common::Node* const node);
+                             ::apollo::routing::Node* const node);
+  static void init_node_cost(const ::apollo::hdmap::Lane& lane,
+                             ::apollo::routing::Node* const node);
 };
 
 }  // namespace routing

modules/routing/topo_creator/topo_creator.cc

@@ -30,8 +30,8 @@ DEFINE_string(dump_topo_path, "/home/fuxiaoxin/Desktop/routing_map.bin",
 int main(int argc, char **argv) {
   google::InitGoogleLogging(argv[0]);
   google::ParseCommandLineFlags(&argc, &argv, true);
-  std::unique_ptr<::adu::routing::GraphCreator> creator_ptr;
-  creator_ptr.reset(new ::adu::routing::GraphCreator(
+  std::unique_ptr<::apollo::routing::GraphCreator> creator_ptr;
+  creator_ptr.reset(new ::apollo::routing::GraphCreator(
       FLAGS_base_map_dir + "/" + FLAGS_base_map_name, FLAGS_dump_topo_path));
   if (!creator_ptr->create()) {
     LOG(ERROR) << "Create routing topo failed!";