Prediction: initialize scenario submodule

modules/prediction/container/obstacles/BUILD

@@ -16,6 +16,7 @@ cc_library(
         "//modules/prediction/container",
         "//modules/prediction/container/obstacles:obstacle",
         "//modules/prediction/proto:prediction_proto",
+        "//modules/prediction/proto:submodule_messages_proto",
     ],
 )
 

modules/prediction/container/obstacles/obstacles_container.cc

@@ -438,8 +438,8 @@ bool ObstaclesContainer::IsMovable(
 
 double ObstaclesContainer::timestamp() const { return timestamp_; }
 
-PredictionObstacles ObstaclesContainer::GetPredictionObstacles() {
-  PredictionObstacles prediction_obstacles;
+PredictionContainerMessage ObstaclesContainer::GetContainerMessage() {
+  PredictionContainerMessage container_message;
   for (const auto& id_pair : curr_frame_id_mapping_) {
     int id = id_pair.second;
     Obstacle* obstacle_ptr = GetObstacle(id);
@@ -449,11 +449,11 @@ PredictionObstacles ObstaclesContainer::GetPredictionObstacles() {
     }
     PredictionObstacle prediction_obstacle =
         obstacle_ptr->GeneratePredictionObstacle();
-    prediction_obstacles.add_prediction_obstacle()->CopyFrom(
+    container_message.add_prediction_obstacle()->CopyFrom(
         prediction_obstacle);
   }
   // TODO(kechxu) add other info into prediction_obstacles if needed
-  return prediction_obstacles;
+  return container_message;
 }
 
 }  // namespace prediction

modules/prediction/container/obstacles/obstacles_container.h

@@ -30,6 +30,7 @@
 #include "modules/prediction/container/container.h"
 #include "modules/prediction/container/obstacles/obstacle.h"
 #include "modules/prediction/proto/prediction_obstacle.pb.h"
+#include "modules/prediction/proto/submodule_messages.pb.h"
 
 namespace apollo {
 namespace prediction {
@@ -133,7 +134,7 @@ class ObstaclesContainer : public Container {
 
   double timestamp() const;
 
-  PredictionObstacles GetPredictionObstacles();
+  PredictionContainerMessage GetContainerMessage();
 
  private:
   Obstacle* GetObstacleWithLRUUpdate(const int obstacle_id);

modules/prediction/proto/BUILD

@@ -212,3 +212,26 @@ proto_library(
         "//modules/common/proto:geometry_proto_lib",
     ],
 )
+
+cc_proto_library(
+    name = "submodule_messages_proto",
+    deps = [
+        ":submodule_messages_proto_lib",
+    ],
+)
+
+proto_library(
+    name = "submodule_messages_proto_lib",
+    srcs = [
+        "submodule_messages.proto",
+    ],
+    deps = [
+        "//modules/common/proto:error_code_proto_lib",
+        "//modules/common/proto:header_proto_lib",
+        "//modules/common/proto:pnc_point_proto_lib",
+        "//modules/perception/proto:perception_proto_lib",
+        "//modules/prediction/proto:feature_proto_lib",
+        "//modules/prediction/proto:scenario_proto_lib",
+        "//modules/prediction/proto:prediction_proto_lib",
+    ],
+)

modules/prediction/proto/submodule_messages.proto

+syntax = "proto2";
+
+package apollo.prediction;
+
+import "modules/common/proto/header.proto";
+import "modules/prediction/proto/prediction_obstacle.proto";
+
+message PredictionContainerMessage {
+  // timestamp is included in header
+  optional apollo.common.Header header = 1;
+
+  // make prediction for multiple obstacles
+  repeated PredictionObstacle prediction_obstacle = 2;
+
+  // start timestamp
+  optional double start_timestamp = 3;
+
+  // end timestamp
+  optional double end_timestamp = 4;
+}

modules/prediction/submodules/BUILD

@@ -21,6 +21,7 @@ cc_library(
         "//modules/prediction/common:prediction_gflags",
         "//modules/prediction/container:container_manager",
         "//modules/prediction/container/obstacles:obstacles_container",
+        "//modules/prediction/proto:submodule_messages_proto",
     ],
 )
 
@@ -31,4 +32,33 @@ cc_binary(
     deps = [":container_submodule_lib"],
 )
 
+cc_library(
+    name = "scenario_submodule_lib",
+    srcs = ["scenario_submodule.cc"],
+    hdrs = [
+        "scenario_submodule.h",
+    ],
+    copts = [
+        "-DMODULE_NAME=\\\"scenario_submodule\\\"",
+    ],
+    deps = [
+        "//cyber",
+        "//modules/common/adapters:adapter_gflags",
+        "//modules/common/adapters/proto:adapter_config_proto",
+        "//modules/common/time",
+        "//modules/perception/proto:perception_proto",
+        "//modules/prediction/common:message_process",
+        "//modules/prediction/common:prediction_gflags",
+        "//modules/prediction/scenario:scenario_manager",
+        "//modules/prediction/proto:submodule_messages_proto",
+    ],
+)
+
+cc_binary(
+    name = "scenario_submodule.so",
+    linkshared = True,
+    linkstatic = False,
+    deps = [":scenario_submodule_lib"],
+)
+
 cpplint()

modules/prediction/submodules/container_submodule.cc

@@ -53,8 +53,8 @@ bool ContainerSubmodule::Init() {
           FLAGS_localization_topic, nullptr);
 
   // TODO(kechxu) change topic name when finalized
-  prediction_writer_ =
-      node_->CreateWriter<PredictionObstacles>(FLAGS_prediction_topic);
+  container_writer_ =
+      node_->CreateWriter<PredictionContainerMessage>(FLAGS_prediction_topic);
   return true;
 }
 
@@ -66,7 +66,12 @@ bool ContainerSubmodule::Proc(
       ContainerManager::Instance()->GetContainer<ObstaclesContainer>(
           AdapterConfig::PERCEPTION_OBSTACLES);
   CHECK_NOTNULL(obstacles_container_ptr);
-  // TODO(kechxu): implement the writer
+
+  PredictionContainerMessage container_message =
+      obstacles_container_ptr->GetContainerMessage();
+  container_writer_->Write(std::make_shared<PredictionContainerMessage>(
+      container_message));
+
   return true;
 }
 

modules/prediction/submodules/container_submodule.h

@@ -29,6 +29,7 @@
 #include "modules/perception/proto/perception_obstacle.pb.h"
 #include "modules/planning/proto/planning.pb.h"
 #include "modules/prediction/proto/prediction_obstacle.pb.h"
+#include "modules/prediction/proto/submodule_messages.pb.h"
 
 /**
  * @namespace apollo::prediction
@@ -73,7 +74,7 @@ class ContainerSubmodule
   std::shared_ptr<cyber::Reader<localization::LocalizationEstimate>>
       localization_reader_;
 
-  std::shared_ptr<cyber::Writer<PredictionObstacles>> prediction_writer_;
+  std::shared_ptr<cyber::Writer<PredictionContainerMessage>> container_writer_;
 };
 
 CYBER_REGISTER_COMPONENT(ContainerSubmodule)

modules/prediction/submodules/scenario_submodule.cc

+/******************************************************************************
+ * Copyright 2019 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include "modules/prediction/submodules/scenario_submodule.h"
+
+namespace apollo {
+namespace prediction {
+
+bool ScenarioSubmodule::Init() {
+  // TODO(kechxu) implement
+  return true;
+}
+
+bool ScenarioSubmodule::Proc(
+    const std::shared_ptr<PredictionContainerMessage>& container_message) {
+  // TODO(kechxu) implement
+  return true;
+}
+
+}  // namespace prediction
+}  // namespace apollo

modules/prediction/submodules/scenario_submodule.h

+/******************************************************************************
+ * Copyright 2019 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+/**
+ * @file
+ * @brief Use scenario submodule to deal with scenario-related tasks
+ */
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include "cyber/component/component.h"
+
+#include "modules/prediction/proto/submodule_messages.pb.h"
+
+namespace apollo {
+namespace prediction {
+
+class ScenarioSubmodule : public cyber::Component<PredictionContainerMessage> {
+ public:
+  /**
+   * @brief Destructor
+   */
+  ~ScenarioSubmodule();
+
+  /**
+   * @brief Get name of the node
+   * @return Name of the node
+   */
+  std::string Name() const;
+
+  /**
+   * @brief Initialize the node
+   * @return If initialized
+   */
+  bool Init() override;
+
+  /**
+   * @brief Data callback upon receiving a prediction container message.
+   * @param Prediction container message.
+   */
+  bool Proc(const std::shared_ptr<PredictionContainerMessage>&) override;
+
+ private:
+  // TODO(kechxu) define storytelling reader
+  // TODO(kechxu) define writer
+};
+
+CYBER_REGISTER_COMPONENT(ScenarioSubmodule)
+
+}  // namespace prediction
+}  // namespace apollo