planning: added more items in local view. (#313)

modules/planning/BUILD

@@ -17,6 +17,7 @@ cc_library(
         "//modules/common/adapters:adapter_gflags",
         "//modules/common/util:message_util",
         "//modules/localization/proto:localization_proto",
+        "//modules/map/relative_map/proto:navigation_proto",
         "//modules/perception/proto:perception_proto",
         "//modules/planning/proto:planning_proto",
         "//modules/prediction/proto:prediction_proto",
@@ -30,12 +31,12 @@ cc_test(
         "planning_component_test.cc",
     ],
     data = [
-      "//modules/common/configs:config_gflags",
-      "//modules/planning:planning_testdata",
+        "//modules/common/configs:config_gflags",
+        "//modules/planning:planning_testdata",
     ],
     deps = [
-      ":planning_component_lib",
-      "@gtest//:main",
+        "@gtest//:main",
+        ":planning_component_lib",
     ],
 )
 

modules/planning/common/BUILD

@@ -22,9 +22,9 @@ cc_test(
         "indexed_list_test.cc",
     ],
     deps = [
+        "@gtest//:main",
         ":indexed_list",
         "//modules/common/util",
-        "@gtest//:main",
     ],
 )
 
@@ -45,9 +45,9 @@ cc_test(
         "indexed_queue_test.cc",
     ],
     deps = [
+        "@gtest//:main",
         ":indexed_queue",
         "//modules/common/util",
-        "@gtest//:main",
     ],
 )
 
@@ -88,10 +88,10 @@ cc_test(
         "//modules/planning/common:common_testdata",
     ],
     deps = [
+        "@gtest//:main",
         ":obstacle",
         "//modules/common/util",
         "//modules/perception/proto:perception_proto",
-        "@gtest//:main",
     ],
 )
 
@@ -121,8 +121,8 @@ cc_test(
         "path_obstacle_test.cc",
     ],
     deps = [
-        ":path_obstacle",
         "@gtest//:main",
+        ":path_obstacle",
     ],
 )
 
@@ -179,6 +179,7 @@ cc_library(
         "reference_line_info.h",
     ],
     deps = [
+        "@eigen",
         ":ego_info",
         ":path_decision",
         ":planning_gflags",
@@ -193,7 +194,6 @@ cc_library(
         "//modules/planning/common/trajectory:publishable_trajectory",
         "//modules/planning/proto:lattice_structure_proto",
         "//modules/planning/reference_line",
-        "@eigen",
     ],
 )
 
@@ -204,8 +204,8 @@ cc_test(
         "reference_line_info_test.cc",
     ],
     deps = [
-        ":reference_line_info",
         "@gtest//:main",
+        ":reference_line_info",
     ],
 )
 
@@ -237,8 +237,8 @@ cc_test(
         "speed_profile_generator_test.cc",
     ],
     deps = [
-        ":speed_profile_generator",
         "@gtest//:main",
+        ":speed_profile_generator",
     ],
 )
 
@@ -280,6 +280,7 @@ cc_library(
     ],
     deps = [
         "//modules/localization/proto:localization_proto",
+        "//modules/map/relative_map/proto:navigation_proto",
         "//modules/perception/proto:perception_proto",
         "//modules/planning/proto:planning_proto",
         "//modules/prediction/proto:prediction_proto",
@@ -353,11 +354,11 @@ cc_test(
         "//modules/planning/common:common_testdata",
     ],
     deps = [
+        "@gtest//:main",
         ":frame",
         "//modules/common/util",
         "//modules/map/hdmap:hdmap_util",
         "//modules/planning/proto:planning_config_proto",
-        "@gtest//:main",
     ],
 )
 
@@ -402,8 +403,8 @@ cc_test(
         "speed_limit_test.cc",
     ],
     deps = [
-        ":speed_limit",
         "@gtest//:main",
+        ":speed_limit",
     ],
 )
 
@@ -416,6 +417,7 @@ cc_library(
         "ego_info.h",
     ],
     deps = [
+        "@eigen",
         ":obstacle",
         "//framework:cybertron",
         "//modules/common/configs:vehicle_config_helper",
@@ -423,7 +425,6 @@ cc_library(
         "//modules/common/math:geometry",
         "//modules/common/vehicle_state/proto:vehicle_state_proto",
         "//modules/planning/reference_line",
-        "@eigen",
     ],
 )
 
@@ -434,9 +435,9 @@ cc_test(
         "ego_info_test.cc",
     ],
     deps = [
+        "@gtest//:main",
         ":ego_info",
         ":frame",
-        "@gtest//:main",
     ],
 )
 

modules/planning/common/local_view.h

@@ -24,6 +24,7 @@
 #include "modules/perception/proto/traffic_light_detection.pb.h"
 #include "modules/prediction/proto/prediction_obstacle.pb.h"
 #include "modules/routing/proto/routing.pb.h"
+#include "modules/map/relative_map/proto/navigation.pb.h"
 
 namespace apollo {
 namespace planning {
@@ -39,6 +40,7 @@ struct LocalView {
   std::shared_ptr<localization::LocalizationEstimate> localization_estimate;
   std::shared_ptr<perception::TrafficLightDetection> traffic_light;
   std::shared_ptr<routing::RoutingResponse> routing;
+  std::shared_ptr<relative_map::MapMsg> relative_map;
 };
 
 }  // namespace planning

modules/planning/planning_component.cc

@@ -27,6 +27,7 @@ namespace planning {
 using apollo::perception::TrafficLightDetection;
 using apollo::routing::RoutingResponse;
 using apollo::routing::RoutingRequest;
+using apollo::relative_map::MapMsg;
 using apollo::hdmap::HDMapUtil;
 
 bool PlanningComponent::Init() {
@@ -54,17 +55,24 @@ bool PlanningComponent::Init() {
     pad_message_reader_ = node_->CreateReader<PadMessage>(
         FLAGS_planning_pad_topic,
         [this](const std::shared_ptr<PadMessage>& pad_message) {
-          ADEBUG << "Received chassis data: run chassis callback.";
+          ADEBUG << "Received pad data: run pad callback.";
           std::lock_guard<std::mutex> lock(mutex_);
           pad_message_.CopyFrom(*pad_message);
         });
+    relative_map_reader_ = node_->CreateReader<MapMsg>(
+        FLAGS_planning_pad_topic,
+        [this](const std::shared_ptr<MapMsg>& map_message) {
+          ADEBUG << "Received relative map data: run relative map callback.";
+          std::lock_guard<std::mutex> lock(mutex_);
+          relative_map_.CopyFrom(*map_message);
+        });
   }
 
   planning_writer_ =
       node_->CreateWriter<ADCTrajectory>(FLAGS_planning_trajectory_topic);
 
   rerouting_writer_ =
-      node_->CreateWriter<RoutingRequest>("/apollo/routing/routing_request");
+      node_->CreateWriter<RoutingRequest>(FLAGS_routing_request_topic);
 
   return true;
 }

modules/planning/planning_component.h

@@ -66,6 +66,7 @@ class PlanningComponent final
       traffic_light_reader_;
   std::shared_ptr<cybertron::Reader<routing::RoutingResponse>> routing_reader_;
   std::shared_ptr<cybertron::Reader<planning::PadMessage>> pad_message_reader_;
+  std::shared_ptr<cybertron::Reader<relative_map::MapMsg>> relative_map_reader_;
 
   std::shared_ptr<cybertron::Writer<ADCTrajectory>> planning_writer_;
   std::shared_ptr<cybertron::Writer<routing::RoutingRequest>> rerouting_writer_;
@@ -74,6 +75,7 @@ class PlanningComponent final
   perception::TrafficLightDetection traffic_light_;
   routing::RoutingResponse routing_;
   PadMessage pad_message_;
+  relative_map::MapMsg relative_map_;
 
   LocalView local_view_;