Planning: fixed a threading bug in reference line provider.

modules/integration_test/integration_test_base.cc

@@ -147,7 +147,7 @@ void IntegrationTestBase::SetUp() {
   Clock::SetMode(Clock::CYBERTRON);
   apollo::cybertron::Init(node_name);
   CHECK(FeedTestData()) << "Failed to feed test data";
-  // planning_.reset(new PlanningComponent());
+  planning_.reset(new PlanningComponent());
 }
 
 void IntegrationTestBase::UpdateData() {

modules/integration_test/integration_test_base.h

@@ -17,6 +17,7 @@
 #include <map>
 #include <memory>
 #include <string>
+#include <utility>
 #include <vector>
 
 #include "gtest/gtest.h"

modules/planning/reference_line/reference_line_provider.cc

@@ -26,8 +26,6 @@
 #include <limits>
 #include <utility>
 
-#include "cybertron/cybertron.h"
-
 #include "modules/common/configs/vehicle_config_helper.h"
 #include "modules/common/time/time.h"
 #include "modules/common/util/file.h"
@@ -108,13 +106,20 @@ bool ReferenceLineProvider::Start() {
   }
 
   if (FLAGS_enable_reference_line_provider_thread) {
-    auto task = apollo::cybertron::CreateTask(
-        "async_reference_line_provider", [this]() { this->GenerateThread(); });
+    task_ = std::make_shared<apollo::cybertron::Task<int>>(
+        "async_reference_line_provider",
+        [this](const std::shared_ptr<int> &) { this->GenerateThread(); });
+    task_future_ = task_->Execute(std::make_shared<int>());
   }
   return true;
 }
 
-void ReferenceLineProvider::Stop() { is_stop_ = true; }
+void ReferenceLineProvider::Stop() {
+  is_stop_ = true;
+  if (FLAGS_enable_reference_line_provider_thread) {
+    task_future_.get();
+  }
+}
 
 void ReferenceLineProvider::UpdateReferenceLine(
     const std::list<ReferenceLine> &reference_lines,

modules/planning/reference_line/reference_line_provider.h

@@ -34,6 +34,8 @@
 #include <unordered_set>
 #include <vector>
 
+#include "cybertron/cybertron.h"
+
 #include "modules/common/vehicle_state/proto/vehicle_state.pb.h"
 #include "modules/map/relative_map/proto/navigation.pb.h"
 #include "modules/planning/proto/planning_config.pb.h"
@@ -176,6 +178,9 @@ class ReferenceLineProvider {
 
   std::queue<std::list<ReferenceLine>> reference_line_history_;
   std::queue<std::list<hdmap::RouteSegments>> route_segments_history_;
+
+  std::shared_ptr<cybertron::Task<int>> task_;
+  std::future<void> task_future_;
 };
 
 }  // namespace planning

modules/planning/std_planning.cc

@@ -80,7 +80,9 @@ bool IsDifferentRouting(const RoutingResponse& first,
 }  // namespace
 
 StdPlanning::~StdPlanning() {
-  reference_line_provider_->Stop();
+  if (reference_line_provider_) {
+    reference_line_provider_->Stop();
+  }
   last_publishable_trajectory_.reset(nullptr);
   frame_.reset(nullptr);
   planner_.reset(nullptr);