Planning: added initial definitions of reference line provider. This class...

Planning: added initial definitions of reference line provider. This class will run in a seperate thread and smooth reference lines, so that the time cost for reference line smoother can be amortized to each planning cycle.

modules/planning/planning.cc

@@ -149,7 +149,7 @@ void Planning::PublishPlanningPb(ADCTrajectory* trajectory_pb,
 }
 
 void Planning::RunOnce() {
-  double start_timestamp = Clock::NowInSecond();
+  const double start_timestamp = Clock::NowInSecond();
   AdapterManager::Observe();
   ADCTrajectory not_ready_pb;
   auto* not_ready = not_ready_pb.mutable_decision()

modules/planning/reference_line/BUILD

@@ -47,6 +47,20 @@ cc_library(
     ],
 )
 
+cc_library(
+    name = "reference_line_provider",
+    srcs = [
+        "reference_line_provider.cc",
+    ],
+    hdrs = [
+        "reference_line_provider.h",
+    ],
+    deps = [
+        "reference_line",
+        "reference_line_smoother",
+    ],
+)
+
 cc_test(
     name = "reference_line_smoother_test",
     size = "small",

modules/planning/reference_line/reference_line_provider.cc

+/******************************************************************************
+ * Copyright 2017 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 reference_line_provider.cc
+ *
+ * @brief Implementation of the class ReferenceLineProvider.
+ */
+
+#include "modules/planning/reference_line/reference_line_provider.h"
+
+/**
+ * @namespace apollo::planning
+ * @brief apollo::planning
+ */
+namespace apollo {
+namespace planning {
+
+void ReferenceLineProvider::Init() {
+  // TODO: implement this function.
+  is_initialized_ = true;
+}
+
+bool ReferenceLineProvider::Start() {
+  if (!is_initialized_) {
+    AERROR << "LincolnController has NOT been initiated.";
+    return false;
+  }
+  const auto &func = [this] { Generate(); };
+  thread_.reset(new std::thread(func));
+  return false;
+}
+
+void ReferenceLineProvider::Generate() {
+  // TODO: implement this function.
+}
+
+std::vector<ReferenceLine> ReferenceLineProvider::GetReferenceLines() {
+  // TODO: implement this function.
+  return reference_line_groups_.back();
+}
+
+}  // namespace planning
+}  // namespace apollo

modules/planning/reference_line/reference_line_provider.h

+/******************************************************************************
+ * Copyright 2017 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 reference_line_provider.h
+ *
+ * @brief Declaration of the class ReferenceLineProvider.
+ */
+#ifndef MODULES_PLANNING_REFERENCE_LINE_REFERENCE_LINE_PROVIDER_H_
+#define MODULES_PLANNING_REFERENCE_LINE_REFERENCE_LINE_PROVIDER_H_
+
+#include <memory>
+#include <thread>
+#include <vector>
+
+#include "modules/planning/reference_line/reference_line.h"
+#include "modules/planning/reference_line/reference_line_smoother.h"
+
+/**
+ * @namespace apollo::planning
+ * @brief apollo::planning
+ */
+namespace apollo {
+namespace planning {
+
+/**
+ * @class ReferenceLineProvider
+ * @brief The class of ReferenceLineProvider.
+ *        It provides smoothed reference line to planning.
+ */
+class ReferenceLineProvider {
+ public:
+  /**
+   * @brief Default destructor.
+   */
+  virtual ~ReferenceLineProvider() = default;
+
+  void Init();
+
+  bool Start();
+
+  std::vector<ReferenceLine> GetReferenceLines();
+
+ private:
+  DECLARE_SINGLETON(ReferenceLineProvider);
+
+  void Generate();
+
+  bool is_initialized_ = false;
+  std::unique_ptr<std::thread> thread_;
+  std::vector<std::vector<ReferenceLine>> reference_line_groups_;
+};
+
+}  // namespace planning
+}  // namespace apollo
+
+#endif  // MODULES_PLANNING_REFERENCE_LINE_REFERENCE_LINE_PROVIDER_H_