Added pose container and enable container factory in container manager

modules/prediction/container/BUILD

@@ -5,7 +5,7 @@ cc_library(
     srcs = ["container_manager.cc"],
     hdrs = ["container_manager.h"],
     deps = [
-        "//modules/prediction/container:container",
+        "//modules/prediction/container/obstacles:obstacles_container",
         "//modules/common:macro",
         "@glog//:glog"
     ]

modules/prediction/container/container_manager.cc

@@ -16,6 +16,8 @@
 
 #include "modules/prediction/container/container_manager.h"
 
+#include "modules/prediction/container/obstacles/obstacles_container.h"
+
 namespace apollo {
 namespace prediction {
 
@@ -25,7 +27,9 @@ ContainerManager::~ContainerManager() {
   containers_.clear();
 }
 
-void ContainerManager::RegisterContainer() {}
+void ContainerManager::RegisterContainers() {
+  RegisterContainer("PerceptionObstacles");
+}
 
 Container* ContainerManager::mutable_container(const std::string& name) {
   if (containers_.find(name) != containers_.end()) {
@@ -35,5 +39,18 @@ Container* ContainerManager::mutable_container(const std::string& name) {
   }
 }
 
+std::unique_ptr<Container> ContainerManager::CreateContainer(
+    const std::string& name) {
+  std::unique_ptr<Container> container_ptr(nullptr);
+  if (name == "PerceptionObstacles") {
+    container_ptr.reset(new ObstaclesContainer());
+  }
+  return container_ptr;
+}
+
+void ContainerManager::RegisterContainer(const std::string& name) {
+  containers_[name] = CreateContainer(name);
+}
+
 } 
 }

modules/prediction/container/container_manager.h

@@ -23,6 +23,7 @@
 #define MODULES_PREDICTION_CONTAINER_CONTAINER_MANAGER_H_
 
 #include <unordered_map>
+#include <string>
 
 #include "modules/prediction/container/container.h"
 #include "modules/common/macro.h"
@@ -44,7 +45,7 @@ class ContainerManager {
   /**
    * @brief Register all containers
    */
-  void RegisterContainer();
+  void RegisterContainers();
 
   /**
    * @brief Get mutable container
@@ -53,6 +54,11 @@ class ContainerManager {
    */
   Container* mutable_container(const std::string& name);
 
+ private:
+  std::unique_ptr<Container> CreateContainer(const std::string& name);
+
+  void RegisterContainer(const std::string& name);
+
  private:
   std::unordered_map<std::string, std::unique_ptr<Container>> containers_;
 

modules/prediction/container/obstacles/BUILD

@@ -6,7 +6,6 @@ cc_library(
     hdrs = ["obstacles_container.h"],
     deps = [
         "//modules/prediction/container:container",
-        "//modules/perception/proto:perception_proto"
     ]
 )
 

modules/prediction/container/obstacles/obstacles_container.cc

@@ -19,8 +19,7 @@
 namespace apollo {
 namespace prediction {
 
-void ObstaclesContainer::Insert(
-    const ::apollo::perception::PerceptionObstacles& obstacles) {}
+void ObstaclesContainer::Insert(const ::google::protobuf::Message& message) {}
 
 }
 }

modules/prediction/container/obstacles/obstacles_container.h

@@ -24,8 +24,6 @@
 
 #include "modules/prediction/container/container.h"
 
-#include "modules/perception/proto/perception_obstacle.pb.h"
-
 namespace apollo {
 namespace prediction {
 
@@ -45,8 +43,7 @@ class ObstaclesContainer : public Container {
    * @brief Insert a data message into the container
    * @param Data message to be inserted in protobuf
    */
-  virtual void Insert(
-    const ::apollo::perception::PerceptionObstacles& obstacles);
+  virtual void Insert(const ::google::protobuf::Message& message) override;
 };
 
 } // namespace prediction

modules/prediction/container/pose/BUILD

+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "pose_container",
+    srcs = ["pose_container.cc"],
+    hdrs = ["pose_container.h"],
+    deps = [
+        "//modules/prediction/container:container",
+    ]
+)
\ No newline at end of file

modules/prediction/container/pose/pose_container.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.
+ *****************************************************************************/
+
+#include "modules/prediction/container/pose/pose_container.h"
+
+namespace apollo {
+namespace prediction {
+
+void PoseContainer::Insert(const ::google::protobuf::Message& message) {}
+
+}
+}

modules/prediction/container/pose/pose_container.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
+ * @brief Obstacles container
+ */
+
+#ifndef MODULES_PREDICTION_CONTAINER_POSE_OBSTACLES_H_
+#define MODULES_PREDICTION_CONTAINER_POSE_OBSTACLES_H_
+
+#include "modules/prediction/container/container.h"
+
+namespace apollo {
+namespace prediction {
+
+class PoseContainer : public Container {
+ public:
+  /**
+   * @brief Constructor
+   */
+  explicit PoseContainer() = default;
+
+  /**
+   * @brief Destructor
+   */
+  virtual ~PoseContainer() = default;
+
+  /**
+   * @brief Insert a data message into the container
+   * @param Data message to be inserted in protobuf
+   */
+  virtual void Insert(const ::google::protobuf::Message& message) override;
+};
+
+} // namespace prediction
+} // namespace apollo
+
+#endif // MODULES_PREDICTION_CONTAINER_POSE_OBSTACLES_H_

modules/prediction/prediction.cc

@@ -38,12 +38,14 @@ std::string Prediction::Name() const { return FLAGS_prediction_module_name; }
 
 Status Prediction::Init() {
   // Load prediction conf
+  conf_.Clear();
   if (!::apollo::common::util::GetProtoFromFile(FLAGS_prediction_conf_file,
                                                 &conf_)) {
     return OnError("Unable to load prediction conf file" +
                    FLAGS_prediction_conf_file);
   }
 
+  // Initialize the adapters
   AdapterManager::instance()->Init();
 
   CHECK(AdapterManager::GetLocalization())
@@ -52,6 +54,7 @@ Status Prediction::Init() {
   CHECK(AdapterManager::GetPerceptionObstacles())
       << "Perception is not ready.";
 
+  // Set perception obstacle callback function
   AdapterManager::SetPerceptionObstaclesCallback(&Prediction::OnPerception,
                                                  this);
   return Status::OK();
@@ -81,7 +84,7 @@ void Prediction::OnPerception(const PerceptionObstacles &perception_obstacles) {
   ContainerManager::instance()->mutable_container("Obstacles")->Insert(perception_obstacles);
   EvaluatorManager::instance()->Run(perception_obstacles);
   PredictorManager::instance()->Run(perception_obstacles);
-  // AdapterManager::PublishPrediction(GeneratorManager::instance()->GetPredictions());
+  // AdapterManager::PublishPrediction(PredictorManager::instance()->GetPredictions());
 }
 
 Status Prediction::OnError(const std::string& error_msg) {