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前往新版Gitcode,体验更适合开发者的 AI 搜索 >>
提交
26ae1720
编写于
7月 20, 2020
作者:
J
jmtao
提交者:
Jinyun Zhou
7月 21, 2020
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电子邮件补丁
差异文件
planning: publish a new topic msg to transfer learning data to RL python module
上级
7462a12f
变更
4
隐藏空白更改
内联
并排
Showing
4 changed file
with
29 addition
and
2 deletion
+29
-2
modules/planning/conf/planning_config.pb.txt
modules/planning/conf/planning_config.pb.txt
+2
-1
modules/planning/planning_component.cc
modules/planning/planning_component.cc
+22
-1
modules/planning/planning_component.h
modules/planning/planning_component.h
+3
-0
modules/planning/proto/planning_config.proto
modules/planning/proto/planning_config.proto
+2
-0
未找到文件。
modules/planning/conf/planning_config.pb.txt
浏览文件 @
26ae1720
...
...
@@ -10,8 +10,9 @@ topic_config {
routing_response_topic: "/apollo/routing_response"
story_telling_topic: "/apollo/storytelling"
traffic_light_detection_topic: "/apollo/perception/traffic_light"
planning_learning_data_topic: "/apollo/planning/learning_data"
}
learning_mode: NO_LEARNING # NO
LEARNING / E2E / HYBRID
learning_mode: NO_LEARNING # NO
_LEARNING / E2E / HYBRID / RL_TEST
standard_planning_config {
planner_type: PUBLIC_ROAD
planner_public_road_config {
...
...
modules/planning/planning_component.cc
浏览文件 @
26ae1720
...
...
@@ -109,6 +109,9 @@ bool PlanningComponent::Init() {
rerouting_writer_
=
node_
->
CreateWriter
<
RoutingRequest
>
(
config_
.
topic_config
().
routing_request_topic
());
planning_learning_data_writer_
=
node_
->
CreateWriter
<
PlanningLearningData
>
(
config_
.
topic_config
().
planning_learning_data_topic
());
return
true
;
}
...
...
@@ -165,12 +168,30 @@ bool PlanningComponent::Proc(
message_process_
.
OnLocalization
(
*
local_view_
.
localization_estimate
);
}
// publish learning data frame for RL test
if
(
config_
.
learning_mode
()
==
PlanningConfig
::
RL_TEST
)
{
PlanningLearningData
planning_learning_data
;
LearningDataFrame
*
learning_data_frame
=
injector_
->
learning_based_data
()
->
GetLatestLearningDataFrame
();
if
(
learning_data_frame
)
{
planning_learning_data
.
mutable_learning_data
()
->
add_learning_data
()
->
CopyFrom
(
*
learning_data_frame
);
common
::
util
::
FillHeader
(
node_
->
Name
(),
&
planning_learning_data
);
planning_learning_data_writer_
->
Write
(
planning_learning_data
);
}
else
{
AERROR
<<
"fail to generate learning data frame"
;
return
false
;
}
return
true
;
}
ADCTrajectory
adc_trajectory_pb
;
planning_base_
->
RunOnce
(
local_view_
,
&
adc_trajectory_pb
);
auto
start_time
=
adc_trajectory_pb
.
header
().
timestamp_sec
();
common
::
util
::
FillHeader
(
node_
->
Name
(),
&
adc_trajectory_pb
);
// modify trajectory relative time due to the timestamp change in header
auto
start_time
=
adc_trajectory_pb
.
header
().
timestamp_sec
();
const
double
dt
=
start_time
-
adc_trajectory_pb
.
header
().
timestamp_sec
();
for
(
auto
&
p
:
*
adc_trajectory_pb
.
mutable_trajectory_point
())
{
p
.
set_relative_time
(
p
.
relative_time
()
+
dt
);
...
...
modules/planning/planning_component.h
浏览文件 @
26ae1720
...
...
@@ -27,6 +27,7 @@
#include "modules/planning/common/message_process.h"
#include "modules/planning/common/planning_gflags.h"
#include "modules/planning/planning_base.h"
#include "modules/planning/proto/learning_data.pb.h"
#include "modules/planning/proto/pad_msg.pb.h"
#include "modules/planning/proto/planning.pb.h"
#include "modules/planning/proto/planning_config.pb.h"
...
...
@@ -68,6 +69,8 @@ class PlanningComponent final
std
::
shared_ptr
<
cyber
::
Writer
<
ADCTrajectory
>>
planning_writer_
;
std
::
shared_ptr
<
cyber
::
Writer
<
routing
::
RoutingRequest
>>
rerouting_writer_
;
std
::
shared_ptr
<
cyber
::
Writer
<
PlanningLearningData
>>
planning_learning_data_writer_
;
std
::
mutex
mutex_
;
perception
::
TrafficLightDetection
traffic_light_
;
...
...
modules/planning/proto/planning_config.proto
浏览文件 @
26ae1720
...
...
@@ -357,6 +357,7 @@ message TopicConfig {
optional
string
routing_response_topic
=
9
;
optional
string
story_telling_topic
=
10
;
optional
string
traffic_light_detection_topic
=
11
;
optional
string
planning_learning_data_topic
=
12
;
}
message
PlanningConfig
{
...
...
@@ -364,6 +365,7 @@ message PlanningConfig {
NO_LEARNING
=
0
;
E2E
=
1
;
HYBRID
=
2
;
RL_TEST
=
3
;
}
optional
TopicConfig
topic_config
=
1
;
...
...
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