added decision tag in PathObstacle

modules/planning/common/path_obstacle.cc

@@ -40,13 +40,24 @@ bool PathObstacle::Init(const ReferenceLine* reference_line) { return true; }
 
 const planning::Obstacle* PathObstacle::Obstacle() const { return obstacle_; }
 
-void PathObstacle::AddDecision(const ObjectDecisionType& decision) {
+void PathObstacle::AddDecision(const std::string& decider_tag,
+                               const ObjectDecisionType& decision) {
   decisions_.push_back(decision);
+  decider_tags_.push_back(decider_tag);
 }
 
 const std::vector<ObjectDecisionType>& PathObstacle::Decisions() const {
   return decisions_;
 }
 
+const std::string PathObstacle::DebugString() const {
+  std::stringstream ss;
+  for (std::size_t i = 0; i < decisions_.size(); ++i) {
+    ss << "id: " << id_ << " decision: " << decisions_[i].DebugString()
+       << ", made by " << decider_tags_[i];
+  }
+  return ss.str();
+}
+
 }  // namespace planning
 }  // namespace apollo

modules/planning/common/path_obstacle.h

@@ -54,16 +54,25 @@ class PathObstacle {
 
   const planning::Obstacle* Obstacle() const;
 
-  void AddDecision(const ObjectDecisionType& decision);
+  /**
+   * @class add decision to this obstacle.
+   * @param decider_tag identifies which component added this decision
+   * @param the decision to be added to this path obstacle.
+   */
+  void AddDecision(const std::string& decider_tag,
+                   const ObjectDecisionType& decision);
 
   const std::vector<ObjectDecisionType>& Decisions() const;
 
+  const std::string DebugString() const;
+
  private:
   bool Init(const ReferenceLine* reference_line);
 
   std::string id_;
   const planning::Obstacle* obstacle_ = nullptr;
   std::vector<ObjectDecisionType> decisions_;
+  std::vector<std::string> decider_tags_;
 };
 
 }  // namespace planning