bazel for graph (#321)

modules/routing/common/utils_test.cc

@@ -28,10 +28,10 @@ TEST(FileUtilsTestSuit, test1) {
   std::string file_path = "./test.bin";
   std::string map_version = "versionA";
 
-  ::apollo::routing::common::Graph graph_1;
+  ::apollo::routing::Graph graph_1;
   graph_1.set_hdmap_version(map_version);
 
-  ::apollo::routing::common::Graph graph_2;
+  ::apollo::routing::Graph graph_2;
   ASSERT_TRUE(FileUtils::dump_protobuf_data_to_file(file_path, graph_1));
   ASSERT_TRUE(FileUtils::load_protobuf_data_from_file(file_path, &graph_2));
   ASSERT_EQ(map_version, graph_2.hdmap_version());

modules/routing/graph/topo_edge.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/routing/graph/topo_edge.h"
-#include "modules/routing/graph/topo_node.h"
-
-#include <math.h>
-
-
-namespace apollo{
-namespace routing {
-
-using ::apollo::routing::common::Edge;
-
-TopoEdge::TopoEdge(const ::apollo::routing::common::Edge& edge,
-                   const TopoNode* from_node, const TopoNode* to_node)
-    : _pb_edge(edge), _from_node(from_node), _to_node(to_node) {}
-
-TopoEdge::~TopoEdge() {}
-
-const Edge& TopoEdge::edge() const { return _pb_edge; }
-
-double TopoEdge::cost() const { return _pb_edge.cost(); }
-
-const TopoNode* TopoEdge::from_node() const { return _from_node; }
-
-const TopoNode* TopoEdge::to_node() const { return _to_node; }
-
-const std::string& TopoEdge::from_lane_id() const {
-  return _pb_edge.from_lane_id();
-}
-
-const std::string& TopoEdge::to_lane_id() const {
-  return _pb_edge.to_lane_id();
-}
-
-TopoEdgeType TopoEdge::type() const {
-  if (_pb_edge.direction_type() == ::apollo::routing::common::Edge::LEFT) {
-    return TET_LEFT;
-  }
-  if (_pb_edge.direction_type() == ::apollo::routing::common::Edge::RIGHT) {
-    return TET_RIGHT;
-  }
-  return TET_FORWARD;
-}
-
-}  // namespace routing
-}  // namespace apollo

modules/routing/graph/topo_edge.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.
-  *****************************************************************************/
-
-#ifndef MODULES_ROUTING_GRAPH_TOPO_EDGE_H
-#define MODULES_ROUTING_GRAPH_TOPO_EDGE_H
-
-#include "map_lane.pb.h"
-#include "topo_graph.pb.h"
-
-namespace apollo {
-namespace routing {
-
-enum TopoEdgeType {
-  TET_FORWARD,
-  TET_LEFT,
-  TET_RIGHT,
-};
-
-class TopoNode;
-
-class TopoEdge {
- public:
-  TopoEdge(const ::apollo::routing::common::Edge& edge, const TopoNode* from_node,
-           const TopoNode* to_node);
-
-  ~TopoEdge();
-
-  const ::apollo::routing::common::Edge& edge() const;
-  double cost() const;
-  const std::string& from_lane_id() const;
-  const std::string& to_lane_id() const;
-  TopoEdgeType type() const;
-
-  const TopoNode* from_node() const;
-  const TopoNode* to_node() const;
-
- private:
-  ::apollo::routing::common::Edge _pb_edge;
-  const TopoNode* _from_node;
-  const TopoNode* _to_node;
-};
-
-}  // namespace routing
-}  // namespace apollo
-
-#endif  // MODULES_ROUTING_GRAPH_TOPO_EDGE_H

modules/routing/graph/topo_graph.cc

@@ -16,7 +16,6 @@
 
 #include "modules/routing/graph/topo_graph.h"
 #include "modules/routing/common/utils.h"
-#include "modules/routing/graph/topo_edge.h"
 #include "modules/routing/graph/topo_node.h"
 
 namespace apollo {
@@ -28,9 +27,9 @@ void TopoGraph::clear() {
   _node_index_map.clear();
 }
 
-bool TopoGraph::load_nodes(const ::apollo::routing::common::Graph& graph) {
+bool TopoGraph::load_nodes(const ::apollo::routing::Graph& graph) {
   if (graph.node_size() == 0) {
-    ROS_ERROR("No nodes found in topology graph.");
+    AERROR << "No nodes found in topology graph.";
     return false;
   }
   for (const auto& node : graph.node()) {
@@ -44,9 +43,9 @@ bool TopoGraph::load_nodes(const ::apollo::routing::common::Graph& graph) {
 }
 
 // Need to execute load_nodes() firstly
-bool TopoGraph::load_edges(const ::apollo::routing::common::Graph& graph) {
+bool TopoGraph::load_edges(const ::apollo::routing::Graph& graph) {
   if (graph.edge_size() == 0) {
-    ROS_ERROR("No edges found in topology graph.");
+    AERROR << "No edges found in topology graph.";
     return false;
   }
   for (const auto& edge : graph.edge()) {
@@ -54,8 +53,6 @@ bool TopoGraph::load_edges(const ::apollo::routing::common::Graph& graph) {
     const std::string& to_lane_id = edge.to_lane_id();
     if (_node_index_map.count(from_lane_id) != 1 ||
         _node_index_map.count(to_lane_id) != 1) {
-      ROS_ERROR("Can't find edge: %s -> %s.", from_lane_id.c_str(),
-                to_lane_id.c_str());
       return false;
     }
     std::shared_ptr<TopoEdge> topo_edge;
@@ -72,24 +69,22 @@ bool TopoGraph::load_edges(const ::apollo::routing::common::Graph& graph) {
 bool TopoGraph::load_graph(const std::string& file_path) {
   clear();
 
-  ::apollo::routing::common::Graph graph;
+  ::apollo::routing::Graph graph;
   if (!::apollo::routing::FileUtils::load_protobuf_data_from_file(file_path,
                                                                &graph)) {
-    ROS_ERROR("Failed to read topology graph from data.");
+    AERROR << "Failed to read topology graph from data.";
     return false;
   }
 
   _map_version = graph.hdmap_version();
   _map_district = graph.hdmap_district();
-  ROS_INFO("Use map district: %s, version: %s", _map_district.c_str(),
-           _map_version.c_str());
 
   if (!load_nodes(graph)) {
-    ROS_ERROR("Failed to load nodes from topology graph.");
+    AERROR << "Failed to load nodes from topology graph.";
     return false;
   }
   if (!load_edges(graph)) {
-    ROS_ERROR("Failed to load edges from topology graph.");
+    AERROR << "Failed to load edges from topology graph.";
     return false;
   }
   return true;
@@ -117,4 +112,4 @@ void TopoGraph::get_nodes_by_road_id(
 }
 
 }  // namespace routing
-}  // namespace apollo
\ No newline at end of file
+}  // namespace apollo

modules/routing/graph/topo_graph.h

@@ -22,7 +22,8 @@
 #include <unordered_set>
 #include <vector>
 
-#include "modules/routing/graph/topo_graph.pb.h"
+#include "modules/routing/proto/topo_graph.pb.h"
+#include "modules/common/log.h"
 
 namespace apollo {
 namespace routing {
@@ -46,8 +47,8 @@ class TopoGraph {
 
  private:
   void clear();
-  bool load_nodes(const ::apollo::routing::common::Graph& graph);
-  bool load_edges(const ::apollo::routing::common::Graph& graph);
+  bool load_nodes(const ::apollo::routing::Graph& graph);
+  bool load_edges(const ::apollo::routing::Graph& graph);
 
  private:
   std::string _map_version;

modules/routing/graph/topo_node.cc

@@ -18,15 +18,13 @@
 
 #include <math.h>
 
-#include "modules/routing/graph/topo_edge.h"
-
 namespace apollo {
 namespace routing {
 
 namespace {
 
-using ::apollo::routing::common::Node;
-using ::apollo::routing::common::Edge;
+using ::apollo::routing::Node;
+using ::apollo::routing::Edge;
 
 }  // namespace
 
@@ -63,11 +61,11 @@ const std::string& TopoNode::lane_id() const { return _pb_node.lane_id(); }
 
 const std::string& TopoNode::road_id() const { return _pb_node.road_id(); }
 
-const ::apollo::common::hdmap::Curve& TopoNode::central_curve() const {
+const ::apollo::hdmap::Curve& TopoNode::central_curve() const {
   return _pb_node.central_curve();
 }
 
-const ::apollo::common::hdmap::Point& TopoNode::anchor_point() const {
+const ::apollo::common::PointENU& TopoNode::anchor_point() const {
   return _anchor_point;
 }
 
@@ -194,5 +192,36 @@ void TopoNode::set_start_s(double start_s) { _start_s = start_s; }
 
 void TopoNode::set_end_s(double end_s) { _end_s = end_s; }
 
+TopoEdge::TopoEdge(const ::apollo::routing::Edge& edge,
+                   const TopoNode* from_node, const TopoNode* to_node)
+    : _pb_edge(edge), _from_node(from_node), _to_node(to_node) {}
+
+TopoEdge::~TopoEdge() {}
+
+const Edge& TopoEdge::edge() const { return _pb_edge; }
+
+double TopoEdge::cost() const { return _pb_edge.cost(); }
+
+const TopoNode* TopoEdge::from_node() const { return _from_node; }
+
+const TopoNode* TopoEdge::to_node() const { return _to_node; }
+
+const std::string& TopoEdge::from_lane_id() const {
+  return _pb_edge.from_lane_id();
+}
+
+const std::string& TopoEdge::to_lane_id() const {
+  return _pb_edge.to_lane_id();
+}
+
+TopoEdgeType TopoEdge::type() const {
+  if (_pb_edge.direction_type() == ::apollo::routing::Edge::LEFT) {
+    return TET_LEFT;
+  }
+  if (_pb_edge.direction_type() == ::apollo::routing::Edge::RIGHT) {
+    return TET_RIGHT;
+  }
+  return TET_FORWARD;
+}
 }  // namespace routing
 }  // namespace apollo

modules/routing/graph/topo_node.h

@@ -20,8 +20,8 @@
 #include <unordered_map>
 #include <unordered_set>
 
-#include "modules/routing/graph/map_lane.pb.h"
-#include "modules/routing/graph/topo_graph.pb.h"
+#include "modules/map/proto/map_lane.pb.h"
+#include "modules/routing/proto/topo_graph.pb.h"
 
 namespace apollo {
 namespace routing {
@@ -30,20 +30,20 @@ class TopoEdge;
 
 class TopoNode {
  public:
-  explicit TopoNode(const ::apollo::routing::common::Node& node);
+  explicit TopoNode(const ::apollo::routing::Node& node);
   explicit TopoNode(const TopoNode* topo_node);
 
   ~TopoNode();
 
-  const ::apollo::routing::common::Node& node() const;
+  const ::apollo::routing::Node& node() const;
   double length() const;
   double cost() const;
   bool is_virtual() const;
 
   const std::string& lane_id() const;
   const std::string& road_id() const;
-  const ::apollo::common::hdmap::Curve& central_curve() const;
-  const ::apollo::common::hdmap::Point& anchor_point() const;
+  const ::apollo::hdmap::Curve& central_curve() const;
+  const ::apollo::common::PointENU& anchor_point() const;
 
   const std::unordered_set<const TopoEdge*>& in_from_all_edge() const;
   const std::unordered_set<const TopoEdge*>& in_from_left_edge() const;
@@ -71,8 +71,8 @@ class TopoNode {
   void set_end_s(double end_s);
 
  private:
-  ::apollo::routing::common::Node _pb_node;
-  ::apollo::common::hdmap::Point _anchor_point;
+  ::apollo::routing::Node _pb_node;
+  ::apollo::common::PointENU _anchor_point;
 
   double _start_s;
   double _end_s;
@@ -94,6 +94,34 @@ class TopoNode {
   const TopoNode* _origin_node;
 };
 
+enum TopoEdgeType {
+  TET_FORWARD,
+  TET_LEFT,
+  TET_RIGHT,
+};
+
+class TopoEdge {
+ public:
+  TopoEdge(const ::apollo::routing::Edge& edge, const TopoNode* from_node,
+           const TopoNode* to_node);
+
+  ~TopoEdge();
+
+  const ::apollo::routing::Edge& edge() const;
+  double cost() const;
+  const std::string& from_lane_id() const;
+  const std::string& to_lane_id() const;
+  TopoEdgeType type() const;
+
+  const TopoNode* from_node() const;
+  const TopoNode* to_node() const;
+
+ private:
+  ::apollo::routing::Edge _pb_edge;
+  const TopoNode* _from_node;
+  const TopoNode* _to_node;
+};
+
 }  // namespace routing
 }  // namespace apollo
 

modules/routing/proto/topo_graph.proto

 syntax = "proto2";
 
-package apollo.routing.common;
+package apollo.routing;
 
 import "modules/map/proto/map_geometry.proto";