routing: fix paths for offline topo (#402)

modules/routing/common/routing_gflags.cc

@@ -26,8 +26,10 @@ DEFINE_string(route_topic_for_broadcast, "/routing/routing",
               "the default routing topic");
 DEFINE_bool(use_road_id, true, "enable use road id to cut routing result");
 
-DEFINE_string(graph_dir, "", "the default directory of topology graph data");
-DEFINE_string(graph_file_name, "routing_map.bin",
+DEFINE_string(map_dir, "/apollo/modules/map/data", "the default directory of hdmap");
+DEFINE_string(map_file_name, "base_map.txt", "the default file name of hdmap.");
+DEFINE_string(graph_dir, "/apollo/modules/map/data", "the default directory of topology graph data");
+DEFINE_string(graph_file_name, "routing_map.txt",
               "the default file name of topology graph data");
 
 DEFINE_string(rosparam_name_routing_init_status, "/pnc/routing_initialized",

modules/routing/common/routing_gflags.h

@@ -27,6 +27,8 @@ DECLARE_bool(enable_old_routing);
 DECLARE_string(route_topic_for_broadcast);
 DECLARE_bool(use_road_id);
 
+DECLARE_string(map_dir);
+DECLARE_string(map_file_name);
 DECLARE_string(graph_dir);
 DECLARE_string(graph_file_name);
 

modules/routing/common/utils.cc

@@ -27,23 +27,6 @@ using ::google::protobuf::io::FileInputStream;
 using ::google::protobuf::io::ZeroCopyInputStream;
 using ::google::protobuf::io::CodedInputStream;
 
-bool FileUtils::load_protobuf_data_from_file(
-    const std::string& file_path,
-    ::google::protobuf::Message* const proto_data) {
-  int fd = open(file_path.c_str(), O_RDONLY);
-  if (fd == -1) {
-    AERROR << "File %s not found" << file_path.c_str();
-    return false;
-  }
-  std::unique_ptr<ZeroCopyInputStream> raw_input(new FileInputStream(fd));
-  std::unique_ptr<CodedInputStream> coded_input(
-      new CodedInputStream(raw_input.get()));
-  coded_input->SetTotalBytesLimit(INT_MAX, 536870912);  //  0..512M..2G
-  bool ret = proto_data->ParseFromCodedStream(coded_input.get());
-  close(fd);
-  return ret;
-}
-
 bool FileUtils::dump_protobuf_data_to_file(
     const std::string& file_path,
     const ::google::protobuf::Message* const proto_data) {

modules/routing/common/utils.h

@@ -25,9 +25,6 @@ namespace routing {
 
 class FileUtils {
  public:
-  static bool load_protobuf_data_from_file(
-      const std::string& file_path,
-      ::google::protobuf::Message* const proto_data);
   static bool dump_protobuf_data_to_file(
       const std::string& file_path,
       const ::google::protobuf::Message& proto_data);

modules/routing/graph/BUILD

@@ -39,6 +39,7 @@ cc_library(
         "//modules/map/proto:map_proto",
         "//modules/routing/proto:routing_proto",
         "//modules/common:common",
+        "//modules/common/util",
         "//modules/routing/common"
     ],
 )

modules/routing/graph/topo_graph.cc

@@ -17,6 +17,7 @@
 #include "modules/routing/graph/topo_graph.h"
 #include "modules/routing/common/utils.h"
 #include "modules/routing/graph/topo_node.h"
+#include "modules/common/util/file.h"
 
 namespace apollo {
 namespace routing {
@@ -70,8 +71,8 @@ bool TopoGraph::load_graph(const std::string& file_path) {
   clear();
 
   ::apollo::routing::Graph graph;
-  if (!::apollo::routing::FileUtils::load_protobuf_data_from_file(file_path,
-                                                               &graph)) {
+  if (!::apollo::common::util::GetProtoFromFile(
+          file_path, &graph)) {
     AERROR << "Failed to read topology graph from data.";
     return false;
   }

modules/routing/topo_creator/BUILD

@@ -34,6 +34,7 @@ cc_library(
         "//modules/routing/proto:routing_proto",
         "//modules/map/proto:map_proto",
         "//modules/common:common",
+        "//modules/common/util",
         "//modules/routing/common"
     ],
 )

modules/routing/topo_creator/graph_creator.cc

@@ -21,6 +21,7 @@
 #include "modules/routing/common/utils.h"
 #include "modules/routing/topo_creator/edge_creator.h"
 #include "modules/routing/topo_creator/node_creator.h"
+#include "modules/common/util/file.h"
 
 namespace apollo {
 namespace routing {
@@ -46,7 +47,7 @@ GraphCreator::GraphCreator(const std::string& base_map_file_path,
       _dump_topo_file_path(dump_topo_file_path) {}
 
 bool GraphCreator::create() {
-  if (!::apollo::routing::FileUtils::load_protobuf_data_from_file(
+  if (!::apollo::common::util::GetProtoFromFile(
           _base_map_file_path, &_pbmap)) {
     LOG(ERROR) << "Failed to load base map file from " << _base_map_file_path;
     return false;

modules/routing/topo_creator/topo_creator.cc

@@ -21,21 +21,19 @@
 #include "modules/routing/topo_creator/graph_creator.h"
 #include "modules/common/log.h"
 
-DEFINE_string(base_map_dir, "/apollo/modules/map/data", "directory of base map");
-DEFINE_string(base_map_name, "base_map.txt", "file name of base map");
-DEFINE_string(dump_topo_path, "/apollo/modules/map/data/routing_map.bin", "dump path of routing topology file");
-
 int main(int argc, char **argv) {
   google::InitGoogleLogging(argv[0]);
   google::ParseCommandLineFlags(&argc, &argv, true);
   std::unique_ptr<::apollo::routing::GraphCreator> creator_ptr;
   creator_ptr.reset(new ::apollo::routing::GraphCreator(
-                                FLAGS_base_map_dir + "/" + FLAGS_base_map_name,
-                                FLAGS_dump_topo_path));
+                                FLAGS_map_dir + "/" + FLAGS_map_file_name,
+                                FLAGS_graph_dir + "/" + FLAGS_graph_file_name));
   if (!creator_ptr->create()) {
-    AERROR << "Create router topo failed!";
+    AERROR << "Create routing topo failed!";
     return -1;
   }
+  LOG(INFO) << "Create routing topo succesful!";
+  LOG(INFO) << FLAGS_graph_dir + "/" + FLAGS_graph_file_name;
   return 0;
 }