Revert "Control : remove gflags in control and compile control/common"

This reverts commit 86338b7b.

modules/control/common/BUILD

@@ -2,6 +2,19 @@ load("//tools:cpplint.bzl", "cpplint")
 
 package(default_visibility = ["//visibility:public"])
 
+cc_library(
+    name = "control_gflags",
+    srcs = [
+        "control_gflags.cc",
+    ],
+    hdrs = [
+        "control_gflags.h",
+    ],
+    deps = [
+        "//external:gflags",
+    ],
+)
+
 cc_library(
     name = "hysteresis_filter",
     srcs = [
@@ -107,6 +120,7 @@ cc_library(
 cc_library(
     name = "common",
     deps = [
+        ":control_gflags",
         ":hysteresis_filter",
         ":interpolation_1d",
         ":interpolation_2d",

modules/control/common/control_gflags.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/control/common/control_gflags.h"
+
+DEFINE_string(control_conf_file, "modules/control/conf/lincoln.pb.txt",
+              "default control conf data file");
+
+DEFINE_string(control_adapter_config_filename,
+              "modules/control/conf/adapter.conf", "The adapter config file");
+
+DEFINE_bool(enable_csv_debug, false, "True to write out csv debug file.");
+DEFINE_bool(enable_speed_station_preview, true, "enable speed/station preview");
+DEFINE_string(control_node_name, "control", "The control node name in proto");
+DEFINE_bool(is_control_test_mode, false, "True to run control in test mode");
+DEFINE_double(control_test_duration, -1.0,
+              "Control testing duration in seconds. This number is will not "
+              "take effect if negative");
+DEFINE_bool(use_preview_speed_for_table, false,
+            "True to use preview speed for table lookup");
+
+DEFINE_bool(enable_input_timestamp_check, true,
+            "True to enable input timestamp delay check");
+
+DEFINE_int32(max_localization_miss_num, 20,
+             "Max missing number of localization before entering estop mode");
+DEFINE_int32(max_chassis_miss_num, 20,
+             "Max missing number of chassis before entering estop mode");
+DEFINE_int32(max_planning_miss_num, 20,
+             "Max missing number of planning before entering estop mode");
+
+DEFINE_double(max_acceleration_when_stopped, 0.01,
+              "max acceleration can be observed when vehicle is stopped");
+
+DEFINE_double(steer_angle_rate, 100.0,
+              "Steer angle change rate in percentage.");
+DEFINE_bool(enable_gain_scheduler, false,
+            "Enable gain scheduler for higher vehicle speed");
+DEFINE_bool(set_steer_limit, false, "Set steer limit");
+
+DEFINE_bool(enable_slope_offset, false, "Enable slope offset compensation");
+
+DEFINE_double(lock_steer_speed, 0.081,
+              "Minimum speed to lock the steer, in m/s");
+
+DEFINE_bool(enable_navigation_mode_error_filter, false,
+            "Enable error_filter for navigation mode");
+
+DEFINE_bool(enable_navigation_mode_position_update, true,
+            "Enable position update for navigation mode");
+
+DEFINE_bool(enable_persistent_estop, false,
+            "True to persistent keep estop status, "
+            "pad reset can reset the estop status.");

modules/control/common/control_gflags.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_CONTROL_COMMON_CONTROL_GFLAGS_H_
+#define MODULES_CONTROL_COMMON_CONTROL_GFLAGS_H_
+
+#include "gflags/gflags.h"
+
+// data file
+DECLARE_string(control_conf_file);
+
+DECLARE_double(control_test_duration);
+
+DECLARE_string(control_adapter_config_filename);
+
+DECLARE_bool(enable_csv_debug);
+
+// temporary gflag for test purpose
+DECLARE_bool(enable_speed_station_preview);
+
+DECLARE_string(control_node_name);
+DECLARE_bool(is_control_test_mode);
+DECLARE_bool(use_preview_speed_for_table);
+
+DECLARE_bool(enable_input_timestamp_check);
+
+DECLARE_int32(max_localization_miss_num);
+DECLARE_int32(max_chassis_miss_num);
+DECLARE_int32(max_planning_miss_num);
+
+DECLARE_double(max_acceleration_when_stopped);
+
+DECLARE_double(steer_angle_rate);
+DECLARE_bool(enable_gain_scheduler);
+DECLARE_bool(set_steer_limit);
+DECLARE_bool(enable_slope_offset);
+
+DECLARE_double(lock_steer_speed);
+
+DECLARE_bool(enable_navigation_mode_error_filter);
+DECLARE_bool(enable_navigation_mode_position_update);
+
+DECLARE_bool(enable_persistent_estop);
+
+#endif  // MODULES_CONTROL_COMMON_CONTROL_GFLAGS_H_