routing: code clean.

modules/routing/routing.cc

@@ -147,17 +147,45 @@ double Routing::GetRoutingLength(const RoutingResponse& routing_response) {
 }
 
 bool Routing::GetParkingID(const PointENU& parking_point,
-                           std::string& parking_space_id) {
+                           std::string* parking_space_id) {
   // search current parking space id associated with parking point.
   constexpr double kDistance = 0.01;  // meter
   std::vector<ParkingSpaceInfoConstPtr> parking_spaces;
-  if (!hdmap_->GetParkingSpaces(parking_point, kDistance, &parking_spaces)) {
-    parking_space_id = parking_spaces.front()->id().id();
+  if (hdmap_->GetParkingSpaces(parking_point, kDistance, &parking_spaces) ==
+      0) {
+    *parking_space_id = parking_spaces.front()->id().id();
     return true;
   }
   return false;
 }
 
+bool Routing::FillParkingID(RoutingResponse* routing_response) {
+  const auto& routing_request = routing_response->routing_request();
+  const bool has_parking_info = routing_request.has_parking_info();
+  const bool has_parking_id =
+      has_parking_info && routing_request.parking_info().has_parking_space_id();
+  // return early when has parking_id
+  if (has_parking_id) {
+    return true;
+  }
+  // set parking space ID when
+  //  has parking info && has parking point && NOT has parking space id && get
+  //  ID successfully
+  if (has_parking_info && routing_request.parking_info().has_parking_point()) {
+    const PointENU parking_point =
+        routing_request.parking_info().parking_point();
+    std::string parking_space_id;
+    if (GetParkingID(parking_point, &parking_space_id)) {
+      routing_response->mutable_routing_request()
+          ->mutable_parking_info()
+          ->set_parking_space_id(parking_space_id);
+      return true;
+    }
+  }
+  ADEBUG << "Failed to fill parking ID";
+  return false;
+}
+
 bool Routing::Process(const std::shared_ptr<RoutingRequest>& routing_request,
                       RoutingResponse* const routing_response) {
   CHECK_NOTNULL(routing_response);
@@ -174,44 +202,7 @@ bool Routing::Process(const std::shared_ptr<RoutingRequest>& routing_request,
         min_routing_length = routing_length;
       }
     }
-    // set parking space ID when
-    //  has parking info && has parking point && NOT has parking space id && get
-    //  ID successfully
-    // if (routing_response->routing_request().has_parking_info() &&
-    //     routing_response->routing_request()
-    //         .parking_info()
-    //         .has_parking_point() &&
-    //     (!routing_response->routing_request()
-    //           .parking_info()
-    //           .has_parking_space_id())) {
-    //   const PointENU parking_point =
-    //       routing_response->routing_request().parking_info().parking_point();
-    //   std::string parking_space_id;
-    //   if (GetParkingID(parking_point, parking_space_id)) {
-    //     routing_response->mutable_routing_request()
-    //         ->mutable_parking_info()
-    //         ->set_parking_space_id(parking_space_id);
-    //   }
-    // }
-    const auto& routing_request = routing_response->routing_request();
-    const bool has_parking_info = routing_request.has_parking_info();
-    const bool has_parking_point =
-        has_parking_info && routing_request.parking_info().has_parking_point();
-    const bool has_parking_id =
-        has_parking_info &&
-        routing_request.parking_info().has_parking_space_id();
-    const PointENU parking_point =
-        has_parking_point ? routing_request.parking_info().parking_point()
-                          : PointENU();
-    std::string parking_space_id;
-    const bool ret_get_parking_id =
-        GetParkingID(parking_point, parking_space_id);
-    if (has_parking_info && has_parking_point && !has_parking_id &&
-        ret_get_parking_id) {
-      routing_response->mutable_routing_request()
-          ->mutable_parking_info()
-          ->set_parking_space_id(parking_space_id);
-    }
+    FillParkingID(routing_response);
   }
   if (min_routing_length < std::numeric_limits<double>::max()) {
     monitor_logger_buffer_.INFO("Routing success!");

modules/routing/routing.h

@@ -63,10 +63,12 @@ class Routing {
   std::vector<RoutingRequest> FillLaneInfoIfMissing(
       const RoutingRequest &routing_request);
 
+  double GetRoutingLength(const RoutingResponse &routing_response);
+
   bool GetParkingID(const apollo::common::PointENU &parking_point,
-                    std::string &parking_space_id);
+                    std::string *parking_space_id);
 
-  double GetRoutingLength(const RoutingResponse &routing_response);
+  bool FillParkingID(RoutingResponse *routing_response);
 
  private:
   std::unique_ptr<Navigator> navigator_ptr_;