Prediction: add a dummy interface function in scenario manager to get lane ids

modules/prediction/prediction_component.cc

@@ -167,7 +167,6 @@ bool PredictionComponent::Init() {
       }
     }
     Stop();
-    // TODO(kechxu) accord to cybertron
   }
   return true;
 }
@@ -209,8 +208,6 @@ bool PredictionComponent::Proc(
       (Clock::NowInSeconds() - component_start_time_ >
        FLAGS_prediction_test_duration)) {
     ADEBUG << "Prediction finished running in test mode";
-    // TODO(kechxu) accord to cybertron
-    // ros::shutdown();
   }
 
   // Update relative map if needed

modules/prediction/proto/feature.proto

@@ -72,5 +72,5 @@ message Feature {
     NORMAL = 2;
     IGNORE = 3;
   }
-  optional Priority priority = 25;
+  optional Priority priority = 25 [default = NORMAL];
 }

modules/prediction/scenario/scenario_manager.cc

@@ -31,5 +31,11 @@ const Scenario& ScenarioManager::scenario() const {
   return scenario_analyzer_.scenario();
 }
 
+std::vector<std::string> ScenarioManager::GetFocusedLaneIds() const {
+  // TODO(all) use scenario feature to get lane ids
+  std::vector<std::string> focused_lane_ids;
+  return focused_lane_ids;
+}
+
 }  // namespace prediction
 }  // namespace apollo

modules/prediction/scenario/scenario_manager.h

@@ -21,6 +21,9 @@
 #ifndef MODULES_PREDICTION_SCENARIO_SCENARIO_MANAGER_H_
 #define MODULES_PREDICTION_SCENARIO_SCENARIO_MANAGER_H_
 
+#include <vector>
+#include <string>
+
 #include "cybertron/common/macros.h"
 #include "modules/prediction/proto/scenario.pb.h"
 #include "modules/prediction/proto/prediction_conf.pb.h"
@@ -42,6 +45,12 @@ class ScenarioManager {
    */
   const Scenario& scenario() const;
 
+  /**
+   * @brief Get the IDs of the focused lanes based on the scenario
+   * @return The IDs of the focused lanes based on the scenario
+   */
+  std::vector<std::string> GetFocusedLaneIds() const;
+
  private:
   FeatureExtractor feature_extractor_;
   ScenarioAnalyzer scenario_analyzer_;