planning: add gflags for stage names for stop_sign_unprotected scenario

modules/planning/common/planning_gflags.cc

@@ -28,20 +28,35 @@ DEFINE_int32(planning_loop_rate, 10, "Loop rate for planning node");
 DEFINE_bool(enable_collision_detection, false,
             "enable collision detection in planning");
 
-// scenario conf
+// scenario related
+/// lane_follow
 DEFINE_string(
-    lane_follow_scenario_config_file,
+    scenario_lane_follow_config_file,
     "/apollo/modules/planning/conf/scenario_lane_follow_config.pb.txt",
     "The lane follow scenario configuration file");
+/// side_pass
 DEFINE_string(
-    side_pass_scenario_config_file,
+    scenario_side_pass_config_file,
     "/apollo/modules/planning/conf/scenario_side_pass_config.pb.txt",
     "The side pass scenario configuration file");
+/// stop_sign_unprotected
 DEFINE_string(
-    stop_sign_unprotected_scenario_config_file,
+    scenario_stop_sign_unprotected_config_file,
     "/apollo/modules/planning/conf/"
     "scenario_stop_sign_unprotected_config.pb.txt",
     "The stop_sign_unprotected scenario configuration file");
+DEFINE_string(
+    scenario_stop_sign_unprotected_stage_stop,
+    "SCENATIO_STOP_SIGN_UNPROTECTED_STAGE_STOP",
+    "stage 1: stop");
+DEFINE_string(
+    scenario_stop_sign_unprotected_stage_creep,
+    "SCENATIO_STOP_SIGN_UNPROTECTED_STAGE_CREEP",
+    "stage 2: creep");
+DEFINE_string(
+    scenario_stop_sign_unprotected_stage_cruise,
+    "SCENATIO_STOP_SIGN_UNPROTECTED_STAGE_CRUISE",
+    "stage 3: cruise");
 
 DEFINE_string(planning_adapter_config_filename,
               "/apollo/modules/planning/conf/adapter.conf",

modules/planning/common/planning_gflags.h

@@ -24,9 +24,13 @@ DECLARE_double(test_duration);
 
 DECLARE_string(planning_config_file);
 
-DECLARE_string(lane_follow_scenario_config_file);
-DECLARE_string(side_pass_scenario_config_file);
-DECLARE_string(stop_sign_unprotected_scenario_config_file);
+// scenarios related
+DECLARE_string(scenario_lane_follow_config_file);
+DECLARE_string(scenario_side_pass_config_file);
+DECLARE_string(scenario_stop_sign_unprotected_config_file);
+DECLARE_string(scenario_stop_sign_unprotected_stage_stop);
+DECLARE_string(scenario_stop_sign_unprotected_stage_creep);
+DECLARE_string(scenario_stop_sign_unprotected_stage_cruise);
 
 DECLARE_string(planning_adapter_config_filename);
 DECLARE_string(traffic_rule_config_filename);

modules/planning/conf/scenario_stop_sign_unprotected_config.pb.txt

 scenario_type : STOP_SIGN_UNPROTECTED
 stage : {
+  stage_name : "SCENATIO_STOP_SIGN_UNPROTECTED_STAGE_STOP"
+}
+stage : {
+  stage_name : "SCENATIO_STOP_SIGN_UNPROTECTED_STAGE_CREEP"
+}
+stage : {
+  stage_name : "SCENATIO_STOP_SIGN_UNPROTECTED_STAGE_CRUISE"
   task : DP_POLY_PATH_OPTIMIZER
   task : PATH_DECIDER
   task : DP_ST_SPEED_OPTIMIZER

modules/planning/proto/planning_config.proto

@@ -59,7 +59,7 @@ message ScenarioConfig {
     }
   }
   message Stage {
-      optional string name = 1 [ default = "" ];
+      optional string stage_name = 1 [ default = "" ];
       repeated TaskType task = 2;
   };
   optional ScenarioType scenario_type = 1;

modules/planning/scenarios/lane_follow/lane_follow_scenario.cc

@@ -89,7 +89,7 @@ bool LaneFollowScenario::Init() {
   RegisterTasks();
 
   CHECK(apollo::common::util::GetProtoFromFile(
-      FLAGS_lane_follow_scenario_config_file, &config_));
+      FLAGS_scenario_lane_follow_config_file, &config_));
 
   // get all active tasks
   std::vector<TaskType> tasks;

modules/planning/scenarios/lane_follow/lane_follow_scenario_test.cc

@@ -39,14 +39,15 @@ class LaneFollowScenarioTest : public ::testing::Test {
   std::unique_ptr<LaneFollowScenario> scenario_;
 };
 TEST_F(LaneFollowScenarioTest, Simple) {
+  FLAGS_scenario_lane_follow_config_file =
+      "modules/planning/conf/scenario_lane_follow_config.pb.txt";
+
   scenario_.reset(new LaneFollowScenario());
   EXPECT_EQ(scenario_->scenario_type(), ScenarioConfig::LANE_FOLLOW);
 
-  FLAGS_lane_follow_scenario_config_file =
-      "modules/planning/conf/scenario_lane_follow_config.pb.txt";
   ScenarioConfig config;
   EXPECT_TRUE(apollo::common::util::GetProtoFromFile(
-      FLAGS_lane_follow_scenario_config_file, &config));
+      FLAGS_scenario_lane_follow_config_file, &config));
   EXPECT_TRUE(scenario_->Init());
 }
 

modules/planning/scenarios/side_pass/side_pass_scenario.cc

@@ -83,7 +83,7 @@ bool SidePassScenario::Init() {
   RegisterTasks();
 
   CHECK(apollo::common::util::GetProtoFromFile(
-      FLAGS_side_pass_scenario_config_file, &config_));
+      FLAGS_scenario_side_pass_config_file, &config_));
 
   // get all active tasks
   std::vector<TaskType> tasks;

modules/planning/scenarios/side_pass/side_pass_scenario_test.cc

@@ -39,14 +39,15 @@ class SidePassScenarioTest : public ::testing::Test {
   std::unique_ptr<SidePassScenario> scenario_;
 };
 TEST_F(SidePassScenarioTest, Simple) {
+  FLAGS_scenario_side_pass_config_file =
+      "modules/planning/conf/scenario_side_pass_config.pb.txt";
+
   scenario_.reset(new SidePassScenario());
   EXPECT_EQ(scenario_->scenario_type(), ScenarioConfig::SIDE_PASS);
 
-  FLAGS_side_pass_scenario_config_file =
-      "modules/planning/conf/scenario_side_pass_config.pb.txt";
   ScenarioConfig config;
   EXPECT_TRUE(apollo::common::util::GetProtoFromFile(
-      FLAGS_side_pass_scenario_config_file, &config));
+      FLAGS_scenario_side_pass_config_file, &config));
   EXPECT_TRUE(scenario_->Init());
 }
 

modules/planning/scenarios/stop_sign_unprotected/stop_sign_unprotected.cc

@@ -59,7 +59,7 @@ bool StopSignUnprotectedScenario::Init() {
   RegisterTasks();
 
   CHECK(apollo::common::util::GetProtoFromFile(
-      FLAGS_stop_sign_unprotected_scenario_config_file, &config_));
+      FLAGS_scenario_stop_sign_unprotected_config_file, &config_));
 
   // get all active tasks
   std::vector<TaskType> tasks;

modules/planning/scenarios/stop_sign_unprotected/stop_sign_unprotected_test.cc

@@ -40,13 +40,16 @@ class StopSignUnprotectedScenarioTest : public ::testing::Test {
 };
 
 TEST_F(StopSignUnprotectedScenarioTest, Simple) {
+  FLAGS_scenario_stop_sign_unprotected_config_file =
+      "modules/planning/conf/scenario_stop_sign_unprotected_config.pb.txt";
+
   scenario_.reset(new StopSignUnprotectedScenario());
   EXPECT_EQ(scenario_->scenario_type(),
             ScenarioConfig::STOP_SIGN_UNPROTECTED);
 
   ScenarioConfig config;
   EXPECT_TRUE(apollo::common::util::GetProtoFromFile(
-      FLAGS_stop_sign_unprotected_scenario_config_file, &config));
+      FLAGS_scenario_stop_sign_unprotected_config_file, &config));
 
   EXPECT_TRUE(scenario_->Init());
 }

modules/planning/toolkits/optimizers/dp_st_speed/dp_st_graph_test.cc

@@ -36,11 +36,11 @@ class DpStGraphTest : public ::testing::Test {
  public:
   virtual void SetUp() {
     FLAGS_enable_multi_thread_in_dp_st_graph = false;
-    FLAGS_lane_follow_scenario_config_file =
+    FLAGS_scenario_lane_follow_config_file =
         "modules/planning/conf/scenario_lane_follow_config.pb.txt";
     ScenarioConfig config;
     CHECK(apollo::common::util::GetProtoFromFile(
-        FLAGS_lane_follow_scenario_config_file, &config));
+        FLAGS_scenario_lane_follow_config_file, &config));
 
     for (const auto& cfg : config.scenario_task_config()) {
       if (cfg.task_type() == DP_ST_SPEED_OPTIMIZER) {