Planning: make planning compilable.

apollo.sh

@@ -107,9 +107,8 @@ function generate_build_targets() {
     //modules/control/proto/...
     //modules/localization/proto/...
     //modules/perception/proto/...
-    //modules/planning/common/...
+    //modules/planning:planning_component_lib
     //modules/planning/proto/..."
-  # //modules/planning:planning_component_lib
   # //modules/drivers/radar/conti_radar/...
   # //modules/drivers/gnss/...
   # //modules/monitor/...

modules/planning/common/ego_info_test.cc

@@ -47,9 +47,9 @@ TEST(EgoInfoTest, EgoInfoSimpleTest) {
   common::VehicleState vehicle_state;
   ReferenceLineProvider reference_line_provider;
 
-  PlanningData pd;
-  Frame frame(sequence_num, pd, planning_start_point, start_time, vehicle_state,
-              &reference_line_provider);
+  PlanningData dummy_planning_data;
+  Frame frame(sequence_num, dummy_planning_data, planning_start_point,
+              start_time, vehicle_state, &reference_line_provider);
   ego_info->CalculateFrontObstacleClearDistance(frame.obstacles());
 }
 

modules/planning/common/frame.h

@@ -120,6 +120,8 @@ class Frame {
   void UpdateReferenceLinePriority(
       const std::map<std::string, uint32_t> &id_to_priority);
 
+  const PlanningData &planning_data() const { return planning_data_; }
+
  private:
   bool CreateReferenceLineInfo();
 

modules/planning/planner/BUILD

@@ -11,7 +11,7 @@ cc_library(
         "//modules/common/proto:pnc_point_proto",
         "//modules/common/status",
         "//modules/planning/common:frame",
-        "//modules/planning/common:frame_open_space",
+        #"//modules/planning/common:frame_open_space",
         "//modules/planning/common:reference_line_info",
         "//modules/planning/proto:planning_proto",
         "//modules/planning/scenarios:scenario_lib",
@@ -22,12 +22,12 @@ cc_library(
 cc_library(
     name = "planner_dispatcher",
     srcs = [
-        "navi_planner_dispatcher.cc",
+        #"navi_planner_dispatcher.cc",
         "planner_dispatcher.cc",
         "std_planner_dispatcher.cc",
     ],
     hdrs = [
-        "navi_planner_dispatcher.h",
+        #"navi_planner_dispatcher.h",
         "planner_dispatcher.h",
         "std_planner_dispatcher.h",
     ],
@@ -35,9 +35,9 @@ cc_library(
         "//modules/common/status",
         "//modules/common/util",
         "//modules/planning/planner/em:em_planner",
-        "//modules/planning/planner/navi:navi_planner",
-        "//modules/planning/planner/lattice:lattice_planner",
-        "//modules/planning/planner/open_space:open_space_planner",
+        #"//modules/planning/planner/navi:navi_planner",
+        #"//modules/planning/planner/lattice:lattice_planner",
+        #"//modules/planning/planner/open_space:open_space_planner",
         "//modules/planning/planner/rtk:rtk_planner",
         "//modules/planning/proto:planning_proto",
     ],
@@ -55,16 +55,16 @@ cc_test(
     ],
 )
 
-cc_test(
-    name = "navi_planner_dispatcher_test",
-    size = "small",
-    srcs = [
-        "navi_planner_dispatcher_test.cc",
-    ],
-    deps = [
-        ":planner_dispatcher",
-        "@gtest//:main",
-    ],
-)
+# cc_test(
+#     name = "navi_planner_dispatcher_test",
+#     size = "small",
+#     srcs = [
+#         "navi_planner_dispatcher_test.cc",
+#     ],
+#     deps = [
+#         ":planner_dispatcher",
+#         "@gtest//:main",
+#     ],
+# )
 
 cpplint()

modules/planning/planner/planner_dispatcher.cc

@@ -19,9 +19,9 @@
 #include "modules/planning/proto/planning_config.pb.h"
 
 #include "modules/planning/planner/em/em_planner.h"
-#include "modules/planning/planner/lattice/lattice_planner.h"
-#include "modules/planning/planner/navi/navi_planner.h"
-#include "modules/planning/planner/open_space/open_space_planner.h"
+//#include "modules/planning/planner/lattice/lattice_planner.h"
+//#include "modules/planning/planner/navi/navi_planner.h"
+//#include "modules/planning/planner/open_space/open_space_planner.h"
 #include "modules/planning/planner/rtk/rtk_replay_planner.h"
 
 namespace apollo {
@@ -32,10 +32,10 @@ void PlannerDispatcher::RegisterPlanners() {
       RTK, []() -> Planner* { return new RTKReplayPlanner(); });
   planner_factory_.Register(ONROAD,
                             []() -> Planner* { return new EMPlanner(); });
-  planner_factory_.Register(
-      OPENSPACE, []() -> Planner* { return new OpenSpacePlanner(); });
-  planner_factory_.Register(NAVI,
-                            []() -> Planner* { return new NaviPlanner(); });
+  // planner_factory_.Register(
+  //     OPENSPACE, []() -> Planner* { return new OpenSpacePlanner(); });
+  // planner_factory_.Register(NAVI,
+  //                           []() -> Planner* { return new NaviPlanner(); });
 }
 
 }  // namespace planning

modules/planning/scenarios/lane_follow/lane_follow_scenario.cc

@@ -24,7 +24,6 @@
 #include <limits>
 #include <utility>
 
-#include "modules/common/adapters/adapter_manager.h"
 #include "modules/common/log.h"
 #include "modules/common/math/math_utils.h"
 #include "modules/common/time/time.h"
@@ -54,7 +53,6 @@ using common::SLPoint;
 using common::SpeedPoint;
 using common::Status;
 using common::TrajectoryPoint;
-using common::adapter::AdapterManager;
 using common::math::Vec2d;
 using common::time::Clock;
 

modules/planning/std_planning.cc

@@ -26,7 +26,6 @@
 
 #include "modules/routing/proto/routing.pb.h"
 
-#include "modules/common/adapters/adapter_manager.h"
 #include "modules/common/math/quaternion.h"
 #include "modules/common/time/time.h"
 #include "modules/common/vehicle_state/vehicle_state_provider.h"
@@ -35,7 +34,7 @@
 #include "modules/planning/common/planning_context.h"
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/common/trajectory/trajectory_stitcher.h"
-#include "modules/planning/planner/navi/navi_planner.h"
+//#include "modules/planning/planner/navi/navi_planner.h"
 #include "modules/planning/planner/rtk/rtk_replay_planner.h"
 #include "modules/planning/reference_line/reference_line_provider.h"
 #include "modules/planning/toolkits/deciders/traffic_decider.h"
@@ -48,7 +47,6 @@ using apollo::common::Status;
 using apollo::common::TrajectoryPoint;
 using apollo::common::VehicleState;
 using apollo::common::VehicleStateProvider;
-using apollo::common::adapter::AdapterManager;
 using apollo::common::time::Clock;
 using apollo::hdmap::HDMapUtil;
 using apollo::routing::RoutingResponse;
@@ -138,8 +136,9 @@ Status StdPlanning::InitFrame(const uint32_t sequence_num,
                               const TrajectoryPoint& planning_start_point,
                               const double start_time,
                               const VehicleState& vehicle_state) {
-  frame_.reset(new Frame(sequence_num, planning_start_point, start_time,
-                         vehicle_state, reference_line_provider_.get()));
+  frame_.reset(new Frame(sequence_num, planning_data_, planning_start_point,
+                         start_time, vehicle_state,
+                         reference_line_provider_.get()));
   auto status = frame_->Init();
   if (!status.ok()) {
     AERROR << "failed to init frame:" << status.ToString();

modules/planning/toolkits/deciders/destination.cc

@@ -22,7 +22,6 @@
 
 #include "modules/planning/toolkits/deciders/destination.h"
 
-#include "modules/common/adapters/adapter_manager.h"
 #include "modules/common/time/time.h"
 #include "modules/map/proto/map_lane.pb.h"
 #include "modules/planning/common/planning_context.h"
@@ -32,7 +31,6 @@ namespace apollo {
 namespace planning {
 
 using apollo::common::Status;
-using apollo::common::adapter::AdapterManager;
 using apollo::common::time::Clock;
 using apollo::hdmap::HDMapUtil;
 using apollo::hdmap::LaneSegment;
@@ -49,12 +47,11 @@ Status Destination::ApplyRule(Frame* frame,
     return Status::OK();
   }
 
-  const auto& routing =
-      AdapterManager::GetRoutingResponse()->GetLatestObserved();
+  const auto& routing = frame->planning_data().routing;
 
   common::SLPoint dest_sl;
   const auto& ref_line = reference_line_info->reference_line();
-  const auto& routing_end = *routing.routing_request().waypoint().rbegin();
+  const auto& routing_end = *(routing->routing_request().waypoint().rbegin());
   ref_line.XYToSL({routing_end.pose().x(), routing_end.pose().y()}, &dest_sl);
   const auto& adc_sl = reference_line_info->AdcSlBoundary();
   const auto& dest = GetPlanningStatus()->destination();
@@ -76,15 +73,14 @@ int Destination::BuildStopDecision(
   CHECK_NOTNULL(frame);
   CHECK_NOTNULL(reference_line_info);
 
-  const auto& routing =
-      AdapterManager::GetRoutingResponse()->GetLatestObserved();
-  if (routing.routing_request().waypoint_size() < 2) {
+  const auto& routing = frame->planning_data().routing;
+  if (routing->routing_request().waypoint_size() < 2) {
     AERROR << "routing_request has no end";
     return -1;
   }
 
   const auto* planning_status = GetPlanningStatus();
-  const auto& routing_end = *routing.routing_request().waypoint().rbegin();
+  const auto& routing_end = *(routing->routing_request().waypoint().rbegin());
   double dest_lane_s =
       std::max(0.0, routing_end.s() - FLAGS_virtual_stop_wall_length -
                         config_.destination().stop_distance());

modules/planning/toolkits/deciders/rerouting.cc

@@ -22,7 +22,6 @@
 
 #include "modules/common/proto/pnc_point.pb.h"
 
-#include "modules/common/adapters/adapter_manager.h"
 #include "modules/common/time/time.h"
 #include "modules/common/vehicle_state/vehicle_state_provider.h"
 #include "modules/planning/common/planning_context.h"
@@ -31,7 +30,6 @@ namespace apollo {
 namespace planning {
 
 using apollo::common::Status;
-using apollo::common::adapter::AdapterManager;
 using apollo::common::time::Clock;
 using apollo::perception::TrafficLight;
 using apollo::perception::TrafficLightDetection;

modules/planning/toolkits/deciders/signal_light.cc

@@ -26,7 +26,7 @@
 #include "modules/common/proto/pnc_point.pb.h"
 #include "modules/planning/proto/planning_internal.pb.h"
 
-#include "modules/common/adapters/adapter_manager.h"
+#include "modules/common/time/time.h"
 #include "modules/common/util/map_util.h"
 #include "modules/common/vehicle_state/vehicle_state_provider.h"
 #include "modules/planning/common/ego_info.h"
@@ -37,7 +37,7 @@ namespace apollo {
 namespace planning {
 
 using apollo::common::Status;
-using apollo::common::adapter::AdapterManager;
+using apollo::common::time::Clock;
 using apollo::common::util::WithinBound;
 using apollo::perception::TrafficLight;
 using apollo::perception::TrafficLightDetection;
@@ -50,26 +50,26 @@ Status SignalLight::ApplyRule(Frame* const frame,
   if (!FindValidSignalLight(reference_line_info)) {
     return Status::OK();
   }
-  ReadSignals();
+  ReadSignals(frame->planning_data().traffic_light);
   MakeDecisions(frame, reference_line_info);
   return Status::OK();
 }
 
-void SignalLight::ReadSignals() {
+void SignalLight::ReadSignals(
+    const std::shared_ptr<TrafficLightDetection>& traffic_light) {
   detected_signals_.clear();
-  if (AdapterManager::GetTrafficLightDetection()->Empty()) {
+  if (traffic_light == nullptr) {
     return;
   }
-  if (AdapterManager::GetTrafficLightDetection()->GetDelaySec() >
-      config_.signal_light().signal_expire_time_sec()) {
-    ADEBUG << "traffic signals msg is expired: "
-           << AdapterManager::GetTrafficLightDetection()->GetDelaySec();
+  const double delay =
+      traffic_light->header().timestamp_sec() - Clock::NowInSeconds();
+  if (delay > config_.signal_light().signal_expire_time_sec()) {
+    ADEBUG << "traffic signals msg is expired, delay = " << delay
+           << " seconds.";
     return;
   }
-  const TrafficLightDetection& detection =
-      AdapterManager::GetTrafficLightDetection()->GetLatestObserved();
-  for (int j = 0; j < detection.traffic_light_size(); j++) {
-    const TrafficLight& signal = detection.traffic_light(j);
+  for (int j = 0; j < traffic_light->traffic_light_size(); j++) {
+    const TrafficLight& signal = traffic_light->traffic_light(j);
     detected_signals_[signal.id()] = &signal;
   }
 }

modules/planning/toolkits/deciders/signal_light.h

@@ -41,9 +41,10 @@ class SignalLight : public TrafficRule {
                            ReferenceLineInfo* const reference_line_info);
 
  private:
-  void ReadSignals();
+  void ReadSignals(
+      const std::shared_ptr<perception::TrafficLightDetection>& traffic_light);
   bool FindValidSignalLight(ReferenceLineInfo* const reference_line_info);
-  apollo::perception::TrafficLight GetSignal(const std::string& signal_id);
+  perception::TrafficLight GetSignal(const std::string& signal_id);
   void MakeDecisions(Frame* const frame,
                      ReferenceLineInfo* const reference_line_info);
   bool BuildStopDecision(Frame* const frame,

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

@@ -25,7 +25,6 @@
 
 #include "modules/planning/proto/planning_internal.pb.h"
 
-#include "modules/common/adapters/adapter_manager.h"
 #include "modules/common/configs/vehicle_config_helper.h"
 #include "modules/common/vehicle_state/vehicle_state_provider.h"
 #include "modules/planning/common/planning_gflags.h"
@@ -39,7 +38,6 @@ using apollo::common::ErrorCode;
 using apollo::common::Status;
 using apollo::common::TrajectoryPoint;
 using apollo::common::VehicleConfigHelper;
-using apollo::common::adapter::AdapterManager;
 using apollo::localization::LocalizationEstimate;
 using apollo::planning_internal::STGraphDebug;