planning: add planning conf

modules/planning/conf/planning_conf.pb.txt

+planning_enable: true
+chassis_channel: "/apollo/canbus/chassis"
+localization_channel: "/apollo/localization/pose"
+monitor_channel: "/apollo/monitor"
+perception_obstacle_channel: "/apollo/perception/obstacles"
+planning_pad_channel: "/apollo/planning/pad"
+planning_trajectory_channel: "/apollo/planning"
+prediction_channel: "/apollo/prediction"
+relative_map_channel: "/apollo/relative_map"
+routing_request_channel: "/apollo/routing_request"
+routing_response_channel: "/apollo/perception/obstacles"
+traffic_light_detection_channel: "/apollo/routing_response"
\ No newline at end of file

modules/planning/planning_component.cc

@@ -27,9 +27,14 @@ using apollo::perception::TrafficLightDetection;
 using apollo::routing::RoutingResponse;
 
 bool PlanningComponent::Init() {
+  if (!GetProtoConfig(&planning_conf_)) {
+    AERROR << "Unable to load planning conf file: " << ConfigFilePath();
+    return false;
+  }
+
   planning_base_ = std::unique_ptr<PlanningBase>(new StdPlanning());
   routing_reader_ = node_->CreateReader<RoutingResponse>(
-      "/apollo/routing_response",
+      planning_conf_.routing_response_channel(),
       [this](const std::shared_ptr<RoutingResponse>& routing) {
         ADEBUG << "Received routing data: run routing callback.";
         std::lock_guard<std::mutex> lock(mutex_);
@@ -37,7 +42,7 @@ bool PlanningComponent::Init() {
       });
 
   traffic_light_reader_ = node_->CreateReader<TrafficLightDetection>(
-      "/apollo/perception/traffic_light",
+      planning_conf_.traffic_light_detection_channel(),
       [this](const std::shared_ptr<TrafficLightDetection>& traffic_light) {
         ADEBUG << "Received chassis data: run chassis callback.";
         std::lock_guard<std::mutex> lock(mutex_);

modules/planning/planning_component.h

@@ -27,6 +27,7 @@
 #include "modules/canbus/proto/chassis.pb.h"
 #include "modules/localization/proto/localization.pb.h"
 #include "modules/perception/proto/traffic_light_detection.pb.h"
+#include "modules/planning/proto/planning_conf.pb.h"
 #include "modules/planning/proto/planning.pb.h"
 #include "modules/prediction/proto/prediction_obstacle.pb.h"
 #include "modules/routing/proto/routing.pb.h"
@@ -54,6 +55,7 @@ class PlanningComponent final
                 localization_estimate) override;
 
  private:
+  PlanningConf planning_conf_;
   std::shared_ptr<cybertron::Reader<perception::TrafficLightDetection>>
       traffic_light_reader_;
   std::shared_ptr<cybertron::Reader<routing::RoutingResponse>> routing_reader_;

modules/planning/proto/BUILD

@@ -17,6 +17,7 @@ proto_library(
     ],
     deps = [
         ":decision_proto_lib",
+        ":planning_conf_proto_lib",
         ":planning_internal_proto_lib",
         "//modules/canbus/proto:canbus_proto_lib",
         "//modules/common/proto:common_proto_lib",
@@ -143,6 +144,20 @@ proto_library(
     ],
 )
 
+cc_proto_library(
+    name = "planning_conf_proto",
+    deps = [
+        ":planning_conf_proto_lib",
+    ],
+)
+
+proto_library(
+    name = "planning_conf_proto_lib",
+    srcs = [
+        "planning_conf.proto",
+    ],
+)
+
 cc_proto_library(
     name = "planning_config_proto",
     deps = [

modules/planning/proto/planning_conf.proto

+syntax = "proto2";
+package apollo.planning;
+
+message PlanningConf {
+  optional bool planning_enable = 1 [default = true];
+  optional string chassis_channel = 2;
+  optional string localization_channel = 3;
+  optional string monitor_channel = 4;
+  optional string perception_obstacle_channel = 5;
+  optional string planning_pad_channel = 6;
+  optional string planning_trajectory_channel = 7;
+  optional string prediction_channel = 8;
+  optional string relative_map_channel = 9;
+  optional string routing_request_channel = 10;
+  optional string routing_response_channel = 11;
+  optional string traffic_light_detection_channel = 12;
+}
\ No newline at end of file