Planning: added back routing header.

modules/planning/planning_base.cc

@@ -47,6 +47,8 @@ void PlanningBase::FillPlanningPb(const double timestamp,
 
   // TODO(all): integrate reverse gear
   trajectory_pb->set_gear(canbus::Chassis::GEAR_DRIVE);
+  trajectory_pb->mutable_routing_header()->CopyFrom(
+      local_view_.routing->header());
 
   if (FLAGS_use_planning_fallback &&
       trajectory_pb->trajectory_point_size() == 0) {

modules/planning/testdata/garage_test/result_dest_stop_01_0.pb.txt

@@ -1610,6 +1610,11 @@ decision {
     turn_signal: TURN_NONE
   }
 }
+routing_header {
+  timestamp_sec: 1234.5
+  module_name: "routing"
+  sequence_num: 1
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "1_-1"

modules/planning/testdata/garage_test/result_follow_0.pb.txt

@@ -1610,6 +1610,11 @@ decision {
     turn_signal: TURN_NONE
   }
 }
+routing_header {
+  timestamp_sec: 1234.5
+  module_name: "routing"
+  sequence_num: 1
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "1_-1"

modules/planning/testdata/garage_test/result_out_of_map_0.pb.txt

@@ -12,3 +12,8 @@ decision {
     }
   }
 }
+routing_header {
+  timestamp_sec: 1234.5
+  module_name: "routing"
+  sequence_num: 1
+}

modules/planning/testdata/garage_test/result_planning_componnet_stop_obstacle_0.pb.txt

@@ -1626,6 +1626,11 @@ decision {
     turn_signal: TURN_NONE
   }
 }
+routing_header {
+  timestamp_sec: 1234.5
+  module_name: "routing"
+  sequence_num: 1
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "1_-1"

modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt

@@ -1625,6 +1625,11 @@ decision {
     turn_signal: TURN_NONE
   }
 }
+routing_header {
+  timestamp_sec: 1234.5
+  module_name: "routing"
+  sequence_num: 1
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "1_-1"

modules/planning/testdata/garage_test/result_stop_over_line_0.pb.txt

@@ -1761,6 +1761,11 @@ decision {
     turn_signal: TURN_NONE
   }
 }
+routing_header {
+  timestamp_sec: 1234.5
+  module_name: "routing"
+  sequence_num: 1
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_change_lane_abort_for_fast_back_vehicle_0.pb.txt

@@ -14,6 +14,11 @@ decision {
     turn_signal: TURN_LEFT
   }
 }
+routing_header {
+  timestamp_sec: 1522102330.936367
+  module_name: "routing"
+  sequence_num: 1621
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "3143_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_crosswalk_01_0.pb.txt

@@ -48,6 +48,11 @@ decision {
     turn_signal: TURN_LEFT
   }
 }
+routing_header {
+  timestamp_sec: 1522099749.8459234
+  module_name: "routing"
+  sequence_num: 887
+}
 right_of_way_status: PROTECTED
 lane_id {
   id: "2726_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_crosswalk_02_0.pb.txt

@@ -78,6 +78,11 @@ decision {
     turn_signal: TURN_LEFT
   }
 }
+routing_header {
+  timestamp_sec: 1532459103.387177
+  module_name: "routing"
+  sequence_num: 3
+}
 right_of_way_status: PROTECTED
 lane_id {
   id: "2726_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_crosswalk_02_1.pb.txt

@@ -54,6 +54,11 @@ decision {
     turn_signal: TURN_LEFT
   }
 }
+routing_header {
+  timestamp_sec: 1532459103.387177
+  module_name: "routing"
+  sequence_num: 3
+}
 right_of_way_status: PROTECTED
 lane_id {
   id: "2726_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_destination_pull_over_01_0.pb.txt

@@ -37,6 +37,11 @@ decision {
     turn_signal: TURN_NONE
   }
 }
+routing_header {
+  timestamp_sec: 1528921075.9262888
+  module_name: "routing"
+  sequence_num: 3
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "2694_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_destination_pull_over_01_1.pb.txt

@@ -37,6 +37,11 @@ decision {
     turn_signal: TURN_NONE
   }
 }
+routing_header {
+  timestamp_sec: 1528921075.9262888
+  module_name: "routing"
+  sequence_num: 3
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "2694_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_destination_pull_over_02_0.pb.txt

@@ -37,6 +37,11 @@ decision {
     turn_signal: TURN_NONE
   }
 }
+routing_header {
+  timestamp_sec: 1528921075.9262888
+  module_name: "routing"
+  sequence_num: 3
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "2694_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_destination_pull_over_02_1.pb.txt

@@ -37,6 +37,11 @@ decision {
     turn_signal: TURN_NONE
   }
 }
+routing_header {
+  timestamp_sec: 1528921075.9262888
+  module_name: "routing"
+  sequence_num: 3
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "2694_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_destination_stop_01_0.pb.txt

@@ -37,6 +37,11 @@ decision {
     turn_signal: TURN_NONE
   }
 }
+routing_header {
+  timestamp_sec: 1527801499.9811609
+  module_name: "routing"
+  sequence_num: 5
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "2693_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_keep_clear_01_0.pb.txt

@@ -14,6 +14,11 @@ decision {
     turn_signal: TURN_NONE
   }
 }
+routing_header {
+  timestamp_sec: 1533844120.2057884
+  module_name: "routing"
+  sequence_num: 1
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "2849_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_keep_clear_02_0.pb.txt

@@ -52,6 +52,11 @@ decision {
     turn_signal: TURN_NONE
   }
 }
+routing_header {
+  timestamp_sec: 1533844120.2057884
+  module_name: "routing"
+  sequence_num: 1
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "2849_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_keep_clear_03_0.pb.txt

@@ -14,6 +14,11 @@ decision {
     turn_signal: TURN_NONE
   }
 }
+routing_header {
+  timestamp_sec: 1533844120.2057884
+  module_name: "routing"
+  sequence_num: 1
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "2849_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_01_0.pb.txt

@@ -47,6 +47,11 @@ decision {
     turn_signal: TURN_LEFT
   }
 }
+routing_header {
+  timestamp_sec: 1522096299.304265
+  module_name: "routing"
+  sequence_num: 1
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "10679a_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_02_0.pb.txt

@@ -37,6 +37,11 @@ decision {
     turn_signal: TURN_LEFT
   }
 }
+routing_header {
+  timestamp_sec: 1522096757.9018941
+  module_name: "routing"
+  sequence_num: 136
+}
 right_of_way_status: PROTECTED
 lane_id {
   id: "812_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_03_0.pb.txt

@@ -37,6 +37,11 @@ decision {
     turn_signal: TURN_LEFT
   }
 }
+routing_header {
+  timestamp_sec: 1522096757.9018941
+  module_name: "routing"
+  sequence_num: 136
+}
 right_of_way_status: PROTECTED
 lane_id {
   id: "812_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_04_0.pb.txt

@@ -37,6 +37,11 @@ decision {
     turn_signal: TURN_LEFT
   }
 }
+routing_header {
+  timestamp_sec: 1522096757.9018941
+  module_name: "routing"
+  sequence_num: 136
+}
 right_of_way_status: PROTECTED
 lane_id {
   id: "812_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_04_1.pb.txt

@@ -14,6 +14,11 @@ decision {
     turn_signal: TURN_LEFT
   }
 }
+routing_header {
+  timestamp_sec: 1522096757.9018941
+  module_name: "routing"
+  sequence_num: 136
+}
 right_of_way_status: PROTECTED
 lane_id {
   id: "812_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_05_0.pb.txt

@@ -52,6 +52,11 @@ decision {
     turn_signal: TURN_NONE
   }
 }
+routing_header {
+  timestamp_sec: 1522098262.7042248
+  module_name: "routing"
+  sequence_num: 449
+}
 right_of_way_status: PROTECTED
 lane_id {
   id: "828_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_05_1.pb.txt

@@ -29,6 +29,11 @@ decision {
     turn_signal: TURN_NONE
   }
 }
+routing_header {
+  timestamp_sec: 1522098262.7042248
+  module_name: "routing"
+  sequence_num: 449
+}
 right_of_way_status: PROTECTED
 lane_id {
   id: "828_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_06_0.pb.txt

@@ -47,6 +47,11 @@ decision {
     turn_signal: TURN_RIGHT
   }
 }
+routing_header {
+  timestamp_sec: 1522098578.2984788
+  module_name: "routing"
+  sequence_num: 541
+}
 right_of_way_status: PROTECTED
 lane_id {
   id: "770_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_06_1.pb.txt

@@ -48,6 +48,11 @@ decision {
     turn_signal: TURN_RIGHT
   }
 }
+routing_header {
+  timestamp_sec: 1522098578.2984788
+  module_name: "routing"
+  sequence_num: 541
+}
 right_of_way_status: PROTECTED
 lane_id {
   id: "770_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_06_2.pb.txt

@@ -52,6 +52,11 @@ decision {
     turn_signal: TURN_RIGHT
   }
 }
+routing_header {
+  timestamp_sec: 1522098578.2984788
+  module_name: "routing"
+  sequence_num: 541
+}
 right_of_way_status: PROTECTED
 lane_id {
   id: "770_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_06_3.pb.txt

@@ -29,6 +29,11 @@ decision {
     turn_signal: TURN_RIGHT
   }
 }
+routing_header {
+  timestamp_sec: 1522098578.2984788
+  module_name: "routing"
+  sequence_num: 541
+}
 right_of_way_status: PROTECTED
 lane_id {
   id: "770_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_07_0.pb.txt

@@ -37,6 +37,11 @@ decision {
     turn_signal: TURN_NONE
   }
 }
+routing_header {
+  timestamp_sec: 1522099346.638303
+  module_name: "routing"
+  sequence_num: 769
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "828_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_07_1.pb.txt

@@ -24,6 +24,11 @@ decision {
     turn_signal: TURN_NONE
   }
 }
+routing_header {
+  timestamp_sec: 1522099346.638303
+  module_name: "routing"
+  sequence_num: 769
+}
 right_of_way_status: PROTECTED
 lane_id {
   id: "828_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_07_2.pb.txt

@@ -37,6 +37,11 @@ decision {
     turn_signal: TURN_NONE
   }
 }
+routing_header {
+  timestamp_sec: 1522099346.638303
+  module_name: "routing"
+  sequence_num: 769
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "828_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_08_0.pb.txt

@@ -37,6 +37,11 @@ decision {
     turn_signal: TURN_RIGHT
   }
 }
+routing_header {
+  timestamp_sec: 1526665914.2124095
+  module_name: "routing"
+  sequence_num: 2
+}
 right_of_way_status: PROTECTED
 lane_id {
   id: "2687_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_08_1.pb.txt

@@ -37,6 +37,11 @@ decision {
     turn_signal: TURN_RIGHT
   }
 }
+routing_header {
+  timestamp_sec: 1526665914.2124095
+  module_name: "routing"
+  sequence_num: 2
+}
 right_of_way_status: PROTECTED
 lane_id {
   id: "2687_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_08_2.pb.txt

@@ -14,6 +14,11 @@ decision {
     turn_signal: TURN_RIGHT
   }
 }
+routing_header {
+  timestamp_sec: 1526665914.2124095
+  module_name: "routing"
+  sequence_num: 2
+}
 right_of_way_status: PROTECTED
 lane_id {
   id: "2687_1_-1"

modules/planning/testdata/sunnyvale_big_loop_test/result_traffic_light_green_0.pb.txt

@@ -14,6 +14,11 @@ decision {
     turn_signal: TURN_LEFT
   }
 }
+routing_header {
+  timestamp_sec: 1522102176.3444228
+  module_name: "routing"
+  sequence_num: 1578
+}
 right_of_way_status: PROTECTED
 lane_id {
   id: "149_1_-1"

modules/planning/testdata/sunnyvale_loop_test/result_avoid_change_left_0.pb.txt

@@ -1571,6 +1571,11 @@ decision {
     turn_signal: TURN_NONE
   }
 }
+routing_header {
+  timestamp_sec: 1509400518.88418
+  module_name: "routing"
+  sequence_num: 2
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "40_1_-3"

modules/planning/testdata/sunnyvale_loop_test/result_change_lane_0.pb.txt

@@ -1571,6 +1571,11 @@ decision {
     turn_signal: TURN_LEFT
   }
 }
+routing_header {
+  timestamp_sec: 1508187644.72
+  module_name: "routing"
+  sequence_num: 8
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "57_1_-1"

modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt

@@ -1403,6 +1403,11 @@ decision {
     turn_signal: TURN_RIGHT
   }
 }
+routing_header {
+  timestamp_sec: 1503436432.52
+  module_name: "routing"
+  sequence_num: 1
+}
 right_of_way_status: PROTECTED
 lane_id {
   id: "752_1_-1"

modules/planning/testdata/sunnyvale_loop_test/result_follow_01_0.pb.txt

@@ -1586,6 +1586,10 @@ decision {
     turn_signal: TURN_RIGHT
   }
 }
+routing_header {
+  timestamp_sec: 1504919697.607234
+  module_name: "routing"
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "140_1_-1"

modules/planning/testdata/sunnyvale_loop_test/result_follow_02_0.pb.txt

@@ -1594,6 +1594,10 @@ decision {
     turn_signal: TURN_NONE
   }
 }
+routing_header {
+  timestamp_sec: 1505348717.2942326
+  module_name: "routing"
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "37_1_-4"

modules/planning/testdata/sunnyvale_loop_test/result_follow_03_0.pb.txt

@@ -1593,6 +1593,10 @@ decision {
     turn_signal: TURN_RIGHT
   }
 }
+routing_header {
+  timestamp_sec: 1505426824.2902567
+  module_name: "routing"
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "747_1_-1"

modules/planning/testdata/sunnyvale_loop_test/result_mission_complete_0.pb.txt

@@ -1593,6 +1593,11 @@ decision {
     turn_signal: TURN_NONE
   }
 }
+routing_header {
+  timestamp_sec: 1509506244.1569996
+  module_name: "routing"
+  sequence_num: 3
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "57_1_-1"

modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt

@@ -1581,6 +1581,10 @@ decision {
     turn_signal: TURN_NONE
   }
 }
+routing_header {
+  timestamp_sec: 1505164877.88
+  module_name: "routing"
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "138_1_-1"

modules/planning/testdata/sunnyvale_loop_test/result_qp_path_failure_0.pb.txt

@@ -1571,6 +1571,11 @@ decision {
     turn_signal: TURN_RIGHT
   }
 }
+routing_header {
+  timestamp_sec: 1509683595.9515159
+  module_name: "routing"
+  sequence_num: 2
+}
 right_of_way_status: PROTECTED
 lane_id {
   id: "12_1_-3"

modules/planning/testdata/sunnyvale_loop_test/result_rightturn_01_0.pb.txt

@@ -1586,6 +1586,10 @@ decision {
     turn_signal: TURN_RIGHT
   }
 }
+routing_header {
+  timestamp_sec: 1505880682.2605283
+  module_name: "routing"
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "39_1_-3"

modules/planning/testdata/sunnyvale_loop_test/result_rightturn_with_red_light_0.pb.txt

@@ -1719,6 +1719,10 @@ decision {
     turn_signal: TURN_RIGHT
   }
 }
+routing_header {
+  timestamp_sec: 1505880682.2605283
+  module_name: "routing"
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "39_1_-3"

modules/planning/testdata/sunnyvale_loop_test/result_slowdown_01_0.pb.txt

@@ -1593,6 +1593,10 @@ decision {
     turn_signal: TURN_RIGHT
   }
 }
+routing_header {
+  timestamp_sec: 1505427398.4920573
+  module_name: "routing"
+}
 right_of_way_status: UNPROTECTED
 lane_id {
   id: "141_1_-2"