From 4c389cd5f5af1230b0690cc48c1378f33b15a199 Mon Sep 17 00:00:00 2001 From: Jiangtao Hu Date: Thu, 27 Jul 2017 15:02:38 -0700 Subject: [PATCH] record replan info into debug pb. --- modules/planning/planning.cc | 1 + modules/planning/proto/planning_internal.proto | 3 ++- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/modules/planning/planning.cc b/modules/planning/planning.cc index 24908cbb5a..daa1a1a6b9 100644 --- a/modules/planning/planning.cc +++ b/modules/planning/planning.cc @@ -250,6 +250,7 @@ bool Planning::Plan(const bool is_on_auto_mode, const double publish_time, if (FLAGS_enable_record_debug) { trajectory_pb->mutable_debug()->mutable_planning_data() ->mutable_init_point()->CopyFrom(vehicle_start_point); + trajectory_pb->mutable_debug()->mutable_planning_data()->set_is_replan(true); } auto status = planner_->MakePlan(vehicle_start_point, trajectory_pb); diff --git a/modules/planning/proto/planning_internal.proto b/modules/planning/proto/planning_internal.proto index 25f2bf05e1..d9207fe66b 100644 --- a/modules/planning/proto/planning_internal.proto +++ b/modules/planning/proto/planning_internal.proto @@ -87,7 +87,7 @@ message PathDebug { optional apollo.common.Path path = 2; } -// next id: 11 +// next id: 12 message PlanningData { optional apollo.common.Header header = 1; @@ -96,6 +96,7 @@ message PlanningData { optional apollo.canbus.Chassis chassis = 8; optional apollo.hdmap.RoutingResult routing = 9; optional apollo.common.TrajectoryPoint init_point = 10; + optional bool is_replan = 11; // processed planning_obstacles repeated PlanningObstacle planning_obstacle = 4; -- GitLab