planning: connect decider into em_planner.

modules/planning/planner/em/BUILD

@@ -2,6 +2,25 @@ load("//tools:cpplint.bzl", "cpplint")
 
 package(default_visibility = ["//visibility:public"])
 
+cc_library(
+    name = "decider",
+    srcs = [
+        "decider.cc",
+    ],
+    hdrs = [
+        "decider.h",
+    ],
+    deps = [
+        "//external:gflags",
+        "//modules/common:log",
+        "//modules/common/status",
+        "//modules/planning/common:planning_common",
+        "//modules/planning/proto:planning_proto",
+        "//modules/planning/reference_line",
+        "@eigen//:eigen",
+    ],
+)
+
 cc_library(
     name = "em_planner",
     srcs = [
@@ -11,6 +30,7 @@ cc_library(
         "em_planner.h",
     ],
     deps = [
+        ":decider",
         "//external:gflags",
         "//modules/common:log",
         "//modules/common/proto:pnc_point_proto",
@@ -37,23 +57,4 @@ cc_library(
     ],
 )
 
-cc_library(
-    name = "decider",
-    srcs = [
-        "decider.cc",
-    ],
-    hdrs = [
-        "decider.h",
-    ],
-    deps = [
-        "//external:gflags",
-        "//modules/common:log",
-        "//modules/common/status",
-        "//modules/planning/common:planning_common",
-        "//modules/planning/proto:planning_proto",
-        "//modules/planning/reference_line",
-        "@eigen//:eigen",
-    ],
-)
-
 cpplint()

modules/planning/planner/em/decider.cc

@@ -24,13 +24,16 @@
 namespace apollo {
 namespace planning {
 
-Decider::Decider() { decision_.Clear(); }
+Decider::Decider(DecisionResult* decision_result)
+: decision_(decision_result) {
+}
 
-const DecisionResult& Decider::Decision() const { return decision_; }
+const DecisionResult& Decider::Decision() const { return *decision_; }
 
-int Decider::MakeDecision(Frame* frame, PathDecision* const path_decision) {
-  decision_.Clear();
+int Decider::MakeDecision(Frame* frame) {
+  decision_->Clear();
 
+  auto path_decision = frame->path_decision();
   bool estop = 0;
   if (estop) {
     MakeEStopDecision(path_decision);
@@ -93,7 +96,7 @@ int Decider::MakeMainStopDecision(Frame* frame,
   }
 
   if (stop_obstacle != nullptr) {
-    MainStop* main_stop = decision_.mutable_main_decision()->mutable_stop();
+    MainStop* main_stop = decision_->mutable_main_decision()->mutable_stop();
     main_stop->set_reason_code(stop_decision->reason_code());
     main_stop->set_reason("stop by " + stop_obstacle->Id());
     main_stop->mutable_stop_point()->set_x(stop_decision->stop_point().x());
@@ -113,7 +116,7 @@ int Decider::MakeMainStopDecision(Frame* frame,
 }
 
 int Decider::SetObjectDecisions(PathDecision* const path_decision) {
-  ObjectDecisions* object_decisions = decision_.mutable_object_decision();
+  ObjectDecisions* object_decisions = decision_->mutable_object_decision();
 
   const auto& path_obstacles = path_decision->path_obstacles();
   for (const auto path_obstacle : path_obstacles.Items()) {
@@ -135,15 +138,15 @@ int Decider::SetObjectDecisions(PathDecision* const path_decision) {
 
 int Decider::MakeEStopDecision(PathDecision* const path_decision) {
   CHECK_NOTNULL(path_decision);
-  decision_.Clear();
+  decision_->Clear();
 
   // TODO: to be added
   // MainEmergencyStop* main_estop =
-  // decision_.mutable_main_decision()->mutable_estop();
+  // decision_->mutable_main_decision()->mutable_estop();
   // main_estop->set_reason_code();
   // main_estop->set_reason();
 
-  ObjectDecisions* object_decisions = decision_.mutable_object_decision();
+  ObjectDecisions* object_decisions = decision_->mutable_object_decision();
 
   const auto& path_obstacles = path_decision->path_obstacles();
   for (const auto path_obstacle : path_obstacles.Items()) {
@@ -152,9 +155,6 @@ int Decider::MakeEStopDecision(PathDecision* const path_decision) {
     const auto& obstacle = path_obstacle->Obstacle();
     object_decision->set_id(obstacle->Id());
     object_decision->add_object_decision()->mutable_avoid();
-    ;
-    // TODO: add prediction
-    // object_decision->mutable_prediction()->CopyFrom(*(obstacle->prediction()));
   }
   return 0;
 }

modules/planning/planner/em/decider.h

@@ -36,12 +36,12 @@ namespace planning {
 
 class Decider {
  public:
-  Decider();
+  explicit Decider(DecisionResult* decision_result);
   ~Decider() = default;
 
   const DecisionResult &Decision() const;
-  int MakeDecision(Frame* frame,
-                   PathDecision *const path_decision);
+  // TODO(all): fix the return code to use Status object.
+  int MakeDecision(Frame* frame);
 
  private:
   int MakeMainStopDecision(Frame* frame,
@@ -50,7 +50,7 @@ class Decider {
   int SetObjectDecisions(PathDecision *const path_decision);
 
  private:
-  DecisionResult decision_;
+  DecisionResult* decision_ = nullptr;  // not owned
 };
 
 }  // namespace planning

modules/planning/planner/em/em_planner.cc

@@ -35,6 +35,7 @@
 #include "modules/planning/optimizer/dp_st_speed/dp_st_speed_optimizer.h"
 #include "modules/planning/optimizer/qp_spline_path/qp_spline_path_optimizer.h"
 #include "modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_speed_optimizer.h"
+#include "modules/planning/planner/em/decider.h"
 
 namespace apollo {
 namespace planning {
@@ -115,6 +116,12 @@ void EMPlanner::RecordDebugInfo(const std::string& name,
   ptr_stats->set_time_ms(time_diff_ms);
 }
 
+void EMPlanner::PopulateDecision(Frame* frame) {
+  auto planning_pb = frame->MutableADCTrajectory();
+  Decider decider(planning_pb->mutable_decision());
+  decider.MakeDecision(frame);
+}
+
 Status EMPlanner::Plan(const TrajectoryPoint& planning_start_point,
                        Frame* frame,
                        PublishableTrajectory* ptr_publishable_trajectory) {
@@ -156,6 +163,8 @@ Status EMPlanner::Plan(const TrajectoryPoint& planning_start_point,
 
   *ptr_publishable_trajectory = std::move(computed_trajectory);
 
+  PopulateDecision(frame);
+
   // Add debug information.
   if (FLAGS_enable_record_debug && ptr_debug != nullptr) {
     auto* reference_line = ptr_debug->mutable_planning_data()->add_path();

modules/planning/planner/em/em_planner.h

@@ -72,6 +72,8 @@ class EMPlanner : public Planner {
 
   std::vector<common::SpeedPoint> GenerateInitSpeedProfile(const double init_v,
                                                            const double init_a);
+  // TODO(all): change to return Status.
+  void PopulateDecision(Frame* frame);
 
   void RecordDebugInfo(const std::string& name,
                        const PlanningData* planning_data,