planning: added change lane type in decision result

modules/planning/common/reference_line_info.cc

@@ -247,6 +247,14 @@ void ReferenceLineInfo::ExportDecision(DecisionResult* decision_result) const {
   Decider decider;
   decider.MakeDecision(*this, decision_result);
   ExportTurnSignal(decision_result->mutable_vehicle_signal());
+  auto* main_decision = decision_result->mutable_main_decision();
+  if (main_decision->has_stop()) {
+    main_decision->mutable_stop()->set_change_lane_type(
+        Lanes().PreviousAction());
+  } else if (main_decision->has_cruise()) {
+    main_decision->mutable_cruise()->set_change_lane_type(
+        Lanes().PreviousAction());
+  }
 }
 
 }  // namespace planning

modules/planning/proto/decision.proto

@@ -4,6 +4,7 @@ package apollo.planning;
 
 import "modules/common/proto/geometry.proto";
 import "modules/common/proto/vehicle_signal.proto";
+import "modules/routing/proto/routing.proto";
 
 message TargetLane {
   // lane id
@@ -109,6 +110,7 @@ message MainStop {
   optional apollo.common.PointENU stop_point = 3;
   // When stopped, the heading of the vehicle should be stop_heading.
   optional double stop_heading = 4;
+  optional apollo.routing.ChangeLaneType change_lane_type = 5;
 }
 
 message EmergencyStopHardBrake {
@@ -136,8 +138,10 @@ message MainEmergencyStop {
 
 message MainCruise {
   // cruise current lane
+  optional apollo.routing.ChangeLaneType change_lane_type = 1;
 }
 
+// This message is deprecated
 message MainChangeLane {
   enum Type {
     LEFT = 1;
@@ -171,12 +175,12 @@ message MainDecision {
     MainCruise cruise = 1;
     MainStop stop = 2;
     MainEmergencyStop estop = 3;
-    MainChangeLane change_lane = 4;
+    MainChangeLane change_lane = 4 [deprecated=true];
     MainMissionComplete mission_complete = 6;
     MainNotReady not_ready = 7;
     MainParking parking = 8;
   }
-  repeated TargetLane target_lane = 5;
+  repeated TargetLane target_lane = 5 [deprecated = true];
 }
 
 message DecisionResult {

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

@@ -11227,6 +11227,7 @@ decision {
         y: 4140779.4049973264
       }
       stop_heading: 1.3103597856554856
+      change_lane_type: FORWARD
     }
   }
   object_decision {

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

@@ -11227,6 +11227,7 @@ decision {
         y: 4140779.4040114661
       }
       stop_heading: 1.3092468094681227
+      change_lane_type: FORWARD
     }
   }
   object_decision {

modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt

@@ -11227,6 +11227,7 @@ decision {
         y: 4140779.4040114661
       }
       stop_heading: 1.3092468094681227
+      change_lane_type: FORWARD
     }
   }
   object_decision {

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

@@ -11227,6 +11227,7 @@ decision {
         y: 4140699.2340279007
       }
       stop_heading: 1.2687368766187008
+      change_lane_type: FORWARD
     }
   }
   object_decision {

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

@@ -4199,6 +4199,7 @@ decision {
         y: 4140779.4032230014
       }
       stop_heading: 1.3093800379827796
+      change_lane_type: FORWARD
     }
   }
   object_decision {

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

@@ -11220,6 +11220,7 @@ trajectory_point {
 decision {
   main_decision {
     cruise {
+      change_lane_type: LEFT
     }
   }
   object_decision {

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

@@ -11220,6 +11220,7 @@ trajectory_point {
 decision {
   main_decision {
     cruise {
+      change_lane_type: FORWARD
     }
   }
   object_decision {

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

@@ -11220,6 +11220,7 @@ trajectory_point {
 decision {
   main_decision {
     cruise {
+      change_lane_type: FORWARD
     }
   }
   object_decision {

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

@@ -11220,6 +11220,7 @@ trajectory_point {
 decision {
   main_decision {
     cruise {
+      change_lane_type: FORWARD
     }
   }
   object_decision {

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

@@ -11227,6 +11227,7 @@ decision {
         y: 4141386.0428220723
       }
       stop_heading: -1.8123278493438064
+      change_lane_type: FORWARD
     }
   }
   object_decision {

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

@@ -11220,6 +11220,7 @@ trajectory_point {
 decision {
   main_decision {
     cruise {
+      change_lane_type: FORWARD
     }
   }
   object_decision {

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

@@ -11220,6 +11220,7 @@ trajectory_point {
 decision {
   main_decision {
     cruise {
+      change_lane_type: FORWARD
     }
   }
   object_decision {

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

@@ -11220,6 +11220,7 @@ trajectory_point {
 decision {
   main_decision {
     cruise {
+      change_lane_type: FORWARD
     }
   }
   object_decision {

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

@@ -11227,6 +11227,7 @@ decision {
         y: 4140937.9266792168
       }
       stop_heading: -1.9046332856206114
+      change_lane_type: FORWARD
     }
   }
   object_decision {

modules/planning/testdata/sunnyvale_loop_test/result_stop_0.pb.txt

@@ -4192,6 +4192,7 @@ trajectory_point {
 decision {
   main_decision {
     cruise {
+      change_lane_type: FORWARD
     }
   }
   object_decision {