Routing: convert from gflag to proto config for parameter tuning (in progress)

modules/routing/common/routing_gflags.cc

@@ -16,6 +16,9 @@
 
 #include "modules/routing/common/routing_gflags.h"
 
+DEFINE_string(routing_conf_file, "modules/routing/conf/routing.pb.txt",
+              "default routing conf data file");
+
 DEFINE_string(node_name, "routing", "the name for this node");
 DEFINE_string(node_namespace, "routing", "the namespace for this node");
 

modules/routing/common/routing_gflags.h

@@ -19,6 +19,7 @@
 
 #include "gflags/gflags.h"
 
+DECLARE_string(routing_conf_file);
 DECLARE_string(node_name);
 DECLARE_string(node_namespace);
 

modules/routing/conf/routing.pb.txt

@@ -3,4 +3,5 @@ left_turn_penalty: 50.0
 right_turn_penalty: 20.0
 uturn_penalty: 100.0
 change_penalty: 50.0
-base_changing_length: 50.0
\ No newline at end of file
+base_changing_length: 50.0
+min_length_for_lane_change: 10.0
\ No newline at end of file

modules/routing/proto/BUILD

@@ -11,6 +11,7 @@ proto_library(
     name = "routing_proto_lib",
     srcs = [
         "routing.proto",
+        "routing_config.proto",
         "topo_graph.proto",
     ],
     deps = [

modules/routing/proto/routing_config.proto

@@ -9,4 +9,5 @@ message RoutingConfig {
   optional double uturn_penalty = 4 ;     // left turn penalty for node creater [m]
   optional double change_penalty = 5;     // change penalty for edge creater [m]
   optional double base_changing_length = 6;  // base change length penalty for edge creater [m]
+  optional double min_length_for_lane_change = 7; // min length for lane change [m]
 }

modules/routing/routing.cc

@@ -37,6 +37,12 @@ apollo::common::Status Routing::Init() {
   const auto routing_map_file = apollo::hdmap::RoutingMapFile();
   AINFO << "Use routing topology graph path: " << routing_map_file;
   navigator_ptr_.reset(new Navigator(routing_map_file));
+  CHECK(::apollo::common::util::GetProtoFromFile(FLAGS_routing_conf_file,
+                                                 &routing_conf_))
+      << "Unable to load control conf file: " + FLAGS_routing_conf_file;
+
+  AINFO << "Conf file: " << FLAGS_routing_conf_file << " is loaded.";
+
   AdapterManager::Init(FLAGS_adapter_config_filename);
   AdapterManager::AddRoutingRequestCallback(&Routing::OnRouting_Request, this);
   return apollo::common::Status::OK();

modules/routing/routing.h

@@ -21,6 +21,7 @@
 #include <string>
 
 #include "modules/routing/proto/routing.pb.h"
+#include "modules/routing/proto/routing_config.pb.h"
 
 #include "modules/common/apollo_app.h"
 #include "modules/common/monitor/monitor.h"
@@ -68,6 +69,8 @@ class Routing : public apollo::common::ApolloApp {
  private:
   std::unique_ptr<Navigator> navigator_ptr_;
   apollo::common::monitor::Monitor monitor_;
+
+  RoutingConfig routing_conf_;
 };
 
 }  // namespace routing

modules/routing/topo_creator/BUILD

@@ -30,12 +30,10 @@ cc_library(
     deps = [
         ":edge_creator",
         ":node_creator",
-        "//external:gflags",
         "//modules/common",
         "//modules/common/util",
         "//modules/map/hdmap/adapter:opendrive_adapter",
         "//modules/map/proto:map_proto",
-        "//modules/routing/common:routing_gflags",
         "//modules/routing/proto:routing_proto",
     ],
 )
@@ -65,7 +63,10 @@ cc_binary(
         "//external:gflags",
         "//modules/common",
         "//modules/common:log",
+        "//modules/common:apollo_app",
         "//modules/common/configs:config_gflags",
+        "//modules/common/status",
+        "//modules/common/util",
         "//modules/map/hdmap:hdmap_util",
         "//modules/map/proto:map_proto",
         "//modules/routing/common:routing_gflags",

modules/routing/topo_creator/graph_creator.cc

@@ -19,7 +19,6 @@
 #include "glog/logging.h"
 
 #include "modules/common/util/file.h"
-#include "modules/routing/common/routing_gflags.h"
 #include "modules/map/hdmap/adapter/opendrive_adapter.h"
 #include "modules/routing/topo_creator/edge_creator.h"
 #include "modules/routing/topo_creator/node_creator.h"
@@ -49,9 +48,11 @@ bool IsAllowedToCross(const LaneBoundary& boundary) {
 }  // namespace
 
 GraphCreator::GraphCreator(const std::string& base_map_file_path,
-                           const std::string& dump_topo_file_path)
+                           const std::string& dump_topo_file_path,
+                           const RoutingConfig *routing_conf)
     : base_map_file_path_(base_map_file_path),
-      dump_topo_file_path_(dump_topo_file_path) {}
+      dump_topo_file_path_(dump_topo_file_path),
+      routing_conf_(routing_conf) {}
 
 bool GraphCreator::Create() {
   if (common::util::EndWith(base_map_file_path_, ".xml")) {
@@ -115,7 +116,7 @@ bool GraphCreator::Create() {
     const auto& from_node = graph_.node(node_index_map_[lane_id]);
 
     AddEdge(from_node, lane.successor_id(), Edge::FORWARD);
-    if (lane.length() < FLAGS_min_length_for_lane_change) {
+    if (lane.length() < routing_conf_->min_length_for_lane_change()) {
         continue;
     }
     if (lane.has_left_boundary() && IsAllowedToCross(lane.left_boundary())) {

modules/routing/topo_creator/graph_creator.h

@@ -23,6 +23,7 @@
 
 #include "modules/map/proto/map.pb.h"
 #include "modules/routing/proto/topo_graph.pb.h"
+#include "modules/routing/proto/routing_config.pb.h"
 
 namespace apollo {
 namespace routing {
@@ -30,7 +31,8 @@ namespace routing {
 class GraphCreator {
  public:
   GraphCreator(const std::string& base_map_file_path,
-               const std::string& dump_topo_file_path);
+               const std::string& dump_topo_file_path,
+               const RoutingConfig *routing_conf);
 
   ~GraphCreator() = default;
 
@@ -54,6 +56,8 @@ class GraphCreator {
   std::unordered_map<std::string, std::string> road_id_map_;
   std::unordered_set<std::string> showed_edge_id_set_;
   std::unordered_set<std::string> forbidden_lane_id_set_;
+
+  const RoutingConfig *routing_conf_ = nullptr;
 };
 
 }  // namespace routing

modules/routing/topo_creator/topo_creator.cc

@@ -18,14 +18,27 @@
 #include "modules/common/log.h"
 #include "modules/map/hdmap/hdmap_util.h"
 #include "modules/routing/topo_creator/graph_creator.h"
+#include "modules/routing/proto/routing_config.pb.h"
+#include "modules/common/apollo_app.h"
+#include "modules/common/util/file.h"
+#include "modules/routing/common/routing_gflags.h"
+
 
 int main(int argc, char **argv) {
   google::InitGoogleLogging(argv[0]);
   google::ParseCommandLineFlags(&argc, &argv, true);
 
+  apollo::routing::RoutingConfig routing_conf;
+
+  CHECK(apollo::common::util::GetProtoFromFile(FLAGS_routing_conf_file,
+                                                 &routing_conf))
+      << "Unable to load control conf file: " + FLAGS_routing_conf_file;
+
+  AINFO << "Conf file: " << FLAGS_routing_conf_file << " is loaded.";
+
   const auto base_map = apollo::hdmap::BaseMapFile();
   const auto routing_map = apollo::hdmap::RoutingMapFile();
-  apollo::routing::GraphCreator creator(base_map, routing_map);
+  apollo::routing::GraphCreator creator(base_map, routing_map, &routing_conf);
   CHECK(creator.Create()) << "Create routing topo failed!";
 
   AINFO << "Create routing topo successfully from "