Map: Move MakeMapId from common util to hdmap_util.

modules/common/util/BUILD

@@ -18,7 +18,6 @@ cc_library(
         "//modules/common/math",
         "//modules/common/proto:pnc_point_proto",
         "//modules/common/time",
-        "//modules/map/proto:map_proto",
         "//modules/perception/proto:perception_proto",
     ],
 )

modules/common/util/util.cc

@@ -91,12 +91,6 @@ double Distance2D(const PathPoint& a, const PathPoint& b) {
   return std::hypot(a.x() - b.x(), a.y() - b.y());
 }
 
-apollo::hdmap::Id MakeMapId(const std::string& id) {
-  apollo::hdmap::Id map_id;
-  map_id.set_id(id);
-  return map_id;
-}
-
 }  // namespace util
 }  // namespace common
 }  // namespace apollo

modules/common/util/util.h

@@ -30,7 +30,6 @@
 
 #include "modules/common/proto/geometry.pb.h"
 #include "modules/common/proto/pnc_point.pb.h"
-#include "modules/map/proto/map_id.pb.h"
 #include "modules/perception/proto/perception_obstacle.pb.h"
 
 /**
@@ -87,13 +86,6 @@ apollo::common::TrajectoryPoint MakeTrajectoryPoint(
  */
 double Distance2D(const PathPoint& a, const PathPoint& b);
 
-/**
- * @brief create a Map ID given a string.
- * @param id a string id
- * @return a Map ID instance
- */
-apollo::hdmap::Id MakeMapId(const std::string& id);
-
 }  // namespace util
 }  // namespace common
 }  // namespace apollo

modules/map/hdmap/hdmap_common.cc

@@ -21,8 +21,8 @@ limitations under the License.
 
 #include "glog/logging.h"
 
-#include "modules/common/util/util.h"
 #include "modules/map/hdmap/hdmap_impl.h"
+#include "modules/map/hdmap/hdmap_util.h"
 
 namespace {
 
@@ -334,7 +334,7 @@ void LaneInfo::post_process(const HDMapImpl &map_instance) {
 void LaneInfo::update_overlaps(const HDMapImpl &map_instance) {
   for (const auto &overlap_id : _overlap_ids) {
     const auto &overlap_ptr = map_instance.get_overlap_by_id(
-        apollo::common::util::MakeMapId(overlap_id));
+        apollo::hdmap::MakeMapId(overlap_id));
     if (overlap_ptr == nullptr) {
       continue;
     }
@@ -344,7 +344,7 @@ void LaneInfo::update_overlaps(const HDMapImpl &map_instance) {
       if (object_id == _lane.id().id()) {
         continue;
       }
-      const auto &object_map_id = apollo::common::util::MakeMapId(object_id);
+      const auto &object_map_id = apollo::hdmap::MakeMapId(object_id);
       if (map_instance.get_lane_by_id(object_map_id) != nullptr) {
         _cross_lanes.emplace_back(overlap_ptr);
       }

modules/map/hdmap/hdmap_common.h

@@ -13,8 +13,8 @@ See the License for the specific language governing permissions and
 limitations under the License.
 =========================================================================*/
 
-#ifndef MODULES_MAP_MAP_LOADER_INC_HDMAP_COMMON_H
-#define MODULES_MAP_MAP_LOADER_INC_HDMAP_COMMON_H
+#ifndef MODULES_MAP_HDMAP_HDMAP_COMMON_H
+#define MODULES_MAP_HDMAP_HDMAP_COMMON_H
 
 #include <memory>
 #include <string>
@@ -357,4 +357,4 @@ using JunctionBoundaryPtr = std::shared_ptr<JunctionBoundary>;
 }  // namespace hdmap
 }  // namespace apollo
 
-#endif  // MODULES_MAP_MAP_LOADER_INC_HDMAP_COMMON_H
+#endif  // MODULES_MAP_HDMAP_HDMAP_COMMON_H

modules/map/hdmap/hdmap_impl.h

@@ -13,8 +13,8 @@ See the License for the specific language governing permissions and
 limitations under the License.
 =========================================================================*/
 
-#ifndef MODULES_MAP_MAP_LOADER_INC_HDMAP_IMPL_H
-#define MODULES_MAP_MAP_LOADER_INC_HDMAP_IMPL_H
+#ifndef MODULES_MAP_HDMAP_HDMAP_IMPL_H
+#define MODULES_MAP_HDMAP_HDMAP_IMPL_H
 
 #include <memory>
 #include <vector>
@@ -310,4 +310,4 @@ class HDMapImpl {
 }  // namespace hdmap
 }  // namespace apollo
 
-#endif  // MODULES_MAP_MAP_LOADER_INC_HDMAP_IMPL_H
+#endif  // MODULES_MAP_HDMAP_HDMAP_IMPL_H

modules/map/hdmap/hdmap_util.h

@@ -20,6 +20,7 @@ limitations under the License.
 
 #include "modules/common/configs/config_gflags.h"
 #include "modules/common/util/string_util.h"
+#include "modules/map/proto/map_id.pb.h"
 
 /**
  * @namespace apollo::hdmap
@@ -37,6 +38,17 @@ inline std::string BaseMapFile() {
       FLAGS_map_dir, "/", FLAGS_base_map_filename);
 }
 
+/**
+ * @brief create a Map ID given a string.
+ * @param id a string id
+ * @return a Map ID instance
+ */
+inline apollo::hdmap::Id MakeMapId(const std::string& id) {
+  apollo::hdmap::Id map_id;
+  map_id.set_id(id);
+  return map_id;
+}
+
 }  // namespace hdmap
 }  // namespace apollo
 

modules/map/pnc_map/path_test.cc

@@ -24,7 +24,6 @@
 
 #include "modules/routing/proto/routing.pb.h"
 
-#include "modules/common/util/util.h"
 #include "modules/map/hdmap/hdmap.h"
 
 using Id = apollo::hdmap::Id;
@@ -864,7 +863,7 @@ TEST(TestSuite, lane_info) {
   HDMap hdmap;
   EXPECT_EQ(hdmap.load_map_from_file(kMapFilename), 0);
   LaneInfoConstPtr lane1 =
-      hdmap.get_lane_by_id(apollo::common::util::MakeMapId("l1"));
+      hdmap.get_lane_by_id(apollo::hdmap::MakeMapId("l1"));
   EXPECT_EQ("l1", lane1->id().id());
   EXPECT_EQ(lane1->points().size(), 2);
   EXPECT_NEAR(lane1->points()[0].x(), 2.0, 1e-6);

modules/map/pnc_map/pnc_map.cc

@@ -30,7 +30,7 @@
 #include "modules/map/proto/map_id.pb.h"
 
 #include "modules/common/log.h"
-#include "modules/common/util/util.h"
+#include "modules/map/hdmap/hdmap_util.h"
 #include "modules/map/pnc_map/path.h"
 
 namespace apollo {
@@ -92,8 +92,7 @@ bool PncMap::validate_routing(const ::apollo::routing::RoutingResponse &routing)
   const double kLargeEps = 1e-3;
   for (int i = 0; i < num_routes; ++i) {
     const auto &segment = routing.route(i);
-    const auto lane =
-        hdmap_.get_lane_by_id(common::util::MakeMapId(segment.id()));
+    const auto lane = hdmap_.get_lane_by_id(hdmap::MakeMapId(segment.id()));
     if (lane == nullptr) {
       AERROR << "Can not find lane with id = " + segment.id() + ".";
       return false;
@@ -142,8 +141,7 @@ bool PncMap::validate_routing(const ::apollo::routing::RoutingResponse &routing)
       continue;
     }
     const auto &segment = routing.route(i);
-    const auto lane =
-        hdmap_.get_lane_by_id(common::util::MakeMapId(segment.id()));
+    const auto lane = hdmap_.get_lane_by_id(hdmap::MakeMapId(segment.id()));
     const std::string next_id = routing.route(i + 1).id();
     bool is_successor = false;
     for (const auto &other_lane_id : lane->lane().successor_id()) {
@@ -292,8 +290,7 @@ bool PncMap::CreatePathFromRouting(const ::apollo::routing::RoutingResponse &rou
   // Extend the trajectory towards the start of the trajectory.
   if (start_s < 0) {
     const auto &first_segment = routing.route(0).road_info().passage_region(0).segment(0);
-    auto lane =
-        hdmap_.get_lane_by_id(common::util::MakeMapId(first_segment.id()));
+    auto lane = hdmap_.get_lane_by_id(hdmap::MakeMapId(first_segment.id()));
     if (!lane) {
       AERROR << "failed to get lane from id " << first_segment.id();
       return false;
@@ -334,7 +331,7 @@ bool PncMap::CreatePathFromRouting(const ::apollo::routing::RoutingResponse &rou
         end_s - router_s + lane_segment.start_s(), lane_segment.end_s());
     if (adjusted_start_s < adjusted_end_s) {
       const auto lane_info =
-          hdmap_.get_lane_by_id(common::util::MakeMapId(lane_segment.id()));
+          hdmap_.get_lane_by_id(hdmap::MakeMapId(lane_segment.id()));
       if (lane_info == nullptr) {
         AERROR << "Failed to find lane " << lane_segment.id() << " in map";
         return false;
@@ -353,8 +350,7 @@ bool PncMap::CreatePathFromRouting(const ::apollo::routing::RoutingResponse &rou
     std::string last_lane_id = last_segment.id();
     double last_s = last_segment.end_s();
     while (router_s < end_s - kRouteEpsilon) {
-      const auto lane =
-          hdmap_.get_lane_by_id(common::util::MakeMapId(last_lane_id));
+      const auto lane = hdmap_.get_lane_by_id(hdmap::MakeMapId(last_lane_id));
       if (lane == nullptr) {
         break;
       }

modules/prediction/common/prediction_map.cc

@@ -26,8 +26,8 @@
 #include "modules/common/configs/config_gflags.h"
 #include "modules/common/math/linear_interpolation.h"
 #include "modules/common/math/vec2d.h"
-#include "modules/common/util/util.h"
 #include "modules/map/hdmap/hdmap.h"
+#include "modules/map/hdmap/hdmap_util.h"
 #include "modules/map/proto/map_id.pb.h"
 #include "modules/prediction/common/prediction_gflags.h"
 
@@ -86,7 +86,7 @@ std::shared_ptr<const LaneInfo> PredictionMap::LaneById(const Id& id) {
 
 std::shared_ptr<const LaneInfo> PredictionMap::LaneById(
     const std::string& str_id) {
-  return LaneById(apollo::common::util::MakeMapId(str_id));
+  return LaneById(apollo::hdmap::MakeMapId(str_id));
 }
 
 void PredictionMap::GetProjection(const Eigen::Vector2d& position,
@@ -393,7 +393,7 @@ int PredictionMap::LaneTurnType(const Id& id) {
 }
 
 int PredictionMap::LaneTurnType(const std::string& lane_id) {
-  return LaneTurnType(apollo::common::util::MakeMapId(lane_id));
+  return LaneTurnType(apollo::hdmap::MakeMapId(lane_id));
 }
 
 }  // namespace prediction

modules/prediction/predictor/vehicle/lane_sequence_predictor.cc

@@ -22,7 +22,7 @@
 
 #include "modules/common/log.h"
 #include "modules/common/math/math_utils.h"
-#include "modules/common/util/util.h"
+#include "modules/map/hdmap/hdmap_util.h"
 #include "modules/prediction/common/prediction_gflags.h"
 #include "modules/prediction/common/prediction_map.h"
 
@@ -180,7 +180,7 @@ void LaneSequencePredictor::DrawLaneSequenceTrajectoryPoints(
   for (size_t i = 0; i < static_cast<size_t>(total_time / freq); ++i) {
     Eigen::Vector2d point;
     double theta = M_PI;
-    if (map->SmoothPointFromLane(apollo::common::util::MakeMapId(lane_id),
+    if (map->SmoothPointFromLane(apollo::hdmap::MakeMapId(lane_id),
                                  lane_s, lane_l, &point, &theta) != 0) {
       AERROR << "Unable to get smooth point from lane [" << lane_id
              << "] with s [" << lane_s << "] and l [" << lane_l