Updated predictor and evaluator managers (#151)

* modified prediction conf in pb

* added speed_optimizer

* removed ptree and added proto based config for dp_poly_path

* added speed_optimizer

* added speed_optimizer

* Added lane sequence and free move predictor framework (#127)

* Fixed planning styling issues, and resolved a conflict

Fixed planning styling issues

Fixed planning styling issues

Fixed planning styling issues

Fixed some styling errors

Resolved a conflict

* Added mlp evaluator in evaluator factory

* modified prediction conf in pb

* Added free move predictor framework

* removed ptree and added proto based config for dp_poly_path

* Resolved free move predictor conflict

* added speed_optimizer

* Added lane sequence and free move predictor framework (#127)

* Fixed planning styling issues, and resolved a conflict

Fixed planning styling issues

Fixed planning styling issues

Fixed planning styling issues

Fixed some styling errors

Resolved a conflict

* Added mlp evaluator in evaluator factory

* modified prediction conf in pb

* Added free move predictor framework

* removed ptree and added proto based config for dp_poly_path

* removed ptree and added proto based config for dp_poly_path

* Resolved free move predictor conflict

* Finalized prediction framework

* added dp_st_speed and qp_spline_speed, ready for migrate

* added qp_spline_st_boundary_mapper.h/cc (#139)

* implement most of prediction_map.cc

* add MakeSLPoint in common/util (#141)

* Fix dreamview roadgraph rendering (#137)

* render perception obstacles in dreamview frontend (#142)

* Fix control test filures after ADCTranjactory proto change.

* Avoid copying data if message_num is set as 0

* Rename function and adjust style

* remove data_center dp_poly_path optimizer (#147)

* add lru cache

* Simple fixes to satisfy lint.

* Updated evaluator and predictor managers

modules/prediction/container/obstacles/BUILD

@@ -8,7 +8,8 @@ cc_library(
     hdrs = ["obstacles_container.h"],
     deps = [
         "//modules/prediction/container:container",
-    ]
+        "//modules/prediction/container/obstacles:obstacle",
+    ],
 )
 
 cc_library(

modules/prediction/container/obstacles/obstacles_container.cc

@@ -21,5 +21,9 @@ namespace prediction {
 
 void ObstaclesContainer::Insert(const ::google::protobuf::Message& message) {}
 
+Obstacle* ObstaclesContainer::GetObstacle(int id) {
+  return nullptr;
 }
-}
+
+}  // prediction
+}  // apollo

modules/prediction/container/obstacles/obstacles_container.h

@@ -23,6 +23,7 @@
 #define MODULES_PREDICTION_CONTAINER_OBSTACLES_OBSTACLES_H_
 
 #include "modules/prediction/container/container.h"
+#include "modules/prediction/container/obstacles/obstacle.h"
 
 namespace apollo {
 namespace prediction {
@@ -44,6 +45,8 @@ class ObstaclesContainer : public Container {
    * @param Data message to be inserted in protobuf
    */
   void Insert(const ::google::protobuf::Message& message) override;
+
+  Obstacle* GetObstacle(int id);
 };
 
 }  // namespace prediction

modules/prediction/evaluator/BUILD

@@ -22,8 +22,13 @@ cc_library(
     hdrs = ["evaluator_manager.h"],
     deps = [
         "//modules/prediction/evaluator:evaluator",
+        "//modules/prediction/evaluator:evaluator_factory",
+        "//modules/prediction/container:container_manager",
+        "//modules/prediction/container/obstacles:obstacles_container",
+        "//modules/prediction/proto:prediction_conf_proto",
         "//modules/perception/proto:perception_proto",
         "//modules/common:macro",
+        "//modules/common:log",
         "@glog//:glog",
     ]
 )

modules/prediction/evaluator/evaluator_factory.h

@@ -52,7 +52,7 @@ class EvaluatorFactory
    * @return A pointer to the given evaluator
    */
   std::unique_ptr<Evaluator> CreateEvaluator(
-      const ObstacleConf::EvaluatorType& eval);
+      const ObstacleConf::EvaluatorType& type);
 
  private:
   DECLARE_SINGLETON(EvaluatorFactory);

modules/prediction/evaluator/evaluator_manager.cc

@@ -16,17 +16,48 @@
 
 #include "modules/prediction/evaluator/evaluator_manager.h"
 
+#include "modules/prediction/evaluator/evaluator_factory.h"
+#include "modules/prediction/container/container_manager.h"
+#include "modules/prediction/container/obstacles/obstacles_container.h"
+#include "modules/common/log.h"
+
 namespace apollo {
 namespace prediction {
 
+using ::apollo::perception::PerceptionObstacles;
+using ::apollo::perception::PerceptionObstacle;
+
 EvaluatorManager::EvaluatorManager() {}
 
-const Evaluator* EvaluatorManager::GetEvaluator() {
-  return nullptr;
+Evaluator* EvaluatorManager::GetEvaluator(
+    const ObstacleConf::EvaluatorType& type) {
+  return EvaluatorFactory::instance()->CreateEvaluator(type).get();
 }
 
 void EvaluatorManager::Run(
-    const ::apollo::perception::PerceptionObstacles& perception_obstacles) {}
+    const ::apollo::perception::PerceptionObstacles& perception_obstacles) {
+  ObstaclesContainer *container = dynamic_cast<ObstaclesContainer*>(
+      ContainerManager::instance()->mutable_container("ObstaclesContainer"));
+  CHECK_NOTNULL(container);
+
+  for (const auto& perception_obstacle :
+      perception_obstacles.perception_obstacle()) {
+    int id = perception_obstacle.id();
+    switch(perception_obstacle.type()) {
+      case PerceptionObstacle::VEHICLE: {
+        Evaluator *evaluator = GetEvaluator(ObstacleConf::MLP_EVALUATOR);
+        CHECK_NOTNULL(evaluator);
+        Obstacle *obstacle = container->GetObstacle(id);
+        CHECK_NOTNULL(obstacle);
+        evaluator->Evaluate(obstacle);
+        break;
+      }
+      default: {
+        break;
+      }
+    }
+  }
+}
 
 }  // namespace prediction
 }  // namespace apollo

modules/prediction/evaluator/evaluator_manager.h

@@ -26,6 +26,7 @@
 
 #include "modules/prediction/evaluator/evaluator.h"
 #include "modules/perception/proto/perception_obstacle.pb.h"
+#include "modules/prediction/proto/prediction_conf.pb.h"
 #include "modules/common/macro.h"
 
 /**
@@ -46,7 +47,7 @@ class EvaluatorManager {
    * @brief Get evaluator
    * @return Pointer to the evaluator
    */
-  const Evaluator* GetEvaluator();
+  Evaluator* GetEvaluator(const ObstacleConf::EvaluatorType& type);
 
   void Run(
       const ::apollo::perception::PerceptionObstacles& perception_obstacles);

modules/prediction/predictor/BUILD

@@ -24,6 +24,8 @@ cc_library(
     deps = [
         "//modules/prediction/predictor:predictor",
         "//modules/prediction/predictor:predictor_factory",
+        "//modules/prediction/container:container_manager",
+        "//modules/prediction/container/obstacles:obstacles_container",
         "//modules/perception/proto:perception_proto",
         "//modules/prediction/proto:prediction_proto",
         "//modules/prediction/proto:prediction_conf_proto",
@@ -38,6 +40,7 @@ cc_library(
     srcs = ["predictor.cc"],
     deps = [
         "//modules/prediction/proto:prediction_proto",
+        "//modules/prediction/container/obstacles:obstacle",
     ]
 )
 

modules/prediction/predictor/predictor.h

@@ -24,6 +24,8 @@
 
 #include "modules/prediction/proto/prediction_obstacle.pb.h"
 
+#include "modules/prediction/container/obstacles/obstacle.h"
+
 /**
  * @namespace apollo::prediction
  * @brief apollo::prediction
@@ -51,7 +53,7 @@ class Predictor {
   /**
    * @brief Make prediction
    */
-  virtual void Predict() const = 0;
+  virtual void Predict(Obstacle* obstacle) const = 0;
 
  protected:
   PredictionObstacle prediction_obstacle_;

modules/prediction/predictor/predictor_manager.cc

@@ -16,6 +16,8 @@
 
 #include "modules/prediction/predictor/predictor_manager.h"
 #include "modules/prediction/predictor/predictor_factory.h"
+#include "modules/prediction/container/container_manager.h"
+#include "modules/prediction/container/obstacles/obstacles_container.h"
 
 namespace apollo {
 namespace prediction {
@@ -35,9 +37,15 @@ Predictor* PredictorManager::GetPredictor(
 void PredictorManager::Run(
     const PerceptionObstacles& perception_obstacles) {
   prediction_obstacles_.Clear();
+  ObstaclesContainer *container = dynamic_cast<ObstaclesContainer*>(
+      ContainerManager::instance()->mutable_container("ObstaclesContainer"));
+  CHECK_NOTNULL(container);
+
   Predictor *predictor = nullptr;
-  for (const auto& obstacle : perception_obstacles.perception_obstacle()) {
-    switch (obstacle.type()) {
+  for (const auto& perception_obstacle :
+      perception_obstacles.perception_obstacle()) {
+    int id = perception_obstacle.id();
+    switch (perception_obstacle.type()) {
       case PerceptionObstacle::VEHICLE: {
         predictor = GetPredictor(ObstacleConf::LANE_SEQUENCE_PREDICTOR);
         break;
@@ -52,7 +60,8 @@ void PredictorManager::Run(
       }
     }
     if (predictor != nullptr) {
-      predictor->Predict();
+      Obstacle* obstacle = container->GetObstacle(id);
+      predictor->Predict(obstacle);
       prediction_obstacles_.add_prediction_obstacle()->CopyFrom(
         predictor->prediction_obstacle());
     }

modules/prediction/predictor/vehicle/free_move_predictor.cc

@@ -19,7 +19,7 @@
 namespace apollo {
 namespace prediction {
 
-void FreeMovePredictor::Predict() const {}
+void FreeMovePredictor::Predict(Obstacle* obstacle) const {}
 
 }  // prediction
 }  // apollo

modules/prediction/predictor/vehicle/free_move_predictor.h

@@ -42,7 +42,7 @@ class FreeMovePredictor : public Predictor {
   /**
    * @brief Make prediction
    */
-  void Predict() const override;
+  void Predict(Obstacle* obstacle) const override;
 };
 
 }  // namespace prediction

modules/prediction/predictor/vehicle/lane_sequence_predictor.cc

@@ -19,7 +19,7 @@
 namespace apollo {
 namespace prediction {
 
-void LaneSequencePredictor::Predict() const {}
+void LaneSequencePredictor::Predict(Obstacle* obstacle) const {}
 
 }  // prediction
 }  // apollo

modules/prediction/predictor/vehicle/lane_sequence_predictor.h

@@ -42,7 +42,7 @@ class LaneSequencePredictor : public Predictor {
   /**
    * @brief Make prediction
    */
-  void Predict() const override;
+  void Predict(Obstacle* obstacle) const override;
 };
 
 }  // namespace prediction