planning: add planning config parameter into PlanningBase::Init() interface.

modules/planning/integration_tests/planning_test_base.cc

@@ -142,7 +142,11 @@ void PlanningTestBase::SetUp() {
 
   CHECK(FeedTestData()) << "Failed to feed test data";
 
-  CHECK(planning_->Init().ok()) << "Failed to init planning module";
+  CHECK(apollo::common::util::GetProtoFromFile(FLAGS_planning_config_file,
+                                               &config_))
+      << "failed to load planning config file " << FLAGS_planning_config_file;
+
+  CHECK(planning_->Init(config_).ok()) << "Failed to init planning module";
 
   // Do not use fallback trajectory during testing
   FLAGS_use_planning_fallback = false;

modules/planning/integration_tests/planning_test_base.h

@@ -100,6 +100,7 @@ class PlanningTestBase : public ::testing::Test {
   std::map<TrafficRuleConfig::RuleId, bool> rule_enabled_;
   ADCTrajectory adc_trajectory_;
   LocalView local_view_;
+  PlanningConfig config_;
 };
 
 }  // namespace planning

modules/planning/navi_planning.cc

@@ -73,17 +73,15 @@ NaviPlanning::~NaviPlanning() {
 
 std::string NaviPlanning::Name() const { return "navi_planning"; }
 
-Status NaviPlanning::Init() {
-  PlanningBase::Init();
-  CHECK(apollo::common::util::GetProtoFromFile(FLAGS_planning_config_file,
-                                               &config_))
-      << "failed to load planning config file " << FLAGS_planning_config_file;
-
-  if (!CheckPlanningConfig()) {
+Status NaviPlanning::Init(const PlanningConfig& config) {
+  config_ = config;
+  if (!CheckPlanningConfig(config_)) {
     return Status(ErrorCode::PLANNING_ERROR,
                   "planning config error: " + config_.DebugString());
   }
 
+  PlanningBase::Init(config_);
+
   planner_dispatcher_->Init();
 
   CHECK(apollo::common::util::GetProtoFromFile(
@@ -595,8 +593,8 @@ NaviPlanning::VehicleConfig NaviPlanning::ComputeVehicleConfigFromLocalization(
   return vehicle_config;
 }
 
-bool NaviPlanning::CheckPlanningConfig() {
-  if (!config_.has_navigation_planning_config()) {
+bool NaviPlanning::CheckPlanningConfig(const PlanningConfig& config) {
+  if (!config.has_navigation_planning_config()) {
     return false;
   }
   // TODO(All): check other config params

modules/planning/navi_planning.h

@@ -57,7 +57,7 @@ class NaviPlanning : public PlanningBase {
    * @brief module initialization function
    * @return initialization status
    */
-  apollo::common::Status Init() override;
+  apollo::common::Status Init(const PlanningConfig& config) override;
 
   /**
    * @brief main logic of the planning module, runs periodically triggered by
@@ -78,7 +78,7 @@ class NaviPlanning : public PlanningBase {
                            const double start_time,
                            const common::VehicleState& vehicle_state);
 
-  bool CheckPlanningConfig();
+  bool CheckPlanningConfig(const PlanningConfig& config);
 
   /**
    * @brief receiving planning pad message

modules/planning/planning_base.cc

@@ -41,9 +41,9 @@ using apollo::planning_internal::STGraphDebug;
 
 PlanningBase::~PlanningBase() {}
 
-apollo::common::Status PlanningBase::Init() {
+apollo::common::Status PlanningBase::Init(const PlanningConfig& config) {
   PlanningContext::Instance()->Init();
-  TaskFactory::Init();
+  TaskFactory::Init(config);
   return Status::OK();
 }
 

modules/planning/planning_base.h

@@ -56,7 +56,7 @@ class PlanningBase {
   PlanningBase() = default;
   virtual ~PlanningBase();
 
-  virtual apollo::common::Status Init();
+  virtual apollo::common::Status Init(const PlanningConfig& config);
 
   virtual std::string Name() const = 0;
 

modules/planning/planning_component.cc

@@ -33,7 +33,12 @@ using apollo::routing::RoutingRequest;
 using apollo::routing::RoutingResponse;
 
 bool PlanningComponent::Init() {
-  planning_base_->Init();
+  CHECK(apollo::common::util::GetProtoFromFile(FLAGS_planning_config_file,
+                                               &config_))
+      << "failed to load planning config file " << FLAGS_planning_config_file;
+
+  planning_base_->Init(config_);
+
   routing_reader_ = node_->CreateReader<RoutingResponse>(
       FLAGS_routing_response_topic,
       [this](const std::shared_ptr<RoutingResponse>& routing) {

modules/planning/planning_component.h

@@ -28,6 +28,7 @@
 #include "modules/perception/proto/traffic_light_detection.pb.h"
 #include "modules/planning/proto/pad_msg.pb.h"
 #include "modules/planning/proto/planning.pb.h"
+#include "modules/planning/proto/planning_config.pb.h"
 #include "modules/prediction/proto/prediction_obstacle.pb.h"
 #include "modules/routing/proto/routing.pb.h"
 
@@ -79,6 +80,8 @@ class PlanningComponent final
   LocalView local_view_;
 
   std::unique_ptr<PlanningBase> planning_base_;
+
+  PlanningConfig config_;
 };
 
 CYBERTRON_REGISTER_COMPONENT(PlanningComponent)

modules/planning/std_planning.cc

@@ -94,17 +94,15 @@ StdPlanning::~StdPlanning() {
 
 std::string StdPlanning::Name() const { return "std_planning"; }
 
-Status StdPlanning::Init() {
-  PlanningBase::Init();
-
-  CHECK(apollo::common::util::GetProtoFromFile(FLAGS_planning_config_file,
-                                               &config_))
-      << "failed to load planning config file " << FLAGS_planning_config_file;
-  if (!CheckPlanningConfig()) {
+Status StdPlanning::Init(const PlanningConfig& config) {
+  config_ = config;
+  if (!CheckPlanningConfig(config_)) {
     return Status(ErrorCode::PLANNING_ERROR,
                   "planning config error: " + config_.DebugString());
   }
 
+  PlanningBase::Init(config_);
+
   planner_dispatcher_->Init();
 
   CHECK(apollo::common::util::GetProtoFromFile(
@@ -414,11 +412,11 @@ Status StdPlanning::Plan(
   return status;
 }
 
-bool StdPlanning::CheckPlanningConfig() {
-  if (!config_.has_standard_planning_config()) {
+bool StdPlanning::CheckPlanningConfig(const PlanningConfig& config) {
+  if (!config.has_standard_planning_config()) {
     return false;
   }
-  if (config_.standard_planning_config()
+  if (config.standard_planning_config()
           .planner_public_road_config()
           .scenario_type_size() == 0) {
     return false;

modules/planning/std_planning.h

@@ -53,7 +53,7 @@ class StdPlanning : public PlanningBase {
    * @brief module initialization function
    * @return initialization status
    */
-  apollo::common::Status Init() override;
+  apollo::common::Status Init(const PlanningConfig& config) override;
 
   /**
    * @brief main logic of the planning module, runs periodically triggered by
@@ -73,7 +73,7 @@ class StdPlanning : public PlanningBase {
                            const double start_time,
                            const common::VehicleState& vehicle_state);
   void ExportReferenceLineDebug(planning_internal::Debug* debug);
-  bool CheckPlanningConfig();
+  bool CheckPlanningConfig(const PlanningConfig& config);
 
  private:
   routing::RoutingResponse last_routing_;

modules/planning/toolkits/task_factory.cc

@@ -44,7 +44,7 @@ apollo::common::util::Factory<TaskConfig::TaskType, Task,
                               Task* (*)(const TaskConfig& config)>
     TaskFactory::task_factory_;
 
-void TaskFactory::Init() {
+void TaskFactory::Init(const PlanningConfig& config) {
   task_factory_.Register(TaskConfig::DP_ST_SPEED_OPTIMIZER,
                          [](const TaskConfig& config) -> Task* {
                            return new DpStSpeedOptimizer(config);

modules/planning/toolkits/task_factory.h

@@ -33,7 +33,7 @@ namespace planning {
 
 class TaskFactory {
  public:
-  static void Init();
+  static void Init(const PlanningConfig& config);
   static std::unique_ptr<Task> CreateTask(const TaskConfig &task_config);
 
  private: