From 6ad87fe087ed3690e00b2c9904528a6f01945099 Mon Sep 17 00:00:00 2001
From: Aaron Xiao <xiaoxiangquan@gmail.com>
Date: Thu, 27 Jul 2017 16:06:14 -0700
Subject: [PATCH] Combine Path and PathDebug.

---
 modules/common/proto/path_point.proto          |  3 ++-
 modules/planning/planner/em/em_planner.cc      | 12 ++++++------
 modules/planning/proto/planning_internal.proto |  7 +------
 3 files changed, 9 insertions(+), 13 deletions(-)

diff --git a/modules/common/proto/path_point.proto b/modules/common/proto/path_point.proto
index 785fceb881..d5f67ab37f 100644
--- a/modules/common/proto/path_point.proto
+++ b/modules/common/proto/path_point.proto
@@ -38,7 +38,8 @@ message PathPoint {
 }
 
 message Path {
-  repeated PathPoint path_point = 1;
+  optional string name = 1;
+  repeated PathPoint path_point = 2;
 }
 
 message TrajectoryPoint {
diff --git a/modules/planning/planner/em/em_planner.cc b/modules/planning/planner/em/em_planner.cc
index bb22afa817..3d8ba4fc5b 100644
--- a/modules/planning/planner/em/em_planner.cc
+++ b/modules/planning/planner/em/em_planner.cc
@@ -113,8 +113,8 @@ Status EMPlanner::Plan(const TrajectoryPoint& start_point,
         auto* optimized_path =
             trajectory_pb->mutable_debug()->mutable_planning_data()->add_path();
         optimized_path->set_name(optimizer->name());
-        optimized_path->mutable_path()->mutable_path_point()->CopyFrom({
-            path_points.begin(), path_points.end()});
+        optimized_path->mutable_path_point()->CopyFrom({path_points.begin(),
+                                                        path_points.end()});
       }
     }
   }
@@ -130,13 +130,13 @@ Status EMPlanner::Plan(const TrajectoryPoint& start_point,
 
   // Add debug information.
   if (FLAGS_enable_record_debug) {
-    auto* debug_reference_line =
+    auto* reference_line =
         trajectory_pb->mutable_debug()->mutable_planning_data()->add_path();
-    debug_reference_line->set_name("planning_reference_line");
+    reference_line->set_name("planning_reference_line");
     const auto& reference_points =
         planning_data->reference_line().reference_points();
-    debug_reference_line->mutable_path()->mutable_path_point()->CopyFrom({
-        reference_points.begin(), reference_points.end()});
+    reference_line->mutable_path_point()->CopyFrom({reference_points.begin(),
+                                                    reference_points.end()});
   }
 
   return Status::OK();
diff --git a/modules/planning/proto/planning_internal.proto b/modules/planning/proto/planning_internal.proto
index d9207fe66b..49b7127a87 100644
--- a/modules/planning/proto/planning_internal.proto
+++ b/modules/planning/proto/planning_internal.proto
@@ -82,11 +82,6 @@ message LightSignal {
   optional TurnSignal turn_signal = 2 [default = NO_TURN];
 }
 
-message PathDebug {
-  optional string name = 1;
-  optional apollo.common.Path path = 2;
-}
-
 // next id: 12
 message PlanningData {
   optional apollo.common.Header header = 1;
@@ -101,7 +96,7 @@ message PlanningData {
   // processed planning_obstacles
   repeated PlanningObstacle planning_obstacle = 4;
 
-  repeated PathDebug path = 6;
+  repeated apollo.common.Path path = 6;
 
   optional apollo.localization.Pose init_status = 2 [deprecated = true];  // initial status of adc
   optional apollo.planning.MainDecision main_decision = 3 [deprecated = true];
-- 
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