Combine Path and PathDebug.

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 {

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();

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];