Prediction: Implement Insert feature and write to file

modules/prediction/common/BUILD

@@ -74,8 +74,10 @@ cc_library(
     deps = [
         "//modules/prediction/proto:feature_proto",
         "//modules/prediction/proto:offline_features_proto",
+        "//modules/prediction/common:prediction_gflags",
         "//modules/common:log",
         "//modules/common:macro",
+        "//modules/common/util:util",
     ]
 )
 

modules/prediction/common/feature_output.cc

@@ -16,24 +16,41 @@
 
 #include "modules/prediction/common/feature_output.h"
 
+#include <string>
+
 #include "modules/common/log.h"
+#include "modules/common/util/file.h"
+#include "modules/prediction/common/prediction_gflags.h"
 
 namespace apollo {
 namespace prediction {
 
 FeatureOutput::FeatureOutput() {}
 
-FeatureOutput::~FeatureOutput() {}
-
 bool FeatureOutput::Open() { return true; }
 
-void FeatureOutput::Close() { ADEBUG << "Close feature output"; }
+FeatureOutput::~FeatureOutput() {
+  count_ = 0;
+}
 
-bool FeatureOutput::Ready() { return Open(); }
+void FeatureOutput::Close() {
+  ADEBUG << "Close feature output";
+  Write();
+}
 
-void FeatureOutput::Insert(const Feature& feature) {}
+bool FeatureOutput::Ready() { return Open(); }
 
-void FeatureOutput::Write() {}
+void FeatureOutput::Insert(const Feature& feature) {
+  features_.add_feature()->CopyFrom(feature);
+}
+
+void FeatureOutput::Write() {
+  std::string file_name = FLAGS_prediction_data_file_prefix +
+                          std::to_string(count_) + ".bin";
+  apollo::common::util::SetProtoToBinaryFile(features_, file_name);
+  features_.Clear();
+  ++count_;
+}
 
 }  // namespace prediction
 }  // namespace apollo

modules/prediction/common/feature_output.h

@@ -61,7 +61,7 @@ class FeatureOutput {
 
  private:
   Features features_;
-  size_t count = 0;
+  size_t count_ = 0;
   DECLARE_SINGLETON(FeatureOutput);
 };
 

modules/prediction/common/prediction_gflags.cc

@@ -27,6 +27,9 @@ DEFINE_string(prediction_conf_file,
 DEFINE_string(prediction_adapter_config_filename,
               "modules/prediction/conf/adapter.conf",
               "Default conf file for prediction");
+DEFINE_string(prediction_data_file_prefix,
+              "data/prediction_data/feature_",
+              "Prefix of files to store feature data");
 DEFINE_bool(prediction_test_mode, false, "Set prediction to test mode");
 DEFINE_double(
     prediction_test_duration, -1.0,

modules/prediction/common/prediction_gflags.h

@@ -23,6 +23,7 @@
 DECLARE_string(prediction_module_name);
 DECLARE_string(prediction_conf_file);
 DECLARE_string(prediction_adapter_config_filename);
+DECLARE_string(prediction_data_file_prefix);
 
 DECLARE_bool(prediction_test_mode);
 DECLARE_double(prediction_test_duration);

modules/prediction/conf/prediction.conf

@@ -3,6 +3,7 @@
 
 --enable_adjust_velocity_heading
 --noenable_kf_tracking
+--prediction_offline_mode
 
 --enable_trim_prediction_trajectory
 --lane_change_dist=50.0

modules/prediction/evaluator/vehicle/mlp_evaluator.cc

@@ -84,6 +84,10 @@ void MLPEvaluator::Evaluate(Obstacle* obstacle_ptr) {
     double probability = ComputeProbability(feature_values);
     lane_sequence_ptr->set_probability(probability);
   }
+
+  if (FLAGS_prediction_offline_mode) {
+    FeatureOutput::instance()->Insert(*latest_feature_ptr);
+  }
 }
 
 void MLPEvaluator::ExtractFeatureValues(Obstacle* obstacle_ptr,

modules/prediction/proto/offline_features.proto

@@ -5,5 +5,5 @@ package apollo.prediction;
 import "modules/prediction/proto/feature.proto";
 
 message Features {
-	repeated Feature features = 1;
+	repeated Feature feature = 1;
 }