move ObjectTable out of DataCenter

* prepare for further refactor ObjectTable and DataCenter

modules/planning/common/BUILD

@@ -23,14 +23,9 @@ cc_library(
 )
 
 cc_library(
-    name = "object_table",
+    name = "indexed_queue",
     hdrs = [
-        "object_table.h",
-    ],
-    deps = [
-        ":indexed_list",
-        ":obstacle",
-        ":planning_gflags",
+        "indexed_queue.h",
     ],
 )
 
@@ -106,6 +101,7 @@ cc_library(
         "frame.h",
     ],
     deps = [
+        ":indexed_list",
         "//modules/common:log",
         "//modules/common/adapters:adapter_manager",
         "//modules/common/vehicle_state",
@@ -146,20 +142,13 @@ cc_library(
 
 cc_library(
     name = "data_center",
-    srcs = [
-        "data_center.cc",
-    ],
     hdrs = [
         "data_center.h",
     ],
     deps = [
         ":frame",
-        ":object_table",
-        ":planning_gflags",
+        ":indexed_queue",
         "//modules/common",
-        "//modules/common/adapters:adapter_manager",
-        "//modules/common/status",
-        "//modules/map/hdmap",
     ],
 )
 

modules/planning/common/data_center.cc

-/******************************************************************************
- * Copyright 2017 The Apollo Authors. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *****************************************************************************/
-
-/**
- * @file:
- **/
-
-#include "modules/planning/common/data_center.h"
-
-#include <fstream>
-#include <utility>
-#include <vector>
-
-#include "modules/map/proto/map_id.pb.h"
-
-#include "google/protobuf/text_format.h"
-#include "modules/common/adapters/adapter_manager.h"
-#include "modules/common/log.h"
-#include "modules/common/util/util.h"
-#include "modules/planning/common/planning_gflags.h"
-
-namespace apollo {
-namespace planning {
-
-using apollo::common::Status;
-using apollo::common::math::Vec2d;
-using apollo::common::adapter::AdapterManager;
-
-DataCenter::DataCenter() {
-  _object_table.reset(new ObjectTable());
-
-  AINFO << "Data Center is ready!";
-}
-
-Frame *DataCenter::frame(const uint32_t sequence_num) const {
-  std::unordered_map<uint32_t, std::unique_ptr<Frame>>::const_iterator it =
-      _frames.find(sequence_num);
-  if (it != _frames.end()) {
-    return it->second.get();
-  }
-  return nullptr;
-}
-
-void DataCenter::save_frame() {
-  _sequence_queue.push_back(_frame->sequence_num());
-  _frames[_frame->sequence_num()] = std::move(_frame);
-  if (_sequence_queue.size() >
-      static_cast<std::size_t>(FLAGS_max_history_result)) {
-    _frames.erase(_sequence_queue.front());
-    _sequence_queue.pop_front();
-  }
-}
-
-const Frame *DataCenter::last_frame() const {
-  if (_sequence_queue.empty()) {
-    return nullptr;
-  }
-  uint32_t sequence_num = _sequence_queue.back();
-  return _frames.find(sequence_num)->second.get();
-}
-
-ObjectTable *DataCenter::mutable_object_table() const {
-  return _object_table.get();
-}
-
-const ObjectTable &DataCenter::object_table() const {
-  return *(_object_table.get());
-}
-
-}  // namespace planning
-}  // namespace apollo

modules/planning/common/data_center.h

@@ -26,37 +26,13 @@
 #include <unordered_map>
 
 #include "modules/common/macro.h"
-#include "modules/common/status/status.h"
-#include "modules/map/hdmap/hdmap.h"
-#include "modules/map/pnc_map/pnc_map.h"
 #include "modules/planning/common/frame.h"
-#include "modules/planning/common/object_table.h"
+#include "modules/planning/common/indexed_queue.h"
 
 namespace apollo {
 namespace planning {
 
-class DataCenter {
- public:
-  ~DataCenter() = default;
-  Frame *frame(const uint32_t sequence_num) const;
-
- public:
-  void save_frame();
-
-  const Frame *last_frame() const;
-
-  const ObjectTable &object_table() const;
-  ObjectTable *mutable_object_table() const;
-
- private:
-  std::unordered_map<uint32_t, std::unique_ptr<Frame>> _frames;
-  std::list<uint32_t> _sequence_queue;
-  std::unique_ptr<Frame> _frame = nullptr;
-  std::unique_ptr<ObjectTable> _object_table = nullptr;
-
- private:
-  DECLARE_SINGLETON(DataCenter);
-};
+using DataCenter = IndexedQueue<uint32_t, Frame>;
 
 }  // namespace planning
 }  // namespace apollo

modules/planning/common/frame.cc

@@ -176,6 +176,9 @@ bool Frame::SmoothReferenceLine() {
   return true;
 }
 
+const ObstacleTable &Frame::GetObstacleTable() const { return obstacle_table_; }
+ObstacleTable *Frame::MutableObstacleTable() { return &obstacle_table_; }
+
 std::string Frame::DebugString() const {
   return "Frame: " + std::to_string(sequence_num_);
 }

modules/planning/common/frame.h

@@ -30,12 +30,16 @@
 #include "modules/map/hdmap/hdmap.h"
 #include "modules/map/pnc_map/pnc_map.h"
 #include "modules/map/proto/routing.pb.h"
+#include "modules/planning/common/indexed_list.h"
+#include "modules/planning/common/obstacle.h"
 #include "modules/planning/common/planning_data.h"
 #include "modules/prediction/proto/prediction_obstacle.pb.h"
 
 namespace apollo {
 namespace planning {
 
+using ObstacleTable = IndexedList<uint32_t, Obstacle>;
+
 class Frame {
  public:
   Frame(const uint32_t sequence_num);
@@ -56,6 +60,9 @@ class Frame {
   PlanningData *mutable_planning_data();
   std::string DebugString() const;
 
+  const ObstacleTable &GetObstacleTable() const;
+  ObstacleTable *MutableObstacleTable();
+
   void set_computed_trajectory(const PublishableTrajectory &trajectory);
   const PublishableTrajectory &computed_trajectory() const;
 
@@ -70,6 +77,7 @@ class Frame {
 
   hdmap::RoutingResult routing_result_;
   prediction::PredictionObstacles prediction_;
+  ObstacleTable obstacle_table_;
   uint32_t sequence_num_ = 0;
   hdmap::Path hdmap_path_;
   localization::Pose init_pose_;

modules/planning/common/indexed_list.h

@@ -31,9 +31,13 @@ namespace planning {
 template <typename I, typename T>
 class IndexedList {
  public:
-  void Add(const I id, std::unique_ptr<T> ptr) {
+  bool Add(const I id, std::unique_ptr<T> ptr) {
+    if (Find(id)) {
+      return false;
+    }
     _object_list.push_back(ptr.get());
     _object_dict[id] = std::move(ptr);
+    return true;
   }
   T* Find(const I id) {
     auto iter = _object_dict.find(id);

modules/planning/common/object_table.h

-/******************************************************************************
- * Copyright 2017 The Apollo Authors. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *****************************************************************************/
-
-/**
- * @file object_table.h
- **/
-
-#ifndef MODULES_PLANNING_COMMON_OBJECT_TABLE_H
-#define MODULES_PLANNING_COMMON_OBJECT_TABLE_H
-
-#include <memory>
-#include <string>
-#include <unordered_map>
-
-#include "modules/planning/common/indexed_list.h"
-#include "modules/planning/common/obstacle.h"
-#include "modules/planning/common/planning_gflags.h"
-
-namespace apollo {
-namespace planning {
-
-using ObjectTable = IndexedList<uint32_t, Obstacle>;
-
-}  // namespace planning
-}  // namespace apollo
-
-#endif  // MODULES_PLANNING_COMMON_OBJECT_TABLE_H

modules/planning/optimizer/dp_st_speed/BUILD

@@ -32,6 +32,7 @@ cc_library(
         "//modules/common/configs/proto:vehicle_config_proto",
         "//modules/common/proto:common_proto",
         "//modules/common/proto:pnc_point_proto",
+        "//modules/common/status",
         "//modules/planning/common:data_center",
         "//modules/planning/common:decision_data",
         "//modules/planning/common/speed:speed_data",

modules/planning/optimizer/dp_st_speed/dp_st_graph.cc

@@ -41,7 +41,7 @@ DpStGraph::DpStGraph(const DpStSpeedConfig& dp_config)
 
 Status DpStGraph::Search(const StGraphData& st_graph_data,
                          DecisionData* const decision_data,
-                         SpeedData* const speed_data) {
+                         SpeedData* const speed_data, ObstacleTable* table) {
   init_point_ = st_graph_data.init_point();
 
   if (st_graph_data.path_data_length() <
@@ -69,7 +69,7 @@ Status DpStGraph::Search(const StGraphData& st_graph_data,
     return Status(ErrorCode::PLANNING_ERROR, msg);
   }
 
-  if (!get_object_decision(st_graph_data, *speed_data).ok()) {
+  if (!get_object_decision(st_graph_data, *speed_data, table).ok()) {
     const std::string msg = "Get object decision by speed profile failed.";
     AERROR << msg;
     return Status(ErrorCode::PLANNING_ERROR, msg);
@@ -283,7 +283,8 @@ Status DpStGraph::retrieve_speed_profile(SpeedData* const speed_data) const {
 }
 
 Status DpStGraph::get_object_decision(const StGraphData& st_graph_data,
-                                      const SpeedData& speed_profile) const {
+                                      const SpeedData& speed_profile,
+                                      ObstacleTable* obstacles) const {
   if (speed_profile.speed_vector().size() < 2) {
     const std::string msg = "dp_st_graph failed to get speed profile.";
     AERROR << msg;
@@ -299,8 +300,7 @@ Status DpStGraph::get_object_decision(const StGraphData& st_graph_data,
        boundary_it != obs_boundaries.end(); ++boundary_it) {
     CHECK_EQ(boundary_it->points().size(), 4);
 
-    Obstacle* object_ptr =
-        DataCenter::instance()->mutable_object_table()->Find(boundary_it->id());
+    Obstacle* object_ptr = obstacles->Find(boundary_it->id());
     if (!object_ptr) {
       AERROR << "Failed to find object " << boundary_it->id();
       return Status(ErrorCode::PLANNING_ERROR,

modules/planning/optimizer/dp_st_speed/dp_st_graph.h

@@ -29,6 +29,7 @@
 
 #include "modules/common/status/status.h"
 #include "modules/planning/common/decision_data.h"
+#include "modules/planning/common/frame.h"
 #include "modules/planning/common/speed/speed_data.h"
 #include "modules/planning/common/speed/st_point.h"
 #include "modules/planning/optimizer/dp_st_speed/dp_st_cost.h"
@@ -43,7 +44,8 @@ class DpStGraph {
 
   apollo::common::Status Search(const StGraphData& st_graph_data,
                                 DecisionData* const decision_data,
-                                SpeedData* const speed_data);
+                                SpeedData* const speed_data,
+                                ObstacleTable* table);
 
  private:
   apollo::common::Status InitCostTable();
@@ -53,8 +55,9 @@ class DpStGraph {
   apollo::common::Status retrieve_speed_profile(
       SpeedData* const speed_data) const;
 
-  apollo::common::Status get_object_decision(
-      const StGraphData& st_graph_data, const SpeedData& speed_profile) const;
+  apollo::common::Status get_object_decision(const StGraphData& st_graph_data,
+                                             const SpeedData& speed_profile,
+                                             ObstacleTable* obstacles) const;
 
   apollo::common::Status CalculateTotalCost(const StGraphData& st_graph_data);
   void CalculateCostAt(const StGraphData& st_graph_data, const uint32_t r,

modules/planning/optimizer/dp_st_speed/dp_st_speed_optimizer.cc

@@ -101,7 +101,10 @@ Status DpStSpeedOptimizer::Process(const PathData& path_data,
   StGraphData st_graph_data(boundaries, init_point, speed_limit, path_length);
 
   DpStGraph st_graph(dp_st_speed_config_);
-  if (!st_graph.Search(st_graph_data, decision_data, speed_data).ok()) {
+  if (!st_graph
+           .Search(st_graph_data, decision_data, speed_data,
+                   frame_->MutableObstacleTable())
+           .ok()) {
     const std::string msg = "Failed to search graph with dynamic programming.";
     AERROR << msg;
     return Status(ErrorCode::PLANNING_ERROR, msg);