Routing: Migrate to get routing map from map_dir.

modules/common/configs/config_gflags.cc

@@ -24,6 +24,10 @@ DEFINE_string(map_dir, "modules/map/data/new_garage",
 
 DEFINE_string(base_map_filename, "base_map.xml",
               "Base map file which locates in the map_dir.");
+DEFINE_string(sim_map_filename, "sim_map.bin",
+              "Simulation map file which locates in the map_dir.");
+DEFINE_string(routing_map_filename, "routing_map.bin",
+              "Routing map file which locates in the map_dir.");
 
 DEFINE_string(vehicle_config_path, "modules/common/data/mkz_config.pb.txt",
               "the file path of vehicle config file");

modules/common/configs/config_gflags.h

@@ -25,7 +25,10 @@ DECLARE_string(map_file_path);
 // The directory which contains a group of related maps, such as base_map,
 // sim_map, routing_topo_grapth, etc.
 DECLARE_string(map_dir);
+
 DECLARE_string(base_map_filename);
+DECLARE_string(sim_map_filename);
+DECLARE_string(routing_map_filename);
 
 DECLARE_string(vehicle_config_path);
 

modules/map/hdmap/hdmap_util.h

@@ -38,6 +38,24 @@ inline std::string BaseMapFile() {
       FLAGS_map_dir, "/", FLAGS_base_map_filename);
 }
 
+/**
+ * @brief get simulation map file path from flags.
+ * @return simulation map path
+ */
+inline std::string SimMapFile() {
+  return apollo::common::util::StrCat(
+      FLAGS_map_dir, "/", FLAGS_sim_map_filename);
+}
+
+/**
+ * @brief get routing map file path from flags.
+ * @return routing map path
+ */
+inline std::string RoutingMapFile() {
+  return apollo::common::util::StrCat(
+      FLAGS_map_dir, "/", FLAGS_routing_map_filename);
+}
+
 /**
  * @brief create a Map ID given a string.
  * @param id a string id

modules/routing/BUILD

@@ -17,6 +17,7 @@ cc_library(
         "//modules/common/monitor",
         "//modules/common/status",
         "//modules/common/util",
+        "//modules/map/hdmap",
         "//modules/routing/common:routing_gflags",
         "//modules/routing/core",
         "//modules/routing/proto:routing_proto",

modules/routing/common/routing_gflags.cc

@@ -21,9 +21,6 @@ DEFINE_string(node_namespace, "routing", "the namespace for this node");
 
 DEFINE_bool(use_road_id, true, "enable use road id to cut routing result");
 
-DEFINE_string(graph_file_path, "modules/map/data/routing_map.txt",
-              "the default file name of topology graph data");
-
 DEFINE_bool(enable_debug_mode, true, "enable debug mode");
 DEFINE_string(debug_route_path, "",
               "the default path of routing result debug file");

modules/routing/common/routing_gflags.h

@@ -24,8 +24,6 @@ DECLARE_string(node_namespace);
 
 DECLARE_bool(use_road_id);
 
-DECLARE_string(graph_file_path);
-
 DECLARE_bool(enable_debug_mode);
 DECLARE_string(debug_route_path);
 DECLARE_string(debug_passage_region_path);

modules/routing/routing.cc

@@ -17,6 +17,7 @@
 #include "modules/routing/routing.h"
 #include "modules/common/adapters/adapter_gflags.h"
 #include "modules/common/adapters/adapter_manager.h"
+#include "modules/map/hdmap/hdmap_util.h"
 #include "modules/routing/common/routing_gflags.h"
 #include "modules/routing/core/navigator.h"
 
@@ -31,8 +32,9 @@ std::string Routing::Name() const { return FLAGS_node_name; }
 
 Routing::Routing()
     : monitor_(apollo::common::monitor::MonitorMessageItem::ROUTING) {
-  AINFO << "Use routing topology graph path: " << FLAGS_graph_file_path;
-  navigator_ptr_.reset(new Navigator(FLAGS_graph_file_path));
+  const auto routing_map_file = apollo::hdmap::RoutingMapFile();
+  AINFO << "Use routing topology graph path: " << routing_map_file;
+  navigator_ptr_.reset(new Navigator(routing_map_file));
 }
 
 apollo::common::Status Routing::Init() {

modules/routing/topo_creator/BUILD

@@ -65,6 +65,7 @@ cc_binary(
         "//modules/common",
         "//modules/common:log",
         "//modules/common/configs:config_gflags",
+        "//modules/map/hdmap",
         "//modules/map/proto:map_proto",
         "//modules/routing/common:routing_gflags",
         "//modules/routing/proto:routing_proto",

modules/routing/topo_creator/topo_creator.cc

@@ -18,19 +18,20 @@
 
 #include "modules/common/configs/config_gflags.h"
 #include "modules/common/log.h"
-#include "modules/routing/common/routing_gflags.h"
+#include "modules/map/hdmap/hdmap_util.h"
 #include "modules/routing/topo_creator/graph_creator.h"
 
 int main(int argc, char **argv) {
   google::InitGoogleLogging(argv[0]);
   google::ParseCommandLineFlags(&argc, &argv, true);
   std::unique_ptr<::apollo::routing::GraphCreator> creator_ptr;
-  creator_ptr.reset(new ::apollo::routing::GraphCreator(FLAGS_map_file_path,
-                                                        FLAGS_graph_file_path));
+  const auto routing_map_file = apollo::hdmap::RoutingMapFile();
+  creator_ptr.reset(new ::apollo::routing::GraphCreator(
+      apollo::hdmap::BaseMapFile(), routing_map_file));
   if (!creator_ptr->Create()) {
     AERROR << "Create routing topo failed!";
     return -1;
   }
-  AINFO << "Create routing topo successfully from " << FLAGS_graph_file_path;
+  AINFO << "Create routing topo successfully from " << routing_map_file;
   return 0;
 }