planning: added planning pad reader.

modules/planning/planner/public_road/public_road_planner.h

@@ -58,7 +58,7 @@ class PublicRoadPlanner : public PlannerWithReferenceLine {
    */
   virtual ~PublicRoadPlanner() = default;
 
-  std::string Name() override { return "EM"; }
+  std::string Name() override { return "PUBLIC_ROAD"; }
 
   common::Status Init(const PlanningConfig& config) override;
 

modules/planning/planner/std_planner_dispatcher_test.cc

@@ -41,7 +41,7 @@ TEST_F(StdPlannerDispatcherTest, Simple) {
   pd_.reset(new StdPlannerDispatcher());
   pd_->Init();
   auto planner = pd_->DispatchPlanner();
-  EXPECT_EQ(planner->Name(), "EM");
+  EXPECT_EQ(planner->Name(), "PUBLIC_ROAD");
 }
 
 }  // namespace planning

modules/planning/planning_component.cc

@@ -49,6 +49,16 @@ bool PlanningComponent::Init() {
         traffic_light_.CopyFrom(*traffic_light);
       });
 
+  if (FLAGS_use_navigation_mode) {
+    pad_message_reader_ = node_->CreateReader<PadMessage>(
+        planning_conf_.planning_pad_channel(),
+        [this](const std::shared_ptr<PadMessage>& pad_message) {
+          ADEBUG << "Received chassis data: run chassis callback.";
+          std::lock_guard<std::mutex> lock(mutex_);
+          pad_message_.CopyFrom(*pad_message);
+        });
+  }
+
   writer_ = node_->CreateWriter<ADCTrajectory>("/apollo/planning");
 
   return true;

modules/planning/planning_component.h

@@ -28,6 +28,7 @@
 #include "modules/localization/proto/localization.pb.h"
 #include "modules/perception/proto/traffic_light_detection.pb.h"
 #include "modules/planning/proto/planning.pb.h"
+#include "modules/planning/proto/pad_msg.pb.h"
 #include "modules/planning/proto/planning_conf.pb.h"
 #include "modules/prediction/proto/prediction_obstacle.pb.h"
 #include "modules/routing/proto/routing.pb.h"
@@ -59,12 +60,14 @@ class PlanningComponent final
   std::shared_ptr<cybertron::Reader<perception::TrafficLightDetection>>
       traffic_light_reader_;
   std::shared_ptr<cybertron::Reader<routing::RoutingResponse>> routing_reader_;
+  std::shared_ptr<cybertron::Reader<planning::PadMessage>> pad_message_reader_;
 
   std::shared_ptr<cybertron::Writer<ADCTrajectory>> writer_;
 
   std::mutex mutex_;
   perception::TrafficLightDetection traffic_light_;
   routing::RoutingResponse routing_;
+  PadMessage pad_message_;
 
   LocalView local_view_;