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提交 8097baaa 编写于 作者: L Liangliang Zhang 提交者： Jiaming Tao
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Planning: removed adapter in frame. (#74)

上级 ccdc6f9d
隐藏空白更改
内联 并排
Showing with 153 addition and 113 deletion
modules/planning/common/BUILD
浏览文件 @ 8097baaa
......@@ -136,6 +136,7 @@ cc_library(
],
deps = [
":planning_gflags",
"//modules/common:macro",
"//modules/common:log",
"//modules/planning/proto:planning_proto",
"//modules/planning/proto:planning_status_proto",
......@@ -271,49 +272,35 @@ cc_library(
)
cc_library(
name = "frame",
srcs = [
"frame.cc",
],
name = "planning_data",
hdrs = [
"frame.h",
"planning_data.h",
],
deps = [
":change_lane_decider",
":indexed_queue",
":lag_prediction",
":obstacle",
":reference_line_info",
"//modules/common:log",
"//modules/common/configs:vehicle_config_helper",
"//modules/common/monitor_log",
"//modules/common/vehicle_state:vehicle_state_provider",
"//modules/map/hdmap:hdmap_util",
"//modules/map/pnc_map",
"//modules/planning/common/trajectory:discretized_trajectory",
"//modules/planning/common/trajectory:publishable_trajectory",
"//modules/planning/proto:planning_config_proto",
"//modules/localization/proto:localization_proto",
"//modules/perception/proto:perception_proto",
"//modules/planning/proto:planning_proto",
"//modules/planning/reference_line:reference_line_provider",
"//modules/prediction/proto:prediction_proto",
],
)
cc_library(
name = "frame_open_space",
name = "frame",
srcs = [
"frame_open_space.cc",
"frame.cc",
],
hdrs = [
"frame_open_space.h",
"frame.h",
],
deps = [
":planning_data",
":change_lane_decider",
":indexed_queue",
":lag_prediction",
":obstacle",
"//modules/common/configs:vehicle_config_helper",
":reference_line_info",
"//modules/common:log",
"//modules/common/monitor_log",
"//modules/common/configs:vehicle_config_helper",
"//modules/common/vehicle_state:vehicle_state_provider",
"//modules/map/hdmap:hdmap_util",
"//modules/map/pnc_map",
......@@ -321,11 +308,38 @@ cc_library(
"//modules/planning/common/trajectory:publishable_trajectory",
"//modules/planning/proto:planning_config_proto",
"//modules/planning/proto:planning_proto",
"//modules/common/math:geometry",
"@eigen",
"//modules/planning/reference_line:reference_line_provider",
],
)
# cc_library(
# name = "frame_open_space",
# srcs = [
# "frame_open_space.cc",
# ],
# hdrs = [
# "frame_open_space.h",
# ],
# deps = [
# ":change_lane_decider",
# ":indexed_queue",
# ":lag_prediction",
# ":obstacle",
# "//modules/common/configs:vehicle_config_helper",
# "//modules/common:log",
# #"//modules/common/monitor_log",
# "//modules/common/vehicle_state:vehicle_state_provider",
# "//modules/map/hdmap:hdmap_util",
# "//modules/map/pnc_map",
# "//modules/planning/common/trajectory:discretized_trajectory",
# "//modules/planning/common/trajectory:publishable_trajectory",
# "//modules/planning/proto:planning_config_proto",
# "//modules/planning/proto:planning_proto",
# "//modules/common/math:geometry",
# "@eigen",
# ],
# )
cc_test(
name = "frame_test",
size = "small",
......@@ -344,25 +358,25 @@ cc_test(
],
)
cc_test(
name = "frame_open_space_test",
size = "small",
srcs = [
"frame_open_space_test.cc",
],
data = [
"//modules/planning/common:common_testdata",
],
deps = [
":frame_open_space",
"//modules/common/proto:pnc_point_proto",
"//modules/common/util",
"//modules/common/vehicle_state/proto:vehicle_state_proto",
"//modules/planning/proto:planning_config_proto",
"@eigen",
"@gtest//:main",
],
)
# cc_test(
# name = "frame_open_space_test",
# size = "small",
# srcs = [
# "frame_open_space_test.cc",
# ],
# data = [
# "//modules/planning/common:common_testdata",
# ],
# deps = [
# ":frame_open_space",
# "//modules/common/proto:pnc_point_proto",
# "//modules/common/util",
# "//modules/common/vehicle_state/proto:vehicle_state_proto",
# "//modules/planning/proto:planning_config_proto",
# "@eigen",
# "@gtest//:main",
# ],
# )
cc_library(
name = "speed_limit",
......@@ -428,7 +442,7 @@ cc_library(
deps = [
":ego_info",
":frame",
":frame_open_space",
#":frame_open_space",
":planning_gflags",
":speed_limit",
"//modules/common:log",
......
modules/planning/common/frame.cc
浏览文件 @ 8097baaa
......@@ -29,7 +29,6 @@
#include "modules/routing/proto/routing.pb.h"
#include "modules/common/adapters/adapter_manager.h"
#include "modules/common/configs/vehicle_config_helper.h"
#include "modules/common/log.h"
#include "modules/common/math/vec2d.h"
......@@ -45,10 +44,9 @@ namespace planning {
using apollo::common::ErrorCode;
using apollo::common::Status;
using apollo::common::VehicleStateProvider;
using apollo::common::adapter::AdapterManager;
using apollo::common::math::Box2d;
using apollo::common::math::Vec2d;
using apollo::common::monitor::MonitorLogBuffer;
// using apollo::common::monitor::MonitorLogBuffer;
using apollo::prediction::PredictionObstacles;
constexpr double kMathEpsilon = 1e-8;
......@@ -56,16 +54,17 @@ constexpr double kMathEpsilon = 1e-8;
FrameHistory::FrameHistory()
: IndexedQueue<uint32_t, Frame>(FLAGS_max_history_frame_num) {}
Frame::Frame(uint32_t sequence_num,
Frame::Frame(uint32_t sequence_num, const PlanningData &planning_data,
const common::TrajectoryPoint &planning_start_point,
const double start_time, const common::VehicleState &vehicle_state,
ReferenceLineProvider *reference_line_provider)
: sequence_num_(sequence_num),
planning_data_(planning_data),
planning_start_point_(planning_start_point),
start_time_(start_time),
vehicle_state_(vehicle_state),
reference_line_provider_(reference_line_provider),
monitor_logger_(common::monitor::MonitorMessageItem::PLANNING) {
reference_line_provider_(reference_line_provider) {
// monitor_logger_(common::monitor::MonitorMessageItem::PLANNING)
if (FLAGS_enable_lag_prediction) {
lag_predictor_.reset(
new LagPrediction(FLAGS_lag_prediction_min_appear_num,
......@@ -86,8 +85,7 @@ bool Frame::Rerouting() {
AERROR << "Rerouting not supported in navigation mode";
return false;
}
auto adapter_manager = AdapterManager::Instance();
if (adapter_manager->GetRoutingResponse()->Empty()) {
if (planning_data_.routing == nullptr) {
AERROR << "No previous routing available";
return false;
}
......@@ -95,11 +93,10 @@ bool Frame::Rerouting() {
AERROR << "Invalid HD Map.";
return false;
}
auto request = adapter_manager->GetRoutingResponse()
->GetLatestObserved()
.routing_request();
auto request = planning_data_.routing->routing_request();
request.clear_header();
AdapterManager::FillRoutingRequestHeader("planning", &request);
// AdapterManager::FillRoutingRequestHeader("planning", &request);
auto point = common::util::MakePointENU(
vehicle_state_.x(), vehicle_state_.y(), vehicle_state_.z());
double s = 0.0;
......@@ -124,9 +121,9 @@ bool Frame::Rerouting() {
AERROR << "Failed to find future waypoints";
return false;
}
AdapterManager::PublishRoutingRequest(request);
apollo::common::monitor::MonitorLogBuffer buffer(&monitor_logger_);
buffer.INFO("Planning send Rerouting request");
// AdapterManager::PublishRoutingRequest(request);
// apollo::common::monitor::MonitorLogBuffer buffer(&monitor_logger_);
// buffer.INFO("Planning send Rerouting request");
return true;
}
......@@ -360,13 +357,12 @@ Status Frame::Init() {
<< FLAGS_align_prediction_time;
// prediction
if (AdapterManager::GetPrediction() &&
!AdapterManager::GetPrediction()->Empty()) {
if (planning_data_.prediction_obstacles == nullptr) {
if (FLAGS_enable_lag_prediction && lag_predictor_) {
lag_predictor_->GetLaggedPrediction(&prediction_);
lag_predictor_->GetLaggedPrediction(
planning_data_.prediction_obstacles.get());
} else {
prediction_.CopyFrom(
AdapterManager::GetPrediction()->GetLatestObserved());
prediction_.CopyFrom(*planning_data_.prediction_obstacles);
}
if (FLAGS_align_prediction_time) {
AlignPredictionTime(vehicle_state_.timestamp(), &prediction_);
......@@ -380,8 +376,8 @@ Status Frame::Init() {
if (collision_obstacle) {
std::string err_str =
"Found collision with obstacle: " + collision_obstacle->Id();
apollo::common::monitor::MonitorLogBuffer buffer(&monitor_logger_);
buffer.ERROR(err_str);
// apollo::common::monitor::MonitorLogBuffer buffer(&monitor_logger_);
// buffer.ERROR(err_str);
return Status(ErrorCode::PLANNING_ERROR, err_str);
}
}
......@@ -456,28 +452,26 @@ void Frame::RecordInputDebug(planning_internal::Debug *debug) {
}
auto *planning_debug_data = debug->mutable_planning_data();
auto *adc_position = planning_debug_data->mutable_adc_position();
const auto &localization =
AdapterManager::GetLocalization()->GetLatestObserved();
adc_position->CopyFrom(localization);
adc_position->CopyFrom(*planning_data_.localization_estimate);
const auto &chassis = AdapterManager::GetChassis()->GetLatestObserved();
auto debug_chassis = planning_debug_data->mutable_chassis();
debug_chassis->CopyFrom(chassis);
debug_chassis->CopyFrom(*planning_data_.chassis);
if (!FLAGS_use_navigation_mode) {
auto debug_routing = planning_debug_data->mutable_routing();
debug_routing->CopyFrom(
AdapterManager::GetRoutingResponse()->GetLatestObserved());
debug_routing->CopyFrom(*planning_data_.routing);
}
planning_debug_data->mutable_prediction_header()->CopyFrom(
prediction_.header());
/*
auto relative_map = AdapterManager::GetRelativeMap();
if (!relative_map->Empty()) {
planning_debug_data->mutable_relative_map()->mutable_header()->CopyFrom(
relative_map->GetLatestObserved().header());
}
*/
}
void Frame::AlignPredictionTime(const double planning_start_time,
......
modules/planning/common/frame.h
浏览文件 @ 8097baaa
......@@ -43,6 +43,7 @@
#include "modules/planning/common/indexed_queue.h"
#include "modules/planning/common/lag_prediction.h"
#include "modules/planning/common/obstacle.h"
#include "modules/planning/common/planning_data.h"
#include "modules/planning/common/reference_line_info.h"
#include "modules/planning/common/trajectory/publishable_trajectory.h"
#include "modules/planning/reference_line/reference_line_provider.h"
......@@ -58,7 +59,7 @@ namespace planning {
class Frame {
public:
explicit Frame(uint32_t sequence_num,
explicit Frame(uint32_t sequence_num, const PlanningData &planning_data,
const common::TrajectoryPoint &planning_start_point,
const double start_time,
const common::VehicleState &vehicle_state,
......@@ -140,6 +141,7 @@ class Frame {
private:
uint32_t sequence_num_ = 0;
const PlanningData planning_data_;
const hdmap::HDMap *hdmap_ = nullptr;
common::TrajectoryPoint planning_start_point_;
const double start_time_ = 0.0;
......@@ -158,7 +160,8 @@ class Frame {
ADCTrajectory trajectory_; // last published trajectory
std::unique_ptr<LagPrediction> lag_predictor_;
ReferenceLineProvider *reference_line_provider_ = nullptr;
apollo::common::monitor::MonitorLogger monitor_logger_;
// apollo::common::monitor::MonitorLogger monitor_logger_;
};
class FrameHistory : public IndexedQueue<uint32_t, Frame> {
......
modules/planning/common/frame_open_space.cc
浏览文件 @ 8097baaa
......@@ -45,7 +45,7 @@ using apollo::common::VehicleStateProvider;
using apollo::common::adapter::AdapterManager;
using apollo::common::math::Box2d;
using apollo::common::math::Vec2d;
using apollo::common::monitor::MonitorLogBuffer;
// using apollo::common::monitor::MonitorLogBuffer;
using apollo::prediction::PredictionObstacles;
constexpr double kMathEpsilon = 1e-8;
......@@ -60,12 +60,12 @@ FrameOpenSpace::FrameOpenSpace(
planning_start_point_(planning_start_point),
start_time_(start_time),
vehicle_state_(vehicle_state),
monitor_logger_(common::monitor::MonitorMessageItem::PLANNING) {
if (FLAGS_enable_lag_prediction) {
lag_predictor_.reset(
new LagPrediction(FLAGS_lag_prediction_min_appear_num,
FLAGS_lag_prediction_max_disappear_num));
}
// monitor_logger_(common::monitor::MonitorMessageItem::PLANNING) {
if (FLAGS_enable_lag_prediction) {
lag_predictor_.reset(
new LagPrediction(FLAGS_lag_prediction_min_appear_num,
FLAGS_lag_prediction_max_disappear_num));
}
}
const common::TrajectoryPoint &FrameOpenSpace::PlanningStartPoint() const {
......@@ -111,8 +111,8 @@ Status FrameOpenSpace::Init() {
if (collision_obstacle) {
std::string err_str =
"Found collision with obstacle: " + collision_obstacle->Id();
apollo::common::monitor::MonitorLogBuffer buffer(&monitor_logger_);
buffer.ERROR(err_str);
// apollo::common::monitor::MonitorLogBuffer buffer(&monitor_logger_);
// buffer.ERROR(err_str);
return Status(ErrorCode::PLANNING_ERROR, err_str);
}
}
......
modules/planning/common/frame_open_space.h
浏览文件 @ 8097baaa
......@@ -144,7 +144,7 @@ class FrameOpenSpace {
ChangeLaneDecider change_lane_decider_;
ADCTrajectory trajectory_; // last published trajectory
std::unique_ptr<LagPrediction> lag_predictor_;
apollo::common::monitor::MonitorLogger monitor_logger_;
// apollo::common::monitor::MonitorLogger monitor_logger_;
std::size_t obstacles_num_ = 0;
Eigen::MatrixXd obstacles_vertices_num_;
......
modules/planning/common/planning_context.cc
浏览文件 @ 8097baaa
......@@ -16,21 +16,18 @@
#include "modules/planning/common/planning_context.h"
#include "modules/common/adapters/adapter_manager.h"
#include "modules/planning/common/planning_gflags.h"
namespace apollo {
namespace planning {
using common::adapter::AdapterManager;
PlanningContext::PlanningContext() {}
void DumpPlanningContext() {
AdapterManager::GetLocalization()->DumpLatestMessage();
AdapterManager::GetChassis()->DumpLatestMessage();
AdapterManager::GetRoutingResponse()->DumpLatestMessage();
AdapterManager::GetPrediction()->DumpLatestMessage();
// AdapterManager::GetLocalization()->DumpLatestMessage();
// AdapterManager::GetChassis()->DumpLatestMessage();
// AdapterManager::GetRoutingResponse()->DumpLatestMessage();
// AdapterManager::GetPrediction()->DumpLatestMessage();
}
void PlanningContext::Clear() { planning_status_.Clear(); }
......
modules/planning/common/planning_context.h
浏览文件 @ 8097baaa
......@@ -23,12 +23,12 @@
#include <string>
#include "modules/common/macro.h"
#include "modules/common/proto/drive_state.pb.h"
#include "modules/common/proto/pnc_point.pb.h"
#include "modules/planning/proto/planning_status.pb.h"
#include "modules/common/macro.h"
/**
* @brief PlanningContext is the runtime context in planning. It is
* persistant across multiple frames.
......
modules/planning/common/planning_data.h 0 → 100644
浏览文件 @ 8097baaa
/******************************************************************************
* Copyright 2018 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.
*****************************************************************************/
#ifndef MODULES_PLANNING_COMMON_PLANNING_DATA_H_
#define MODULES_PLANNING_COMMON_PLANNING_DATA_H_
#include "modules/canbus/proto/chassis.pb.h"
#include "modules/localization/proto/localization.pb.h"
#include "modules/perception/proto/traffic_light_detection.pb.h"
#include "modules/prediction/proto/prediction_obstacle.pb.h"
#include "modules/routing/proto/routing.pb.h"
#
namespace apollo {
namespace planning {
/**
* @struct planning_data
* @brief PlanningData contains all necessary data as planning input
*/
struct PlanningData {
std::shared_ptr<prediction::PredictionObstacles> prediction_obstacles;
std::shared_ptr<canbus::Chassis> chassis;
std::shared_ptr<localization::LocalizationEstimate> localization_estimate;
std::shared_ptr<perception::TrafficLightDetection> traffic_light;
std::shared_ptr<routing::RoutingResponse> routing;
};
} // namespace planning
} // namespace apollo
#endif // MODULES_PLANNING_COMMON_PLANNING_DATA_H_
modules/planning/common/reference_line_info.cc
浏览文件 @ 8097baaa
......@@ -26,7 +26,6 @@
#include "modules/planning/proto/sl_boundary.pb.h"
#include "modules/common/adapters/adapter_manager.h"
#include "modules/common/configs/vehicle_config_helper.h"
#include "modules/common/util/string_util.h"
#include "modules/common/util/thread_pool.h"
......@@ -45,7 +44,7 @@ using apollo::common::SLPoint;
using apollo::common::TrajectoryPoint;
using apollo::common::VehicleConfigHelper;
using apollo::common::VehicleSignal;
using apollo::common::adapter::AdapterManager;
// using apollo::common::adapter::AdapterManager;
using apollo::common::math::Box2d;
using apollo::common::math::Vec2d;
using apollo::common::util::ThreadPool;
......
modules/planning/planning_base.h
浏览文件 @ 8097baaa
......@@ -35,6 +35,7 @@
#include "modules/common/status/status.h"
#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/map/hdmap/hdmap.h"
#include "modules/planning/common/planning_data.h"
#include "modules/planning/common/trajectory/publishable_trajectory.h"
#include "modules/planning/planner/planner.h"
#include "modules/planning/planner/planner_dispatcher.h"
......@@ -45,20 +46,6 @@
*/
namespace apollo {
namespace planning {
/**
* @class planning_data
*
* @brief PlanningData contains all necessary data as planning input
*/
struct PlanningData {
std::shared_ptr<prediction::PredictionObstacles> prediction_obstacles;
std::shared_ptr<canbus::Chassis> chassis;
std::shared_ptr<localization::LocalizationEstimate> localization_estimate;
std::shared_ptr<perception::TrafficLightDetection> traffic_light;
std::shared_ptr<routing::RoutingResponse> routing;
};
/**
* @class planning
*
......
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