replace DataCenter with FrameHistory (#334)

modules/planning/BUILD

@@ -19,7 +19,6 @@ cc_library(
         "//modules/common/vehicle_state",
         "//modules/decision/proto:decision_proto",
         "//modules/perception/proto:perception_proto",
-        "//modules/planning/common:data_center",
         "//modules/planning/common:planning_common",
         "//modules/planning/planner/em:em_planner",
         "//modules/planning/planner/rtk:rtk_planner",

modules/planning/common/BUILD

@@ -102,6 +102,7 @@ cc_library(
     ],
     deps = [
         ":indexed_list",
+        ":indexed_queue",
         "//modules/common:log",
         "//modules/common/adapters:adapter_manager",
         "//modules/common/vehicle_state",
@@ -141,9 +142,9 @@ cc_library(
 )
 
 cc_library(
-    name = "data_center",
+    name = "frame_history",
     hdrs = [
-        "data_center.h",
+        "frame_hisotry.h",
     ],
     deps = [
         ":frame",
@@ -155,7 +156,6 @@ cc_library(
 cc_library(
     name = "planning_common",
     deps = [
-        ":data_center",
         ":frame",
         ":planning_gflags",
         ":speed_limit",

modules/planning/common/data_center.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:
- **/
-
-#ifndef MODULES_PLANNING_COMMON_DATA_CENTER_H_
-#define MODULES_PLANNING_COMMON_DATA_CENTER_H_
-
-#include <list>
-#include <memory>
-#include <unordered_map>
-
-#include "modules/common/macro.h"
-#include "modules/planning/common/frame.h"
-#include "modules/planning/common/indexed_queue.h"
-
-namespace apollo {
-namespace planning {
-
-using DataCenter = IndexedQueue<uint32_t, Frame>;
-
-}  // namespace planning
-}  // namespace apollo
-
-#endif  // MODULES_PLANNING_COMMON_DATA_CENTER_H_

modules/planning/common/frame.cc

@@ -34,6 +34,9 @@ const hdmap::PncMap *Frame::pnc_map_ = nullptr;
 
 void Frame::SetMap(hdmap::PncMap *pnc_map) { pnc_map_ = pnc_map; }
 
+FrameHistory::FrameHistory()
+    : IndexedQueue<uint32_t, Frame>(FLAGS_max_history_frame_num) {}
+
 Frame::Frame(const uint32_t sequence_num) : sequence_num_(sequence_num) {}
 
 void Frame::SetVehicleInitPose(const localization::Pose &pose) {

modules/planning/common/frame.h

@@ -31,6 +31,7 @@
 #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/indexed_queue.h"
 #include "modules/planning/common/obstacle.h"
 #include "modules/planning/common/planning_data.h"
 #include "modules/prediction/proto/prediction_obstacle.pb.h"
@@ -86,6 +87,11 @@ class Frame {
   static const hdmap::PncMap *pnc_map_;
 };
 
+class FrameHistory : public IndexedQueue<uint32_t, Frame> {
+ private:
+  DECLARE_SINGLETON(FrameHistory);
+};
+
 }  // namespace planning
 }  // namespace apollo
 

modules/planning/common/planning_gflags.cc

@@ -53,8 +53,7 @@ DEFINE_double(
 DEFINE_double(cycle_duration_in_sec, 0.002, "# of seconds per planning cycle.");
 DEFINE_double(maximal_delay_sec, 0.005, "# of seconds for delay.");
 
-DEFINE_int32(max_history_result, 10,
-             "The maximal number of result in history.");
+DEFINE_int32(max_history_frame_num, 5, "The maximum history frame number");
 
 DEFINE_bool(use_stitch, true, "Use trajectory stitch if possible.");
 DEFINE_double(forward_predict_time, 0.2,

modules/planning/common/planning_gflags.h

@@ -32,7 +32,7 @@ DECLARE_double(look_forward_distance);
 
 DECLARE_double(cycle_duration_in_sec);
 DECLARE_double(maximal_delay_sec);
-DECLARE_int32(max_history_result);
+DECLARE_int32(max_history_frame_num);
 
 // parameters for trajectory stitching and reinit planning starting point.
 DECLARE_bool(use_stitch);

modules/planning/integration_tests/BUILD

@@ -20,7 +20,6 @@ cc_library(
         "//modules/common/util",
         "//modules/common/vehicle_state",
         "//modules/planning:planning_impl",
-        "//modules/planning/common:data_center",
         "//modules/planning/proto:dp_poly_path_config_proto",
         "//modules/planning/proto:dp_st_speed_config_proto",
         "@gtest//:gtest",

modules/planning/optimizer/BUILD

@@ -27,7 +27,6 @@ cc_library(
     deps = [
         ":optimizer",
         "//modules/common/status",
-        "//modules/planning/common:data_center",
         "//modules/planning/common:decision_data",
         "//modules/planning/common:planning_data",
         "//modules/planning/common/path:path_data",
@@ -47,7 +46,6 @@ cc_library(
     deps = [
         ":optimizer",
         "//modules/common/status",
-        "//modules/planning/common:data_center",
         "//modules/planning/common:decision_data",
         "//modules/planning/common:planning_data",
         "//modules/planning/common/path:path_data",

modules/planning/optimizer/dp_poly_path/dp_road_graph_test.cc

@@ -28,7 +28,6 @@
 #include "modules/common/adapters/adapter_manager.h"
 #include "modules/common/log.h"
 #include "modules/common/util/file.h"
-#include "modules/planning/common/data_center.h"
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/optimizer/dp_poly_path/dp_road_graph.h"
 #include "modules/planning/optimizer/dp_poly_path/path_sampler.h"

modules/planning/optimizer/dp_poly_path/path_sampler_test.cc

@@ -24,7 +24,6 @@
 #include "modules/common/adapters/adapter_manager.h"
 #include "modules/common/log.h"
 #include "modules/common/util/file.h"
-#include "modules/planning/common/data_center.h"
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/optimizer/dp_poly_path/path_sampler.h"
 #include "modules/planning/integration_tests/planning_test_base.h"

modules/planning/optimizer/dp_st_speed/BUILD

@@ -12,7 +12,7 @@ cc_library(
     ],
     deps = [
         "//modules/common/proto:pnc_point_proto",
-        "//modules/planning/common:data_center",
+        "//modules/planning/common:frame",
         "//modules/planning/math:double",
         "//modules/planning/optimizer/st_graph:st_graph_boundary",
         "//modules/planning/proto:dp_st_speed_config_proto",
@@ -33,7 +33,6 @@ cc_library(
         "//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/st_graph:st_graph_data",

modules/planning/optimizer/dp_st_speed/dp_st_cost.cc

@@ -22,7 +22,6 @@
 
 #include <limits>
 
-#include "modules/planning/common/data_center.h"
 #include "modules/planning/common/speed/st_point.h"
 #include "modules/planning/math/double.h"
 

modules/planning/optimizer/dp_st_speed/dp_st_graph.cc

@@ -26,7 +26,6 @@
 
 #include "modules/common/log.h"
 #include "modules/common/proto/pnc_point.pb.h"
-#include "modules/planning/common/data_center.h"
 #include "modules/planning/math/double.h"
 
 namespace apollo {

modules/planning/optimizer/dp_st_speed/dp_st_graph_test.cc

@@ -28,7 +28,6 @@
 #include "modules/common/adapters/adapter_manager.h"
 #include "modules/common/log.h"
 #include "modules/common/util/file.h"
-#include "modules/planning/common/data_center.h"
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/optimizer/dp_st_speed/dp_st_graph.h"
 #include "modules/planning/integration_tests/planning_test_base.h"

modules/planning/optimizer/dp_st_speed/dp_st_speed_optimizer.cc

@@ -26,7 +26,6 @@
 #include "modules/common/adapters/adapter_manager.h"
 #include "modules/common/configs/vehicle_config_helper.h"
 #include "modules/common/vehicle_state/vehicle_state.h"
-#include "modules/planning/common/data_center.h"
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/optimizer/dp_st_speed/dp_st_graph.h"
 #include "modules/planning/optimizer/st_graph/st_graph_data.h"

modules/planning/optimizer/qp_spline_path/BUILD

@@ -23,7 +23,6 @@ cc_library(
         "//modules/common/proto:pnc_point_proto",
         "//modules/common/util",
         "//modules/map/proto:map_proto",
-        "//modules/planning/common:data_center",
         "//modules/planning/common:decision_data",
         "//modules/planning/common:obstacle",
         "//modules/planning/common:planning_data",

modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_speed_optimizer.cc

@@ -26,7 +26,6 @@
 #include "modules/common/configs/vehicle_config_helper.h"
 #include "modules/common/util/file.h"
 #include "modules/common/vehicle_state/vehicle_state.h"
-#include "modules/planning/common/data_center.h"
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_graph.h"
 #include "modules/planning/optimizer/st_graph/st_graph_data.h"

modules/planning/optimizer/st_graph/BUILD

@@ -64,6 +64,7 @@ cc_library(
         "//modules/map/pnc_map",
         "//modules/map/proto:map_proto",
         "//modules/planning/common:decision_data",
+        "//modules/planning/common:frame",
         "//modules/planning/common:obstacle",
         "//modules/planning/common:planning_gflags",
         "//modules/planning/common:planning_object",
@@ -91,7 +92,6 @@ cc_library(
         "//modules/common:log",
         "//modules/common/util",
         "//modules/common/vehicle_state",
-        "//modules/planning/common:data_center",
         "//modules/planning/optimizer/st_graph:st_boundary_mapper",
     ],
 )

modules/planning/optimizer/st_graph/st_boundary_mapper_impl.cc

@@ -33,7 +33,7 @@
 #include "modules/common/util/string_util.h"
 #include "modules/common/util/util.h"
 #include "modules/common/vehicle_state/vehicle_state.h"
-#include "modules/planning/common/data_center.h"
+#include "modules/planning/common/frame.h"
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/math/double.h"
 

modules/planning/planning.cc

@@ -23,7 +23,6 @@
 #include "modules/common/time/time.h"
 #include "modules/common/vehicle_state/vehicle_state.h"
 #include "modules/common/vehicle_state/vehicle_state.h"
-#include "modules/planning/common/data_center.h"
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/planner/em/em_planner.h"
 #include "modules/planning/planner/rtk/rtk_replay_planner.h"