planning: add learning_data_frame to Frame for online training

modules/planning/common/BUILD

@@ -242,6 +242,7 @@ cc_library(
     ],
     deps = [
         ":indexed_queue",
+        ":feature_output",
         ":local_view",
         ":obstacle",
         ":open_space_info",
@@ -255,6 +256,7 @@ cc_library(
         "//modules/planning/common/trajectory:discretized_trajectory",
         "//modules/planning/common/trajectory:publishable_trajectory",
         "//modules/planning/common/util:util_lib",
+        "//modules/planning/proto:learning_data_proto",
         "//modules/planning/proto:planning_config_proto",
         "//modules/planning/proto:planning_proto",
         "//modules/planning/reference_line:reference_line_provider",

modules/planning/common/feature_output.cc

@@ -61,6 +61,11 @@ void FeatureOutput::InsertLearningDataFrame(
   }
 }
 
+LearningDataFrame* FeatureOutput::GetLatestLearningDataFrame() {
+  const int size = learning_data_.learning_data_size();
+  return size > 0 ? learning_data_.mutable_learning_data(size - 1) : nullptr;
+}
+
 void FeatureOutput::InsertPlanningResult() {
 }
 

modules/planning/common/feature_output.h

@@ -56,6 +56,8 @@ class FeatureOutput {
 
   static void InsertPlanningResult();
 
+  static LearningDataFrame* GetLatestLearningDataFrame();
+
   /**
    * @brief Write LearningData to a file
    */

modules/planning/common/frame.cc

@@ -34,6 +34,7 @@
 #include "modules/map/pnc_map/path.h"
 #include "modules/map/pnc_map/pnc_map.h"
 #include "modules/planning/common/ego_info.h"
+#include "modules/planning/common/feature_output.h"
 #include "modules/planning/common/planning_context.h"
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/common/util/util.h"
@@ -375,6 +376,8 @@ Status Frame::InitFrameData() {
 
   ReadPadMsgDrivingAction();
 
+  ReadLearningDataFrame();
+
   return Status::OK();
 }
 
@@ -484,6 +487,17 @@ void Frame::ReadTrafficLights() {
   }
 }
 
+void Frame::ReadLearningDataFrame() {
+  learning_data_frame_.Clear();
+  if (FLAGS_planning_offline_mode != 1) {
+    return;
+  }
+  auto learning_data_frame = FeatureOutput::GetLatestLearningDataFrame();
+  if (learning_data_frame != nullptr) {
+    learning_data_frame_.CopyFrom(*learning_data_frame);
+  }
+}
+
 perception::TrafficLight Frame::GetSignal(
     const std::string &traffic_light_id) const {
   const auto *result =

modules/planning/common/frame.h

@@ -31,6 +31,7 @@
 #include "modules/common/proto/geometry.pb.h"
 #include "modules/common/vehicle_state/proto/vehicle_state.pb.h"
 #include "modules/localization/proto/pose.pb.h"
+#include "modules/planning/proto/learning_data.pb.h"
 #include "modules/planning/proto/pad_msg.pb.h"
 #include "modules/planning/proto/planning.pb.h"
 #include "modules/planning/proto/planning_config.pb.h"
@@ -172,6 +173,9 @@ class Frame {
     return &reference_line_info_;
   }
 
+  const LearningDataFrame &learning_data_frame() const {
+      return learning_data_frame_; }
+
  private:
   common::Status InitFrameData();
 
@@ -199,7 +203,10 @@ class Frame {
   void ReadPadMsgDrivingAction();
   void ResetPadMsgDrivingAction();
 
+  void ReadLearningDataFrame();
+
  private:
+  static DrivingAction pad_msg_driving_action_;
   uint32_t sequence_num_ = 0;
   LocalView local_view_;
   const hdmap::HDMap *hdmap_ = nullptr;
@@ -234,7 +241,7 @@ class Frame {
 
   std::tuple<bool, double, double, double> pull_over_info_;
 
-  static DrivingAction pad_msg_driving_action_;
+  LearningDataFrame learning_data_frame_;
 };
 
 class FrameHistory : public IndexedQueue<uint32_t, Frame> {