Prediction: add relative_map_container

modules/prediction/conf/adapter.conf

@@ -13,6 +13,11 @@ config {
   mode: RECEIVE_ONLY
   message_history_limit: 1
 }
+config {
+  type: RELATIVE_MAP
+  mode: RECEIVE_ONLY
+  message_history_limit: 1
+}
 config {
   type: PREDICTION
   mode: PUBLISH_ONLY

modules/prediction/container/BUILD

@@ -13,6 +13,7 @@ cc_library(
         "//modules/prediction/container/obstacles:obstacles_container",
         "//modules/prediction/container/pose:pose_container",
         "//modules/prediction/container/adc_trajectory:adc_trajectory_container",
+        "//modules/prediction/container/relative_map:relative_map_container",
         "@glog//:glog",
     ],
 )

modules/prediction/container/container_manager.cc

@@ -20,6 +20,7 @@
 #include "modules/prediction/container/obstacles/obstacles_container.h"
 #include "modules/prediction/container/pose/pose_container.h"
 #include "modules/prediction/container/adc_trajectory/adc_trajectory_container.h"
+#include "modules/prediction/container/relative_map/relative_map_container.h"
 
 namespace apollo {
 namespace prediction {
@@ -62,6 +63,8 @@ std::unique_ptr<Container> ContainerManager::CreateContainer(
     container_ptr.reset(new PoseContainer());
   } else if (type == AdapterConfig::PLANNING_TRAJECTORY) {
     container_ptr.reset(new ADCTrajectoryContainer());
+  } else if (type == AdapterConfig::RELATIVE_MAP) {
+    container_ptr.reset(new RelativeMapContainer());
   }
   return container_ptr;
 }

modules/prediction/container/relative_map/BUILD

+load("//tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "relative_map_container",
+    srcs = ["relative_map_container.cc"],
+    hdrs = ["relative_map_container.h"],
+    deps = [
+        "//modules/common:log",
+        "//modules/map/relative_map:relative_map_lib",
+        "//modules/prediction/container",
+    ],
+)
+
+cpplint()

modules/prediction/container/relative_map/relative_map_container.cc

+/******************************************************************************
+ * 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.
+ *****************************************************************************/
+
+#include "modules/prediction/container/relative_map/relative_map_container.h"
+
+#include "modules/common/log.h"
+
+namespace apollo {
+namespace prediction {
+
+using apollo::relative_map::MapMsg;
+
+void RelativeMapContainer::Insert(const ::google::protobuf::Message& message) {
+  relative_map_.CopyFrom(dynamic_cast<const MapMsg&>(message));
+  ADEBUG << "Received a planning message ["
+         << relative_map_.ShortDebugString() << "].";
+}
+
+}  // namespace prediction
+}  // namespace apollo

modules/prediction/container/relative_map/relative_map_container.h

+/******************************************************************************
+ * 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.
+ *****************************************************************************/
+
+/**
+ * @file
+ */
+
+#ifndef MODULES_PREDICTION_CONTAINER_RELATIVE_MAP_CONTAINER_H_
+#define MODULES_PREDICTION_CONTAINER_RELATIVE_MAP_CONTAINER_H_
+
+#include "modules/prediction/container/container.h"
+#include "modules/map/relative_map/proto/navigation.pb.h"
+
+namespace apollo {
+namespace prediction {
+
+class RelativeMapContainer : public Container {
+ public:
+  /**
+   * @brief Constructor
+   */
+  RelativeMapContainer() = default;
+
+  /**
+   * @brief Destructor
+   */
+  virtual ~RelativeMapContainer() = default;
+
+  /**
+   * @brief Insert a data message into the container
+   * @param Data message to be inserted in protobuf
+   */
+  void Insert(const ::google::protobuf::Message& message) override;
+
+ private:
+  apollo::relative_map::MapMsg relative_map_;
+};
+
+}  // namespace prediction
+}  // namespace apollo
+
+#endif  // MODULES_PREDICTION_CONTAINER_RELATIVE_MAP_CONTAINER_H_

modules/prediction/prediction.cc

@@ -85,12 +85,17 @@ Status Prediction::Init() {
     CHECK(AdapterManager::GetRelativeMap());
   }
 
+  if (FLAGS_use_navigation_mode) {
+    // Set relative map callback function
+    AdapterManager::AddRelativeMapCallback(&Prediction::OnRelativeMap, this);
+  } else {
+    // Set localization callback function
+    AdapterManager::AddLocalizationCallback(&Prediction::OnLocalization, this);
+    // Set planning callback function
+    AdapterManager::AddPlanningCallback(&Prediction::OnPlanning, this);
+  }
   // Set perception obstacle callback function
   AdapterManager::AddPerceptionObstaclesCallback(&Prediction::RunOnce, this);
-  // Set localization callback function
-  AdapterManager::AddLocalizationCallback(&Prediction::OnLocalization, this);
-  // Set planning callback function
-  AdapterManager::AddPlanningCallback(&Prediction::OnPlanning, this);
 
   if (!FLAGS_use_navigation_mode && !PredictionMap::Ready()) {
     return OnError("Map cannot be loaded.");
@@ -135,6 +140,10 @@ void Prediction::OnPlanning(const planning::ADCTrajectory& adc_trajectory) {
          << "].";
 }
 
+void Prediction::OnRelativeMap(const relative_map::MapMsg& relative_map) {
+  // TODO(kechxu): implement
+}
+
 void Prediction::RunOnce(const PerceptionObstacles& perception_obstacles) {
   if (FLAGS_prediction_offline_mode) {
     PredictOnNavigation(perception_obstacles);

modules/prediction/prediction.h

@@ -28,6 +28,7 @@
 #include "modules/localization/proto/localization.pb.h"
 #include "modules/perception/proto/perception_obstacle.pb.h"
 #include "modules/planning/proto/planning.pb.h"
+#include "modules/map/relative_map/proto/navigation.pb.h"
 #include "modules/prediction/prediction_interface.h"
 #include "modules/prediction/proto/prediction_conf.pb.h"
 
@@ -88,6 +89,8 @@ class Prediction : public PredictionInterface {
 
   void OnPlanning(const planning::ADCTrajectory &adc_trajectory);
 
+  void OnRelativeMap(const relative_map::MapMsg& relative_map);
+
   bool IsValidTrajectoryPoint(
       const ::apollo::common::TrajectoryPoint &trajectory_point);