clean up routing 2

modules/routing/conf/adapter.conf

 config {
-  type: LOCALIZATION
+  type: ROUTING_REQUEST
   mode: RECEIVE_ONLY
   message_history_limit: 10
 }
 config {
-  type: PAD
-  mode: RECEIVE_ONLY
-  message_history_limit: 10
-}
-config {
-  type: PLANNING_TRAJECTORY
-  mode: RECEIVE_ONLY
-  message_history_limit: 10
-}
-config {
-  type: CHASSIS
-  mode: RECEIVE_ONLY
-  message_history_limit: 10
-}
-config {
-  type: CONTROL_COMMAND
+  type: ROUTING
   mode: PUBLISH_ONLY
 }
 config {

modules/routing/routing.cc

@@ -22,60 +22,46 @@
 namespace apollo {
 namespace routing {
 
-Routing::Routing() {
-  _node_handle_ptr.reset(new ros::NodeHandle(FLAGS_node_namespace));
-  ROS_INFO("Use new routing request and result!");
-  _service = _node_handle_ptr->advertiseService(FLAGS_signal_probe_service,
-          &Routing::on_request, this);
-  _publisher = _node_handle_ptr->advertise<std_msgs::String>(
-      FLAGS_route_topic_for_broadcast, 1);
+std::string Routing::Name() const { return FLAGS_node_name; }
+
+Status Routing::Init() {
   std::string graph_path = FLAGS_graph_dir + "/" + FLAGS_graph_file_name;
-  ROS_INFO("Use routing topology graph path: %s", graph_path.c_str());
   _navigator_ptr.reset(new Navigator(graph_path));
-
-  // set init ok for ADS test, when it knows routing is ok, it can replay bags
-  _node_handle_ptr->setParam(FLAGS_rosparam_name_routing_init_status, true);
+  return Status::OK();
 }
 
-Routing::~Routing() {}
+Status Control::Start() {
+  if (!_navigator_ptr->is_ready()) {
+    AERROR << "Navigator is not ready!";
+    return Status::ERROR();
+  }
+  ROS_INFO("Routing service is ready.");
+
+  apollo::common::monitor::MonitorBuffer buffer(&monitor_);
+  buffer.INFO("Routing started");
+  return Status::OK();
+}
 
-bool Routing::on_request(routing::routing_signal::Request& req,
-                         routing::routing_signal::Response& res) {
-  ROS_INFO("Get new routing request!!!");
+void OnRouting_Request(const apollo::routing::RoutingRequest &routing_req) {
+  AINFO << "Get new routing request!!!";
   ::apollo::routing::RoutingRequest request_proto;
   ::apollo::routing::RoutingResult response_proto;
   if (!request_proto.ParseFromString(req.routing_request.data)) {
-    ROS_ERROR("The request proto is invalid.");
+    AERROR << "The request proto is invalid.";
     return false;
   }
   if (!_navigator_ptr->search_route(request_proto, &response_proto)) {
-    ROS_ERROR("Failed to search route with navigator.");
-    return false;
-  }
-  if (!response_proto.SerializeToString(&(res.routing_response.data))) {
-    ROS_ERROR("Failed to serialize routing response.");
+    AERROR<< "Failed to search route with navigator.";
     return false;
   }
+
   if (request_proto.broadcast()) {
-    std_msgs::String publish_msg;
-    if (!response_proto.SerializeToString(&(publish_msg.data))) {
-      ROS_ERROR("Failed to serialize routing response.");
-      return false;
-    }
-    _publisher.publish(publish_msg);
+    AdapterManager::PublishControlCommand(*control_command);
   }
   return true;
 }
 
-bool Routing::run() {
-  if (!_navigator_ptr->is_ready()) {
-    ROS_ERROR("Navigator is not ready!");
-    return false;
-  }
-  ROS_INFO("Routing service is ready.");
-  ros::spin();
-  return false;
-}
+void Routing::Stop() {}
 
 }  // namespace routing
 }  // namespace apollo

modules/routing/routing.h

@@ -19,31 +19,55 @@
 
 #include <memory>
 
-#include "routing/routing_signal.h"
 #include "common/routing_gflags.h"
 #include "common/routing_macros.h"
 
+
+#include "modules/common/apollo_app.h"
+#include "modules/common/monitor/monitor.h"
+
 namespace apollo {
 namespace routing {
 
 class Navigator;
 
 class Routing : public apollo::common::ApolloApp {
-  friend class RoutingTestBase;
+ // friend class RoutingTestBase;
  public:
-  ~Routing();
-  bool run();
+  Routing() : monitor_(apollo::common::monitor::MonitorMessageItem::Routing) {}
+
+  /**
+   * @brief module name
+   */
+  std::string Name() const override;
+
+  /**
+   * @brief module initialization function
+   * @return initialization status
+   */
+  apollo::common::Status Init() override;
+
+  /**
+   * @brief module start function
+   * @return start status
+   */
+  apollo::common::Status Start() override;
+
+  /**
+   * @brief module stop function
+   */
+  void Stop() override;
+
+  /**
+   * @brief destructor
+   */
+  virtual ~Routing() = default;
 
  private:
-  bool on_request(routing::routing_signal::Request& req,
-                  routing::routing_signal::Response& res);
+  void OnRouting_Request(const apollo::routing::RoutingRequest &routing_req);
 
  private:
-  std::unique_ptr<ros::NodeHandle> _node_handle_ptr;
-  ros::ServiceServer _service;
-  ros::Publisher _publisher;
   std::unique_ptr<Navigator> _navigator_ptr;
-  DECLARE_ARBITER_SINGLETON(Routing);
 };
 
 }  // namespace routing

modules/routing/srv/routing_signal.srv

-std_msgs/String routing_request
----
-std_msgs/String routing_response

modules/routing/topo_creator/BUILD

+load("//tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "edge_creator",
+    srcs = [
+        "edge_creator.cc",
+    ],
+    hdrs = [
+        "edge_creator.h",
+    ],
+    deps = [
+        "//external:gflags",
+    ],
+)
+
+cc_library(
+    name = "graph_creator",
+    srcs = [
+        "graph_creator.cc",
+    ],
+    hdrs = [
+        "graph_creator.h",
+    ],
+    deps = [
+        "//external:gflags",
+        ":edge_creator",
+        ":node_creator",
+    ],
+)
+
+cc_library(
+    name = "node_creator",
+    srcs = [
+        "node_creator.cc",
+    ],
+    hdrs = [
+        "node_creator.h",
+    ],
+    deps = [
+        "//external:gflags",
+    ],
+)
+
+cc_binary(
+    name = "topo_creator",
+    srcs = ["topo_creator.cc"],
+    deps = [
+        "//external:gflags",
+        ":graph_creator",
+        "//modules/common:log",
+        "//modules/routing/common",
+        "//modules/control/proto:control_proto",
+    ],
+)
+
+cpplint()

modules/routing/tools/topo_creator_main.cc → modules/routing/topo_creator/topo_creator.cc

@@ -19,7 +19,7 @@
 #include "gflags/gflags.h"
 #include "glog/logging.h"
 
-#include "topo_creator/graph_creator.h"
+#include "modules/routing/topo_creator/graph_creator.h"
 
 DEFINE_string(base_map_dir, "/home/caros/adu_data/map",
               "directory of base map");