move gflags to perception/common/perception_gflags.cc (#19)

* add unit test for perception

* move gflags to perception/common/perception_gflags.cc

modules/perception/common/perception_gflags.cc

@@ -19,3 +19,29 @@
 DEFINE_int32(perception_loop_rate, 10, "Loop rate for perception node, in Hz.");
 
 DEFINE_string(node_name, "perception", "The perception module name in proto");
+
+/// lib/config_manager/config_manager.cc 
+DEFINE_string(config_manager_path, "./conf/config_manager.config",
+              "The ModelConfig config paths file.");
+DEFINE_string(work_root, "", "Project work root direcotry.");
+
+/// obstacle/onboard/hdmap_input.cc
+DEFINE_double(map_radius, 60.0, "get map radius of car center");
+DEFINE_string(map_file, "", "map file name.");
+DEFINE_int32(map_sample_step, 1, "step for sample road boundary points");
+
+/// obstacle/onboard/lidar_process.cc
+DEFINE_bool(enable_hdmap_input, false, "enable hdmap input for roi filter");
+DEFINE_string(onboard_roi_filter, "DummyROIFilter", "onboard roi filter");
+DEFINE_string(onboard_segmentor, "DummySegmentation", "onboard segmentation");
+DEFINE_string(onboard_object_builder, "DummyObjectBuilder",
+              "onboard object builder");
+DEFINE_string(onboard_tracker, "DummyTracker", "onboard tracker");
+
+DEFINE_int32(tf2_buff_in_ms, 10, "the tf2 buff size in ms");
+DEFINE_string(lidar_tf2_frame_id, "world", "the tf2 transform frame id");
+DEFINE_string(lidar_tf2_child_frame_id, "velodyne64",
+              "the tf2 transform child frame id");
+DEFINE_string(obstacle_module_name, "perception_obstacle",
+              "perception obstacle module name");
+

modules/perception/common/perception_gflags.h

@@ -21,4 +21,25 @@
 
 DECLARE_int32(perception_loop_rate);
 
+/// lib/config_manager/config_manager.cc 
+DECLARE_string(config_manager_path);
+DECLARE_string(work_root);
+
+/// obstacle/onboard/hdmap_input.cc
+DECLARE_double(map_radius);
+DECLARE_string(map_file);
+DECLARE_int32(map_sample_step);
+
+/// obstacle/onboard/lidar_process.cc
+DECLARE_bool(enable_hdmap_input);
+DECLARE_string(onboard_roi_filter);
+DECLARE_string(onboard_segmentor);
+DECLARE_string(onboard_object_builder);
+DECLARE_string(onboard_tracker);
+DECLARE_int32(tf2_buff_in_ms);
+DECLARE_string(lidar_tf2_frame_id);
+DECLARE_string(lidar_tf2_child_frame_id);
+DECLARE_string(obstacle_module_name);
+
+
 #endif /* MODULES_PERCEPTION_COMMON_PERCEPTION_GFLAGS_H_ */

modules/perception/lib/base/BUILD

@@ -20,7 +20,6 @@ cc_library(
     deps = [
         "//modules/common:common",
         "//modules/common:log",
-        "//external:gflags",
     ],
 )
 

modules/perception/lib/config_manager/BUILD

@@ -10,8 +10,19 @@ cc_library(
         "//modules/common:log",
         "//modules/perception/lib/base:base",
         "//modules/perception/lib/config_manager/proto:config_proto",
-        "//external:gflags",
-        "@glog//:glog",
+        "//modules/perception/common:perception_common",
+    ],
+)
+
+cc_test(
+    name = "config_manager_test",
+    srcs = ["config_manager_test.cc",],
+    size = "small",
+    data = ["//modules/perception:perception_testdata"],
+    deps = [
+        ":config_manager",
+        "//modules/perception/common:perception_common",
+        "@gtest//:main",
     ],
 )
 

modules/perception/lib/config_manager/config_manager.cc

@@ -20,18 +20,14 @@
 #include <mutex>
 #include <utility>
 #include <vector>
-#include "gflags/gflags.h"
 #include "modules/common/log.h"
+#include "modules/perception/common/perception_gflags.h"
 #include "modules/perception/lib/base/file_util.h"
 #include "modules/perception/lib/config_manager/proto/config_schema.pb.h"
 
 namespace apollo {
 namespace perception {
 
-DEFINE_string(config_manager_path, "./conf/config_manager.config",
-              "The ModelConfig config paths file.");
-DEFINE_string(work_root, "", "Project work root direcotry.");
-
 using google::protobuf::TextFormat;
 
 ConfigManager::ConfigManager() {

modules/perception/lib/config_manager/config_manager_test.cc

@@ -18,14 +18,11 @@
 #include <gtest/gtest.h>
 #include <string>
 #include <vector>
-#include "gflags/gflags.h"
+#include "modules/perception/common/perception_gflags.h"
 
 namespace apollo {
 namespace perception {
 
-DECLARE_string(config_manager_path);
-DECLARE_string(work_root);
-
 class ConfigManagerTest : public testing::Test {
  protected:
   ConfigManagerTest() : config_manager_(NULL) {}

modules/perception/obstacle/onboard/BUILD

@@ -14,7 +14,6 @@ cc_library(
         "//modules/common:log",
         "//modules/common:common",
         "//modules/map/hdmap:hdmap",
-        "//external:gflags",
         "@eigen//:eigen",
     ],
 )
@@ -34,7 +33,6 @@ cc_library(
         "//modules/perception/obstacle/lidar/interface:perception_obstacle_lidar_interface",
         "//modules/common:log",
         "//modules/common:common",
-        "//external:gflags",
         "@eigen//:eigen",
         "@ros//:ros_common",
     ],

modules/perception/obstacle/onboard/hdmap_input.cc

@@ -21,14 +21,11 @@
 
 #include "modules/common/log.h"
 #include "modules/perception/common/define.h"
+#include "modules/perception/common/perception_gflags.h"
 
 namespace apollo {
 namespace perception {
 
-DEFINE_double(map_radius, 60.0, "get map radius of car center");
-DEFINE_string(map_file, "", "map file name.");
-DEFINE_int32(map_sample_step, 1, "step for sample road boundary points");
-
 bool HDMapInput::Init() {
   inited_ = true;
   return true;

modules/perception/obstacle/onboard/hdmap_input.h

@@ -18,8 +18,6 @@
 #define MODULES_PERCEPTION_ONBOARD_HDMAP_INPUT_H_
 
 #include <mutex>
-#include "gflags/gflags.h"
-
 #include "modules/common/macro.h"
 #include "modules/map/hdmap/hdmap.h"
 #include "modules/perception/lib/base/singleton.h"

modules/perception/obstacle/onboard/lidar_process.cc

@@ -23,29 +23,15 @@
 #include <tf_conversions/tf_eigen.h>
 #include <Eigen/Core>
 #include <string>
-#include "gflags/gflags.h"
 
 #include "modules/common/log.h"
+#include "modules/perception/common/perception_gflags.h"
 #include "modules/perception/lib/config_manager/config_manager.h"
 #include "ros/include/ros/ros.h"
 
 namespace apollo {
 namespace perception {
 
-DEFINE_bool(enable_hdmap_input, false, "enable hdmap input for roi filter");
-DEFINE_string(onboard_roi_filter, "DummyROIFilter", "onboard roi filter");
-DEFINE_string(onboard_segmentor, "DummySegmentation", "onboard segmentation");
-DEFINE_string(onboard_object_builder, "DummyObjectBuilder",
-              "onboard object builder");
-DEFINE_string(onboard_tracker, "DummyTracker", "onboard tracker");
-
-DEFINE_int32(tf2_buff_in_ms, 10, "the tf2 buff size in ms");
-DEFINE_string(lidar_tf2_frame_id, "world", "the tf2 transform frame id");
-DEFINE_string(lidar_tf2_child_frame_id, "velodyne64",
-              "the tf2 transform child frame id");
-DEFINE_string(obstacle_module_name, "perception_obstacle",
-              "perception obstacle module name");
-
 using pcl_util::Point;
 using pcl_util::PointD;
 using pcl_util::PointCloud;