From a5f067483e5b7aae75842414b4bb99a5c05cb6de Mon Sep 17 00:00:00 2001 From: FangzhenLi-hust <30279558+FangzhenLi-hust@users.noreply.github.com> Date: Wed, 26 Jul 2017 23:23:47 +0800 Subject: [PATCH] move gflags to perception/common/perception_gflags.cc (#19) * add unit test for perception * move gflags to perception/common/perception_gflags.cc --- .../perception/common/perception_gflags.cc | 26 +++++++++++++++++++ modules/perception/common/perception_gflags.h | 21 +++++++++++++++ modules/perception/lib/base/BUILD | 1 - modules/perception/lib/config_manager/BUILD | 15 +++++++++-- .../lib/config_manager/config_manager.cc | 6 +---- .../lib/config_manager/config_manager_test.cc | 5 +--- modules/perception/obstacle/onboard/BUILD | 2 -- .../obstacle/onboard/hdmap_input.cc | 5 +--- .../perception/obstacle/onboard/hdmap_input.h | 2 -- .../obstacle/onboard/lidar_process.cc | 16 +----------- 10 files changed, 64 insertions(+), 35 deletions(-) diff --git a/modules/perception/common/perception_gflags.cc b/modules/perception/common/perception_gflags.cc index 96f6bbfcdf..b7590b6c9f 100644 --- a/modules/perception/common/perception_gflags.cc +++ b/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"); + diff --git a/modules/perception/common/perception_gflags.h b/modules/perception/common/perception_gflags.h index 1d94c2ad02..3887e46b38 100644 --- a/modules/perception/common/perception_gflags.h +++ b/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_ */ diff --git a/modules/perception/lib/base/BUILD b/modules/perception/lib/base/BUILD index bff2f1b27f..d941885a74 100644 --- a/modules/perception/lib/base/BUILD +++ b/modules/perception/lib/base/BUILD @@ -20,7 +20,6 @@ cc_library( deps = [ "//modules/common:common", "//modules/common:log", - "//external:gflags", ], ) diff --git a/modules/perception/lib/config_manager/BUILD b/modules/perception/lib/config_manager/BUILD index 3c57f0f826..46a2d9bd99 100644 --- a/modules/perception/lib/config_manager/BUILD +++ b/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", ], ) diff --git a/modules/perception/lib/config_manager/config_manager.cc b/modules/perception/lib/config_manager/config_manager.cc index be29bea4eb..037242bcab 100644 --- a/modules/perception/lib/config_manager/config_manager.cc +++ b/modules/perception/lib/config_manager/config_manager.cc @@ -20,18 +20,14 @@ #include #include #include -#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() { diff --git a/modules/perception/lib/config_manager/config_manager_test.cc b/modules/perception/lib/config_manager/config_manager_test.cc index f93799fb4d..64d36cf755 100644 --- a/modules/perception/lib/config_manager/config_manager_test.cc +++ b/modules/perception/lib/config_manager/config_manager_test.cc @@ -18,14 +18,11 @@ #include #include #include -#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) {} diff --git a/modules/perception/obstacle/onboard/BUILD b/modules/perception/obstacle/onboard/BUILD index 3ba6a8cceb..bd698fe471 100644 --- a/modules/perception/obstacle/onboard/BUILD +++ b/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", ], diff --git a/modules/perception/obstacle/onboard/hdmap_input.cc b/modules/perception/obstacle/onboard/hdmap_input.cc index da3b447ad4..7855fe68c1 100644 --- a/modules/perception/obstacle/onboard/hdmap_input.cc +++ b/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; diff --git a/modules/perception/obstacle/onboard/hdmap_input.h b/modules/perception/obstacle/onboard/hdmap_input.h index 5583f75acb..988985c17b 100644 --- a/modules/perception/obstacle/onboard/hdmap_input.h +++ b/modules/perception/obstacle/onboard/hdmap_input.h @@ -18,8 +18,6 @@ #define MODULES_PERCEPTION_ONBOARD_HDMAP_INPUT_H_ #include -#include "gflags/gflags.h" - #include "modules/common/macro.h" #include "modules/map/hdmap/hdmap.h" #include "modules/perception/lib/base/singleton.h" diff --git a/modules/perception/obstacle/onboard/lidar_process.cc b/modules/perception/obstacle/onboard/lidar_process.cc index 1b21aa8703..296c68d549 100644 --- a/modules/perception/obstacle/onboard/lidar_process.cc +++ b/modules/perception/obstacle/onboard/lidar_process.cc @@ -23,29 +23,15 @@ #include #include #include -#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; -- GitLab