refine-RSSInfo-profo-header

modules/planning/proto/planning.proto

@@ -41,6 +41,15 @@ message LatencyStats {
 }
 
 message RSSInfo {
+  optional bool is_rss_safe = 1;
+  optional double cur_dist_lon = 2;
+  optional double rss_safe_dist_lon = 3;
+  optional double acc_lon_range_minimum = 4;
+  optional double acc_lon_range_maximum = 5;
+  optional double acc_lat_left_range_minimum = 6;
+  optional double acc_lat_left_range_maximum = 7;
+  optional double acc_lat_right_range_minimum = 8;
+  optional double acc_lat_right_range_maximum = 9;
 }
 
 // next id: 21

modules/planning/toolkits/rss/BUILD

@@ -16,6 +16,7 @@ cc_library(
         "//modules/common/status",
         "//modules/planning/common:planning_context",
         "//modules/planning/common:planning_gflags",
+        "//modules/planning/proto:planning_proto",
         "//modules/planning/common:reference_line_info",
         "//modules/planning/toolkits:task",
     ],

modules/planning/toolkits/rss/decider_rss.cc

@@ -21,6 +21,7 @@
 #include "modules/planning/toolkits/rss/decider_rss.h"
 #include "modules/common/configs/vehicle_config_helper.h"
 #include "modules/planning/common/planning_gflags.h"
+#include "modules/planning/proto/planning.pb.h"
 
 namespace apollo {
 namespace planning {
@@ -228,22 +229,53 @@ Status RssDecider::Process(
   rssCheck.calculateAccelerationRestriction(
       worldModel, accelerationRestriction);
 
-  ADEBUG << "dMin_lon = " << dMin_lon << " front_obstacle_distance = "
-        << front_obstacle_distance;
-  ADEBUG << "accelerationRestriction.LongitudinalRange.maximum = "
-        << accelerationRestriction.longitudinalRange.maximum;
-  ADEBUG << "accelerationRestriction.LongitudinalRange.minimum = "
-        << accelerationRestriction.longitudinalRange.minimum;
+  RSSInfo rss_info;
 
   if (front_obstacle_distance > dMin_lon) {
     ADEBUG << "Task " << Name() << " Distance is RSS-Safe";
+    rss_info.set_is_rss_safe(true);
   } else {
     ADEBUG << "Task " << Name() << " Distance is not RSS-Safe";
+    rss_info.set_is_rss_safe(false);
     if (FLAGS_enable_rss_fallback) {
       reference_line_info->mutable_speed_data()->Clear();
     }
   }
 
+  rss_info.set_cur_dist_lon(front_obstacle_distance);
+  rss_info.set_rss_safe_dist_lon(dMin_lon);
+  rss_info.set_acc_lon_range_minimum(
+      accelerationRestriction.longitudinalRange.minimum);
+  rss_info.set_acc_lon_range_maximum(
+      accelerationRestriction.longitudinalRange.maximum);
+  rss_info.set_acc_lat_left_range_minimum(
+      accelerationRestriction.lateralLeftRange.minimum);
+  rss_info.set_acc_lat_left_range_maximum(
+      accelerationRestriction.lateralLeftRange.maximum);
+  rss_info.set_acc_lat_right_range_minimum(
+      accelerationRestriction.lateralRightRange.minimum);
+  rss_info.set_acc_lat_right_range_maximum(
+      accelerationRestriction.lateralRightRange.maximum);
+
+  ADEBUG << " is_rss_safe : "
+         << rss_info.is_rss_safe();
+  ADEBUG << " cur_dist_lon: "
+         << rss_info.cur_dist_lon();
+  ADEBUG << " rss_safe_dist_lon: "
+         << rss_info.rss_safe_dist_lon();
+  ADEBUG << " acc_longitudianlRange_minimum: "
+         << rss_info.acc_lon_range_minimum();
+  ADEBUG << " acc_longitudinalRange_maximum: "
+         << rss_info.acc_lon_range_maximum();
+  ADEBUG << " acc_lateralLeftRange_minimum: "
+         << rss_info.acc_lat_left_range_minimum();
+  ADEBUG << " acc_lateralLeftRange_maximum: "
+         << rss_info.acc_lat_left_range_maximum();
+  ADEBUG << " acc_lateralRightRange: "
+         << rss_info.acc_lat_right_range_minimum();
+  ADEBUG << " acc_lateralRightRange_maximum: "
+         << rss_info.acc_lat_right_range_maximum();
+
   return Status::OK();
 }