planning: pull_over_emergency scenario

modules/planning/scenarios/park/pull_over_emergency/BUILD

+load("//tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "pull_over_emergency_scenario",
+    srcs = [
+        "pull_over_emergency_scenario.cc",
+    ],
+    hdrs = [
+        "pull_over_emergency_scenario.h",
+    ],
+    copts = ["-DMODULE_NAME=\\\"planning\\\""],
+    deps = [
+        "//cyber/common:log",
+        "//external:gflags",
+        "//modules/common/util:factory",
+        "//modules/common/vehicle_state:vehicle_state_provider",
+        "//modules/planning/common:planning_common",
+        "//modules/planning/common/util:common_lib",
+        "//modules/planning/common/util:util_lib",
+        "//modules/planning/proto:planning_proto",
+        "//modules/planning/scenarios:scenario",
+        "//modules/planning/scenarios/util:scenario_util_lib",
+        "@eigen",
+    ],
+)
+
+cpplint()

modules/planning/scenarios/park/pull_over_emergency/pull_over_emergency_scenario.cc

+/******************************************************************************
+ * Copyright 2019 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
+ **/
+
+#include "modules/planning/scenarios/park/pull_over_emergency/pull_over_emergency_scenario.h"
+
+#include "cyber/common/log.h"
+
+namespace apollo {
+namespace planning {
+namespace scenario {
+namespace pull_over_emergency {
+
+apollo::common::util::Factory<
+    ScenarioConfig::StageType, Stage,
+    Stage* (*)(const ScenarioConfig::StageConfig& stage_config)>
+    PullOverEmergencyScenario::s_stage_factory_;
+
+void PullOverEmergencyScenario::Init() {
+  if (init_) {
+    return;
+  }
+
+  Scenario::Init();
+
+  if (!GetScenarioConfig()) {
+    AERROR << "fail to get scenario specific config";
+    return;
+  }
+
+  init_ = true;
+}
+
+void PullOverEmergencyScenario::RegisterStages() {
+  if (!s_stage_factory_.Empty()) {
+    s_stage_factory_.Clear();
+  }
+  /*
+  s_stage_factory_.Register(
+      ScenarioConfig::PULL_OVER_APPROACH,
+      [](const ScenarioConfig::StageConfig& config) -> Stage* {
+        return new PullOverEmergencyStageApproach(config);
+      });
+      */
+}
+
+std::unique_ptr<Stage> PullOverEmergencyScenario::CreateStage(
+    const ScenarioConfig::StageConfig& stage_config) {
+  if (s_stage_factory_.Empty()) {
+    RegisterStages();
+  }
+  auto ptr = s_stage_factory_.CreateObjectOrNull(stage_config.stage_type(),
+                                                 stage_config);
+  if (ptr) {
+    ptr->SetContext(&context_);
+  }
+  return ptr;
+}
+
+/*
+ * read scenario specific configs and set in context_ for stages to read
+ */
+bool PullOverEmergencyScenario::GetScenarioConfig() {
+  if (!config_.has_pull_over_emergency_config()) {
+    AERROR << "miss scenario specific config";
+    return false;
+  }
+  context_.scenario_config.CopyFrom(config_.pull_over_emergency_config());
+  return true;
+}
+
+}  // namespace pull_over_emergency
+}  // namespace scenario
+}  // namespace planning
+}  // namespace apollo

modules/planning/scenarios/park/pull_over_emergency/pull_over_emergency_scenario.h

+/******************************************************************************
+ * Copyright 2019 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
+ **/
+
+#pragma once
+
+#include <memory>
+
+#include "modules/common/util/factory.h"
+#include "modules/planning/common/frame.h"
+#include "modules/planning/scenarios/scenario.h"
+
+namespace apollo {
+namespace planning {
+namespace scenario {
+namespace pull_over_emergency {
+
+// stage context
+struct PullOverEmergencyContext {
+  ScenarioPullOverEmergencyConfig scenario_config;
+};
+
+class PullOverEmergencyScenario : public Scenario {
+ public:
+  PullOverEmergencyScenario(
+      const ScenarioConfig& config, const ScenarioContext* context)
+      : Scenario(config, context) {}
+
+  void Init() override;
+
+  std::unique_ptr<Stage> CreateStage(
+      const ScenarioConfig::StageConfig& stage_config);
+
+  PullOverEmergencyContext* GetContext() { return &context_; }
+
+ private:
+  static void RegisterStages();
+  bool GetScenarioConfig();
+
+ private:
+  static apollo::common::util::Factory<
+      ScenarioConfig::StageType, Stage,
+      Stage* (*)(const ScenarioConfig::StageConfig& stage_config)>
+      s_stage_factory_;
+  bool init_ = false;
+  PullOverEmergencyContext context_;
+};
+
+}  // namespace pull_over_emergency
+}  // namespace scenario
+}  // namespace planning
+}  // namespace apollo