remove ErrorCode in planning (#50)

fix some style problems

modules/planning/common/BUILD

@@ -29,14 +29,7 @@ cc_library(
     ],
     deps = [
         "//modules/common/math",
-        "//modules/planning/common:planning_error_code",
-    ],
-)
-
-cc_library(
-    name = "planning_error_code",
-    hdrs = [
-        "planning_error.h",
+        "//modules/common/proto:error_code_proto",
     ],
 )
 

modules/planning/common/logic_node.cc

@@ -26,16 +26,11 @@ namespace apollo {
 namespace planning {
 
 LogicNode::LogicNode(const std::size_t node_id, const std::string &lane_id)
-    : _node_id(node_id), _lane_id(lane_id) {
-}
+    : _node_id(node_id), _lane_id(lane_id) {}
 
-std::size_t LogicNode::node_id() const {
-  return _node_id;
-}
+std::size_t LogicNode::node_id() const { return _node_id; }
 
-const std::string &LogicNode::lane_id() const {
-  return _lane_id;
-}
+const std::string &LogicNode::lane_id() const { return _lane_id; }
 
 const std::unordered_set<std::string> &LogicNode::lane_name() const {
   return _lane_name;
@@ -50,15 +45,15 @@ void LogicNode::connect(const LogicNode &node) {
   _edge[node.lane_id()] = node.node_id();
 }
 
-ErrorCode LogicNode::get_next_node(const std::string &lane_id,
-                                   std::size_t *const node_id) {
+common::ErrorCode LogicNode::get_next_node(const std::string &lane_id,
+                                           std::size_t *const node_id) {
   CHECK_NOTNULL(node_id);
   *node_id = 0;
   if (_edge.find(lane_id) == _edge.end()) {
-    return ErrorCode::PLANNING_ERROR_NOT_FOUND;
+    return common::ErrorCode::PLANNING_ERROR;
   }
   *node_id = _edge[lane_id];
-  return ErrorCode::PLANNING_OK;
+  return common::ErrorCode::OK;
 }
 
 }  // namespace planning

modules/planning/common/logic_node.h

@@ -18,15 +18,15 @@
  * @file logic_node.h
  **/
 
-#ifndef MODULES_PLANNING_COMMON_LOGIC_NODE_H
-#define MODULES_PLANNING_COMMON_LOGIC_NODE_H
+#ifndef MODULES_PLANNING_COMMON_LOGIC_NODE_H_
+#define MODULES_PLANNING_COMMON_LOGIC_NODE_H_
 
+#include <memory>
 #include <string>
 #include <unordered_map>
 #include <unordered_set>
-#include <memory>
 
-#include "modules/planning/common/planning_error.h"
+#include "modules/common/proto/error_code.pb.h"
 
 namespace apollo {
 namespace planning {
@@ -39,8 +39,10 @@ class LogicNode {
   const std::unordered_set<std::string> &lane_name() const;
   void connect(const LogicNode &node);
   void add_lane_name(const std::string &lane_name);
-  ErrorCode get_next_node(const std::string &lane_id,
-                          std::size_t *const node_id);
+  common::ErrorCode get_next_node(const std::string &lane_id,
+                                  std::size_t *const node_id);
+  void f() {}
+
  private:
   std::size_t _node_id;
   std::string _lane_id;
@@ -51,4 +53,4 @@ class LogicNode {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_COMMON_LOGIC_NODE_H
+#endif  // MODULES_PLANNING_COMMON_LOGIC_NODE_H_

modules/planning/common/logic_point.h

@@ -18,8 +18,8 @@
  * @file logic_point.h
  **/
 
-#ifndef MODULES_PLANNING_COMMON_LOGIC_POINT_H
-#define MODULES_PLANNING_COMMON_LOGIC_POINT_H
+#ifndef MODULES_PLANNING_COMMON_LOGIC_POINT_H_
+#define MODULES_PLANNING_COMMON_LOGIC_POINT_H_
 
 #include <string>
 #include "modules/common/math/vec2d.h"
@@ -54,4 +54,4 @@ class LogicPoint : public ::apollo::common::math::Vec2d {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_COMMON_LOGIC_POINT_H
+#endif  // MODULES_PLANNING_COMMON_LOGIC_POINT_H_

modules/planning/common/planning_error.h

-/******************************************************************************
- * Copyright 2017 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 planning_error.h
- **/
-
-#ifndef MODULES_PLANNING_COMMON_PLANNING_ERROR_H
-#define MODULES_PLANNING_COMMON_PLANNING_ERROR_H
-
-namespace apollo {
-namespace planning {
-
-enum class ErrorCode {
-  PLANNING_SKIP = 1,
-  PLANNING_OK = 0,
-  PLANNING_ERROR_NOT_FOUND = -1,
-  PLANNING_ERROR_OUT_OF_INDEX = -2,
-  PLANNING_ERROR_SELF_LOOP = -3,
-  PLANNING_ERROR_DUPLICATE = -4,
-  PLANNING_ERROR_NULL_POINTER = -5,
-  PLANNING_ERROR_NAN = -6,
-  PLANNING_ERROR_TIMEOUT = -7,
-  PLANNING_ERROR_FAILED = -8,
-};
-
-}  // namespace planning
-}  // namespace apollo
-
-#endif  // MODULES_PLANNING_COMMON_PLANNING_ERROR_H

modules/planning/common/speed/speed_data.h

@@ -17,8 +17,8 @@
 /**
  * @file speed_data.h
  **/
-#ifndef MODULES_PLANNING_COMMON_SPEED_SPEED_DATA_H
-#define MODULES_PLANNING_COMMON_SPEED_SPEED_DATA_H
+#ifndef MODULES_PLANNING_COMMON_SPEED_SPEED_DATA_H_
+#define MODULES_PLANNING_COMMON_SPEED_SPEED_DATA_H_
 
 #include <vector>
 
@@ -55,4 +55,4 @@ class SpeedData {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_COMMON_SPEED_SPEED_DATA_H
+#endif  // MODULES_PLANNING_COMMON_SPEED_SPEED_DATA_H_

modules/planning/common/speed/speed_point.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_COMMON_SPEED_SPEED_POINT_H
-#define MODULES_PLANNING_COMMON_SPEED_SPEED_POINT_H
+#ifndef MODULES_PLANNING_COMMON_SPEED_SPEED_POINT_H_
+#define MODULES_PLANNING_COMMON_SPEED_SPEED_POINT_H_
 
 #include "modules/planning/common/speed/st_point.h"
 
@@ -54,4 +54,4 @@ class SpeedPoint : public STPoint {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_COMMON_SPEED_SPEED_POINT_H
+#endif  // MODULES_PLANNING_COMMON_SPEED_SPEED_POINT_H_

modules/planning/common/speed/st_point.h

@@ -18,8 +18,8 @@
  * @file st_point.h
  **/
 
-#ifndef MODULES_PLANNING_COMMON_SPEED_ST_POINT_H
-#define MODULES_PLANNING_COMMON_SPEED_ST_POINT_H
+#ifndef MODULES_PLANNING_COMMON_SPEED_ST_POINT_H_
+#define MODULES_PLANNING_COMMON_SPEED_ST_POINT_H_
 
 #include "modules/common/math/vec2d.h"
 
@@ -40,4 +40,4 @@ class STPoint : public ::apollo::common::math::Vec2d {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_COMMON_SPEED_ST_POINT_H
+#endif  // MODULES_PLANNING_COMMON_SPEED_ST_POINT_H_

modules/planning/common/trajectory/trajectory.h

@@ -25,7 +25,7 @@
 
 #include "modules/common/proto/path_point.pb.h"
 
-namespace adu {
+namespace apollo {
 namespace planning {
 
 class Trajectory {
@@ -44,6 +44,6 @@ class Trajectory {
 };
 
 }  // namespace planning
-}  // namespace adu
+}  // namespace apollo
 
 #endif  // MODULES_PLANNING_COMMON_TRAJECTORY_TRAJECTORY_H_

modules/planning/math/spiral_curve/quintic_spiral_curve.cc

@@ -30,7 +30,6 @@
 namespace apollo {
 namespace planning {
 
-using ::apollo::common::ErrorCode;
 using ::apollo::common::PathPoint;
 
 QuinticSpiralCurve::QuinticSpiralCurve(const common::PathPoint& s,
@@ -191,12 +190,12 @@ bool QuinticSpiralCurve::calculate_path() {
   return diff < spiral_config().newton_raphson_tol() && result_sanity_check();
 }
 
-ErrorCode QuinticSpiralCurve::get_path_vec(
+common::ErrorCode QuinticSpiralCurve::get_path_vec(
     const std::size_t n, std::vector<common::PathPoint>* path_points) const {
   CHECK_NOTNULL(path_points);
 
   if (n <= 1 || error() > spiral_config().newton_raphson_tol()) {
-    return ErrorCode::PLANNING_ERROR;
+    return common::ErrorCode::PLANNING_ERROR;
   }
 
   path_points->resize(n);
@@ -243,20 +242,20 @@ ErrorCode QuinticSpiralCurve::get_path_vec(
     result[k].set_y(result[k].s() * dy + result[0].y());
   }
 
-  return ErrorCode::OK;
+  return common::ErrorCode::OK;
 }
 
-ErrorCode QuinticSpiralCurve::get_path_vec_with_s(
+common::ErrorCode QuinticSpiralCurve::get_path_vec_with_s(
     const std::vector<double>& vec_s,
     std::vector<common::PathPoint>* path_points) const {
   CHECK_NOTNULL(path_points);
 
   if (error() > spiral_config().newton_raphson_tol()) {
-    return ErrorCode::PLANNING_ERROR;
+    return common::ErrorCode::PLANNING_ERROR;
   }
 
   if (vec_s.size() == 0) {
-    return ErrorCode::OK;
+    return common::ErrorCode::OK;
   }
 
   const std::size_t n = vec_s.size();
@@ -304,7 +303,7 @@ ErrorCode QuinticSpiralCurve::get_path_vec_with_s(
     result[k].set_y(dy + ref_point.y());
   }
 
-  return ErrorCode::OK;
+  return common::ErrorCode::OK;
 }
 
 }  // namespace planning

modules/planning/proto/planning_internal.proto

@@ -3,6 +3,7 @@ syntax = "proto2";
 package apollo.planning_internal;
 
 import "modules/common/proto/header.proto";
+import "modules/common/proto/error_code.proto";
 import "modules/decision/proto/decision.proto";
 import "modules/localization/proto/localization.proto";
 import "modules/localization/proto/pose.proto";
@@ -48,19 +49,12 @@ message PlanningObstacle {
 }
 
 message Debug {
-  enum ErrorCode {
-    OK = 0; ERR_NOT_READY = 1; ERR_ESTOP = 2; ERR_PATH_OPTIMIZER = 3;
-    ERR_SPEED_OPTIMIZER = 4;
-    ERR_ST_GRAPH = 5;
-    ERR_SANITY_CHECK = 6;
-  }
-
   /*
       PLEASE add id here
       id = 1: st_graph_info
   */
   message DebugMessage {
-    optional ErrorCode error_code = 1 [default = OK];
+    optional apollo.common.ErrorCode error_code = 1;
     optional int32 id = 2;
     oneof debug_string {
       string trace = 3;
@@ -71,7 +65,7 @@ message Debug {
     }
   }
 
-  optional ErrorCode error_code = 1 [default = OK];
+  optional apollo.common.ErrorCode error_code = 1;
   optional PlanningData planning_data = 2;
   repeated DebugMessage debug_message = 3;
 }