Planning: reverted the previous temporary updates and added debug-recording for generated paths.

modules/planning/common/planning_context.h

@@ -69,7 +69,8 @@ class PlanningContext {
 
   static const LaneFollowInfo& lane_follow_info() { return lane_follow_info_; }
 
-  static LaneFollowInfo* mutable_lane_follow_info() { return &lane_follow_info_; }
+  static LaneFollowInfo* mutable_lane_follow_info() {
+      return &lane_follow_info_; }
 
  private:
   static PlanningStatus planning_status_;

modules/planning/conf/planning_config.pb.txt

@@ -310,6 +310,6 @@ default_task_config: {
 default_task_config: {
   task_type: PATH_BOUNDS_DECIDER
   path_bounds_decider_config {
-    is_lane_borrowing: true
+    is_lane_borrowing: false
   }
 }

modules/planning/conf/scenario/lane_follow_config.pb.txt

@@ -7,7 +7,7 @@ stage_config: {
   task_type: PATH_BOUNDS_DECIDER
   task_type: PIECEWISE_JERK_PATH_OPTIMIZER
   task_type: PATH_ASSESSMENT_DECIDER
-  #task_type: PATH_DECIDER
+  task_type: PATH_DECIDER
   task_type: SPEED_BOUNDS_PRIORI_DECIDER
   task_type: DP_ST_SPEED_OPTIMIZER
   task_type: SPEED_DECIDER
@@ -27,9 +27,9 @@ stage_config: {
   task_config: {
     task_type: PATH_ASSESSMENT_DECIDER
   }
-  #task_config: {
-  #  task_type: PATH_DECIDER
-  #}
+  task_config: {
+    task_type: PATH_DECIDER
+  }
   task_config: {
     task_type: SPEED_BOUNDS_PRIORI_DECIDER
   }

modules/planning/scenarios/side_pass/side_pass_scenario.cc

@@ -89,7 +89,6 @@ std::unique_ptr<Stage> SidePassScenario::CreateStage(
 bool SidePassScenario::IsTransferable(const Scenario& target_scenario,
                                       const Frame& frame) {
   // Sanity checks.
-  return false;
   if (frame.reference_line_info().size() > 1) {
     return false;
   }

modules/planning/tasks/deciders/path_assessment_decider.cc

@@ -25,8 +25,6 @@
 #include "modules/map/hdmap/hdmap_util.h"
 #include "modules/planning/tasks/deciders/path_decider_obstacle_utils.h"
 
-// #define ADEBUG AINFO
-
 namespace apollo {
 namespace planning {
 
@@ -75,9 +73,8 @@ Status PathAssessmentDecider::Process(
     const std::string msg = "Neither regular nor fallback path is valid.";
     AERROR << msg;
     return Status(ErrorCode::PLANNING_ERROR, msg);
-  } else {
-    ADEBUG << "There are " << valid_path_data.size() << " valid path data.";
   }
+  ADEBUG << "There are " << valid_path_data.size() << " valid path data.";
 
   // Analyze and add important info for speed decider to use.
   for (auto& curr_path_data : valid_path_data) {
@@ -103,6 +100,12 @@ Status PathAssessmentDecider::Process(
   reference_line_info->SetBlockingObstacleId(
       valid_path_data.front().blocking_obstacle_id());
 
+  const auto &path_points = reference_line_info->path_data().discretized_path();
+  auto *ptr_optimized_path =
+      reference_line_info->mutable_debug()->mutable_planning_data()->add_path();
+  ptr_optimized_path->set_name("Path Planning Output");
+  ptr_optimized_path->mutable_path_point()->CopyFrom(
+      {path_points.begin(), path_points.end()});
   return Status::OK();
 }
 

modules/planning/tasks/deciders/path_bounds_decider.cc

@@ -31,8 +31,6 @@
 #include "modules/map/hdmap/hdmap_util.h"
 #include "modules/planning/tasks/deciders/path_decider_obstacle_utils.h"
 
-// #define ADEBUG AINFO
-
 namespace apollo {
 namespace planning {
 
@@ -54,7 +52,7 @@ constexpr double kPathBoundsDeciderHorizon = 100.0;
 constexpr double kPathBoundsDeciderResolution = 0.5;
 constexpr double kDefaultLaneWidth = 5.0;
 constexpr double kDefaultRoadWidth = 20.0;
-constexpr double kObstacleSBuffer = 2.0;
+constexpr double kObstacleSBuffer = 1.0;
 constexpr double kObstacleLBuffer = 0.4;
 
 PathBoundsDecider::PathBoundsDecider(const TaskConfig& config)
@@ -103,8 +101,8 @@ Status PathBoundsDecider::Process(
   std::vector<LaneBorrowInfo> lane_borrow_info_list;
   if (config.path_bounds_decider_config().is_lane_borrowing()) {
     // Try borrowing from left and from right neighbor lane.
-    lane_borrow_info_list = {LaneBorrowInfo::LEFT_BORROW};//,
-                             //LaneBorrowInfo::RIGHT_BORROW};
+    lane_borrow_info_list = {LaneBorrowInfo::LEFT_BORROW,
+                             LaneBorrowInfo::RIGHT_BORROW};
   } else {
     // Only use self-lane with no lane borrowing
     lane_borrow_info_list = {LaneBorrowInfo::NO_BORROW};
@@ -208,7 +206,7 @@ std::string PathBoundsDecider::GenerateRegularPathBound(
     AERROR << msg;
     return msg;
   }
-  PathBoundsDebugString(*path_bound);
+  // PathBoundsDebugString(*path_bound);
 
   // 4. Adjust the boundary considering dynamic obstacles
   // TODO(all): may need to implement this in the future.

modules/planning/tasks/optimizers/piecewise_jerk_path/piecewise_jerk_path_optimizer.cc

@@ -28,8 +28,6 @@
 #include "modules/planning/common/trajectory1d/piecewise_jerk_trajectory1d.h"
 #include "modules/planning/math/finite_element_qp/fem_1d_qp_problem.h"
 
-// #define ADEBUG AINFO
-
 namespace apollo {
 namespace planning {
 

modules/planning/tasks/task_factory.cc

@@ -29,7 +29,6 @@
 #include "modules/planning/tasks/deciders/open_space_roi_decider.h"
 #include "modules/planning/tasks/deciders/path_assessment_decider.h"
 #include "modules/planning/tasks/deciders/path_bounds_decider.h"
-#include "modules/planning/tasks/deciders/path_assessment_decider.h"
 #include "modules/planning/tasks/deciders/side_pass_path_decider.h"
 #include "modules/planning/tasks/deciders/side_pass_safety.h"
 #include "modules/planning/tasks/deciders/speed_bounds_decider/speed_bounds_decider.h"