Prediction: put global constants into a single class.

modules/prediction/common/BUILD

@@ -89,6 +89,7 @@ cc_library(
     hdrs = ["road_graph.h"],
     deps = [
         ":prediction_map",
+        "//modules/prediction/common:prediction_constants",
         "//modules/prediction/common:prediction_gflags",
         "//modules/prediction/proto:lane_graph_proto",
     ],
@@ -243,4 +244,9 @@ cc_library(
     ],
 )
 
+cc_library(
+    name = "prediction_constants",
+    hdrs = ["prediction_constants.h"],
+)
+
 cpplint()

modules/prediction/common/prediction_constants.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
+ * @brief Holds all global constants for the prediction module.
+ */
+
+#pragma once
+
+namespace apollo {
+namespace prediction {
+
+class PredictionConstants {
+ public:
+  static const int kOnlineMode = 0;
+  static const int kDumpFeatureProto = 1;
+  static const int kDumpDataForLearning = 2;
+  static const int kDumpPredictionResult = 3;
+  static const int kDumpFrameEnv = 4;
+  static const int kDumpDataForTuning = 5;
+};
+
+}  // namespace prediction
+}  // namespace apollo

modules/prediction/common/road_graph.cc

@@ -19,6 +19,7 @@
 #include <algorithm>
 #include <utility>
 
+#include "modules/prediction/common/prediction_constants.h"
 #include "modules/prediction/common/prediction_gflags.h"
 #include "modules/prediction/common/prediction_system_gflags.h"
 
@@ -188,8 +189,10 @@ void RoadGraph::ComputeLaneSequence(
           // Run recursion function to perform DFS.
           for (const auto& successor_lane : successor_lanes) {
             bool consider_divide_further = false;
-            if (FLAGS_prediction_offline_mode == 1 ||
-                FLAGS_prediction_offline_mode == 2) {
+            if (FLAGS_prediction_offline_mode ==
+                    PredictionConstants::kDumpFeatureProto ||
+                FLAGS_prediction_offline_mode ==
+                    PredictionConstants::kDumpDataForLearning) {
               consider_divide_further = true;
             }
             ComputeLaneSequence(successor_accumulated_s, 0.0,

modules/prediction/container/obstacles/BUILD

@@ -9,6 +9,7 @@ cc_library(
     deps = [
         "//modules/prediction/common:environment_features",
         "//modules/prediction/common:feature_output",
+        "//modules/prediction/common:prediction_constants",
         "//modules/prediction/container",
         "//modules/prediction/container/obstacles:obstacle",
     ],

modules/prediction/container/obstacles/obstacles_container.cc

@@ -21,6 +21,7 @@
 
 #include "modules/prediction/common/feature_output.h"
 #include "modules/prediction/common/junction_analyzer.h"
+#include "modules/prediction/common/prediction_constants.h"
 #include "modules/prediction/common/prediction_gflags.h"
 #include "modules/prediction/common/prediction_system_gflags.h"
 #include "modules/prediction/container/obstacles/obstacle_clusters.h"
@@ -30,6 +31,7 @@ namespace prediction {
 
 using apollo::perception::PerceptionObstacle;
 using apollo::perception::PerceptionObstacles;
+using apollo::prediction::PredictionConstants;
 
 ObstaclesContainer::ObstaclesContainer()
     : ptr_obstacles_(FLAGS_max_num_obstacles),
@@ -344,8 +346,10 @@ void ObstaclesContainer::BuildLaneGraph() {
       AERROR << "Null obstacle found.";
       continue;
     }
-    if (FLAGS_prediction_offline_mode != 1 &&
-        FLAGS_prediction_offline_mode != 2) {
+    if (FLAGS_prediction_offline_mode !=
+            PredictionConstants::kDumpFeatureProto &&
+        FLAGS_prediction_offline_mode !=
+            PredictionConstants::kDumpDataForLearning) {
       ADEBUG << "Building Lane Graph.";
       obstacle_ptr->BuildLaneGraph();
     } else {