Planning: Migrated NaviPlanner to the CyberRT framework.

modules/planning/conf/navi_traffic_rule_config.pb.txt

@@ -106,26 +106,3 @@ config: {
     }
   }
 }
-
-config: {
-  rule_id: STOP_SIGN
-  enabled: true
-  stop_sign {
-    stop_distance: 1.0
-    min_pass_s_distance: 3.0
-    max_stop_speed: 0.3
-    max_valid_stop_distance: 3.5
-    stop_duration : 1.0
-    watch_vehicle_max_valid_stop_speed: 0.5
-    watch_vehicle_max_valid_stop_distance: 5.0
-    wait_timeout: 8.0
-    creep {
-      enabled: true
-      creep_distance_to_stop_line: 1.5
-      stop_distance: 0.3
-      speed_limit: 1.0
-      max_valid_stop_distance: 0.4
-      min_boundary_t: 6.0
-    }
-  }
-}

modules/planning/conf/planning_config_navi.pb.txt

+navigation_planning_config {
 planner_type : NAVI
 planner_navi_config {
   task : NAVI_PATH_DECIDER
@@ -56,3 +57,4 @@ planner_navi_config {
     max_keep_nudge_cycles : 110
   }
 }
+}

modules/planning/conf/planning_navi.conf

---flagfile=modules/planning/conf/planning.conf
---planning_config_file=modules/planning/conf/planning_config_navi.pb.txt
---traffic_rule_config_filename=modules/planning/conf/navi_traffic_rule_config.pb.txt
+--flagfile=/apollo/modules/planning/conf/planning.conf
+--planning_config_file=/apollo/modules/planning/conf/planning_config_navi.pb.txt
+--traffic_rule_config_filename=/apollo/modules/planning/conf/navi_traffic_rule_config.pb.txt
 --planning_upper_speed_limit=24.587
 --noenable_nudge_decision
 --replan_lateral_distance_threshold=0.5

modules/planning/planner/navi_planner_dispatcher.cc

@@ -22,7 +22,7 @@ namespace apollo {
 namespace planning {
 
 std::unique_ptr<Planner> NaviPlannerDispatcher::DispatchPlanner() {
-  return planner_factory_.CreateObject(PUBLIC_ROAD);
+  return planner_factory_.CreateObject(PlannerType::NAVI);
 }
 
 }  // namespace planning

modules/planning/planner/navi_planner_dispatcher_test.cc

@@ -39,7 +39,7 @@ TEST_F(NaviPlannerDispatcherTest, Simple) {
   pd_.reset(new NaviPlannerDispatcher());
   pd_->Init();
   auto planner = pd_->DispatchPlanner();
-  EXPECT_EQ(planner->Name(), "PUBLIC_ROAD");
+  EXPECT_EQ(planner->Name(), "NAVI");
 }
 
 }  // namespace planning

modules/planning/planner/planner_dispatcher.cc

@@ -19,6 +19,7 @@
 #include "modules/planning/proto/planning_config.pb.h"
 
 #include "modules/planning/planner/lattice/lattice_planner.h"
+#include "modules/planning/planner/navi/navi_planner.h"
 #include "modules/planning/planner/open_space/open_space_planner.h"
 #include "modules/planning/planner/public_road/public_road_planner.h"
 #include "modules/planning/planner/rtk/rtk_replay_planner.h"
@@ -28,13 +29,18 @@ namespace planning {
 
 void PlannerDispatcher::RegisterPlanners() {
   planner_factory_.Register(
-      RTK, []() -> Planner* { return new RTKReplayPlanner(); });
-  planner_factory_.Register(
-      PUBLIC_ROAD, []() -> Planner* { return new PublicRoadPlanner(); });
-  planner_factory_.Register(LATTICE,
+      PlannerType::RTK, []() -> Planner* { return new RTKReplayPlanner(); });
+  planner_factory_.Register(PlannerType::PUBLIC_ROAD, []() -> Planner* {
+    return new PublicRoadPlanner();
+  });
+  planner_factory_.Register(PlannerType::LATTICE,
                             []() -> Planner* { return new LatticePlanner(); });
-  planner_factory_.Register(
-      OPEN_SPACE, []() -> Planner* { return new OpenSpacePlanner(); });
+  planner_factory_.Register(PlannerType::OPEN_SPACE, []() -> Planner* {
+    return new OpenSpacePlanner();
+  });
+
+  planner_factory_.Register(PlannerType::NAVI,
+                            []() -> Planner* { return new NaviPlanner(); });
 }
 
 }  // namespace planning