Routing: remove gflags from topo creator

modules/routing/common/routing_gflags.cc

@@ -36,14 +36,3 @@ DEFINE_string(debug_route_path, "",
               "the default path of routing result debug file");
 DEFINE_string(debug_passage_region_path, "",
               "the default path of passage region debug file");
-
-DEFINE_double(base_speed, 4.167, "base speed for node creator, in m/s");
-DEFINE_double(left_turn_penalty, 50,
-              "left turn penalty for node creater, in meter");
-DEFINE_double(right_turn_penalty, 50,
-              "right turn penalty for node creater, in meter");
-DEFINE_double(uturn_penalty, 50,
-              "left turn penalty for node creater, in meter");
-DEFINE_double(change_penalty, 50, "change penalty for edge creater, in meter");
-DEFINE_double(base_changing_length, 50,
-              "base change length penalty for edge creater, in meter");

modules/routing/common/routing_gflags.h

@@ -33,11 +33,4 @@ DECLARE_bool(enable_debug_mode);
 DECLARE_string(debug_route_path);
 DECLARE_string(debug_passage_region_path);
 
-DECLARE_double(base_speed);
-DECLARE_double(left_turn_penalty);
-DECLARE_double(right_turn_penalty);
-DECLARE_double(uturn_penalty);
-DECLARE_double(change_penalty);
-DECLARE_double(base_changing_length);
-
 #endif  // MODULES_ROUTING_COMMON_ROUTING_GFLAGS_H_

modules/routing/topo_creator/edge_creator.cc

@@ -17,20 +17,21 @@
 #include "modules/routing/topo_creator/edge_creator.h"
 
 #include <math.h>
-#include "modules/routing/common/routing_gflags.h"
 
 namespace apollo {
 namespace routing {
 
 void EdgeCreator::GetPbEdge(const Node& node_from, const Node& node_to,
-                            const Edge::DirectionType& type, Edge* pb_edge) {
-  InitEdgeInfo(node_from, node_to, type, pb_edge);
-  InitEdgeCost(node_from, node_to, type, pb_edge);
+                            const Edge::DirectionType& type, Edge* pb_edge,
+                            const RoutingConfig *routing_config) {
+  InitEdgeInfo(node_from, node_to, type, pb_edge, routing_config);
+  InitEdgeCost(node_from, node_to, type, pb_edge, routing_config);
 }
 
 void EdgeCreator::InitEdgeInfo(const Node& node_from, const Node& node_to,
                                const Edge::DirectionType& type,
-                               Edge* const edge) {
+                               Edge* const edge,
+                               const RoutingConfig *routing_config) {
   edge->set_from_lane_id(node_from.lane_id());
   edge->set_to_lane_id(node_to.lane_id());
   edge->set_direction_type(type);
@@ -38,7 +39,8 @@ void EdgeCreator::InitEdgeInfo(const Node& node_from, const Node& node_to,
 
 void EdgeCreator::InitEdgeCost(const Node& node_from, const Node& node_to,
                                const Edge::DirectionType& type,
-                               Edge* const edge) {
+                               Edge* const edge,
+                               const RoutingConfig *routing_config) {
   edge->set_cost(0.0);
   if (type == Edge::LEFT || type == Edge::RIGHT) {
     const auto& target_range =
@@ -48,10 +50,10 @@ void EdgeCreator::InitEdgeCost(const Node& node_from, const Node& node_to,
       changing_area_length += range.end().s() - range.start().s();
     }
     double ratio =
-        (changing_area_length >= FLAGS_base_changing_length)
-            ? pow(changing_area_length / FLAGS_base_changing_length, -1.5)
-            : 1.0;
-    edge->set_cost(FLAGS_change_penalty * ratio);
+      (changing_area_length >= routing_config->base_changing_length()) ?
+        pow(changing_area_length / routing_config->base_changing_length(), -1.5)
+        : 1.0;
+    edge->set_cost(routing_config->change_penalty() * ratio);
   }
 }
 

modules/routing/topo_creator/edge_creator.h

@@ -18,6 +18,7 @@
 #define MODULES_ROUTING_TOPO_CREATOR_EDGE_CREATOR_H
 
 #include "modules/routing/proto/topo_graph.pb.h"
+#include "modules/routing/proto/routing_config.pb.h"
 
 namespace apollo {
 namespace routing {
@@ -26,15 +27,15 @@ class EdgeCreator {
  public:
   static void GetPbEdge(const Node& node_from, const Node& node_to,
                         const Edge::DirectionType& type,
-                        Edge* pb_edge);
+                        Edge* pb_edge, const RoutingConfig * routingconfig);
 
  private:
   static void InitEdgeInfo(const Node& node_from, const Node& node_to,
                            const Edge::DirectionType& type,
-                           Edge* pb_edge);
+                           Edge* pb_edge, const RoutingConfig * routingconfig);
   static void InitEdgeCost(const Node& node_from, const Node& node_to,
                            const Edge::DirectionType& type,
-                           Edge* pb_edge);
+                           Edge* pb_edge, const RoutingConfig * routingconfig);
 };
 
 }  // namespace routing

modules/routing/topo_creator/graph_creator.cc

@@ -98,10 +98,11 @@ bool GraphCreator::Create() {
     node_index_map_[lane_id] = graph_.node_size();
     const auto iter = road_id_map_.find(lane_id);
     if (iter != road_id_map_.end()) {
-      NodeCreator::GetPbNode(lane, iter->second, graph_.add_node());
+      NodeCreator::GetPbNode(lane, iter->second, graph_.add_node(),
+                             routing_conf_);
     } else {
       LOG(WARNING) << "Failed to find road id of lane " << lane_id;
-      NodeCreator::GetPbNode(lane, "", graph_.add_node());
+      NodeCreator::GetPbNode(lane, "", graph_.add_node(), routing_conf_);
     }
   }
 
@@ -175,7 +176,8 @@ void GraphCreator::AddEdge(const Node& from_node,
       continue;
     }
     const auto& to_node = graph_.node(iter->second);
-    EdgeCreator::GetPbEdge(from_node, to_node, type, graph_.add_edge());
+    EdgeCreator::GetPbEdge(from_node, to_node, type, graph_.add_edge(),
+      routing_conf_);
   }
 }
 

modules/routing/topo_creator/node_creator.cc

@@ -19,8 +19,6 @@
 #include <cmath>
 #include <algorithm>
 
-#include "modules/routing/common/routing_gflags.h"
-
 namespace apollo {
 namespace routing {
 
@@ -57,9 +55,9 @@ double GetLaneLength(const Lane& lane) {
 }  // namespace
 
 void NodeCreator::GetPbNode(const Lane& lane, const std::string& road_id,
-                            Node* pb_node) {
-  InitNodeInfo(lane, road_id, pb_node);
-  InitNodeCost(lane, pb_node);
+                            Node* pb_node, const RoutingConfig * routingconfig){
+  InitNodeInfo(lane, road_id, pb_node, routingconfig);
+  InitNodeCost(lane, pb_node, routingconfig);
 }
 
 void NodeCreator::AddOutBoundary(
@@ -82,7 +80,8 @@ void NodeCreator::AddOutBoundary(
 }
 
 void NodeCreator::InitNodeInfo(const Lane& lane, const std::string& road_id,
-                               Node* const node) {
+                               Node* const node,
+                               const RoutingConfig * routingconfig) {
   double lane_length = GetLaneLength(lane);
   node->set_lane_id(lane.id().id());
   node->set_road_id(road_id);
@@ -98,21 +97,22 @@ void NodeCreator::InitNodeInfo(const Lane& lane, const std::string& road_id,
   }
 }
 
-void NodeCreator::InitNodeCost(const Lane& lane, Node* const node) {
+void NodeCreator::InitNodeCost(const Lane& lane, Node* const node,
+                               const RoutingConfig * routingconfig) {
   double lane_length = GetLaneLength(lane);
   double speed_limit =
-      (lane.has_speed_limit()) ? lane.speed_limit() : FLAGS_base_speed;
-  double ratio = (speed_limit >= FLAGS_base_speed)
-                     ? (1 / sqrt(speed_limit / FLAGS_base_speed))
+    (lane.has_speed_limit()) ? lane.speed_limit() : routingconfig->base_speed();
+  double ratio = (speed_limit >= routingconfig->base_speed())
+                     ? (1 / sqrt(speed_limit / routingconfig->base_speed()))
                      : 1.0;
   double cost = lane_length * ratio;
   if (lane.has_turn()) {
     if (lane.turn() == Lane::LEFT_TURN) {
-      cost += FLAGS_left_turn_penalty;
+      cost += routingconfig->left_turn_penalty();
     } else if (lane.turn() == Lane::RIGHT_TURN) {
-      cost += FLAGS_right_turn_penalty;
+      cost += routingconfig->right_turn_penalty();
     } else if (lane.turn() == Lane::U_TURN) {
-      cost += FLAGS_uturn_penalty;
+      cost += routingconfig->uturn_penalty();
     }
   }
   node->set_cost(cost);

modules/routing/topo_creator/node_creator.h

@@ -21,6 +21,7 @@
 
 #include "modules/map/proto/map_lane.pb.h"
 #include "modules/routing/proto/topo_graph.pb.h"
+#include "modules/routing/proto/routing_config.pb.h"
 
 namespace apollo {
 namespace routing {
@@ -29,7 +30,7 @@ class NodeCreator {
  public:
   static void GetPbNode(const ::apollo::hdmap::Lane& lane,
                         const std::string& road_id,
-                        Node* pb_node);
+                        Node* pb_node, const RoutingConfig * routingconfig);
 
  private:
   static void AddOutBoundary(
@@ -38,8 +39,10 @@ class NodeCreator {
 
   static void InitNodeInfo(const ::apollo::hdmap::Lane& lane,
                            const std::string& road_id,
-                           Node* const node);
-  static void InitNodeCost(const ::apollo::hdmap::Lane& lane, Node* const node);
+                           Node* const node,
+                           const RoutingConfig * routingconfig);
+  static void InitNodeCost(const ::apollo::hdmap::Lane& lane, Node* const node,
+                           const RoutingConfig * routingconfig);
 };
 
 }  // namespace routing