Prediction: implement write data for tuning

modules/prediction/common/prediction_system_gflags.cc

@@ -49,9 +49,11 @@ DEFINE_string(
     "will use the listen to published ros topic mode.");
 DEFINE_int32(prediction_offline_mode, 0,
              "0: online mode, no dump file"
-             "1: dump feature proto to feature.x.bin"
-             "2: dump data for learning to datalearn.x.bin"
-             "3: dump predicted trajectory to predict_result.x.bin");
+             "1: dump feature proto to feature.*.bin"
+             "2: dump data for learning to datalearn.*.bin"
+             "3: dump predicted trajectory to predict_result.*.bin"
+             "4: dump frame environment info to frame_env.*.bin"
+             "5: dump data for tuning to datatuning.*.bin");
 DEFINE_bool(enable_multi_thread, true, "If enable multi-thread.");
 DEFINE_int32(max_thread_num, 8, "Maximal number of threads.");
 

modules/prediction/container/obstacles/obstacles_container.cc

@@ -99,6 +99,13 @@ void ObstaclesContainer::Insert(const ::google::protobuf::Message& message) {
       }
       break;
     }
+    case 5: {
+      if (std::fabs(timestamp - timestamp_) > FLAGS_replay_timestamp_gap ||
+          FeatureOutput::SizeOfFrameEnv() > FLAGS_max_num_dump_feature) {
+        FeatureOutput::WriteDataForTuning();
+      }
+      break;
+    }
     default: {
       // No data dump
       break;