planning: add relative_map into planning debug pb. (#3154)

modules/planning/common/frame.cc

@@ -432,6 +432,12 @@ void Frame::RecordInputDebug(planning_internal::Debug *debug) {
   }
 
   planning_data->mutable_prediction_header()->CopyFrom(prediction_.header());
+
+  auto relative_map = AdapterManager::GetRelativeMap();
+  if (!relative_map->Empty()) {
+    planning_data->mutable_relative_map()->CopyFrom(
+        relative_map->GetLatestObserved());
+  }
 }
 
 void Frame::AlignPredictionTime(const double planning_start_time,

modules/planning/planning.cc

@@ -302,9 +302,12 @@ void Planning::RunOnce() {
       status.Save(estop_trajectory.mutable_header()->mutable_status());
       PublishPlanningPb(&estop_trajectory, start_timestamp);
     } else {
-      not_ready->set_reason(msg);
-      status.Save(not_ready_pb.mutable_header()->mutable_status());
-      PublishPlanningPb(&not_ready_pb, start_timestamp);
+      trajectory_pb->mutable_decision()
+          ->mutable_main_decision()
+          ->mutable_not_ready()
+          ->set_reason(msg);
+      status.Save(trajectory_pb->mutable_header()->mutable_status());
+      PublishPlanningPb(trajectory_pb, start_timestamp);
     }
 
     auto seq_num = frame_->SequenceNum();

modules/planning/proto/BUILD

@@ -117,6 +117,7 @@ proto_library(
         "//modules/common/proto:header_proto_lib",
         "//modules/common/proto:pnc_point_proto_lib",
         "//modules/localization/proto:localization_proto_lib",
+        "//modules/map/relative_map/proto:navigation_proto_lib",
         "//modules/perception/proto:perception_proto_lib",
         "//modules/prediction/proto:prediction_proto_lib",
         "//modules/routing/proto:routing_proto_lib",

modules/planning/proto/planning_internal.proto

@@ -6,6 +6,7 @@ import "modules/common/proto/header.proto";
 import "modules/canbus/proto/chassis.proto";
 import "modules/common/proto/pnc_point.proto";
 import "modules/localization/proto/localization.proto";
+import "modules/map/relative_map/proto/navigation.proto";
 import "modules/routing/proto/routing.proto";
 import "modules/perception/proto/traffic_light_detection.proto";
 import "modules/planning/proto/sl_boundary.proto";
@@ -128,7 +129,7 @@ message DpPolyGraphDebug {
   repeated apollo.common.SLPoint min_cost_point = 2;
 }
 
-// next id: 21
+// next id: 22
 message PlanningData {
   // input
   optional apollo.localization.LocalizationEstimate adc_position = 7;
@@ -148,6 +149,7 @@ message PlanningData {
   repeated ReferenceLineDebug reference_line = 19;
   optional DpPolyGraphDebug dp_poly_graph = 20;
   optional LatticeStTraining lattice_st_image = 21;
+  optional apollo.relative_map.MapMsg relative_map = 22;
 }
 
 message LatticeStPixel {