planning: add ParkAndGo to ScenarioManager registration

modules/planning/common/planning_gflags.cc

@@ -39,6 +39,10 @@ DEFINE_string(scenario_narrow_street_u_turn_config_file,
               "/apollo/modules/planning/conf/"
               "scenario/narrow_street_u_turn_config.pb.txt",
               "narrow_street_u_turn scenario config file");
+DEFINE_string(scenario_park_and_go_config_file,
+              "/apollo/modules/planning/conf/"
+              "scenario/park_and_go_config.pb.txt",
+              "park_and_go scenario config file");
 DEFINE_string(scenario_pull_over_config_file,
               "/apollo/modules/planning/conf/"
               "scenario/pull_over_config.pb.txt",
@@ -63,14 +67,13 @@ DEFINE_string(scenario_valet_parking_config_file,
               "/apollo/modules/planning/conf/"
               "scenario/valet_parking_config.pb.txt",
               "valet_parking scenario config file");
-DEFINE_string(scenario_park_and_go_config_file,
-              "/apollo/modules/planning/conf/"
-              "scenario/park_and_go_config.pb.txt",
-              "park_and_go scenario config file");
 
 DEFINE_bool(enable_scenario_bare_intersection, false,
             "enable bare_intersection scenarios in planning");
 
+DEFINE_bool(enable_scenario_park_and_go, false,
+            "enable park-and-go scenario in planning");
+
 DEFINE_bool(enable_scenario_pull_over, false,
             "enable pull-over scenario in planning");
 
@@ -90,8 +93,6 @@ DEFINE_bool(enable_scenario_traffic_light, true,
 DEFINE_bool(enable_force_pull_over_open_space_parking_test, false,
             "enable force_pull_over_open_space_parking_test");
 
-DEFINE_bool(enable_scenario_park_and_go, false,
-            "enable park-and-go scenario in planning");
 
 DEFINE_string(traffic_rule_config_filename,
               "/apollo/modules/planning/conf/traffic_rule_config.pb.txt",

modules/planning/common/planning_gflags.h

@@ -27,9 +27,9 @@ DECLARE_string(planning_config_file);
 DECLARE_string(scenario_bare_intersection_unprotected_config_file);
 DECLARE_string(scenario_lane_follow_config_file);
 DECLARE_string(scenario_narrow_street_u_turn_config_file);
+DECLARE_string(scenario_park_and_go_config_file);
 DECLARE_string(scenario_pull_over_config_file);
 DECLARE_string(scenario_stop_sign_unprotected_config_file);
-DECLARE_string(scenario_park_and_go_config_file);
 DECLARE_string(scenario_traffic_light_protected_config_file);
 DECLARE_string(scenario_traffic_light_unprotected_left_turn_config_file);
 DECLARE_string(scenario_traffic_light_unprotected_right_turn_config_file);

modules/planning/scenarios/BUILD

@@ -71,6 +71,7 @@ cc_library(
         "//modules/planning/common/util:util_lib",
         "//modules/planning/scenarios/bare_intersection/unprotected:bare_intersection_unprotected_scenario",
         "//modules/planning/scenarios/lane_follow",
+        "//modules/planning/scenarios/park_and_go:park_and_go_scenario",        
         "//modules/planning/scenarios/park/pull_over:pull_over_scenario",
         "//modules/planning/scenarios/park/valet_parking",
         "//modules/planning/scenarios/stop_sign/unprotected:stop_sign_unprotected_scenario",

modules/planning/scenarios/park_and_go/BUILD

@@ -2,14 +2,6 @@ load("//tools:cpplint.bzl", "cpplint")
 
 package(default_visibility = ["//visibility:public"])
 
-cc_library(
-    name = "park_and_go",
-    copts = ["-DMODULE_NAME=\\\"planning\\\""],
-    deps = [
-        ":park_and_go_scenario",
-    ],
-)
-
 cc_library(
     name = "park_and_go_scenario",
     srcs = [
@@ -46,7 +38,7 @@ cc_test(
         "//modules/planning:planning_conf",
     ],
     deps = [
-        ":park_and_go",
+        ":park_and_go_scenario",
         "@gtest//:main",
     ],
 )
@@ -61,7 +53,7 @@ cc_test(
         "//modules/planning:planning_conf",
     ],
     deps = [
-        ":park_and_go",
+        ":park_and_go_scenario",
         "@gtest//:main",
     ],
 )

modules/planning/scenarios/scenario_manager.cc

@@ -29,6 +29,7 @@
 #include "modules/planning/common/util/util.h"
 #include "modules/planning/scenarios/bare_intersection/unprotected/bare_intersection_unprotected_scenario.h"
 #include "modules/planning/scenarios/lane_follow/lane_follow_scenario.h"
+#include "modules/planning/scenarios/park_and_go/park_and_go_scenario.h"
 #include "modules/planning/scenarios/park/pull_over/pull_over_scenario.h"
 #include "modules/planning/scenarios/park/valet_parking/valet_parking_scenario.h"
 #include "modules/planning/scenarios/stop_sign/unprotected/stop_sign_unprotected_scenario.h"
@@ -58,15 +59,23 @@ std::unique_ptr<Scenario> ScenarioManager::CreateScenario(
   std::unique_ptr<Scenario> ptr;
 
   switch (scenario_type) {
-    case ScenarioConfig::LANE_FOLLOW:
-      ptr.reset(new lane_follow::LaneFollowScenario(config_map_[scenario_type],
-                                                    &scenario_context_));
-      break;
     case ScenarioConfig::BARE_INTERSECTION_UNPROTECTED:
       ptr.reset(
           new scenario::bare_intersection::BareIntersectionUnprotectedScenario(
               config_map_[scenario_type], &scenario_context_));
       break;
+    case ScenarioConfig::LANE_FOLLOW:
+      ptr.reset(new lane_follow::LaneFollowScenario(config_map_[scenario_type],
+                                                    &scenario_context_));
+      break;
+    case ScenarioConfig::PARK_AND_GO:
+      ptr.reset(new scenario::park_and_go::ParkAndGoScenario(
+          config_map_[scenario_type], &scenario_context_));
+      break;
+    case ScenarioConfig::PULL_OVER:
+      ptr.reset(new scenario::pull_over::PullOverScenario(
+          config_map_[scenario_type], &scenario_context_));
+      break;
     case ScenarioConfig::STOP_SIGN_UNPROTECTED:
       ptr.reset(new scenario::stop_sign::StopSignUnprotectedScenario(
           config_map_[scenario_type], &scenario_context_));
@@ -85,10 +94,6 @@ std::unique_ptr<Scenario> ScenarioManager::CreateScenario(
           new scenario::traffic_light::TrafficLightUnprotectedRightTurnScenario(
               config_map_[scenario_type], &scenario_context_));
       break;
-    case ScenarioConfig::PULL_OVER:
-      ptr.reset(new scenario::pull_over::PullOverScenario(
-          config_map_[scenario_type], &scenario_context_));
-      break;
     case ScenarioConfig::VALET_PARKING:
       ptr.reset(new scenario::valet_parking::ValetParkingScenario(
           config_map_[scenario_type], &scenario_context_));
@@ -113,6 +118,14 @@ void ScenarioManager::RegisterScenarios() {
       FLAGS_scenario_bare_intersection_unprotected_config_file,
       &config_map_[ScenarioConfig::BARE_INTERSECTION_UNPROTECTED]));
 
+  // park_and_go
+  CHECK(Scenario::LoadConfig(FLAGS_scenario_park_and_go_config_file,
+                             &config_map_[ScenarioConfig::PARK_AND_GO]));
+
+  // pull_over
+  CHECK(Scenario::LoadConfig(FLAGS_scenario_pull_over_config_file,
+                             &config_map_[ScenarioConfig::PULL_OVER]));
+
   // stop_sign
   CHECK(Scenario::LoadConfig(
       FLAGS_scenario_stop_sign_unprotected_config_file,
@@ -129,10 +142,6 @@ void ScenarioManager::RegisterScenarios() {
       FLAGS_scenario_traffic_light_unprotected_right_turn_config_file,
       &config_map_[ScenarioConfig::TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN]));
 
-  // pull_over
-  CHECK(Scenario::LoadConfig(FLAGS_scenario_pull_over_config_file,
-                             &config_map_[ScenarioConfig::PULL_OVER]));
-
   // valet parking
   CHECK(Scenario::LoadConfig(FLAGS_scenario_valet_parking_config_file,
                              &config_map_[ScenarioConfig::VALET_PARKING]));