[planning] unified planning config pb

modules/planning/conf/planning_config.pb.txt

-planner_type : EM em_planner_config {
+planner_type : EM
+em_planner_config {
 
     optimizer : DP_POLY_PATH_OPTIMIZER
     optimizer : DP_ST_SPEED_OPTIMIZER

modules/planning/proto/BUILD

@@ -21,6 +21,9 @@ proto_library(
         "st_boundary_config.proto",
     ],
     deps = [
+        ":dp_poly_path_config_proto_lib",
+        ":dp_st_speed_config_proto_lib",
+        ":qp_spline_path_config_proto_lib",
         "//modules/canbus/proto:canbus_proto_lib",
         "//modules/common/proto:common_proto_lib",
         "//modules/common/proto:error_code_proto_lib",

modules/planning/proto/planning_config.proto

@@ -2,6 +2,11 @@ syntax = "proto2";
 
 package apollo.planning;
 
+import "modules/planning/proto/dp_poly_path_config.proto";
+import "modules/planning/proto/dp_st_speed_config.proto";
+import "modules/planning/proto/qp_spline_path_config.proto";
+import "modules/planning/proto/qp_spline_st_speed_config.proto";
+
 enum OptimizerType {
   DP_POLY_PATH_OPTIMIZER = 0;
   DP_ST_SPEED_OPTIMIZER = 1;
@@ -11,6 +16,10 @@ enum OptimizerType {
 
 message EMPlannerConfig {
   repeated OptimizerType optimizer = 1;
+  optional apollo.planning.DpPolyPathConfig dp_poly_path_config = 2;
+  optional apollo.planning.DpStSpeedConfig dp_st_speed_config = 3;
+  optional apollo.planning.QpSplinePathConfig qp_spline_path_config = 4;
+  optional apollo.planning.QpSplineStSpeedConfig qp_spline_st_speed_config = 5;
 }
 
 message PlanningConfig {