Control : adjust the config files to avoid confusion

docs/howto/how_to_add_a_new_control_algorithm.md

@@ -73,7 +73,7 @@ To add the new controller configuration complete the following steps:
       };
     ```
 
-5. When the `protobuf` definition is complete, update the control configuration file accordingly at `modules/control/conf/lincoln.pb.txt`
+5. When the `protobuf` definition is complete, update the control configuration file accordingly at `modules/control/conf/control_conf.pb.txt`
 
 ```
 Note: The above `control/conf` file is the default for Apollo.  Your project may use a different control configuration file.

docs/howto/how_to_add_a_new_control_algorithm_cn.md

@@ -73,7 +73,7 @@ class NewController : public Controller {
       };
     ```
 
-5. `protobuf`定义完成后，在`modules/control/conf/lincoln.pb.txt`中相应更新控制配置文件。
+5. `protobuf`定义完成后，在`modules/control/conf/control_conf.pb.txt`中相应更新控制配置文件。
 
 ```
 注意：上面的"control/conf"文件是Apollo的默认文件。您的项目可能使用不同的控制配置文件.

modules/control/common/interpolation_1d_test.cc

@@ -33,7 +33,7 @@ class Interpolation1DTest : public ::testing::Test {
  public:
   virtual void SetUp() {
     std::string control_conf_file =
-        "/apollo/modules/control/testdata/conf/lincoln.pb.txt";
+        "/apollo/modules/control/testdata/conf/control_conf.pb.txt";
     CHECK(common::util::GetProtoFromFile(control_conf_file, &control_conf_));
   }
 

modules/control/common/interpolation_2d_test.cc

@@ -31,7 +31,7 @@ class Interpolation2DTest : public ::testing::Test {
  public:
   virtual void SetUp() {
     std::string control_conf_file =
-        "/apollo/modules/control/testdata/conf/lincoln.pb.txt";
+        "/apollo/modules/control/testdata/conf/control_conf.pb.txt";
     CHECK(common::util::GetProtoFromFile(control_conf_file, &control_conf_));
   }
 

modules/control/common/pid_BC_controller_test.cc

@@ -28,7 +28,7 @@ class PidBCControllerTest : public ::testing::Test {
  public:
   virtual void SetUp() {
     std::string control_conf_file =
-        "/apollo/modules/control/testdata/conf/lincoln.pb.txt";
+        "/apollo/modules/control/testdata/conf/control_conf.pb.txt";
     CHECK(common::util::GetProtoFromFile(control_conf_file,
                                                    &control_conf_));
     lon_controller_conf_ = control_conf_.lon_controller_conf();

modules/control/common/pid_IC_controller_test.cc

@@ -30,7 +30,7 @@ class PidICControllerTest : public ::testing::Test {
  public:
   virtual void SetUp() {
     std::string control_conf_file =
-        "/apollo/modules/control/testdata/conf/lincoln.pb.txt";
+        "/apollo/modules/control/testdata/conf/control_conf.pb.txt";
     CHECK(common::util::GetProtoFromFile(control_conf_file,
                                                    &control_conf_));
     lon_controller_conf_ = control_conf_.lon_controller_conf();

modules/control/common/pid_controller_test.cc

@@ -31,7 +31,7 @@ class PidControllerTest : public ::testing::Test {
  public:
   virtual void SetUp() {
     std::string control_conf_file =
-        "/apollo/modules/control/testdata/conf/lincoln.pb.txt";
+        "/apollo/modules/control/testdata/conf/control_conf.pb.txt";
     CHECK(common::util::GetProtoFromFile(control_conf_file,
                                                    &control_conf_));
     lon_controller_conf_ = control_conf_.lon_controller_conf();

modules/control/control_component_test.cc

@@ -55,7 +55,7 @@ class ControlComponentTest : public ::testing::Test {
  public:
   virtual void SetUp() {
     FLAGS_control_conf_file =
-        "/apollo/modules/control/testdata/conf/lincoln.pb.txt";
+        "/apollo/modules/control/testdata/conf/control_conf.pb.txt";
     FLAGS_is_control_test_mode = true;
 
     SetupCyber();

modules/control/controller/lat_controller_test.cc

@@ -45,7 +45,7 @@ class LatControllerTest : public ::testing::Test, LatController {
   virtual void SetUp() {
     FLAGS_v = 3;
     std::string control_conf_file =
-        "/apollo/modules/control/testdata/conf/lincoln.pb.txt";
+        "/apollo/modules/control/testdata/conf/control_conf.pb.txt";
     ControlConf control_conf;
     CHECK(apollo::common::util::GetProtoFromFile(control_conf_file,
                                                  &control_conf));

modules/control/controller/lon_controller_test.cc

@@ -53,7 +53,7 @@ class LonControllerTest : public ::testing::Test, LonController {
 
     ControlConf control_conf;
     std::string control_conf_file =
-        "/apollo/modules/control/testdata/conf/lincoln.pb.txt";
+        "/apollo/modules/control/testdata/conf/control_conf.pb.txt";
 
     CHECK(apollo::common::util::GetProtoFromFile(control_conf_file,
                                                  &control_conf));

modules/control/controller/mpc_controller_test.cc

@@ -45,7 +45,8 @@ class MPCControllerTest : public ::testing::Test, MPCController {
   virtual void SetupTestCase() {
     FLAGS_v = 4;
     FLAGS_control_conf_file =
-        "/apollo/modules//control/testdata/mpc_controller_test/lincoln.pb.txt ";
+        "/apollo/modules//control/testdata/mpc_controller_test/"
+        "control_conf.pb.txt ";
     ControlConf control_conf;
     CHECK(apollo::common::util::GetProtoFromFile(FLAGS_control_conf_file,
                                                  &control_conf));

modules/control/integration_tests/control_test_base.cc

@@ -186,7 +186,7 @@ bool ControlTestBase::test_control(const std::string &test_case_name,
 
 void ControlTestBase::SetUpTestCase() {
   FLAGS_control_conf_file =
-      "/apollo/modules/control/testdata/conf/lincoln.pb.txt";
+      "/apollo/modules/control/testdata/conf/control_conf.pb.txt";
   FLAGS_is_control_test_mode = true;
 }
 

modules/control/integration_tests/mpc_controller_test.cc

@@ -39,7 +39,8 @@ class MPCControllerTest : public ControlTestBase {
     FLAGS_test_data_dir =
         "/apollo/modules/control/testdata/mpc_controller_test/";
     FLAGS_control_conf_file =
-        "/apollo/modules/control/testdata/mpc_controller_test/lincoln.pb.txt";
+        "/apollo/modules/control/testdata/mpc_controller_test/"
+        "control_conf.pb.txt";
     FLAGS_use_navigation_mode = false;
   }
 };

modules/control/integration_tests/relative_position_test.cc

@@ -39,7 +39,7 @@ class RelativePositionTest : public ControlTestBase {
     FLAGS_test_data_dir =
         "/apollo/modules/control/testdata/relative_position_test/";
     FLAGS_control_conf_file =
-        "/apollo/modules/control/testdata/conf/lincoln_lite.pb.txt";
+        "/apollo/modules/control/testdata/conf/control_conf_lite.pb.txt";
     FLAGS_use_navigation_mode = true;
   }
 };

modules/control/testdata/conf/lincoln.pb.txt → modules/control/testdata/conf/control_conf.pb.txt

+control_test_duration: -1
+enable_csv_debug: false
+enable_speed_station_preview: false
+is_control_test_mode: false
+use_preview_speed_for_table: false
+enable_input_timestamp_check: false
+max_localization_miss_num : 20
+max_planning_miss_num: 20
+max_acceleration_when_stopped : 0.01
+steer_angle_rate: 100
+enable_gain_scheduler: true
+set_steer_limit: true
+enable_slope_offset: false
+
 control_period: 0.01
 trajectory_period: 0.1
 chassis_period: 0.01

modules/control/testdata/conf/lincoln_lite.pb.txt → modules/control/testdata/conf/control_conf_lite.pb.txt

+control_test_duration: -1
+enable_csv_debug: false
+enable_speed_station_preview: false
+is_control_test_mode: false
+use_preview_speed_for_table: false
+enable_input_timestamp_check: false
+max_localization_miss_num : 20
+max_planning_miss_num: 20
+max_acceleration_when_stopped : 0.01
+steer_angle_rate: 100
+enable_gain_scheduler: true
+set_steer_limit: true
+enable_slope_offset: false
+
 control_period: 0.01
 trajectory_period: 0.1
 chassis_period: 0.01

modules/control/testdata/mpc_controller_test/lincoln.pb.txt → modules/control/testdata/mpc_controller_test/control_conf.pb.txt

+control_test_duration: -1
+enable_csv_debug: false
+enable_speed_station_preview: false
+is_control_test_mode: false
+use_preview_speed_for_table: false
+enable_input_timestamp_check: false
+max_localization_miss_num : 20
+max_planning_miss_num: 20
+max_acceleration_when_stopped : 0.01
+steer_angle_rate: 100
+enable_gain_scheduler: true
+set_steer_limit: true
+enable_slope_offset: false
+
 control_period: 0.01
 trajectory_period: 0.1
 chassis_period: 0.01

modules/dreamview/conf/vehicle_data.pb.txt

@@ -4,7 +4,7 @@ data_files {
 }
 data_files {
   source_path: "calibration_table.pb.txt"
-  dest_path: "/apollo/modules/control/conf/lincoln.pb.txt"
+  dest_path: "/apollo/modules/control/conf/control_conf.pb.txt"
 }
 data_files {
   source_path: "cancard_params/canbus_conf.pb.txt"

modules/tools/calibration/result2pb.sh

@@ -17,7 +17,7 @@
 ###############################################################################
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}"  )" && pwd  )"
-python $DIR/result2pb.py $DIR/../../control/conf/lincoln.pb.txt $1
+python $DIR/result2pb.py $DIR/../../control/conf/control_conf.pb.txt $1
 
 echo "Created control conf file: control_conf_pb.txt"
 echo "with updated calibration table"

modules/tools/configurator/meta.data

 MODULE proto name conf_file
 CANBUS modules.canbus.proto.canbus_conf_pb2 CanbusConf() /apollo/modules/canbus/conf/canbus_conf.pb.txt
-CONTROL modules.control.proto.control_conf_pb2 ControlConf() /apollo/modules/control/conf/lincoln.pb.txt
+CONTROL modules.control.proto.control_conf_pb2 ControlConf() /apollo/modules/control/conf/control_conf.pb.txt
 PLANNING modules.planning.proto.planning_config_pb2 PlanningConfig() /apollo/modules/planning/conf/planning_config.pb.txt