From e632d3abec077e5b32ff66b46de0e482f94f53d8 Mon Sep 17 00:00:00 2001
From: Zhang Liangliang <zhangliangliang@baidu.com>
Date: Thu, 20 Jul 2017 14:53:03 -0700
Subject: [PATCH] added perception_proxy.

---
 modules/planning/proxy/BUILD               | 27 +++++++++--
 modules/planning/proxy/perception_proxy.cc | 52 ++++++++++++++++++++++
 modules/planning/proxy/perception_proxy.h  | 48 ++++++++++++++++++++
 3 files changed, 123 insertions(+), 4 deletions(-)
 create mode 100644 modules/planning/proxy/perception_proxy.cc
 create mode 100644 modules/planning/proxy/perception_proxy.h

diff --git a/modules/planning/proxy/BUILD b/modules/planning/proxy/BUILD
index 8f07e5a3c8..6856b8dfab 100644
--- a/modules/planning/proxy/BUILD
+++ b/modules/planning/proxy/BUILD
@@ -3,13 +3,32 @@ package(default_visibility = ["//visibility:public"])
 load("//tools:cpplint.bzl", "cpplint")
 
 cc_library(
-    name = "proxy",
+    name = "perception_proxy",
+    srcs = [
+        "perception_proxy.cc",
+    ],
+    hdrs = [
+        "perception_proxy.h",
+    ],
+    deps = [
+        "//external:gflags",
+        "//modules/common/math",
+        "//modules/common/status",
+        "//modules/common/util",
+        "//modules/map/proto:map_proto",
+        "//modules/perception/proto:perception_proto",
+        "//modules/planning/common:planning_gflags",
+    ],
+)
+
+cc_library(
+    name = "routing_proxy",
     srcs = [
         "routing_proxy.cc",
     ],
-    hdrs = glob([
-        "*.h",
-    ]),
+    hdrs = [
+        "routing_proxy.h",
+    ],
     data = ["//modules/map:map_data"],
     deps = [
         "//external:gflags",
diff --git a/modules/planning/proxy/perception_proxy.cc b/modules/planning/proxy/perception_proxy.cc
new file mode 100644
index 0000000000..89514f3c04
--- /dev/null
+++ b/modules/planning/proxy/perception_proxy.cc
@@ -0,0 +1,52 @@
+/******************************************************************************
+ * Copyright 2017 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+/**
+ * @file perception_proxy.cc
+ **/
+
+#include "modules/planning/proxy/perception_proxy.h"
+
+#include "modules/planning/common/planning_gflags.h"
+
+namespace apollo {
+namespace planning {
+
+void PerceptionProxy::add_perception_obstacles(
+    const apollo::perception::PerceptionObstacles& perception_obstacles) {
+  if (_perception_frame.size() >
+      static_cast<std::size_t>(FLAGS_max_frame_size)) {
+    _perception_frame.pop_front();
+  }
+  _perception_frame.emplace_back(std::move(perception_obstacles));
+  return;
+}
+
+apollo::perception::PerceptionObstacles*
+PerceptionProxy::get_latest_perception_frame() {
+  if (_perception_frame.size() == 0) {
+    return nullptr;
+  }
+  return &(*(_perception_frame.rbegin()));
+}
+
+const std::list<apollo::perception::PerceptionObstacles>&
+PerceptionProxy::perception_frame() const {
+  return _perception_frame;
+}
+
+}  // namespace planning
+}  // namespace apollo
diff --git a/modules/planning/proxy/perception_proxy.h b/modules/planning/proxy/perception_proxy.h
new file mode 100644
index 0000000000..d8512d4b14
--- /dev/null
+++ b/modules/planning/proxy/perception_proxy.h
@@ -0,0 +1,48 @@
+/******************************************************************************
+ * Copyright 2017 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+/**
+ * @file perception_proxy.h
+ **/
+
+#ifndef MODULES_PLANNING_PROXY_PERCEPTION_PROXY_H_
+#define MODULES_PLANNING_PROXY_PERCEPTION_PROXY_H_
+
+#include <list>
+
+#include "modules/common/proto/error_code.pb.h"
+#include "modules/perception/proto/perception_obstacle.pb.h"
+
+namespace apollo {
+namespace planning {
+
+class PerceptionProxy {
+ public:
+  PerceptionProxy() = default;
+  void add_perception_obstacles(
+      const apollo::perception::PerceptionObstacles& perception_obstacles);
+  apollo::perception::PerceptionObstacles* get_latest_perception_frame();
+  const std::list<apollo::perception::PerceptionObstacles>& perception_frame()
+      const;
+
+ private:
+  std::list<apollo::perception::PerceptionObstacles> _perception_frame;
+};
+
+}  // namespace planning
+}  // namespace apollo
+
+#endif  // MODULES_PLANNING_PROXY_PERCEPTION_PROXY_H_
-- 
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