From ecd0ff56d789a965061b61dba3772c8a7bcf57c4 Mon Sep 17 00:00:00 2001
From: jmtao <taojm99@gmail.com>
Date: Fri, 28 Sep 2018 16:14:37 -0700
Subject: [PATCH] planning: update planning_config proto

---
 .../conf/lane_follow_scenario_config.pb.txt   | 15 ++++++++----
 modules/planning/proto/planning_config.proto  |  9 ++++----
 .../lane_follow/lane_follow_scenario.cc       | 23 +++++++++++++------
 .../dp_st_speed/dp_st_graph_test.cc           |  2 +-
 4 files changed, 32 insertions(+), 17 deletions(-)

diff --git a/modules/planning/conf/lane_follow_scenario_config.pb.txt b/modules/planning/conf/lane_follow_scenario_config.pb.txt
index b1e2fd8602..5f9e67e3bc 100644
--- a/modules/planning/conf/lane_follow_scenario_config.pb.txt
+++ b/modules/planning/conf/lane_follow_scenario_config.pb.txt
@@ -1,6 +1,11 @@
 scenario_type : LANE_FOLLOW
+task : DP_POLY_PATH_OPTIMIZER
+task : PATH_DECIDER
+task : DP_ST_SPEED_OPTIMIZER
+task : SPEED_DECIDER
+task : QP_SPLINE_ST_SPEED_OPTIMIZER
 scenario_task_config : {
-  task : DP_POLY_PATH_OPTIMIZER
+  task_type : DP_POLY_PATH_OPTIMIZER
   dp_poly_path_config {
     waypoint_sampler_config {
       sample_points_num_each_level: 7
@@ -28,10 +33,10 @@ scenario_task_config : {
   }
 }
 scenario_task_config : {
-  task : PATH_DECIDER
+  task_type : PATH_DECIDER
 }
 scenario_task_config : {
-  task : DP_ST_SPEED_OPTIMIZER
+  task_type : DP_ST_SPEED_OPTIMIZER
   dp_st_speed_config {
     total_path_length: 149
     total_time: 7.0
@@ -78,7 +83,7 @@ scenario_task_config : {
   }
 }
 scenario_task_config : {
-  task : SPEED_DECIDER
+  task_type : SPEED_DECIDER
   dp_st_speed_config {
     total_path_length: 149
     total_time: 7.0
@@ -119,7 +124,7 @@ scenario_task_config : {
   }
 }
 scenario_task_config : {
-  task : QP_SPLINE_ST_SPEED_OPTIMIZER
+  task_type : QP_SPLINE_ST_SPEED_OPTIMIZER
   qp_st_speed_config {
     total_path_length: 250.0
     total_time: 7.0
diff --git a/modules/planning/proto/planning_config.proto b/modules/planning/proto/planning_config.proto
index e64af6cc23..1651d6c030 100644
--- a/modules/planning/proto/planning_config.proto
+++ b/modules/planning/proto/planning_config.proto
@@ -40,10 +40,8 @@ message ScenarioConfig {
     INTERSECTION_TRAFFIC_LIGHT_RIGHT_TURN = 7;
     INTERSECTION_TRAFFIC_LIGHT_GO_THROUGH = 8;
   }
-  optional ScenarioType scenario_type = 1;
-
   message ScenarioTaskConfig {
-    optional TaskType task = 1;
+    optional TaskType task_type = 1;
     oneof task_config {
       DpPolyPathConfig dp_poly_path_config = 2;
       DpStSpeedConfig dp_st_speed_config = 3;
@@ -53,7 +51,10 @@ message ScenarioConfig {
       PathDeciderConfig path_decider_config = 7;
     }
   }
-  repeated ScenarioTaskConfig scenario_task_config = 2;
+
+  optional ScenarioType scenario_type = 1;
+  repeated TaskType task = 2;
+  repeated ScenarioTaskConfig scenario_task_config = 3;
 }
 
 message PlannerOnRoadConfig {
diff --git a/modules/planning/scenarios/lane_follow/lane_follow_scenario.cc b/modules/planning/scenarios/lane_follow/lane_follow_scenario.cc
index b041520ba9..b71aa5e6a3 100644
--- a/modules/planning/scenarios/lane_follow/lane_follow_scenario.cc
+++ b/modules/planning/scenarios/lane_follow/lane_follow_scenario.cc
@@ -87,17 +87,26 @@ bool LaneFollowScenario::Init() {
   CHECK(apollo::common::util::GetProtoFromFile(
       FLAGS_lane_follow_scenario_config_file, &config_));
 
-  for (const auto task_cfg : config_.scenario_task_config()) {
-    tasks_.emplace_back(task_factory_.CreateObject(task_cfg.task()));
-    AINFO << "Created task:" << tasks_.back()->Name();
+  // get all active tasks
+  std::vector<TaskType> tasks;
+  for (int i = 0; i < config_.task_size(); ++i) {
+    tasks.push_back(config_.task(i));
   }
 
-  for (size_t i = 0; i < tasks_.size(); ++i) {
-    if (!tasks_[i]->Init(config_.scenario_task_config(i))) {
-      AERROR << "Init task[" << tasks_[i]->Name() << "] failed.";
-      return false;
+  // init task with conf
+  for (int i = 0; i < config_.scenario_task_config_size(); ++i) {
+    auto task_cfg = config_.scenario_task_config(i);
+    TaskType task_type = task_cfg.task_type();
+    if (std::find(tasks.begin(), tasks.end(), task_type) != tasks.end()) {
+      tasks_.emplace_back(task_factory_.CreateObject(task_type));
+      AINFO << "Created task:" << TaskType_Name(task_type);
+      if (!tasks_.back()->Init(task_cfg)) {
+        AERROR << "Init task[" << TaskType_Name(task_type) << "] failed.";
+        return false;
+      }
     }
   }
+
   is_init_ = true;
   return true;
 }
diff --git a/modules/planning/toolkits/optimizers/dp_st_speed/dp_st_graph_test.cc b/modules/planning/toolkits/optimizers/dp_st_speed/dp_st_graph_test.cc
index 58efe6ab41..a9a45d987e 100644
--- a/modules/planning/toolkits/optimizers/dp_st_speed/dp_st_graph_test.cc
+++ b/modules/planning/toolkits/optimizers/dp_st_speed/dp_st_graph_test.cc
@@ -43,7 +43,7 @@ class DpStGraphTest : public ::testing::Test {
         FLAGS_lane_follow_scenario_config_file, &config));
 
     for (const auto& cfg : config.scenario_task_config()) {
-      if (cfg.task() == DP_ST_SPEED_OPTIMIZER) {
+      if (cfg.task_type() == DP_ST_SPEED_OPTIMIZER) {
         dp_config_ = cfg.dp_st_speed_config();
         break;
       }
-- 
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