Planning: OpenSpace: Implementation in approaching parking spot stage

modules/planning/scenarios/valet_parking/stage_approaching_parking_spot.cc

@@ -26,7 +26,13 @@ namespace valet_parking {
 
 Stage::StageStatus StageApproachingParkingSpot::Process(
     const common::TrajectoryPoint& planning_init_point, Frame* frame) {
-  return Stage::FINISHED;
+  ADEBUG << "stage: StageApproachingParkingSpot";
+  CHECK_NOTNULL(frame);
+  bool plan_ok = ExecuteTaskOnReferenceLine(planning_init_point, frame);
+  if (!plan_ok) {
+    AERROR << "StopSignUnprotectedStagePreStop planning error";
+  }
+  return Stage::RUNNING;
 }
 
 }  // namespace valet_parking

modules/planning/scenarios/valet_parking/stage_approaching_parking_spot.h

@@ -28,7 +28,28 @@ namespace planning {
 namespace scenario {
 namespace valet_parking {
 
-DECLARE_STAGE(StageApproachingParkingSpot, ValetParkingContext);
+class StageApproachingParkingSpot : public Stage {
+ public:
+  explicit StageApproachingParkingSpot(
+      const ScenarioConfig::StageConfig& config)
+      : Stage(config) {}
+
+ private:
+  Stage::StageStatus Process(const common::TrajectoryPoint& planning_init_point,
+                             Frame* frame) override;
+
+  ValetParkingContext* GetContext() {
+    return GetContextAs<ValetParkingContext>();
+  }
+
+  bool CheckADCStop(const ReferenceLineInfo& reference_line_info);
+
+ private:
+  Stage::StageStatus FinishStage();
+
+ private:
+  ScenarioValetParkingConfig scenario_config_;
+};
 
 }  // namespace valet_parking
 }  // namespace scenario