planning: move ExprtChart from planning_base to online_planning for future extension

modules/planning/on_lane_planning.cc

@@ -32,7 +32,9 @@
 #include "modules/planning/common/trajectory_stitcher.h"
 #include "modules/planning/on_lane_planning.h"
 #include "modules/planning/planner/rtk/rtk_replay_planner.h"
+#include "modules/planning/proto/planning_internal.pb.h"
 #include "modules/planning/reference_line/reference_line_provider.h"
+#include "modules/planning/tasks/task_factory.h"
 #include "modules/planning/traffic_rules/traffic_decider.h"
 #include "modules/planning/util/util.h"
 
@@ -48,6 +50,10 @@ using apollo::common::math::Vec2d;
 using apollo::common::time::Clock;
 using apollo::hdmap::HDMapUtil;
 using apollo::routing::RoutingResponse;
+using apollo::dreamview::Chart;
+using apollo::planning_internal::SLFrameDebug;
+using apollo::planning_internal::SpeedPlan;
+using apollo::planning_internal::STGraphDebug;
 
 OnLanePlanning::~OnLanePlanning() {
   if (reference_line_provider_) {
@@ -487,5 +493,93 @@ bool OnLanePlanning::CheckPlanningConfig(const PlanningConfig& config) {
   return true;
 }
 
+void AddStGraph(const STGraphDebug& st_graph, Chart* chart) {
+  chart->set_title(st_graph.name());
+  auto* options = chart->mutable_options();
+  options->mutable_x()->set_min(-2.0);
+  options->mutable_x()->set_max(10.0);
+  options->mutable_x()->set_label_string("t(second)");
+  options->mutable_y()->set_label_string("s(meter)");
+  options->set_legend_display(false);
+  for (const auto& boundary : st_graph.boundary()) {
+    auto* boundary_chart = chart->add_polygon();
+
+    // from 'ST_BOUNDARY_TYPE_' to the end
+    std::string type =
+        StGraphBoundaryDebug_StBoundaryType_Name(boundary.type()).substr(17);
+    boundary_chart->set_label(boundary.name() + "_" + type);
+    for (const auto& point : boundary.point()) {
+      auto* point_debug = boundary_chart->add_point();
+      point_debug->set_x(point.t());
+      point_debug->set_y(point.s());
+    }
+  }
+}
+
+void AddSlFrame(const SLFrameDebug& sl_frame, Chart* chart) {
+  chart->set_title(sl_frame.name());
+  auto* options = chart->mutable_options();
+  options->mutable_x()->set_min(0.0);
+  options->mutable_x()->set_max(80.0);
+  options->mutable_x()->set_label_string("s (meter)");
+  options->mutable_y()->set_min(-8.0);
+  options->mutable_y()->set_max(8.0);
+  options->mutable_y()->set_label_string("l (meter)");
+  auto* sl_line = chart->add_line();
+  sl_line->set_label("SL Path");
+  for (const auto& sl_point : sl_frame.sl_path()) {
+    auto* point_debug = sl_line->add_point();
+    point_debug->set_x(sl_point.s());
+    point_debug->set_x(sl_point.l());
+  }
+}
+
+void AddSpeedPlan(
+    const ::google::protobuf::RepeatedPtrField<SpeedPlan>& speed_plans,
+    Chart* chart) {
+  chart->set_title("Speed Plan");
+  auto* options = chart->mutable_options();
+  options->mutable_x()->set_min(0.0);
+  options->mutable_x()->set_max(80.0);
+  options->mutable_x()->set_label_string("s (meter)");
+  options->mutable_y()->set_min(0.0);
+  options->mutable_y()->set_max(50.0);
+  options->mutable_y()->set_label_string("v (m/s)");
+  for (const auto& speed_plan : speed_plans) {
+    auto* line = chart->add_line();
+    line->set_label(speed_plan.name());
+    for (const auto& point : speed_plan.speed_point()) {
+      auto* point_debug = line->add_point();
+      point_debug->set_x(point.s());
+      point_debug->set_y(point.v());
+    }
+
+    // Set chartJS's dataset properties
+    auto* properties = line->mutable_properties();
+    (*properties)["borderWidth"] = "2";
+    (*properties)["pointRadius"] = "0";
+    (*properties)["fill"] = "false";
+    (*properties)["showLine"] = "true";
+    if (speed_plan.name() == "DpStSpeedOptimizer") {
+      (*properties)["color"] = "\"rgba(27, 249, 105, 0.5)\"";
+    } else if (speed_plan.name() == "QpSplineStSpeedOptimizer") {
+      (*properties)["color"] = "\"rgba(54, 162, 235, 1)\"";
+    }
+  }
+}
+
+void OnLanePlanning::ExportChart(const planning_internal::Debug& debug_info,
+                                 planning_internal::Debug* debug_chart) {
+  for (const auto& st_graph : debug_info.planning_data().st_graph()) {
+    AddStGraph(st_graph, debug_chart->mutable_planning_data()->add_chart());
+  }
+  for (const auto& sl_frame : debug_info.planning_data().sl_frame()) {
+    AddSlFrame(sl_frame, debug_chart->mutable_planning_data()->add_chart());
+  }
+
+  AddSpeedPlan(debug_info.planning_data().speed_plan(),
+               debug_chart->mutable_planning_data()->add_chart());
+}
+
 }  // namespace planning
 }  // namespace apollo

modules/planning/on_lane_planning.h

@@ -76,6 +76,8 @@ class OnLanePlanning : public PlanningBase {
   void ExportReferenceLineDebug(planning_internal::Debug* debug);
   bool CheckPlanningConfig(const PlanningConfig& config);
   void GenerateStopTrajectory(ADCTrajectory* trajectory_pb);
+  void ExportChart(const planning_internal::Debug& debug_info,
+                   planning_internal::Debug* debug_chart);
 
  private:
   routing::RoutingResponse last_routing_;

modules/planning/planning_base.cc

@@ -54,94 +54,5 @@ void PlanningBase::FillPlanningPb(const double timestamp,
   trajectory_pb->mutable_routing_header()->CopyFrom(
       local_view_.routing->header());
 }
-
-void AddStGraph(const STGraphDebug& st_graph, Chart* chart) {
-  chart->set_title(st_graph.name());
-  auto* options = chart->mutable_options();
-  options->mutable_x()->set_min(-2.0);
-  options->mutable_x()->set_max(10.0);
-  options->mutable_x()->set_label_string("t(second)");
-  options->mutable_y()->set_label_string("s(meter)");
-  options->set_legend_display(false);
-  for (const auto& boundary : st_graph.boundary()) {
-    auto* boundary_chart = chart->add_polygon();
-
-    // from 'ST_BOUNDARY_TYPE_' to the end
-    std::string type =
-        StGraphBoundaryDebug_StBoundaryType_Name(boundary.type()).substr(17);
-    boundary_chart->set_label(boundary.name() + "_" + type);
-    for (const auto& point : boundary.point()) {
-      auto* point_debug = boundary_chart->add_point();
-      point_debug->set_x(point.t());
-      point_debug->set_y(point.s());
-    }
-  }
-}
-
-void AddSlFrame(const SLFrameDebug& sl_frame, Chart* chart) {
-  chart->set_title(sl_frame.name());
-  auto* options = chart->mutable_options();
-  options->mutable_x()->set_min(0.0);
-  options->mutable_x()->set_max(80.0);
-  options->mutable_x()->set_label_string("s (meter)");
-  options->mutable_y()->set_min(-8.0);
-  options->mutable_y()->set_max(8.0);
-  options->mutable_y()->set_label_string("l (meter)");
-  auto* sl_line = chart->add_line();
-  sl_line->set_label("SL Path");
-  for (const auto& sl_point : sl_frame.sl_path()) {
-    auto* point_debug = sl_line->add_point();
-    point_debug->set_x(sl_point.s());
-    point_debug->set_x(sl_point.l());
-  }
-}
-
-void AddSpeedPlan(
-    const ::google::protobuf::RepeatedPtrField<SpeedPlan>& speed_plans,
-    Chart* chart) {
-  chart->set_title("Speed Plan");
-  auto* options = chart->mutable_options();
-  options->mutable_x()->set_min(0.0);
-  options->mutable_x()->set_max(80.0);
-  options->mutable_x()->set_label_string("s (meter)");
-  options->mutable_y()->set_min(0.0);
-  options->mutable_y()->set_max(50.0);
-  options->mutable_y()->set_label_string("v (m/s)");
-  for (const auto& speed_plan : speed_plans) {
-    auto* line = chart->add_line();
-    line->set_label(speed_plan.name());
-    for (const auto& point : speed_plan.speed_point()) {
-      auto* point_debug = line->add_point();
-      point_debug->set_x(point.s());
-      point_debug->set_y(point.v());
-    }
-
-    // Set chartJS's dataset properties
-    auto* properties = line->mutable_properties();
-    (*properties)["borderWidth"] = "2";
-    (*properties)["pointRadius"] = "0";
-    (*properties)["fill"] = "false";
-    (*properties)["showLine"] = "true";
-    if (speed_plan.name() == "DpStSpeedOptimizer") {
-      (*properties)["color"] = "\"rgba(27, 249, 105, 0.5)\"";
-    } else if (speed_plan.name() == "QpSplineStSpeedOptimizer") {
-      (*properties)["color"] = "\"rgba(54, 162, 235, 1)\"";
-    }
-  }
-}
-
-void PlanningBase::ExportChart(const planning_internal::Debug& debug_info,
-                               planning_internal::Debug* debug_chart) {
-  for (const auto& st_graph : debug_info.planning_data().st_graph()) {
-    AddStGraph(st_graph, debug_chart->mutable_planning_data()->add_chart());
-  }
-  for (const auto& sl_frame : debug_info.planning_data().sl_frame()) {
-    AddSlFrame(sl_frame, debug_chart->mutable_planning_data()->add_chart());
-  }
-
-  AddSpeedPlan(debug_info.planning_data().speed_plan(),
-               debug_chart->mutable_planning_data()->add_chart());
-}
-
 }  // namespace planning
 }  // namespace apollo

modules/planning/planning_base.h

@@ -75,9 +75,6 @@ class PlanningBase {
   virtual void FillPlanningPb(const double timestamp,
                               ADCTrajectory* const trajectory_pb);
 
-  virtual void ExportChart(const planning_internal::Debug& debug_info,
-                           planning_internal::Debug* debug_chart);
-
   LocalView local_view_;
   const hdmap::HDMap* hdmap_ = nullptr;