Planning: OpenSpace: add ExcuteTaskOnOpenSpace

modules/planning/common/open_space_info.h

@@ -189,11 +189,17 @@ class OpenSpaceInfo {
 
   bool *mutable_fallback_flag() { return &fallback_flag_; }
 
-  const bool &fallback_flag() { return fallback_flag_; }
+  const bool &fallback_flag() const { return fallback_flag_; }
 
   TrajGearPair *mutable_fallback_trajectory() { return &fallback_trajectory_; }
 
-  const TrajGearPair &fallback_trajectory() { return fallback_trajectory_; }
+  const TrajGearPair &fallback_trajectory() const {
+    return fallback_trajectory_;
+  }
+
+  TrajGearPair *mutable_trajectory_data() { return &trajectory_data_; }
+
+  const TrajGearPair &trajectory_data() const { return trajectory_data_; }
 
  private:
   // @brief obstacles total num including perception obstacles and parking space
@@ -246,6 +252,8 @@ class OpenSpaceInfo {
   bool fallback_flag_ = true;
 
   TrajGearPair fallback_trajectory_;
+
+  TrajGearPair trajectory_data_;
 };
 }  // namespace planning
 }  // namespace apollo

modules/planning/scenarios/stage.cc

@@ -113,6 +113,27 @@ bool Stage::ExecuteTaskOnReferenceLine(
   return true;
 }
 
+bool Stage::ExecuteTaskOnOpenSpace(Frame* frame) {
+  auto ret = common::Status::OK();
+  for (auto* task : task_list_) {
+    ret = task->Execute(frame);
+    if (!ret.ok()) {
+      AERROR << "Failed to run tasks[" << task->Name()
+             << "], Error message: " << ret.error_message();
+      return false;
+    }
+  }
+
+  if (frame->open_space_info().fallback_flag()) {
+    *(frame->mutable_open_space_info()->mutable_trajectory_data()) =
+        frame->open_space_info().fallback_trajectory();
+  } else {
+    *(frame->mutable_open_space_info()->mutable_trajectory_data()) =
+        frame->open_space_info().chosen_paritioned_trajectory();
+  }
+  return true;
+}
+
 Stage::StageStatus Stage::FinishScenario() {
   next_stage_ = ScenarioConfig::NO_STAGE;
   return Stage::FINISHED;

modules/planning/scenarios/stage.h

@@ -82,6 +82,8 @@ class Stage {
   bool ExecuteTaskOnReferenceLine(
       const common::TrajectoryPoint& planning_start_point, Frame* frame);
 
+  bool ExecuteTaskOnOpenSpace(Frame* frame);
+
   virtual Stage::StageStatus FinishScenario();
 
  protected: