Planning: using parking_info instead of parking_space for valet parking.

modules/planning/scenarios/park/valet_parking/stage_approaching_parking_spot.cc

@@ -33,13 +33,15 @@ Stage::StageStatus StageApproachingParkingSpot::Process(
   ADEBUG << "stage: StageApproachingParkingSpot";
   CHECK_NOTNULL(frame);
   GetContext()->target_parking_spot_id.clear();
-  if (frame->local_view().routing->routing_request().has_parking_space() &&
-      frame->local_view().routing->routing_request().parking_space().has_id()) {
+  if (frame->local_view().routing->routing_request().has_parking_info() &&
+      frame->local_view()
+          .routing->routing_request()
+          .parking_info()
+          .has_parking_space_id()) {
     GetContext()->target_parking_spot_id = frame->local_view()
                                                .routing->routing_request()
-                                               .parking_space()
-                                               .id()
-                                               .id();
+                                               .parking_info()
+                                               .parking_space_id();
   } else {
     AERROR << "No parking space id from routing";
     return StageStatus::ERROR;

modules/planning/scenarios/park/valet_parking/valet_parking_scenario.cc

@@ -97,10 +97,15 @@ bool ValetParkingScenario::IsTransferable(const Frame& frame,
                                           const double parking_start_range) {
   // TODO(all) Implement available parking spot detection by preception results
   std::string target_parking_spot_id;
-  if (frame.local_view().routing->routing_request().has_parking_space() &&
-      frame.local_view().routing->routing_request().parking_space().has_id()) {
-    target_parking_spot_id =
-        frame.local_view().routing->routing_request().parking_space().id().id();
+  if (frame.local_view().routing->routing_request().has_parking_info() &&
+      frame.local_view()
+          .routing->routing_request()
+          .parking_info()
+          .has_parking_space_id()) {
+    target_parking_spot_id = frame.local_view()
+                                 .routing->routing_request()
+                                 .parking_info()
+                                 .parking_space_id();
   } else {
     ADEBUG << "No parking space id from routing";
     return false;

modules/planning/tasks/deciders/open_space_decider/open_space_roi_decider.cc

@@ -68,9 +68,10 @@ Status OpenSpaceRoiDecider::Process(Frame *frame) {
     const auto &routing_request =
         frame->local_view().routing->routing_request();
 
-    if (routing_request.has_parking_space() &&
-        !routing_request.parking_space().id().id().empty()) {
-      target_parking_spot_id_ = routing_request.parking_space().id().id();
+    if (routing_request.has_parking_info() &&
+        routing_request.parking_info().has_parking_space_id()) {
+      target_parking_spot_id_ =
+          routing_request.parking_info().parking_space_id();
     } else {
       const std::string msg = "Failed to get parking space id from routing";
       AERROR << msg;