#include <scenario.h>

类 apollo::planning::Scenario 继承关系图:

apollo::planning::Scenario 的协作图:

Public 成员函数
	Scenario ()

virtual	~Scenario ()=default

virtual bool	Init (std::shared_ptr< DependencyInjector > injector, const std::string &name)

virtual ScenarioContext *	GetContext ()=0
	Get the scenario context.

virtual bool	IsTransferable (const Scenario *other_scenario, const Frame &frame)
	Each scenario should define its own transfer condition, i.e., when it should allow to transfer from other scenario to itself.

virtual ScenarioResult	Process (const common::TrajectoryPoint &planning_init_point, Frame *frame)

virtual bool	Exit (Frame *frame)

virtual bool	Enter (Frame *frame)

std::shared_ptr< Stage >	CreateStage (const StagePipeline &stage_pipeline)
	Each scenario should define its own stages object's creation scenario will call stage's Stage::Process function following a configured order, The return value of Stage::Process function determines the transition from one stage to another.

const ScenarioStatusType &	GetStatus () const

const std::string	GetStage () const

const std::string &	GetMsg () const

const std::string &	Name () const

void	Reset ()
	Reset the scenario, used before entering the scenario.

Protected 成员函数
template<typename T >
bool	LoadConfig (T *config)

Protected 属性
ScenarioResult	scenario_result_

std::shared_ptr< Stage >	current_stage_

std::unordered_map< std::string, const StagePipeline * >	stage_pipeline_map_

std::string	msg_

std::shared_ptr< DependencyInjector >	injector_

std::string	config_path_

std::string	config_dir_

std::string	name_

ScenarioPipeline	scenario_pipeline_config_

详细描述

在文件 scenario.h 第 52 行定义.

构造及析构函数说明

◆ Scenario()

apollo::planning::Scenario::Scenario ( )

在文件 scenario.cc 第 34 行定义.

    : scenario_result_(ScenarioResult(ScenarioStatusType::STATUS_UNKNOWN)),
      current_stage_(nullptr),
      msg_(""),
      injector_(nullptr),
      config_path_(""),
      config_dir_(""),
      name_("") {}

◆ ~Scenario()

virtual apollo::planning::Scenario::~Scenario ( )

virtualdefault

成员函数说明

◆ CreateStage()

std::shared_ptr< Stage > apollo::planning::Scenario::CreateStage ( const StagePipeline & stage_pipeline )

Each scenario should define its own stages object's creation scenario will call stage's Stage::Process function following a configured order, The return value of Stage::Process function determines the transition from one stage to another.

在文件 scenario.cc 第 155 行定义.

                                         {
  auto stage_ptr =
      apollo::cyber::plugin_manager::PluginManager::Instance()
          ->CreateInstance<Stage>(
              ConfigUtil::GetFullPlanningClassName(stage_pipeline.type()));
  if (nullptr == stage_ptr ||
      !stage_ptr->Init(stage_pipeline, injector_, config_dir_, GetContext())) {
    AERROR << "Create stage " << stage_pipeline.name() << " of " << name_
           << " failed!";
    return nullptr;
  }
  return stage_ptr;
}

◆ Enter()

virtual bool apollo::planning::Scenario::Enter ( Frame * frame )

inlinevirtual

被 apollo::planning::BareIntersectionUnprotectedScenario, apollo::planning::EmergencyPullOverScenario, apollo::planning::PullOverScenario, apollo::planning::StopSignUnprotectedScenario, apollo::planning::TrafficLightProtectedScenario, apollo::planning::TrafficLightUnprotectedLeftTurnScenario, apollo::planning::TrafficLightUnprotectedRightTurnScenario , 以及 apollo::planning::YieldSignScenario 重载.

在文件 scenario.h 第 80 行定义.

80{ return true; }

◆ Exit()

virtual bool apollo::planning::Scenario::Exit ( Frame * frame )

inlinevirtual

被 apollo::planning::EmergencyStopScenario, apollo::planning::EmergencyPullOverScenario, apollo::planning::PullOverScenario, apollo::planning::StopSignUnprotectedScenario, apollo::planning::TrafficLightProtectedScenario, apollo::planning::TrafficLightUnprotectedLeftTurnScenario, apollo::planning::TrafficLightUnprotectedRightTurnScenario , 以及 apollo::planning::YieldSignScenario 重载.

在文件 scenario.h 第 78 行定义.

78{ return true; }

◆ GetContext()

virtual ScenarioContext * apollo::planning::Scenario::GetContext ( )

pure virtual

Get the scenario context.

◆ GetMsg()

const std::string & apollo::planning::Scenario::GetMsg ( ) const

inline

在文件 scenario.h 第 96 行定义.

96{ return msg_; }

◆ GetStage()

const std::string apollo::planning::Scenario::GetStage ( ) const

在文件 scenario.cc 第 170 行定义.

                                         {
  return current_stage_ ? current_stage_->Name() : "";
}

◆ GetStatus()

const ScenarioStatusType & apollo::planning::Scenario::GetStatus ( ) const

inline

在文件 scenario.h 第 90 行定义.

                                              {
    return scenario_result_.GetScenarioStatus();
  }

◆ Init()

bool apollo::planning::Scenario::Init	(	std::shared_ptr< DependencyInjector >	injector,
		const std::string &	name
	)

virtual

在文件 scenario.cc 第 43 行定义.

                                           {
  name_ = name;
  injector_ = injector;
  // set scenario_type in PlanningContext
  auto* scenario = injector_->planning_context()
                       ->mutable_planning_status()
                       ->mutable_scenario();
  scenario->Clear();
  scenario->set_scenario_type(name_);
 
  // Generate the default config path.
  int status;
  // Get the name of this class.
  std::string class_name =
      abi::__cxa_demangle(typeid(*this).name(), 0, 0, &status);
 
  config_dir_ = apollo::cyber::plugin_manager::PluginManager::Instance()
                    ->GetPluginClassHomePath<Scenario>(class_name);
  config_dir_ += "/conf";
  AINFO << "config_dir : " << config_dir_;
  // Generate the default task config path from PluginManager.
  config_path_ = apollo::cyber::plugin_manager::PluginManager::Instance()
                     ->GetPluginConfPath<Scenario>(class_name,
                                                   "conf/scenario_conf.pb.txt");
 
  // Load the pipeline config.
  std::string pipeline_config_path =
      apollo::cyber::plugin_manager::PluginManager::Instance()
          ->GetPluginConfPath<Scenario>(class_name, "conf/pipeline.pb.txt");
  AINFO << "Load config path:" << pipeline_config_path;
  // Load the pipeline of scenario.
  if (!apollo::cyber::common::GetProtoFromFile(pipeline_config_path,
                                               &scenario_pipeline_config_)) {
    AERROR << "Load pipeline of " << name_ << " failed!";
    return false;
  }
  for (const auto& stage : scenario_pipeline_config_.stage()) {
    stage_pipeline_map_[stage.name()] = &stage;
  }
  return true;
}

◆ IsTransferable()

virtual bool apollo::planning::Scenario::IsTransferable	(	const Scenario *	other_scenario,
		const Frame &	frame
	)

inlinevirtual

Each scenario should define its own transfer condition, i.e., when it should allow to transfer from other scenario to itself.

在文件 scenario.h 第 70 行定义.

                                                  {
    return false;
  }

◆ LoadConfig()

template<typename T >

bool apollo::planning::Scenario::LoadConfig ( T * config )

protected

在文件 scenario.h 第 122 行定义.

                                   {
  return apollo::cyber::common::LoadConfig<T>(config_path_, config);
}

◆ Name()

const std::string & apollo::planning::Scenario::Name ( ) const

inline

在文件 scenario.h 第 98 行定义.

98{ return name_; }

◆ Process()

ScenarioResult apollo::planning::Scenario::Process	(	const common::TrajectoryPoint &	planning_init_point,
		Frame *	frame
	)

virtual

被 apollo::planning::EmergencyStopScenario 重载.

在文件 scenario.cc 第 86 行定义.

                                                                    {
  if (current_stage_ == nullptr) {
    current_stage_ = CreateStage(
        *stage_pipeline_map_[scenario_pipeline_config_.stage(0).name()]);
    if (nullptr == current_stage_) {
      AERROR << "Create stage " << scenario_pipeline_config_.stage(0).name()
             << " failed!";
      scenario_result_.SetStageResult(StageStatusType::ERROR);
      return scenario_result_;
    }
    AINFO << "Create stage " << current_stage_->Name();
  }
  if (current_stage_->Name().empty()) {
    scenario_result_.SetScenarioStatus(ScenarioStatusType::STATUS_DONE);
    return scenario_result_;
  }
  auto ret = current_stage_->Process(planning_init_point, frame);
  scenario_result_.SetStageResult(ret);
  switch (ret.GetStageStatus()) {
    case StageStatusType::ERROR: {
      AERROR << "Stage '" << current_stage_->Name() << "' returns error";
      scenario_result_.SetScenarioStatus(ScenarioStatusType::STATUS_UNKNOWN);
      break;
    }
    case StageStatusType::RUNNING: {
      scenario_result_.SetScenarioStatus(ScenarioStatusType::STATUS_PROCESSING);
      break;
    }
    case StageStatusType::FINISHED: {
      auto next_stage = current_stage_->NextStage();
      if (next_stage != current_stage_->Name()) {
        AINFO << "switch stage from " << current_stage_->Name() << " to "
              << next_stage;
        if (next_stage.empty()) {
          scenario_result_.SetScenarioStatus(ScenarioStatusType::STATUS_DONE);
          return scenario_result_;
        }
        if (stage_pipeline_map_.find(next_stage) == stage_pipeline_map_.end()) {
          AERROR << "Failed to find config for stage: " << next_stage;
          scenario_result_.SetScenarioStatus(
              ScenarioStatusType::STATUS_UNKNOWN);
          return scenario_result_;
        }
        current_stage_ = CreateStage(*stage_pipeline_map_[next_stage]);
        if (current_stage_ == nullptr) {
          AWARN << "Current stage is a null pointer.";
          scenario_result_.SetScenarioStatus(
              ScenarioStatusType::STATUS_UNKNOWN);
          return scenario_result_;
        }
      }
      if (current_stage_ != nullptr && !current_stage_->Name().empty()) {
        scenario_result_.SetScenarioStatus(
            ScenarioStatusType::STATUS_PROCESSING);
      } else {
        scenario_result_.SetScenarioStatus(ScenarioStatusType::STATUS_DONE);
      }
      break;
    }
    default: {
      AWARN << "Unexpected Stage return value: "
            << static_cast<int>(ret.GetStageStatus());
      scenario_result_.SetScenarioStatus(ScenarioStatusType::STATUS_UNKNOWN);
    }
  }
  return scenario_result_;
}

◆ Reset()

void apollo::planning::Scenario::Reset ( )

Reset the scenario, used before entering the scenario.

在文件 scenario.cc 第 174 行定义.

                     {
  scenario_result_ = ScenarioResult(ScenarioStatusType::STATUS_UNKNOWN);
  current_stage_ = nullptr;
}

类成员变量说明

◆ config_dir_

std::string apollo::planning::Scenario::config_dir_

protected

在文件 scenario.h 第 116 行定义.

◆ config_path_

std::string apollo::planning::Scenario::config_path_

protected

在文件 scenario.h 第 115 行定义.

◆ current_stage_

std::shared_ptr<Stage> apollo::planning::Scenario::current_stage_

protected

在文件 scenario.h 第 110 行定义.

◆ injector_

std::shared_ptr<DependencyInjector> apollo::planning::Scenario::injector_

protected

在文件 scenario.h 第 113 行定义.

◆ msg_

std::string apollo::planning::Scenario::msg_

protected

在文件 scenario.h 第 112 行定义.

◆ name_

std::string apollo::planning::Scenario::name_

protected

在文件 scenario.h 第 117 行定义.

◆ scenario_pipeline_config_

ScenarioPipeline apollo::planning::Scenario::scenario_pipeline_config_

protected

在文件 scenario.h 第 118 行定义.

◆ scenario_result_

ScenarioResult apollo::planning::Scenario::scenario_result_

protected

在文件 scenario.h 第 109 行定义.

◆ stage_pipeline_map_

std::unordered_map<std::string, const StagePipeline*> apollo::planning::Scenario::stage_pipeline_map_

protected

在文件 scenario.h 第 111 行定义.

该类的文档由以下文件生成:

modules/planning/planning_interface_base/scenario_base/scenario.h
modules/planning/planning_interface_base/scenario_base/scenario.cc

Public 成员函数

Protected 成员函数

Protected 属性

详细描述

构造及析构函数说明

◆ Scenario()

◆ ~Scenario()

成员函数说明

◆ CreateStage()

◆ Enter()

◆ Exit()

◆ GetContext()

◆ GetMsg()

◆ GetStage()

◆ GetStatus()

◆ Init()

◆ IsTransferable()

◆ LoadConfig()

◆ Name()

◆ Process()

◆ Reset()

类成员变量说明

◆ config_dir_

◆ config_path_

◆ current_stage_

◆ injector_

◆ msg_

◆ name_

◆ scenario_pipeline_config_

◆ scenario_result_

◆ stage_pipeline_map_