#include <stage_approach.h>

类 apollo::planning::TrafficLightUnprotectedLeftTurnStageApproach 继承关系图:

apollo::planning::TrafficLightUnprotectedLeftTurnStageApproach 的协作图:

Public 成员函数
StageResult	Process (const common::TrajectoryPoint &planning_init_point, Frame *frame) override
	Each stage does its business logic inside Process function.

Public 成员函数继承自 apollo::planning::Stage
	Stage ()

virtual bool	Init (const StagePipeline &config, const std::shared_ptr< DependencyInjector > &injector, const std::string &config_dir, void *context)

virtual	~Stage ()=default

const std::string &	Name () const

template<typename T >
T *	GetContextAs () const

const std::string &	NextStage () const

额外继承的成员函数
Protected 成员函数继承自 apollo::planning::Stage
StageResult	ExecuteTaskOnReferenceLine (const common::TrajectoryPoint &planning_start_point, Frame *frame)

StageResult	ExecuteTaskOnReferenceLineForOnlineLearning (const common::TrajectoryPoint &planning_start_point, Frame *frame)

StageResult	ExecuteTaskOnOpenSpace (Frame *frame)

virtual StageResult	FinishScenario ()

void	RecordDebugInfo (ReferenceLineInfo *reference_line_info, const std::string &name, const double time_diff_ms)

Protected 属性继承自 apollo::planning::Stage
std::vector< std::shared_ptr< Task > >	task_list_

std::shared_ptr< Task >	fallback_task_

std::string	next_stage_

void *	context_

std::shared_ptr< DependencyInjector >	injector_

StagePipeline	pipeline_config_

详细描述

在文件 stage_approach.h 第 29 行定义.

成员函数说明

◆ Process()

StageResult apollo::planning::TrafficLightUnprotectedLeftTurnStageApproach::Process	(	const common::TrajectoryPoint &	planning_init_point,
		Frame *	frame
	)

overridevirtual

Each stage does its business logic inside Process function.

If the stage want to transit to a different stage after finish, it should set the type of 'next_stage_'.

实现了 apollo::planning::Stage.

在文件 stage_approach.cc 第 41 行定义.

                                                              {
  ADEBUG << "stage: Approach";
  CHECK_NOTNULL(frame);
  CHECK_NOTNULL(context_);
 
  auto context = GetContextAs<TrafficLightUnprotectedLeftTurnContext>();
  const ScenarioTrafficLightUnprotectedLeftTurnConfig& scenario_config =
      context->scenario_config;
  if (!pipeline_config_.enabled()) {
    return FinishStage(frame);
  }
 
  // set cruise_speed to slow down
  frame->mutable_reference_line_info()->front().LimitCruiseSpeed(
      scenario_config.approach_cruise_speed());
 
  StageResult result = ExecuteTaskOnReferenceLine(planning_init_point, frame);
  if (result.HasError()) {
    AERROR << "TrafficLightUnprotectedLeftTurnStageApproach planning error";
  }
 
  if (context->current_traffic_light_overlap_ids.empty()) {
    return FinishScenario();
  }
 
  const auto& reference_line_info = frame->reference_line_info().back();
 
  const double adc_front_edge_s = reference_line_info.AdcSlBoundary().end_s();
 
  PathOverlap* traffic_light = nullptr;
  bool traffic_light_all_done = true;
  for (const auto& traffic_light_overlap_id :
       context->current_traffic_light_overlap_ids) {
    // get overlap along reference line
    PathOverlap* current_traffic_light_overlap =
        reference_line_info.GetOverlapOnReferenceLine(
            traffic_light_overlap_id, ReferenceLineInfo::SIGNAL);
    if (!current_traffic_light_overlap) {
      continue;
    }
 
    traffic_light = current_traffic_light_overlap;
 
    // set right_of_way_status
    reference_line_info.SetJunctionRightOfWay(
        current_traffic_light_overlap->start_s, false);
 
    const double distance_adc_to_stop_line =
        current_traffic_light_overlap->start_s - adc_front_edge_s;
    auto signal_color = frame->GetSignal(traffic_light_overlap_id).color();
    ADEBUG << "traffic_light_overlap_id[" << traffic_light_overlap_id
           << "] start_s[" << current_traffic_light_overlap->start_s
           << "] distance_adc_to_stop_line[" << distance_adc_to_stop_line
           << "] color[" << signal_color << "]";
 
    if (distance_adc_to_stop_line < 0) return FinishStage(frame);
    // check on traffic light color and distance to stop line
    if (signal_color != TrafficLight::GREEN ||
        distance_adc_to_stop_line >=
            scenario_config.max_valid_stop_distance()) {
      traffic_light_all_done = false;
      break;
    }
  }
 
  if (traffic_light == nullptr) {
    return FinishScenario();
  }
 
  if (traffic_light_all_done) {
    return FinishStage(frame);
  }
 
  return result.SetStageStatus(StageStatusType::RUNNING);
}

该类的文档由以下文件生成:

modules/planning/scenarios/traffic_light_unprotected_left_turn/stage_approach.h
modules/planning/scenarios/traffic_light_unprotected_left_turn/stage_approach.cc

Public 成员函数

额外继承的成员函数

详细描述

成员函数说明

◆ Process()