control_gflags.h

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/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include "gflags/gflags.h"
// controller pipeline file path
DECLARE_string(pipeline_file);
// data file
DECLARE_string(control_conf_file);
// mpc controller conf file
DECLARE_string(mpc_controller_conf_file);
// lateral controller conf file
DECLARE_string(lateral_controller_conf_file);
// longitudinal controller conf file
DECLARE_string(longitudinal_controller_conf_file);
// calibration table
DECLARE_string(calibration_table_file);
 
DECLARE_double(control_test_duration);
 
DECLARE_bool(enable_csv_debug);
 
DECLARE_string(preprocessor_submodule_name);
DECLARE_string(mpc_controller_submodule_name);
DECLARE_string(lat_lon_controller_submodule_name);
DECLARE_string(postprocessor_submodule_name);
 
DECLARE_bool(is_control_test_mode);
DECLARE_bool(use_preview_speed_for_table);
 
DECLARE_double(steer_angle_rate);
DECLARE_bool(enable_gain_scheduler);
DECLARE_bool(set_steer_limit);
 
DECLARE_int32(chassis_pending_queue_size);
DECLARE_int32(planning_pending_queue_size);
DECLARE_int32(localization_pending_queue_size);
DECLARE_int32(pad_msg_pending_queue_size);
 
DECLARE_bool(reverse_heading_control);
 
DECLARE_bool(query_forward_time_point_only);
 
DECLARE_bool(enable_gear_drive_negative_speed_protection);
 
DECLARE_bool(use_control_submodules);
 
DECLARE_bool(enable_input_timestamp_check);
 
DECLARE_int32(max_localization_miss_num);
 
DECLARE_int32(max_chassis_miss_num);
 
DECLARE_int32(max_planning_miss_num);
 
DECLARE_int32(planning_status_msg_pending_queue_size);
 
DECLARE_double(max_acceleration_when_stopped);
 
DECLARE_double(max_path_remain_when_stopped);
 
DECLARE_bool(enable_persistent_estop);
 
DECLARE_double(control_period);
 
DECLARE_double(soft_estop_brake);
 
DECLARE_double(trajectory_period);
 
DECLARE_double(chassis_period);
 
DECLARE_double(localization_period);
 
DECLARE_double(minimum_speed_resolution);
 
DECLARE_double(minimum_speed_protection);
 
// 0: stop, at first should stop, then receive pad msg to start
DECLARE_int32(action);
 
DECLARE_bool(use_vehicle_epb);
 
DECLARE_double(pitch_offset_deg);
 
DECLARE_bool(is_control_ut_test_mode);
 
DECLARE_bool(publish_control_debug_info);
 
DECLARE_bool(query_forward_station_point_only);
 
DECLARE_bool(use_speed_filter);
 
DECLARE_bool(use_throttle_filter);
 
DECLARE_double(speed_smoothing_factor);
 
DECLARE_double(throttle_smoothing_factor);
 
DECLARE_bool(use_calibration_dimension_equal_check);