stage_standby.cc

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/******************************************************************************
 * Copyright 2019 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.
 *****************************************************************************/
 
#include "modules/planning/scenarios/emergency_pull_over/stage_standby.h"
 
#include <memory>
#include <string>
#include <vector>
 
#include "cyber/common/log.h"
#include "modules/planning/planning_base/common/frame.h"
#include "modules/planning/planning_base/common/planning_context.h"
#include "modules/planning/planning_base/common/util/common.h"
 
namespace apollo {
namespace planning {
 
using apollo::common::TrajectoryPoint;
using apollo::common::VehicleConfigHelper;
using apollo::common::VehicleSignal;
 
StageResult EmergencyPullOverStageStandby::Process(
    const TrajectoryPoint& planning_init_point, Frame* frame) {
  ADEBUG << "stage: Standby";
  CHECK_NOTNULL(frame);
 
  scenario_config_.CopyFrom(
      GetContextAs<EmergencyPullOverContext>()->scenario_config);
 
  auto& reference_line_info = frame->mutable_reference_line_info()->front();
 
  // set vehicle signal
  reference_line_info.SetEmergencyLight();
  reference_line_info.SetTurnSignal(VehicleSignal::TURN_NONE);
 
  // reset cruise_speed
  reference_line_info.LimitCruiseSpeed(FLAGS_default_cruise_speed);
 
  // add a stop fence
  const auto& pull_over_status =
      injector_->planning_context()->planning_status().pull_over();
  if (pull_over_status.has_position() && pull_over_status.position().has_x() &&
      pull_over_status.position().has_y()) {
    const auto& reference_line_info = frame->reference_line_info().front();
    const auto& reference_line = reference_line_info.reference_line();
    common::SLPoint pull_over_sl;
    reference_line.XYToSL(pull_over_status.position(), &pull_over_sl);
    const double stop_distance = scenario_config_.stop_distance();
    double stop_line_s =
        pull_over_sl.s() + stop_distance +
        VehicleConfigHelper::GetConfig().vehicle_param().front_edge_to_center();
    const double adc_front_edge_s = reference_line_info.AdcSlBoundary().end_s();
    double distance = stop_line_s - adc_front_edge_s;
    if (distance <= 0.0) {
      // push stop fence further
      stop_line_s = adc_front_edge_s + stop_distance;
    }
 
    const std::string virtual_obstacle_id = "EMERGENCY_PULL_OVER";
    const std::vector<std::string> wait_for_obstacle_ids;
    planning::util::BuildStopDecision(
        virtual_obstacle_id, stop_line_s, stop_distance,
        StopReasonCode::STOP_REASON_PULL_OVER, wait_for_obstacle_ids,
        "EMERGENCY_PULL_OVER-scenario", frame,
        &(frame->mutable_reference_line_info()->front()));
 
    ADEBUG << "Build a stop fence for emergency_pull_over: id["
           << virtual_obstacle_id << "] s[" << stop_line_s << "]";
  }
 
  StageResult result = ExecuteTaskOnReferenceLine(planning_init_point, frame);
  if (result.HasError()) {
    AERROR << "EmergencyPullOverStageStandby planning error";
  }
 
  const auto& pad_msg_driving_action = frame->GetPadMsgDrivingAction();
  if (pad_msg_driving_action != PadMessage::PULL_OVER) {
    return FinishStage();
  }
 
  return result.SetStageStatus(StageStatusType::RUNNING);
}
 
StageResult EmergencyPullOverStageStandby::FinishStage() {
  return FinishScenario();
}
 
}  // namespace planning
}  // namespace apollo