emergency_pull_over_scenario.h

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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.
 *****************************************************************************/
 
#pragma once
 
#include <memory>
#include <string>
 
#include "modules/planning/scenarios/emergency_pull_over/proto/emergency_pull_over.pb.h"
#include "cyber/plugin_manager/plugin_manager.h"
#include "modules/common/util/factory.h"
#include "modules/planning/planning_base/common/frame.h"
#include "modules/planning/planning_interface_base/scenario_base/scenario.h"
 
namespace apollo {
namespace planning {
 
// stage context
struct EmergencyPullOverContext : public ScenarioContext {
  ScenarioEmergencyPullOverConfig scenario_config;
  double target_slow_down_speed = 0.0;
};
 
class EmergencyPullOverScenario : public Scenario {
 public:
  bool Init(std::shared_ptr<DependencyInjector> injector,
            const std::string& name) override;
 
  EmergencyPullOverContext* GetContext() override { return &context_; }
 
  bool IsTransferable(const Scenario* const other_scenario,
                      const Frame& frame) override;
 
  bool Exit(Frame* frame) override;
 
  bool Enter(Frame* frame) override;
 
 private:
  bool init_ = false;
  EmergencyPullOverContext context_;
};
 
CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(
    apollo::planning::EmergencyPullOverScenario, Scenario)
 
}  // namespace planning
}  // namespace apollo