free_space_scenario.h

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/******************************************************************************
 * Copyright 2023 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/common_msgs/external_command_msgs/free_space_command.pb.h"
#include "modules/common_msgs/map_msgs/map_id.pb.h"
#include "modules/planning/scenarios/free_space/proto/free_space_scenario.pb.h"
#include "cyber/plugin_manager/plugin_manager.h"
#include "modules/map/hdmap/hdmap_util.h"
#include "modules/map/pnc_map/path.h"
#include "modules/planning/planning_interface_base/scenario_base/scenario.h"
 
namespace apollo {
namespace planning {
 
struct FreeSpaceContext : public ScenarioContext {
    ScenarioFreeSpaceConfig scenario_config;
    apollo::external_command::FreeSpaceCommand free_space_command;
};
 
class FreeSpaceScenario : public Scenario {
public:
    bool Init(std::shared_ptr<DependencyInjector> injector, const std::string& name) override;
 
    FreeSpaceContext* GetContext() override {
        return &context_;
    }
 
    bool IsTransferable(const Scenario* const other_scenario, const Frame& frame) override;
 
private:
    bool init_ = false;
    FreeSpaceContext context_;
    const hdmap::HDMap* hdmap_ = nullptr;
};
 
CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::planning::FreeSpaceScenario, Scenario)
 
}  // namespace planning
}  // namespace apollo