lane_escape_scenario.cc

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/******************************************************************************
 * Copyright 2024 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/lane_escape/lane_escape_scenario.h"
 
#include "cyber/common/log.h"
 
namespace apollo {
namespace planning {
 
bool LaneEscapeScenario::Init(std::shared_ptr<DependencyInjector> injector, const std::string& name) {
  if (!Scenario::Init(injector, name)) {
    AERROR << "failed to init scenario" << Name();
    return false;
  }
 
  if (!Scenario::LoadConfig<ScenarioLaneEscapeConfig>(&context_.scenario_config)) {
    AERROR << "failed to load config";
    return false;
  }
  AINFO << context_.scenario_config.DebugString();
 
  return true;
}
 
bool LaneEscapeScenario::IsTransferable(const Scenario* other_scenario,
                                        const Frame& frame) {
  if (injector_->history()->Size() == 0) {
    ParkDataCenter::Instance()->set_need_escape(false);
    return false;
  }
  if (!frame.local_view().planning_command->has_lane_follow_command()) {
    return false;
  }
  if (frame.reference_line_info().empty()) {
    return false;
  }
  if (ParkDataCenter::Instance()->is_need_escape()) {
    return true;
  }
  return false;
}
 
}  // namespace planning
}  // namespace apollo