open_space_trajectory_provider.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 <vector>
 
#include "modules/common_msgs/basic_msgs/pnc_point.pb.h"
#include "modules/common_msgs/planning_msgs/planning.pb.h"
 
#include "modules/planning/tasks/open_space_trajectory_provider/proto/open_space_trajectory_provider.pb.h"
#include "cyber/plugin_manager/plugin_manager.h"
#include "modules/common/status/status.h"
#include "modules/planning/planning_base/common/trajectory/discretized_trajectory.h"
#include "modules/planning/planning_interface_base/task_base/common/trajectory_optimizer.h"
#include "modules/planning/planning_interface_base/task_base/task.h"
#include "modules/planning/tasks/open_space_trajectory_provider/open_space_trajectory_optimizer.h"
 
namespace apollo {
namespace planning {
 
struct OpenSpaceTrajectoryThreadData {
  std::vector<common::TrajectoryPoint> stitching_trajectory;
  std::vector<double> end_pose;
  std::vector<double> XYbounds;
  double rotate_angle;
  apollo::common::math::Vec2d translate_origin;
  Eigen::MatrixXi obstacles_edges_num;
  Eigen::MatrixXd obstacles_A;
  Eigen::MatrixXd obstacles_b;
  std::vector<std::vector<common::math::Vec2d>> obstacles_vertices_vec;
};
 
class OpenSpaceTrajectoryProvider : public TrajectoryOptimizer {
 public:
  bool Init(const std::string& config_dir, const std::string& name,
            const std::shared_ptr<DependencyInjector>& injector) override;
 
  ~OpenSpaceTrajectoryProvider();
 
  void Stop();
 
  void Restart();
 
 private:
  apollo::common::Status Process() override;
 
  void GenerateTrajectoryThread();
 
  bool IsVehicleNearDestination(const common::VehicleState& vehicle_state,
                                const std::vector<double>& end_pose,
                                double rotate_angle,
                                const common::math::Vec2d& translate_origin);
 
  bool IsVehicleStopDueToFallBack(const bool is_on_fallback,
                                  const common::VehicleState& vehicle_state);
 
  void GenerateStopTrajectory(DiscretizedTrajectory* const trajectory_data);
 
  void LoadResult(DiscretizedTrajectory* const trajectory_data);
 
  void ReuseLastFrameResult(const Frame* last_frame,
                            DiscretizedTrajectory* const trajectory_data);
 
  void ReuseLastFrameDebug(const Frame* last_frame);
 
 private:
  double straight_trajectory_length_ = 0.0;
  bool thread_init_flag_ = false;
 
  std::unique_ptr<OpenSpaceTrajectoryOptimizer>
      open_space_trajectory_optimizer_;
 
  size_t optimizer_thread_counter = 0;
  apollo::common::TrajectoryPoint last_trajctory_point;
 
  OpenSpaceTrajectoryThreadData thread_data_;
  std::future<void> task_future_;
  std::atomic<bool> is_generation_thread_stop_{false};
  std::atomic<bool> trajectory_updated_{false};
  std::atomic<bool> data_ready_{false};
  std::atomic<bool> trajectory_error_{false};
  std::atomic<bool> trajectory_skipped_{false};
  std::mutex open_space_mutex_;
  bool is_planned_ = false;
  OpenSpaceTrajectoryProviderConfig config_;
};
 
CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(
    apollo::planning::OpenSpaceTrajectoryProvider, Task)
 
}  // namespace planning
}  // namespace apollo