replan_control_task.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 <algorithm>
#include <memory>
#include <string>
 
#include "modules/common_msgs/config_msgs/vehicle_config.pb.h"
#include "modules/control/control_component/proto/control_debug.pb.h"
#include "modules/control/controllers/replan_control_task/proto/replan_task_conf.pb.h"
#include "modules/safety_manager_msgs/safety_manager.pb.h"
 
#include "cyber/cyber.h"
#include "cyber/plugin_manager/plugin_manager.h"
#include "modules/common/util/message_util.h"
#include "modules/control/control_task_base_extend/control_task_extend.h"
#include "modules/common/adapters/adapter_gflags.h"
 
namespace apollo {
namespace control {
 
class ReplanControlTask : public ControlTaskExtend {
public:
    ReplanControlTask();
 
    virtual ~ReplanControlTask() = default;
 
    common::Status Init(std::shared_ptr<DependencyInjector> injector) override;
 
    common::Status ComputeControlCommand(
            const localization::LocalizationEstimate *localization,
            const canbus::Chassis *chassis,
            const planning::ADCTrajectory *trajectory,
            control::ControlCommand *cmd) override;
 
    void Stop() override;
 
    common::Status Reset() override;
 
    std::string Name() const override;
 
protected:
    std::shared_ptr<DependencyInjector> injector_;
 
private:
    void OnSafetyDecision(const std::shared_ptr<apollo::safety_manager::SafetyDecision> &safety_decision_msg);
 
private:
    std::unique_ptr<::apollo::cyber::Node> node_ = nullptr;
    std::shared_ptr<apollo::cyber::Reader<apollo::safety_manager::SafetyDecision>> safety_decision_reader_;
    std::mutex mutex_;
 
    std::string name_;
    apollo::safety_manager::SafetyDecision decision_;
    ReplanTaskConf replan_task_conf_;
};
 
CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::control::ReplanControlTask, ControlTask)
 
}  // namespace control
}  // namespace apollo