routing.h

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/******************************************************************************
 * Copyright 2017 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/routing/proto/routing_config.pb.h"
 
#include "modules/common/monitor_log/monitor_log_buffer.h"
#include "modules/common/status/status.h"
#include "modules/map/hdmap/hdmap_util.h"
#include "modules/routing/core/navigator.h"
 
namespace apollo {
namespace routing {
 
class Routing {
  // friend class RoutingTestBase;
 public:
  Routing();
 
  std::string Name() const;
 
  apollo::common::Status Init();
 
  apollo::common::Status Start();
 
  virtual ~Routing() = default;
 
  bool Process(
      const std::shared_ptr<routing::RoutingRequest> &routing_request,
      routing::RoutingResponse *const routing_response);
 
 private:
  std::vector<routing::RoutingRequest> FillLaneInfoIfMissing(
      const routing::RoutingRequest &routing_request);
 
 private:
  std::unique_ptr<Navigator> navigator_ptr_;
  common::monitor::MonitorLogBuffer monitor_logger_buffer_;
 
  const hdmap::HDMap *hdmap_ = nullptr;
};
 
}  // namespace routing
}  // namespace apollo