scenario.h

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/******************************************************************************
 * Copyright 2018 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 <unordered_map>
 
#include "modules/planning/planning_interface_base/scenario_base/proto/scenario_pipeline.pb.h"
 
#include "cyber/common/file.h"
#include "modules/planning/planning_base/common/dependency_injector.h"
#include "modules/planning/planning_interface_base/scenario_base/process_result.h"
 
namespace apollo {
namespace common {
class TrajectoryPoint;
}  // namespace common
}  // namespace apollo
 
namespace apollo {
namespace planning {
 
class Frame;
 
struct ScenarioContext {
 public:
  ScenarioContext() {}
};
 
class Stage;
class DependencyInjector;
 
class Scenario {
 public:
  Scenario();
 
  virtual ~Scenario() = default;
 
  virtual bool Init(std::shared_ptr<DependencyInjector> injector,
                    const std::string& name);
 
  virtual ScenarioContext* GetContext() = 0;
 
  virtual bool IsTransferable(const Scenario* other_scenario,
                              const Frame& frame) {
    return false;
  }
 
  virtual ScenarioResult Process(
      const common::TrajectoryPoint& planning_init_point, Frame* frame);
 
  virtual bool Exit(Frame* frame) { return true; }
 
  virtual bool Enter(Frame* frame) { return true; }
 
  std::shared_ptr<Stage> CreateStage(const StagePipeline& stage_pipeline);
 
  const ScenarioStatusType& GetStatus() const {
    return scenario_result_.GetScenarioStatus();
  }
 
  const std::string GetStage() const;
 
  const std::string& GetMsg() const { return msg_; }
 
  const std::string& Name() const { return name_; }
 
  void Reset();
 
 protected:
  template <typename T>
  bool LoadConfig(T* config);
 
  ScenarioResult scenario_result_;
  std::shared_ptr<Stage> current_stage_;
  std::unordered_map<std::string, const StagePipeline*> stage_pipeline_map_;
  std::string msg_;  // debug msg
  std::shared_ptr<DependencyInjector> injector_;
 
  std::string config_path_;
  std::string config_dir_;
  std::string name_;
  ScenarioPipeline scenario_pipeline_config_;
};
 
template <typename T>
bool Scenario::LoadConfig(T* config) {
  return apollo::cyber::common::LoadConfig<T>(config_path_, config);
}
 
}  // namespace planning
}  // namespace apollo