stage.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 <map>
#include <memory>
#include <string>
#include <vector>
 
#include "modules/planning/planning_interface_base/scenario_base/proto/scenario_pipeline.pb.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 Task;
class Frame;
class ReferenceLineInfo;
 
class Stage {
 public:
  Stage();
 
  virtual bool Init(const StagePipeline& config,
                    const std::shared_ptr<DependencyInjector>& injector,
                    const std::string& config_dir, void* context);
 
  virtual ~Stage() = default;
 
  virtual StageResult Process(
      const common::TrajectoryPoint& planning_init_point, Frame* frame) = 0;
 
  const std::string& Name() const;
 
  template <typename T>
  T* GetContextAs() const {
    return static_cast<T*>(context_);
  }
 
  const std::string& NextStage() const { return next_stage_; }
 
 protected:
  StageResult ExecuteTaskOnReferenceLine(
      const common::TrajectoryPoint& planning_start_point, Frame* frame);
 
  StageResult ExecuteTaskOnReferenceLineForOnlineLearning(
      const common::TrajectoryPoint& planning_start_point, Frame* frame);
 
  StageResult ExecuteTaskOnOpenSpace(Frame* frame);
 
  virtual StageResult FinishScenario();
 
  void RecordDebugInfo(ReferenceLineInfo* reference_line_info,
                       const std::string& name, const double time_diff_ms);
 
  std::vector<std::shared_ptr<Task>> task_list_;
  std::shared_ptr<Task> fallback_task_;
  std::string next_stage_;
  void* context_;
  std::shared_ptr<DependencyInjector> injector_;
  StagePipeline pipeline_config_;
 
 private:
  std::string name_;
};
 
}  // namespace planning
}  // namespace apollo