stage_parking_park.h

浏览该文件的文档.

/******************************************************************************
 * 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 "cyber/plugin_manager/plugin_manager.h"
#include "modules/planning/planning_open_space/utils/open_space_trajectory_optimizer_util.h"
#include "modules/planning/planning_interface_base/scenario_base/stage.h"
#include "modules/planning/scenarios/valet_parking_park/valet_parking_scenario.h"
 
namespace apollo {
namespace planning {
 
enum class ParkingMissionStatus {
  RUNNING = 0,
  DONE = 1,
};
 
struct ParkingMissionInfo {
  std::string parking_spot_id;
  int command_sequence_num;
  ParkingMissionStatus status;
};
 
class StageParkingPark : public Stage {
 public:
  StageResult Process(const common::TrajectoryPoint& planning_init_point,
                      Frame* frame) override;
 
 private:
  StageResult FinishStage(Frame* frame);
 
  bool CheckADCParkingCompleted(Frame* frame);
 
  bool CheckParkingMissionInfo(const ValetParkingContext& planning_command);
 
  bool arrive_parking_spot_ = false;
  ScenarioValetParkingParkConfig scenario_config_;
  ParkingMissionInfo parking_mission_info_;
};
 
CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::planning::StageParkingPark, Stage)
 
}  // namespace planning
}  // namespace apollo