migrate canbus/Signal to common/VehicleSignal (#63)

ApolloAuto · Jul 20, 2017 · c5decd5 · c5decd5
1 parent 4072e3f
commit c5decd5
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Showing 11 changed files with 61 additions and 44 deletions.
diff --git a/modules/canbus/proto/BUILD b/modules/canbus/proto/BUILD
@@ -11,6 +11,7 @@ cc_proto_library(
     deps = [
         "//modules/common",
         "//modules/common/proto:common_proto",
+        "//modules/common/proto:vehicle_signal_proto",
     ],
 )
 

diff --git a/modules/canbus/proto/chassis.proto b/modules/canbus/proto/chassis.proto
@@ -3,20 +3,7 @@ syntax = "proto2";
 package apollo.canbus;
 
 import "modules/common/proto/header.proto";
-
-message Signal {
-  enum TurnSignal {
-    TURN_NONE = 0;
-    TURN_LEFT = 1;
-    TURN_RIGHT = 2;
-  };
-  optional TurnSignal turn_signal = 1;
-  // lights enable command
-  optional bool high_beam = 2;
-  optional bool low_beam = 3;
-  optional bool horn = 4;
-  optional bool emergency_light = 5;
-}
+import "modules/common/proto/vehicle_signal.proto";
 
 // next id :28
 message Chassis {
@@ -94,7 +81,7 @@ message Chassis {
 
   optional int32 chassis_error_mask = 26 [default = 0];
 
-  optional Signal signal = 27;
+  optional apollo.common.VehicleSignal signal = 27;
 
   // Light signals.
   optional bool high_beam_signal = 14 [deprecated = true];

diff --git a/modules/canbus/vehicle/lincoln/lincoln_controller.cc b/modules/canbus/vehicle/lincoln/lincoln_controller.cc
@@ -16,8 +16,6 @@
 
 #include "modules/canbus/vehicle/lincoln/lincoln_controller.h"
 
-#include "modules/common/log.h"
-
 #include "modules/canbus/can_comm/can_sender.h"
 #include "modules/canbus/vehicle/lincoln/lincoln_message_manager.h"
 #include "modules/canbus/vehicle/lincoln/protocol/brake_60.h"
@@ -26,6 +24,8 @@
 #include "modules/canbus/vehicle/lincoln/protocol/throttle_62.h"
 #include "modules/canbus/vehicle/lincoln/protocol/turnsignal_68.h"
 #include "modules/canbus/vehicle/vehicle_controller.h"
+#include "modules/common/log.h"
+#include "modules/common/proto/vehicle_signal.pb.h"
 #include "modules/common/time/time.h"
 
 namespace apollo {
@@ -218,15 +218,19 @@ Chassis LincolnController::chassis() {
   if (chassis_detail.light().has_turn_light_type() &&
       chassis_detail.light().turn_light_type() != Light::TURN_LIGHT_OFF) {
     if (chassis_detail.light().turn_light_type() == Light::TURN_LEFT_ON) {
-      chassis_.mutable_signal()->set_turn_signal(Signal::TURN_LEFT);
+      chassis_.mutable_signal()->set_turn_signal(
+          common::VehicleSignal::TURN_LEFT);
     } else if (chassis_detail.light().turn_light_type() ==
                Light::TURN_RIGHT_ON) {
-      chassis_.mutable_signal()->set_turn_signal(Signal::TURN_RIGHT);
+      chassis_.mutable_signal()->set_turn_signal(
+          common::VehicleSignal::TURN_RIGHT);
     } else {
-      chassis_.mutable_signal()->set_turn_signal(Signal::TURN_NONE);
+      chassis_.mutable_signal()->set_turn_signal(
+          common::VehicleSignal::TURN_NONE);
     }
   } else {
-    chassis_.mutable_signal()->set_turn_signal(Signal::TURN_NONE);
+    chassis_.mutable_signal()->set_turn_signal(
+        common::VehicleSignal::TURN_NONE);
   }
   // 18
   if (chassis_detail.light().has_is_horn_on() &&
@@ -472,9 +476,9 @@ void LincolnController::SetHorn(const ControlCommand& command) {
 void LincolnController::SetTurningSignal(const ControlCommand& command) {
   // Set Turn Signal
   auto signal = command.signal().turn_signal();
-  if (signal == Signal::TURN_LEFT) {
+  if (signal == common::VehicleSignal::TURN_LEFT) {
     turnsignal_68_->set_turn_left();
-  } else if (signal == Signal::TURN_RIGHT) {
+  } else if (signal == common::VehicleSignal::TURN_RIGHT) {
     turnsignal_68_->set_turn_right();
   } else {
     turnsignal_68_->set_turn_none();

diff --git a/modules/canbus/vehicle/lincoln/lincoln_controller_test.cc b/modules/canbus/vehicle/lincoln/lincoln_controller_test.cc
@@ -24,6 +24,7 @@
 
 #include "modules/canbus/proto/canbus_conf.pb.h"
 #include "modules/canbus/proto/chassis.pb.h"
+#include "modules/common/proto/vehicle_signal.pb.h"
 #include "modules/control/proto/control_cmd.pb.h"
 
 namespace apollo {
@@ -32,7 +33,7 @@ namespace lincoln {
 
 using apollo::common::ErrorCode;
 using apollo::control::ControlCommand;
-using apollo::canbus::Signal;
+using apollo::common::VehicleSignal;
 
 class LincolnControllerTest : public ::testing::Test {
  public:
@@ -50,7 +51,7 @@ class LincolnControllerTest : public ::testing::Test {
  protected:
   LincolnController controller_;
   ControlCommand control_cmd_;
-  Signal signal_;
+  VehicleSignal vehicle_signal_;
   CanSender sender_;
   LincolnMessageManager msg_manager_;
   CanbusConf canbus_conf_;
@@ -62,15 +63,14 @@ TEST_F(LincolnControllerTest, Init) {
   EXPECT_EQ(ret, ErrorCode::OK);
 }
 
-TEST_F(LincolnControllerTest, SetDrivingMode) {  
+TEST_F(LincolnControllerTest, SetDrivingMode) {
   Chassis chassis;
   chassis.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);
 
   controller_.Init(params_, &sender_, &msg_manager_);
   controller_.set_driving_mode(chassis.driving_mode());
   EXPECT_EQ(controller_.driving_mode(), chassis.driving_mode());
-  EXPECT_EQ(controller_.SetDrivingMode(chassis.driving_mode()),
-      ErrorCode::OK);
+  EXPECT_EQ(controller_.SetDrivingMode(chassis.driving_mode()), ErrorCode::OK);
 }
 
 TEST_F(LincolnControllerTest, Status) {
@@ -83,19 +83,19 @@ TEST_F(LincolnControllerTest, Status) {
   EXPECT_FALSE(controller_.CheckChassisError());
 }
 
-TEST_F (LincolnControllerTest, UpdateDrivingMode) {
+TEST_F(LincolnControllerTest, UpdateDrivingMode) {
   controller_.Init(params_, &sender_, &msg_manager_);
   controller_.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);
   EXPECT_EQ(controller_.SetDrivingMode(Chassis::COMPLETE_MANUAL),
-      ErrorCode::OK);
+            ErrorCode::OK);
   controller_.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);
   EXPECT_EQ(controller_.SetDrivingMode(Chassis::AUTO_STEER_ONLY),
-      ErrorCode::OK);
+            ErrorCode::OK);
   controller_.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);
   EXPECT_EQ(controller_.SetDrivingMode(Chassis::AUTO_SPEED_ONLY),
-      ErrorCode::OK);
+            ErrorCode::OK);
   EXPECT_EQ(controller_.SetDrivingMode(Chassis::COMPLETE_AUTO_DRIVE),
-      ErrorCode::CANBUS_ERROR);
+            ErrorCode::CANBUS_ERROR);
 }
 
 }  // namespace lincoln

diff --git a/modules/common/proto/BUILD b/modules/common/proto/BUILD
@@ -20,6 +20,13 @@ cc_proto_library(
     ],
 )
 
+cc_proto_library(
+    name = "vehicle_signal_proto",
+    protos = [
+        "vehicle_signal.proto",
+    ],
+)
+
 cc_proto_library(
     name = "common_proto",
     protos = [

diff --git a/modules/common/proto/vehicle_signal.proto b/modules/common/proto/vehicle_signal.proto
@@ -0,0 +1,17 @@
+syntax = "proto2";
+
+package apollo.common;
+
+message VehicleSignal {
+  enum TurnSignal {
+    TURN_NONE = 0;
+    TURN_LEFT = 1;
+    TURN_RIGHT = 2;
+  };
+  optional TurnSignal turn_signal = 1;
+  // lights enable command
+  optional bool high_beam = 2;
+  optional bool low_beam = 3;
+  optional bool horn = 4;
+  optional bool emergency_light = 5;
+}
diff --git a/modules/control/proto/control_cmd.proto b/modules/control/proto/control_cmd.proto
@@ -3,6 +3,7 @@ package apollo.control;
 
 import "modules/canbus/proto/chassis.proto";
 import "modules/common/proto/header.proto";
+import "modules/common/proto/vehicle_signal.proto";
 import "modules/control/proto/pad_msg.proto";
 
 enum TurnSignal {
@@ -49,7 +50,7 @@ message ControlCommand {
   optional apollo.canbus.Chassis.GearPosition gear_location = 20;
 
   optional Debug debug = 22;
-  optional apollo.canbus.Signal signal = 23;
+  optional apollo.common.VehicleSignal signal = 23;
   optional LatencyStats latency_stats = 24;
   optional PadMessage pad_msg = 25;
 

diff --git a/modules/decision/proto/decision.proto b/modules/decision/proto/decision.proto
@@ -4,8 +4,8 @@ package apollo.decision;
 
 import "modules/common/proto/header.proto";
 import "modules/common/proto/geometry.proto";
+import "modules/common/proto/vehicle_signal.proto";
 import "modules/prediction/proto/prediction_obstacle.proto";
-import "modules/canbus/proto/chassis.proto";
 
 message Range {
   optional double start = 1;
@@ -316,7 +316,6 @@ message DecisionResult {
   optional ObjectDecisions object_decision = 2;
   optional MainDecision main_decision = 3;
   optional Debug debug = 4;
+  optional apollo.common.VehicleSignal vehicle_signal = 5;
   optional Stats stats = 6;
-  optional apollo.canbus.Signal signal = 7;
-  optional LightSignal light_signal = 5 [deprecated = true];
 }
diff --git a/modules/dreamview/backend/simulation_world_service.cc b/modules/dreamview/backend/simulation_world_service.cc
@@ -25,6 +25,7 @@
 #include "modules/common/configs/vehicle_config_helper.h"
 #include "modules/common/math/quaternion.h"
 #include "modules/common/proto/geometry.pb.h"
+#include "modules/common/proto/vehicle_signal.pb.h"
 #include "modules/common/time/time.h"
 #include "modules/dreamview/backend/trajectory_point_collector.h"
 #include "modules/dreamview/proto/simulation_world.pb.h"
@@ -165,10 +166,11 @@ void UpdateSimulationWorld<ChassisAdapter>(const Chassis &chassis,
   }
   auto_driving_car->set_steering_angle(angle_percentage);
 
-  if (chassis.signal().turn_signal() == ::apollo::canbus::Signal::TURN_LEFT) {
+  if (chassis.signal().turn_signal() ==
+      ::apollo::common::VehicleSignal::TURN_LEFT) {
     auto_driving_car->set_current_signal("LEFT");
   } else if (chassis.signal().turn_signal() ==
-             ::apollo::canbus::Signal::TURN_RIGHT) {
+             ::apollo::common::VehicleSignal::TURN_RIGHT) {
     auto_driving_car->set_current_signal("RIGHT");
   } else {
     auto_driving_car->set_current_signal("");

diff --git a/modules/dreamview/backend/simulation_world_service_test.cc b/modules/dreamview/backend/simulation_world_service_test.cc
@@ -112,7 +112,7 @@ TEST_F(InternalTest, UpdateChassisInfoTest) {
   chassis.set_throttle_percentage(50);
   chassis.set_brake_percentage(10);
   chassis.set_steering_percentage(25);
-  chassis.mutable_signal()->set_turn_signal(apollo::canbus::Signal::TURN_RIGHT);
+  chassis.mutable_signal()->set_turn_signal(apollo::common::VehicleSignal::TURN_RIGHT);
 
   // Commit the update.
   SimulationWorld world;

diff --git a/modules/planning/proto/planning.proto b/modules/planning/proto/planning.proto
@@ -3,6 +3,7 @@ syntax = "proto2";
 package apollo.planning;
 
 import "modules/common/proto/header.proto";
+import "modules/common/proto/vehicle_signal.proto";
 import "modules/common/proto/path_point.proto";
 import "modules/canbus/proto/chassis.proto";
 import "modules/planning/proto/planning_internal.proto";
@@ -31,12 +32,10 @@ message ADCTrajectory {
   repeated apollo.common.TrajectoryPoint trajectory_point = 4;
   optional EStop estop = 6;
   repeated apollo.common.PathPoint path_point = 7;
+  optional apollo.planning_internal.Debug debug = 8;
   // is_replan == true mean replan triggered
   optional bool is_replan = 9 [default = false];
   // Specify trajectory gear
   optional apollo.canbus.Chassis.GearPosition gear = 10;
-  optional apollo.planning_internal.Debug debug = 8;
-  optional apollo.canbus.Signal signal = 11;
-
-  optional ADCSignals signals = 5 [deprecated = true];
+  optional apollo.common.VehicleSignal signal = 11;
 }