Apollo2.0自动驾驶之apollo/modules//prediction/prediction.cc

/****************Apollo源码分析****************************

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源码主要是c++实现的，也有少量python，git下载几百兆，其实代码不太多，主要是地图和数据了大量空间，主要程序
在apollo/modules目录中，

我们把它分成以下几部分（具体说明见各目录下的modules）：

感知：感知当前位置，速度，障碍物等等

Apollo/modules/perception

预测：对场景下一步的变化做出预测

Apollo/modules/prediction

规划：

(1) 全局路径规划：通过起点终点计算行驶路径

Apollo/modules/routing

(2) 规划当前轨道：通过感知，预测，路径规划等信息计算轨道

Apollo/modules/planning

(3) 规划转换成命令：将轨道转换成控制汽车的命令（加速，制动，转向等）

Apollo/modules/control

其它

(1) 输入输出

i. Apollo/modules/drivers 设备驱动

ii. Apollo/modules/localization 位置信息

iii. Apollo/modules/monitor 监控模块

iv. Apollo/modules/canbus 与汽车硬件交互

v. Apollo/modules/map 地图数据

vi. Apollo/modules/third_party_perception 三方感知器支持

(2) 交互

i. Apollo/modules/dreamview 可视化模块

ii. Apollo/modules/hmi 把汽车当前状态显示给用户

(3) 工具

i. Apollo/modules/calibration 标注工具

ii. Apollo/modules/common 支持其它模块的公共工具

iii. Apollo/modules/data 数据工具

iv. Apollo/modules/tools 一些Python工具

(4) 其它

i. Apollo/modules/elo 高精度定位系统，无源码，但有文档

ii. Apollo/modules/e2e 收集传感器数据给PX2,ROS

  自动驾驶系统先通过起点终点规划出整体路径（routing）；然后在行驶过程中感知（perception）当前环境
（识别车辆行人路况标志等），并预测下一步发展；然后把已知信息都传入规划模块（planning），规划出之后的轨道；
控制模块（control）将轨道数据转换成对车辆的控制信号，通过汽车交互模块（canbus）控制汽车．

我觉得这里面算法技术含量最高的是感知perception和规划planning，具体请见本博客中各模块的分析代码。

/****************************************************************************************

/******************************************************************************
 * 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.
 *****************************************************************************/

#include "modules/perception/perception.h"

#include "ros/include/ros/ros.h"

#include "modules/common/adapters/adapter_manager.h"
#include "modules/common/log.h"
#include "modules/perception/common/perception_gflags.h"
#include "modules/perception/lib/config_manager/config_manager.h"
#include "modules/perception/obstacle/base/object.h"
#include "modules/perception/obstacle/onboard/fusion_subnode.h"
#include "modules/perception/obstacle/onboard/lidar_process_subnode.h"
#include "modules/perception/obstacle/onboard/object_shared_data.h"
#include "modules/perception/obstacle/onboard/radar_process_subnode.h"
#include "modules/perception/traffic_light/onboard/tl_preprocessor_subnode.h"
#include "modules/perception/traffic_light/onboard/tl_proc_subnode.h"

namespace apollo {
namespace perception {

using apollo::common::adapter::AdapterManager;
using apollo::common::Status;
using apollo::common::ErrorCode;

std::string Perception::Name() const { return "perception"; }

Status Perception::Init() {
  AdapterManager::Init(FLAGS_perception_adapter_config_filename);

  RegistAllOnboardClass();
  /// init config manager
  ConfigManager* config_manager = ConfigManager::instance();
  if (!config_manager->Init()) {
    AERROR << "failed to Init ConfigManager";
    return Status(ErrorCode::PERCEPTION_ERROR, "failed to Init ConfigManager.");
  }
  AINFO << "Init config manager successfully, work_root: "
        << config_manager->WorkRoot();

  const std::string dag_config_path = apollo::common::util::GetAbsolutePath(
      FLAGS_work_root, FLAGS_dag_config_path);

  if (!dag_streaming_.Init(dag_config_path)) {
    AERROR << "failed to Init DAGStreaming. dag_config_path:"
           << dag_config_path;
    return Status(ErrorCode::PERCEPTION_ERROR, "failed to Init DAGStreaming.");
  }
  callback_thread_num_ = 5;

  return Status::OK();
}

void Perception::RegistAllOnboardClass() {
  /// regist sharedata
  RegisterFactoryLidarObjectData();
  RegisterFactoryRadarObjectData();
  traffic_light::RegisterFactoryTLPreprocessingData();
  /// regist subnode
  RegisterFactoryLidarProcessSubnode();
  RegisterFactoryRadarProcessSubnode();
  RegisterFactoryFusionSubnode();
  traffic_light::RegisterFactoryTLPreprocessorSubnode();
  traffic_light::RegisterFactoryTLProcSubnode();
}

Status Perception::Start() {
  dag_streaming_.Start();
  return Status::OK();
}

void Perception::Stop() {
  dag_streaming_.Stop();
  dag_streaming_.Join();
}

}  // namespace perception
}  // namespace apollo

/******************************************************************************

* 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.

*****************************************************************************/

#include "modules/perception/perception.h"

#include "ros/include/ros/ros.h"

#include "modules/common/adapters/adapter_manager.h"

#include "modules/common/log.h"

#include "modules/perception/common/perception_gflags.h"

#include "modules/perception/lib/config_manager/config_manager.h"

#include "modules/perception/obstacle/base/object.h"

#include "modules/perception/obstacle/onboard/fusion_subnode.h"

#include "modules/perception/obstacle/onboard/lidar_process_subnode.h"

#include "modules/perception/obstacle/onboard/object_shared_data.h"

#include "modules/perception/obstacle/onboard/radar_process_subnode.h"

#include "modules/perception/traffic_light/onboard/tl_preprocessor_subnode.h"

#include "modules/perception/traffic_light/onboard/tl_proc_subnode.h"

//上面的头文件就不一一介绍了，在前面的分析中大部分都有所涉及。可以说这都是为了感知模的运行，进行的先行定义。

namespace apollo {

namespace perception {

using apollo::common::adapter::AdapterManager;//适配器管理

using apollo::common::Status;//状态定义

using apollo::common::ErrorCode;//错误码定义

std::string Perception::Name() const { return "perception"; }

Status Perception::Init() {//感知模块初始化

//void AdapterManager::Init(const std::string &adapter_config_filename) {

// Parse config file

// AdapterManagerConfig configs;

// CHECK(util::GetProtoFromFile(adapter_config_filename, &configs))

/// << "Unable to parse adapter config file " << adapter_config_filename;

// AINFO << "Init AdapterManger config:" << configs.DebugString();

// Init(configs);

//}这里被注释的是“adapter_manager.h adapter_manager.cc”中的一个函数，在这里就被用到了

AdapterManager::Init(FLAGS_perception_adapter_config_filename);

RegistAllOnboardClass();

/// init config manager 初始化所有配置管理

ConfigManager* config_manager = ConfigManager::instance();

if (!config_manager->Init()) {//这里的编程手法，有点像UNIX高级编程里的写法，有研究过这本书的朋友应该有同感

AERROR << "failed to Init ConfigManager";

return Status(ErrorCode::PERCEPTION_ERROR, "failed to Init ConfigManager.");

}

AINFO << "Init config manager successfully, work_root: "

<< config_manager->WorkRoot();

const std::string dag_config_path = apollo::common::util::GetAbsolutePath(//获得配置包的绝对路径

FLAGS_work_root, FLAGS_dag_config_path);

if (!dag_streaming_.Init(dag_config_path)) {

AERROR << "failed to Init DAGStreaming. dag_config_path:"

<< dag_config_path;

return Status(ErrorCode::PERCEPTION_ERROR, "failed to Init DAGStreaming.");

}

callback_thread_num_ = 5;

return Status::OK();

}

void Perception::RegistAllOnboardClass() {

/// regist sharedata

RegisterFactoryLidarObjectData();

RegisterFactoryRadarObjectData();

traffic_light::RegisterFactoryTLPreprocessingData();

/// regist subnode

RegisterFactoryLidarProcessSubnode();

RegisterFactoryRadarProcessSubnode();

RegisterFactoryFusionSubnode();

traffic_light::RegisterFactoryTLPreprocessorSubnode();

traffic_light::RegisterFactoryTLProcSubnode();

}

Status Perception::Start() {//开始感知，我的理解是所有的感知数据为变成ROS数据包的流形式发送出来，然后开始感知过程

dag_streaming_.Start();

return Status::OK();

}

void Perception::Stop() {//停止感知

dag_streaming_.Stop();

dag_streaming_.Join();

}

} // namespace perception

} // namespace apollo