stage_standby.h

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/******************************************************************************
 * 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.
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#pragma once

#include <memory>

#include "modules/planning/proto/planning_config.pb.h"
#include "modules/planning/scenarios/emergency/emergency_stop/emergency_stop_scenario.h"
#include "modules/planning/scenarios/stage.h"

namespace apollo {
namespace planning {
namespace scenario {
namespace emergency_stop {

struct EmergencyStopContext;

class EmergencyStopStageStandby : public Stage {
 public:
  EmergencyStopStageStandby(const ScenarioConfig::StageConfig& config,
                            const std::shared_ptr<DependencyInjector>& injector)
      : Stage(config, injector) {}

 private:
  Stage::StageStatus Process(const common::TrajectoryPoint& planning_init_point,
                             Frame* frame) override;
  EmergencyStopContext* GetContext() {
    return GetContextAs<EmergencyStopContext>();
  }

 private:
  Stage::StageStatus FinishStage();

 private:
  ScenarioEmergencyStopConfig scenario_config_;
};

}  // namespace emergency_stop
}  // namespace scenario
}  // namespace planning
}  // namespace apollo