stage_slow_down.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.
 *****************************************************************************/

#pragma once

#include <memory>

#include "modules/planning/proto/planning_config.pb.h"
#include "modules/planning/scenarios/emergency/emergency_pull_over/emergency_pull_over_scenario.h"
#include "modules/planning/scenarios/stage.h"

namespace apollo {
namespace planning {
namespace scenario {
namespace emergency_pull_over {

struct EmergencyPullOverContext;

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

  StageStatus Process(const common::TrajectoryPoint& planning_init_point,
                      Frame* frame) override;

  EmergencyPullOverContext* GetContext() {
    return Stage::GetContextAs<EmergencyPullOverContext>();
  }

  Stage::StageStatus FinishStage();

 private:
  ScenarioEmergencyPullOverConfig scenario_config_;
};

}  // namespace emergency_pull_over
}  // namespace scenario
}  // namespace planning
}  // namespace apollo