traffic_decider.h

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

#pragma once

#include <memory>

#include "modules/common/proto/pnc_point.pb.h"
#include "modules/common/status/status.h"
#include "modules/common/util/factory.h"
#include "modules/planning/proto/traffic_rule_config.pb.h"
#include "modules/planning/reference_line/reference_line.h"
#include "modules/planning/traffic_rules/traffic_rule.h"

namespace apollo {
namespace planning {

class TrafficDecider {
 public:
  TrafficDecider() = default;
  bool Init(const TrafficRuleConfigs &config);
  virtual ~TrafficDecider() = default;
  apollo::common::Status Execute(
      Frame *frame, ReferenceLineInfo *reference_line_info,
      const std::shared_ptr<DependencyInjector> &injector);

 private:
  static apollo::common::util::Factory<
      TrafficRuleConfig::RuleId, TrafficRule,
      TrafficRule *(*)(const TrafficRuleConfig &config,
                       const std::shared_ptr<DependencyInjector> &injector)>
      s_rule_factory;

  void RegisterRules();
  void BuildPlanningTarget(ReferenceLineInfo *reference_line_info);

  TrafficRuleConfigs rule_configs_;
};

}  // namespace planning
}  // namespace apollo