Apollo2.0自动驾驶之apollo/modules/common/adapters/adapter_test.cc

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

Copyright 2018 The File Authors & zouyu. All Rights Reserved.

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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/common/adapters/adapter.h"

#include <cmath>
#include <string>
#include "gmock/gmock.h"
#include "gtest/gtest.h"
#include "modules/common/adapters/adapter_gflags.h"
#include "modules/localization/proto/localization.pb.h"

namespace apollo {
namespace common {
namespace adapter {

using IntegerAdapter = Adapter<int>;

TEST(AdapterTest, Empty) {
  IntegerAdapter adapter("Integer", "integer_topic", 10);
  EXPECT_TRUE(adapter.Empty());
}

TEST(AdapterTest, Observe) {
  IntegerAdapter adapter("Integer", "integer_topic", 10);
  adapter.OnReceive(173);

  // Before calling Observe.
  EXPECT_TRUE(adapter.Empty());

  // After calling Observe.
  adapter.Observe();
  EXPECT_FALSE(adapter.Empty());
}

TEST(AdapterTest, GetLatestObserved) {
  IntegerAdapter adapter("Integer", "integer_topic", 10);
  adapter.OnReceive(173);

  adapter.Observe();
  EXPECT_FALSE(adapter.Empty());
  EXPECT_EQ(173, adapter.GetLatestObserved());

  adapter.OnReceive(5);
  adapter.OnReceive(7);
  // Before calling Observe() again.
  EXPECT_FALSE(adapter.Empty());
  EXPECT_EQ(173, adapter.GetLatestObserved());
  adapter.Observe();
  // After calling Observe() again.
  EXPECT_FALSE(adapter.Empty());
  EXPECT_EQ(7, adapter.GetLatestObserved());
}

TEST(AdapterTest, History) {
  IntegerAdapter adapter("Integer", "integer_topic", 3);
  adapter.OnReceive(1);
  adapter.OnReceive(2);

  adapter.Observe();
  {
    // Currently the history contains [2, 1].
    std::vector<IntegerAdapter::DataPtr> history(adapter.begin(),
                                                 adapter.end());
    EXPECT_EQ(2, history.size());
    EXPECT_EQ(2, *history[0]);
    EXPECT_EQ(1, *history[1]);
  }

  adapter.OnReceive(0);
  adapter.OnReceive(0);
  adapter.OnReceive(0);
  adapter.OnReceive(0);
  adapter.OnReceive(0);
  adapter.OnReceive(0);
  adapter.OnReceive(0);
  adapter.OnReceive(3);
  adapter.OnReceive(4);
  adapter.OnReceive(5);

  {
    // Although there are more messages, without calling Observe,
    // the history is still [2, 1].
    std::vector<IntegerAdapter::DataPtr> history(adapter.begin(),
                                                 adapter.end());
    EXPECT_EQ(2, history.size());
    EXPECT_EQ(2, *history[0]);
    EXPECT_EQ(1, *history[1]);
  }

  adapter.Observe();
  {
    // After calling Observe(), the history starts from 5. Since we only
    // maintain 3 elements in this adapter, 1 and 2 will be thrown out.
    //
    // History should be 5, 4, 3.
    std::vector<IntegerAdapter::DataPtr> history(adapter.begin(),
                                                 adapter.end());
    EXPECT_EQ(3, history.size());
    EXPECT_EQ(5, *history[0]);
    EXPECT_EQ(4, *history[1]);
    EXPECT_EQ(3, *history[2]);
  }
}

TEST(AdapterTest, Callback) {
  IntegerAdapter adapter("Integer", "integer_topic", 3);

  // Set the callback to act as a counter of messages.
  int count = 0;
  adapter.AddCallback([&count](int x) { count += x; });

  adapter.OnReceive(11);
  adapter.OnReceive(41);
  adapter.OnReceive(31);
  EXPECT_EQ(11 + 41 + 31, count);
}

using MyLocalizationAdapter = Adapter<localization::LocalizationEstimate>;

TEST(AdapterTest, Dump) {
  FLAGS_enable_adapter_dump = true;
  std::string temp_dir = std::getenv("TEST_TMPDIR");

  MyLocalizationAdapter adapter("local", "local_topic", 3, temp_dir);
  localization::LocalizationEstimate loaded;

  localization::LocalizationEstimate msg;

  msg.mutable_header()->set_sequence_num(17);
  adapter.OnReceive(msg);
  apollo::common::util::GetProtoFromASCIIFile(temp_dir + "/local/17.pb.txt",
                                              &loaded);
  EXPECT_EQ(17, loaded.header().sequence_num());

  msg.mutable_header()->set_sequence_num(23);
  adapter.OnReceive(msg);
  apollo::common::util::GetProtoFromASCIIFile(temp_dir + "/local/23.pb.txt",
                                              &loaded);
  EXPECT_EQ(23, loaded.header().sequence_num());
}

}  // namespace adapter
}  // namespace common
}  // 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/common/adapters/adapter.h"

#include <cmath>

#include <string>

#include "gmock/gmock.h"

#include "gtest/gtest.h"

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

#include "modules/localization/proto/localization.pb.h"

namespace apollo {

namespace common {

namespace adapter {

using IntegerAdapter = Adapter < int > ;

TEST (AdapterTest, Empty) { //适配器测试

IntegerAdapter adapter ( "Integer" , "integer_topic" , 10 );

EXPECT_TRUE (adapter. Empty ());

}

TEST (AdapterTest, Observe) {

IntegerAdapter adapter ( "Integer" , "integer_topic" , 10 );

adapter. OnReceive ( 173 );

// Before calling Observe.

EXPECT_TRUE (adapter. Empty ());

// After calling Observe.

adapter. Observe ();

EXPECT_FALSE (adapter. Empty ());

}

TEST (AdapterTest, GetLatestObserved) { //获得消息队列中最新的消息。

IntegerAdapter adapter ( "Integer" , "integer_topic" , 10 );

adapter. OnReceive ( 173 );

adapter. Observe ();

EXPECT_FALSE (adapter. Empty ());

EXPECT_EQ ( 173 , adapter. GetLatestObserved ());

adapter. OnReceive ( 5 );

adapter. OnReceive ( 7 );

// Before calling Observe() again.

EXPECT_FALSE (adapter. Empty ());

EXPECT_EQ ( 173 , adapter. GetLatestObserved ());

adapter. Observe ();

// After calling Observe() again.

EXPECT_FALSE (adapter. Empty ());

EXPECT_EQ ( 7 , adapter. GetLatestObserved ());

}

TEST (AdapterTest, History) {

IntegerAdapter adapter ( "Integer" , "integer_topic" , 3 );

adapter. OnReceive ( 1 );

adapter. OnReceive ( 2 );

adapter. Observe ();

{

// Currently the history contains [2, 1].

std::vector < IntegerAdapter::DataPtr > history (adapter. begin (),

adapter. end ());

EXPECT_EQ ( 2 , history. size ());

EXPECT_EQ ( 2 , * history[ 0 ]);

EXPECT_EQ ( 1 , * history[ 1 ]);

}

adapter. OnReceive ( 0 );

adapter. OnReceive ( 0 );

adapter. OnReceive ( 0 );

adapter. OnReceive ( 0 );

adapter. OnReceive ( 0 );

adapter. OnReceive ( 0 );

adapter. OnReceive ( 0 );

adapter. OnReceive ( 3 );

adapter. OnReceive ( 4 );

adapter. OnReceive ( 5 );

{

// Although there are more messages, without calling Observe,

// the history is still [2, 1].

std::vector < IntegerAdapter::DataPtr > history (adapter. begin (),

adapter. end ());

EXPECT_EQ ( 2 , history. size ());

EXPECT_EQ ( 2 , * history[ 0 ]);

EXPECT_EQ ( 1 , * history[ 1 ]);

}

adapter. Observe ();

{

// After calling Observe(), the history starts from 5. Since we only

// maintain 3 elements in this adapter, 1 and 2 will be thrown out.

//

// History should be 5, 4, 3.

std::vector < IntegerAdapter::DataPtr > history (adapter. begin (),

adapter. end ());

EXPECT_EQ ( 3 , history. size ());

EXPECT_EQ ( 5 , * history[ 0 ]);

EXPECT_EQ ( 4 , * history[ 1 ]);

EXPECT_EQ ( 3 , * history[ 2 ]);

}

}

TEST (AdapterTest, Callback) {

IntegerAdapter adapter ( "Integer" , "integer_topic" , 3 );

// Set the callback to act as a counter of messages.

int count = 0 ;

adapter. AddCallback ([ & count]( int x) { count += x; });

adapter. OnReceive ( 11 );

adapter. OnReceive ( 41 );

adapter. OnReceive ( 31 );

EXPECT_EQ ( 11 + 41 + 31 , count);

}

using MyLocalizationAdapter = Adapter < localization::LocalizationEstimate > ; //实例化adapter.

/×××××××××××××××××××××××××××××××××××××××××××××××××××××××××××
在这个头文件modules/common/adapters/adapter.h中会有一个adapter的基类：
Adapter(const std::string& adapter_name, const std::string& topic_name,
        size_t message_num, const std::string& dump_dir = "/tmp")
××××××××××××××××××××××××××××××××××××8××/

TEST (AdapterTest, Dump) {

FLAGS_enable_adapter_dump = true ;

std::string temp_dir = std::getenv ( "TEST_TMPDIR" );//测试数据缓存地址。

MyLocalizationAdapter adapter ( "local" , "local_topic" , 3 , temp_dir);//local适配器名称。
//local_topic会话名称。 3代表消息数量。
//temp_dir数据缓存地址。

localization::LocalizationEstimate loaded;//定位数据实例化。

localization::LocalizationEstimate msg;//消息实例化。

msg. mutable_header ()-> set_sequence_num ( 17 );//消息数量。

adapter. OnReceive (msg);//消息接收。

apollo::common::util::GetProtoFromASCIIFile (temp_dir + "/local/17.pb.txt" ,

& loaded);//装载缓存文件

EXPECT_EQ ( 17 , loaded. header (). sequence_num ());

msg. mutable_header ()-> set_sequence_num ( 23 );

adapter. OnReceive (msg);

apollo::common::util::GetProtoFromASCIIFile (temp_dir + "/local/23.pb.txt" ,

& loaded);

EXPECT_EQ ( 23 , loaded. header (). sequence_num ());

}

} // namespace adapter

} // namespace common

} // namespace apollo