Apollo 2.0 Planning 源码(1)

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// 模块入口
APOLLO_MAIN(apollo::planning::Planning)
int main(int argc, char **argv)
{
	google::InitGoogleLogging(argv[0]);
	google::ParseCommandLineFlags(&argc, &argv, true); 
	signal(SIGINT, apollo::common::apollo_app_sigint_handler);
	apollo::planning::Planning apollo_app_ ;
	ros::init(argc, argv, apollo_app_.Name());
	apollo_app_.Spin();
	return 0;
}
///////////////////////////////////////////////////////
int ApolloApp::Spin()
{
	ros::AsyncSpinner spinner(callback_thread_num_);
	auto status = Init();
	status = Start(); 
	
	spinner.start();
	ros::waitForShutdown();
	Stop();
	return 0;
}
///////////////////////////////////////////////////////
Status Planning::Init()
{
	hdmap_ = apollo::hdmap::HDMapUtil::BaseMapPtr();
	
apollo::common::util::GetProtoFromFile(FLAGS_planning_config_file, &config);
	
	if(!AdapterManager::Initialized()){
		AdaapterManager::Init(FLAGS_planning_adapter_config_filename);
	}
	
	AdapterManager::GetLocalization();
	AdapterManager::GetChassis();
	AdapterManager::GetRoutingResponse();
	AdapterManager::GetRoutingRequest();
	
	if(FLAGS_enable_prediction)
		AdapterManager::GetPrediction();
		
	if(FLAGS_enable_traffic_light)
		AdapterManager::GetTrafficLightDetection();
		
	ReferenceLineProvider::instance()->Init(hdmap_, config_.qp_spline_reference_line_smoother_config()); 
	
	RegisterPlanners();
	
	planner_ = planner_factory_.CreateObject(config_.planner_type());
	
	return planner_->Init(config_);
}
/* DEFINE_string(planning_adapter_config_filename,
	"modules/planning/conf/adapter.conf",
	"The adapter configuration file")
*/
///////////////////////////////////////////////////////////////
void AdapterManager::Init(const std::string &adapter_config_filename)
{
	AdapterManagerConfig configs;
	util::GetProtoFromFile(adapter_config_filename, &configs);
	Init(configs);
}
//////////////////////////////////////////////////////////////
void AdapterManager::Init(const AdapterManagerConfig& configs)
{
	if(Initialized())	return;
	instance()->initialized_ = true; 
	
	if(configs.is_ros()){
		instance()->node_handle_.reset(new ros::NodeHandle());
	}
	
	for(const auto &config : configs.config())
	{
		case AdapterConfig::CHASSIS:
			EnableChassis(FLAGS_chassis_topic, config);
			break;
		case AdapterConfig::LOCALIZATION:
			EnableLocalization(FLAGS_localization_topic, config);
			break;	
			// ...
	}
 }
 
/* DEFINE_string 宏
	FLAGS_chassis_topic ->  /apollo/canbus/chassis
	FLAGS_localization_topic -> /apollo/localization/pose
*/

where is EnableChassis ?

in /apollo/modules/common/adapters/message_adapters.h

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using ChassisAdapter=Adapter<::apollo::canbus::Chassis>;
using GpsAdapter = Adapter<apollo::localization::Gps>;
using PlanningAdapter = Adapter<planning::ADCTrajectory>;

in /apollo/modules/common/adapters/adapter_manager.h

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#define REGISTER_ADAPTER(name)
	public static void Enable##name(const std::string &topic_name, const AdapterConfig& config)
	{
	}
continue tomorrow