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Merged
daohu527 merged 1 commit into from
Jan 3, 2026
Merged

feat: add world_model module and move relative_map into it #118

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14 changes: 0 additions & 14 deletions modules/map/BUILD
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Expand Up @@ -25,27 +25,15 @@ install(
],
deps = [
":pb_map",
":pb_hdrs",
# "//modules/map/data:install",
"//modules/map/relative_map:install",
"//modules/map/tools:install",
"//modules/map/hdmap/adapter:install",
"//modules/map/hdmap:install",
"//modules/map/pnc_map:install",
"//modules/map/relative_map/tools:install",
":map_testdata"
],
)

install(
name = "pb_hdrs",
data_dest = "map/include",
data = [
"//modules/map/relative_map/proto:navigator_config_cc_proto",
"//modules/map/relative_map/proto:relative_map_config_cc_proto",
],
)

install_files(
name = "pb_map",
dest = "map",
Expand All @@ -68,8 +56,6 @@ install_files(
"//modules/common_msgs/map_msgs:map_stop_sign_py_pb2",
"//modules/common_msgs/map_msgs:map_yield_sign_py_pb2",
"//modules/common_msgs/planning_msgs:navigation_py_pb2",
"//modules/map/relative_map/proto:navigator_config_py_pb2",
"//modules/map/relative_map/proto:relative_map_config_py_pb2",
],
)

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11 changes: 0 additions & 11 deletions modules/map/relative_map/dag/relative_map.dag
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This file was deleted.

8 changes: 4 additions & 4 deletions modules/map/relative_map/BUILD → modules/world_model/relative_map/BUILD
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Expand Up @@ -44,9 +44,9 @@ cc_library(
"//modules/common/monitor_log",
"//modules/common/status",
"//modules/common/util",
"//modules/map/relative_map/common:relative_map_gflags",
"//modules/world_model/relative_map/common:relative_map_gflags",
"//modules/common_msgs/planning_msgs:navigation_cc_proto",
"//modules/map/relative_map/proto:relative_map_config_cc_proto",
"//modules/world_model/relative_map/proto:relative_map_config_cc_proto",
"//modules/common_msgs/perception_msgs:perception_obstacle_cc_proto",
],
)
Expand All @@ -66,8 +66,8 @@ cc_library(
"//modules/common/util",
"//modules/common/vehicle_state:vehicle_state_provider",
"//modules/common/vehicle_state/proto:vehicle_state_cc_proto",
"//modules/map/relative_map/common:relative_map_gflags",
"//modules/map/relative_map/proto:relative_map_config_cc_proto",
"//modules/world_model/relative_map/common:relative_map_gflags",
"//modules/world_model/relative_map/proto:relative_map_config_cc_proto",
"@com_google_absl//absl/strings",
],
)
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0 modules/map/relative_map/README.md → modules/world_model/relative_map/README.md
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0 modules/map/relative_map/common/BUILD → ...les/world_model/relative_map/common/BUILD
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2 changes: 1 addition & 1 deletion ...elative_map/common/relative_map_gflags.cc → ...elative_map/common/relative_map_gflags.cc
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Expand Up @@ -14,7 +14,7 @@
* limitations under the License.
*****************************************************************************/

#include "modules/map/relative_map/common/relative_map_gflags.h"
#include "modules/world_model/relative_map/common/relative_map_gflags.h"

DEFINE_string(
relative_map_config_filename,
Expand Down
0 ...relative_map/common/relative_map_gflags.h → ...relative_map/common/relative_map_gflags.h
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0 ...relative_map/conf/navigator_config.pb.txt → ...relative_map/conf/navigator_config.pb.txt
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0 ...s/map/relative_map/conf/relative_map.conf → ...model/relative_map/conf/relative_map.conf
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0 ...ative_map/conf/relative_map_config.pb.txt → ...ative_map/conf/relative_map_config.pb.txt
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11 changes: 11 additions & 0 deletions modules/world_model/relative_map/dag/relative_map.dag
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@@ -0,0 +1,11 @@
module_config {
module_library : "/apollo/bazel-bin/modules/world_model/relative_map/librelative_map_component.so"
timer_components {
class_name : "RelativeMapComponent"
config {
name: "relative_map"
flag_file_path: "/apollo/modules/world_model/relative_map/conf/relative_map.conf"
interval: 100
}
}
}
2 changes: 1 addition & 1 deletion ...p/relative_map/launch/relative_map.launch → ...l/relative_map/launch/relative_map.launch
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@@ -1,7 +1,7 @@
<cyber>
<module>
<name>relative_map</name>
<dag_conf>/apollo/modules/map/relative_map/dag/relative_map.dag</dag_conf>
<dag_conf>/apollo/modules/world_model/relative_map/dag/relative_map.dag</dag_conf>
<process_name>relative_map</process_name>
</module>
</cyber>
8 changes: 5 additions & 3 deletions modules/map/relative_map/navigation_lane.cc → ...rld_model/relative_map/navigation_lane.cc
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Expand Up @@ -19,19 +19,21 @@
* @brief This file provides the implementation of the class `NavigationLane`.
*/

#include "modules/map/relative_map/navigation_lane.h"
#include "modules/world_model/relative_map/navigation_lane.h"

#include <algorithm>
#include <limits>
#include <string>

#include "absl/strings/str_cat.h"

#include "modules/common_msgs/map_msgs/map_lane.pb.h"

#include "cyber/common/log.h"
#include "modules/common/math/math_utils.h"
#include "modules/common/math/vec2d.h"
#include "modules/common/util/util.h"
#include "modules/common_msgs/map_msgs/map_lane.pb.h"
#include "modules/map/relative_map/common/relative_map_gflags.h"
#include "modules/world_model/relative_map/common/relative_map_gflags.h"

namespace apollo {
namespace relative_map {
Expand Down
7 changes: 4 additions & 3 deletions modules/map/relative_map/navigation_lane.h → ...orld_model/relative_map/navigation_lane.h
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Expand Up @@ -28,11 +28,12 @@
#include <utility>

#include "modules/common/vehicle_state/proto/vehicle_state.pb.h"
#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/common_msgs/localization_msgs/localization.pb.h"
#include "modules/common_msgs/planning_msgs/navigation.pb.h"
#include "modules/map/relative_map/proto/relative_map_config.pb.h"
#include "modules/common_msgs/perception_msgs/perception_obstacle.pb.h"
#include "modules/common_msgs/planning_msgs/navigation.pb.h"
#include "modules/world_model/relative_map/proto/relative_map_config.pb.h"

#include "modules/common/vehicle_state/vehicle_state_provider.h"

/**
* @namespace apollo::relative_map
Expand Down
15 changes: 9 additions & 6 deletions .../map/relative_map/navigation_lane_test.cc → ...odel/relative_map/navigation_lane_test.cc
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Expand Up @@ -19,16 +19,19 @@
* @brief This file provides several unit tests for the class "NavigationLane".
*/

#include "modules/map/relative_map/navigation_lane.h"
#include "modules/world_model/relative_map/navigation_lane.h"

#include "cyber/common/file.h"
#include "gtest/gtest.h"

#include "nlohmann/json.hpp"

#include "modules/common_msgs/chassis_msgs/chassis.pb.h"
#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/map/relative_map/common/relative_map_gflags.h"
#include "modules/common_msgs/planning_msgs/navigation.pb.h"
#include "modules/map/relative_map/proto/relative_map_config.pb.h"
#include "nlohmann/json.hpp"
#include "modules/world_model/relative_map/proto/relative_map_config.pb.h"

#include "cyber/common/file.h"
#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/world_model/relative_map/common/relative_map_gflags.h"

namespace apollo {
namespace relative_map {
Expand Down
2 changes: 1 addition & 1 deletion modules/map/relative_map/proto/BUILD → modules/world_model/relative_map/proto/BUILD
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Expand Up @@ -3,6 +3,7 @@ load("@com_google_protobuf//bazel:proto_library.bzl", "proto_library")
load("@com_google_protobuf//bazel:cc_proto_library.bzl", "cc_proto_library")
load("@com_google_protobuf//bazel:py_proto_library.bzl", "py_proto_library")


package(default_visibility = ["//visibility:public"])

cc_proto_library(
Expand All @@ -21,7 +22,6 @@ py_proto_library(
name = "relative_map_config_py_pb2",
deps = [":relative_map_config_proto"],
)

cc_proto_library(
name = "navigator_config_cc_proto",
deps = [
Expand Down
0 ...relative_map/proto/navigator_config.proto → ...relative_map/proto/navigator_config.proto
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0 ...ative_map/proto/relative_map_config.proto → ...ative_map/proto/relative_map_config.proto
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4 changes: 2 additions & 2 deletions modules/map/relative_map/relative_map.cc → .../world_model/relative_map/relative_map.cc
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Expand Up @@ -14,13 +14,13 @@
* limitations under the License.
*****************************************************************************/

#include "modules/map/relative_map/relative_map.h"
#include "modules/world_model/relative_map/relative_map.h"

#include "cyber/common/file.h"
#include "modules/common/math/vec2d.h"
#include "modules/common/util/util.h"
#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/map/relative_map/common/relative_map_gflags.h"
#include "modules/world_model/relative_map/common/relative_map_gflags.h"

namespace apollo {
namespace relative_map {
Expand Down
9 changes: 5 additions & 4 deletions modules/map/relative_map/relative_map.h → ...s/world_model/relative_map/relative_map.h
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Expand Up @@ -18,13 +18,14 @@

#include <string>

#include "modules/common_msgs/perception_msgs/perception_obstacle.pb.h"
#include "modules/common_msgs/planning_msgs/navigation.pb.h"
#include "modules/world_model/relative_map/proto/relative_map_config.pb.h"

#include "modules/common/monitor_log/monitor_log_buffer.h"
#include "modules/common/status/status.h"
#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/map/relative_map/navigation_lane.h"
#include "modules/common_msgs/planning_msgs/navigation.pb.h"
#include "modules/map/relative_map/proto/relative_map_config.pb.h"
#include "modules/common_msgs/perception_msgs/perception_obstacle.pb.h"
#include "modules/world_model/relative_map/navigation_lane.h"

namespace apollo {
namespace relative_map {
Expand Down
2 changes: 1 addition & 1 deletion ...ap/relative_map/relative_map_component.cc → ...el/relative_map/relative_map_component.cc
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Expand Up @@ -14,7 +14,7 @@
* limitations under the License.
*****************************************************************************/

#include "modules/map/relative_map/relative_map_component.h"
#include "modules/world_model/relative_map/relative_map_component.h"

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

Expand Down
3 changes: 1 addition & 2 deletions ...map/relative_map/relative_map_component.h → ...del/relative_map/relative_map_component.h
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Expand Up @@ -20,9 +20,8 @@

#include "cyber/component/timer_component.h"
#include "cyber/cyber.h"

#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/map/relative_map/relative_map.h"
#include "modules/world_model/relative_map/relative_map.h"

namespace apollo {
namespace relative_map {
Expand Down
0 ...stdata/multi_lane_map/chassis_info.pb.txt → ...stdata/multi_lane_map/chassis_info.pb.txt
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0 ...map/testdata/multi_lane_map/left.smoothed → ...map/testdata/multi_lane_map/left.smoothed
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0 ...a/multi_lane_map/localization_info.pb.txt → ...a/multi_lane_map/localization_info.pb.txt
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0 ...p/testdata/multi_lane_map/middle.smoothed → ...p/testdata/multi_lane_map/middle.smoothed
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0 ...ap/testdata/multi_lane_map/right.smoothed → ...ap/testdata/multi_lane_map/right.smoothed
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6 changes: 3 additions & 3 deletions modules/map/relative_map/tools/BUILD → modules/world_model/relative_map/tools/BUILD
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Expand Up @@ -24,7 +24,7 @@ cc_binary(
"//cyber",
"//modules/common/adapters:adapter_gflags",
"//modules/common/util",
"//modules/map/relative_map:relative_map_lib",
"//modules/world_model/relative_map:relative_map_lib",
],
)

Expand All @@ -36,8 +36,8 @@ cc_binary(
"//cyber",
"//modules/common/adapters:adapter_gflags",
"//modules/common/util",
"//modules/map/relative_map:relative_map_lib",
"//modules/map/relative_map/proto:navigator_config_cc_proto",
"//modules/world_model/relative_map:relative_map_lib",
"//modules/world_model/relative_map/proto:navigator_config_cc_proto",
"@com_github_nlohmann_json//:json",
],
)
Expand Down
0 ...ap/relative_map/tools/navigation_dummy.cc → ...el/relative_map/tools/navigation_dummy.cc
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7 changes: 4 additions & 3 deletions modules/map/relative_map/tools/navigator.cc → ...rld_model/relative_map/tools/navigator.cc
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Expand Up @@ -21,15 +21,16 @@

#include "nlohmann/json.hpp"

#include "modules/common_msgs/planning_msgs/navigation.pb.h"
#include "modules/world_model/relative_map/proto/navigator_config.pb.h"

#include "cyber/common/file.h"
#include "cyber/common/log.h"
#include "cyber/cyber.h"
#include "cyber/time/rate.h"
#include "modules/common/adapters/adapter_gflags.h"
#include "modules/common/util/message_util.h"
#include "modules/map/relative_map/common/relative_map_gflags.h"
#include "modules/common_msgs/planning_msgs/navigation.pb.h"
#include "modules/map/relative_map/proto/navigator_config.pb.h"
#include "modules/world_model/relative_map/common/relative_map_gflags.h"

using apollo::cyber::Rate;
using apollo::relative_map::NavigationInfo;
Expand Down
0 modules/map/relative_map/tools/navigator.md → ...rld_model/relative_map/tools/navigator.md
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