text: /******************************************************************************
   * 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.
   *****************************************************************************/
  
  /**
   * @file
   **/
  
  #pragma once
  
  #include <string>
  
  #include "modules/planning/scenarios/stage.h"
  #include "modules/planning/scenarios/bare_intersection/protected/bare_intersection_protected_scenario.h"
  
  namespace apollo {
  namespace planning {
  namespace scenario {
  namespace bare_intersection {
  
  struct BareIntersectionProtectedContext;
  
  class BareIntersectionProtectedStageApproach : public Stage {
   public:
    explicit BareIntersectionProtectedStageApproach(
        const ScenarioConfig::StageConfig& config)
        : Stage(config) {}
  
   private:
    Stage::StageStatus Process(const common::TrajectoryPoint& planning_init_point,
                               Frame* frame) override;
    BareIntersectionProtectedContext* GetContext() {
      return GetContextAs<BareIntersectionProtectedContext>();
    }
  
   private:
    Stage::StageStatus FinishScenario() override;
    Stage::StageStatus FinishStage();
  
   private:
    ScenarioBareIntersectionProtectedConfig scenario_config_;
  };
  
  }  // namespace bare_intersection
  }  // namespace scenario
  }  // namespace planning
  }  // namespace apollo
  