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Dreamview: update pullOver data source (ApolloAuto#10137)
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@vlin17
vlin17 authored Nov 8, 2019
1 parent bdc7c38 commit 7d3decf
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Showing 10 changed files with 173 additions and 111 deletions.
7 changes: 3 additions & 4 deletions modules/dreamview/backend/simulation_world/simulation_world_service.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -970,10 +970,9 @@ void SimulationWorldService::UpdatePlanningData(const PlanningData &data) {
}

// Update pull over status
planning_data->clear_pull_over_status();
if (data.has_pull_over_status()) {
planning_data->mutable_pull_over_status()->CopyFrom(
data.pull_over_status());
planning_data->clear_pull_over();
if (data.has_pull_over()) {
planning_data->mutable_pull_over()->CopyFrom(data.pull_over());
}

// Update planning signal
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22 changes: 11 additions & 11 deletions modules/dreamview/frontend/dist/app.bundle.js
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2 changes: 1 addition & 1 deletion modules/dreamview/frontend/dist/app.bundle.js.map
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2 changes: 1 addition & 1 deletion modules/dreamview/frontend/dist/worker.bundle.js
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2 changes: 1 addition & 1 deletion modules/dreamview/frontend/dist/worker.bundle.js.map
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171 changes: 114 additions & 57 deletions modules/dreamview/frontend/proto_bundle/sim_world_proto_bundle.json
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Original file line number Diff line number Diff line change
Expand Up @@ -1242,6 +1242,10 @@
"steer": {
"type": "double",
"id": 6
},
"gaussianInfo": {
"type": "GaussianInfo",
"id": 7
}
}
},
Expand Down Expand Up @@ -1283,6 +1287,38 @@
}
}
},
"GaussianInfo": {
"fields": {
"sigmaX": {
"type": "double",
"id": 1
},
"sigmaY": {
"type": "double",
"id": 2
},
"correlation": {
"type": "double",
"id": 3
},
"areaProbability": {
"type": "double",
"id": 4
},
"ellipseA": {
"type": "double",
"id": 5
},
"ellipseB": {
"type": "double",
"id": 6
},
"thetaA": {
"type": "double",
"id": 7
}
}
},
"VehicleSignal": {
"fields": {
"turnSignal": {
Expand Down Expand Up @@ -6594,6 +6630,13 @@
"options": {
"default": 2.5
}
},
"stopDistance": {
"type": "double",
"id": 4,
"options": {
"default": 1.5
}
}
}
},
Expand Down Expand Up @@ -7103,25 +7146,6 @@
}
}
},
"EmergencyPullOverStatus": {
"fields": {
"position": {
"type": "apollo.common.PointENU",
"id": 1
},
"theta": {
"type": "double",
"id": 2
},
"isInEmergencyPullOverScenario": {
"type": "bool",
"id": 3,
"options": {
"default": false
}
}
}
},
"OpenSpaceStatus": {
"fields": {
"partitionedTrajectoriesIndexHistory": {
Expand Down Expand Up @@ -7224,46 +7248,54 @@
},
"PullOverStatus": {
"fields": {
"pullOverType": {
"type": "PullOverType",
"id": 1
},
"planPullOverPath": {
"type": "bool",
"id": 2,
"options": {
"default": false
}
},
"isFeasible": {
"type": "bool",
"id": 1,
"id": 3,
"options": {
"default": false
}
},
"position": {
"type": "apollo.common.PointENU",
"id": 2
"id": 4
},
"theta": {
"type": "double",
"id": 3
"id": 5
},
"lengthFront": {
"type": "double",
"id": 4
"id": 6
},
"lengthBack": {
"type": "double",
"id": 5
"id": 7
},
"widthLeft": {
"type": "double",
"id": 6
"id": 8
},
"widthRight": {
"type": "double",
"id": 7
},
"idx": {
"type": "int32",
"id": 8
},
"isInPullOverScenario": {
"type": "bool",
"id": 9,
"options": {
"default": false
"id": 9
}
},
"nested": {
"PullOverType": {
"values": {
"PULL_OVER": 1,
"EMERGENCY_PULL_OVER": 2
}
}
}
Expand Down Expand Up @@ -7388,65 +7420,61 @@
"type": "DestinationStatus",
"id": 4
},
"emergencyPullOver": {
"type": "EmergencyPullOverStatus",
"id": 5
},
"engageAdvice": {
"type": "apollo.common.EngageAdvice",
"id": 6
"id": 5
},
"openSpace": {
"type": "OpenSpaceStatus",
"id": 7
"id": 6
},
"pedestrian": {
"type": "PedestrianStatus",
"id": 8
"id": 7
},
"parkAndGo": {
"type": "ParkAndGoStatus",
"id": 9
"id": 8
},
"pathDecider": {
"type": "PathDeciderStatus",
"id": 10
"id": 9
},
"pathReuseDecider": {
"type": "PathReuseDeciderStatus",
"id": 11
"id": 10
},
"pullOver": {
"type": "PullOverStatus",
"id": 12
"id": 11
},
"rerouting": {
"type": "ReroutingStatus",
"id": 13
"id": 12
},
"rightOfWay": {
"type": "RightOfWayStatus",
"id": 14
"id": 13
},
"scenario": {
"type": "ScenarioStatus",
"id": 15
"id": 14
},
"sidePass": {
"type": "SidePassStatus",
"id": 16
"id": 15
},
"stopSign": {
"type": "StopSignStatus",
"id": 17
"id": 16
},
"trafficLight": {
"type": "TrafficLightStatus",
"id": 18
"id": 17
},
"yieldSign": {
"type": "YieldSignStatus",
"id": 19
"id": 18
}
}
},
Expand Down Expand Up @@ -8436,7 +8464,8 @@
"ST_BOUNDARY_TYPE_FOLLOW": 3,
"ST_BOUNDARY_TYPE_YIELD": 4,
"ST_BOUNDARY_TYPE_OVERTAKE": 5,
"ST_BOUNDARY_TYPE_KEEP_CLEAR": 6
"ST_BOUNDARY_TYPE_KEEP_CLEAR": 6,
"ST_BOUNDARY_TYPE_DRIVABLE_REGION": 7
}
}
}
Expand Down Expand Up @@ -8965,6 +8994,34 @@
}
}
},
"PullOverDebug": {
"fields": {
"position": {
"type": "apollo.common.PointENU",
"id": 1
},
"theta": {
"type": "double",
"id": 2
},
"lengthFront": {
"type": "double",
"id": 3
},
"lengthBack": {
"type": "double",
"id": 4
},
"widthLeft": {
"type": "double",
"id": 5
},
"widthRight": {
"type": "double",
"id": 6
}
}
},
"PlanningData": {
"fields": {
"adcPosition": {
Expand Down Expand Up @@ -9062,8 +9119,8 @@
"type": "apollo.planning.PullOverStatus",
"id": 29
},
"emergencyPullOverStatus": {
"type": "apollo.planning.EmergencyPullOverStatus",
"pullOver": {
"type": "PullOverDebug",
"id": 30
}
}
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1 change: 0 additions & 1 deletion modules/dreamview/frontend/src/components/Navigation/MapNavigator.js
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Original file line number Diff line number Diff line change
Expand Up @@ -136,7 +136,6 @@ class MapNavigator {

const x = autoDrivingCar.positionX;
const y = autoDrivingCar.positionY;
const heading = autoDrivingCar.heading;

const [longitude, latitude] = this.mapAdapter.applyCoordinateOffset(UTMToWGS84(x, y));
const latLng = this.mapAdapter.createPoint({
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59 changes: 26 additions & 33 deletions modules/dreamview/frontend/src/renderer/status.js
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Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
import * as THREE from "three";
import STORE from "store";
import { drawSegmentsFromPoints, drawCircle, drawArrow } from "utils/draw";
import { drawSegmentsFromPoints, drawCircle, drawArrow, disposeMeshGroup } from "utils/draw";

function getPullOverStatus({ lengthFront, lengthBack, widthLeft, widthRight }) {
function drawPullOverBox({ lengthFront, lengthBack, widthLeft, widthRight }) {
const pullOverStatus = new THREE.Group();
const color = 0x006AFF;
const polygon = drawSegmentsFromPoints(
Expand Down Expand Up @@ -36,42 +36,35 @@ function getPullOverStatus({ lengthFront, lengthBack, widthLeft, widthRight }) {

export default class PlanningStatus {
constructor() {
this.pullOverStatus = null;
this.pullOverBox = null;
}

update(planningData, coordinates, scene) {
// Dispose old status
if (this.pullOverBox) {
disposeMeshGroup(this.pullOverBox);
scene.remove(this.pullOverBox);
this.pullOverBox = null;
}

if (!planningData) {
return;
}

// Draw pull over status
if (planningData) {
const { pullOverStatus } = planningData;
if (!STORE.options.customizedToggles.get('pullOverStatus')) {
if (this.pullOverStatus) {
this.pullOverStatus.traverse((child) => {
child.visible = false;
});
}
} else {
if (this.pullOverStatus) {
this.pullOverStatus.traverse((child) => {
if (child.geometry !== undefined) {
child.geometry.dispose();
child.material.dispose();
}
});
scene.remove(this.pullOverStatus);
this.pullOverStatus = null;
}
if (pullOverStatus) {
this.pullOverStatus = getPullOverStatus(pullOverStatus);
if (STORE.options.customizedToggles.get('pullOver')) {
const { pullOver } = planningData;
if (pullOver) {
this.pullOverBox = drawPullOverBox(pullOver);

const position = coordinates.applyOffset({
x: pullOverStatus.position.x,
y: pullOverStatus.position.y,
z: 0.3,
});
this.pullOverStatus.position.set(position.x, position.y, position.z);
this.pullOverStatus.rotation.set(0, 0, pullOverStatus.theta);
scene.add(this.pullOverStatus);
}
const position = coordinates.applyOffset({
x: pullOver.position.x,
y: pullOver.position.y,
z: 0.3,
});
this.pullOverBox.position.set(position.x, position.y, position.z);
this.pullOverBox.rotation.set(0, 0, pullOver.theta);
scene.add(this.pullOverBox);
}
}
}
Expand Down
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