Merge v6.1_turn_around to master (ApolloAuto#13970)

qxdxx · Jul 23, 2021 · 6db2a1b · 6db2a1b
1 parent ac8cb20
commit 6db2a1b
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Showing 96 changed files with 3,872 additions and 229 deletions.
diff --git a/modules/common/monitor_log/proto/monitor_log.proto b/modules/common/monitor_log/proto/monitor_log.proto
@@ -26,6 +26,7 @@ message MonitorMessageItem {
     MOBILEYE = 18;
     DELPHI_ESR = 19;
     STORYTELLING = 20;
+    TASK_MANAGER = 21;
   }
 
   optional MessageSource source = 1 [default = UNKNOWN];

diff --git a/modules/dreamview/BUILD b/modules/dreamview/BUILD
@@ -1,6 +1,6 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary")
 load("//tools/platform:build_defs.bzl", "copts_if_teleop")
-load("//tools/install:install.bzl", "install", "install_files")
+load("//tools/install:install.bzl", "install")
 load("//tools:cpplint.bzl", "cpplint")
 
 package(default_visibility = ["//visibility:public"])
@@ -40,22 +40,9 @@ install(
         ":dreamview_conf",
         ":frontend",
     ],
-    runtime_dest = "modules/dreamview",
     targets = ["dreamview"],
     deps = [
-        ":pb_dreamview",
         "//cyber:install",
-        "//modules/calibration:install",
-        "//modules/common/data:install",
-    ],
-)
-
-install_files(
-    name = "pb_dreamview",
-    dest = "modules/dreamview",
-    files = [
-        "//modules/dreamview/proto:chart_py_pb2",
-        "//modules/dreamview/proto:preprocess_table_py_pb2",
     ],
 )
 

diff --git a/modules/dreamview/backend/common/dreamview_gflags.cc b/modules/dreamview/backend/common/dreamview_gflags.cc
@@ -93,7 +93,7 @@ DEFINE_string(default_data_collection_config_path,
               "/apollo/modules/dreamview/conf/data_collection_table.pb.txt",
               "Data collection table config path.");
 
-DEFINE_double(loop_routing_end_to_start_distance_threshold, 10.0,
+DEFINE_int32(loop_routing_end_to_start_distance_threshold, 10,
              "Loop routing distance threshold: start to end");
 
 DEFINE_string(default_preprocess_config_path,
@@ -108,3 +108,7 @@ DEFINE_string(lidar_calibration_mode, "Lidar-IMU Sensor Calibration",
 
 DEFINE_string(camera_calibration_mode, "Camera-Lidar Sensor Calibration",
               "Name of camera_to_lidar calibration mode.");
+
+DEFINE_double(parking_routing_distance_threshold, 20.0,
+              "For open space planner parking situation: get the routing"
+              "end point based on this threshold.");
diff --git a/modules/dreamview/backend/common/dreamview_gflags.h b/modules/dreamview/backend/common/dreamview_gflags.h
@@ -60,7 +60,7 @@ DECLARE_int32(monitor_msg_pending_queue_size);
 
 DECLARE_string(default_data_collection_config_path);
 
-DECLARE_double(loop_routing_end_to_start_distance_threshold);
+DECLARE_int32(loop_routing_end_to_start_distance_threshold);
 
 DECLARE_string(default_preprocess_config_path);
 
@@ -69,3 +69,5 @@ DECLARE_string(vehicle_calibration_mode);
 DECLARE_string(lidar_calibration_mode);
 
 DECLARE_string(camera_calibration_mode);
+
+DECLARE_double(parking_routing_distance_threshold);
diff --git a/modules/dreamview/backend/hmi/hmi_worker.cc b/modules/dreamview/backend/hmi/hmi_worker.cc
@@ -462,8 +462,7 @@ void HMIWorker::SubmitDriveEvent(const uint64_t event_time_ms,
 
 void HMIWorker::SensorCalibrationPreprocess(const std::string& task_type) {
   std::string start_command = absl::StrCat(
-      "nohup bash /apollo/modules/tools/sensor_calibration/extract_data.sh -t ",
-      task_type, " &");
+      "nohup bash /apollo/scripts/extract_data.sh -t ", task_type, " &");
   System(start_command);
 }
 

diff --git a/modules/dreamview/backend/map/map_service.cc b/modules/dreamview/backend/map/map_service.cc
@@ -429,6 +429,36 @@ bool MapService::ConstructLaneWayPointWithHeading(
   return true;
 }
 
+bool MapService::ConstructLaneWayPointWithLaneId(
+    const double x, const double y, const std::string id,
+    routing::LaneWaypoint *laneWayPoint) const {
+  LaneInfoConstPtr lane = HDMap()->GetLaneById(hdmap::MakeMapId(id));
+  if (!lane) {
+    return false;
+  }
+
+  if (!CheckRoutingPointLaneType(lane)) {
+    return false;
+  }
+
+  double s, l;
+  PointENU point;
+  point.set_x(x);
+  point.set_y(y);
+
+  if (!lane->GetProjection({point.x(), point.y()}, &s, &l)) {
+    return false;
+  }
+
+  laneWayPoint->set_id(id);
+  laneWayPoint->set_s(s);
+  auto *pose = laneWayPoint->mutable_pose();
+  pose->set_x(x);
+  pose->set_y(y);
+
+  return true;
+}
+
 bool MapService::CheckRoutingPoint(const double x, const double y) const {
   double s, l;
   LaneInfoConstPtr lane;
@@ -441,6 +471,23 @@ bool MapService::CheckRoutingPoint(const double x, const double y) const {
   return true;
 }
 
+bool MapService::CheckRoutingPointLaneId(
+    const double x, const double y, std::vector<std::string> idsArr) const {
+  if (idsArr.empty()) {
+    return false;
+  }
+  double s, l;
+  LaneInfoConstPtr lane;
+  if (!GetNearestLane(x, y, &lane, &s, &l)) {
+    return false;
+  }
+  if (!CheckRoutingPointLaneType(lane)) {
+    return false;
+  }
+  return std::find(idsArr.begin(), idsArr.end(), lane->id().id()) !=
+         idsArr.end();
+}
+
 bool MapService::CheckRoutingPointLaneType(LaneInfoConstPtr lane) const {
   if (lane->lane().type() != Lane::CITY_DRIVING) {
     AERROR

diff --git a/modules/dreamview/backend/map/map_service.h b/modules/dreamview/backend/map/map_service.h
@@ -26,9 +26,11 @@
 #include <boost/thread/locks.hpp>
 #include <boost/thread/shared_mutex.hpp>
 
+#include "nlohmann/json.hpp"
+
 #include "modules/dreamview/proto/simulation_world.pb.h"
+
 #include "modules/map/pnc_map/pnc_map.h"
-#include "nlohmann/json.hpp"
 
 /**
  * @namespace apollo::dreamview
@@ -76,8 +78,15 @@ class MapService {
       const double x, const double y, const double heading,
       routing::LaneWaypoint *laneWayPoint) const;
 
+  bool ConstructLaneWayPointWithLaneId(
+      const double x, const double y, const std::string id,
+      routing::LaneWaypoint *laneWayPoint) const;
+
   bool CheckRoutingPoint(const double x, const double y) const;
 
+  bool CheckRoutingPointLaneId(const double x, const double y,
+                               const std::vector<std::string> idsArr) const;
+
   bool CheckRoutingPointLaneType(apollo::hdmap::LaneInfoConstPtr lane) const;
 
   // Reload map from current FLAGS_map_dir.

diff --git a/modules/dreamview/backend/sim_control/sim_control.cc b/modules/dreamview/backend/sim_control/sim_control.cc
@@ -107,9 +107,9 @@ void SimControl::InitTimerAndIO() {
       false));
 }
 
-void SimControl::Init(double start_velocity,
+void SimControl::Init(bool set_start_point, double start_velocity,
                       double start_acceleration) {
-  if (!FLAGS_use_navigation_mode) {
+  if (set_start_point && !FLAGS_use_navigation_mode) {
     InitStartPoint(start_velocity, start_acceleration);
   }
 }
@@ -252,7 +252,8 @@ void SimControl::Start() {
     // When localization is already available, we do not need to
     // reset/override the start point.
     localization_reader_->Observe();
-    Init(next_point_.has_v() ? next_point_.v() : 0.0,
+    Init(localization_reader_->Empty(),
+         next_point_.has_v() ? next_point_.v() : 0.0,
          next_point_.has_a() ? next_point_.a() : 0.0);
 
     InternalReset();

diff --git a/modules/dreamview/backend/sim_control/sim_control.h b/modules/dreamview/backend/sim_control/sim_control.h
@@ -62,7 +62,7 @@ class SimControl : SimControlInterface {
    * @brief setup callbacks and timer
    * @param set_start_point initialize localization.
    */
-  void Init(double start_velocity = 0.0,
+  void Init(bool set_start_point, double start_velocity = 0.0,
             double start_acceleration = 0.0) override;
 
   /**

diff --git a/modules/dreamview/backend/sim_control/sim_control_interface.h b/modules/dreamview/backend/sim_control/sim_control_interface.h
@@ -38,7 +38,7 @@ class SimControlInterface {
   /**
    * @brief Initialization.
    */
-  virtual void Init(double start_velocity = 0.0,
+  virtual void Init(bool set_start_point, double start_velocity = 0.0,
                     double start_acceleration = 0.0) = 0;
 
   /**

diff --git a/modules/dreamview/backend/simulation_world/simulation_world_service.cc b/modules/dreamview/backend/simulation_world/simulation_world_service.cc
@@ -546,8 +546,7 @@ void SimulationWorldService::UpdateSimulationWorld(const Chassis &chassis) {
 
   auto_driving_car->set_disengage_type(DeduceDisengageType(chassis));
 
-  auto_driving_car->set_battery_percentage(
-    chassis.battery_soc_percentage());
+  auto_driving_car->set_battery_percentage(chassis.battery_soc_percentage());
   auto_driving_car->set_gear_location(chassis.gear_location());
 }
 

diff --git a/modules/dreamview/backend/simulation_world/simulation_world_service_test.cc b/modules/dreamview/backend/simulation_world/simulation_world_service_test.cc
@@ -23,7 +23,6 @@
 #include "modules/common/adapters/adapter_gflags.h"
 #include "modules/common/configs/vehicle_config_helper.h"
 #include "modules/common/math/quaternion.h"
-
 #include "modules/dreamview/backend/common/dreamview_gflags.h"
 
 using apollo::canbus::Chassis;