HMI: Check module path to decide if it is available. (#1058)

* HMI: Check module path to decide if it is available.

* HMI: Code clean.

modules/dreamview/backend/hmi/hmi.cc

@@ -91,6 +91,17 @@ Map<std::string, std::string> ListDirAsDict(const std::string &dir) {
 HMI::HMI(WebSocketHandler *websocket) : websocket_(websocket) {
   CHECK(common::util::GetProtoFromFile(FLAGS_hmi_config_filename, &config_))
       << "Unable to parse HMI config file " << FLAGS_hmi_config_filename;
+  // If the module path doesn't exist, remove it from list.
+  auto *modules = config_.mutable_modules();
+  for (auto iter = modules->begin(); iter != modules->end();) {
+    const auto &conf = iter->second;
+    if (conf.has_path() && !common::util::PathExists(conf.path())) {
+      iter = modules->erase(iter);
+    } else {
+      ++iter;
+    }
+  }
+
   // Get available maps and vehicles by listing data directory.
   *config_.mutable_available_maps() = ListDirAsDict(FLAGS_map_data_path);
   *config_.mutable_available_vehicles() =

modules/dreamview/conf/hmi.conf

@@ -26,6 +26,21 @@ modules {
     }
   }
 }
+modules {
+  key: "mobileye"
+  value: {
+    display_name: "Mobileye"
+    path: "modules/drivers/mobileye"
+    supported_commands {
+      key: "start"
+      value: "scripts/mobileye.sh start"
+    }
+    supported_commands {
+      key: "stop"
+      value: "scripts/mobileye.sh stop"
+    }
+  }
+}
 modules {
   key: "localization"
   value: {

modules/dreamview/proto/hmi_config.proto

@@ -4,7 +4,9 @@ package apollo.dreamview;
 
 message Component {
   optional string display_name = 1;
-  map<string, string> supported_commands = 2;
+  // If the path is given, HMI will check if it's available.
+  optional string path = 2;
+  map<string, string> supported_commands = 3;
 }
 
 message HMIConfig {

modules/hmi/conf/config.pb.txt

@@ -44,6 +44,7 @@ modules {
 modules {
   name: "mobileye"
   display_name: "Mobileye"
+  path: "modules/drivers/mobileye"
   supported_commands {
     name: "start"
     command: "scripts/mobileye.sh"

modules/hmi/proto/config.proto

@@ -18,7 +18,9 @@ message Command {
 message Component {
   optional string name = 1;
   optional string display_name = 2;
-  repeated Command supported_commands = 3;
+  // If the path is given, HMI will check if it's available.
+  optional string path = 3;
+  repeated Command supported_commands = 4;
 }
 
 message Config {

modules/hmi/web/config.py

@@ -68,6 +68,11 @@ class Config(object):
             cls.pb_singleton = text_format.Merge(conf_file.read(),
                                                  config_pb2.Config())
         conf_pb = cls.pb_singleton
+        for i in range(len(conf_pb.modules) - 1, -1, -1):
+            # If the module path doesn't exist, remove it from list.
+            module_path = conf_pb.modules[i].path
+            if module_path and not os.path.exists(module_path):
+                del conf_pb.modules[i]
 
         # Init logger
         file_handler = logging.handlers.TimedRotatingFileHandler(