Dreamview: sync HMI status after executing commands

modules/dreamview/backend/hmi/hmi.cc

@@ -68,9 +68,7 @@ void HMI::RegisterMessageHandlers() {
   // Send current status and vehicle param to newly joined client.
   websocket_->RegisterConnectionReadyHandler(
       [this](WebSocketHandler::Connection* conn) {
-        const auto status_json =
-            JsonUtil::ProtoToTypedJson("HMIStatus", hmi_worker_->GetStatus());
-        websocket_->SendData(conn, status_json.dump());
+        SendStatus(conn);
         SendVehicleParam(conn);
       });
 
@@ -142,6 +140,12 @@ void HMI::RegisterMessageHandlers() {
           monitor_log_buffer_.WARN("Failed to submit a drive event.");
         }
       });
+
+websocket_->RegisterMessageHandler(
+    "HMIStatus",
+    [this](const Json &json, WebSocketHandler::Connection* conn) {
+      SendStatus(conn);
+    });
 }
 
 void HMI::SendVehicleParam(WebSocketHandler::Connection* conn) {
@@ -160,5 +164,11 @@ void HMI::SendVehicleParam(WebSocketHandler::Connection* conn) {
   }
 }
 
+void HMI::SendStatus(WebSocketHandler::Connection* conn) {
+  const auto status_json =
+      JsonUtil::ProtoToTypedJson("HMIStatus", hmi_worker_->GetStatus());
+  websocket_->SendData(conn, status_json.dump());
+}
+
 }  // namespace dreamview
 }  // namespace apollo

modules/dreamview/backend/hmi/hmi.h

@@ -41,6 +41,7 @@ class HMI {
  private:
   // Send VehicleParam to the given conn, or broadcast if conn is null.
   void SendVehicleParam(WebSocketHandler::Connection *conn = nullptr);
+  void SendStatus(WebSocketHandler::Connection *conn = nullptr);
 
   void RegisterMessageHandlers();
 

modules/dreamview/frontend/proto_bundle/sim_world_proto_bundle.json

@@ -5159,7 +5159,7 @@
                     "default": 500
                   }
                 },
-                "refSWeight": {
+                "sPotentialWeight": {
                   "type": "double",
                   "id": 4,
                   "options": {
@@ -5173,27 +5173,41 @@
                     "default": 10
                   }
                 },
-                "endSWeight": {
+                "refSWeight": {
                   "type": "double",
                   "id": 6,
                   "options": {
                     "default": 10
                   }
                 },
-                "endVWeight": {
+                "endSWeight": {
                   "type": "double",
                   "id": 7,
                   "options": {
                     "default": 10
                   }
                 },
-                "endAWeight": {
+                "endVWeight": {
                   "type": "double",
                   "id": 8,
                   "options": {
                     "default": 10
                   }
                 },
+                "endAWeight": {
+                  "type": "double",
+                  "id": 9,
+                  "options": {
+                    "default": 10
+                  }
+                },
+                "softSBoundWeight": {
+                  "type": "double",
+                  "id": 10,
+                  "options": {
+                    "default": 10
+                  }
+                },
                 "useWarmStart": {
                   "type": "bool",
                   "id": 100,
@@ -7131,6 +7145,13 @@
                   "options": {
                     "default": false
                   }
+                },
+                "isClearToChangeLane": {
+                  "type": "bool",
+                  "id": 8,
+                  "options": {
+                    "default": false
+                  }
                 }
               },
               "nested": {
@@ -7217,6 +7238,10 @@
                 "adcInitHeading": {
                   "type": "double",
                   "id": 2
+                },
+                "inCheckStage": {
+                  "type": "bool",
+                  "id": 3
                 }
               }
             },

modules/dreamview/frontend/src/store/websocket/websocket_realtime.js

@@ -16,6 +16,8 @@ export default class RealtimeWebSocketEndpoint {
         this.routingTime = undefined;
         this.currentMode = null;
         this.worker = new Worker();
+
+        this.requestHmiStatus = this.requestHmiStatus.bind(this);
     }
 
     initialize() {
@@ -269,6 +271,8 @@ export default class RealtimeWebSocketEndpoint {
             type: "HMIAction",
             action: action,
         }));
+
+        setTimeout(this.requestHmiStatus, 5000);
     }
 
     executeModuleCommand(moduleName, command) {
@@ -282,6 +286,8 @@ export default class RealtimeWebSocketEndpoint {
             action: command,
             value: moduleName
         }));
+
+        setTimeout(this.requestHmiStatus, 5000);
     }
 
     submitDriveEvent(eventTimeMs, eventMessage, eventTypes, isReportable) {
@@ -307,6 +313,12 @@ export default class RealtimeWebSocketEndpoint {
         }));
     }
 
+    requestHmiStatus() {
+        this.websocket.send(JSON.stringify({
+            type: "HMIStatus"
+        }));
+    }
+
     publishNavigationInfo(data) {
         this.websocket.send(data);
     }