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体验新版 GitCode,发现更多精彩内容 >>
提交
6211600a
编写于
2月 08, 2018
作者:
V
vlin17
提交者:
Jiangtao Hu
2月 08, 2018
浏览文件
操作
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下载
电子邮件补丁
差异文件
Dreamview: increase map data transmission efficiency by sending in binary format
上级
34c49f4c
变更
15
展开全部
隐藏空白更改
内联
并排
Showing
15 changed file
with
1049 addition
and
49 deletion
+1049
-49
modules/dreamview/backend/dreamview.cc
modules/dreamview/backend/dreamview.cc
+8
-4
modules/dreamview/backend/dreamview.h
modules/dreamview/backend/dreamview.h
+1
-0
modules/dreamview/backend/simulation_world/simulation_world_updater.cc
...view/backend/simulation_world/simulation_world_updater.cc
+8
-3
modules/dreamview/backend/simulation_world/simulation_world_updater.h
...mview/backend/simulation_world/simulation_world_updater.h
+3
-2
modules/dreamview/frontend/dist/app.bundle.js
modules/dreamview/frontend/dist/app.bundle.js
+7
-7
modules/dreamview/frontend/dist/app.bundle.js.map
modules/dreamview/frontend/dist/app.bundle.js.map
+1
-1
modules/dreamview/frontend/gen_pbjs.sh
modules/dreamview/frontend/gen_pbjs.sh
+6
-1
modules/dreamview/frontend/proto_bundle/map_proto_bundle.json
...les/dreamview/frontend/proto_bundle/map_proto_bundle.json
+909
-0
modules/dreamview/frontend/proto_bundle/sim_world_proto_bundle.json
...eamview/frontend/proto_bundle/sim_world_proto_bundle.json
+26
-0
modules/dreamview/frontend/src/components/Dreamview.js
modules/dreamview/frontend/src/components/Dreamview.js
+2
-1
modules/dreamview/frontend/src/renderer/map.js
modules/dreamview/frontend/src/renderer/map.js
+2
-2
modules/dreamview/frontend/src/store/config/dev.yml
modules/dreamview/frontend/src/store/config/dev.yml
+2
-1
modules/dreamview/frontend/src/store/websocket/index.js
modules/dreamview/frontend/src/store/websocket/index.js
+29
-15
modules/dreamview/frontend/src/store/websocket/websocket_map.js
...s/dreamview/frontend/src/store/websocket/websocket_map.js
+44
-0
modules/dreamview/frontend/src/store/websocket/websocket_realtime.js
...amview/frontend/src/store/websocket/websocket_realtime.js
+1
-12
未找到文件。
modules/dreamview/backend/dreamview.cc
浏览文件 @
6211600a
...
@@ -37,7 +37,9 @@ using apollo::common::time::Clock;
...
@@ -37,7 +37,9 @@ using apollo::common::time::Clock;
using
apollo
::
common
::
util
::
PathExists
;
using
apollo
::
common
::
util
::
PathExists
;
using
apollo
::
hdmap
::
BaseMapFile
;
using
apollo
::
hdmap
::
BaseMapFile
;
std
::
string
Dreamview
::
Name
()
const
{
return
FLAGS_dreamview_module_name
;
}
std
::
string
Dreamview
::
Name
()
const
{
return
FLAGS_dreamview_module_name
;
}
void
Dreamview
::
TerminateProfilingMode
(
const
ros
::
TimerEvent
&
event
)
{
void
Dreamview
::
TerminateProfilingMode
(
const
ros
::
TimerEvent
&
event
)
{
Stop
();
Stop
();
...
@@ -99,15 +101,17 @@ Status Dreamview::Init() {
...
@@ -99,15 +101,17 @@ Status Dreamview::Init() {
image_
.
reset
(
new
ImageHandler
());
image_
.
reset
(
new
ImageHandler
());
websocket_
.
reset
(
new
WebSocketHandler
());
websocket_
.
reset
(
new
WebSocketHandler
());
map_ws_
.
reset
(
new
WebSocketHandler
());
map_service_
.
reset
(
new
MapService
());
map_service_
.
reset
(
new
MapService
());
sim_control_
.
reset
(
new
SimControl
(
map_service_
.
get
()));
sim_control_
.
reset
(
new
SimControl
(
map_service_
.
get
()));
sim_world_updater_
.
reset
(
sim_world_updater_
.
reset
(
new
SimulationWorldUpdater
(
new
SimulationWorldUpdater
(
websocket_
.
get
(),
sim_control
_
.
get
(),
websocket_
.
get
(),
map_ws_
.
get
(),
sim_control_
.
get
(),
map_service
_
.
get
(),
map_service_
.
get
(),
FLAGS_routing_from_file
));
FLAGS_routing_from_file
));
hmi_
.
reset
(
new
HMI
(
websocket_
.
get
(),
map_service_
.
get
()));
hmi_
.
reset
(
new
HMI
(
websocket_
.
get
(),
map_service_
.
get
()));
server_
->
addWebSocketHandler
(
"/websocket"
,
*
websocket_
);
server_
->
addWebSocketHandler
(
"/websocket"
,
*
websocket_
);
server_
->
addWebSocketHandler
(
"/map"
,
*
map_ws_
);
server_
->
addHandler
(
"/image"
,
*
image_
);
server_
->
addHandler
(
"/image"
,
*
image_
);
ApolloApp
::
SetCallbackThreadNumber
(
FLAGS_dreamview_worker_num
);
ApolloApp
::
SetCallbackThreadNumber
(
FLAGS_dreamview_worker_num
);
...
...
modules/dreamview/backend/dreamview.h
浏览文件 @
6211600a
...
@@ -54,6 +54,7 @@ class Dreamview : public apollo::common::ApolloApp {
...
@@ -54,6 +54,7 @@ class Dreamview : public apollo::common::ApolloApp {
std
::
unique_ptr
<
CivetServer
>
server_
;
std
::
unique_ptr
<
CivetServer
>
server_
;
std
::
unique_ptr
<
SimControl
>
sim_control_
;
std
::
unique_ptr
<
SimControl
>
sim_control_
;
std
::
unique_ptr
<
WebSocketHandler
>
websocket_
;
std
::
unique_ptr
<
WebSocketHandler
>
websocket_
;
std
::
unique_ptr
<
WebSocketHandler
>
map_ws_
;
std
::
unique_ptr
<
ImageHandler
>
image_
;
std
::
unique_ptr
<
ImageHandler
>
image_
;
std
::
unique_ptr
<
MapService
>
map_service_
;
std
::
unique_ptr
<
MapService
>
map_service_
;
std
::
unique_ptr
<
HMI
>
hmi_
;
std
::
unique_ptr
<
HMI
>
hmi_
;
...
...
modules/dreamview/backend/simulation_world/simulation_world_updater.cc
浏览文件 @
6211600a
...
@@ -37,18 +37,20 @@ using google::protobuf::util::JsonStringToMessage;
...
@@ -37,18 +37,20 @@ using google::protobuf::util::JsonStringToMessage;
using
google
::
protobuf
::
util
::
MessageToJsonString
;
using
google
::
protobuf
::
util
::
MessageToJsonString
;
SimulationWorldUpdater
::
SimulationWorldUpdater
(
WebSocketHandler
*
websocket
,
SimulationWorldUpdater
::
SimulationWorldUpdater
(
WebSocketHandler
*
websocket
,
WebSocketHandler
*
map_ws
,
SimControl
*
sim_control
,
SimControl
*
sim_control
,
const
MapService
*
map_service
,
const
MapService
*
map_service
,
bool
routing_from_file
)
bool
routing_from_file
)
:
sim_world_service_
(
map_service
,
routing_from_file
),
:
sim_world_service_
(
map_service
,
routing_from_file
),
map_service_
(
map_service
),
map_service_
(
map_service
),
map_ws_
(
map_ws
),
websocket_
(
websocket
),
websocket_
(
websocket
),
sim_control_
(
sim_control
)
{
sim_control_
(
sim_control
)
{
RegisterMessageHandlers
();
RegisterMessageHandlers
();
}
}
void
SimulationWorldUpdater
::
RegisterMessageHandlers
()
{
void
SimulationWorldUpdater
::
RegisterMessageHandlers
()
{
websocket
_
->
RegisterMessageHandler
(
map_ws
_
->
RegisterMessageHandler
(
"RetrieveMapData"
,
"RetrieveMapData"
,
[
this
](
const
Json
&
json
,
WebSocketHandler
::
Connection
*
conn
)
{
[
this
](
const
Json
&
json
,
WebSocketHandler
::
Connection
*
conn
)
{
auto
iter
=
json
.
find
(
"elements"
);
auto
iter
=
json
.
find
(
"elements"
);
...
@@ -56,8 +58,11 @@ void SimulationWorldUpdater::RegisterMessageHandlers() {
...
@@ -56,8 +58,11 @@ void SimulationWorldUpdater::RegisterMessageHandlers() {
MapElementIds
map_element_ids
;
MapElementIds
map_element_ids
;
if
(
JsonStringToMessage
(
iter
->
dump
(),
&
map_element_ids
).
ok
())
{
if
(
JsonStringToMessage
(
iter
->
dump
(),
&
map_element_ids
).
ok
())
{
auto
retrieved
=
map_service_
->
RetrieveMapElements
(
map_element_ids
);
auto
retrieved
=
map_service_
->
RetrieveMapElements
(
map_element_ids
);
websocket_
->
SendData
(
conn
,
JsonUtil
::
ProtoToTypedJson
(
"MapData"
,
retrieved
).
dump
());
std
::
string
retrieved_map_string
;
retrieved
.
SerializeToString
(
&
retrieved_map_string
);
map_ws_
->
SendBinaryData
(
conn
,
retrieved_map_string
,
true
);
}
else
{
}
else
{
AERROR
<<
"Failed to parse MapElementIds from json"
;
AERROR
<<
"Failed to parse MapElementIds from json"
;
}
}
...
...
modules/dreamview/backend/simulation_world/simulation_world_updater.h
浏览文件 @
6211600a
...
@@ -58,8 +58,8 @@ class SimulationWorldUpdater {
...
@@ -58,8 +58,8 @@ class SimulationWorldUpdater {
* of hdmap.
* of hdmap.
* @param routing_from_file whether to read initial routing from file.
* @param routing_from_file whether to read initial routing from file.
*/
*/
SimulationWorldUpdater
(
WebSocketHandler
*
websocket
,
SimControl
*
sim_control
,
SimulationWorldUpdater
(
WebSocketHandler
*
websocket
,
WebSocketHandler
*
map_ws
,
const
MapService
*
map_service
,
SimControl
*
sim_control
,
const
MapService
*
map_service
,
bool
routing_from_file
=
false
);
bool
routing_from_file
=
false
);
/**
/**
...
@@ -125,6 +125,7 @@ class SimulationWorldUpdater {
...
@@ -125,6 +125,7 @@ class SimulationWorldUpdater {
SimulationWorldService
sim_world_service_
;
SimulationWorldService
sim_world_service_
;
const
MapService
*
map_service_
;
const
MapService
*
map_service_
;
WebSocketHandler
*
websocket_
;
WebSocketHandler
*
websocket_
;
WebSocketHandler
*
map_ws_
;
SimControl
*
sim_control_
;
SimControl
*
sim_control_
;
// End point for requesting default route
// End point for requesting default route
...
...
modules/dreamview/frontend/dist/app.bundle.js
浏览文件 @
6211600a
此差异已折叠。
点击以展开。
modules/dreamview/frontend/dist/app.bundle.js.map
浏览文件 @
6211600a
此差异已折叠。
点击以展开。
modules/dreamview/frontend/gen_pbjs.sh
浏览文件 @
6211600a
...
@@ -24,10 +24,15 @@ LOCALIZATION_PROTOS='../../localization/proto/localization.proto ../../localizat
...
@@ -24,10 +24,15 @@ LOCALIZATION_PROTOS='../../localization/proto/localization.proto ../../localizat
CHASSIS_PROTOS
=
'../../canbus/proto/chassis.proto'
CHASSIS_PROTOS
=
'../../canbus/proto/chassis.proto'
PLANNING_PROTOS
=
'../../planning/proto/sl_boundary.proto ../../planning/proto/decision.proto ../../planning/proto/planning_internal.proto'
PLANNING_PROTOS
=
'../../planning/proto/sl_boundary.proto ../../planning/proto/decision.proto ../../planning/proto/planning_internal.proto'
PERCEPTION_PROTOS
=
'../../perception/proto/traffic_light_detection.proto'
PERCEPTION_PROTOS
=
'../../perception/proto/traffic_light_detection.proto'
MAP_PROTOS
=
'../../map/proto/*.proto'
MONITOR_PROTOS
=
'../../common/monitor_log/proto/monitor_log.proto'
MONITOR_PROTOS
=
'../../common/monitor_log/proto/monitor_log.proto'
ROUTING_PROTOS
=
'../../routing/proto/routing.proto'
ROUTING_PROTOS
=
'../../routing/proto/routing.proto'
node_modules/protobufjs/bin/pbjs
-t
json ../proto/simulation_world.proto
\
node_modules/protobufjs/bin/pbjs
-t
json ../proto/simulation_world.proto
\
$COMMON_PROTOS
$LOCALIZATION_PROTOS
$CHASSIS_PROTOS
$PLANNING_PROTOS
\
$COMMON_PROTOS
$LOCALIZATION_PROTOS
$CHASSIS_PROTOS
$PLANNING_PROTOS
\
$PERCEPTION_PROTOS
$MONITOR_PROTOS
$ROUTING_PROTOS
\
$PERCEPTION_PROTOS
$MONITOR_PROTOS
$ROUTING_PROTOS
\
-o
proto_bundle/proto_bundle.json
-o
proto_bundle/sim_world_proto_bundle.json
node_modules/protobufjs/bin/pbjs
-t
json
$MAP_PROTOS
\
../../common/proto/geometry.proto
\
-o
proto_bundle/map_proto_bundle.json
\ No newline at end of file
modules/dreamview/frontend/proto_bundle/map_proto_bundle.json
0 → 100644
浏览文件 @
6211600a
此差异已折叠。
点击以展开。
modules/dreamview/frontend/proto_bundle/proto_bundle.json
→
modules/dreamview/frontend/proto_bundle/
sim_world_
proto_bundle.json
浏览文件 @
6211600a
...
@@ -2554,6 +2554,32 @@
...
@@ -2554,6 +2554,32 @@
"id"
:
1
"id"
:
1
}
}
}
}
},
"NavigationPath"
:
{
"fields"
:
{
"pathPoint"
:
{
"rule"
:
"repeated"
,
"type"
:
"apollo.common.PathPoint"
,
"id"
:
1
},
"pathPriority"
:
{
"type"
:
"uint32"
,
"id"
:
2
}
}
},
"NavigationInfo"
:
{
"fields"
:
{
"header"
:
{
"type"
:
"apollo.common.Header"
,
"id"
:
1
},
"navigationPath"
:
{
"rule"
:
"repeated"
,
"type"
:
"NavigationPath"
,
"id"
:
2
}
}
}
}
}
}
},
},
...
...
modules/dreamview/frontend/src/components/Dreamview.js
浏览文件 @
6211600a
...
@@ -7,7 +7,7 @@ import MainView from "components/Layouts/MainView";
...
@@ -7,7 +7,7 @@ import MainView from "components/Layouts/MainView";
import
ToolView
from
"
components/Layouts/ToolView
"
;
import
ToolView
from
"
components/Layouts/ToolView
"
;
import
PNCMonitor
from
"
components/PNCMonitor
"
;
import
PNCMonitor
from
"
components/PNCMonitor
"
;
import
SideBar
from
"
components/SideBar
"
;
import
SideBar
from
"
components/SideBar
"
;
import
WS
from
"
store/websocket
"
;
import
WS
,
{
MAP_WS
}
from
"
store/websocket
"
;
@
inject
(
"
store
"
)
@
observer
@
inject
(
"
store
"
)
@
observer
...
@@ -31,6 +31,7 @@ export default class Dreamview extends React.Component {
...
@@ -31,6 +31,7 @@ export default class Dreamview extends React.Component {
componentDidMount
()
{
componentDidMount
()
{
WS
.
initialize
();
WS
.
initialize
();
MAP_WS
.
initialize
();
window
.
addEventListener
(
"
resize
"
,
()
=>
{
window
.
addEventListener
(
"
resize
"
,
()
=>
{
this
.
props
.
store
.
updateDimension
();
this
.
props
.
store
.
updateDimension
();
});
});
...
...
modules/dreamview/frontend/src/renderer/map.js
浏览文件 @
6211600a
import
*
as
THREE
from
"
three
"
;
import
*
as
THREE
from
"
three
"
;
import
WS
from
"
store/websocket
"
;
import
{
MAP_WS
}
from
"
store/websocket
"
;
import
{
import
{
drawSegmentsFromPoints
,
drawSegmentsFromPoints
,
...
@@ -469,7 +469,7 @@ export default class Map {
...
@@ -469,7 +469,7 @@ export default class Map {
this
.
hash
=
hash
;
this
.
hash
=
hash
;
const
diff
=
this
.
diffMapElements
(
elementIds
,
this
.
data
);
const
diff
=
this
.
diffMapElements
(
elementIds
,
this
.
data
);
if
(
!
_
.
isEmpty
(
diff
)
||
!
this
.
initialized
)
{
if
(
!
_
.
isEmpty
(
diff
)
||
!
this
.
initialized
)
{
WS
.
requestMapData
(
diff
);
MAP_
WS
.
requestMapData
(
diff
);
this
.
initialized
=
true
;
this
.
initialized
=
true
;
}
}
}
}
...
...
modules/dreamview/frontend/src/store/config/dev.yml
浏览文件 @
6211600a
websocketServer
:
"
0.0.0.0:8888/websocket"
simWorldWebsocketServer
:
"
0.0.0.0:8888/websocket"
mapWebsocketServer
:
"
0.0.0.0:8888/map"
modules/dreamview/frontend/src/store/websocket/index.js
浏览文件 @
6211600a
...
@@ -2,31 +2,45 @@ import devConfig from "store/config/dev.yml";
...
@@ -2,31 +2,45 @@ import devConfig from "store/config/dev.yml";
import
PARAMETERS
from
"
store/config/parameters.yml
"
;
import
PARAMETERS
from
"
store/config/parameters.yml
"
;
import
OfflinePlaybackWebSocketEndpoint
from
"
store/websocket/websocket_offline
"
;
import
OfflinePlaybackWebSocketEndpoint
from
"
store/websocket/websocket_offline
"
;
import
RealtimeWebSocketEndpoint
from
"
store/websocket/websocket_r
os
"
;
import
RealtimeWebSocketEndpoint
from
"
store/websocket/websocket_r
ealtime
"
;
import
MapWebSocketEndpoint
from
"
store/websocket/websocket_map
"
;
// Returns the websocket server address based on the web server address.
// Returns the websocket server address based on the web server address.
// Follows the convention that the websocket is served on the same host
// Follows the convention that the websocket is served on the same host
// as the web server, the port number of websocket is the port number of
// as the web server, the port number of websocket is the port number of
// the webserver plus one.
// the webserver plus one.
function
deduceWebsocketServerAddr
()
{
function
deduceWebsocketServerAddr
(
type
)
{
const
server
=
window
.
location
.
origin
;
const
server
=
window
.
location
.
origin
;
const
link
=
document
.
createElement
(
"
a
"
);
const
link
=
document
.
createElement
(
"
a
"
);
link
.
href
=
server
;
link
.
href
=
server
;
const
protocol
=
location
.
protocol
===
"
https:
"
?
"
wss
"
:
"
ws
"
;
const
protocol
=
location
.
protocol
===
"
https:
"
?
"
wss
"
:
"
ws
"
;
const
path
=
OFFLINE_PLAYBACK
?
'
RosPlayBack
'
:
'
websocket
'
;
return
`
${
protocol
}
://
${
link
.
hostname
}
:
${
window
.
location
.
port
}
/
${
path
}
`
;
let
path
=
""
;
switch
(
type
)
{
case
"
map
"
:
path
=
"
map
"
;
break
;
case
"
sim_world
"
:
path
=
OFFLINE_PLAYBACK
?
"
RosPlayBack
"
:
"
websocket
"
;
break
;
}
return
`
${
protocol
}
://
${
link
.
hostname
}
:
${
window
.
location
.
port
}
/
${
path
}
`
;
}
}
// NOTE: process.env.NODE_ENV will be set to "production" by webpack when
// NOTE: process.env.NODE_ENV will be set to "production" by webpack when
// invoked in production mode ("-p"). We rely on this to determine which
// invoked in production mode ("-p"). We rely on this to determine which
// websocket server to use.
// websocket server to use.
const
serverAddr
=
process
.
env
.
NODE_ENV
===
"
production
"
?
const
simWorldServerAddr
=
deduceWebsocketServerAddr
()
:
`ws://
${
devConfig
.
websocketServer
}
`
;
process
.
env
.
NODE_ENV
===
"
production
"
?
deduceWebsocketServerAddr
(
"
sim_world
"
)
:
`ws://
${
devConfig
.
simWorldWebsocketServer
}
`
;
const
WS
=
OFFLINE_PLAYBACK
const
WS
=
OFFLINE_PLAYBACK
?
new
OfflinePlaybackWebSocketEndpoint
(
serverAddr
)
?
new
OfflinePlaybackWebSocketEndpoint
(
simWorldServerAddr
)
:
new
RealtimeWebSocketEndpoint
(
serverAddr
);
:
new
RealtimeWebSocketEndpoint
(
simWorldServerAddr
);
export
default
WS
;
export
default
WS
;
const
mapServerAddr
=
process
.
env
.
NODE_ENV
===
"
production
"
?
deduceWebsocketServerAddr
(
"
map
"
)
:
`ws://
${
devConfig
.
mapWebsocketServer
}
`
;
export
const
MAP_WS
=
new
MapWebSocketEndpoint
(
mapServerAddr
);
modules/dreamview/frontend/src/store/websocket/websocket_map.js
0 → 100644
浏览文件 @
6211600a
import
STORE
from
"
store
"
;
import
RENDERER
from
"
renderer
"
;
const
protobuf
=
require
(
"
protobufjs/light
"
);
const
root
=
protobuf
.
Root
.
fromJSON
(
require
(
"
../../../proto_bundle/map_proto_bundle.json
"
));
const
mapMessage
=
root
.
lookupType
(
"
apollo.hdmap.Map
"
);
export
default
class
MapDataWebSocketEndpoint
{
constructor
(
serverAddr
)
{
this
.
serverAddr
=
serverAddr
;
this
.
websocket
=
null
;
}
initialize
()
{
try
{
this
.
websocket
=
new
WebSocket
(
this
.
serverAddr
);
this
.
websocket
.
binaryType
=
"
arraybuffer
"
;
}
catch
(
error
)
{
console
.
error
(
"
Failed to establish a connection:
"
+
error
);
setTimeout
(()
=>
{
this
.
initialize
();
},
1000
);
return
;
}
this
.
websocket
.
onmessage
=
event
=>
{
const
data
=
mapMessage
.
toObject
(
mapMessage
.
decode
(
new
Uint8Array
(
event
.
data
)),
{
enums
:
String
});
RENDERER
.
updateMap
(
data
);
STORE
.
setInitializationStatus
(
true
);
};
this
.
websocket
.
onclose
=
event
=>
{
console
.
log
(
"
WebSocket connection closed, close_code:
"
+
event
.
code
);
this
.
initialize
();
};
}
requestMapData
(
elements
)
{
this
.
websocket
.
send
(
JSON
.
stringify
({
type
:
"
RetrieveMapData
"
,
elements
:
elements
,
}));
}
}
modules/dreamview/frontend/src/store/websocket/websocket_r
os
.js
→
modules/dreamview/frontend/src/store/websocket/websocket_r
ealtime
.js
浏览文件 @
6211600a
...
@@ -2,7 +2,7 @@ import STORE from "store";
...
@@ -2,7 +2,7 @@ import STORE from "store";
import
RENDERER
from
"
renderer
"
;
import
RENDERER
from
"
renderer
"
;
const
protobuf
=
require
(
"
protobufjs/light
"
);
const
protobuf
=
require
(
"
protobufjs/light
"
);
const
root
=
protobuf
.
Root
.
fromJSON
(
require
(
"
../../../proto_bundle/proto_bundle.json
"
));
const
root
=
protobuf
.
Root
.
fromJSON
(
require
(
"
../../../proto_bundle/
sim_world_
proto_bundle.json
"
));
const
SimWorldMessage
=
root
.
lookupType
(
"
apollo.dreamview.SimulationWorld
"
);
const
SimWorldMessage
=
root
.
lookupType
(
"
apollo.dreamview.SimulationWorld
"
);
export
default
class
RosWebSocketEndpoint
{
export
default
class
RosWebSocketEndpoint
{
...
@@ -77,10 +77,6 @@ export default class RosWebSocketEndpoint {
...
@@ -77,10 +77,6 @@ export default class RosWebSocketEndpoint {
RENDERER
.
updateMapIndex
(
message
.
mapHash
,
RENDERER
.
updateMapIndex
(
message
.
mapHash
,
message
.
mapElementIds
,
message
.
mapRadius
);
message
.
mapElementIds
,
message
.
mapRadius
);
break
;
break
;
case
"
MapData
"
:
RENDERER
.
updateMap
(
message
.
data
);
STORE
.
setInitializationStatus
(
true
);
break
;
case
"
DefaultEndPoint
"
:
case
"
DefaultEndPoint
"
:
STORE
.
routeEditingManager
.
updateDefaultRoutingEndPoint
(
message
);
STORE
.
routeEditingManager
.
updateDefaultRoutingEndPoint
(
message
);
break
;
break
;
...
@@ -125,13 +121,6 @@ export default class RosWebSocketEndpoint {
...
@@ -125,13 +121,6 @@ export default class RosWebSocketEndpoint {
this
.
lastSeqNum
=
world
.
sequenceNum
;
this
.
lastSeqNum
=
world
.
sequenceNum
;
}
}
requestMapData
(
elements
)
{
this
.
websocket
.
send
(
JSON
.
stringify
({
type
:
"
RetrieveMapData
"
,
elements
:
elements
,
}));
}
requestMapElementIdsByRadius
(
radius
)
{
requestMapElementIdsByRadius
(
radius
)
{
this
.
websocket
.
send
(
JSON
.
stringify
({
this
.
websocket
.
send
(
JSON
.
stringify
({
type
:
"
RetrieveMapElementIdsByRadius
"
,
type
:
"
RetrieveMapElementIdsByRadius
"
,
...
...
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