Dreamview: removing hardcoded vehicle values and utm zone id (#3368)

* Dreamview: fix typos

* Dreamview: remove hardcoded vehicle values

* Dreamview: remove hardcoded utm zone id

modules/dreamview/backend/simulation_world/simulation_world_service.cc

@@ -213,7 +213,6 @@ SimulationWorldService::SimulationWorldService(const MapService *map_service,
   auto_driving_car->set_height(vehicle_param.height());
   auto_driving_car->set_width(vehicle_param.width());
   auto_driving_car->set_length(vehicle_param.length());
-  auto_driving_car->set_steering_ratio(vehicle_param.steer_ratio());
 }
 
 void SimulationWorldService::Update() {

modules/dreamview/frontend/src/components/Navigation/MapNavigator.js

@@ -43,7 +43,6 @@ class MapNavigator {
 
     reset() {
         this.routingPaths.forEach(path => {
-            console.log(path);
             this.mapAdapter.removePolyline(path);
         });
         this.routingPaths = [];

modules/dreamview/frontend/src/components/Tasks/Others.js

@@ -33,7 +33,7 @@ export default class Others extends React.Component {
                     <CheckboxItem id={"toggleSimControl"}
                                   title={"SimControl"}
                                   isChecked={options.simControlEnabled}
-                                  disabled={false}
+                                  disabled={options.tasksPanelLocked}
                                   onClick={() => {
                                       WS.toggleSimControl(!options.simControlEnabled);
                                       this.props.store.handleOptionToggle('simControlEnabled');

modules/dreamview/frontend/src/renderer/adc.js

@@ -9,7 +9,7 @@ const CAR_PROPERTIES = {
         menuOptionName: 'showPositionLocalization',
         carMaterial: carMaterial,
     },
-    'plannigAdc': {
+    'planningAdc': {
         menuOptionName: 'showPlanningCar',
         carMaterial: null,
     },

modules/dreamview/frontend/src/renderer/gnss.js

@@ -24,12 +24,13 @@ export default class GNSS {
     }
 
     if (!this.base) {
+      const config = STORE.hmi.vehicleParam;
       this.base = drawSegmentsFromPoints(
-        [ new THREE.Vector3(3.89, -1.05, 0),
-          new THREE.Vector3(3.89, 1.06, 0),
-          new THREE.Vector3(-1.04, 1.06, 0),
-          new THREE.Vector3(-1.04, -1.05, 0),
-          new THREE.Vector3(3.89, -1.05, 0)],
+        [ new THREE.Vector3(config.frontEdgeToCenter, -config.leftEdgeToCenter, 0),
+          new THREE.Vector3(config.frontEdgeToCenter, config.rightEdgeToCenter, 0),
+          new THREE.Vector3(-config.backEdgeToCenter, config.rightEdgeToCenter, 0),
+          new THREE.Vector3(-config.backEdgeToCenter, -config.leftEdgeToCenter, 0),
+          new THREE.Vector3(config.frontEdgeToCenter, -config.leftEdgeToCenter, 0)],
         0x006aff,
         2,
         5

modules/dreamview/frontend/src/renderer/index.js

@@ -48,9 +48,9 @@ class Renderer {
         this.adc = new AutoDrivingCar('adc', this.scene);
 
         // The car that projects the starting point of the planning trajectory
-        this.planningAdc = OFFLINE_PLAYBACK ? null : new AutoDrivingCar('plannigAdc', this.scene);
+        this.planningAdc = OFFLINE_PLAYBACK ? null : new AutoDrivingCar('planningAdc', this.scene);
 
-        // The planning tranjectory.
+        // The planning trajectory.
         this.planningTrajectory = new PlanningTrajectory();
 
         // The perception obstacles.

modules/dreamview/frontend/src/renderer/obstacles.js

@@ -29,7 +29,7 @@ export default class PerceptionObstacles {
     }
 
     update(world, coordinates, scene) {
-        // Id meshes need to be recreated everytime.
+        // Id meshes need to be recreated every time.
         // Each text mesh needs to be removed from the scene,
         // and its char meshes need to be hidden for reuse purpose.
         if (!_.isEmpty(this.ids)) {
@@ -143,7 +143,7 @@ export default class PerceptionObstacles {
             const solidFaceMesh = this.getFace(extrusionFaceIdx + i, scene, true);
             const dashedFaceMesh = this.getFace(extrusionFaceIdx + i, scene, false);
 
-            // Get the adjecent point.
+            // Get the adjacent point.
             const next = (i === points.length - 1) ? 0 : i + 1;
             const v = new THREE.Vector3(points[i].x, points[i].y, points[i].z);
             const vNext = new THREE.Vector3(points[next].x, points[next].y, points[next].z);

modules/dreamview/frontend/src/store/control_data.js

@@ -72,11 +72,11 @@ export default class ControlData {
         }
     }
 
-    updateSteerCurve(graph, adc) {
-        const steeringAngle = adc.steeringAngle / adc.steeringRatio;
+    updateSteerCurve(graph, adc, vehicleParam) {
+        const steeringAngle = adc.steeringAngle / vehicleParam.steerRatio;
         let R = null;
         if (Math.abs(Math.tan(steeringAngle)) > 0.0001) {
-            R = adc.length / Math.tan(steeringAngle);
+            R = vehicleParam.length / Math.tan(steeringAngle);
         } else {
             R = 100000;
         }
@@ -177,7 +177,7 @@ export default class ControlData {
         }
     }
 
-    update(world) {
+    update(world, vehicleParam) {
         const trajectory = world.planningTrajectory;
         const adc = world.autoDrivingCar;
         if (trajectory && adc) {
@@ -190,7 +190,7 @@ export default class ControlData {
 
             this.updateGraph(this.data.trajectoryGraph,
                 trajectory, adc, 'positionX', 'positionY');
-            this.updateSteerCurve(this.data.trajectoryGraph, adc);
+            this.updateSteerCurve(this.data.trajectoryGraph, adc, vehicleParam);
             this.data.trajectoryGraph.pose[0].x = adc.positionX;
             this.data.trajectoryGraph.pose[0].y = adc.positionY;
             this.data.trajectoryGraph.pose[0].rotation = adc.heading;

modules/dreamview/frontend/src/store/hmi.js

@@ -9,6 +9,16 @@ export default class HMI {
 
     vehicles = [];
     @observable currentVehicle = 'none';
+    vehicleParam = {
+        frontEdgeToCenter: 3.89,
+        backEdgeToCenter: 1.04,
+        leftEdgeToCenter: 1.055,
+        rightEdgeToCenter: 1.055,
+        height: 1.48,
+        width: 2.11,
+        length: 4.933,
+        steerRatio: 16,
+    };
 
     maps = [];
     @observable currentMap = 'none';
@@ -18,6 +28,7 @@ export default class HMI {
     @observable enableStartAuto = false;
 
     displayName = {};
+    utmZoneId = 10;
 
     @observable dockerImage = ''
 
@@ -28,6 +39,9 @@ export default class HMI {
         if (config.modes) {
             this.modes = config.modes;
         }
+        if (config.utmZoneId) {
+            this.utmZoneId = config.utmZoneId;
+        }
         this.vehicles = Object.keys(config.availableVehicles).sort()
             .map(name => {
                 return name;
@@ -76,6 +90,10 @@ export default class HMI {
         this.enableStartAuto = world.engageAdvice === "READY_TO_ENGAGE";
     }
 
+    updateVehicleParam(vehicleParam) {
+        this.vehicleParam = vehicleParam;
+    }
+
     @action toggleModule(id) {
         this.moduleStatus.set(id, !this.moduleStatus.get(id));
         const command = this.moduleStatus.get(id) ? "start" : "stop";

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

@@ -44,6 +44,9 @@ export default class RosWebSocketEndpoint {
                     STORE.hmi.updateStatus(message.data);
                     RENDERER.updateGroundImage(STORE.hmi.currentMap);
                     break;
+                case "VehicleParam":
+                    STORE.hmi.updateVehicleParam(message.data);
+                    break;
                 case "SimControlStatus":
                     STORE.setOptionStatus('simControlEnabled', message.enabled);
                     break;
@@ -84,7 +87,7 @@ export default class RosWebSocketEndpoint {
                     this.updateMapIndex(message);
                     if (STORE.options.showPNCMonitor) {
                         STORE.planningData.update(message);
-                        STORE.controlData.update(message);
+                        STORE.controlData.update(message, STORE.hmi.vehicleParam);
                     }
                     if (this.routingTime !== message.routingTime) {
                         // A new routing needs to be fetched from backend.

modules/dreamview/frontend/src/utils/coordinate_converter.js

 import Proj4 from "proj4";
+import STORE from "store";
 
 const WGS84_TEXT = "+proj=longlat +ellps=WGS84";
-const UTM_TARGET =
-"+proj=utm +zone=10 +ellps=WGS84 +towgs84=0,0,0,0,0,0,0 +units=m +no_defs ";
+const UTM_TARGET_TEMPLATE = (utmZoneId) =>
+`+proj=utm +zone=${utmZoneId} +ellps=WGS84 +towgs84=0,0,0,0,0,0,0 +units=m +no_defs `;
 
 export function WGS84ToUTM(latitude, longitude) {
+    const UTM_TARGET = UTM_TARGET_TEMPLATE(STORE.hmi.utmZoneId);
     return Proj4(WGS84_TEXT, UTM_TARGET, [longitude, latitude]);
 }
 
-export function UTMToWGS84(x, y) {
+export function UTMToWGS84(x, y, utmZoneId) {
+    const UTM_TARGET = UTM_TARGET_TEMPLATE(STORE.hmi.utmZoneId);
     return Proj4(UTM_TARGET, WGS84_TEXT, [x, y]);
 }
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