Dreamview: map radius as a flag (#1715)

modules/dreamview/backend/common/dreamview_gflags.cc

@@ -53,3 +53,7 @@ DEFINE_string(ssl_certificate, "",
               "when at least one of the listening_ports is SSL. The file must "
               "be in PEM format, and it must have both, private key and "
               "certificate");
+
+DEFINE_double(map_radius, 200.0,
+              "The radius within which Dreamview will find all the map "
+              "elements around the car.");

modules/dreamview/backend/common/dreamview_gflags.h

@@ -37,4 +37,6 @@ DECLARE_string(websocket_timeout_ms);
 
 DECLARE_string(ssl_certificate);
 
+DECLARE_double(map_radius);
+
 #endif  // MODULES_DREAMVIEW_BACKEND_COMMON_DREAMVIEW_GFLAGS_H_

modules/dreamview/backend/simulation_world/simulation_world_service.h

@@ -56,10 +56,6 @@ class SimulationWorldService {
   // SimulationWorld.
   static constexpr int kMaxMonitorItems = 30;
 
-  // The radius within which Dreamview will find all the map elements around the
-  // car.
-  static constexpr double kMapRadius = 200.0;
-
   /**
    * @brief Constructor of SimulationWorldService.
    * @param map_service the pointer of MapService.

modules/dreamview/backend/simulation_world/simulation_world_updater.cc

@@ -179,8 +179,7 @@ void SimulationWorldUpdater::OnTimer(const ros::TimerEvent &event) {
     boost::unique_lock<boost::shared_mutex> writer_lock(mutex_);
 
     simulation_world_json_ =
-        sim_world_service_.GetUpdateAsJson(SimulationWorldService::kMapRadius)
-            .dump();
+        sim_world_service_.GetUpdateAsJson(FLAGS_map_radius).dump();
   }
 }