HMI: Remove RoutingRequest sending function which has been moved to DreamView. (#1441)

modules/hmi/conf/ros_bridge_adapter.pb.txt

-config {
-  type: LOCALIZATION
-  mode: RECEIVE_ONLY
-  message_history_limit: 1
-}
 config {
   type: CHASSIS
   mode: RECEIVE_ONLY
@@ -17,8 +12,4 @@ config {
   type: PAD
   mode: PUBLISH_ONLY
 }
-config {
-  type: ROUTING_REQUEST
-  mode: PUBLISH_ONLY
-}
 is_ros: true

modules/hmi/proto/hmi_message.proto

@@ -22,6 +22,4 @@ message HMICommand {
     optional bool reset_first = 2;
   }
   optional ChangeDrivingMode change_driving_mode = 2;
-
-  optional bool new_routing_request = 3;
 }

modules/hmi/ros_bridge/BUILD

@@ -13,7 +13,6 @@ cc_binary(
         "//modules/common/adapters:adapter_manager",
         "//modules/control/common",
         "//modules/control/proto:control_proto",
-        "//modules/map/hdmap:hdmap_util",
         "@ros//:ros_common",
     ],
 )

modules/hmi/ros_bridge/ros_bridge.cc

@@ -25,7 +25,6 @@
 #include "modules/common/util/file.h"
 #include "modules/control/common/control_gflags.h"
 #include "modules/control/proto/pad_msg.pb.h"
-#include "modules/map/hdmap/hdmap_util.h"
 
 
 DEFINE_string(adapter_config_file,
@@ -36,7 +35,6 @@ using apollo::common::adapter::AdapterManager;
 using apollo::common::adapter::AdapterManagerConfig;
 using apollo::control::DrivingAction;
 using apollo::canbus::Chassis;
-using apollo::hdmap::HDMapUtil;
 
 namespace apollo {
 namespace hmi {
@@ -53,13 +51,6 @@ class RosBridge {
                                                       &adapter_conf));
     AdapterManager::Init(adapter_conf);
     AdapterManager::AddHMICommandCallback(OnHMICommand);
-
-    // Init RoutingRequest template.
-    CHECK(apollo::common::util::GetProtoFromASCIIFile(
-        apollo::hdmap::EndWayPointFile(),
-        routing_request_template.mutable_end()));
-    // Init HDMap.
-    CHECK(HDMapUtil::BaseMapPtr());
   }
 
  private:
@@ -71,10 +62,6 @@ class RosBridge {
       }
       ChangeDrivingModeTo(cmd.target_mode());
     }
-
-    if (command.new_routing_request()) {
-      instance()->SendRoutingRequest();
-    }
   }
 
   static bool ChangeDrivingModeTo(const Chassis::DrivingMode target_mode) {
@@ -118,43 +105,7 @@ class RosBridge {
     AINFO << "Sent PadMessage";
   }
 
-  void SendRoutingRequest() {
-    // Observe position from Localization.
-    auto* localization = AdapterManager::GetLocalization();
-    localization->Observe();
-    if (localization->Empty()) {
-      AERROR << "No Localization message received!";
-      return;
-    }
-    const auto& pos = localization->GetLatestObserved().pose().position();
-
-    // Look up lane info from map.
-    apollo::hdmap::LaneInfoConstPtr lane = nullptr;
-    double s, l;
-
-    HDMapUtil::BaseMap().GetNearestLane(pos, &lane, &s, &l);
-    if (lane == nullptr) {
-      AERROR << "Cannot get nearest lane from current position.";
-      return;
-    }
-
-    // Populate message and send.
-    routing::RoutingRequest routing_request = routing_request_template;
-    auto* start_point = routing_request.mutable_start();
-    start_point->set_id(lane->id().id());
-    start_point->set_s(s);
-    auto* pose = start_point->mutable_pose();
-    pose->set_x(pos.x());
-    pose->set_y(pos.y());
-    pose->set_z(pos.z());
-    AdapterManager::FillRoutingRequestHeader(kHMIRosBridgeName,
-                                             &routing_request);
-    AdapterManager::PublishRoutingRequest(routing_request);
-  }
-
  private:
-  routing::RoutingRequest routing_request_template;
-
   DECLARE_SINGLETON(RosBridge);
 };
 

modules/hmi/web/ros_bridge_api.py

@@ -27,7 +27,6 @@ class RosBridgeApi(object):
     """
     HMI ros API:
         change_driving_mode [manual | auto]
-        new_routing_request
     """
     ros_command_pub = None
     ros_command_seq_num = 0
@@ -62,15 +61,6 @@ class RosBridgeApi(object):
         Config.log.debug('Publishing message: %s', str(cmd_msg))
         cls.ros_command_pub.publish(cmd_msg)
 
-    @classmethod
-    def new_routing_request(cls):
-        """SocketIO Api: new_routing_request()"""
-        Config.log.info('RosBridgeApi new_routing_request')
-        cmd_msg = cls.__new_command_message()
-        cmd_msg.new_routing_request = True
-        Config.log.debug('Publishing message: %s', str(cmd_msg))
-        cls.ros_command_pub.publish(cmd_msg)
-
     @classmethod
     def __new_command_message(cls):
         """Create a new HMICommand message with header filled."""

modules/hmi/web/templates/cards/left_panel.tpl

@@ -135,12 +135,6 @@
             >Start Auto</button>
         <span class="glyphicon"></span>
       </div>
-      <div class="col-xs-4 quick_start_col3">
-        <button type="button" class="btn hmi_large_btn"
-            onclick="io_request('ros_bridge_api', 'new_routing_request')"
-            >RoutingReq</button>
-        <span class="glyphicon"></span>
-      </div>
     </div>
   </div>
 </div>