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体验新版 GitCode,发现更多精彩内容 >>
提交
a4fb1e9a
编写于
8月 01, 2017
作者:
S
siyangy
提交者:
Calvin Miao
8月 01, 2017
浏览文件
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电子邮件补丁
差异文件
Add routing callback to sim control
上级
410e856b
变更
2
隐藏空白更改
内联
并排
Showing
2 changed file
with
14 addition
and
4 deletion
+14
-4
modules/dreamview/backend/sim_control/sim_control.cc
modules/dreamview/backend/sim_control/sim_control.cc
+10
-4
modules/dreamview/backend/sim_control/sim_control.h
modules/dreamview/backend/sim_control/sim_control.h
+4
-0
未找到文件。
modules/dreamview/backend/sim_control/sim_control.cc
浏览文件 @
a4fb1e9a
...
@@ -40,8 +40,9 @@ SimControl::SimControl()
...
@@ -40,8 +40,9 @@ SimControl::SimControl()
:
prev_point_index_
(
0
),
:
prev_point_index_
(
0
),
next_point_index_
(
0
),
next_point_index_
(
0
),
received_planning_
(
false
),
received_planning_
(
false
),
initial_start_
(
true
)
{
initial_start_
(
true
),
if
(
FLAGS_enable_sim_control
)
{
enabled_
(
FLAGS_enable_sim_control
)
{
if
(
enabled_
)
{
RoutingResult
routing
;
RoutingResult
routing
;
if
(
!
GetProtoFromFile
(
FLAGS_routing_result_file
,
&
routing
))
{
if
(
!
GetProtoFromFile
(
FLAGS_routing_result_file
,
&
routing
))
{
AWARN
<<
"Unable to read start point from file: "
AWARN
<<
"Unable to read start point from file: "
...
@@ -70,13 +71,16 @@ void SimControl::SetStartPoint(const RoutingResult& routing) {
...
@@ -70,13 +71,16 @@ void SimControl::SetStartPoint(const RoutingResult& routing) {
prev_point_index_
=
next_point_index_
=
0
;
prev_point_index_
=
next_point_index_
=
0
;
received_planning_
=
false
;
received_planning_
=
false
;
Start
();
if
(
enabled_
)
{
Start
();
}
}
}
void
SimControl
::
Start
()
{
void
SimControl
::
Start
()
{
if
(
initial_start_
)
{
if
(
initial_start_
)
{
// Setup planning data callback.
// Setup planning
and routing result
data callback.
AdapterManager
::
SetPlanningCallback
(
&
SimControl
::
OnPlanning
,
this
);
AdapterManager
::
SetPlanningCallback
(
&
SimControl
::
OnPlanning
,
this
);
AdapterManager
::
SetRoutingResultCallback
(
&
SimControl
::
SetStartPoint
,
this
);
// Start timer to publish localiztion and chassis messages.
// Start timer to publish localiztion and chassis messages.
sim_control_timer_
=
AdapterManager
::
CreateTimer
(
sim_control_timer_
=
AdapterManager
::
CreateTimer
(
...
@@ -172,6 +176,8 @@ void SimControl::PublishChassis(double lambda) {
...
@@ -172,6 +176,8 @@ void SimControl::PublishChassis(double lambda) {
chassis
.
set_engine_started
(
true
);
chassis
.
set_engine_started
(
true
);
chassis
.
set_driving_mode
(
Chassis
::
COMPLETE_AUTO_DRIVE
);
chassis
.
set_driving_mode
(
Chassis
::
COMPLETE_AUTO_DRIVE
);
chassis
.
set_gear_location
(
Chassis
::
GEAR_DRIVE
);
chassis
.
set_gear_location
(
Chassis
::
GEAR_DRIVE
);
// TODO(siyangy): set the real steering percentage.
chassis
.
set_steering_percentage
(
0.0
);
double
cur_speed
=
Interpolate
(
prev_point_
.
v
(),
next_point_
.
v
(),
lambda
);
double
cur_speed
=
Interpolate
(
prev_point_
.
v
(),
next_point_
.
v
(),
lambda
);
chassis
.
set_speed_mps
(
cur_speed
);
chassis
.
set_speed_mps
(
cur_speed
);
...
...
modules/dreamview/backend/sim_control/sim_control.h
浏览文件 @
a4fb1e9a
...
@@ -95,6 +95,10 @@ class SimControl {
...
@@ -95,6 +95,10 @@ class SimControl {
// Whether it is the first time the SimControl gets started.
// Whether it is the first time the SimControl gets started.
bool
initial_start_
;
bool
initial_start_
;
// Whether the sim control is enabled.
// TODO(siyangy): This could be toggled by frontend.
bool
enabled_
;
apollo
::
common
::
TrajectoryPoint
prev_point_
;
apollo
::
common
::
TrajectoryPoint
prev_point_
;
apollo
::
common
::
TrajectoryPoint
next_point_
;
apollo
::
common
::
TrajectoryPoint
next_point_
;
};
};
...
...
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