From b01d5f9e018ba1c1be5d5c4a71caad5000f42e44 Mon Sep 17 00:00:00 2001 From: vlin17 Date: Wed, 21 Feb 2018 16:44:27 -0800 Subject: [PATCH] Dreamview: plot station_error graph in control monitor --- modules/dreamview/backend/dreamview.cc | 6 +++- .../simulation_world_service.cc | 23 ++++++++++++- modules/dreamview/conf/adapter.conf | 5 +++ ...rker.js => 5edf3e08e204ac1407e2.worker.js} | 4 +-- ...map => 5edf3e08e204ac1407e2.worker.js.map} | 2 +- modules/dreamview/frontend/dist/app.bundle.js | 6 ++-- .../dreamview/frontend/dist/app.bundle.js.map | 2 +- .../frontend/dist/navigation.bundle.js | 2 +- .../frontend/dist/navigation.bundle.js.map | 2 +- .../proto_bundle/sim_world_proto_bundle.json | 16 +++++++++ .../components/PNCMonitor/ControlMonitor.js | 1 + .../src/store/config/ControlGraph.yml | 18 ++++++++++ .../frontend/src/store/control_data.js | 33 +++++++++++++++++++ .../dreamview/proto/simulation_world.proto | 10 +++++- 14 files changed, 118 insertions(+), 12 deletions(-) rename modules/dreamview/frontend/dist/{f544bd06fab314ebd5a1.worker.js => 5edf3e08e204ac1407e2.worker.js} (63%) rename modules/dreamview/frontend/dist/{f544bd06fab314ebd5a1.worker.js.map => 5edf3e08e204ac1407e2.worker.js.map} (63%) diff --git a/modules/dreamview/backend/dreamview.cc b/modules/dreamview/backend/dreamview.cc index 7f11b62c3e..39ab123eb9 100644 --- a/modules/dreamview/backend/dreamview.cc +++ b/modules/dreamview/backend/dreamview.cc @@ -37,7 +37,9 @@ using apollo::common::time::Clock; using apollo::common::util::PathExists; 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) { Stop(); @@ -62,6 +64,8 @@ Status Dreamview::Init() { // Check the expected adapters are initialized. CHECK(AdapterManager::GetChassis()) << "ChassisAdapter is not initialized."; + CHECK(AdapterManager::GetControlCommand()) + << "ControlCommandAdapter is not initialized."; CHECK(AdapterManager::GetGps()) << "GpsAdapter is not initialized."; CHECK(AdapterManager::GetPlanning()) << "PlanningAdapter is not initialized."; CHECK(AdapterManager::GetLocalization()) diff --git a/modules/dreamview/backend/simulation_world/simulation_world_service.cc b/modules/dreamview/backend/simulation_world/simulation_world_service.cc index fd6f76ba31..bf0234c8ed 100644 --- a/modules/dreamview/backend/simulation_world/simulation_world_service.cc +++ b/modules/dreamview/backend/simulation_world/simulation_world_service.cc @@ -52,10 +52,11 @@ using apollo::common::adapter::AdapterManager; using apollo::common::monitor::MonitorMessage; using apollo::common::monitor::MonitorMessageItem; using apollo::common::time::Clock; -using apollo::common::time::millis; using apollo::common::time::ToSecond; +using apollo::common::time::millis; using apollo::common::util::DownsampleByAngle; using apollo::common::util::GetProtoFromFile; +using apollo::control::ControlCommand; using apollo::hdmap::Path; using apollo::localization::Gps; using apollo::localization::LocalizationEstimate; @@ -253,6 +254,8 @@ void SimulationWorldService::Update() { UpdateWithLatestObserved("PredictionObstacles", AdapterManager::GetPrediction()); UpdateWithLatestObserved("Planning", AdapterManager::GetPlanning()); + UpdateWithLatestObserved("ControlCommand", + AdapterManager::GetControlCommand()); for (const auto &kv : obj_map_) { *world_.add_object() = kv.second; } @@ -912,5 +915,23 @@ void SimulationWorldService::RegisterMessageCallbacks() { &SimulationWorldService::UpdateSimulationWorld, this); } +template <> +void SimulationWorldService::UpdateSimulationWorld( + const ControlCommand &control_command) { + auto *control_data = world_.mutable_control_data(); + control_data->set_timestamp_sec(control_command.header().timestamp_sec()); + + if (control_command.has_debug()) { + auto &debug = control_command.debug(); + if (debug.has_simple_lon_debug() && + debug.simple_lon_debug().has_station_error()) { + control_data->set_station_error(debug.simple_lon_debug().station_error()); + } else if (debug.has_simple_mpc_debug() && + debug.simple_mpc_debug().has_station_error()) { + control_data->set_station_error(debug.simple_mpc_debug().station_error()); + } + } +} + } // namespace dreamview } // namespace apollo diff --git a/modules/dreamview/conf/adapter.conf b/modules/dreamview/conf/adapter.conf index 85f9bc765b..1bbc1cac93 100644 --- a/modules/dreamview/conf/adapter.conf +++ b/modules/dreamview/conf/adapter.conf @@ -13,6 +13,11 @@ config { mode: RECEIVE_ONLY message_history_limit: 1 } +config { + type: CONTROL_COMMAND + mode: RECEIVE_ONLY + message_history_limit: 1 +} config { type: GPS mode: RECEIVE_ONLY diff --git a/modules/dreamview/frontend/dist/f544bd06fab314ebd5a1.worker.js b/modules/dreamview/frontend/dist/5edf3e08e204ac1407e2.worker.js similarity index 63% rename from modules/dreamview/frontend/dist/f544bd06fab314ebd5a1.worker.js rename to modules/dreamview/frontend/dist/5edf3e08e204ac1407e2.worker.js index a092b56b46..07f1c3fd3f 100644 --- a/modules/dreamview/frontend/dist/f544bd06fab314ebd5a1.worker.js +++ b/modules/dreamview/frontend/dist/5edf3e08e204ac1407e2.worker.js @@ -1,2 +1,2 @@ -!function(e){function t(o){if(i[o])return i[o].exports;var r=i[o]={i:o,l:!1,exports:{}};return e[o].call(r.exports,r,r.exports,t),r.l=!0,r.exports}var i={};t.m=e,t.c=i,t.i=function(e){return e},t.d=function(e,i,o){t.o(e,i)||Object.defineProperty(e,i,{configurable:!1,enumerable:!0,get:o})},t.n=function(e){var i=e&&e.__esModule?function(){return e.default}:function(){return e};return t.d(i,"a",i),i},t.o=function(e,t){return Object.prototype.hasOwnProperty.call(e,t)},t.p="/",t(t.s=29)}([function(e,t,i){"use 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