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b1bcba58
编写于
10月 29, 2019
作者:
V
Vivian Lin
提交者:
GitHub
10月 29, 2019
浏览文件
操作
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电子邮件补丁
差异文件
Dreamview: story telling display (#10050)
上级
3585892d
变更
26
展开全部
隐藏空白更改
内联
并排
Showing
26 changed file
with
300 addition
and
60 deletion
+300
-60
modules/dreamview/backend/simulation_world/BUILD
modules/dreamview/backend/simulation_world/BUILD
+1
-0
modules/dreamview/backend/simulation_world/simulation_world_service.cc
...view/backend/simulation_world/simulation_world_service.cc
+19
-0
modules/dreamview/backend/simulation_world/simulation_world_service.h
...mview/backend/simulation_world/simulation_world_service.h
+3
-0
modules/dreamview/frontend/dist/2.bundle.js
modules/dreamview/frontend/dist/2.bundle.js
+1
-1
modules/dreamview/frontend/dist/2.bundle.js.map
modules/dreamview/frontend/dist/2.bundle.js.map
+1
-1
modules/dreamview/frontend/dist/3.bundle.js
modules/dreamview/frontend/dist/3.bundle.js
+1
-1
modules/dreamview/frontend/dist/3.bundle.js.map
modules/dreamview/frontend/dist/3.bundle.js.map
+1
-1
modules/dreamview/frontend/dist/4.bundle.js
modules/dreamview/frontend/dist/4.bundle.js
+1
-1
modules/dreamview/frontend/dist/4.bundle.js.map
modules/dreamview/frontend/dist/4.bundle.js.map
+1
-1
modules/dreamview/frontend/dist/app.bundle.js
modules/dreamview/frontend/dist/app.bundle.js
+11
-11
modules/dreamview/frontend/dist/app.bundle.js.map
modules/dreamview/frontend/dist/app.bundle.js.map
+1
-1
modules/dreamview/frontend/dist/fonts/droid/README.txt
modules/dreamview/frontend/dist/fonts/droid/README.txt
+2
-2
modules/dreamview/frontend/dist/parameters.bundle.js
modules/dreamview/frontend/dist/parameters.bundle.js
+1
-1
modules/dreamview/frontend/dist/parameters.bundle.js.map
modules/dreamview/frontend/dist/parameters.bundle.js.map
+1
-1
modules/dreamview/frontend/dist/worker.bundle.js
modules/dreamview/frontend/dist/worker.bundle.js
+1
-1
modules/dreamview/frontend/dist/worker.bundle.js.map
modules/dreamview/frontend/dist/worker.bundle.js.map
+1
-1
modules/dreamview/frontend/proto_bundle/sim_world_proto_bundle.json
...eamview/frontend/proto_bundle/sim_world_proto_bundle.json
+128
-11
modules/dreamview/frontend/src/components/Layouts/MonitorPanel.js
...dreamview/frontend/src/components/Layouts/MonitorPanel.js
+12
-7
modules/dreamview/frontend/src/components/PNCMonitor/PlanningScenarioTable.js
...ontend/src/components/PNCMonitor/PlanningScenarioTable.js
+4
-4
modules/dreamview/frontend/src/components/PNCMonitor/StoryTellingMonitor.js
...frontend/src/components/PNCMonitor/StoryTellingMonitor.js
+56
-0
modules/dreamview/frontend/src/components/PNCMonitor/index.js
...les/dreamview/frontend/src/components/PNCMonitor/index.js
+3
-1
modules/dreamview/frontend/src/store/index.js
modules/dreamview/frontend/src/store/index.js
+4
-0
modules/dreamview/frontend/src/store/story_tellers.js
modules/dreamview/frontend/src/store/story_tellers.js
+16
-0
modules/dreamview/frontend/src/styles/main.scss
modules/dreamview/frontend/src/styles/main.scss
+4
-0
modules/dreamview/frontend/src/styles/monitor.scss
modules/dreamview/frontend/src/styles/monitor.scss
+22
-12
modules/dreamview/proto/simulation_world.proto
modules/dreamview/proto/simulation_world.proto
+4
-1
未找到文件。
modules/dreamview/backend/simulation_world/BUILD
浏览文件 @
b1bcba58
...
...
@@ -33,6 +33,7 @@ cc_library(
"//modules/perception/proto:perception_proto"
,
"//modules/planning/proto:planning_proto"
,
"//modules/prediction/proto:prediction_proto"
,
"//modules/storytelling/proto:story_proto"
,
"//third_party/json"
,
],
)
...
...
modules/dreamview/backend/simulation_world/simulation_world_service.cc
浏览文件 @
b1bcba58
...
...
@@ -72,6 +72,7 @@ using apollo::relative_map::MapMsg;
using
apollo
::
relative_map
::
NavigationInfo
;
using
apollo
::
routing
::
RoutingRequest
;
using
apollo
::
routing
::
RoutingResponse
;
using
apollo
::
storytelling
::
Stories
;
using
Json
=
nlohmann
::
json
;
using
::
google
::
protobuf
::
util
::
MessageToJsonString
;
...
...
@@ -275,6 +276,7 @@ void SimulationWorldService::InitReaders() {
navigation_reader_
=
node_
->
CreateReader
<
NavigationInfo
>
(
FLAGS_navigation_topic
);
relative_map_reader_
=
node_
->
CreateReader
<
MapMsg
>
(
FLAGS_relative_map_topic
);
storytelling_reader_
=
node_
->
CreateReader
<
Stories
>
(
FLAGS_storytelling_topic
);
drive_event_reader_
=
node_
->
CreateReader
<
DriveEvent
>
(
FLAGS_drive_event_topic
,
...
...
@@ -351,6 +353,7 @@ void SimulationWorldService::Update() {
// may not always be perfectly aligned and belong to the same frame.
obj_map_
.
clear
();
world_
.
clear_object
();
UpdateWithLatestObserved
(
storytelling_reader_
.
get
());
UpdateWithLatestObserved
(
perception_obstacle_reader_
.
get
());
UpdateWithLatestObserved
(
perception_traffic_light_reader_
.
get
(),
false
);
UpdateWithLatestObserved
(
prediction_obstacle_reader_
.
get
());
...
...
@@ -524,6 +527,22 @@ void SimulationWorldService::UpdateSimulationWorld(const Chassis &chassis) {
auto_driving_car
->
set_disengage_type
(
DeduceDisengageType
(
chassis
));
}
template
<
>
void
SimulationWorldService
::
UpdateSimulationWorld
(
const
Stories
&
stories
)
{
world_
.
clear_stories
();
auto
*
world_stories
=
world_
.
mutable_stories
();
const
google
::
protobuf
::
Descriptor
*
descriptor
=
stories
.
GetDescriptor
();
const
google
::
protobuf
::
Reflection
*
reflection
=
stories
.
GetReflection
();
const
int
field_count
=
descriptor
->
field_count
();
for
(
int
i
=
0
;
i
<
field_count
;
++
i
)
{
const
google
::
protobuf
::
FieldDescriptor
*
field
=
descriptor
->
field
(
i
);
if
(
field
->
name
()
!=
"header"
)
{
(
*
world_stories
)[
field
->
name
()]
=
reflection
->
HasField
(
stories
,
field
);
}
}
}
Object
&
SimulationWorldService
::
CreateWorldObjectIfAbsent
(
const
PerceptionObstacle
&
obstacle
)
{
const
std
::
string
id
=
std
::
to_string
(
obstacle
.
id
());
...
...
modules/dreamview/backend/simulation_world/simulation_world_service.h
浏览文件 @
b1bcba58
...
...
@@ -50,6 +50,7 @@
#include "modules/planning/proto/planning.pb.h"
#include "modules/planning/proto/planning_internal.pb.h"
#include "modules/prediction/proto/prediction_obstacle.pb.h"
#include "modules/storytelling/proto/story.pb.h"
/**
* @namespace apollo::dreamview
...
...
@@ -371,6 +372,8 @@ class SimulationWorldService {
routing_request_reader_
;
std
::
shared_ptr
<
cyber
::
Reader
<
apollo
::
routing
::
RoutingResponse
>>
routing_response_reader_
;
std
::
shared_ptr
<
cyber
::
Reader
<
apollo
::
storytelling
::
Stories
>>
storytelling_reader_
;
// Writers.
std
::
shared_ptr
<
cyber
::
Writer
<
apollo
::
relative_map
::
NavigationInfo
>>
...
...
modules/dreamview/frontend/dist/2.bundle.js
浏览文件 @
b1bcba58
(
window
.
webpackJsonp
=
window
.
webpackJsonp
||
[]).
push
([[
2
],{
47
4
:
function
(
e
,
t
,
a
){
"
use strict
"
;
Object
.
defineProperty
(
t
,
"
__esModule
"
,{
value
:
!
0
}),
t
.
default
=
void
0
;
var
n
=
p
(
a
(
4
)),
i
=
p
(
a
(
1
)),
l
=
p
(
a
(
2
)),
o
=
p
(
a
(
5
)),
r
=
p
(
a
(
6
)),
d
=
p
(
a
(
0
)),
u
=
p
(
a
(
475
)),
c
=
p
(
a
(
102
)),
f
=
p
(
a
(
20
)),
s
=
p
(
a
(
476
));
function
p
(
e
){
return
e
&&
e
.
__esModule
?
e
:{
default
:
e
}}
var
m
=
function
(
e
){
function
t
(
e
){(
0
,
i
.
default
)(
this
,
t
);
var
a
=
(
0
,
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.
default
)(
this
,(
t
.
__proto__
||
(
0
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n
.
default
)(
t
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this
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e
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return
a
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state
=
{
routingView
:
!
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},
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onClickHandler
=
a
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bind
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),
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}
return
(
0
,
r
.
default
)(
t
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),(
0
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.
default
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key
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onClickHandler
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value
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function
(){
var
e
=!
this
.
state
.
routingView
;
e
?
c
.
default
.
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():
c
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default
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(),
this
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setState
({
routingView
:
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})}},{
key
:
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componentDidMount
"
,
value
:
function
(){
c
.
default
.
mapAPILoaded
&&
this
.
scriptOnLoadHandler
()}},{
key
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scriptOnLoadHandler
"
,
value
:
function
(){
a
(
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)(
"
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"
+
PARAMETERS
.
navigation
.
map
+
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Adapter
"
).
then
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function
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e
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var
t
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(
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c
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mapAPILoaded
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c
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key
:
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,
value
:
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(){
c
.
default
.
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()}},{
key
:
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render
"
,
value
:
function
(){
var
e
=
this
.
props
,
t
=
e
.
viewHeight
,
a
=
e
.
viewWidth
;
if
(
"
GoogleMap
"
!==
PARAMETERS
.
navigation
.
map
&&
"
BaiduMap
"
!==
PARAMETERS
.
navigation
.
map
)
return
console
.
error
(
"
Map API
"
+
PARAMETERS
.
navigation
.
map
+
"
is not supported.
"
),
null
;
if
(
!
c
.
default
.
mapAPILoaded
){
var
n
=
function
(){
console
.
log
(
"
Map API script loaded.
"
)};
"
BaiduMap
"
===
PARAMETERS
.
navigation
.
map
?
window
.
initMap
=
this
.
scriptOnLoadHandler
:
"
GoogleMap
"
===
PARAMETERS
.
navigation
.
map
&&
(
n
=
this
.
scriptOnLoadHandler
),(
0
,
s
.
default
)({
url
:
PARAMETERS
.
navigation
.
mapAPiUrl
,
onLoad
:
n
,
onError
:
function
(){
console
.
log
(
"
Failed to load map api
"
)}})}
var
i
=
0
,
l
=
0
,
o
=
a
,
r
=
t
,
f
=
"
maximizing
"
;
return
this
.
state
.
routingView
||
(
i
=
10
,
l
=
20
,
o
=
Math
.
min
(.
3
*
a
,
250
),
r
=
Math
.
min
(.
5
*
t
,
300
),
f
=
"
minimizing
"
),
d
.
default
.
createElement
(
"
div
"
,{
displayname
:
"
navigation
"
,
className
:
"
navigation-view
"
,
style
:{
width
:
o
,
height
:
r
,
top
:
i
,
left
:
l
}},
d
.
default
.
createElement
(
"
div
"
,{
id
:
"
map_canvas
"
}),
d
.
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.
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(
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.
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,{
type
:
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,
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.
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t
}(
d
.
default
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t
.
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=
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},
475
:
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,
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,
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){
"
use strict
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;
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.
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(
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"
__esModule
"
,{
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(
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(
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=
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(
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(
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){
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=
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.
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)(
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,
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t
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strokeWidth
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2
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(
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,{
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#006AFF
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,
strokeWidth
:
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2
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}))}},{
key
:
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,
value
:
function
(){
var
e
=
this
.
props
,
t
=
e
.
type
,
a
=
e
.
onClick
,
n
=
null
;
switch
(
t
){
case
"
minimizing
"
:
n
=
this
.
getMinimizingIcon
();
break
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case
"
maximizing
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:
n
=
this
.
getMaximizingIcon
()}
return
d
.
default
.
createElement
(
"
div
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,{
className
:
"
window-resize-control
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onClick
:
a
},
n
)}}]),
t
}(
d
.
default
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PureComponent
);
t
.
default
=
c
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modules/dreamview/frontend/dist/3.bundle.js.map
浏览文件 @
b1bcba58
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modules/dreamview/frontend/dist/4.bundle.js
浏览文件 @
b1bcba58
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modules/dreamview/frontend/dist/fonts/droid/README.txt
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...
...
@@ -3,9 +3,9 @@ Copyright (C) 2008 The Android Open Source Project
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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r
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d
(
n
,
o
,
function
(
t
){
return
e
[
t
]}.
bind
(
null
,
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));
return
n
},
r
.
n
=
function
(
e
){
var
t
=
e
&&
e
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?
function
(){
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return
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return
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"
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t
},
r
.
o
=
function
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e
,
t
){
return
Object
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prototype
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.
call
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e
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)},
r
.
p
=
"
/
"
,
r
(
r
.
s
=
47
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)}({
473
:
function
(
e
,
t
){
e
.
exports
=
'
module.exports = __webpack_public_path__ + "parameters.json";
'
}});
//# sourceMappingURL=parameters.bundle.js.map
\ No newline at end of file
modules/dreamview/frontend/dist/parameters.bundle.js.map
浏览文件 @
b1bcba58
{"version":3,"file":"parameters.bundle.js","sources":["webpack:///parameters.bundle.js"],"sourcesContent":["!function(e){var t={};function r(n){if(t[n])return t[n].exports;var o=t[n]={i:n,l:!1,exports:{}};return e[n].call(o.exports,o,o.exports,r),o.l=!0,o.exports}r.m=e,r.c=t,r.d=function(e,t,n){r.o(e,t)||Object.defineProperty(e,t,{enumerable:!0,get:n})},r.r=function(e){\"undefined\"!=typeof Symbol&&Symbol.toStringTag&&Object.defineProperty(e,Symbol.toStringTag,{value:\"Module\"}),Object.defineProperty(e,\"__esModule\",{value:!0})},r.t=function(e,t){if(1&t&&(e=r(e)),8&t)return e;if(4&t&&\"object\"==typeof e&&e&&e.__esModule)return e;var n=Object.create(null);if(r.r(n),Object.defineProperty(n,\"default\",{enumerable:!0,value:e}),2&t&&\"string\"!=typeof e)for(var o in e)r.d(n,o,function(t){return e[t]}.bind(null,o));return n},r.n=function(e){var t=e&&e.__esModule?function(){return e.default}:function(){return e};return r.d(t,\"a\",t),t},r.o=function(e,t){return Object.prototype.hasOwnProperty.call(e,t)},r.p=\"/\",r(r.s=471)}({471:function(e,t){e.exports='module.exports = __webpack_public_path__ + \"parameters.json\";'}});"],"mappings":"AAAA","sourceRoot":""}
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{"version":3,"file":"parameters.bundle.js","sources":["webpack:///parameters.bundle.js"],"sourcesContent":["!function(e){var t={};function r(n){if(t[n])return t[n].exports;var o=t[n]={i:n,l:!1,exports:{}};return e[n].call(o.exports,o,o.exports,r),o.l=!0,o.exports}r.m=e,r.c=t,r.d=function(e,t,n){r.o(e,t)||Object.defineProperty(e,t,{enumerable:!0,get:n})},r.r=function(e){\"undefined\"!=typeof Symbol&&Symbol.toStringTag&&Object.defineProperty(e,Symbol.toStringTag,{value:\"Module\"}),Object.defineProperty(e,\"__esModule\",{value:!0})},r.t=function(e,t){if(1&t&&(e=r(e)),8&t)return e;if(4&t&&\"object\"==typeof e&&e&&e.__esModule)return e;var n=Object.create(null);if(r.r(n),Object.defineProperty(n,\"default\",{enumerable:!0,value:e}),2&t&&\"string\"!=typeof e)for(var o in e)r.d(n,o,function(t){return e[t]}.bind(null,o));return n},r.n=function(e){var t=e&&e.__esModule?function(){return e.default}:function(){return e};return r.d(t,\"a\",t),t},r.o=function(e,t){return Object.prototype.hasOwnProperty.call(e,t)},r.p=\"/\",r(r.s=473)}({473:function(e,t){e.exports='module.exports = __webpack_public_path__ + \"parameters.json\";'}});"],"mappings":"AAAA","sourceRoot":""}
\ No newline at end of file
modules/dreamview/frontend/dist/worker.bundle.js
浏览文件 @
b1bcba58
因为 它太大了无法显示 source diff 。你可以改为
查看blob
。
modules/dreamview/frontend/dist/worker.bundle.js.map
浏览文件 @
b1bcba58
因为 它太大了无法显示 source diff 。你可以改为
查看blob
。
modules/dreamview/frontend/proto_bundle/sim_world_proto_bundle.json
浏览文件 @
b1bcba58
...
...
@@ -596,6 +596,11 @@
"rule"
:
"repeated"
,
"type"
:
"Object"
,
"id"
:
27
},
"stories"
:
{
"keyType"
:
"string"
,
"type"
:
"bool"
,
"id"
:
28
}
}
},
...
...
@@ -3748,6 +3753,13 @@
"options"
:
{
"default"
:
1
}
},
"isLaneChanging"
:
{
"type"
:
"bool"
,
"id"
:
81
,
"options"
:
{
"default"
:
false
}
}
}
},
...
...
@@ -5043,6 +5055,73 @@
}
}
},
"PiecewiseJerkNonlinearSpeedConfig"
:
{
"fields"
:
{
"accWeight"
:
{
"type"
:
"double"
,
"id"
:
1
,
"options"
:
{
"default"
:
500
}
},
"jerkWeight"
:
{
"type"
:
"double"
,
"id"
:
2
,
"options"
:
{
"default"
:
100
}
},
"latAccWeight"
:
{
"type"
:
"double"
,
"id"
:
3
,
"options"
:
{
"default"
:
500
}
},
"refSWeight"
:
{
"type"
:
"double"
,
"id"
:
4
,
"options"
:
{
"default"
:
10
}
},
"refVWeight"
:
{
"type"
:
"double"
,
"id"
:
5
,
"options"
:
{
"default"
:
10
}
},
"endSWeight"
:
{
"type"
:
"double"
,
"id"
:
6
,
"options"
:
{
"default"
:
10
}
},
"endVWeight"
:
{
"type"
:
"double"
,
"id"
:
7
,
"options"
:
{
"default"
:
10
}
},
"endAWeight"
:
{
"type"
:
"double"
,
"id"
:
8
,
"options"
:
{
"default"
:
10
}
},
"useWarmStart"
:
{
"type"
:
"bool"
,
"id"
:
100
,
"options"
:
{
"default"
:
true
}
}
}
},
"PiecewiseJerkPathConfig"
:
{
"fields"
:
{
"defaultPathConfig"
:
{
...
...
@@ -6032,7 +6111,8 @@
"laneChangeDeciderConfig"
,
"ruleBasedStopDeciderConfig"
,
"pathReuseDeciderConfig"
,
"stBoundsDeciderConfig"
"stBoundsDeciderConfig"
,
"piecewiseJerkNonlinearSpeedConfig"
]
}
},
...
...
@@ -6116,6 +6196,10 @@
"stBoundsDeciderConfig"
:
{
"type"
:
"STBoundsDeciderConfig"
,
"id"
:
28
},
"piecewiseJerkNonlinearSpeedConfig"
:
{
"type"
:
"PiecewiseJerkNonlinearSpeedConfig"
,
"id"
:
29
}
},
"nested"
:
{
...
...
@@ -6145,7 +6229,8 @@
"LANE_CHANGE_DECIDER"
:
28
,
"RULE_BASED_STOP_DECIDER"
:
29
,
"PATH_REUSE_DECIDER"
:
30
,
"ST_BOUNDS_DECIDER"
:
31
"ST_BOUNDS_DECIDER"
:
31
,
"PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER"
:
32
}
}
}
...
...
@@ -6176,7 +6261,7 @@
"default"
:
3
}
},
"approach
SpeedLimit
"
:
{
"approach
CruiseSpeed
"
:
{
"type"
:
"double"
,
"id"
:
4
,
"options"
:
{
...
...
@@ -6293,26 +6378,40 @@
"default"
:
5
}
},
"
maxValidStopDistance
"
:
{
"
approachCruiseSpeed
"
:
{
"type"
:
"double"
,
"id"
:
2
,
"options"
:
{
"default"
:
2.78
}
},
"maxValidStopDistance"
:
{
"type"
:
"double"
,
"id"
:
3
,
"options"
:
{
"default"
:
3.5
}
},
"minPassSDistance"
:
{
"type"
:
"double"
,
"id"
:
3
,
"id"
:
4
,
"options"
:
{
"default"
:
3
}
},
"creepTimeoutSec"
:
{
"type"
:
"float"
,
"id"
:
4
,
"id"
:
5
,
"options"
:
{
"default"
:
10
}
},
"maxAdcSpeedBeforeCreep"
:
{
"type"
:
"double"
,
"id"
:
6
,
"options"
:
{
"default"
:
5.56
}
}
}
},
...
...
@@ -6359,6 +6458,13 @@
"options"
:
{
"default"
:
10
}
},
"maxAdcSpeedBeforeCreep"
:
{
"type"
:
"double"
,
"id"
:
7
,
"options"
:
{
"default"
:
3
}
}
}
},
...
...
@@ -6642,16 +6748,16 @@
"NO_STAGE"
:
0
,
"LANE_FOLLOW_DEFAULT_STAGE"
:
1
,
"BARE_INTERSECTION_UNPROTECTED_APPROACH"
:
200
,
"BARE_INTERSECTION_UNPROTECTED_CREEP"
:
201
,
"BARE_INTERSECTION_UNPROTECTED_INTERSECTION_CRUISE"
:
202
,
"BARE_INTERSECTION_UNPROTECTED_INTERSECTION_CRUISE"
:
201
,
"STOP_SIGN_UNPROTECTED_PRE_STOP"
:
300
,
"STOP_SIGN_UNPROTECTED_STOP"
:
301
,
"STOP_SIGN_UNPROTECTED_CREEP"
:
302
,
"STOP_SIGN_UNPROTECTED_INTERSECTION_CRUISE"
:
303
,
"TRAFFIC_LIGHT_PROTECTED_APPROACH"
:
400
,
"TRAFFIC_LIGHT_PROTECTED_INTERSECTION_CRUISE"
:
401
,
"TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_CREEP"
:
410
,
"TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_INTERSECTION_CRUISE"
:
411
,
"TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_APPROACH"
:
410
,
"TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_CREEP"
:
411
,
"TRAFFIC_LIGHT_UNPROTECTED_LEFT_TURN_INTERSECTION_CRUISE"
:
412
,
"TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_STOP"
:
420
,
"TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_CREEP"
:
421
,
"TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_INTERSECTION_CRUISE"
:
422
,
...
...
@@ -6896,6 +7002,17 @@
"laneChangeStartPosition"
:
{
"type"
:
"apollo.common.Point3D"
,
"id"
:
5
},
"lastSucceedTimestamp"
:
{
"type"
:
"double"
,
"id"
:
6
},
"isCurrentOptSucceed"
:
{
"type"
:
"bool"
,
"id"
:
7
,
"options"
:
{
"default"
:
false
}
}
},
"nested"
:
{
...
...
@@ -6903,7 +7020,7 @@
"values"
:
{
"IN_CHANGE_LANE"
:
1
,
"CHANGE_LANE_FAILED"
:
2
,
"CHANGE_LANE_
SUCCESS
"
:
3
"CHANGE_LANE_
FINISHED
"
:
3
}
}
}
...
...
modules/dreamview/frontend/src/components/Layouts/MonitorPanel.js
浏览文件 @
b1bcba58
...
...
@@ -2,14 +2,15 @@
import
"
styles/monitor.scss
"
;
import
React
from
"
react
"
;
import
{
Tab
}
from
"
react-tabs
"
;
import
{
Tabs
,
TabList
,
Tab
,
TabPanel
}
from
"
react-tabs
"
;
import
{
MONITOR_MENU
}
from
"
store/options
"
;
import
CameraParam
from
"
components/CameraParam
"
;
import
{
CameraVideo
}
from
"
components/Tasks/SensorCamera
"
;
import
DataCollectionMonitor
from
"
components/DataCollectionMonitor
"
;
import
PNCMonitor
from
"
components/PNCMonitor
"
;
import
TeleOpConsole
from
"
components/TeleopMonitor/TeleopConsole
"
;
import
{
CameraVideo
}
from
"
components/Tasks/SensorCamera
"
;
import
{
MONITOR_MENU
}
from
"
store/options
"
;
export
default
class
MonitorPanel
extends
React
.
Component
{
renderMonitor
()
{
...
...
@@ -38,10 +39,14 @@ export default class MonitorPanel extends React.Component {
return
(
<
div
className
=
"
right-pane
"
>
{
showCameraVideo
&&
<
div
>
<
Tab
><
span
>
Camera
View
<
/span></
Tab
>
<
CameraVideo
/>
<
/div
>
<
Tabs
>
<
TabList
>
<
Tab
>
Camera
View
<
/Tab
>
<
/TabList
>
<
TabPanel
>
<
CameraVideo
/>
<
/TabPanel
>
<
/Tabs
>
}
{
this
.
renderMonitor
()}
<
/div
>
...
...
modules/dreamview/frontend/src/components/PNCMonitor/PlanningScenarioTable.js
浏览文件 @
b1bcba58
...
...
@@ -10,7 +10,7 @@ class PlanningScenarioItem extends React.Component {
const
stage
=
scenario
.
stageType
?
scenario
.
stageType
.
replace
(
type
+
'
_
'
,
''
)
:
'
-
'
;
return
(
<
tr
className
=
"
scenario-history
-item
"
>
<
tr
className
=
"
monitor-table
-item
"
>
<
td
className
=
"
text time
"
>
{
timestampMsToTimeString
(
scenario
.
time
,
true
)}
<
/td
>
<
td
className
=
"
text
"
>
{
type
}
<
/td
>
<
td
className
=
"
text
"
>
{
stage
}
<
/td
>
...
...
@@ -24,9 +24,9 @@ export default class PlanningScenarioTable extends React.Component {
const
{
scenarios
}
=
this
.
props
;
return
(
<
div
className
=
"
scenario-history
-container
"
>
<
div
className
=
"
scenario-history
-title
"
>
Scenario
History
<
/div
>
<
table
className
=
"
scenario-history
-table
"
>
<
div
className
=
"
monitor-table
-container
"
>
<
div
className
=
"
monitor-table
-title
"
>
Scenario
History
<
/div
>
<
table
className
=
"
monitor
-table
"
>
<
tbody
>
{
scenarios
.
map
(
scenario
=>
(
<
PlanningScenarioItem
key
=
{
`scenario_
${
scenario
.
time
}
`
}
...
...
modules/dreamview/frontend/src/components/PNCMonitor/StoryTellingMonitor.js
0 → 100644
浏览文件 @
b1bcba58
import
React
from
"
react
"
;
import
{
inject
,
observer
}
from
"
mobx-react
"
;
import
classNames
from
"
classnames
"
;
import
{
Tabs
,
TabList
,
Tab
,
TabPanel
}
from
"
react-tabs
"
;
class
StoryItem
extends
React
.
PureComponent
{
render
()
{
const
{
name
,
value
}
=
this
.
props
;
const
textClassNames
=
classNames
({
"
text
"
:
true
,
"
active
"
:
value
,
});
return
(
<
tr
className
=
"
monitor-table-item
"
>
<
td
className
=
{
textClassNames
}
>
{
name
.
toUpperCase
()}
<
/td
>
<
td
className
=
{
textClassNames
}
>
{
value
?
'
YES
'
:
'
No
'
}
<
/td
>
<
/tr
>
);
}
}
@
inject
(
"
store
"
)
@
observer
export
default
class
StoryTellingMonitor
extends
React
.
Component
{
render
()
{
const
{
stories
}
=
this
.
props
.
store
.
storyTellers
;
let
storyTable
=
null
;
if
(
stories
.
size
>
0
)
{
storyTable
=
stories
.
entries
().
map
(([
story
,
isOn
])
=>
<
StoryItem
key
=
{
`story_
${
story
}
`
}
name
=
{
story
}
value
=
{
isOn
}
/
>
);
}
else
{
storyTable
=
(
<
tr
className
=
"
monitor-table-item
"
>
<
td
className
=
"
text
"
>
No
Data
<
/td
>
<
/tr
>
);
}
return
(
<
Tabs
>
<
TabList
>
<
Tab
>
Story
Tellers
<
/Tab
>
<
/TabList
>
<
TabPanel
className
=
"
monitor-table-container
"
>
<
table
className
=
"
monitor-table
"
>
<
tbody
>
{
storyTable
}
<
/tbody
>
<
/table
>
<
/TabPanel
>
<
/Tabs
>
);
}
}
modules/dreamview/frontend/src/components/PNCMonitor/index.js
浏览文件 @
b1bcba58
import
React
from
"
react
"
;
import
{
Tab
,
Tabs
,
TabList
,
TabPanel
}
from
"
react-tabs
"
;
import
PlanningMonitor
from
"
components/PNCMonitor/PlanningMonitor
"
;
import
ControlMonitor
from
"
components/PNCMonitor/ControlMonitor
"
;
import
LatencyMonitor
from
"
components/PNCMonitor/LatencyMonitor
"
;
import
PlanningMonitor
from
"
components/PNCMonitor/PlanningMonitor
"
;
import
StoryTellingMonitor
from
"
components/PNCMonitor/StoryTellingMonitor
"
;
export
default
class
PNCMonitor
extends
React
.
Component
{
render
()
{
return
(
<
div
className
=
"
monitor pnc-monitor
"
>
<
StoryTellingMonitor
/>
<
Tabs
>
<
TabList
>
<
Tab
>
Planning
<
/Tab
>
...
...
modules/dreamview/frontend/src/store/index.js
浏览文件 @
b1bcba58
...
...
@@ -10,6 +10,7 @@ import Options from "store/options";
import
PlanningData
from
"
store/planning_data
"
;
import
Playback
from
"
store/playback
"
;
import
RouteEditingManager
from
"
store/route_editing_manager
"
;
import
StoryTellers
from
"
store/story_tellers
"
;
import
Teleop
from
"
store/teleop
"
;
import
TrafficSignal
from
"
store/traffic_signal
"
;
...
...
@@ -56,6 +57,8 @@ class DreamviewStore {
@
observable
cameraData
=
new
CameraData
();
@
observable
storyTellers
=
new
StoryTellers
();
@
observable
teleop
=
new
Teleop
();
@
observable
newDisengagementReminder
=
false
;
...
...
@@ -233,6 +236,7 @@ class DreamviewStore {
this
.
updateCustomizedToggles
(
world
);
if
(
this
.
options
.
showPNCMonitor
)
{
this
.
storyTellers
.
update
(
world
);
this
.
planningData
.
update
(
world
);
this
.
controlData
.
update
(
world
,
this
.
hmi
.
vehicleParam
);
this
.
latency
.
update
(
world
);
...
...
modules/dreamview/frontend/src/store/story_tellers.js
0 → 100644
浏览文件 @
b1bcba58
import
{
observable
,
action
}
from
"
mobx
"
;
import
_
from
'
lodash
'
;
export
default
class
StoryTellers
{
@
observable
stories
=
observable
.
map
();
@
action
update
(
world
)
{
this
.
stories
.
clear
();
if
(
world
.
stories
)
{
Object
.
entries
(
world
.
stories
).
forEach
(([
story
,
isOn
])
=>
{
this
.
stories
.
set
(
story
,
isOn
);
});
}
}
}
modules/dreamview/frontend/src/styles/main.scss
浏览文件 @
b1bcba58
...
...
@@ -263,6 +263,10 @@ body {
}
.react-tabs
{
&
:not
(
:last-child
)
{
border-bottom
:
2px
solid
#000000
;
}
&
__tab-list
{
display
:
table
;
width
:
100%
;
...
...
modules/dreamview/frontend/src/styles/monitor.scss
浏览文件 @
b1bcba58
...
...
@@ -74,21 +74,13 @@ $monitor-header-height: 32px;
}
}
}
}
.pnc-monitor
{
.scatter-graph
{
margin
:
0px
;
border
:
1px
#000000
;
border-style
:
solid
none
;
}
.
scenario-history
-container
{
.
monitor-table
-container
{
padding
:
10px
;
font-family
:
'Helvetica Neue'
,
'Helvetica'
,
'Arial'
,
sans-serif
;
font-weight
:
normal
;
.
scenario-history
-title
{
.
monitor-table
-title
{
margin
:
5px
;
border-bottom
:
1px
solid
rgba
(
153
,
153
,
153
,
0
.5
);
padding-bottom
:
5px
;
...
...
@@ -98,11 +90,11 @@ $monitor-header-height: 32px;
text-align
:
center
;
}
.
scenario-history
-table
{
.
monitor
-table
{
position
:
relative
;
width
:
100%
;
.
scenario-history
-item
{
.
monitor-table
-item
{
position
:
relative
;
width
:
100%
;
...
...
@@ -118,11 +110,29 @@ $monitor-header-height: 32px;
.time
{
text-align
:
center
;
}
.active
{
color
:
#FFFFFF
;
}
}
}
}
}
.pnc-monitor
{
.scatter-graph
{
margin
:
0px
;
&
:not
(
:first-child
)
{
border-top
:
1px
solid
#000000
;
}
&
:only-child
{
border-bottom
:
1px
solid
#000000
;
}
}
}
.data-collection-monitor
{
position
:
relative
;
width
:
100%
;
...
...
modules/dreamview/proto/simulation_world.proto
浏览文件 @
b1bcba58
...
...
@@ -197,7 +197,7 @@ message Notification {
optional
apollo.common.monitor.MonitorMessageItem
item
=
2
;
}
// Next-id: 2
8
// Next-id: 2
9
message
SimulationWorld
{
// Timestamp in milliseconds
optional
double
timestamp
=
1
;
...
...
@@ -270,4 +270,7 @@ message SimulationWorld {
// Perception detected signals
repeated
Object
perceived_signal
=
27
;
// A map from a story name to whether it is on
map
<
string
,
bool
>
stories
=
28
;
}
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