Dreamview: story telling display (#10050)

modules/dreamview/backend/simulation_world/BUILD

@@ -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

@@ -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

@@ -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

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modules/dreamview/frontend/dist/fonts/droid/README.txt

@@ -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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modules/dreamview/frontend/proto_bundle/sim_world_proto_bundle.json

@@ -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
                   }
                 },
-                "approachSpeedLimit": {
+                "approachCruiseSpeed": {
                   "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

@@ -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

@@ -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

+
+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

 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

@@ -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

+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

@@ -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

@@ -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

@@ -197,7 +197,7 @@ message Notification {
   optional apollo.common.monitor.MonitorMessageItem item = 2;
 }
 
-// Next-id: 28
+// Next-id: 29
 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;
 }