Dreamview: set obstacle confidence properly

modules/dreamview/backend/hmi/hmi_worker.cc

@@ -242,8 +242,7 @@ bool HMIWorker::ChangeToDrivingMode(const Chassis::DrivingMode mode) {
     }
   }
 
-  std::shared_ptr<control::PadMessage> pad =
-      std::make_shared<control::PadMessage>();
+  auto pad = std::make_shared<control::PadMessage>();
   switch (mode) {
     case Chassis::COMPLETE_MANUAL:
       pad->set_action(DrivingAction::RESET);

modules/dreamview/backend/sim_control/sim_control.cc

@@ -372,7 +372,7 @@ bool SimControl::PerfectControlModel(TrajectoryPoint* point) {
 }
 
 void SimControl::PublishChassis(double cur_speed) {
-  std::shared_ptr<Chassis> chassis = std::make_shared<Chassis>();
+  auto chassis = std::make_shared<Chassis>();
   FillHeader("SimControl", chassis.get());
 
   chassis->set_engine_started(true);
@@ -387,8 +387,7 @@ void SimControl::PublishChassis(double cur_speed) {
 }
 
 void SimControl::PublishLocalization(const TrajectoryPoint& point) {
-  std::shared_ptr<LocalizationEstimate> localization =
-      std::make_shared<LocalizationEstimate>();
+  auto localization = std::make_shared<LocalizationEstimate>();
   FillHeader("SimControl", localization.get());
 
   auto* pose = localization->mutable_pose();
@@ -455,8 +454,7 @@ void SimControl::PublishLocalization(const TrajectoryPoint& point) {
 }
 
 void SimControl::PublishDummyPrediction() {
-  std::shared_ptr<PredictionObstacles> prediction =
-      std::make_shared<PredictionObstacles>();
+  auto prediction = std::make_shared<PredictionObstacles>();
   {
     std::lock_guard<std::mutex> lock(mutex_);
     if (!send_dummy_prediction_) {

modules/dreamview/backend/sim_control/sim_control_test.cc

@@ -174,8 +174,7 @@ TEST_F(SimControlTest, TestDummyPrediction) {
   sim_control_->Init(false);
   sim_control_->enabled_ = true;
 
-  std::shared_ptr<PredictionObstacles> obstacles =
-      std::make_shared<PredictionObstacles>();
+  auto obstacles = std::make_shared<PredictionObstacles>();
 
   {
     const double timestamp = 100.01;

modules/dreamview/backend/simulation_world/simulation_world_service.cc

@@ -502,7 +502,8 @@ void SimulationWorldService::SetObstacleInfo(const PerceptionObstacle &obstacle,
   world_object->set_speed_heading(
       std::atan2(obstacle.velocity().y(), obstacle.velocity().x()));
   world_object->set_timestamp_sec(obstacle.timestamp());
-  world_object->set_confidence(obstacle.confidence());
+  world_object->set_confidence(obstacle.has_confidence() ? obstacle.confidence()
+                                                         : 1);
 }
 
 void SimulationWorldService::SetObstaclePolygon(
@@ -963,8 +964,7 @@ Json SimulationWorldService::GetRoutePathAsJson() const {
 
 void SimulationWorldService::ReadRoutingFromFile(
     const std::string &routing_response_file) {
-  std::shared_ptr<RoutingResponse> routing_response =
-      std::make_shared<RoutingResponse>();
+  auto routing_response = std::make_shared<RoutingResponse>();
   if (!GetProtoFromFile(routing_response_file, routing_response.get())) {
     AWARN << "Unable to read routing response from file: "
           << routing_response_file;

modules/dreamview/backend/simulation_world/simulation_world_updater.cc

@@ -94,8 +94,7 @@ void SimulationWorldUpdater::RegisterMessageHandlers() {
       "Binary",
       [this](const std::string &data, WebSocketHandler::Connection *conn) {
         // Navigation info in binary format
-        std::shared_ptr<NavigationInfo> navigation_info =
-            std::make_shared<NavigationInfo>();
+        auto navigation_info = std::make_shared<NavigationInfo>();
         if (navigation_info->ParseFromString(data)) {
           sim_world_service_.PublishNavigationInfo(navigation_info);
         } else {
@@ -135,8 +134,7 @@ void SimulationWorldUpdater::RegisterMessageHandlers() {
   websocket_->RegisterMessageHandler(
       "SendRoutingRequest",
       [this](const Json &json, WebSocketHandler::Connection *conn) {
-        std::shared_ptr<RoutingRequest> routing_request =
-            std::make_shared<RoutingRequest>();
+        auto routing_request = std::make_shared<RoutingRequest>();
 
         bool succeed = ConstructRoutingRequest(json, routing_request.get());
         if (succeed) {