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b4a31bb7
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apollo
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体验新版 GitCode,发现更多精彩内容 >>
提交
b4a31bb7
编写于
9月 26, 2018
作者:
S
siyangy
提交者:
Jiangtao Hu
9月 26, 2018
浏览文件
操作
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电子邮件补丁
差异文件
Dreamview: set obstacle confidence properly
上级
39426b2a
变更
5
隐藏空白更改
内联
并排
Showing
5 changed file
with
10 addition
and
16 deletion
+10
-16
modules/dreamview/backend/hmi/hmi_worker.cc
modules/dreamview/backend/hmi/hmi_worker.cc
+1
-2
modules/dreamview/backend/sim_control/sim_control.cc
modules/dreamview/backend/sim_control/sim_control.cc
+3
-5
modules/dreamview/backend/sim_control/sim_control_test.cc
modules/dreamview/backend/sim_control/sim_control_test.cc
+1
-2
modules/dreamview/backend/simulation_world/simulation_world_service.cc
...view/backend/simulation_world/simulation_world_service.cc
+3
-3
modules/dreamview/backend/simulation_world/simulation_world_updater.cc
...view/backend/simulation_world/simulation_world_updater.cc
+2
-4
未找到文件。
modules/dreamview/backend/hmi/hmi_worker.cc
浏览文件 @
b4a31bb7
...
@@ -242,8 +242,7 @@ bool HMIWorker::ChangeToDrivingMode(const Chassis::DrivingMode mode) {
...
@@ -242,8 +242,7 @@ bool HMIWorker::ChangeToDrivingMode(const Chassis::DrivingMode mode) {
}
}
}
}
std
::
shared_ptr
<
control
::
PadMessage
>
pad
=
auto
pad
=
std
::
make_shared
<
control
::
PadMessage
>
();
std
::
make_shared
<
control
::
PadMessage
>
();
switch
(
mode
)
{
switch
(
mode
)
{
case
Chassis
::
COMPLETE_MANUAL
:
case
Chassis
::
COMPLETE_MANUAL
:
pad
->
set_action
(
DrivingAction
::
RESET
);
pad
->
set_action
(
DrivingAction
::
RESET
);
...
...
modules/dreamview/backend/sim_control/sim_control.cc
浏览文件 @
b4a31bb7
...
@@ -372,7 +372,7 @@ bool SimControl::PerfectControlModel(TrajectoryPoint* point) {
...
@@ -372,7 +372,7 @@ bool SimControl::PerfectControlModel(TrajectoryPoint* point) {
}
}
void
SimControl
::
PublishChassis
(
double
cur_speed
)
{
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
());
FillHeader
(
"SimControl"
,
chassis
.
get
());
chassis
->
set_engine_started
(
true
);
chassis
->
set_engine_started
(
true
);
...
@@ -387,8 +387,7 @@ void SimControl::PublishChassis(double cur_speed) {
...
@@ -387,8 +387,7 @@ void SimControl::PublishChassis(double cur_speed) {
}
}
void
SimControl
::
PublishLocalization
(
const
TrajectoryPoint
&
point
)
{
void
SimControl
::
PublishLocalization
(
const
TrajectoryPoint
&
point
)
{
std
::
shared_ptr
<
LocalizationEstimate
>
localization
=
auto
localization
=
std
::
make_shared
<
LocalizationEstimate
>
();
std
::
make_shared
<
LocalizationEstimate
>
();
FillHeader
(
"SimControl"
,
localization
.
get
());
FillHeader
(
"SimControl"
,
localization
.
get
());
auto
*
pose
=
localization
->
mutable_pose
();
auto
*
pose
=
localization
->
mutable_pose
();
...
@@ -455,8 +454,7 @@ void SimControl::PublishLocalization(const TrajectoryPoint& point) {
...
@@ -455,8 +454,7 @@ void SimControl::PublishLocalization(const TrajectoryPoint& point) {
}
}
void
SimControl
::
PublishDummyPrediction
()
{
void
SimControl
::
PublishDummyPrediction
()
{
std
::
shared_ptr
<
PredictionObstacles
>
prediction
=
auto
prediction
=
std
::
make_shared
<
PredictionObstacles
>
();
std
::
make_shared
<
PredictionObstacles
>
();
{
{
std
::
lock_guard
<
std
::
mutex
>
lock
(
mutex_
);
std
::
lock_guard
<
std
::
mutex
>
lock
(
mutex_
);
if
(
!
send_dummy_prediction_
)
{
if
(
!
send_dummy_prediction_
)
{
...
...
modules/dreamview/backend/sim_control/sim_control_test.cc
浏览文件 @
b4a31bb7
...
@@ -174,8 +174,7 @@ TEST_F(SimControlTest, TestDummyPrediction) {
...
@@ -174,8 +174,7 @@ TEST_F(SimControlTest, TestDummyPrediction) {
sim_control_
->
Init
(
false
);
sim_control_
->
Init
(
false
);
sim_control_
->
enabled_
=
true
;
sim_control_
->
enabled_
=
true
;
std
::
shared_ptr
<
PredictionObstacles
>
obstacles
=
auto
obstacles
=
std
::
make_shared
<
PredictionObstacles
>
();
std
::
make_shared
<
PredictionObstacles
>
();
{
{
const
double
timestamp
=
100.01
;
const
double
timestamp
=
100.01
;
...
...
modules/dreamview/backend/simulation_world/simulation_world_service.cc
浏览文件 @
b4a31bb7
...
@@ -502,7 +502,8 @@ void SimulationWorldService::SetObstacleInfo(const PerceptionObstacle &obstacle,
...
@@ -502,7 +502,8 @@ void SimulationWorldService::SetObstacleInfo(const PerceptionObstacle &obstacle,
world_object
->
set_speed_heading
(
world_object
->
set_speed_heading
(
std
::
atan2
(
obstacle
.
velocity
().
y
(),
obstacle
.
velocity
().
x
()));
std
::
atan2
(
obstacle
.
velocity
().
y
(),
obstacle
.
velocity
().
x
()));
world_object
->
set_timestamp_sec
(
obstacle
.
timestamp
());
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
(
void
SimulationWorldService
::
SetObstaclePolygon
(
...
@@ -963,8 +964,7 @@ Json SimulationWorldService::GetRoutePathAsJson() const {
...
@@ -963,8 +964,7 @@ Json SimulationWorldService::GetRoutePathAsJson() const {
void
SimulationWorldService
::
ReadRoutingFromFile
(
void
SimulationWorldService
::
ReadRoutingFromFile
(
const
std
::
string
&
routing_response_file
)
{
const
std
::
string
&
routing_response_file
)
{
std
::
shared_ptr
<
RoutingResponse
>
routing_response
=
auto
routing_response
=
std
::
make_shared
<
RoutingResponse
>
();
std
::
make_shared
<
RoutingResponse
>
();
if
(
!
GetProtoFromFile
(
routing_response_file
,
routing_response
.
get
()))
{
if
(
!
GetProtoFromFile
(
routing_response_file
,
routing_response
.
get
()))
{
AWARN
<<
"Unable to read routing response from file: "
AWARN
<<
"Unable to read routing response from file: "
<<
routing_response_file
;
<<
routing_response_file
;
...
...
modules/dreamview/backend/simulation_world/simulation_world_updater.cc
浏览文件 @
b4a31bb7
...
@@ -94,8 +94,7 @@ void SimulationWorldUpdater::RegisterMessageHandlers() {
...
@@ -94,8 +94,7 @@ void SimulationWorldUpdater::RegisterMessageHandlers() {
"Binary"
,
"Binary"
,
[
this
](
const
std
::
string
&
data
,
WebSocketHandler
::
Connection
*
conn
)
{
[
this
](
const
std
::
string
&
data
,
WebSocketHandler
::
Connection
*
conn
)
{
// Navigation info in binary format
// Navigation info in binary format
std
::
shared_ptr
<
NavigationInfo
>
navigation_info
=
auto
navigation_info
=
std
::
make_shared
<
NavigationInfo
>
();
std
::
make_shared
<
NavigationInfo
>
();
if
(
navigation_info
->
ParseFromString
(
data
))
{
if
(
navigation_info
->
ParseFromString
(
data
))
{
sim_world_service_
.
PublishNavigationInfo
(
navigation_info
);
sim_world_service_
.
PublishNavigationInfo
(
navigation_info
);
}
else
{
}
else
{
...
@@ -135,8 +134,7 @@ void SimulationWorldUpdater::RegisterMessageHandlers() {
...
@@ -135,8 +134,7 @@ void SimulationWorldUpdater::RegisterMessageHandlers() {
websocket_
->
RegisterMessageHandler
(
websocket_
->
RegisterMessageHandler
(
"SendRoutingRequest"
,
"SendRoutingRequest"
,
[
this
](
const
Json
&
json
,
WebSocketHandler
::
Connection
*
conn
)
{
[
this
](
const
Json
&
json
,
WebSocketHandler
::
Connection
*
conn
)
{
std
::
shared_ptr
<
RoutingRequest
>
routing_request
=
auto
routing_request
=
std
::
make_shared
<
RoutingRequest
>
();
std
::
make_shared
<
RoutingRequest
>
();
bool
succeed
=
ConstructRoutingRequest
(
json
,
routing_request
.
get
());
bool
succeed
=
ConstructRoutingRequest
(
json
,
routing_request
.
get
());
if
(
succeed
)
{
if
(
succeed
)
{
...
...
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