add Dreamview display for CIPV (#3720)

modules/dreamview/backend/simulation_world/simulation_world_service.cc

@@ -512,7 +512,11 @@ template <>
 void SimulationWorldService::UpdateSimulationWorld(
     const PerceptionObstacles &obstacles) {
   for (const auto &obstacle : obstacles.perception_obstacle()) {
-    CreateWorldObjectIfAbsent(obstacle);
+    auto &world_obj = CreateWorldObjectIfAbsent(obstacle);
+    if (obstacles.has_cipv_info() &&
+        (obstacles.cipv_info().cipv_id() == obstacle.id())) {
+      world_obj.set_type(Object_Type_CIPV);
+    }
   }
 
   if (obstacles.has_lane_marker()) {

modules/dreamview/frontend/proto_bundle/sim_world_proto_bundle.json

@@ -292,7 +292,8 @@
                     "PEDESTRIAN": 3,
                     "BICYCLE": 4,
                     "VEHICLE": 5,
-                    "VIRTUAL": 6
+                    "VIRTUAL": 6,
+                    "CIPV": 7
                   }
                 }
               }

modules/dreamview/frontend/src/components/SideBar/Menu.js

@@ -36,6 +36,7 @@ const MenuIdOptionMapping = {
         perceptionUnknownUnmovable: 'showObstaclesUnknownUnmovable',
         perceptionUnknown: 'showObstaclesUnknown',
         perceptionVirtual: 'showObstaclesVirtual',
+        perceptionCipv: 'showObstaclesCipv',
         perceptionVelocity: 'showObstaclesVelocity',
         perceptionHeading: 'showObstaclesHeading',
         perceptionId: 'showObstaclesId',

modules/dreamview/frontend/src/renderer/obstacles.js

@@ -13,7 +13,8 @@ export const ObstacleColorMapping = {
         PEDESTRIAN: 0xFFEA00,
         BICYCLE: 0x00DCEB,
         VEHICLE: 0x00FF3C,
-        VIRTUAL: 0x800000
+        VIRTUAL: 0x800000,
+        CIPV: 0xff9966
 };
 const LINE_THICKNESS = 1.5;
 

modules/dreamview/frontend/src/store/config/MenuData.js

@@ -23,6 +23,7 @@ export default [
             perceptionUnknownMovable: 'Unknown Movable',
             perceptionUnknownUnmovable: 'Unknown Stationary',
             perceptionUnknown: 'Unknown',
+            perceptionCipv: 'Closest In-Path Vehicle',
             perceptionVelocity: 'Velocity',
             perceptionHeading: 'Heading',
             perceptionId: 'Id'

modules/dreamview/frontend/src/store/config/parameters.yml

@@ -69,6 +69,7 @@ options:
     showObstaclesUnknownUnmovable: true
     showObstaclesUnknown: true
     showObstaclesVirtual: false
+    showObstaclesCipv: true
     showObstaclesVelocity: true
     showObstaclesHeading: true
     showObstaclesId: true

modules/dreamview/frontend/src/store/options.js

@@ -40,6 +40,8 @@ export default class Options {
         PARAMETERS.options.defaults.showObstaclesUnknown;
     @observable showObstaclesVirtual =
         PARAMETERS.options.defaults.showObstaclesVirtual;
+    @observable showObstaclesCipv =
+        PARAMETERS.options.defaults.showObstaclesCipv;
     @observable showObstaclesVelocity =
         PARAMETERS.options.defaults.showObstaclesVelocity;
     @observable showObstaclesHeading =

modules/dreamview/proto/simulation_world.proto

@@ -134,6 +134,7 @@ message Object {
     BICYCLE = 4;  // bike, motor bike.
     VEHICLE = 5;  // passenger car or truck.
     VIRTUAL = 6; // virtual object created by decision module.
+    CIPV = 7; // closest in-path vehicle determined by perception module.
   };
 
   optional Type type = 29;  // obstacle type