allow loading of reflection background image

modules/dreamview/frontend/proto_bundle/proto_bundle.json

@@ -718,107 +718,6 @@
                 }
               }
             },
-            "gnss_status": {
-              "nested": {
-                "StreamStatus": {
-                  "fields": {
-                    "header": {
-                      "type": "apollo.common.Header",
-                      "id": 1
-                    },
-                    "insStreamType": {
-                      "type": "Type",
-                      "id": 2,
-                      "options": {
-                        "default": "DISCONNECTED"
-                      }
-                    },
-                    "rtkStreamInType": {
-                      "type": "Type",
-                      "id": 3,
-                      "options": {
-                        "default": "DISCONNECTED"
-                      }
-                    },
-                    "rtkStreamOutType": {
-                      "type": "Type",
-                      "id": 4,
-                      "options": {
-                        "default": "DISCONNECTED"
-                      }
-                    }
-                  },
-                  "nested": {
-                    "Type": {
-                      "values": {
-                        "DISCONNECTED": 0,
-                        "CONNECTED": 1
-                      }
-                    }
-                  }
-                },
-                "InsStatus": {
-                  "fields": {
-                    "header": {
-                      "type": "apollo.common.Header",
-                      "id": 1
-                    },
-                    "type": {
-                      "type": "Type",
-                      "id": 2,
-                      "options": {
-                        "default": "INVALID"
-                      }
-                    }
-                  },
-                  "nested": {
-                    "Type": {
-                      "values": {
-                        "INVALID": 0,
-                        "CONVERGING": 1,
-                        "GOOD": 2
-                      }
-                    }
-                  }
-                },
-                "GnssStatus": {
-                  "fields": {
-                    "header": {
-                      "type": "apollo.common.Header",
-                      "id": 1
-                    },
-                    "solutionCompleted": {
-                      "type": "bool",
-                      "id": 2,
-                      "options": {
-                        "default": false
-                      }
-                    },
-                    "solutionStatus": {
-                      "type": "uint32",
-                      "id": 3,
-                      "options": {
-                        "default": 0
-                      }
-                    },
-                    "positionType": {
-                      "type": "uint32",
-                      "id": 4,
-                      "options": {
-                        "default": 0
-                      }
-                    },
-                    "numSats": {
-                      "type": "int32",
-                      "id": 5,
-                      "options": {
-                        "default": 0
-                      }
-                    }
-                  }
-                }
-              }
-            },
             "Header": {
               "fields": {
                 "timestampSec": {

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

@@ -14,6 +14,7 @@ export default class Coordinates {
             x: x,
             y: y
         };
+        console.log("Offset is set to x:" + x + ", y:" + y);
     }
 
     applyOffset(point, reverse = false) {

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

@@ -23,20 +23,62 @@ export default class Ground {
             return false;
         }
 
-        const { xres, yres, mpp } = PARAMETERS.ground;
+        if (!this.render(coordinates)) {
+            return false;
+        }
+
+        this.initialized = true;
+        return true;
+    }
 
-        this.mesh.scale.set(xres * mpp / 1000, yres * mpp / 1000, 1);
+    update(world, coordinates, scene) {
+    }
+
+    updateImage(coordinates, mapName) {
+        if (!this.mesh) {
+            return;
+        }
+        const dir = this.titleCaseToSnakeCase(mapName);
+        const server = 'http://' + window.location.hostname + ':8888';
+        const imgUrl = server + '/assets/map_data/' + dir + '/background.jpg';
+        loadTexture(imgUrl, texture => {
+            console.log("updating ground image with " + dir);
+            this.mesh.material.map = texture;
+            this.render(coordinates, dir);
+        }, err => {
+            console.log("using grid as ground image...");
+            loadTexture(gridGround, texture => {
+                this.mesh.material.map = texture;
+                this.render(coordinates);
+            });
+        });
+    }
+
+    render(coordinates, mapName = 'defaults') {
+        console.log("rendering ground image...");
+        const { xres, yres, mpp, xorigin, yorigin } = PARAMETERS.ground[mapName];
+
+        let position = coordinates.applyOffset({x: xorigin, y: yorigin});
+        if (position === null) {
+            console.warn("Cannot find position for ground mesh!");
+            return false;
+        }
         // NOTE: Setting the position to (0, 0) makes the center of
         // the ground image to overlap with the offset point, which
-        // in this case is the car position on the first received frame.
-        this.mesh.position.set(0, 0, 0);
+        // is the car position on the first received frame.
+        if (mapName === 'defaults') {
+            position = {x: 0, y: 0};
+        }
+
+        this.mesh.position.set(position.x, position.y, 0);
+        this.mesh.scale.set(xres * mpp, yres * mpp, 1);
+        this.mesh.material.needsUpdate = true;
         this.mesh.overdraw = false;
 
-        this.initialized = true;
         return true;
     }
 
-    update(world, coordinates, scene) {
-        // Do nothing in the default ground
+    titleCaseToSnakeCase(str) {
+        return str.replace(/\s/g, '_').toLowerCase();
     }
 }

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

@@ -336,6 +336,10 @@ class Renderer {
         }
     }
 
+    updateGroundImage(mapName) {
+        this.ground.updateImage(this.coordinates, mapName);
+    }
+
     updateGroundMetadata(serverUrl, mapInfo) {
         this.ground.initialize(serverUrl, mapInfo);
     }

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

@@ -19,14 +19,22 @@ camera:
   laneWidth: 4.5 # original 3.32
   laneWidthToViewDistanceRatio: 5
 ground:
-  mpp: 400
-  xres: 8192
-  yres: 8192
-  xorigin: 4096
-  yorigin: 4096
-  xyoffset: 0
-  type: default # default or tile
-  tileRange: 4
+  defaults:
+    mpp: 0.125
+    xres: 8192
+    yres: 8192
+    xorigin: 4096
+    yorigin: 4096
+    type: default # default or tile
+    tileRange: 4
+  sunnyvale_big_loop:
+    mpp: 0.125
+    xres: 24576
+    yres: 16384
+    xorigin: 587392
+    yorigin: 4140800
+    type: default # default or tile
+    tileRange: 4
 planning:
   # The minimum interval between two consecutive
   minInterval: 0.1

modules/dreamview/frontend/src/store/websocket/websocket_ros.js

@@ -14,6 +14,7 @@ export default class RosWebSocketEndpoint {
         this.lastSeqNum = -1;
         this.currMapRadius = null;
         this.updatePOI = true;
+        this.updateGround = true;
     }
 
     initialize() {
@@ -45,6 +46,10 @@ export default class RosWebSocketEndpoint {
                     break;
                 case "HMIStatus":
                     STORE.hmi.updateStatus(message.data);
+                    if (this.updateGround) {
+                        RENDERER.updateGroundImage(STORE.hmi.currentMap);
+                        this.updateGround = false;
+                    }
                     break;
                 case "SimWorldUpdate":
                     this.checkMessage(message);
@@ -178,6 +183,7 @@ export default class RosWebSocketEndpoint {
             new_map: map,
         }));
         this.updatePOI = true;
+        this.updateGround = true;
     }
 
     changeVehicle(vehcile) {

modules/dreamview/frontend/src/utils/models.js

@@ -48,6 +48,6 @@ export function loadObject(materialFile, objectFile, scale, callback) {
     }
 }
 
-export function loadTexture(textureFile, callback) {
-    textureLoader.load(textureFile, callback);
+export function loadTexture(textureFile, onLoadCallback, onErrorCallback) {
+    textureLoader.load(textureFile, onLoadCallback, undefined, onErrorCallback);
 }

scripts/dreamview.sh

@@ -26,6 +26,8 @@ source "${DIR}/apollo_base.sh"
 # Dreamview depends on monitor module to get system runtime status.
 bash scripts/monitor.sh "$@"
 
+rm -rf modules/dreamview/frontend/dist/assets/map_data
+ln -s /apollo/modules/map/data/ modules/dreamview/frontend/dist/assets/map_data
 # run function from apollo_base.sh
 # run command_name module_name
 run dreamview "$@"