display road boundaries

modules/dreamview/backend/map/map_service.cc

@@ -33,6 +33,7 @@ using apollo::hdmap::Id;
 using apollo::hdmap::LaneInfoConstPtr;
 using apollo::hdmap::CrosswalkInfoConstPtr;
 using apollo::hdmap::JunctionInfoConstPtr;
+using apollo::hdmap::RoadInfoConstPtr;
 using apollo::hdmap::SignalInfoConstPtr;
 using apollo::hdmap::StopSignInfoConstPtr;
 using apollo::hdmap::YieldSignInfoConstPtr;
@@ -200,6 +201,12 @@ void MapService::CollectMapElementIds(const PointENU &point, double radius,
     AERROR << "Failed to get yield signs from sim_map.";
   }
   ExtractIds(yield_signs, ids->mutable_yield());
+
+  std::vector<RoadInfoConstPtr> roads;
+  if (sim_map_->GetRoads(point, radius, &roads) != 0) {
+    AERROR << "Failed to get roads from sim_map.";
+  }
+  ExtractIds(roads, ids->mutable_road());
 }
 
 Map MapService::RetrieveMapElements(const MapElementIds &ids) const {
@@ -259,6 +266,14 @@ Map MapService::RetrieveMapElements(const MapElementIds &ids) const {
     }
   }
 
+  for (const auto &id : ids.road()) {
+    map_id.set_id(id);
+    auto element = sim_map_->GetRoadById(map_id);
+    if (element) {
+      *result.add_road() = element->road();
+    }
+  }
+
   for (const auto &id : ids.overlap()) {
     map_id.set_id(id);
     auto element = sim_map_->GetOverlapById(map_id);

modules/dreamview/frontend/.gitignore

@@ -2,3 +2,4 @@ node_modules/
 yarn-error.log
 !*bundle.js
 dist_offline/
+dist/assets/map_data

modules/dreamview/frontend/proto_bundle/proto_bundle.json

@@ -374,6 +374,11 @@
                   "rule": "repeated",
                   "type": "string",
                   "id": 7
+                },
+                "road": {
+                  "rule": "repeated",
+                  "type": "string",
+                  "id": 8
                 }
               }
             },

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

@@ -141,6 +141,23 @@ export default class Map {
         return drewObjects;
     }
 
+    addRoad(road, coordinates, scene) {
+        const drewObjects = [];
+
+        road.section.forEach(section => {
+            section.boundary.outerPolygon.edge.forEach(edge => {
+                edge.curve.segment.forEach((segment, index) => {
+                    const points = coordinates.applyOffsetToArray(segment.lineSegment.point);
+                    const boundary = this.addLaneMesh("CURB", points);
+                    scene.add(boundary);
+                    drewObjects.push(boundary);
+                });
+            });
+        });
+
+        return drewObjects;
+    }
+
     addCrossWalk(crosswalk, coordinates, scene) {
         const drewObjects = [];
 
@@ -404,6 +421,12 @@ export default class Map {
                                 newData[kind][i], coordinates, scene)
                         }));
                         break;
+                    case "road":
+                        const road = newData[kind][i];
+                        this.data[kind].push(Object.assign(newData[kind][i], {
+                            drewObjects: this.addRoad(road, coordinates, scene)
+                        }));
+                        break;
                     default:
                         this.data[kind].push(newData[kind][i]);
                         break;

modules/dreamview/proto/simulation_world.proto

@@ -164,6 +164,7 @@ message MapElementIds {
   repeated string stop_sign = 5;
   repeated string yield = 6;
   repeated string overlap = 7;
+  repeated string road = 8;
 }
 
 // Next-id: 17