dreamview: refactored map element request (#1718)

modules/dreamview/backend/simulation_world/simulation_world_service.cc

@@ -326,6 +326,15 @@ Json SimulationWorldService::GetUpdateAsJson(double radius) const {
   std::string sim_world_json;
   ::google::protobuf::util::MessageToJsonString(world_, &sim_world_json);
 
+  Json update = GetMapElements(radius);
+  update["type"] = "sim_world_update";
+  update["timestamp"] = apollo::common::time::AsInt64<millis>(Clock::Now());
+  update["world"] = Json::parse(sim_world_json);
+
+  return update;
+}
+
+Json SimulationWorldService::GetMapElements(double radius) const {
   // Gather required map element ids based on current location.
   apollo::common::PointENU point;
   point.set_x(world_.auto_driving_car().position_x());
@@ -334,15 +343,12 @@ Json SimulationWorldService::GetUpdateAsJson(double radius) const {
   MapElementIds map_element_ids =
       map_service_->CollectMapElementIds(point, radius);
 
-  Json update;
-  update["type"] = "sim_world_update";
-  update["timestamp"] = apollo::common::time::AsInt64<millis>(Clock::Now());
-  update["world"] = Json::parse(sim_world_json);
-  update["mapElementIds"] = map_element_ids.Json();
-  update["mapHash"] = map_element_ids.Hash();
-  update["radius"] = radius;
+  Json map;
+  map["mapElementIds"] = map_element_ids.Json();
+  map["mapHash"] = map_element_ids.Hash();
+  map["mapRadius"] = radius;
 
-  return update;
+  return map;
 }
 
 template <>

modules/dreamview/backend/simulation_world/simulation_world_service.h

@@ -79,6 +79,14 @@ class SimulationWorldService {
    */
   nlohmann::json GetUpdateAsJson(double radius) const;
 
+  /**
+   * @brief Returns the json representation of the map element Ids and hash
+   * within the given radious from the car.
+   * @param radius the search distance from the current car location
+   * @return Json object that contains mapElementIds and mapHash.
+   */
+  nlohmann::json GetMapElements(double radius) const;
+
   /**
    * @brief The function Update() is periodically called to check for updates
    * from the adapters. All the updates will be written to the SimulationWorld

modules/dreamview/backend/simulation_world/simulation_world_updater.cc

@@ -67,9 +67,11 @@ SimulationWorldUpdater::SimulationWorldUpdater(WebSocketHandler *websocket,
         auto radius = json.find("radius");
         if (radius == json.end()) {
           AERROR << "Cannot retrieve map elements with unknown radius.";
+          return;
         }
 
-        auto response = sim_world_service_.GetUpdateAsJson(*radius);
+        Json response = sim_world_service_.GetMapElements(*radius);
+        response["type"] = "MapElements";
         websocket_->SendData(conn, response.dump());
       });
 
@@ -87,8 +89,8 @@ SimulationWorldUpdater::SimulationWorldUpdater(WebSocketHandler *websocket,
 
         // Publish monitor message.
         if (succeed) {
-          sim_world_service_.PublishMonitorMessage(MonitorMessageItem::INFO,
-                                                   "Routing Request Sent");
+          sim_world_service_.PublishMonitorMessage(
+              MonitorMessageItem::INFO, "Routing Request Sent");
         } else {
           sim_world_service_.PublishMonitorMessage(
               MonitorMessageItem::ERROR, "Failed to send routing request");
@@ -117,6 +119,14 @@ SimulationWorldUpdater::SimulationWorldUpdater(WebSocketHandler *websocket,
 
 bool SimulationWorldUpdater::ConstructRoutingRequest(
     const Json &json, RoutingRequest *routing_request) {
+  // Input validations
+  if (json.find("start") == json.end() ||
+      json.find("end") == json.end() ||
+      json.find("sendDefaultRoute") == json.end()) {
+    AERROR << "Cannot prepare a routing request: input validation failed.";
+    return false;
+  }
+
   // Try to reload end point if it hasn't be loaded yet.
   if (!default_end_point_.has_id() &&
       !GetProtoFromASCIIFile(EndWayPointFile(), &default_end_point_)) {

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

@@ -283,8 +283,6 @@ export default class Map {
     // side. This also means that the server should maintain a state of
     // (possibly) visible elements, presummably in the global store.
     appendMapData(newData, coordinates, scene) {
-        const overlapMap = extractOverlaps(newData['overlap']);
-
         for (const kind in newData) {
             if (!this.data[kind]) {
                 this.data[kind] = [];
@@ -305,6 +303,7 @@ export default class Map {
                         }));
                         break;
                     case "signal":
+                        const overlapMap = extractOverlaps(newData['overlap']);
                         this.data[kind].push(Object.assign(newData[kind][i], {
                             drewObjects: addTrafficLight(newData[kind][i],
                                 overlapMap, this.laneHeading, coordinates, scene)

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

@@ -37,16 +37,19 @@ class WebSocketEndpoint {
                     RENDERER.updateWorld(message.world);
                     STORE.meters.update(message.world);
                     STORE.monitor.update(message.world);
-                    if ((message.mapHash && (this.counter % 10 === 0)) ||
-                        this.currMapRadius !== message.radius) {
+                    if (message.mapHash && (this.counter % 10 === 0)) {
                         // NOTE: This is a hack to limit the rate of map updates.
                         this.counter = 0;
-                        this.currMapRadius = message.radius;
+                        this.currMapRadius = message.mapRadius;
                         RENDERER.updateMapIndex(message.mapHash,
-                            message.mapElementIds, message.radius);
+                            message.mapElementIds, message.mapRadius);
                     }
                     this.counter += 1;
                     break;
+                case "MapElements":
+                    RENDERER.updateMapIndex(message.mapHash,
+                            message.mapElementIds, message.mapRadius);
+                    break;
                 case "MapData":
                     RENDERER.updateMap(message.data);
                     STORE.setInitializationStatus(true);