本文详细介绍了在DreamView中添加总里程和总时间的前后端实现过程。后端涉及canbus模块和DreamView模块，通过protobuf定义字段并进行通信。前端包括定义字节、数据接收与渲染，使用React组件更新界面。整个流程涵盖WebSock通信、STORE对象的更新以及React组件的交互。
DreamView总里程时间添加过程
文章目录
简介
这一节是关于dreamView的总里程和总时间以及单次里程和单次时间的添加和显示的问题.界面如下
过程
首先前后端通过WebSock进行通信,我们需要分别写好后端和前端才能完成这个过程
后端
canbus模块
首先定义protobuf的字段,这里我们需要定义总里程和总时间以及单次里程和单次时间,截取部分如下
modules/canbus/proto/chassis.proto
message Chassis {
optional bool engine_started = 3;
// Engine speed in RPM.
optional float engine_rpm = 4 [default = nan];
// Vehicle Speed in meters per second.
optional float speed_mps = 5 [default = nan];
===========================================
// Vehicle total odometer in meters.
optional float odometer_m = 6 [default = nan];
// Vehicle A single odometer in meters.
optional float single_odometer_m = 41 [default = nan];
// Vehicle total auto_driver_time.
optional float auto_driver_time = 42 [default = nan];
// Vehicle single auto_driver_time.
optional float single_auto_driver_time = 43 [default = nan];
===========================================
// Fuel range in meters.
optional int32 fuel_range_m = 7;
// Real throttle location in [%], ranging from 0 to 100.
optional float throttle_percentage = 8 [default = nan];
// Real brake location in [%], ranging from 0 to 100.
optional float brake_percentage = 9 [default = nan];
}
定义好字节后,然后在canbus模块适当的位置给这些模块赋值,然后发出Chassis的channel供DreamView来reader.
DreamView模块
首先该模块也要定义好protobuf的字节,DreamView的字节如下
modules/dreamview/proto/simulation_world.proto
// Next-id: 35
message Object {
// ID
optional string id = 1; // primary identifier for each object
// Shape Info
repeated PolygonPoint polygon_point = 2; // corners of an object
// Position Info
optional double heading = 3;
optional double latitude = 4;
optional double longitude = 5;
optional double position_x = 6;
optional double position_y = 7;
optional double length = 8 [default = 2.8];
optional double width = 9 [default = 1.4];
optional double height = 10 [default = 1.8];
// Motion Info
// For objects with motion info such as ADC.
optional double speed = 11; // in m/s, can be negative
optional double speed_acceleration = 12; // in m/s^2
optional double speed_jerk = 13;
optional double spin = 14;
optional double spin_acceleration = 15;
optional double spin_jerk = 16;
optional double speed_heading = 17;
optional double kappa = 18;
// Signal Info
// For objects with signals set and current signal such as Traffic Light,
// Stop Sign, and Vehicle Signal.
repeated string signal_set = 19;
optional string current_signal = 20;
// Time Info
optional double timestamp_sec = 21;
// Decision Info
repeated Decision decision = 22;
optional bool yielded_obstacle = 32 [default = false];
// Chassis Info
// For ADC
optional double throttle_percentage = 23;
optional double brake_percentage = 24;
optional double steering_percentage = 25;
optional double steering_angle = 26;
optional double steering_ratio = 27;
===========================================
// auto odometer
optional float odometer_m = 35;
// auto driver time
optional float auto_driver_time = 36;
// single auto odometer
optional float single_odometer_m = 37;
// single auto driver time
optional float single_auto_driver_time = 38;
===========================================
enum DisengageType {
DISENGAGE_NONE = 0;
DISENGAGE_UNKNOWN = 1;
DISENGAGE_MANUAL = 2;
DISENGAGE_EMERGENCY = 3;
DISENGAGE_AUTO_STEER_ONLY = 4;
DISENGAGE_AUTO_SPEED_ONLY = 5;
DISENGAGE_CHASSIS_ERROR = 6;
};
optional DisengageType disengage_type = 28;
enum Type {
UNKNOWN = 0;
UNKNOWN_MOVABLE = 1;
UNKNOWN_UNMOVABLE = 2;
PEDESTRIAN = 3; // pedestrian, usually determined by moving behavior.
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
optional apollo.perception.PerceptionObstacle.SubType sub_type = 34; // obstacle sub-type
repeated Prediction prediction = 30;
// perception confidence level. Range: [0,1]
optional double confidence = 31 [default = 1];
optional apollo.prediction.ObstaclePriority obstacle_priority = 33;
}
DreamView模块来接收canbus模块发布出来的chassis的topic,然后给定义好的字节来赋值.赋值如下:
modules/dreamview/backend/simulation_world/simulation_world_service.cc
template <>
void SimulationWorldService::UpdateSimulationWorld(const Chassis &chassis) {
const auto &vehicle_param = VehicleConfigHelper::GetConfig().vehicle_param();
Object *auto_driving_car = world_.mutable_auto_driving_car();
double speed = chassis.speed_mps();
if (chassis.gear_location() == Chassis::GEAR_REVERSE) {
speed = -speed;
}
auto_driving_car->set_speed(speed);
auto_driving_car->set_throttle_percentage(chassis.throttle_percentage());
auto_driving_car->set_brake_percentage(chassis.brake_percentage());
===========================================
// Set total odometer for autonomous driving
auto_driving_car->set_odometer_m(chassis.odometer_m());
auto_driving_car->set_auto_driver_time(chassis.auto_driver_time());
AINFO << "chassis.auto_driver_time()" << chassis.auto_driver_time();
// Set A single odometer for autonomous driving
auto_driving_car->set_single_odometer_m(chassis.single_odometer_m());
auto_driving_car->set_single_auto_driver_time(
chassis.single_auto_driver_time());
AINFO << "chassis.single_auto_driver_time()"
<< chassis.single_auto_driver_time();
===========================================
// In case of out-of-range percentages, reduces it to zero.
double angle_percentage = chassis.steering_percentage();
if (angle_percentage > 100 || angle_percentage < -100) {
angle_percentage = 0;
}
auto_driving_car->set_steering_percentage(angle_percentage);
double steering_angle =
angle_percentage / 100.0 * vehicle_param.max_steer_angle();
auto_driving_car->set_steering_angle(steering_angle);
double kappa = std::tan(steering_angle / vehicle_param.steer_ratio()) /
vehicle_param.length();
auto_driving_car->set_kappa(kappa);
UpdateTurnSignal(chassis.signal(), auto_driving_car);
auto_driving_car->set_disengage_type(DeduceDisengageType(chassis));
}
这样后端就会把数据封装在auto_driving_car这个对象里面,然后通过WebSock发送给前端.
前端
定义字节
前端也一样,首先也要定义好要存放变量的字节,如下
modules/dreamview/frontend/proto_bundle/sim_world_proto_bundle.json
"Object": {
"fields": {
"id": {
"type": "string",
"id": 1
},
"polygonPoint": {
"rule": "repeated",
"type": "PolygonPoint",
"id": 2
},
"heading": {
"type": "double",
"id": 3
},
"latitude": {
"type": "double",
"id": 4
},
"longitude": {
"type": "double",
"id": 5
},
"positionX": {
"type": "double",
"id": 6
},
"positionY": {
"type": "double",
"id": 7
},
"length": {
"type": "double",
"id": 8,
"options": {
"default": 2.8
}
},
"width": {
"type": "double",
"id": 9,
"options": {
"default": 1.4
}
},
"height": {
"type": "double",
"id": 10,
"options": {
"default": 1.8
}
},
"speed": {
"type": "double",
"id": 11
},
"speedAcceleration": {
"type": "double",
"id": 12
},
"speedJerk": {
"type": "double",
"id": 13
},
"spin": {
"type": "double",
"id": 14
},
"spinAcceleration": {
"type": "double",
"id": 15
},
"spinJerk": {
"type": "double",
"id": 16
},
"speedHeading": {
"type": "double",
"id": 17
},
"kappa": {
"type": "double",
"id": 18
},
"signalSet": {
"rule": "repeated",
"type": "string",
"id": 19
},
"currentSignal": {
"type": "string",
"id": 20
},
"timestampSec": {
"type": "double",
"id": 21
},
"decision": {
"rule": "repeated",
"type": "Decision",
"id": 22
},
"yieldedObstacle": {
"type": "bool",
"id": 32,
"options": {
"default": false
}
},
"throttlePercentage": {
"type": "double",
"id": 23
},
"brakePercentage": {
"type": "double",
"id": 24
},
"steeringPercentage": {
"type": "double",
"id": 25
},
"steeringAngle": {
"type": "double",
"id": 26
},
"steeringRatio": {
"type": "double",
"id": 27
},
"disengageType": {
"type": "DisengageType",
"id": 28
},
"type": {
"type": "Type",
"id": 29
},
"subType": 
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