This is a major component of the Simulation backend, which maintains a SimulationWorld object and keeps updating it. The SimulationWorld represents the most up-to-date information about all the objects in the emulated world, including the car, the planning trajectory, etc. NOTE: This class is not thread-safe. More...

#include <simulation_world_service.h>

Collaboration diagram for apollo::dreamview::SimulationWorldService:

Public Member Functions
	SimulationWorldService (const MapService *map_service, bool routing_from_file=false)
	Constructor of SimulationWorldService. More...

const SimulationWorld &	world () const
	Get a read-only view of the SimulationWorld. More...

nlohmann::json	GetUpdateAsJson (double radius) const
	Returns the json representation of the SimulationWorld object. This is a public API used by offline dreamview. More...

void	GetWireFormatString (double radius, std::string sim_world, std::string sim_world_with_planning_data)
	Returns the binary representation of the SimulationWorld object. More...

nlohmann::json	GetMapElements (double radius) const
	Returns the json representation of the map element Ids and hash within the given radius from the car. More...

void	Update ()
	The function Update() is periodically called to check for updates from the external messages. All the updates will be written to the SimulationWorld object to reflect the latest status. More...

void	SetToClear ()
	Sets the flag to clear the owned simulation world object. More...

bool	ReadyToPush () const
	Check whether the SimulationWorld object has enough information. The backend won't push the SimulationWorld to frontend if it is not ready. More...

void	PublishMonitorMessage (apollo::common::monitor::MonitorMessageItem::LogLevel log_level, const std::string &msg)
	Publish message to the monitor. More...

void	PublishNavigationInfo (const std::shared_ptr< apollo::relative_map::NavigationInfo > &)

void	PublishRoutingRequest (const std::shared_ptr< apollo::routing::RoutingRequest > &)

void	PublishTask (const std::shared_ptr< apollo::task_manager::Task > &)

void	GetMapElementIds (double radius, MapElementIds *ids) const

const apollo::hdmap::Map &	GetRelativeMap () const

nlohmann::json	GetRoutePathAsJson () const

void	DumpMessages ()

Static Public Attributes
static constexpr int	kMaxMonitorItems = 30

Detailed Description

This is a major component of the Simulation backend, which maintains a SimulationWorld object and keeps updating it. The SimulationWorld represents the most up-to-date information about all the objects in the emulated world, including the car, the planning trajectory, etc. NOTE: This class is not thread-safe.

Constructor & Destructor Documentation

◆ SimulationWorldService()

apollo::dreamview::SimulationWorldService::SimulationWorldService	(	const MapService *	map_service,
		bool	routing_from_file = `false`
	)

Constructor of SimulationWorldService.

Parameters

map_service	the pointer of MapService.
routing_from_file	whether to read initial routing from file.

Member Function Documentation

◆ DumpMessages()

void apollo::dreamview::SimulationWorldService::DumpMessages ( )

◆ GetMapElementIds()

void apollo::dreamview::SimulationWorldService::GetMapElementIds	(	double	radius,
		MapElementIds *	ids
	)		const

◆ GetMapElements()

nlohmann::json apollo::dreamview::SimulationWorldService::GetMapElements ( double radius ) const

Returns the json representation of the map element Ids and hash within the given radius from the car.

Parameters

radius the search distance from the current car location

Returns: Json object that contains mapElementIds and mapHash.

◆ GetRelativeMap()

const apollo::hdmap::Map& apollo::dreamview::SimulationWorldService::GetRelativeMap ( ) const

◆ GetRoutePathAsJson()

nlohmann::json apollo::dreamview::SimulationWorldService::GetRoutePathAsJson ( ) const

◆ GetUpdateAsJson()

nlohmann::json apollo::dreamview::SimulationWorldService::GetUpdateAsJson ( double radius ) const

Returns the json representation of the SimulationWorld object. This is a public API used by offline dreamview.

Parameters

radius the search distance from the current car location

Returns: Json object equivalence of the SimulationWorld object.

◆ GetWireFormatString()

void apollo::dreamview::SimulationWorldService::GetWireFormatString	(	double	radius,
		std::string *	sim_world,
		std::string *	sim_world_with_planning_data
	)

Returns the binary representation of the SimulationWorld object.

Parameters

radius	the search distance from the current car location.
sim_world	output of binary format sim_world string.
sim_world_with_planning_data	output of binary format sim_world string with planning_data.

◆ PublishMonitorMessage()

void apollo::dreamview::SimulationWorldService::PublishMonitorMessage	(	apollo::common::monitor::MonitorMessageItem::LogLevel	log_level,
		const std::string &	msg
	)

Publish message to the monitor.

Parameters

msg	the string to send to monitor
log_level	defined in modules/common/monitor_log/proto/monitor_log.proto

◆ PublishNavigationInfo()

void apollo::dreamview::SimulationWorldService::PublishNavigationInfo ( const std::shared_ptr< apollo::relative_map::NavigationInfo > & )

◆ PublishRoutingRequest()

void apollo::dreamview::SimulationWorldService::PublishRoutingRequest ( const std::shared_ptr< apollo::routing::RoutingRequest > & )

◆ PublishTask()

void apollo::dreamview::SimulationWorldService::PublishTask ( const std::shared_ptr< apollo::task_manager::Task > & )

◆ ReadyToPush()

bool apollo::dreamview::SimulationWorldService::ReadyToPush ( ) const

inline

Check whether the SimulationWorld object has enough information. The backend won't push the SimulationWorld to frontend if it is not ready.

Returns: True if the object is ready to push.

◆ SetToClear()

void apollo::dreamview::SimulationWorldService::SetToClear ( )

inline

Sets the flag to clear the owned simulation world object.

◆ Update()

void apollo::dreamview::SimulationWorldService::Update ( )

The function Update() is periodically called to check for updates from the external messages. All the updates will be written to the SimulationWorld object to reflect the latest status.

◆ world()

const SimulationWorld& apollo::dreamview::SimulationWorldService::world ( ) const

inline

Get a read-only view of the SimulationWorld.

Returns: Constant reference to the SimulationWorld object.

Member Data Documentation

◆ kMaxMonitorItems

constexpr int apollo::dreamview::SimulationWorldService::kMaxMonitorItems = 30

static

The documentation for this class was generated from the following file:

modules/dreamview/backend/simulation_world/simulation_world_service.h

Public Member Functions

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SimulationWorldService()

Member Function Documentation

◆ DumpMessages()

◆ GetMapElementIds()

◆ GetMapElements()

◆ GetRelativeMap()

◆ GetRoutePathAsJson()

◆ GetUpdateAsJson()

◆ GetWireFormatString()

◆ PublishMonitorMessage()

◆ PublishNavigationInfo()

◆ PublishRoutingRequest()

◆ PublishTask()

◆ ReadyToPush()

◆ SetToClear()

◆ Update()

◆ world()

Member Data Documentation

◆ kMaxMonitorItems