simulation_world_updater.h

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/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

#pragma once

#include <memory>
#include <string>

#include <boost/thread/locks.hpp>
#include <boost/thread/shared_mutex.hpp>

#include "absl/strings/str_cat.h"

#include "modules/routing/proto/default_routing.pb.h"
#include "modules/routing/proto/poi.pb.h"
#include "modules/task_manager/proto/task_manager.pb.h"

#include "cyber/common/log.h"
#include "cyber/cyber.h"
#include "modules/dreamview/backend/handlers/websocket_handler.h"
#include "modules/dreamview/backend/map/map_service.h"
#include "modules/dreamview/backend/perception_camera_updater/perception_camera_updater.h"
#include "modules/dreamview/backend/sim_control/sim_control.h"
#include "modules/dreamview/backend/simulation_world/simulation_world_service.h"

namespace apollo {
namespace dreamview {

class SimulationWorldUpdater {
 public:
  SimulationWorldUpdater(WebSocketHandler *websocket, WebSocketHandler *map_ws,
                         WebSocketHandler *camera_ws, SimControl *sim_control,
                         const MapService *map_service,
                         PerceptionCameraUpdater *perception_camera_updater,
                         bool routing_from_file = false);

  void Start();

  // Time interval, in milliseconds, between pushing SimulationWorld to
  // frontend.
  static constexpr double kSimWorldTimeIntervalMs = 100;

  double LastAdcTimestampSec() { return last_pushed_adc_timestamp_sec_; }

 private:
  void OnTimer();

  bool ConstructRoutingRequest(
      const nlohmann::json &json,
      apollo::routing::RoutingRequest *routing_request);

  bool ValidateCoordinate(const nlohmann::json &json);

  nlohmann::json CheckRoutingPoint(const nlohmann::json &json);

  bool LoadPOI();

  bool LoadDefaultRoutings();

  bool AddDefaultRouting(const nlohmann::json &json);

  void RegisterMessageHandlers();

  SimulationWorldService sim_world_service_;
  const MapService *map_service_ = nullptr;
  WebSocketHandler *websocket_ = nullptr;
  WebSocketHandler *map_ws_ = nullptr;
  WebSocketHandler *camera_ws_ = nullptr;
  SimControl *sim_control_ = nullptr;
  PerceptionCameraUpdater *perception_camera_updater_ = nullptr;

  // End point for requesting default route
  apollo::routing::POI poi_;

  // default routings
  apollo::routing::DefaultRoutings default_routings_;
  apollo::routing::DefaultRouting *default_routing_;

  // The simulation_world in wire format to be pushed to frontend, which is
  // updated by timer.
  std::string simulation_world_;
  std::string simulation_world_with_planning_data_;

  // Received relative map data in wire format.
  std::string relative_map_string_;

  // Mutex to protect concurrent access to simulation_world_json_.
  // NOTE: Use boost until we have std version of rwlock support.
  boost::shared_mutex mutex_;

  std::unique_ptr<cyber::Timer> timer_;

  volatile double last_pushed_adc_timestamp_sec_ = 0.0f;
};

}  // namespace dreamview
}  // namespace apollo