fix(dreamview): fix compilation issues

lykling · lykling · commit 05668863cfba · 2026-01-24T11:30:49.000+08:00
Signed-off-by: Pride Leong &lt;lykling.lyk@gmail.com&gt;
diff --git a/modules/common/adapters/adapter_gflags.cc b/modules/common/adapters/adapter_gflags.cc
@@ -270,3 +270,6 @@ DEFINE_string(lidar_model_version, "",
 
 DEFINE_string(collision_warning_topic, "/apollo/perception/collision_warning",
               "Collision warning topic.");
+
+DEFINE_string(mission_request_topic, "/apollo/mission_request",
+              "mission request topic name");
diff --git a/modules/common/adapters/adapter_gflags.h b/modules/common/adapters/adapter_gflags.h
@@ -145,3 +145,5 @@ DECLARE_string(latency_reporting_topic);
 DECLARE_string(lidar_model_version);
 
 DECLARE_string(collision_warning_topic);
+
+DECLARE_string(mission_request_topic);
diff --git a/modules/common_msgs/mission_msgs/mission_request.proto b/modules/common_msgs/mission_msgs/mission_request.proto
@@ -5,7 +5,8 @@ package apollo.mission;
 import "modules/common_msgs/basic_msgs/header.proto";
 import "modules/common_msgs/basic_msgs/geometry.proto";
 
-// Mission parameters: Used to inject data into the Behavior Tree (BT) Blackboard
+// Mission parameters: Used to inject data into the Behavior Tree (BT)
+// Blackboard
 message MissionParam {
   // Parameter key, e.g., "duration", "target_name"
   optional string key = 1;
@@ -14,8 +15,8 @@ message MissionParam {
   oneof value {
     string string_value = 2;
     double double_value = 3;
-    bool   bool_value   = 4;
-    int32  int_value    = 5;
+    bool bool_value = 4;
+    int32 int_value = 5;
   }
 }
 
@@ -39,7 +40,9 @@ message MissionRequest {
 
   optional string task_name = 3;
 
-  repeated MissionParam parameters = 4;
+  optional bool enable_loop = 4;
 
-  repeated MissionWaypoint waypoints = 5;
+  repeated MissionParam parameters = 5;
+
+  repeated MissionWaypoint waypoints = 6;
 }
diff --git a/modules/dreamview/backend/simulation_world/BUILD b/modules/dreamview/backend/simulation_world/BUILD
@@ -12,29 +12,30 @@ cc_library(
     copts = DREAMVIEW_COPTS,
     deps = [
         "//cyber",
-        "//modules/common_msgs/audio_msgs:audio_cc_proto",
-        "//modules/common_msgs/audio_msgs:audio_event_cc_proto",
-        "//modules/common_msgs/chassis_msgs:chassis_cc_proto",
         "//modules/common/adapters:adapter_gflags",
         "//modules/common/configs:vehicle_config_helper",
         "//modules/common/math",
         "//modules/common/monitor_log",
-        "//modules/common_msgs/basic_msgs:drive_event_cc_proto",
-        "//modules/common_msgs/basic_msgs:geometry_cc_proto",
         "//modules/common/util",
         "//modules/common/util:util_tool",
+        "//modules/common_msgs/audio_msgs:audio_cc_proto",
+        "//modules/common_msgs/audio_msgs:audio_event_cc_proto",
+        "//modules/common_msgs/basic_msgs:drive_event_cc_proto",
+        "//modules/common_msgs/basic_msgs:geometry_cc_proto",
+        "//modules/common_msgs/chassis_msgs:chassis_cc_proto",
         "//modules/common_msgs/control_msgs:control_cmd_cc_proto",
-        "//modules/dreamview/backend/common:dreamview_gflags",
-        "//modules/dreamview/backend/map:map_service",
-        "//modules/dreamview/proto:simulation_world_cc_proto",
         "//modules/common_msgs/localization_msgs:gps_cc_proto",
         "//modules/common_msgs/localization_msgs:localization_cc_proto",
-        "//modules/map/hdmap:hdmap_util",
+        "//modules/common_msgs/mission_msgs:mission_request_cc_proto",
         "//modules/common_msgs/perception_msgs:perception_obstacle_cc_proto",
         "//modules/common_msgs/planning_msgs:planning_cc_proto",
         "//modules/common_msgs/prediction_msgs:prediction_obstacle_cc_proto",
         "//modules/common_msgs/storytelling_msgs:story_cc_proto",
         "//modules/common_msgs/task_manager_msgs:task_manager_cc_proto",
+        "//modules/dreamview/backend/common:dreamview_gflags",
+        "//modules/dreamview/backend/map:map_service",
+        "//modules/dreamview/proto:simulation_world_cc_proto",
+        "//modules/map/hdmap:hdmap_util",
         "@com_github_nlohmann_json//:json",
         "@com_google_absl//absl/strings",
     ],
@@ -47,34 +48,35 @@ cc_test(
     data = [
         "//modules/dreamview/backend/testdata",
     ],
+    linkstatic = True,
     deps = [
         ":simulation_world_service",
         "//modules/common/math",
         "@com_google_googletest//:gtest_main",
     ],
-    linkstatic = True,
 )
 
 cc_library(
     name = "simulation_world_updater",
     srcs = ["simulation_world_updater.cc"],
     hdrs = ["simulation_world_updater.h"],
     copts = DREAMVIEW_COPTS,
-    alwayslink = True,
     deps = [
         ":simulation_world_service",
         "//modules/common/util:util_tool",
+        "//modules/common_msgs/mission_msgs:mission_request_cc_proto",
+        "//modules/common_msgs/routing_msgs:poi_cc_proto",
+        "//modules/common_msgs/task_manager_msgs:task_manager_cc_proto",
         "//modules/dreamview/backend/common:dreamview_gflags",
         "//modules/dreamview/backend/fuel_monitor:fuel_monitor_manager",
         "//modules/dreamview/backend/handlers:websocket_handler",
         "//modules/dreamview/backend/map:map_service",
         "//modules/dreamview/backend/perception_camera_updater",
-        "//modules/common_msgs/routing_msgs:poi_cc_proto",
-        "//modules/common_msgs/task_manager_msgs:task_manager_cc_proto",
         "//modules/dreamview/backend/plugins:plugin_manager",
-        "//modules/dreamview/backend/sim_control_manager:sim_control_manager",
+        "//modules/dreamview/backend/sim_control_manager",
         "@boost.thread",
     ],
+    alwayslink = True,
 )
 
 cpplint()
diff --git a/modules/dreamview/backend/simulation_world/simulation_world_service.cc b/modules/dreamview/backend/simulation_world/simulation_world_service.cc
@@ -61,6 +61,7 @@ using apollo::hdmap::Map;
 using apollo::hdmap::Path;
 using apollo::localization::Gps;
 using apollo::localization::LocalizationEstimate;
+using apollo::mission::MissionRequest;
 using apollo::perception::PerceptionObstacle;
 using apollo::perception::PerceptionObstacles;
 using apollo::perception::SensorMeasurement;
@@ -343,6 +344,21 @@ void SimulationWorldService::InitWriters() {
     routing_request_writer_ =
         node_->CreateWriter<RoutingRequest>(routing_request_attr);
   }
+  {
+    apollo::cyber::proto::RoleAttributes mission_request_attr;
+    mission_request_attr.set_channel_name(FLAGS_mission_request_topic);
+    auto qos = mission_request_attr.mutable_qos_profile();
+    // only keeps the last message in history
+    qos->set_history(apollo::cyber::proto::QosHistoryPolicy::HISTORY_KEEP_LAST);
+    // reliable transfer
+    qos->set_reliability(
+        apollo::cyber::proto::QosReliabilityPolicy::RELIABILITY_RELIABLE);
+    // Don't send the history message when new readers are found.
+    qos->set_durability(
+        apollo::cyber::proto::QosDurabilityPolicy::DURABILITY_SYSTEM_DEFAULT);
+    mission_request_writer_ =
+        node_->CreateWriter<MissionRequest>(mission_request_attr);
+  }
 
   routing_response_writer_ =
       node_->CreateWriter<RoutingResponse>(FLAGS_routing_response_topic);
@@ -723,8 +739,8 @@ void SimulationWorldService::SetObstacleDistanceToAdc(
   world_object->clear_distance_to_adc();
   if (obstacle_points.size() > 2 && adc_polygon_points.size() > 2) {
     world_object->set_distance_to_adc(std::fabs(
-      apollo::common::math::Polygon2d(obstacle_points)
-          .DistanceTo(apollo::common::math::Polygon2d(adc_polygon_points))));
+        apollo::common::math::Polygon2d(obstacle_points)
+            .DistanceTo(apollo::common::math::Polygon2d(adc_polygon_points))));
   }
 }
 
@@ -1441,5 +1457,12 @@ void SimulationWorldService::PublishMonitorMessage(
   monitor_logger_buffer_.AddMonitorMsgItem(log_level, msg);
   monitor_logger_buffer_.Publish();
 }
+
+void SimulationWorldService::PublishMissionRequest(
+    const std::shared_ptr<MissionRequest> &mission_request) {
+  FillHeader(FLAGS_dreamview_module_name, mission_request.get());
+  mission_request_writer_->Write(mission_request);
+}
+
 }  // namespace dreamview
 }  // namespace apollo
diff --git a/modules/dreamview/backend/simulation_world/simulation_world_service.h b/modules/dreamview/backend/simulation_world/simulation_world_service.h
@@ -42,6 +42,7 @@
 #include "modules/common_msgs/control_msgs/control_cmd.pb.h"
 #include "modules/common_msgs/localization_msgs/gps.pb.h"
 #include "modules/common_msgs/localization_msgs/localization.pb.h"
+#include "modules/common_msgs/mission_msgs/mission_request.pb.h"
 #include "modules/common_msgs/perception_msgs/traffic_light_detection.pb.h"
 #include "modules/common_msgs/planning_msgs/planning.pb.h"
 #include "modules/common_msgs/planning_msgs/planning_internal.pb.h"
@@ -151,6 +152,9 @@ class SimulationWorldService {
 
   void PublishTask(const std::shared_ptr<apollo::task_manager::Task> &);
 
+  void PublishMissionRequest(
+      const std::shared_ptr<apollo::mission::MissionRequest> &);
+
   void GetMapElementIds(double radius, MapElementIds *ids) const;
 
   const apollo::hdmap::Map &GetRelativeMap() const;
@@ -188,8 +192,9 @@ class SimulationWorldService {
   void SetObstacleSource(const apollo::perception::PerceptionObstacle &obstacle,
                          Object *world_object);
   /**
-   * @brief Set the distance beetween the auto driving car polygon and the obstacle polygon.
-  */
+   * @brief Set the distance beetween the auto driving car polygon and the
+   * obstacle polygon.
+   */
   void SetObstacleDistanceToAdc(
       const apollo::perception::PerceptionObstacle &obstacle,
       Object *world_object);
@@ -416,6 +421,8 @@ class SimulationWorldService {
   std::shared_ptr<cyber::Writer<apollo::routing::RoutingResponse>>
       routing_response_writer_;
   std::shared_ptr<cyber::Writer<apollo::task_manager::Task>> task_writer_;
+  std::shared_ptr<cyber::Writer<apollo::mission::MissionRequest>>
+      mission_request_writer_;
 
   FRIEND_TEST(SimulationWorldServiceTest, UpdateMonitorSuccess);
   FRIEND_TEST(SimulationWorldServiceTest, UpdateMonitorRemove);
diff --git a/modules/dreamview/backend/simulation_world/simulation_world_updater.cc b/modules/dreamview/backend/simulation_world/simulation_world_updater.cc
@@ -18,6 +18,8 @@
 
 #include "google/protobuf/util/json_util.h"
 
+#include "modules/common_msgs/mission_msgs/mission_request.pb.h"
+
 #include "cyber/common/file.h"
 #include "modules/common/util/json_util.h"
 #include "modules/common/util/map_util.h"
@@ -173,7 +175,7 @@ void SimulationWorldUpdater::RegisterMessageHandlers() {
 
   websocket_->RegisterMessageHandler(
       "SendMissionRequest",
-      [this](constJson &json, WebSocketHandler::Connection *conn) {
+      [this](const Json &json, WebSocketHandler::Connection *conn) {
         auto mission_request =
             std::make_shared<apollo::mission::MissionRequest>();
 
@@ -188,30 +190,30 @@ void SimulationWorldUpdater::RegisterMessageHandlers() {
         // Analyzing key points (Waypoints)
         if (ContainsKey(json, "waypoints")) {
           for (const auto &wp_json : json["waypoints"]) {
-            auto *wp = mission_request->add_global_waypoints();
+            auto *wp = mission_request->add_waypoints();
             wp->set_name(wp_json["name"]);
             wp->mutable_pose()->set_x(wp_json["x"]);
             wp->mutable_pose()->set_y(wp_json["y"]);
           }
         }
 
-        // Parse the command queue.
-        if (ContainsKey(json, "commands")) {
-          for (const auto &cmd_json : json["commands"]) {
-            auto *cmd = mission_request->add_command_queue();
-            cmd->set_command_name(cmd_json["command"]);
+        // // Parse the command queue.
+        // if (ContainsKey(json, "commands")) {
+        //   for (const auto &cmd_json : json["commands"]) {
+        //     auto *cmd = mission_request->add_command_queue();
+        //     cmd->set_command_name(cmd_json["command"]);
 
-            // Automatically convert the params dictionary in JSON to Proto
-            // param
-            if (cmd_json.contains("params")) {
-              for (auto &element : cmd_json["params"].items()) {
-                SetMissionParam(element.key(), element.value(), cmd);
-              }
-            }
-          }
-        }
+        //     // Automatically convert the params dictionary in JSON to Proto
+        //     // param
+        //     if (cmd_json.contains("params")) {
+        //       for (auto &element : cmd_json["params"].items()) {
+        //         SetMissionParam(element.key(), element.value(), cmd);
+        //       }
+        //     }
+        //   }
+        // }
 
-        mission_writer_->Write(mission_request);
+        sim_world_service_.PublishMissionRequest(mission_request);
       });
 
   websocket_->RegisterMessageHandler(
