[sim] new obstacle interface for 2D sim (#1108)

rover_msgs/ObstacleList.lcm

@@ -0,0 +1,7 @@
+package rover_msgs;
+
+//+x is to the right of camera, +y is down from camera, +z is forward (out) from the camera
+struct ObstacleList {
+    int32_t numObstacles;
+    Obstacle obstacles[numObstacles];
+}

simulators/nav/src/.eslintrc.js

@@ -7,6 +7,9 @@ module.exports = {
     sourceType: 'module',
     ecmaVersion: 2020,
   },
+  "plugins": [
+    "@typescript-eslint"
+  ],
   "settings": {
     "import/resolver": {
       "node": {
@@ -41,6 +44,7 @@ module.exports = {
     "camelcase": ["error", {
       "allow": [
         "bearing_deg",
+        "bottom_left_coordinate_meters",
         "completed_wps",
         "forward_back",
         "gate_width",
@@ -54,7 +58,9 @@ module.exports = {
         "num_waypoints",
         "path_type",
         "pattern_size",
+        "obstacle_list",
         "signal_strength",
+        "top_right_coordinate_meters",
         "total_wps"
        ]
     }],
@@ -132,7 +138,7 @@ module.exports = {
     "no-multi-spaces": "off",
     "no-multiple-empty-lines": ["error", { "max": 2 }],
     "no-new": "error",
-    "no-param-reassign": "error",
+    "no-param-reassign": 0,
     "no-redeclare": "error",
     "no-return-assign": "error",
     "no-shadow": "error",
@@ -219,6 +225,7 @@ module.exports = {
     "@typescript-eslint/camelcase": ["error", {
       "allow": [
         "bearing_deg",
+        "bottom_left_coordinate_meters",
         "completed_wps",
         "forward_back",
         "gate_width",
@@ -232,7 +239,9 @@ module.exports = {
         "num_waypoints",
         "path_type",
         "pattern_size",
+        "obstacle_list",
         "signal_strength",
+        "top_right_coordinate_meters",
         "total_wps"
        ]
     }],
@@ -245,7 +254,7 @@ module.exports = {
     {
       "files": ["store/modules/*State.ts"],
       "rules": {
-        "no-param-reassign": "off"
+        "no-param-reassign": 0
       }
     },
     {

simulators/nav/src/README.md

@@ -52,6 +52,11 @@ The `utils` directory contains code that is reused throughout the project. This
 
 ---
 
+<!----------------------------- Related Documents ---------------------------->
+## Important Note
+* ObstacleMessage is ahead of nav and perception right as of May 28, 2022. This version is sending the bounding box of each obstacle via ObstacleList.lcm in the /obstacle_list channel. As long as when running the 2d sim, obstacle is OFF it doesn't cause the sim the crash
+---
+
 <!----------------------------- Related Documents ---------------------------->
 ## Related Documents
 * [project `README`](../README.md)

simulators/nav/src/components/NavSimulator.vue

@@ -64,8 +64,8 @@ import {
   TargetListMessage,
   Waypoint,
   ZedGimbalPosition,
-  Point2D,
-  ProjectedPointsMessage
+  ProjectedPointsMessage,
+  Point2D
 } from '../utils/types';
 import ControlPanel from './control_panel/ControlPanel.vue';
 import Field from './field/Field.vue';
@@ -396,7 +396,7 @@ export default class NavSimulator extends Vue {
           this.navPulse = true;
           this.setNavStatus(msg.message);
         }
-        else if (msg.topic === '/obstacle') {
+        else if (msg.topic === '/obstacle_list') {
           if (!this.simulatePercep) {
             this.percepPulse = true;
             this.setObstacleMessage(msg.message);
@@ -442,13 +442,13 @@ export default class NavSimulator extends Vue {
         { topic: '/autonomous',     type: 'Joystick' },
         { topic: '/auton_drive_control',     type: 'AutonDriveControl' },
         { topic: '/nav_status',     type: 'NavStatus' },
-        { topic: '/obstacle',       type: 'Obstacle' },
+        { topic: '/obstacle_list',  type: 'ObstacleList' },
         { topic: '/odometry',       type: 'Odometry' },
         { topic: '/rr_drop_init',   type: 'RepeaterDropInit' },
         { topic: '/target_list',    type: 'TargetList' },
         { topic: '/zed_gimbal_cmd', type: 'ZedGimbalPosition' },
-        { topic: '/debugMessage',   type: 'DebugMessage' },
-        { topic: '/projected_points', type: 'ProjectedPoints' }
+        { topic: '/projected_points', type: 'ProjectedPoints' },
+        { topic: '/debugMessage',   type: 'DebugMessage' }
       ]
     );
 
@@ -462,8 +462,16 @@ export default class NavSimulator extends Vue {
       }
 
       if (this.simulatePercep) {
-        const obs:any = Object.assign(this.obstacleMessage, { type: 'Obstacle' });
-        this.publish('/obstacle', obs, true);
+        const obs:any = {
+          type: 'ObstacleList',
+          numObstacles: this.obstacleMessage.obstacles.length,
+          obstacles: this.obstacleMessage.obstacles.map((o) => ({
+            type: 'Obstacle',
+            bottom_left_coordinate_meters: o.bottom_left_coordinate_meters,
+            top_right_coordinate_meters: o.top_right_coordinate_meters
+          }))
+        };
+        this.publish('/obstacle_list', obs, true);
 
         /* eslint no-magic-numbers: ["error", { "ignore": [0, 1] }] */
         const targetList:any = { targetList: this.targetList, type: 'TargetList' };

simulators/nav/src/components/field/Field.vue

@@ -82,7 +82,8 @@ import {
   ProjectedPointsMessage,
   Waypoint,
   WaypointDrawOptions,
-  ZedGimbalPosition
+  ZedGimbalPosition,
+  ObstacleField
 } from '../../utils/types';
 import { canvasToOdom } from '../../utils/utils';
 import CanvasArTags from './ar_tags';
@@ -171,10 +172,10 @@ export default class Field extends Vue {
   private readonly obstacleDrawOptions!:ObstacleDrawOptions;
 
   @Getter
-  private readonly obstacles!:Obstacle[];
+  private readonly projectedPointsMessage!:ProjectedPointsMessage;
 
   @Getter
-  private readonly projectedPointsMessage!:ProjectedPointsMessage;
+  private readonly obstacles!:ObstacleField[];
 
   @Getter
   private readonly referencePoints!:Odom[];
@@ -219,7 +220,7 @@ export default class Field extends Vue {
   private readonly pushGate!:(newGate:Gate)=>void;
 
   @Mutation
-  private readonly pushObstacle!:(newObstacle:Obstacle)=>void;
+  private readonly pushObstacle!:(newObstacle:ObstacleField)=>void;
 
   @Mutation
   private readonly pushReferencePoint!:(newReferencePoint:Odom)=>void;
@@ -433,8 +434,6 @@ export default class Field extends Vue {
     if (!this.autonOn) {
       this.setCurrOdom(newCurrOdom);
       this.clearRoverPath();
-
-      // this.clearFOVAreaPath();
     }
   } /* moveRover() */
 
@@ -444,8 +443,6 @@ export default class Field extends Vue {
       this.setStartLoc(newStartLoc);
       this.setCurrOdom(newStartLoc);
       this.clearRoverPath();
-
-      // this.clearFOVAreaPath();
     }
   } /* moveStartLoc() */
 

simulators/nav/src/components/field/obstacles.ts

@@ -1,38 +1,38 @@
 /* This file contains the CanvasObstacles class for drawing obstacles on the
-   canvas. */
+canvas. */
 
 import { odomToCanvas } from '../../utils/utils';
-import { Obstacle, Odom, Point2D } from '../../utils/types';
+import { ObstacleField, Odom, Point2D } from '../../utils/types';
 
 /**************************************************************************************************
- * Constants
- **************************************************************************************************/
+* Constants
+**************************************************************************************************/
 /* Space needed to draw label inside obstacle in pixels. */
 const LABEL_SPACE_REQUIRED = 30;
 
 /* Class for drawing obstacles on the field canvas. */
 export default class CanvasObstacles {
   /************************************************************************************************
-   * Private Members
-   ************************************************************************************************/
+  * Private Members
+  ************************************************************************************************/
   /* GPS point of the center of the canvas */
   private canvasCent!:Odom;
 
   /* Canvas context */
   private ctx!:CanvasRenderingContext2D;
 
   /* list of all obstacles on field */
-  private obstacles!:Obstacle[];
+  private obstacles!:ObstacleField[];
 
   /* scale of the canvas in pixels/meter */
   private scale!:number;
 
   /************************************************************************************************
-   * Public Methods
-   ************************************************************************************************/
+  * Public Methods
+  ************************************************************************************************/
   /* Initialize CanvasObstacles instance. */
   constructor(
-      obstacles:Obstacle[],
+      obstacles:ObstacleField[],
       canvasCent:Odom,
       scale:number /* pixels/meter */
   ) {
@@ -66,8 +66,8 @@ export default class CanvasObstacles {
   } /* drawObstacles() */
 
   /************************************************************************************************
-   * Private Methods
-   ************************************************************************************************/
+  * Private Methods
+  ************************************************************************************************/
   /* Draw a single obstacle on the canvas. */
   private drawObstacle(size:number, label:string):void {
     this.ctx.beginPath();

simulators/nav/src/components/field_items/ObstacleItem.vue

@@ -36,7 +36,7 @@
 <script lang="ts">
 import { Component, Prop, Vue } from 'vue-property-decorator';
 import { Mutation } from 'vuex-class';
-import { Obstacle, RoverLocationSource } from '../../utils/types';
+import { ObstacleField, RoverLocationSource } from '../../utils/types';
 import Button from '../common/Button.vue';
 import NumberInput from '../common/NumberInput.vue';
 import FieldItemInfo from './FieldItemInfo.vue';
@@ -81,14 +81,14 @@ export default class ObstacleItem extends Vue {
   private readonly index!:number;
 
   /* Obstacle represented by this ObstacleItem. */
-  @Prop({ required: true, type: Object as ()=>Obstacle })
-  private readonly obstacle!:Obstacle;
+  @Prop({ required: true, type: Object as ()=>ObstacleField })
+  private readonly obstacle!:ObstacleField;
 
   /************************************************************************************************
    * Vuex Mutations
    ************************************************************************************************/
   @Mutation
-  private readonly editObstacle!:(updatedObstacle:[Obstacle, number])=>void;
+  private readonly editObstacle!:(updatedObstacle:[ObstacleField, number])=>void;
 
   @Mutation
   private readonly removeObstacle!:(index:number)=>void;

simulators/nav/src/components/lcm_center/ObstacleLCM.vue

@@ -6,8 +6,8 @@
   <div class="box">
     <fieldset class="obstacle">
       <legend>Obstacle</legend>
-      <p>Distance: {{ dist }} m</p>
-      <p>Bearing: {{ bear }}º</p>
+      <p>bottom_left_coordinate_meters: {{ dist }} m</p>
+      <p>top_right_coordinate_meters: {{ bear }}º</p>
     </fieldset>
   </div>
 </template>
@@ -34,12 +34,12 @@ export default class ObstacleLCM extends Vue {
   /* distance to the closest obstacle (if one exists) in the obstacle message
      LCM */
   private get dist():number {
-    return Number(this.obstacleMessage.distance.toFixed(2));
+    return Number(this.obstacleMessage.numObstacles.toFixed(2));
   }
 
   /* bearing to turn to in the obstacle message LCM */
   private get bear():number {
-    return Number(this.obstacleMessage.bearing.toFixed(2));
+    return Number(this.obstacleMessage.numObstacles.toFixed(2));
   }
 }
 </script>

simulators/nav/src/components/perception/Perception.vue

@@ -17,11 +17,11 @@ import {
   ArTag,
   FieldOfViewOptions,
   Gate,
-  Obstacle,
   ObstacleMessage,
   Odom,
   TargetListMessage,
-  ZedGimbalPosition
+  ZedGimbalPosition,
+  ObstacleField
 } from '../../utils/types';
 import ObstacleDetector from './obstacle_detector';
 import TargetDetector from './target_detector';
@@ -56,7 +56,7 @@ export default class Perception extends Vue {
   private readonly gates!:Gate[];
 
   @Getter
-  private readonly obstacles!:Obstacle[];
+  private readonly obstacles!:ObstacleField[];
 
   @Getter
   private readonly simulatePercep!:boolean;