Merge pull request #90 from usdot-fhwa-stol/release/zephyr

Update release version number 3.6.0
usdot-fhwa-stol · Jun 29, 2021 · f4314b5 · f4314b5
2 parents bca82dc + f17f5a7
commit f4314b5
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Showing 34 changed files with 985 additions and 122 deletions.
diff --git a/.circleci/config.yml b/.circleci/config.yml
@@ -28,7 +28,7 @@ jobs:
     # Pull docker image from docker hub
     # XTERM used for better catkin_make output
     docker:
-      - image: usdotfhwastol/carma-base:carma-system-3.5.0
+      - image: usdotfhwastol/carma-base:carma-system-3.6.0
         user: carma
         environment:
           TERM: xterm # use xterm to get full display output from build

diff --git a/website/images/geofence_exit.png b/website/images/geofence_exit.png
diff --git a/website/images/geofence_warning.png b/website/images/geofence_warning.png
diff --git a/website/images/hand_shake_green.png b/website/images/hand_shake_green.png
diff --git a/website/images/hand_shake_warning.png b/website/images/hand_shake_warning.png
diff --git a/website/images/handshake-slash-solid.svg b/website/images/handshake-slash-solid.svg
diff --git a/website/images/lane_merge_green.png b/website/images/lane_merge_green.png
diff --git a/website/images/lane_merge_warning.png b/website/images/lane_merge_warning.png
diff --git a/website/images/time-out-solid.svg b/website/images/time-out-solid.svg
diff --git a/website/images/unknown_lane_change_status_orange.png b/website/images/unknown_lane_change_status_orange.png
diff --git a/website/images/unknown_lane_change_status_red.png b/website/images/unknown_lane_change_status_red.png
diff --git a/website/images/work_zone_fence_green.png b/website/images/work_zone_fence_green.png
diff --git a/website/images/work_zone_fence_orange.png b/website/images/work_zone_fence_orange.png
diff --git a/website/main.html b/website/main.html
@@ -26,13 +26,14 @@
         <link rel="stylesheet" type="text/css" href="utils/elapsed_time/elapsed_time.css">
         <link rel="stylesheet" type="text/css" href="utils/accelarator/accelarator.css">
         <link rel="stylesheet" type="text/css" href="utils/platooning_info/platooning_info.css">
-        <link rel="stylesheet" type="text/css" href="utils/geofence_info/geofence_info.css">
         <link rel="stylesheet" type="text/css" href="utils/route_selection_radio/route_selection_radio.css">
         <link rel="stylesheet" type="text/css" href="utils/change_plugins_switch/change_plugins_switch.css">
         <link rel="stylesheet" type="text/css" href="utils/active_plugin/active_plugins.css">
         <link rel="stylesheet" type="text/css" href="utils/wifi/wifi.css">
         <link rel="stylesheet" type="text/css" href="utils/cellular/cellular.css">
-
+        <link rel="stylesheet" type="text/css" href="utils/event_info/event_info.css">
+        <link rel="stylesheet" type="text/css" href="utils/event_status/event_status.css">
+        <link rel="stylesheet" type="text/css" href="utils/lane_change_status/lane_change_status.css">
 
 
         <!-- thirdparty js -->
@@ -74,7 +75,7 @@
         <script src="utils/cmd_speed/cmd_speed.js"></script>
         <script src="utils/brake/brake.js"></script>
         <script src="utils/platooning_info/platooning_info.js"></script>
-        <script src="utils/geofence_info/geofence_info.js"></script>
+        <script src="utils/event_info/event_info.js"></script>
         <script src="utils/modals/disengage_confirmation/disengage_confirmation.js"></script>
         <script src="utils/modals/system_alert/system_alert.js"></script>
         <script src="utils/elapsed_time/elapsed_time.js"></script>
@@ -85,6 +86,8 @@
         <script src="utils/active_plugin/active_plugins.js"></script>
         <script src="utils/wifi/wifi.js"></script>
         <script src="utils/cellular/cellular.js"></script>
+        <script src="utils/lane_change_status/lane_change_status.js"></script>
+        <script src="utils/event_status/event_status.js"></script>
         <!--3D stored js libraries --> 
 
         <!--backend services (2D) -->
@@ -102,7 +105,7 @@
         <script src="scripts/ros/ros_light_bar.js"></script>              
         <script src="scripts/ros/ros_lane_change.js"></script>                    
         <script src="scripts/ros/ros_platooning_info.js"></script>  
-         <script src="scripts/ros/ros_geofence_info.js"></script>
+         <script src="scripts/ros/ros_event_info.js"></script>
         <script src="scripts/app/subscribeROSServicesOnLoad.js"></script>
 	</head>
 	<body >  
@@ -292,17 +295,17 @@
                 <div class="card-body" id="platooning-info-content"></div>
               </div>
           </div>  
-          
-          <!--Speed/Geofence advisory Info-->
-          <div id="speed-advisory-info-panel" class="bg-black border-gray" style="display: none;">
+
+          <!--Event Info-->
+           <div id="event-info-panel" class="bg-black border-gray" style="display: none;">
             <div class="card text-white bg-black mb-3" style="width: 100%;">
                 <div class="card-header card-custom-header" style="text-align: center;padding-left: 0px;">
-                  <button type="button" class="btn btn-info" id="speedAdvisoryInfoInfoCloseBtn">X</button>
+                  <button type="button" class="btn btn-info" id="EventInfoInfoCloseBtn">X</button>
                   <div>
-                    Geofence Advisory
+                      Event Info
                   </div> 
                 </div>
-                <div class="card-body" id="geofence-info-content"></div>
+                <div class="card-body" id="event-info-content"></div>
               </div>
           </div>
 
@@ -496,7 +499,6 @@
                   </div>
                   <div class="advanced-dropdown-menu dropdown-menu dropdown-menu-right padding-5" aria-labelledby="dropdownMenuButton">
                       <a class="advanced-dropdown-item dropdown-item padding-10 " id="allPlugins-btn" type="button">Change Plugins</a>
-                      <!-- <a class="dropdown-item padding-10  " type="button">Change Theme</a> -->
                   </div>
               </div>
 
@@ -508,6 +510,7 @@
                 <div id="statistics-dropdown" class="statistics-dropdown-menu dropdown-menu dropdown-menu-right padding-5" style="display: none;">
                     <a class="statistics-dropdown-item dropdown-item padding-10 border-bottom " id="platoon-info-btn" type="button" style="display: none;">Platoon Info</a>
                     <a class="statistics-dropdown-item dropdown-item padding-10 " id="geofence-info-btn" type="button" style="display: none;">Geofence Advisory Info</a>
+                    <a class="statistics-dropdown-item dropdown-item padding-10 " id="event-info-btn" type="button" style="display: '';">Event Info</a>
                 </div>
             </div>
 
@@ -532,6 +535,14 @@
             </div>
           </div>        
       </div>
+
+      <div id="divLaneChangeStatusArea">
+        <div id="divLaneChangeStatusContent" style="display: none;"></div>
+      </div>
+      <div id="divEventStatusArea">
+        <div id="divEventStatusContent" style="display: none;"></div>
+      </div>
+
       <!-- 3D init/renders-->
       <script type="module" src="scripts/3D/renderers/renderer.js"> </script>
 

diff --git a/website/scripts/app/global_variables.js b/website/scripts/app/global_variables.js
@@ -30,9 +30,9 @@ const T_COMMS_INBOUND_BINARY_MSG = '/hardware_interface/comms/inbound_binary_msg
 const T_COMMS_OUTBOUND_BINARY_MSG='/hardware_interface/comms/outbound_binary_msg';
 const T_DRIVER_DISCOVERY = '/hardware_interface/driver_discovery';
 const T_ROUTE_STATE = '/guidance/route_state';
-const T_ROUTE_EVENT = 'route_event';
-const T_ROUTE = 'route';
-const T_ABBR_ROUTE_STATE = 'route_state'; 
+const T_ROUTE_EVENT = '/guidance/route_event';
+const T_ROUTE = '/guidance/route';
+const T_ABBR_ROUTE_STATE = '/guidance/route_state'; 
 const T_ROBOTIC_STATUS = 'controller/robotic_status';
 const T_INCOMING_BSM = '/message/incoming_bsm';
 const T_NAV_SAT_FIX = '/hardware_interface/gnss/fix_raw';//'nav_sat_fix';
@@ -50,15 +50,17 @@ const T_EKF_TWIST = '/localization/ekf_twist';
 const T_LIGHT_BAR_STATUS = '/hardware_interface/lightbar/light_bar_status';
 const T_CARMA_SYSTEM_VERSION = "/carma_system_version";
 const T_GEOFENCE_INFO = "/environment/active_geofence";
-const T_LANE_CHANGE = '/lane_change';
-const T_PLATOON_INFO = '/platooning_info';
+const T_LANE_CHANGE = '/guidance/lane_change';
+const T_PLATOON_INFO = '/guidance/platooning_info';
 const T_LOCALIZATION_STATUS = '/localization/localization_status';
 const T_STEERING_WHEEL="/hardware_interface/steering_wheel";
 const T_SPEED_PEDALS ="/hardware_interface/speed_pedals";
 const T_GPS_NODELET_WRAPPER='/hardware_interface/novatel_gps_nodelet_wrapper';
 const T_STEERING_WHEEL_FEEDBACK = "/hardware_interface/steering_feedback";
 const T_THROTTLE_FEEDBACK = "/hardware_interface/throttle_feedback";
 const T_BRAKE_FEEDBACK = "/hardware_interface/brake_feedback";
+const T_LANE_CHANGE_STATUS = "/guidance/cooperative_lane_change_status";
+const T_TCR_BOUNDING_POINTS = "/environment/tcr_bounding_points";
 
 //ROS Services names
 const S_GUIDANCE_AVAILABLE_ROUTES = '/guidance/get_available_routes';
@@ -108,6 +110,8 @@ const M_SPEED_PEDALS="automotive_platform_msgs/SpeedPedals";
 const M_THROTTLE_FEEDBACK="automotive_platform_msgs/ThrottleFeedback";
 const M_STEERING_FEEDBACK="automotive_platform_msgs/SteeringFeedback";
 const M_BRAKE_FEEDBACK="automotive_platform_msgs/BrakeFeedback";
+const M_LANE_CHANGE_STATUS = "cav_msgs/LaneChangeStatus";
+const M_TCR_POLYGON = "cav_msgs/TrafficControlRequestPolygon"
 
 //ROS param names
 const P_REQUIRED_PLUGINS = '/guidance/health_monitor/required_plugins';
@@ -201,6 +205,10 @@ var hostmarker;
 var map_frame = null;  //map iframe 
 var map_content_window = null; //map iframe content window
 var map_doc = null;
+var tcr_polygon = null;
+const g_polygon_type = {
+    TCR: "TCR"
+}
 
 
 var p_host_instructions = '/saxton_cav/ui/host_instructions';

diff --git a/website/scripts/app/main_menu_bottom.js b/website/scripts/app/main_menu_bottom.js
@@ -117,6 +117,22 @@ $(document).ready(function(){
                this.style.color='black';
           }
      });
+
+      //display event info panel
+    $("#event-info-btn").click(function(){
+          var EventPanel = $("#event-info-panel");
+          if(EventPanel.css('display') != "none"){
+               EventPanel.css('display','none');
+               this.style.backgroundColor='black';
+               this.style.color='white';
+          }
+          else{
+               EventPanel.css('display','block');
+               this.style.backgroundColor='rgb(167, 223, 57)';
+               this.style.color='black';
+          }
+     });
+
      //show logout modal
      $("#logout-btn").click(function(){
           //clear this ModalArea before create new modal
@@ -147,6 +163,12 @@ $(document).ready(function(){
           $("#geofence-info-btn").css('color','white');
      });
 
+     $('#EventInfoInfoCloseBtn').click(function(){
+          $("#event-info-panel").css('display','none');
+          $("#event-info-btn").css('background-color','black');
+          $("#event-info-btn").css('color','white');
+     });
+
      $('#SystemStatusInfoInfoCloseBtn').click(function(){
           $("#status-panel").css('display','none');
           $("#status-btn").toggleClass('active');
@@ -177,7 +199,8 @@ $(document).ready(function(){
           $("#statistics-dropdown").removeClass("show");
           $("#statistics-btn").attr("aria-expanded","false");  
           $("#platoon-info-btn").css('display','none');
-          $("#geofence-info-btn").css('display','none');          
+          $("#geofence-info-btn").css('display','none');   
+          $("#event-info-btn").css('display','none');          
      },10000);
 
      //Check dropdown every 1 second

diff --git a/website/scripts/app/subscribeROSServicesOnLoad.js b/website/scripts/app/subscribeROSServicesOnLoad.js
@@ -104,7 +104,8 @@ $(document).ready(function(){
             subscribeToGuidanceRouteState(); //Route - Speed Limit        
             TrafficSignalInfoList(); //Traffic Signal 
             subscribeLightBarStatus(); //light bar
-            subscribeLaneChangeTopics(); //lane change
+            subscribeLaneChangeTopics(); //lane change Info: left/right midles
+            GetLaneChangeStatus(); //Lane change status : CLC (Cooperative lane change status)
 
             /***
              * SECTION: Right Panel Info
@@ -126,9 +127,9 @@ $(document).ready(function(){
             });  
 
             subscribeToGuidanceActivePlugins();//Active plugins panel
-            showStatusandLogs(); //system status panel
-            subscribeToGeofenceInfo(); //show geofence info
             subscribeToPlatoonInfo(); //show platoon info
+            GetEventInfo(); //Show Traffic Event Info
+            showStatusandLogs();
             /***
              * SECTION: Bottom Menu 
              * */