Fixed webapp part. Temporarily fixed the mission name for webapp.

Author: udymd

GEMstack/onboard/planning/mission_planning.py

@@ -35,10 +35,12 @@ def next_state(self):
 
 
 class SummoningMissionPlanner(Component):
-    def __init__(self, use_webapp, webapp_url, goal, state_machine):
+    def __init__(self, use_webapp, webapp_url, goal=None, state_machine=None):
         self.state_machine = StateMachine([eval(s) for s in state_machine])
-        self.goal_location = goal['location']
-        self.goal_frame = goal['frame']
+        
+        # if use_webapp is True, goal should be None
+        self.goal_location = goal['location'] if not use_webapp else None
+        self.goal_frame = goal['frame'] if not use_webapp else None
         self.new_goal = False
         self.goal_pose = None
         self.start_pose = None
@@ -140,7 +142,8 @@ def update(self, state: AllState):
                 print("============== Next state:", mission.type)
 
         # Reach the end of the route, begin to search for parking
-        elif mission.type == MissionEnum.SUMMONING_DRIVE:
+        # elif mission.type == MissionEnum.SUMMONING_DRIVE:
+        elif mission.type == MissionEnum.SUMMON_DRIVING:
             mission.goal_pose = self.goal_pose
             if route:
                 _, closest_index = route.closest_point([vehicle.pose.x, vehicle.pose.y], edges=False)
@@ -164,7 +167,7 @@ def update(self, state: AllState):
 
         if self.flag_use_webapp:
             data = {
-                "status": mission.planner_type.name
+                "status": mission.type.name
             }
             print("POST:", data)
             response = requests.post(url=self.url_status, json=data)

GEMstack/onboard/planning/route_planning.py

@@ -311,7 +311,8 @@ def update(self, state: AllState):
                 self.route = None
 
         # Summoning driving mode.
-        elif mission.type == MissionEnum.SUMMONING_DRIVE:
+        # elif mission.type == MissionEnum.SUMMONING_DRIVE:
+        elif mission.type == MissionEnum.SUMMON_DRIVING:
             print("I am in SUMMON_DRIVING mode")
             if self.route is None:
                 # Find appropri ate start and goal points that are on the lanes and fix for searching

GEMstack/state/mission.py

@@ -12,7 +12,8 @@ class MissionEnum(Enum):
     RECOVERY_STOP = 4   # abnormal condition detected, must stop now
     ESTOP = 5           # estop pressed, must stop now
 
-    SUMMONING_DRIVE = 6
+    # SUMMONING_DRIVE = 6
+    SUMMON_DRIVING = 6
     PARALLEL_PARKING = 7
 
 @dataclass

launch/summoning.yaml

@@ -19,7 +19,7 @@ drive:
         mission_planning:
             type: SummoningMissionPlanner
             args:
-                use_webapp: false   # goal should be defined when use_webapp is false
+                use_webapp: True   # goal should be defined when use_webapp is false
                 webapp_url: 'https://summon-app-production.up.railway.app/'
                 # Goal test points for summoning_roadgraph_sim.json, frame is 'start' or 'cartesian'.
                     # Key points:[0, 0], [0, 30], [37.5, 7.5], [33, 12]，[28.5, 7.5]，[15, 3], [1.5, 7.5], [15, 12], [-3, 12], [-7.5, 7.5]
@@ -29,7 +29,8 @@ drive:
                     # [-88.235527, 40.0927436], [-88.235968, 40.0927432], [-88.236046, 40.0927917], [-88.236008, 40.0928604], [-88.235905, 40.0927917]
                 goal: {'location':[1, 0], 'frame':'start'}
                 # goal: {'location':[5, -3], 'frame':'cartesian'}
-                state_machine: [MissionEnum.IDLE, MissionEnum.SUMMONING_DRIVE, MissionEnum.PARALLEL_PARKING]
+                # state_machine: [MissionEnum.IDLE, MissionEnum.SUMMONING_DRIVE, MissionEnum.PARALLEL_PARKING]
+                state_machine: [MissionEnum.IDLE, MissionEnum.SUMMON_DRIVING, MissionEnum.PARALLEL_PARKING]
         route_planning:
             type: SummoningRoutePlanner
             # Arguments: [path/to/roadgraph, map_type, map_frame]