* Fixed missing AcutationRequest message

Signed-off-by: Christian Berger <christian.berger@gu.se>
chalmers-revere · Sep 28, 2018 · 70621bb · 70621bb
1 parent 372ebbd
commit 70621bb
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Showing 4 changed files with 46 additions and 2 deletions.
diff --git a/webapp/js/main.js b/webapp/js/main.js
@@ -602,6 +602,30 @@ function setupUI() {
             $("#connectionStatusText").html("OpenDLV Vehicle View (connected)");
 
             var odvd = getResourceFrom(ODVD_FILE);
+            {
+                // Always add the messages to control the remote player and to actuation request.
+                var playerMessages = `
+
+message cluon.data.PlayerCommand [id = 9] {
+    uint8 command [id = 1]; // 0 = nothing, 1 = play, 2 = pause, 3 = seekTo, 4 = step
+    float seekTo [id = 2];
+}
+
+message cluon.data.PlayerStatus [id = 10] {
+    uint8 state [id = 1]; // 0 = unknown, 1 = loading file, 2 = playback
+    uint32 numberOfEntries [id = 2];
+    uint32 currentEntryForPlayback [id = 3];
+}
+
+// This message is a legacy one to support controlling Snowfox and Rhino.
+message opendlv.proxy.ActuationRequest [id = 160] {
+  float acceleration [id = 1];
+  float steering [id = 2];
+  bool isValid [id = 3];
+}
+`;
+                odvd += playerMessages;
+            }
             console.log("Loaded " + g_libcluon.setMessageSpecification(odvd) + " messages from specification '" + ODVD_FILE + "'.");
 
             // Establish WebRTC connection (only when we are not running locally).

diff --git a/webapp/views/joystick.hbs b/webapp/views/joystick.hbs
@@ -259,6 +259,19 @@
             document.getElementById("connectionStatusText").innerHTML = "connected";
 
             var odvd = getResourceFrom("opendlv-standard-message-set-v0.9.7.odvd");
+            {
+                // Always add the messages to control the player.
+                var actuationRequestMessage = `
+
+// This message is a legacy one to support controlling Snowfox and Rhino.
+message opendlv.proxy.ActuationRequest [id = 160] {
+  float acceleration [id = 1];
+  float steering [id = 2];
+  bool isValid [id = 3];
+}
+`;
+                odvd += actuationRequestMessage;
+            }
             console.log("Loaded " + __libcluon.setMessageSpecification(odvd) + " messages from specification.");
         };
 

diff --git a/webapp/views/main.hbs b/webapp/views/main.hbs
@@ -155,7 +155,7 @@
                 <div class="col-md-12">
                     <br>
                     <center>
-                    <i id="connectionStatusSymbol" class="fa fa-taxi" style="font-size:30px;color:#555" title="OpenDLV Vehicle View - v0.0.39"></i>
+                    <i id="connectionStatusSymbol" class="fa fa-taxi" style="font-size:30px;color:#555" title="OpenDLV Vehicle View - v0.0.40"></i>
                     <div id="connectionStatusText">OpenDLV Vehicle View (disconnected)</div>
                     </center>
                 </div>

diff --git a/webapp/views/recordings.hbs b/webapp/views/recordings.hbs
@@ -199,7 +199,7 @@ function toggleMessageViewFromTop() {
                 var __libcluon = libcluon();
                 var res = "0";
                 try {
-                    // Always add the messages to control the player.
+                    // Always add the messages to control the remote player and to actuation request.
                     var playerMessages = `
 
 message cluon.data.PlayerCommand [id = 9] {
@@ -212,6 +212,13 @@ message cluon.data.PlayerStatus [id = 10] {
     uint32 numberOfEntries [id = 2];
     uint32 currentEntryForPlayback [id = 3];
 }
+
+// This message is a legacy one to support controlling Snowfox and Rhino.
+message opendlv.proxy.ActuationRequest [id = 160] {
+  float acceleration [id = 1];
+  float steering [id = 2];
+  bool isValid [id = 3];
+}
 `;
                     content += playerMessages;
                     res = __libcluon.setMessageSpecification(content);