feat: add simulator

modules/dreamview/backend/simulator/BUILD

@@ -0,0 +1,140 @@
+load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "simulator_base",
+    hdrs = [
+        "base/entity.h",
+    ],
+    copts = ["-DMODULE_NAME=\\"dreamview\\""],
+    deps = [
+        "//cyber",
+    ],
+)
+
+cc_library(
+    name = "simulator_scenario",
+    srcs = [
+        "scenario/parser.cc",
+        "scenario/manager.cc",
+    ],
+    hdrs = [
+        "scenario/scenario.h",
+        "scenario/parser.h",
+        "scenario/manager.h",
+    ],
+    copts = ["-DMODULE_NAME=\\"dreamview\\""],
+    deps = [
+        ":simulator_base",
+        ":simulator_entity_ego",
+        ":simulator_entity_env",
+        "//modules/dreamview/backend/map:map_service",
+        "@com_github_nlohmann_json//:json",
+    ],
+)
+
+cc_library(
+    name = "simulator_entity_ego",
+    srcs = [
+        "entity/ego/ego_model.cc",
+    ],
+    hdrs = [
+        "entity/ego/ego_model_base.h",
+        "entity/ego/ego_model.h",
+    ],
+    copts = ["-DMODULE_NAME=\\"dreamview\\""],
+    deps = [
+        ":simulator_base",
+        "//cyber",
+        "//modules/common_msgs/planning_msgs:planning_cc_pb",
+        "//modules/common_msgs/chassis_msgs:chassis_cc_pb",
+        "//modules/common_msgs/localization_msgs:localization_cc_pb",
+        "//modules/dreamview/backend/map:map_service",
+    ],
+)
+
+cc_library(
+    name = "simulator_entity_env",
+    srcs = [
+        "entity/env/obstacle_manager.cc",
+        "entity/env/traffic_light_manager.cc",
+    ],
+    hdrs = [
+        "entity/env/obstacle_manager.h",
+        "entity/env/traffic_light_manager.h",
+    ],
+    copts = ["-DMODULE_NAME=\\"dreamview\\""],
+    deps = [
+        ":simulator_base",
+        "//cyber",
+        "//modules/common_msgs/perception_msgs:perception_obstacle_cc_pb",
+        "//modules/common_msgs/perception_msgs:traffic_light_detection_cc_pb",
+        "//modules/dreamview/backend/map:map_service",
+        "@com_github_nlohmann_json//:json",
+    ],
+)
+
+cc_library(
+    name = "simulator_core",
+    srcs = [
+        "core/engine.cc",
+    ],
+    hdrs = [
+        "core/engine.h",
+    ],
+    copts = ["-DMODULE_NAME=\\"dreamview\\""],
+    deps = [
+        ":simulator_base",
+        ":simulator_scenario",
+        ":simulator_entity_ego",
+        ":simulator_entity_env",
+        "//cyber",
+        "//modules/dreamview/backend/map:map_service",
+    ],
+)
+
+cc_library(
+    name = "simulator_evaluation",
+    srcs = [
+        "evaluation/evaluator.cc",
+        "evaluation/metrics/max_sim_time_metric.cc",
+    ],
+    hdrs = [
+        "evaluation/evaluation_manager.h",
+        "evaluation/evaluator.h",
+        "evaluation/evaluator_base.h",
+        "evaluation/metrics/metric_base.h",
+        "evaluation/metrics/max_sim_time_metric.h",
+    ],
+    copts = ["-DMODULE_NAME=\\"dreamview\\""],
+    deps = [
+        ":simulator_base",
+    ],
+)
+
+cc_library(
+    name = "simulation_manager",
+    srcs = ["simulation_manager.cc"],
+    hdrs = ["simulation_manager.h"],
+    copts = ["-DMODULE_NAME=\\"dreamview\\""],
+    deps = [
+        ":simulator_core",
+        ":simulator_evaluation",
+        ":simulator_scenario",
+        "//modules/dreamview/backend/map:map_service",
+        "@com_github_nlohmann_json//:json",
+    ],
+)
+
+cc_binary(
+    name = "simulator_main",
+    srcs = ["simulator_main.cc"],
+    copts = ["-DMODULE_NAME=\"dreamview\""],
+    deps = [
+        ":simulation_manager",
+        "//cyber",
+        "//modules/dreamview/backend/map:map_service",
+        "@com_github_gflags_gflags//:gflags",
+    ],
+)

modules/dreamview/backend/simulator/base/entity.h

@@ -0,0 +1,23 @@
+#pragma once
+
+namespace apollo {
+namespace dreamview {
+
+class SimEntity {
+ public:
+  virtual ~SimEntity() = default;
+
+  virtual bool Init() = 0;
+
+  // dt: delta time in seconds
+  virtual void Step(double dt) = 0;
+
+  // Reset the entity to its initial configuration
+  virtual void Reset() = 0;
+
+  // Publish resulting data/messages to Cyber RT channels
+  virtual void Publish() = 0;
+};
+
+}  // namespace dreamview
+}  // namespace apollo

modules/dreamview/backend/simulator/base/frame_context.h

@@ -0,0 +1,53 @@
+#pragma once
+
+#include <memory>
+#include <vector>
+
+#include "modules/common/proto/pnc_point.pb.h"
+
+namespace apollo {
+namespace dreamview {
+
+// 障碍物状态快照
+struct ObstacleStatus {
+  int id;
+  double x;
+  double y;
+  double theta;
+  double v;
+  double length;
+  double width;
+  bool is_static;
+};
+
+// Ego 车辆状态快照
+struct EgoState {
+  double x = 0.0;
+  double y = 0.0;
+  double z = 0.0;
+  double heading = 0.0;
+  double v = 0.0;
+  double a = 0.0;
+  double kappa = 0.0;  // 曲率
+  double throttle = 0.0;
+  double brake = 0.0;
+  double steering_percentage = 0.0;
+};
+
+// 仿真帧上下文：作为 Evaluator 的输入
+struct FrameContext {
+  // 时间信息
+  double dt = 0.0;
+  double sim_time_sec = 0.0;
+  size_t frame_index = 0;
+
+  // 状态数据（使用指针避免大对象拷贝，由 Engine 保证生命周期）
+  const EgoState* ego_state = nullptr;
+  const std::vector<ObstacleStatus>* obstacles = nullptr;
+
+  // 扩展：地图信息（可选，用于检测是否压线、超速等）
+  // MapService* map_service = nullptr;
+};
+
+}  // namespace dreamview
+}  // namespace apollo

modules/dreamview/backend/simulator/core/engine.cc

@@ -0,0 +1,134 @@
+#include "modules/dreamview/backend/simulator/core/engine.h"
+
+#include <cmath>
+
+namespace apollo {
+namespace dreamview {
+
+SimulationEngine::SimulationEngine(MapService* map_service)
+    : node_(cyber::CreateNode("simulation_engine")),
+      map_service_(map_service) {}
+
+SimulationEngine::~SimulationEngine() { Stop(); }
+
+bool SimulationEngine::Init() {
+  tick_timer_.reset(new cyber::Timer(10, [this]() { this->Tick(); }, false));
+  return true;
+}
+
+void SimulationEngine::AddEntity(std::shared_ptr<SimEntity> entity) {
+  std::lock_guard<std::mutex> lock(mutex_);
+  entities_.push_back(std::move(entity));
+}
+
+void SimulationEngine::ClearEntities() {
+  std::lock_guard<std::mutex> lock(mutex_);
+  entities_.clear();
+}
+
+void SimulationEngine::Play() {
+  std::lock_guard<std::mutex> lock(mutex_);
+  last_tick_time_ = cyber::Time::Now().ToSecond();
+  sim_time_sec_ = 0.0;
+  tick_count_ = 0;
+  is_running_ = true;
+  if (tick_timer_) {
+    tick_timer_->Start();
+  }
+}
+
+void SimulationEngine::Stop() {
+  std::lock_guard<std::mutex> lock(mutex_);
+  is_running_ = false;
+  if (tick_timer_) {
+    tick_timer_->Stop();
+  }
+}
+
+void SimulationEngine::Reset() {
+  Stop();
+  std::lock_guard<std::mutex> lock(mutex_);
+  sim_time_sec_ = 0.0;
+  tick_count_ = 0;
+  for (auto& entity : entities_) {
+    entity->Reset();
+  }
+}
+
+bool SimulationEngine::IsRunning() const {
+  std::lock_guard<std::mutex> lock(mutex_);
+  return is_running_;
+}
+
+uint64_t SimulationEngine::GetTickCount() const {
+  std::lock_guard<std::mutex> lock(mutex_);
+  return tick_count_;
+}
+
+double SimulationEngine::GetSimTimeSec() const {
+  std::lock_guard<std::mutex> lock(mutex_);
+  return sim_time_sec_;
+}
+
+void SimulationEngine::Tick() {
+  std::lock_guard<std::mutex> lock(mutex_);
+  if (!is_running_) return;
+
+  double current_time = cyber::Time::Now().ToSecond();
+  double dt = current_time - last_tick_time_;
+  last_tick_time_ = current_time;
+  if (dt < 0.0) {
+    dt = 0.0;
+  }
+  sim_time_sec_ += dt;
+  ++tick_count_;
+
+  // 1. Update calculation (Step)
+  for (auto& entity : entities_) {
+    entity->Step(dt);
+  }
+
+  // 2. Evaluation: build FrameContext from entity snapshots and run evaluators
+  frame_context_cache_.dt = dt;
+  frame_context_cache_.sim_time_sec = sim_time_sec_;
+  frame_context_cache_.frame_index = tick_count_;
+
+  // Reset caches
+  ego_state_cache_ = EgoState();
+  obstacles_cache_.clear();
+  frame_context_cache_.ego_state = nullptr;
+  frame_context_cache_.obstacles = nullptr;
+
+  for (const auto& entity : entities_) {
+    // Try ego
+    if (!frame_context_cache_.ego_state) {
+      auto ego = std::dynamic_pointer_cast<EgoModel>(entity);
+      if (ego) {
+        ego_state_cache_ = ego->GetState();
+        frame_context_cache_.ego_state = &ego_state_cache_;
+      }
+    }
+    // Try obstacle manager
+    auto obs = std::dynamic_pointer_cast<ObstacleManager>(entity);
+    if (obs) {
+      obstacles_cache_ = obs->GetObstacleStatuses();
+      frame_context_cache_.obstacles = &obstacles_cache_;
+    }
+  }
+
+  // Invoke Evaluate on evaluator entities
+  for (const auto& entity : entities_) {
+    auto evaluator = std::dynamic_pointer_cast<Evaluator>(entity);
+    if (evaluator) {
+      evaluator->Evaluate(frame_context_cache_);
+    }
+  }
+
+  // 3. Data output (Publish)
+  for (auto& entity : entities_) {
+    entity->Publish();
+  }
+}
+
+}  // namespace dreamview
+}  // namespace apollo