Customize Your Own HMI

HMIWorker is a standalone singleton which processes HMI actions. If you want to have a customized HMI instead the one integrated with Apollo Dreamview, just develope a frontend and send operations to the backend which delegates to HMIWorker.

HMI Config

See modules/common_msgs/dreamview_msgs/hmi_config.proto. It defines all supported modes, modules, hardware and tools.

HMI Worker

According to the HMIConfig, HMI Worker could trigger actions like:

• Change mode, map, vehicle and driving mode.
• Register event handler for changing mode, map and vehicle.
• Start, stop or execute other registered commands for modules.
• Execute registered tools.
• Submit DriveEvent which will be recorded as a ROS message.
• Get current HMIConfig and HMIStatus, which could be used for UI update.

Vehicle Manager

VehicleManager is the one to actually config everything when changing vehicles. The major thing is to copy all vehicle-wised parameter files to right place. The source and destination mappings are defined by modules/dreamview/conf/vehicle_data.pb.txt.