def process(control_analyzer, planning_analyzer, lidar_endtoend_analyzer,
is_simulation, plot_planning_path, plot_planning_refpath, all_data):
is_auto_drive = False
for msg in reader.read_messages():
if msg.topic == "/apollo/canbus/chassis":
chassis = chassis_pb2.Chassis()
chassis.ParseFromString(msg.message)
if chassis.driving_mode == \
chassis_pb2.Chassis.COMPLETE_AUTO_DRIVE:
is_auto_drive = True
else:
is_auto_drive = False
if msg.topic == "/apollo/control":
if (not is_auto_drive and not all_data) or \
is_simulation or plot_planning_path or plot_planning_refpath:
continue
control_cmd = control_cmd_pb2.ControlCommand()
control_cmd.ParseFromString(msg.message)
control_analyzer.put(control_cmd)
lidar_endtoend_analyzer.put_pb('control', control_cmd)
if msg.topic == "/apollo/planning":
if (not is_auto_drive) and (not all_data):
continue
adc_trajectory = planning_pb2.ADCTrajectory()
adc_trajectory.ParseFromString(msg.message)
planning_analyzer.put(adc_trajectory)
lidar_endtoend_analyzer.put_pb('planning', adc_trajectory)
if plot_planning_path:
planning_analyzer.plot_path(plt, adc_trajectory)
if plot_planning_refpath:
planning_analyzer.plot_refpath(plt, adc_trajectory)
if msg.topic == "/apollo/sensor/velodyne64/compensator/PointCloud2" or \
msg.topic == "/apollo/sensor/lidar128/compensator/PointCloud2":
if ((not is_auto_drive) and (not all_data)) or is_simulation or \
plot_planning_path or plot_planning_refpath:
continue
point_cloud = pointcloud_pb2.PointCloud()
point_cloud.ParseFromString(msg.message)
lidar_endtoend_analyzer.put_lidar(point_cloud)
if msg.topic == "/apollo/perception/obstacles":
if ((not is_auto_drive) and (not all_data)) or is_simulation or \
plot_planning_path or plot_planning_refpath:
continue
perception = perception_obstacle_pb2.PerceptionObstacles()
perception.ParseFromString(msg.message)
lidar_endtoend_analyzer.put_pb('perception', perception)
if msg.topic == "/apollo/prediction":
if ((not is_auto_drive) and (not all_data)) or is_simulation or \
plot_planning_path or plot_planning_refpath:
continue
prediction = prediction_obstacle_pb2.PredictionObstacles()
prediction.ParseFromString(msg.message)
lidar_endtoend_analyzer.put_pb('prediction', prediction)
def generate_message(topic, filename):
"""generate message from file"""
message = None
if topic == "/apollo/planning":
message = planning_pb2.ADCTrajectory()
elif topic == "/apollo/localization/pose":
message = localization_pb2.LocalizationEstimate()
elif topic == "/apollo/perception/obstacles":
message = perception_obstacle_pb2.PerceptionObstacles()
elif topic == "/apollo/prediction":
message = prediction_obstacle_pb2.PredictionObstacles()
elif topic == "/apollo/routing_response":
message = routing_pb2.RoutingResponse()
if not message:
print "Unknown topic:", topic
sys.exit(0)
if not os.path.exists(filename):
return None
f_handle = file(filename, 'r')
text_format.Merge(f_handle.read(), message)
f_handle.close()
return message