def test_read_write(self):
"""
Unit test of reader.
"""
self.assertTrue(cyber.ok())
# Read.
reader_node = cyber.Node("listener")
reader = reader_node.create_reader("channel/chatter",
SimpleMessage, self.callback)
self.assertEqual(reader.name, "channel/chatter")
self.assertEqual(reader.data_type, SimpleMessage)
self.assertEqual(SimpleMessage.DESCRIPTOR.full_name,
"apollo.common.util.test.SimpleMessage")
# Write.
msg = SimpleMessage()
msg.text = "talker:send Alex!"
msg.integer = 0
self.assertTrue(cyber.ok())
writer_node = cyber.Node("writer")
writer = writer_node.create_writer("channel/chatter", SimpleMessage, 7)
self.assertEqual(writer.name, "channel/chatter")
self.assertEqual(
writer.data_type, "apollo.common.util.test.SimpleMessage")
self.assertTrue(writer.write(msg))
# Wait for data to be processed by callback function.
time.sleep(0.1)
def main():
"""
Main rosnode
"""
cyber.init()
node = cyber.Node("mock_routing_requester")
sequence_num = 0
routing_request = routing_pb2.RoutingRequest()
routing_request.header.timestamp_sec = cyber_time.Time.now().to_sec()
routing_request.header.module_name = 'routing_request'
routing_request.header.sequence_num = sequence_num
sequence_num = sequence_num + 1
waypoint = routing_request.waypoint.add()
waypoint.pose.x = 587696.82286
waypoint.pose.y = 4141446.66696
waypoint.id = '1-1'
waypoint.s = 1
waypoint = routing_request.waypoint.add()
waypoint.pose.x = 586948.740120
waypoint.pose.y = 4141171.118641
waypoint.id = '1-1'
waypoint.s = 80
writer = node.create_writer('/apollo/routing_request',
routing_pb2.RoutingRequest)
time.sleep(2.0)
print("routing_request", routing_request)
writer.write(routing_request)
def __init__(self):
self.node = cyber.Node("sendor_calibration_preprocessor")
self.writer = self.node.create_writer("/apollo/dreamview/progress",
preprocess_table_pb2.Progress, 6)
self.config = extractor_config_pb2.DataExtractionConfig()
self.progress = preprocess_table_pb2.Progress()
self.progress.percentage = 0.0
self.progress.log_string = "Preprocessing in progress..."
self.progress.status = preprocess_table_pb2.Status.UNKNOWN
try:
get_pb_from_text_file(FLAGS.config, self.config)
except text_format.ParseError:
print(f'Error: Cannot parse {FLAGS.config} as text proto')
self.records = []
for r in self.config.records.record_path:
self.records.append(str(r))
self.start_timestamp = -1
self.end_timestamp = -1
if self.config.io_config.start_timestamp == "FLOAT_MIN":
self.start_timestamp = np.finfo(np.float32).min
else:
self.start_timestamp = np.float32(
self.config.io_config.start_timestamp)
if self.config.io_config.end_timestamp == "FLOAT_MAX":
self.end_timestamp = np.finfo(np.float32).max
else:
self.end_timestamp = np.float32(
self.config.io_config.end_timestamp)
def main(argv):
"""
Main node
"""
node = cyber.Node("rtk_recorder")
argv = FLAGS(argv)
log_dir = "/apollo/data/log"
if len(argv) > 1:
log_dir = argv[1]
if not os.path.exists(log_dir):
os.makedirs(log_dir)
Logger.config(log_file=log_dir + "rtk_recorder.log",
use_stdout=True,
log_level=logging.DEBUG)
print("runtime log is in %s%s" % (log_dir, "rtk_recorder.log"))
record_file = log_dir + "/garage.csv"
recorder = RtkRecord(record_file)
atexit.register(recorder.shutdown)
node.create_reader('/apollo/canbus/chassis', chassis_pb2.Chassis,
recorder.chassis_callback)
node.create_reader('/apollo/localization/pose',
localization_pb2.LocalizationEstimate,
recorder.localization_callback)
while not cyber.is_shutdown():
time.sleep(0.002)
def listener():
cyber.init()
test_node = cyber.Node("control_listener")
test_node.create_reader("/apollo/control", control_cmd_pb2.ControlCommand,
callback)
test_node.spin()
cyber.shutdown()
def channel_bw(channel_name, window_size):
rt = CyberChannelBw(window_size)
node_bw = cyber.Node("listener_node_bw")
node_bw.create_rawdata_reader(channel_name, rt.callback_bw)
print("reader to [%s]" % channel_name)
while not cyber.is_shutdown():
time.sleep(1.0)
rt.print_bw()
def test_listener_class():
"""
Reader message.
"""
print("=" * 120)
test_node = cyber.Node("listener")
test_node.create_reader("channel/chatter", ChatterBenchmark, callback)
test_node.spin()
def channel_echo(channel_name):
"""
Reader message.
"""
node_echo = cyber.Node("listener_node_echo")
echo_cb = CyberChannelecho(channel_name)
node_echo.create_rawdata_reader(channel_name, echo_cb.callback)
while not cyber.is_shutdown():
pass
def test_params(self):
param1 = parameter.Parameter("author_name", "WanderingEarth")
param2 = parameter.Parameter("author_age", 5000)
param3 = parameter.Parameter("author_score", 888.88)
test_node = cyber.Node(PARAM_SERVICE_NAME)
srv = parameter.ParameterServer(test_node)
node_handle = cyber.Node("service_client_node")
clt = parameter.ParameterClient(test_node, PARAM_SERVICE_NAME)
clt.set_parameter(param1)
clt.set_parameter(param2)
clt.set_parameter(param3)
param_list = clt.get_paramslist()
self.assertEqual(3, len(param_list))
param_list = srv.get_paramslist()
self.assertEqual(3, len(param_list))
def test_service_class():
"""
Reader message.
"""
print("=" * 120)
node = cyber.Node("service_node")
r = node.create_service("server_01", ChatterBenchmark, ChatterBenchmark,
callback)
node.spin()
def __init__(self):
self.record_num = FLAGS.record_num
self.vehicle_type = self.folder_case(FLAGS.vehicle_type)
self.config_file = self.get_config_path()
self.node = cyber.Node("vehicle_calibration_preprocessor")
self.writer = self.node.create_writer("/apollo/dreamview/progress",
preprocess_table_pb2.Progress,
10)
self.progress = preprocess_table_pb2.Progress()
self.progress.percentage = 0.0
self.progress.log_string = "Press the button to start preprocessing"
def main(args):
if not os.path.exists(args.out_dir):
os.makedirs(args.out_dir)
meta_msg = g_message_manager.get_msg_meta_by_topic(args.topic)
if not meta_msg:
print('Unknown topic name: %s' % args.topic)
sys.exit(1)
cyber.init()
node = cyber.Node("transcribe_node")
node.create_reader(args.topic, meta_msg.msg_type, transcribe)
while not cyber.is_shutdown():
time.sleep(0.005)
def main():
"""
Main rosnode
"""
node=cyber.Node('ins_stat_publisher')
ins_stat = InsStat(node)
while not cyber.is_shutdown():
now = cyber_time.Time.now().to_sec()
ins_stat.publish_statmsg()
sleep_time = 0.5 - (cyber_time.Time.now().to_sec() - now)
if sleep_time > 0:
time.sleep(sleep_time)
def main():
"""
Main cyber
"""
parser = argparse.ArgumentParser(
description='Generate Planning Trajectory from Data File')
parser.add_argument(
'-s',
'--speedmulti',
help='Speed multiplier in percentage (Default is 100) ',
type=float,
default='100')
parser.add_argument('-c',
'--complete',
help='Generate complete path (t/F)',
default='F')
parser.add_argument('-r',
'--replan',
help='Always replan based on current position(t/F)',
default='F')
args = vars(parser.parse_args())
node = cyber.Node("rtk_player")
Logger.config(log_file=os.path.join(APOLLO_ROOT,
'data/log/rtk_player.log'),
use_stdout=True,
log_level=logging.DEBUG)
record_file = os.path.join(APOLLO_ROOT, 'data/log/garage.csv')
player = RtkPlayer(record_file, node, args['speedmulti'],
args['complete'].lower(), args['replan'].lower())
atexit.register(player.shutdown)
node.create_reader('/apollo/canbus/chassis', chassis_pb2.Chassis,
player.chassis_callback)
node.create_reader('/apollo/localization/pose',
localization_pb2.LocalizationEstimate,
player.localization_callback)
node.create_reader('/apollo/control/pad', pad_msg_pb2.PadMessage,
player.padmsg_callback)
while not cyber.is_shutdown():
now = cyber_time.Time.now().to_sec()
player.publish_planningmsg()
sleep_time = 0.1 - (cyber_time.Time.now().to_sec() - now)
if sleep_time > 0:
time.sleep(sleep_time)
def main(args):
drive_event_meta_msg = g_message_manager.get_msg_meta_by_topic(
args.drive_event_topic)
if not drive_event_meta_msg:
print('Unknown drive_event topic name: %s' % args.drive_event_topic)
sys.exit(1)
localization_meta_msg = g_message_manager.get_msg_meta_by_topic(
args.localization_topic)
if not localization_meta_msg:
print('Unknown localization topic name: %s' % args.localization_topic)
sys.exit(1)
cyber.init()
node = cyber.Node("derive_event_node")
node.create_reader(localization_meta_msg.topic,
localization_meta_msg.msg_type, OnReceiveLocalization)
writer = node.create_writer(drive_event_meta_msg.topic,
drive_event_meta_msg.msg_type)
seq_num = 0
while not cyber.is_shutdown():
event_type = input(
"Type in Event Type('d') and press Enter (current time: " +
str(datetime.datetime.now()) + ")\n>")
event_type = event_type.strip()
if len(event_type) != 1 or event_type[0].lower() != 'd':
continue
current_time = cyber_time.Time.now().to_sec()
event_str = None
while not event_str:
event_str = input("Type Event:>")
event_str = event_str.strip()
event_msg = drive_event_meta_msg.msg_type()
event_msg.header.timestamp_sec = current_time
event_msg.header.module_name = 'drive_event'
seq_num += 1
event_msg.header.sequence_num = seq_num
event_msg.header.version = 1
event_msg.event = event_str
if g_localization:
event_msg.location.CopyFrom(g_localization.pose)
writer.write(event_msg)
time_str = datetime.datetime.fromtimestamp(current_time).strftime(
"%Y%m%d%H%M%S")
filename = os.path.join(args.dir, "%s_drive_event.pb.txt" % time_str)
proto_utils.write_pb_to_text_file(event_msg, filename)
print('Logged to rosbag and written to file %s' % filename)
time.sleep(0.1)
def main():
"""
Main rosnode
"""
node = cyber.Node('odom_publisher')
odom = OdomPublisher(node)
node.create_reader('/apollo/localization/pose',
localization_pb2.LocalizationEstimate,
odom.localization_callback)
while not cyber.is_shutdown():
now = cyber_time.Time.now().to_sec()
odom.publish_odom()
sleep_time = 0.01 - (cyber_time.Time.now().to_sec() - now)
if sleep_time > 0:
time.sleep(sleep_time)
def print_param_srv():
param1 = parameter.Parameter("author_name", "WanderingEarth")
param2 = parameter.Parameter("author_age", 5000)
param3 = parameter.Parameter("author_score", 888.88)
test_node = cyber.Node(PARAM_SERVICE_NAME)
srv = parameter.ParameterServer(test_node)
node_handle = cyber.Node("service_client_node")
clt = parameter.ParameterClient(test_node, PARAM_SERVICE_NAME)
clt.set_parameter(param1)
clt.set_parameter(param2)
clt.set_parameter(param3)
param_list = clt.get_paramslist()
print("clt param lst len is ", len(param_list))
for param in param_list:
print(param.debug_string())
print("")
param_list = srv.get_paramslist()
print("srv param lst len is ", len(param_list))
for param in param_list:
print(param.debug_string())
def prediction_publisher(prediction_channel, rate):
"""publisher"""
cyber.init()
node = cyber.Node("prediction")
writer = node.create_writer(prediction_channel, PredictionObstacles)
sleep_time = 1.0 / rate
seq_num = 1
while not cyber.is_shutdown():
prediction = PredictionObstacles()
prediction.header.sequence_num = seq_num
prediction.header.timestamp_sec = cyber_time.Time.now().to_sec()
prediction.header.module_name = "prediction"
print(str(prediction))
writer.write(prediction)
seq_num += 1
time.sleep(sleep_time)
def perception_publisher(perception_channel, files, period):
"""
Publisher
"""
cyber.init()
node = cyber.Node("perception")
writer = node.create_writer(perception_channel, PerceptionObstacles)
perception_description = load_descrptions(files)
sleep_time = int(1.0 / period) # 10Hz
global _s_delta_t
_s_delta_t = period
perception = None
while not cyber.is_shutdown():
perception = generate_perception(perception_description, perception)
print(str(perception))
writer.write(perception)
time.sleep(sleep_time)
def test_client_class():
"""
Client send request
"""
node = cyber.Node("client_node")
client = node.create_client("server_01", ChatterBenchmark,
ChatterBenchmark)
req = ChatterBenchmark()
req.content = "clt:Hello service!"
req.seq = 0
count = 0
while not cyber.is_shutdown():
time.sleep(1)
count += 1
req.seq = count
print("-" * 80)
response = client.send_request(req)
print("get Response [ ", response, " ]")
def main():
"""
Main function
"""
node = cyber.Node("data_collector")
data_collector = DataCollector(node)
plotter = Plotter()
node.create_reader('/apollo/localization/pose',
localization_pb2.LocalizationEstimate,
data_collector.callback_localization)
node.create_reader('/apollo/canbus/chassis', chassis_pb2.Chassis,
data_collector.callback_canbus)
print('Enter q to quit.')
print('Enter p to plot result from last run.')
print('Enter x to remove result from last run.')
print('Enter x y z, where x is acceleration command, ' +
'y is speed limit, z is decceleration command.')
print('Positive number for throttle and negative number for brake.')
while True:
cmd = input("Enter commands: ").split()
if len(cmd) == 0:
print('Quiting.')
break
elif len(cmd) == 1:
if cmd[0] == "q":
break
elif cmd[0] == "p":
print('Plotting result.')
if os.path.exists(data_collector.outfile):
plotter.process_data(data_collector.outfile)
plotter.plot_result()
else:
print('File does not exist: %s' % data_collector.outfile)
elif cmd[0] == "x":
print('Removing last result.')
if os.path.exists(data_collector.outfile):
os.remove(data_collector.outfile)
else:
print('File does not exist: %s' % date_collector.outfile)
elif len(cmd) == 3:
data_collector.run(cmd)
def test_talker_class():
"""
Test talker.
"""
msg = ChatterBenchmark()
msg.content = "py:talker:send Alex!"
msg.stamp = 9999
msg.seq = 0
print(msg)
test_node = cyber.Node("node_name1")
g_count = 1
writer = test_node.create_writer("channel/chatter", ChatterBenchmark, 6)
while not cyber.is_shutdown():
time.sleep(1)
g_count = g_count + 1
msg.seq = g_count
msg.content = "I am python talker."
print("=" * 80)
print("write msg -> %s" % msg)
writer.write(msg)
def topic_publisher(topic, filename, period):
"""publisher"""
cyber.init()
node = cyber.Node("replay_file")
meta_msg = None
msg = None
if not topic:
print("Topic not specified, start to guess")
meta_msg, msg = g_message_manager.parse_file(filename)
topic = meta_msg.topic()
else:
meta_msg = g_message_manager.get_msg_meta_by_topic(topic)
if not meta_msg:
print("Failed to find meta info for topic: %s" % (topic))
return False
msg = meta_msg.parse_file(filename)
if not msg:
print("Failed to parse file[%s] with topic[%s]" %
(filename, topic))
return False
if not msg or not meta_msg:
print("Unknown topic: %s" % topic)
return False
writer = node.create_writer(topic, meta_msg.msg_type)
if period == 0:
while not cyber.is_shutdown():
input("Press any key to publish one message...")
writer.write(msg)
print("Topic[%s] message published" % topic)
else:
print("started to publish topic[%s] message with rate period %s" %
(topic, period))
while not cyber.is_shutdown():
writer.write(msg)
time.sleep(period)
if abs(self.acc) > self.acclimit:
print(t, "\t", (sum(self.buff) / len(self.buff)) * 3.6, "\t",
self.acc, "\t", self.count, "\t", self.acclimit)
self.last_acc = self.acc
self.last_t = t
self.last_speed = sum(self.buff) / len(self.buff)
self.buff = []
if __name__ == '__main__':
"""Main function"""
parser = argparse.ArgumentParser(description="Test car realtime status.",
prog="RealTimeTest.py",
usage="python realtime_test.py")
parser.add_argument("--acc",
type=int,
required=False,
default=2,
help="Acc limit default must > 0")
args = parser.parse_args()
if args.acc < 0:
print("acc must larger than 0")
cyber.init()
rttest = RealTimeTest()
rttest.acclimit = args.acc
cyber_node = cyber.Node("RealTimeTest")
cyber_node.create_reader("/apollo/canbus/chassis", chassis_pb2.Chassis,
rttest.chassis_callback)
cyber_node.spin()
cyber.shutdown()
def run():
print("=" * 120)
test_node = cyber.Node("audiosaver")
test_node.create_reader(RESPEAKER_CHANNEL, AudioData, callback)
test_node.spin()
adc_trajectory.ParseFromString(msg.message)
controlinfo.callback_planning(adc_trajectory)
elif msg.topic == "/apollo/control":
control_cmd = control_cmd_pb2.ControlCommand()
control_cmd.ParseFromString(msg.message)
controlinfo.callback_control(control_cmd)
elif msg.topic == "/apollo/canbus/chassis":
chassis = chassis_pb2.Chassis()
chassis.ParseFromString(msg.message)
controlinfo.callback_canbus(chassis)
print("Done reading the file")
else:
cyber.init()
# rospy.init_node('control_info', anonymous=True)
node = cyber.Node("rtk_recorder")
planningsub = node.create_reader('/apollo/planning',
planning_pb2.ADCTrajectory,
controlinfo.callback_planning)
localizationsub = node.create_reader(
'/apollo/localization/pose', localization_pb2.LocalizationEstimate,
controlinfo.callback_localization)
controlsub = node.create_reader('/apollo/control',
control_cmd_pb2.ControlCommand,
controlinfo.callback_control)
canbussub = node.create_reader('/apollo/canbus/chassis',
chassis_pb2.Chassis,
controlinfo.callback_canbus)
input("Press Enter To Stop")
mng = plt.get_current_fig_manager()
def listener():
cyber.init()
test_node = cyber.Node("planning_acc_listener")
test_node.create_reader("/apollo/planning", planning_pb2.ADCTrajectory,
callback)
def add_listener():
planning_sub = cyber.Node("st_plot")
planning_sub.create_reader('/apollo/planning', planning_pb2.ADCTrajectory,
planning_callback)
own record file]: cyber_record play -f your_file.record
""")
parser.add_argument(
"trace",
action='store',
type=str,
help='the manual driving trace produced by rtk_player')
args = parser.parse_args()
fig, ax = plt.subplots()
with open(args.trace, 'r') as fp:
trace_data = np.genfromtxt(handle, delimiter=',', names=True)
ax.plot(trace_data['x'], trace_data['y'], 'b-', alpha=0.5, linewidth=1)
cyber.init()
node = cyber.Node("plot_trace")
setup_listener(node)
x_min = min(trace_data['x'])
x_max = max(trace_data['x'])
y_min = min(trace_data['y'])
y_max = max(trace_data['y'])
GPS_LINE, = ax.plot(GPS_X, GPS_Y, 'r', linewidth=3, label="gps")
ani = animation.FuncAnimation(fig, update, interval=100)
plt.show()
def perception_receiver(perception_channel):
"""publisher"""
cyber.init()
node = cyber.Node("perception")
node.create_reader(perception_channel, PerceptionObstacles, receiver)
node.spin()
