def main(argv):
"""Main function"""
cyber.init("data_extractor")
extractor = Extractor()
valid_record_list = extractor.validate_record_files(kword='.record.')
channels, extraction_rates = extractor.parse_channel_config()
print(f'parsing the following channels: {channels}')
output_tmp_path = extractor.create_tmp_directory()
extractor.extract_data(valid_record_list, output_tmp_path, channels,
extraction_rates)
output_abs_path = extractor.reorganize_extracted_data(
tmp_data_path=output_tmp_path, remove_input_data_cache=True)
print('Data extraction is completed successfully!')
extractor.sanity_check_path(output_abs_path)
cyber.shutdown()
sys.exit(0)
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)
header = record_pb2.Header()
header.ParseFromString(header_msg)
print('\n++++++++++++Begin Channel Info Statistics++++++++++++++')
print('-' * 40)
print('record version: [%d:%d]' %
(header.major_version, header.minor_version))
print('record message_number: %s' % str(header.message_number))
print('record file size(Byte): %s' % str(header.size))
print('chunk_number: %d' % header.chunk_number)
print('channel count: %d' % len(channels))
print('-' * 40)
count = 0
for channel in channels:
desc = freader.get_protodesc(channel)
count += 1
print('Channel: %s, count: %d, desc size: %d' %
(channel, count, len(desc)))
# print(desc)
print("++++++++++++Finish Channel Info Statistics++++++++++++++\n")
if __name__ == '__main__':
if len(sys.argv) < 2:
print('Usage: %s record_file' % sys.argv[0])
sys.exit(0)
cyber.init()
print_channel_info(sys.argv[1])
cyber.shutdown()
def main(argv):
cyber.init("Preprocessor")
preprocessor = Preprocessor()
task_dir = preprocessor.create_tree()
preprocessor.sanity_check_path(task_dir)
cyber.shutdown()
from cyber.proto.unit_test_pb2 import ChatterBenchmark
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)
if __name__ == '__main__':
cyber.init("talker_sample")
test_talker_class()
cyber.shutdown()
def listener():
cyber.init()
test_node = cyber.Node("planning_acc_listener")
test_node.create_reader("/apollo/planning", planning_pb2.ADCTrajectory,
callback)
def perception_receiver(perception_channel):
"""publisher"""
cyber.init()
node = cyber.Node("perception")
node.create_reader(perception_channel, PerceptionObstacles, receiver)
node.spin()
def main(argv):
"""Main function"""
argv = FLAGS(argv)
print("""
Keyboard Shortcut:
[q]: Quit Tool
[s]: Save Figure
[a]: Auto-adjust x, y axis to display entire plot
[x]: Update Figure to Display last few Planning Trajectory instead of all
[h][r]: Go back Home, Display all Planning Trajectory
[f]: Toggle Full Screen
[n]: Reset all Plots
[b]: Unsubscribe Topics
Legend Description:
Red Line: Current Planning Trajectory
Blue Line: Past Car Status History
Green Line: Past Planning Target History at every Car Status Frame
Cyan Dashed Line: Past Planning Trajectory Frames
""")
cyber.init()
planning_sub = cyber.Node("stat_planning")
fig = plt.figure()
if not FLAGS.show_st_graph:
ax1 = plt.subplot(2, 2, 1)
item1 = Xyitem(ax1, WindowSize, VehicleLength, "Trajectory", "X [m]",
"Y [m]")
ax2 = plt.subplot(2, 2, 2)
item2 = Item(ax2, "Speed", "Time [sec]", "Speed [m/s]", 0, 30)
ax3 = plt.subplot(2, 2, 3, sharex=ax2)
item3 = Item(ax3, "Curvature", "Time [sec]", "Curvature [m-1]", -0.2,
0.2)
ax4 = plt.subplot(2, 2, 4, sharex=ax2)
if not FLAGS.show_heading:
item4 = Item(ax4, "Acceleration", "Time [sec]",
"Acceleration [m/sec^2]", -5, 5)
else:
item4 = Item(ax4, "Heading", "Time [sec]", "Heading [radian]", -4,
4)
else:
ax1 = plt.subplot(2, 2, 1)
item1 = Stitem(ax1, "ST Graph", "Time [sec]", "S [m]")
ax2 = plt.subplot(2, 2, 2)
item2 = Stitem(ax2, "ST Graph", "Time [sec]", "S [m]")
ax3 = plt.subplot(2, 2, 3)
item3 = Stitem(ax3, "ST Graph", "Time [sec]", "S [m]")
ax4 = plt.subplot(2, 2, 4)
item4 = Stitem(ax4, "ST Graph", "Time [sec]", "S [m]")
plt.tight_layout(pad=0.20)
plt.ion()
plt.show()
plotter = Plotter(item1, item2, item3, item4, FLAGS.show_st_graph)
fig.canvas.mpl_connect('key_press_event', plotter.press)
planning_sub.create_reader('/apollo/planning',
ADCTrajectory, plotter.callback_planning)
if not FLAGS.show_st_graph:
localization_sub = cyber.Node("localization_sub")
localization_sub.create_reader('/apollo/localization/pose',
LocalizationEstimate, plotter.callback_localization)
chassis_sub = cyber.Node("chassis_sub")
chassis_sub.create_reader('/apollo/canbus/chassis',
Chassis, plotter.callback_chassis)
while not cyber.is_shutdown():
ax1.draw_artist(ax1.patch)
ax2.draw_artist(ax2.patch)
ax3.draw_artist(ax3.patch)
ax4.draw_artist(ax4.patch)
with plotter.lock:
item1.draw_lines()
item2.draw_lines()
item3.draw_lines()
item4.draw_lines()
fig.canvas.blit(ax1.bbox)
fig.canvas.blit(ax2.bbox)
fig.canvas.blit(ax3.bbox)
fig.canvas.blit(ax4.bbox)
fig.canvas.flush_events()
def main(args):
audio_event_meta_msg = g_message_manager.get_msg_meta_by_topic(
args.audio_event_topic)
if not audio_event_meta_msg:
print('Unknown audio_event topic name: %s' % args.audio_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("audio_event_node")
node.create_reader(localization_meta_msg.topic,
localization_meta_msg.msg_type, OnReceiveLocalization)
writer = node.create_writer(audio_event_meta_msg.topic,
audio_event_meta_msg.msg_type)
seq_num = 0
while not cyber.is_shutdown():
obstacle_id = input(
"Type in obstacle ID and press Enter (current time: " +
str(datetime.datetime.now()) + ")\n>")
obstacle_id = obstacle_id.strip()
# TODO(QiL) add obstacle id sanity check.
current_time = cyber_time.Time.now().to_sec()
moving_result = None
audio_type = None
siren_is_on = None
audio_direction = None
while not moving_result:
moving_result = input("Type MovingResult:>")
moving_result = moving_result.strip()
while not audio_type:
audio_type = input("Type AudioType:>")
audio_type = audio_type.strip()
while not siren_is_on:
siren_is_on = input("Type SirenOnOffStatus:>")
siren_is_on = siren_is_on.strip()
while not audio_direction:
audio_direction = input("Type AudioDirection:>")
audio_direction = audio_direction.strip()
event_msg = audio_event_meta_msg.msg_type()
event_msg.header.timestamp_sec = current_time
event_msg.header.module_name = 'audio_event'
seq_num += 1
event_msg.header.sequence_num = seq_num
event_msg.header.version = 1
event_msg.id = obstacle_id
event_msg.moving_result = moving_result
event_msg.audio_type = audio_type
event_msg.siren_is_on = siren_is_on
event_msg.audio_direction = audio_direction
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_audio_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 setUpClass(cls):
cyber.init()
def listener():
cyber.init()
test_node = cyber.Node("chassis_acc_listener")
test_node.create_reader("/apollo/canbus/chassis", chassis_pb2.Chassis,
callback)
