def __init__(self, record_file):
self.firstvalid = False
self.logger = Logger.get_logger("RtkRecord")
self.record_file = record_file
self.logger.info("Record file to: " + record_file)
try:
self.file_handler = open(record_file, 'w')
except IOError:
self.logger.error("Open file %s failed" % (record_file))
self.file_handler.close()
sys.exit(1)
self.write(
"x,y,z,speed,acceleration,curvature,"
"curvature_change_rate,time,theta,gear,s,throttle,brake,steering\n"
)
self.localization = localization_pb2.LocalizationEstimate()
self.chassis = chassis_pb2.Chassis()
self.chassis_received = False
self.cars = 0.0
self.startmoving = False
self.terminating = False
self.carcurvature = 0.0
self.prev_carspeed = 0.0
vehicle_config = vehicle_config_pb2.VehicleConfig()
proto_utils.get_pb_from_text_file(
"/apollo/modules/common/data/vehicle_param.pb.txt", vehicle_config)
self.vehicle_param = vehicle_config.vehicle_param
def parse_error(path):
vehicles = multi_vehicle_utils.get_vehicle(path)
pb_value = vehicle_config_pb2.VehicleConfig()
for vehicle in vehicles:
conf = os.path.join(path, vehicle, ConfFile)
try:
proto_utils.get_pb_from_text_file(conf, pb_value)
return False
except text_format.ParseError:
glog.error('Error: Cannot parse %s as binary or text proto' % conf)
return True
def __init__(self, record_file, node, speedmultiplier, completepath,
replan):
"""Init player."""
self.firstvalid = False
self.logger = Logger.get_logger(tag="RtkPlayer")
self.logger.info("Load record file from: %s" % record_file)
try:
file_handler = open(record_file, 'r')
except IOError:
self.logger.error("Cannot find file: " + record_file)
file_handler.close()
sys.exit(0)
self.data = genfromtxt(file_handler, delimiter=',', names=True)
file_handler.close()
self.localization = localization_pb2.LocalizationEstimate()
self.chassis = chassis_pb2.Chassis()
self.padmsg = pad_msg_pb2.PadMessage()
self.localization_received = False
self.chassis_received = False
self.planning_pub = node.create_writer('/apollo/planning',
planning_pb2.ADCTrajectory)
self.speedmultiplier = speedmultiplier / 100
self.terminating = False
self.sequence_num = 0
b, a = signal.butter(6, 0.05, 'low')
self.data['acceleration'] = signal.filtfilt(b, a,
self.data['acceleration'])
self.start = 0
self.end = 0
self.closestpoint = 0
self.automode = False
self.replan = (replan == 't')
self.completepath = (completepath == 't')
self.estop = False
self.logger.info("Planning Ready")
vehicle_config = vehicle_config_pb2.VehicleConfig()
proto_utils.get_pb_from_text_file(
"/apollo/modules/common/data/vehicle_param.pb.txt", vehicle_config)
self.vehicle_param = vehicle_config.vehicle_param
def missing_field(path):
vehicles = multi_vehicle_utils.get_vehicle(path)
glog.info("vehicles in missing field: %s" % vehicles)
for vehicle in vehicles:
conf_file = os.path.join(path, vehicle, ConfFile)
glog.info("conf_file: %s" % conf_file)
# reset for each vehicle to avoid overwrite
pb_value = vehicle_config_pb2.VehicleConfig()
conf = proto_utils.get_pb_from_text_file(conf_file, pb_value)
glog.info("vehicles conf %s" % conf)
if not check_vehicle_id(conf):
return True
# required field
fields = [conf.vehicle_param.brake_deadzone,
conf.vehicle_param.throttle_deadzone,
conf.vehicle_param.max_acceleration,
conf.vehicle_param.max_deceleration]
for field in fields:
if math.isnan(field):
return True
return False
