def get_routingdata():
print('Please wait for loading route response data...')
log_dir = os.path.normpath(
os.path.join(os.path.dirname(__file__), '../../../data/log'))
route_data_path = os.path.join(log_dir, 'passage_region_debug.bin')
print("File: %s" % route_data_path)
return proto_utils.get_pb_from_text_file(route_data_path, routing_pb2.RoutingResponse())
def get_routingdata():
print 'Please wait for loading route response data...'
log_dir = os.path.normpath(
os.path.join(os.path.dirname(__file__), '../../../data/log'))
route_data_path = os.path.join(log_dir, 'passage_region_debug.bin')
print "file: ", route_data_path
f_handle = open(route_data_path)
route = routing_pb2.RoutingResponse()
text_format.Parse(f_handle.read(), route)
f_handle.close()
print "Done"
return route
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
x = localization.pose.position.x
y = localization.pose.position.y
#f.write(str(loc_time) + "," + str(x) + "," + str(y) + "\n")
csv_writer_localization.writerow([loc_time, x, y])
if msg.topic == "/apollo/canbus/chassis":
chassis = chassis_pb2.Chassis()
chassis.ParseFromString(msg.message)
chassis_time = chassis.header.timestamp_sec
speed = chassis.speed_mps
steering_percentage = chassis.steering_percentage
csv_writer_chassis.writerow([chassis_time, speed, steering_percentage])
if msg.topic == "/apollo/routing_response":
routingResponse = routing_pb2.RoutingResponse()
routingResponse.ParseFromString(msg.message)
routing_time = routingResponse.header.timestamp_sec
guidepost_x = routingResponse.routing_request.waypoint[1].pose.x
guidepost_y = routingResponse.routing_request.waypoint[1].pose.y
is_use_guidepost = routingResponse.routing_request.is_use_guidepost
cur_id = routingResponse.routing_request.waypoint[1].id
end_id = routingResponse.routing_request.end_id
csv_writer_routing.writerow([routing_time, guidepost_x, guidepost_y, is_use_guidepost+0, cur_id, end_id])
f_localization.close()
f_chassis.close()
f_routing.close()