###############################################################################
"""
This program can extract driving trajectory from a record
"""
import argparse
import shutil
import os
import time
import sys
from cyber_py import cyber
from cyber_py import record
from common.message_manager import PbMessageManager
g_message_manager = PbMessageManager()
def write_to_file(file_path, topic_pb):
"""
write pb message to file
"""
with open(file_path, 'w') as fp:
fp.write(str(topic_pb))
def extract_record(in_record, output):
freader = record.RecordReader(in_record)
print("begin to extract from record {}".format(in_record))
time.sleep(1)
seq = 0
localization_topic = '/apollo/localization/pose'
This program can dump a rosbag into separate text files that contains the pb messages
"""
import rosbag
import rospy
import std_msgs
import argparse
import shutil
import StringIO
import os
import sys
from std_msgs.msg import String
from common.message_manager import PbMessageManager
g_message_manager = PbMessageManager()
g_args = None
def stat_planning(planning_msg):
stats = {}
if planning_msg.HasField("estop"):
return stats
stats["total_time"] = planning_msg.latency_stats.total_time_ms
stats["init_time"] = planning_msg.latency_stats.init_frame_time_ms
used_time = stats["init_time"]
stats["obstacles"] = len(planning_msg.decision.object_decision.decision)
for task in planning_msg.latency_stats.task_stats:
stats[task.name] = task.time_ms
used_time += task.time_ms
stats["other"] = stats["total_time"] - used_time
This program can dump a rosbag into separate text files that contains the pb messages
"""
import rosbag
import rospy
import std_msgs
import argparse
import shutil
import StringIO
import os
import sys
from std_msgs.msg import String
from common.message_manager import PbMessageManager
g_message_manager = PbMessageManager()
g_args = None
def stat_planning(planning_msg):
stats = {}
if planning_msg.HasField("estop"):
return stats
stats["total_time"] = planning_msg.latency_stats.total_time_ms
stats["init_time"] = planning_msg.latency_stats.init_frame_time_ms
used_time = stats["init_time"]
stats["obstacles"] = len(planning_msg.decision.object_decision.decision)
for task in planning_msg.latency_stats.task_stats:
stats[task.name] = task.time_ms
used_time += task.time_ms
stats["other"] = stats["total_time"] - used_time
This program can publish drive event message
"""
from cyber_py import cyber
import argparse
import datetime
import shutil
import time
import os
import sys
from common.message_manager import PbMessageManager
from common import proto_utils
g_message_manager = PbMessageManager()
g_args = None
g_localization = None
def OnReceiveLocalization(localization_msg):
global g_localization
g_localization = localization_msg
if __name__ == "__main__":
parser = argparse.ArgumentParser(
description="A tool to write events when recording rosbag")
parser.add_argument(
import rosbag
import std_msgs
import argparse
import datetime
import shutil
import time
import os
import rospy
import sys
from std_msgs.msg import String
from common.message_manager import PbMessageManager
from common import proto_utils
g_message_manager = PbMessageManager()
g_args = None
g_localization = None
def OnReceiveLocalization(localization_msg):
global g_localization
g_localization = localization_msg
if __name__ == "__main__":
parser = argparse.ArgumentParser(
description="A tool to write events when recording rosbag")
parser.add_argument(