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 test_init(self): """ Test cyber. """ self.assertTrue(cyber.init()) self.assertTrue(cyber.ok()) cyber.shutdown() self.assertTrue(cyber.is_shutdown())
def test_timer(): cyber.init() ct = cyber_timer.Timer(10, fun, 0) # 10ms ct.start() time.sleep(1) # 1s ct.stop() print("+" * 80, "test set_option") ct2 = cyber_timer.Timer() # 10ms ct2.set_option(10, fun, 0) ct2.start() time.sleep(1) # 1s ct2.stop() cyber.shutdown()
def callback(self, data): # TODO print frame number # TODO api to reshape image # TODO publish, write compressed image pass def reshape(self, data): """api to reshape and encodes image, you can call self.reshape(data)""" new_image = np.frombuffer(data, dtype=np.uint8) img_param = [int(cv2.IMWRITE_JPEG_QUALITY), 20] # https://stackoverflow.com/questions/50306863/valueerror-cannot-reshape-array-of-size-50176-into-shape-1-224-224-3 new_image = new_image.reshape((360, 640, 3)) img_encode = cv2.imencode('.jpeg', new_image, img_param)[1] data_encode = np.array(img_encode) return data_encode.tostring() if __name__ == '__main__': cyber.init() # TODO update node to your gourp_name or other thing exercise_node = cyber.Node("exercise1_node_name") exercise = Exercise(exercise_node) exercise_node.spin() cyber.shutdown()
def tearDownClass(cls): cyber.shutdown()
def _kill(self): cyber.shutdown() os.kill(os.getpid(), signal.SIGTERM)