def test_read_write(self):
"""
Unit test of reader.
"""
self.assertTrue(cyber.ok())
# Read.
reader_node = cyber.Node("listener")
reader = reader_node.create_reader("channel/chatter", SimpleMessage,
self.callback)
self.assertEqual(reader.name, "channel/chatter")
self.assertEqual(reader.data_type, SimpleMessage)
self.assertEqual(SimpleMessage.DESCRIPTOR.full_name,
"apollo.common.util.test.SimpleMessage")
# Write.
msg = SimpleMessage()
msg.text = "talker:send Alex!"
msg.integer = 0
self.assertTrue(cyber.ok())
writer_node = cyber.Node("writer")
writer = writer_node.create_writer("channel/chatter", SimpleMessage, 7)
self.assertEqual(writer.name, "channel/chatter")
self.assertEqual(writer.data_type,
"apollo.common.util.test.SimpleMessage")
self.assertTrue(writer.write(msg))
# Wait for data to be processed by callback function.
time.sleep(0.1)
def gnss_simulation(q):
cyber.init()
#rospy.init_node("pose_offline",anonymous=True)
node = cyber.Node("pose_offline")
#localization_pub = rospy.Publisher(
# "/apollo/localization/pose",localization_pb2.LocalizationEstimate,queue_size=1)
localization_pub = node.create_writer(
"/apollo/localization/pose", localization_pb2.LocalizationEstimate)
#generate localization info
LocalizationEstimate = localization_pb2.LocalizationEstimate()
#send pose to /apollo/localization/pose
count = 0
#r = rospy.Rate(20)
#while not rospy.is_shutdown():
while not cyber.is_shutdown():
now = time.time()
#localization_pub.publish(gps_list(LocalizationEstimate,count,q))
localization_pub.write(gps_list(LocalizationEstimate, count, q))
sleep_time = 0.05 - (time.time() - now)
if sleep_time > 0:
time.sleep(sleep_time)
count += 1
def main():
cyber.init("fault_injector")
fault_injector_node = cyber.Node("fault_injector")
writer = fault_injector_node.create_writer(
"/apollo/sensor/camera/front_6mm/image", Image)
for image_file in read_image_list():
image = cv2.imread(DATASET_FOLDER + IMAGES_FOLDER + image_file)
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
#image = cv2.resize(image, (1920, 1080), 1.0, 1.0, cv2.INTER_CUBIC)
image = adjust_contrast_brightness(image, 2.0, 50.0)
image_frame = np.zeros((1080, 1920, 3), dtype="uint8")
image_frame[OFFSET_Y:OFFSET_Y + image.shape[0],
OFFSET_X:OFFSET_X + image.shape[1]] = image
proto_image = Image()
proto_image.header.frame_id = "front_6mm"
proto_image.header.timestamp_sec = cyber.time.time()
proto_image.measurement_time = cyber.time.time()
proto_image.width = image_frame.shape[1]
proto_image.height = image_frame.shape[0]
proto_image.encoding = "rgb8"
proto_image.step = 3 * image_frame.shape[1]
proto_image.data = image_frame.tobytes()
writer.write(proto_image)
time.sleep(0.2)
cyber.shutdown()
def main():
"""
Main rosnode
"""
cyber.init()
node = cyber.Node("mock_routing_requester")
sequence_num = 0
routing_request = routing_pb2.RoutingRequest()
routing_request.header.timestamp_sec = time.time()
routing_request.header.module_name = 'routing_request'
routing_request.header.sequence_num = sequence_num
sequence_num = sequence_num + 1
waypoint = routing_request.waypoint.add()
waypoint.pose.x = 587696.82286
waypoint.pose.y = 4141446.66696
waypoint.id = '1-1'
waypoint.s = 1
waypoint = routing_request.waypoint.add()
waypoint.pose.x = 586948.740120
waypoint.pose.y = 4141171.118641
waypoint.id = '1-1'
waypoint.s = 80
writer = node.create_writer('/apollo/routing_request',
routing_pb2.RoutingRequest)
time.sleep(2.0)
print("routing_request", routing_request)
writer.write(routing_request)
def __init__(self, carla_world, params):
"""
Constructor
:param carla_world: carla world object
:type carla_world: carla.World
:param params: dict of parameters, see settings.yaml
:type params: dict
"""
cyber.init()
self.cyber_node = cyber.Node('carla_cyber_client_node')
self.params = params
self.use_object_sensor = self.params.get("object_sensor") is not None
super(CarlaCyberBridge, self).__init__(carla_id=0,
carla_world=carla_world,
frame_id='/map')
self.timestamp_last_run = 0.0
self.tf_to_publish = []
self.msgs_to_publish = []
self.actor_list = []
self.map = self.carla_world.get_map()
# register callback to create/delete actors
self.update_child_actors_lock = threading.Lock()
self.carla_world.on_tick(self._carla_update_child_actors)
# register callback to update actors
self.update_lock = threading.Lock()
self.carla_world.on_tick(self._carla_time_tick)
self.writers = {}
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 main(argv):
"""
Main node
"""
node = cyber.Node("rtk_recorder")
argv = FLAGS(argv)
log_dir = os.path.dirname(os.path.abspath(__file__)) + "/../../../data/log/"
if not os.path.exists(log_dir):
os.makedirs(log_dir)
Logger.config(
log_file=log_dir + "rtk_recorder.log",
use_stdout=True,
log_level=logging.DEBUG)
print("runtime log is in %s%s" % (log_dir, "rtk_recorder.log"))
record_file = log_dir + "/garage.csv"
recorder = RtkRecord(record_file)
atexit.register(recorder.shutdown)
node.create_reader('/apollo/canbus/chassis', chassis_pb2.Chassis,
recorder.chassis_callback)
node.create_reader('/apollo/localization/pose',
localization_pb2.LocalizationEstimate,
recorder.localization_callback)
while not cyber.is_shutdown():
time.sleep(0.002)
def test_listener_class():
"""
Reader message.
"""
print "=" * 120
test_node = cyber.Node("listener")
test_node.create_reader("channel/chatter", SimpleMessage, callback)
test_node.spin()
def test_listener_class():
"""
Reader message.
"""
print("=" * 120)
test_node = cyber.Node("listener")
test_node.create_reader("channel/chatter", ChatterBenchmark, callback)
test_node.spin()
def test_service_class():
"""
Reader message.
"""
print "=" * 120
node = cyber.Node("service_node")
r = node.create_service("server_01", ChatterBenchmark, ChatterBenchmark,
callback)
node.spin()
def test_params(self):
param1 = parameter.Parameter("author_name", "WanderingEarth")
param2 = parameter.Parameter("author_age", 5000)
param3 = parameter.Parameter("author_score", 888.88)
test_node = cyber.Node(PARAM_SERVICE_NAME)
srv = parameter.ParameterServer(test_node)
node_handle = cyber.Node("service_client_node")
clt = parameter.ParameterClient(test_node, PARAM_SERVICE_NAME)
clt.set_parameter(param1)
clt.set_parameter(param2)
clt.set_parameter(param3)
param_list = clt.get_paramslist()
self.assertEqual(3, len(param_list))
param_list = srv.get_paramslist()
self.assertEqual(3, len(param_list))
def main():
print("potential_field_planning start")
cyber.init()
planning_node = cyber.Node("planning_potential")
_ = planning(planning_node)
planning_node.spin()
cyber.shutdown()
def main():
"""
Main rosnode
"""
node = cyber.Node('ins_stat_publisher')
ins_stat = InsStat(node)
while not cyber.is_shutdown():
now = cyber_time.Time.now().to_sec()
ins_stat.publish_statmsg()
sleep_time = 0.5 - (cyber_time.Time.now().to_sec() - now)
if sleep_time > 0:
time.sleep(sleep_time)
def test_reader(self):
"""
Unit test of reader.
"""
self.assertTrue(cyber.ok())
test_node = cyber.Node("listener")
reader = test_node.create_reader("channel/chatter", SimpleMessage,
callback)
self.assertEqual(reader.name, "channel/chatter")
self.assertEqual(reader.data_type, SimpleMessage)
self.assertEqual(SimpleMessage.DESCRIPTOR.full_name,
"apollo.common.util.test.SimpleMessage")
def main(args):
if not os.path.exists(args.out_dir):
os.makedirs(args.out_dir)
meta_msg = g_message_manager.get_msg_meta_by_topic(args.topic)
if not meta_msg:
print('Unknown topic name: %s' % args.topic)
sys.exit(1)
cyber.init()
node = cyber.Node("transcribe_node")
node.create_reader(args.topic, meta_msg.msg_type, transcribe)
while not cyber.is_shutdown():
time.sleep(0.005)
def subscreber_ctrl_pad(client, q_drivemode, q_drivemode2control):
cyber.init()
pad = control_pad(client, q_drivemode, q_drivemode2control)
#rospy.init_node('simulation_control_pad', anonymous=True)
node = cyber.Node("simulation_control_pad")
#rospy.Subscriber('/apollo/control/pad', pad_msg_pb2.PadMessage,
# pad.sim_control_pad_callback)
node.create_reader('/apollo/control/pad', pad_msg_pb2.PadMessage,
pad.sim_control_pad_callback)
#rospy.spin()
node.spin()
def subscreber_ctrl_cmd(client, q_speed, q_drivemode2control, q_gear):
cyber.init()
control = control_obj(client, q_speed, q_drivemode2control, q_gear)
#rospy.init_node('simulation_control', anonymous=True)
node = cyber.Node("simulation_control")
#rospy.Subscriber('/apollo/control', control_cmd_pb2.ControlCommand,
# control.sim_control_callback)
node.create_reader('/apollo/control', control_cmd_pb2.ControlCommand,
control.sim_control_callback)
#rospy.spin()
node.spin()
def main():
"""
Main rosnode
"""
node = cyber.Node('odom_publisher')
odom = OdomPublisher(node)
node.create_reader('/apollo/localization/pose', localization_pb2.LocalizationEstimate, odom.localization_callback)
while not cyber.is_shutdown():
now = cyber_time.Time.now().to_sec()
odom.publish_odom()
sleep_time = 0.01 - (cyber_time.Time.now().to_sec() - now)
if sleep_time > 0:
time.sleep(sleep_time)
def prediction_publisher(prediction_channel, rate):
"""publisher"""
cyber.init()
node = cyber.Node("prediction")
writer = node.create_writer(prediction_channel, PredictionObstacles)
prediction = PredictionObstacles()
prediction.header.sequence_num = seq_num
prediction.header.timestamp_sec = cyber_time.Time.now().to_sec()
prediction.header.module_name = "prediction"
i=0
writer.write(prediction)
seq_num += 1
time.sleep(sleep_time)
def main():
"""
Main cyber
"""
parser = argparse.ArgumentParser(
description='Generate Planning Trajectory from Data File')
parser.add_argument(
'-s',
'--speedmulti',
help='Speed multiplier in percentage (Default is 100) ',
type=float,
default='100')
parser.add_argument('-c',
'--complete',
help='Generate complete path (t/F)',
default='F')
parser.add_argument('-r',
'--replan',
help='Always replan based on current position(t/F)',
default='F')
args = vars(parser.parse_args())
node = cyber.Node("rtk_player")
Logger.config(log_file=os.path.join(APOLLO_ROOT,
'data/log/rtk_player.log'),
use_stdout=True,
log_level=logging.DEBUG)
record_file = os.path.join(APOLLO_ROOT, 'data/log/garage.csv')
player = RtkPlayer(record_file, node, args['speedmulti'],
args['complete'].lower(), args['replan'].lower())
atexit.register(player.shutdown)
node.create_reader('/apollo/canbus/chassis', chassis_pb2.Chassis,
player.chassis_callback)
node.create_reader('/apollo/localization/pose',
localization_pb2.LocalizationEstimate,
player.localization_callback)
node.create_reader('/apollo/control/pad', pad_msg_pb2.PadMessage,
player.padmsg_callback)
while not cyber.is_shutdown():
now = time.time()
player.publish_planningmsg()
sleep_time = 0.1 - (time.time() - now)
if sleep_time > 0:
time.sleep(sleep_time)
def test_writer(self):
"""
unit test of writer.
"""
msg = SimpleMessage()
msg.text = "talker:send Alex!"
msg.integer = 0
self.assertTrue(cyber.ok())
test_node = cyber.Node("node_name1")
writer = test_node.create_writer("channel/chatter", SimpleMessage, 7)
self.assertEqual(writer.name, "channel/chatter")
self.assertEqual(writer.data_type, "apollo.common.util.test.SimpleMessage")
self.assertTrue(writer.write(msg))
def main(args):
drive_event_meta_msg = g_message_manager.get_msg_meta_by_topic(
args.drive_event_topic)
if not drive_event_meta_msg:
print('Unknown drive_event topic name: %s' % args.drive_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("derive_event_node")
node.create_reader(localization_meta_msg.topic,
localization_meta_msg.msg_type, OnReceiveLocalization)
writer = node.create_writer(drive_event_meta_msg.topic,
drive_event_meta_msg.msg_type)
seq_num = 0
while not cyber.is_shutdown():
event_type = input(
"Type in Event Type('d') and press Enter (current time: " +
str(datetime.datetime.now()) + ")\n>")
event_type = event_type.strip()
if len(event_type) != 1 or event_type[0].lower() != 'd':
continue
current_time = cyber_time.Time.now().to_sec()
event_str = None
while not event_str:
event_str = input("Type Event:>")
event_str = event_str.strip()
event_msg = drive_event_meta_msg.msg_type()
event_msg.header.timestamp_sec = current_time
event_msg.header.module_name = 'drive_event'
seq_num += 1
event_msg.header.sequence_num = seq_num
event_msg.header.version = 1
event_msg.event = event_str
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_drive_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 print_param_srv():
param1 = parameter.Parameter("author_name", "WanderingEarth")
param2 = parameter.Parameter("author_age", 5000)
param3 = parameter.Parameter("author_score", 888.88)
test_node = cyber.Node(PARAM_SERVICE_NAME)
srv = parameter.ParameterServer(test_node)
node_handle = cyber.Node("service_client_node")
clt = parameter.ParameterClient(test_node, PARAM_SERVICE_NAME)
clt.set_parameter(param1)
clt.set_parameter(param2)
clt.set_parameter(param3)
param_list = clt.get_paramslist()
print "clt param lst len is ", len(param_list)
for param in param_list:
print param.debug_string()
print ""
param_list = srv.get_paramslist()
print "srv param lst len is ", len(param_list)
for param in param_list:
print param.debug_string()
def perception_publisher(perception_channel, files, period):
"""publisher"""
cyber.init()
node = cyber.Node("perception")
writer = node.create_writer(perception_channel, PerceptionObstacles)
perception_description = load_descrptions(files)
sleep_time = int(1.0 / period) # 10hz
global _s_delta_t
_s_delta_t = period
perception = None
while not cyber.is_shutdown():
perception = generate_perception(perception_description, perception)
print str(perception)
writer.write(perception)
time.sleep(sleep_time)
def prediction_publisher(prediction_channel, rate):
"""publisher"""
cyber.init()
node = cyber.Node("prediction")
writer = node.create_writer(prediction_channel, PredictionObstacles)
sleep_time = 1.0 / rate
seq_num = 1
while not cyber.is_shutdown():
prediction = PredictionObstacles()
prediction.header.sequence_num = seq_num
prediction.header.timestamp_sec = cyber_time.Time.now().to_sec()
prediction.header.module_name = "prediction"
print(str(prediction))
writer.write(prediction)
seq_num += 1
time.sleep(sleep_time)
def test_client_class():
"""
Client send request
"""
node = cyber.Node("client_node")
client = node.create_client("server_01", ChatterBenchmark,
ChatterBenchmark)
req = ChatterBenchmark()
req.content = "clt:Hello service!"
req.seq = 0
count = 0
while not cyber.is_shutdown():
time.sleep(1)
count = count + 1
req.seq = count
print "-" * 80
response = client.send_request(req)
print "get Response [ ", response, " ]"
def main():
"""
Main function
"""
node = cyber.Node("data_collector")
data_collector = DataCollector(node)
plotter = Plotter()
node.create_reader('/apollo/localization/pose',
localization_pb2.LocalizationEstimate,
data_collector.callback_localization)
node.create_reader('/apollo/canbus/chassis', chassis_pb2.Chassis,
data_collector.callback_canbus)
print('Enter q to quit.')
print('Enter p to plot result from last run.')
print('Enter x to remove result from last run.')
print('Enter x y z, where x is acceleration command, ' +
'y is speed limit, z is decceleration command.')
print('Positive number for throttle and negative number for brake.')
while True:
cmd = raw_input("Enter commands: ").split()
if len(cmd) == 0:
print('Quiting.')
break
elif len(cmd) == 1:
if cmd[0] == "q":
break
elif cmd[0] == "p":
print('Plotting result.')
if os.path.exists(data_collector.outfile):
plotter.process_data(data_collector.outfile)
plotter.plot_result()
else:
print('File does not exist: %s' % data_collector.outfile)
elif cmd[0] == "x":
print('Removing last result.')
if os.path.exists(data_collector.outfile):
os.remove(data_collector.outfile)
else:
print('File does not exist: %s' % date_collector.outfile)
elif len(cmd) == 3:
data_collector.run(cmd)
def test_talker_class():
"""
Test talker.
"""
msg = SimpleMessage()
msg.text = "talker:send Alex!"
msg.integer = 0
test_node = cyber.Node("node_name1")
g_count = 1
writer = test_node.create_writer("channel/chatter", SimpleMessage, 6)
while not cyber.is_shutdown():
time.sleep(1)
g_count = g_count + 1
msg.integer = g_count
print "=" * 80
print "write msg -> %s" % msg
writer.write(msg)
def __init__(self):
self.car = Lexus()
self.car_state_mutex = allocate_lock()
self.params = self.pars_arguments()
self.trajectory_file_handler = self.create_trajectory_file_handler()
self.trajectory = self.load_trajectory()
self.nearest_point_id = 0
cyber.init()
self.cyber_node = cyber.Node("oscar_tools_trajectory_player")
self.cyber_trajectory_pub = self.cyber_node.create_writer(
'/apollo/planning', planning_pb2.ADCTrajectory)
self.localization_received = False
self.planning_msg_count = 0
self.min_along_path_neighbors_dist = 2 * pi * self.car.min_radius * 0.8
self.estop = False
atexit.register(self.shutdown)
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)