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)
