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(): 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 test_init(self): """ Test cyber. """ self.assertTrue(cyber.init()) self.assertTrue(cyber.ok()) cyber.shutdown() self.assertTrue(cyber.is_shutdown())
def main(): print("potential_field_planning start") cyber.init() planning_node = cyber.Node("planning_potential") _ = planning(planning_node) planning_node.spin() cyber.shutdown()
def destroy(self): """ Function (override) to destroy this object. Terminate ROS subscription on CarlaEgoVehicleControl commands. Finally forward call to super class. :return: """ logging.debug("Destroy Vehicle(id={})".format(self.get_id())) self.cyber_node = None cyber.shutdown() super(EgoVehicle, self).destroy()
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 test_timer(self): cyber.init() ct = cyber_timer.Timer(100, func, 0) # 100ms ct.start() time.sleep(1) # 1s ct.stop() print('+' * 40 + 'test set_option' + '+' * 40) ct2 = cyber_timer.Timer() # 10ms ct2.set_option(100, func, 0) ct2.start() time.sleep(1) # 1s ct2.stop() cyber.shutdown()
def test_record_writer_read(self): """ unit test of record. """ self.assertTrue(cyber.init()) # writer fwriter = record.RecordWriter() fwriter.set_size_fileseg(200) fwriter.set_intervaltime_fileseg(10) self.assertTrue(fwriter.open(TEST_RECORD_FILE)) fwriter.write_channel(CHAN_1, MSG_TYPE, STR_10B) fwriter.write_message(CHAN_1, STR_10B, TIME) self.assertEqual(1, fwriter.get_messagenumber(CHAN_1)) self.assertEqual(MSG_TYPE, fwriter.get_messagetype(CHAN_1)) self.assertEqual(STR_10B, fwriter.get_protodesc(CHAN_1)) fwriter.close() # reader fread = record.RecordReader(TEST_RECORD_FILE) channel_list = fread.get_channellist() self.assertEqual(1, len(channel_list)) self.assertEqual(CHAN_1, channel_list[0]) for channelname, msg, datatype, timestamp in fread.read_messages(): # print "+++" # print channelname # print msg, datatype, timestamp self.assertEqual(CHAN_1, channelname) self.assertEqual(STR_10B, msg) self.assertEqual(TIME, timestamp) self.assertEqual(1, fread.get_messagenumber(channelname)) self.assertEqual(MSG_TYPE, datatype) self.assertEqual(MSG_TYPE, fread.get_messagetype(channelname)) # print "pbdesc -> %s" % fread.get_protodesc(channelname) msg = record_pb2.Header() header_msg = fread.get_headerstring() msg.ParseFromString(header_msg) self.assertEqual(1, msg.major_version) self.assertEqual(0, msg.minor_version) self.assertEqual(1, msg.chunk_number) self.assertEqual(1, msg.channel_number) self.assertTrue(msg.is_complete) cyber.shutdown()
def destroy(self): """ Function (virtual) to destroy this object. Lock the update mutex. Remove all publisher. Finally forward call to super class. :return: """ if not self.update_child_actors_lock.acquire(False): logging.warning('Failed to acquire child actors lock') if not self.update_lock.acquire(False): logging.warning('Failed to acquire update lock') self.actor_list = [] cyber.shutdown() super(CarlaCyberBridge, self).destroy()
#self.logger.info("%s"%insstat) self.insstat_pub.write(insstat) def shutdown(self): """ shutdown rosnode """ self.terminating = True #self.logger.info("Shutting Down...") time.sleep(0.2) 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) if __name__ == '__main__': cyber.init() main() cyber.shutdown()
def tearDownClass(cls): cyber.shutdown()
def shutdown(self): cyber.shutdown() time.sleep(0.2)
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" 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" elif len(cmd) == 3: data_collector.run(cmd) if __name__ == '__main__': cyber.init() main() cyber.shutdown()