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 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()
