def callback(self, data):
# print(data.frame_no)
# reshape
self.getmeanpoint(data)
# publish, write to channel
if not cyber.is_shutdown():
self.write_to_channel()
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 __init__(self, node):
self.node = node
self.start_x = 0
self.start_y = 0
self.goal_x = 0
self.goal_y = 0
self.global_path = Trajectory()
self.node.create_reader("/geek/uwb/localization", pos,
self.localizationcallback)
self.node.create_reader("/planning/mission_point", Point,
self.missioncallback)
self.writer = self.node.create_writer("/planning/global_trajectory",
Trajectory)
signal.signal(signal.SIGINT, self.sigint_handler)
signal.signal(signal.SIGHUP, self.sigint_handler)
signal.signal(signal.SIGTERM, self.sigint_handler)
self.is_sigint_up = False
while True:
time.sleep(0.05)
if not cyber.is_shutdown() and self.global_path:
self.writer.write(self.global_path)
if self.is_sigint_up:
print("Exit!")
self.is_sigint_up = False
sys.exit()
def test_init(self):
"""
Test cyber.
"""
self.assertTrue(cyber.init())
self.assertTrue(cyber.ok())
cyber.shutdown()
self.assertTrue(cyber.is_shutdown())
def callback(self, data):
# TODO
# print(data.frame_no)
# TODO infer
self.infer(data)
# TODO publish, write to channel
if not cyber.is_shutdown():
self.write_to_channel()
def channel_bw(channel_name, window_size):
rt = CyberChannelBw(window_size)
node_bw = cyber.Node("listener_node_bw")
node_bw.create_rawdata_reader(channel_name, rt.callback_bw)
print("reader to [%s]" % channel_name)
while not cyber.is_shutdown():
time.sleep(1.0)
rt.print_bw()
def channel_echo(channel_name):
"""
Reader message.
"""
node_echo = cyber.Node("listener_node_echo")
echo_cb = CyberChannelecho(channel_name)
node_echo.create_rawdata_reader(channel_name, echo_cb.callback)
while not cyber.is_shutdown():
pass
def _wait_for_callback(self):
time_exceed = 0.0
while not (self.parameters_flag) and not cyber.is_shutdown():
time.sleep(WAIT_FOR_PARAMETER)
time_exceed += WAIT_FOR_PARAMETER
if time_exceed >= SV_TIMEOUT:
print("Connection timeout!")
break
return
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 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 = cyber_time.Time.now().to_sec()
player.publish_planningmsg()
sleep_time = 0.1 - (cyber_time.Time.now().to_sec() - now)
if sleep_time > 0:
time.sleep(sleep_time)
def topic_publisher(topic, filename, period):
"""publisher"""
cyber.init()
node = cyber.Node("replay_file")
meta_msg = None
msg = None
if not topic:
print("Topic not specified, start to guess")
meta_msg, msg = g_message_manager.parse_file(filename)
topic = meta_msg.topic()
else:
meta_msg = g_message_manager.get_msg_meta_by_topic(topic)
if not meta_msg:
print("Failed to find meta info for topic: %s" % (topic))
return False
msg = meta_msg.parse_file(filename)
if not msg:
print("Failed to parse file[%s] with topic[%s]" % (filename,
topic))
return False
if not msg or not meta_msg:
print("Unknown topic: %s" % topic)
return False
writer = node.create_writer(topic, meta_msg.msg_type)
if period == 0:
while not cyber.is_shutdown():
input("Press any key to publish one message...")
writer.write(msg)
print("Topic[%s] message published" % topic)
else:
print("started to publish topic[%s] message with rate period %s" %
(topic, period))
while not cyber.is_shutdown():
writer.write(msg)
time.sleep(period)
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 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 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 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 += 1
req.seq = count
print("-" * 80)
response = client.send_request(req)
print("get Response [ ", response, " ]")
def missioncallback(self, Point):
self.goal_x = int(Point.x)
self.goal_y = int(Point.y)
pathList = self.start(self.start_x, self.start_y, self.goal_x,
self.goal_y)
self.planning_path = Trajectory()
if not pathList:
print("Failed to find a path")
else:
for path_point in pathList:
point_xy.x = path_point[0]
point_xy.y = path_point[1]
self.planning_path.point.append(point_xy)
if not cyber.is_shutdown() and self.planning_path:
self.writer.write(self.planning_path)
def loop(self):
try:
while not cyber.is_shutdown():
try:
c = sys.stdin.read(1)
if c:
# print("Got character", repr(c))
if c == 'w': self.hotkey_w()
if c == 's': self.hotkey_s()
if c == 'a': self.hotkey_a()
if c == 'd': self.hotkey_d()
print(self.msg)
self.writer.write(self.msg)
# ratio domain 100hz
time.sleep(0.01)
except IOError:
pass
finally:
termios.tcsetattr(fd, termios.TCSAFLUSH, oldterm)
fcntl.fcntl(fd, fcntl.F_SETFL, oldflags)
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)
def loop(self):
try:
while not cyber.is_shutdown():
try:
c = sys.stdin.read(1)
if c:
# print("Got character", repr(c))
# TODO 3 update your logic by keyboad
# if c == 'w': self.hotkey_w()
# if c == 's': self.hotkey_s()
# if c == 'a': self.hotkey_a()
# if c == 'd': self.hotkey_d()
print(self.msg)
# TODO 4 write control message to channel /control
# self.writer.write(self.msg)
# ratio domain 100hz
time.sleep(0.01)
except IOError:
pass
finally:
termios.tcsetattr(fd, termios.TCSAFLUSH, oldterm)
fcntl.fcntl(fd, fcntl.F_SETFL, oldflags)
def callback(self, data):
# reshape
self.reshape(data)
# publish, write to channel
if not cyber.is_shutdown():
self.write_to_channel()
def main(argv):
"""Main function"""
argv = FLAGS(argv)
print("""
Keyboard Shortcut:
[q]: Quit Tool
[s]: Save Figure
[a]: Auto-adjust x, y axis to display entire plot
[x]: Update Figure to Display last few Planning Trajectory instead of all
[h][r]: Go back Home, Display all Planning Trajectory
[f]: Toggle Full Screen
[n]: Reset all Plots
[b]: Unsubscribe Topics
Legend Description:
Red Line: Current Planning Trajectory
Blue Line: Past Car Status History
Green Line: Past Planning Target History at every Car Status Frame
Cyan Dashed Line: Past Planning Trajectory Frames
""")
cyber.init()
planning_sub = cyber.Node("stat_planning")
fig = plt.figure()
if not FLAGS.show_st_graph:
ax1 = plt.subplot(2, 2, 1)
item1 = Xyitem(ax1, WindowSize, VehicleLength, "Trajectory", "X [m]",
"Y [m]")
ax2 = plt.subplot(2, 2, 2)
item2 = Item(ax2, "Speed", "Time [sec]", "Speed [m/s]", 0, 30)
ax3 = plt.subplot(2, 2, 3, sharex=ax2)
item3 = Item(ax3, "Curvature", "Time [sec]", "Curvature [m-1]", -0.2,
0.2)
ax4 = plt.subplot(2, 2, 4, sharex=ax2)
if not FLAGS.show_heading:
item4 = Item(ax4, "Acceleration", "Time [sec]",
"Acceleration [m/sec^2]", -5, 5)
else:
item4 = Item(ax4, "Heading", "Time [sec]", "Heading [radian]", -4,
4)
else:
ax1 = plt.subplot(2, 2, 1)
item1 = Stitem(ax1, "ST Graph", "Time [sec]", "S [m]")
ax2 = plt.subplot(2, 2, 2)
item2 = Stitem(ax2, "ST Graph", "Time [sec]", "S [m]")
ax3 = plt.subplot(2, 2, 3)
item3 = Stitem(ax3, "ST Graph", "Time [sec]", "S [m]")
ax4 = plt.subplot(2, 2, 4)
item4 = Stitem(ax4, "ST Graph", "Time [sec]", "S [m]")
plt.tight_layout(pad=0.20)
plt.ion()
plt.show()
plotter = Plotter(item1, item2, item3, item4, FLAGS.show_st_graph)
fig.canvas.mpl_connect('key_press_event', plotter.press)
planning_sub.create_reader('/apollo/planning',
ADCTrajectory, plotter.callback_planning)
if not FLAGS.show_st_graph:
localization_sub = cyber.Node("localization_sub")
localization_sub.create_reader('/apollo/localization/pose',
LocalizationEstimate, plotter.callback_localization)
chassis_sub = cyber.Node("chassis_sub")
chassis_sub.create_reader('/apollo/canbus/chassis',
Chassis, plotter.callback_chassis)
while not cyber.is_shutdown():
ax1.draw_artist(ax1.patch)
ax2.draw_artist(ax2.patch)
ax3.draw_artist(ax3.patch)
ax4.draw_artist(ax4.patch)
with plotter.lock:
item1.draw_lines()
item2.draw_lines()
item3.draw_lines()
item4.draw_lines()
fig.canvas.blit(ax1.bbox)
fig.canvas.blit(ax2.bbox)
fig.canvas.blit(ax3.bbox)
fig.canvas.blit(ax4.bbox)
fig.canvas.flush_events()
prog="main.py")
parser.add_argument("-f",
"--file",
action="store",
type=str,
required=True,
help="Specify the message file for sending.")
args = parser.parse_args()
cyber.init()
node = cyber.Node("perception_obstacle_sender")
perception_pub = node.create_writer(
"/apollo/perception/obstacles",
perception_obstacle_pb2.PerceptionObstacles)
perception_obstacles = perception_obstacle_pb2.PerceptionObstacles()
with open(args.file, 'r') as f:
text_format.Merge(f.read(), perception_obstacles)
while not cyber.is_shutdown():
now = cyber_time.Time.now().to_sec()
perception_obstacles = update(perception_obstacles)
perception_pub.write(perception_obstacles)
sleep_time = 0.1 - (cyber_time.Time.now().to_sec() - now)
if sleep_time > 0:
time.sleep(sleep_time)
cyber.shutdown()
if args.t == 0 and args.f == 0:
timer_s = 0
timer_kind = 'OK'
timer_set = False
print("Starting infinite OK message loop")
else:
print("Only one timer can be non-zero value!")
sys.exit()
cyber.init("Dump_IPC_Supervisor")
dump_sv_node = cyber.Node("dump_sv_talker")
writer = dump_sv_node.create_writer("supervisor/general", SV_info, 5)
begin_time = time.time()
while not(cyber.is_shutdown()):
current_time = time.time()
msg = sv_decision()
msg.header.timestamp_sec = current_time
if current_time - begin_time < timer_s or not(timer_set):
msg.status = 1
msg.message = "It's okay, chill"
time.sleep(STD_DELAY)
else:
if timer_kind == 'FATAL':
msg.status = 4
msg.message = 'Oops, something gone wrong!'
time.sleep(STD_DELAY)
def callback(self, pos):
global obslist, planning_path, best_trajectory
start_x = int(pos.x * scale)
start_y = int(pos.y * scale)
obslist = []
num_point = 0
minr = float("inf")
for i, point in enumerate(self.pathList):
r = math.sqrt((point[0] - start_x)**2 + (point[1] - start_y)**2)
if minr >= r:
minr = r
num_point = i
if (num_point - 8) <= 0:
num_point = 8
#规划预瞄点
f_point = self.pathList[num_point - 8]
self.goal = f_point
print("goal:", self.goal)
#将预瞄点坐标从地图坐标系转换到车身坐标系
f_point = [(f_point[0] - start_x) / scale,
-((f_point[1] - start_y) / scale)]
yaw = math.pi - pos.yaw
x_f = f_point[0] * math.cos(yaw) + f_point[1] * math.sin(yaw)
y_f = f_point[1] * math.cos(yaw) - f_point[0] * math.sin(yaw)
print("trans-goal:", [x_f, y_f])
#将预设障碍物坐标从地图坐标系转换到车身坐标系
ob_point = [643, 353]
ob_point = [(ob_point[0] - start_x) / scale,
-((ob_point[1] - start_y) / scale)]
x_ob = ob_point[0] * math.cos(yaw) + ob_point[1] * math.sin(yaw)
y_ob = ob_point[1] * math.cos(yaw) - ob_point[0] * math.sin(yaw)
print("ob:", [x_ob, y_ob])
print(" planning start!")
# initial state [x(m), y(m), yaw(rad), v(m/s), omega(rad/s)]
x = np.array([0.0, 0.0, 0, 0.3, 0.0])
# goal position [x(m), y(m)]
goal = np.array([x_f, y_f])
ob = np.matrix(self.obstacleList)
ob = np.array([[x_ob, y_ob, 0.24 / scale]])
# input [forward speed, yawrate]
u = np.array([0.3, 0.0])
config = Config()
best_trajectory = np.array(x)
u, best_trajectory = dwa_control(x, u, config, goal, ob)
x = motion(x, u, config.dt)
#接近终点减速
dist_car_goal = ((((start_x - self.pathList[0][0])**2 +
(start_y - self.pathList[0][1])**2)**0.5) / scale)
if dist_car_goal <= 0.2:
u[0] = 0
self.planning_path = Trajectory()
self.speed = Control_Reference()
self.speed.vehicle_speed = u[0]
if not best_trajectory.any():
print("Failed to find a path")
else:
for path_point in best_trajectory:
point_xy.x = path_point[0]
point_xy.y = path_point[1]
self.planning_path.point.append(point_xy)
point_xy.x = self.goal[0]
point_xy.y = self.goal[1]
self.planning_path.point.append(point_xy)
if not cyber.is_shutdown() and self.planning_path:
self.writer.write(self.planning_path)
self.vwriter.write(self.speed)
print("planning done")
