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"
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)
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 main():
"""
Main function
"""
rospy.init_node('data_collector', anonymous=True)
data_collector = DataCollector()
plotter = Plotter()
localizationsub = rospy.Subscriber('/apollo/localization/pose',
localization_pb2.LocalizationEstimate,
data_collector.callback_localization)
canbussub = rospy.Subscriber('/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"
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)
def main():
"""
Main function
"""
node = cyber.Node("data_collector")
data_collector = DataCollector(node)
plotter = Plotter()
print("create data_collector")
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:
#data_collector.case == 'a'
# if (self.controlcmd.gear_location == chassis_pb2.Chassis.GEAR_NEUTRAL):
# self.controlcmd.brake = 50
# time.sleep(0.5)
# self.controlcmd.gear_location = chassis_pb2.Chassis.GEAR_NEUTRAL
# self.control_pub.write(self.controlcmd)
# print("first gear %d" %(self.controlcmd.gear_location))
# time.sleep(0.5)
# self.controlcmd.gear_location = chassis_pb2.Chassis.GEAR_DRIVE
# self.control_pub.write(self.controlcmd)
# print("second gear %d" %(self.controlcmd.gear_location))
# #self.controlcmd.gear_location = chassis_pb2.Chassis.GEAR_DRIVE # test by why
# self.controlcmd.brake = 0
#self.control_pub.write(self.controlcmd)
#print("third gear %d" %(self.controlcmd.gear_location))
#self.canmsg_received = False # test by why
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)