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体验新版 GitCode,发现更多精彩内容 >>
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4a44aa7c
编写于
9月 13, 2018
作者:
D
dengchengliang
提交者:
fengqikai1414
9月 27, 2018
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差异文件
Tools:add rosbag_to_record
上级
e73c2e20
变更
5
隐藏空白更改
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5 changed file
with
398 addition
and
0 deletion
+398
-0
modules/tools/rosbag_to_record/BUILD
modules/tools/rosbag_to_record/BUILD
+41
-0
modules/tools/rosbag_to_record/channel_info.cc
modules/tools/rosbag_to_record/channel_info.cc
+80
-0
modules/tools/rosbag_to_record/channel_info.h
modules/tools/rosbag_to_record/channel_info.h
+88
-0
modules/tools/rosbag_to_record/rosbag_to_record.cc
modules/tools/rosbag_to_record/rosbag_to_record.cc
+157
-0
modules/tools/rosbag_to_record/rosbag_to_record.h
modules/tools/rosbag_to_record/rosbag_to_record.h
+32
-0
未找到文件。
modules/tools/rosbag_to_record/BUILD
0 → 100644
浏览文件 @
4a44aa7c
load
(
"//tools:cpplint.bzl"
,
"cpplint"
)
package
(
default_visibility
=
[
"//visibility:public"
])
cc_binary
(
name
=
"rosbag_to_record"
,
srcs
=
[
"rosbag_to_record.cc"
],
linkopts
=
[
"-lprotobuf"
,
],
deps
=
[
":rosbag_to_record_lib"
,
"@ros//:ros_common"
,
],
)
cc_library
(
name
=
"rosbag_to_record_lib"
,
srcs
=
[
"channel_info.cc"
,
],
hdrs
=
[
"rosbag_to_record.h"
,
"channel_info.h"
,
],
deps
=
[
"//framework:cybertron"
,
"//modules/planning/proto:planning_proto"
,
"//modules/control/proto:control_proto"
,
"//modules/guardian/proto:guardian_proto"
,
"//modules/canbus/proto:canbus_proto"
,
"//modules/perception/proto:perception_proto"
,
"//modules/prediction/proto:prediction_proto"
,
"//modules/localization/proto:localization_proto"
,
"//modules/localization/proto:imu_proto"
,
"//modules/localization/proto:gps_proto"
,
"//modules/common/proto:drive_event_proto"
,
],
)
cpplint
()
modules/tools/rosbag_to_record/channel_info.cc
0 → 100644
浏览文件 @
4a44aa7c
/******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/tools/rosbag_to_record/channel_info.h"
namespace
apollo
{
namespace
tools
{
static
const
std
::
string
DUMMY_STRING
=
""
;
ChannelInfo
::
ChannelInfo
()
{
InitChannels
();
}
ChannelInfo
::~
ChannelInfo
()
{
channel_msg_type_
.
clear
();
channel_proto_desc_
.
clear
();
}
const
std
::
string
&
ChannelInfo
::
GetMessageType
(
const
std
::
string
&
channel_name
)
{
auto
search
=
channel_msg_type_
.
find
(
channel_name
);
if
(
search
!=
channel_msg_type_
.
end
())
{
return
search
->
second
;
}
return
DUMMY_STRING
;
}
const
std
::
string
&
ChannelInfo
::
GetProtoDesc
(
const
std
::
string
&
channel_name
)
{
auto
search
=
channel_proto_desc_
.
find
(
channel_name
);
if
(
search
!=
channel_proto_desc_
.
end
())
{
return
search
->
second
;
}
return
DUMMY_STRING
;
}
const
std
::
vector
<
std
::
string
>&
ChannelInfo
::
GetSupportChannels
()
{
return
support_channels_
;
}
void
ChannelInfo
::
InitChannels
()
{
InitChannelInfo
<
apollo
::
perception
::
PerceptionObstacles
>
(
"/apollo/perception/obstacles"
,
"apollo.perception.PerceptionObstacles"
);
InitChannelInfo
<
apollo
::
planning
::
ADCTrajectory
>
(
"/apollo/planning"
,
"apollo.planning.ADCTrajectory"
);
InitChannelInfo
<
apollo
::
prediction
::
PredictionObstacles
>
(
"/apollo/prediction"
,
"apollo.prediction.PredictionObstacles"
);
InitChannelInfo
<
apollo
::
canbus
::
Chassis
>
(
"/apollo/canbus/chassis"
,
"apollo.canbus.Chassis"
);
InitChannelInfo
<
apollo
::
control
::
ControlCommand
>
(
"/apollo/control"
,
"apollo.control.ControlCommand"
);
InitChannelInfo
<
apollo
::
guardian
::
GuardianCommand
>
(
"/apollo/guardian"
,
"apollo.guardian.GuardianCommand"
);
InitChannelInfo
<
apollo
::
localization
::
LocalizationEstimate
>
(
"/apollo/localization/pose"
,
"apollo.localization.LocalizationEstimate"
);
InitChannelInfo
<
apollo
::
perception
::
TrafficLightDetection
>
(
"/apollo/perception/traffic_light"
,
"apollo.perception.TrafficLightDetection"
);
InitChannelInfo
<
apollo
::
common
::
DriveEvent
>
(
"/apollo/drive_event"
,
"apollo.common.DriveEvent"
);
InitChannelInfo
<
apollo
::
localization
::
CorrectedImu
>
(
"/apollo/sensor/gnss/corrected_imu"
,
"apollo.localization.CorrectedImu"
);
InitChannelInfo
<
apollo
::
localization
::
Gps
>
(
"/apollo/sensor/gnss/odometry"
,
"apollo.localization.Gps"
);
}
}
// namespace tools
}
// namespace apollo
modules/tools/rosbag_to_record/channel_info.h
0 → 100644
浏览文件 @
4a44aa7c
/******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#ifndef MODULES_TOOLS_ROSBAG_TO_RECORD_CHANNEL_INFO_H_
#define MODULES_TOOLS_ROSBAG_TO_RECORD_CHANNEL_INFO_H_
#include <memory>
#include <string>
#include <vector>
#include <unordered_map>
#include "cybertron/message/message_traits.h"
#include "cybertron/message/protobuf_factory.h"
#include "cybertron/common/log.h"
#include "modules/planning/proto/planning.pb.h"
#include "modules/prediction/proto/prediction_obstacle.pb.h"
#include "modules/perception/proto/perception_obstacle.pb.h"
#include "modules/perception/proto/traffic_light_detection.pb.h"
#include "modules/canbus/proto/chassis.pb.h"
#include "modules/control/proto/control_cmd.pb.h"
#include "modules/guardian/proto/guardian.pb.h"
#include "modules/localization/proto/localization.pb.h"
#include "modules/localization/proto/gps.pb.h"
#include "modules/localization/proto/imu.pb.h"
#include "modules/common/proto/drive_event.pb.h"
namespace
apollo
{
namespace
tools
{
using
namespace
apollo
::
cybertron
::
message
;
using
apollo
::
cybertron
::
message
::
ProtobufFactory
;
class
ChannelInfo
{
public:
using
StrStrMap
=
std
::
unordered_map
<
std
::
string
,
std
::
string
>
;
virtual
~
ChannelInfo
();
static
const
std
::
shared_ptr
<
ChannelInfo
>&
Instance
()
{
static
auto
instance
=
std
::
shared_ptr
<
ChannelInfo
>
(
new
ChannelInfo
());
return
instance
;
}
const
std
::
string
&
GetMessageType
(
const
std
::
string
&
channel_name
);
const
std
::
string
&
GetProtoDesc
(
const
std
::
string
&
channel_name
);
const
std
::
vector
<
std
::
string
>&
GetSupportChannels
();
private:
ChannelInfo
();
ChannelInfo
(
const
ChannelInfo
&
)
=
delete
;
ChannelInfo
&
operator
=
(
const
ChannelInfo
&
)
=
delete
;
template
<
typename
M
>
void
InitChannelInfo
(
const
std
::
string
&
channel_name
,
const
std
::
string
&
msg_type
)
{
channel_msg_type_
[
channel_name
]
=
msg_type
;
support_channels_
.
push_back
(
channel_name
);
std
::
string
proto_desc
(
""
);
M
m
;
ProtobufFactory
::
Instance
()
->
GetDescriptorString
(
msg_type
,
&
proto_desc
);
channel_proto_desc_
[
channel_name
]
=
proto_desc
;
}
void
InitChannels
();
StrStrMap
channel_msg_type_
;
StrStrMap
channel_proto_desc_
;
std
::
vector
<
std
::
string
>
support_channels_
;
};
}
// namespace tools
}
// namespace apollo
#endif // MODULES_TOOLS_ROSBAG_TO_RECORD_CHANNEL_INFO_H_
modules/tools/rosbag_to_record/rosbag_to_record.cc
0 → 100644
浏览文件 @
4a44aa7c
/******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "cybertron/proto/record.pb.h"
#include "modules/tools/rosbag_to_record/rosbag_to_record.h"
#include "modules/tools/rosbag_to_record/channel_info.h"
#include "modules/planning/proto/planning.pb.h"
#include "modules/prediction/proto/prediction_obstacle.pb.h"
#include "modules/perception/proto/perception_obstacle.pb.h"
#include "modules/perception/proto/traffic_light_detection.pb.h"
#include "modules/canbus/proto/chassis.pb.h"
#include "modules/control/proto/control_cmd.pb.h"
#include "modules/guardian/proto/guardian.pb.h"
#include "modules/localization/proto/localization.pb.h"
using
apollo
::
cybertron
::
proto
::
SingleMessage
;
using
apollo
::
tools
::
ChannelInfo
;
void
PrintUsage
()
{
std
::
cout
<<
"Usage:
\n
"
<<
" rosbag_to_record myfile.bag"
<<
std
::
endl
;
}
int
main
(
int
argc
,
char
**
argv
)
{
if
(
argc
!=
2
)
{
PrintUsage
();
return
-
1
;
}
const
std
::
string
rosbag_file_name
=
argv
[
1
];
rosbag
::
Bag
bag
;
try
{
bag
.
open
(
rosbag_file_name
);
}
catch
(...)
{
std
::
cerr
<<
"Error: the input file is not a ros bag file."
<<
std
::
endl
;
return
-
1
;
}
auto
channel_info
=
ChannelInfo
::
Instance
();
std
::
cout
<<
"Info of ros bag file"
<<
std
::
endl
;
std
::
string
command_line
=
"rosbag info "
+
rosbag_file_name
;
system
(
command_line
.
c_str
());
const
std
::
string
record_file_name
=
rosbag_file_name
.
substr
(
0
,
rosbag_file_name
.
size
()
-
3
)
+
"record"
;
auto
record_writer
=
std
::
make_shared
<
apollo
::
cybertron
::
record
::
RecordWriter
>
();
if
(
!
record_writer
->
Open
(
record_file_name
))
{
std
::
cerr
<<
"Error: open file["
<<
record_file_name
<<
"] failed."
;
}
ros
::
Time
::
init
();
ros
::
Time
start_time
=
ros
::
Time
::
now
();
rosbag
::
View
view
(
bag
,
rosbag
::
TopicQuery
(
channel_info
->
GetSupportChannels
()));
for
(
const
rosbag
::
MessageInstance
m
:
view
)
{
const
std
::
string
msg_type
=
m
.
getDataType
();
const
std
::
string
channel_name
=
m
.
getTopic
();
uint64_t
nsec
=
m
.
getTime
().
toNSec
();
// auto msg_size = m.size();
//
// std::vector<uint8_t> buffer;
// buffer.resize(msg_size);
// ros::serialization::IStream stream(buffer.data(), buffer.size());
// m.write(stream);
//
// std::string str_msg;
// str_msg.reserve(msg_size);
// for (size_t i = 0; i < msg_size; ++i) {
// str_msg.push_back(buffer[i]);
// }
//TODO: find a way get all serialized str;
std
::
string
serialized_str
;
if
(
channel_name
==
"/apollo/perception/obstacles"
)
{
auto
pb_msg
=
m
.
instantiate
<
apollo
::
perception
::
PerceptionObstacles
>
();
pb_msg
->
SerializeToString
(
&
serialized_str
);
}
else
if
(
channel_name
==
"/apollo/planning"
)
{
auto
pb_msg
=
m
.
instantiate
<
apollo
::
planning
::
ADCTrajectory
>
();
pb_msg
->
SerializeToString
(
&
serialized_str
);
}
else
if
(
channel_name
==
"/apollo/prediction"
)
{
auto
pb_msg
=
m
.
instantiate
<
apollo
::
prediction
::
PredictionObstacles
>
();
pb_msg
->
SerializeToString
(
&
serialized_str
);
}
else
if
(
channel_name
==
"/apollo/canbus/chassis"
)
{
auto
pb_msg
=
m
.
instantiate
<
apollo
::
canbus
::
Chassis
>
();
pb_msg
->
SerializeToString
(
&
serialized_str
);
}
else
if
(
channel_name
==
"/apollo/control"
)
{
auto
pb_msg
=
m
.
instantiate
<
apollo
::
control
::
ControlCommand
>
();
pb_msg
->
SerializeToString
(
&
serialized_str
);
}
else
if
(
channel_name
==
"/apollo/guardian"
)
{
auto
pb_msg
=
m
.
instantiate
<
apollo
::
guardian
::
GuardianCommand
>
();
pb_msg
->
SerializeToString
(
&
serialized_str
);
}
else
if
(
channel_name
==
"/apollo/localization/pose"
)
{
auto
pb_msg
=
m
.
instantiate
<
apollo
::
localization
::
LocalizationEstimate
>
();
pb_msg
->
SerializeToString
(
&
serialized_str
);
}
else
if
(
channel_name
==
"/apollo/perception/traffic_light"
)
{
auto
pb_msg
=
m
.
instantiate
<
apollo
::
perception
::
TrafficLightDetection
>
();
pb_msg
->
SerializeToString
(
&
serialized_str
);
}
else
if
(
channel_name
==
"/apollo/drive_event"
)
{
auto
pb_msg
=
m
.
instantiate
<
apollo
::
common
::
DriveEvent
>
();
pb_msg
->
SerializeToString
(
&
serialized_str
);
}
else
if
(
channel_name
==
"/apollo/sensor/gnss/corrected_imu"
)
{
auto
pb_msg
=
m
.
instantiate
<
apollo
::
localization
::
CorrectedImu
>
();
pb_msg
->
SerializeToString
(
&
serialized_str
);
}
else
if
(
channel_name
==
"/apollo/sensor/gnss/odometry"
)
{
auto
pb_msg
=
m
.
instantiate
<
apollo
::
localization
::
Gps
>
();
pb_msg
->
SerializeToString
(
&
serialized_str
);
}
else
{
AWARN
<<
"not support channel:"
<<
channel_name
;
continue
;
}
auto
desc
=
channel_info
->
GetProtoDesc
(
channel_name
);
auto
record_message_type
=
channel_info
->
GetMessageType
(
channel_name
);
if
(
desc
==
""
||
record_message_type
==
""
)
{
AWARN
<<
"can not find desc or message tyep"
;
}
if
(
!
record_writer
->
WriteChannel
(
channel_name
,
record_message_type
,
desc
))
{
AERROR
<<
"write channel info failed"
;
}
SingleMessage
single_msg
;
single_msg
.
set_channel_name
(
channel_name
);
single_msg
.
set_content
(
serialized_str
);
single_msg
.
set_time
(
nsec
);
if
(
!
record_writer
->
WriteMessage
(
single_msg
))
{
AERROR
<<
"write single msg fail"
;
}
}
record_writer
->
Close
();
record_writer
=
nullptr
;
std
::
cout
<<
"Info of record file"
<<
std
::
endl
;
command_line
=
"cyber_recorder info -f "
+
record_file_name
;
system
(
command_line
.
c_str
());
std
::
cout
<<
"Convertion finished! Took "
<<
ros
::
Time
::
now
()
-
start_time
<<
" seconds in total."
<<
std
::
endl
;
return
0
;
}
modules/tools/rosbag_to_record/rosbag_to_record.h
0 → 100644
浏览文件 @
4a44aa7c
/******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#ifndef MODULES_TOOLS_ROSBAG_TO_RECORD_ROSBAG_TO_RECORD_H_
#define MODULES_TOOLS_ROSBAG_TO_RECORD_ROSBAG_TO_RECORD_H_
#include <cstdint>
#include <cstdlib>
#include <iostream>
#include <memory>
#include <string>
#include <unordered_map>
#include <rosbag/bag.h>
#include <rosbag/view.h>
#include "cybertron/record/record_writer.h"
#endif // MODULES_TOOLS_ROSBAG_TO_RECORD_ROSBAG_TO_RECORD_H_
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