Bazel: bazel run //cyber/python/cyber_py3/examples:record bugfix

Co-authored-by:
  changsh726 <changsonghong@baidu.com>,
  Liu Xu <759587231@qq.com>,
  lfcarol <451427333@qq.com>.

cyber/python/cyber_py3/BUILD

@@ -6,8 +6,8 @@ py_library(
     name = "cyber_time",
     srcs = ["cyber_time.py"],
     data = [
-        "//cyber/python/internal:_cyber_py3.so",
-        "//cyber/python/internal:_cyber_time_py3.so",
+        "//cyber/python/internal:_cyber_time_wrapper.so",
+        "//cyber/python/internal:_cyber_wrapper.so",
     ],
 )
 
@@ -15,7 +15,7 @@ py_library(
     name = "cyber_timer",
     srcs = ["cyber_timer.py"],
     data = [
-        "//cyber/python/internal:_cyber_timer_py3.so",
+        "//cyber/python/internal:_cyber_timer_wrapper.so",
     ],
 )
 
@@ -23,7 +23,7 @@ py_library(
     name = "cyber",
     srcs = ["cyber.py"],
     data = [
-        "//cyber/python/internal:_cyber_py3.so",
+        "//cyber/python/internal:_cyber_wrapper.so",
     ],
 )
 
@@ -31,7 +31,7 @@ py_library(
     name = "parameter",
     srcs = ["parameter.py"],
     data = [
-        "//cyber/python/internal:_cyber_parameter_py3.so",
+        "//cyber/python/internal:_cyber_parameter_wrapper.so",
     ],
 )
 
@@ -39,6 +39,6 @@ py_library(
     name = "record",
     srcs = ["record.py"],
     data = [
-        "//cyber/python/internal:_cyber_record_py3.so",
+        "//cyber/python/internal:_cyber_record_wrapper.so",
     ],
 )

cyber/python/cyber_py3/cyber.py

@@ -42,7 +42,7 @@ sys.path.append(CYBER_PATH + "/lib/python/")
 sys.path.append(CYBER_DIR + "/python/")
 sys.path.append(CYBER_DIR + "/cyber/")
 
-_CYBER = importlib.import_module('_cyber_py3')
+_CYBER = importlib.import_module('_cyber_wrapper')
 
 
 ##

cyber/python/cyber_py3/cyber_time.py

@@ -34,8 +34,8 @@ sys.path.append(CYBER_PATH + "/lib/python/")
 sys.path.append(CYBER_DIR + "/python/")
 sys.path.append(CYBER_DIR + "/cyber/")
 
-_CYBER = importlib.import_module('_cyber_py3')
-_CYBER_TIME = importlib.import_module('_cyber_time_py3')
+_CYBER = importlib.import_module('_cyber_wrapper')
+_CYBER_TIME = importlib.import_module('_cyber_time_wrapper')
 
 
 class Duration(object):

cyber/python/cyber_py3/cyber_timer.py

@@ -37,7 +37,7 @@ sys.path.append(CYBER_PATH + "/lib/python/")
 sys.path.append(CYBER_DIR + "/python/")
 sys.path.append(CYBER_DIR + "/cyber/")
 
-_CYBER_TIMER = importlib.import_module('_cyber_timer_py3')
+_CYBER_TIMER = importlib.import_module('_cyber_timer_wrapper')
 
 
 class Timer(object):

cyber/python/cyber_py3/examples/BUILD

@@ -8,6 +8,25 @@ py_binary(
     deps = [
         "//cyber/proto:unit_test_py_pb2",
         "//cyber/python/cyber_py3:record",
+        "//modules/common/proto:error_code_py_pb2",
+        "//modules/common/proto:header_py_pb2",
         "//modules/common/util/testdata:simple_py_pb2",
     ],
 )
+
+py_binary(
+    name = "time",
+    srcs = ["time.py"],
+    deps = [
+        "//cyber/python/cyber_py3:cyber_time",
+    ],
+)
+
+py_binary(
+    name = "timer",
+    srcs = ["timer.py"],
+    deps = [
+        "//cyber/python/cyber_py3:cyber",
+        "//cyber/python/cyber_py3:cyber_timer",
+    ],
+)

cyber/python/cyber_py3/parameter.py

@@ -34,7 +34,7 @@ sys.path.append(CYBER_PATH + "/lib/python/")
 sys.path.append(CYBER_DIR + "/python/")
 sys.path.append(CYBER_DIR + "/cyber/")
 
-_CYBER_PARAM = importlib.import_module('_cyber_parameter_py3')
+_CYBER_PARAM = importlib.import_module('_cyber_parameter_wrapper')
 
 
 class Parameter(object):

cyber/python/cyber_py3/record.py

@@ -38,7 +38,7 @@ sys.path.append(CYBER_DIR + "/cyber/")
 wrapper_lib_path = os.path.abspath(os.path.join(os.path.dirname(__file__),
                                                 '../internal'))
 sys.path.insert(0, wrapper_lib_path)
-_CYBER_RECORD = importlib.import_module('_cyber_record_py3')
+_CYBER_RECORD = importlib.import_module('_cyber_record_wrapper')
 PyBagMessage = collections.namedtuple('PyBagMessage',
                                       'topic message data_type timestamp')
 

cyber/python/internal/BUILD

@@ -4,21 +4,22 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//cyber/python/cyber_py3:__pkg__"])
 
 cc_binary(
-    name = "_cyber_py3.so",
+    name = "_cyber_wrapper.so",
+    srcs = ["py_cyber.cc"],
     linkshared = True,
-    linkstatic = False,
     deps = [
-        ":py3_cyber",
+        ":py_cyber",
     ],
 )
 
 cc_library(
-    name = "py3_cyber",
+    name = "py_cyber",
     srcs = ["py_cyber.cc"],
     hdrs = ["py_cyber.h"],
     deps = [
         "//cyber:cyber_core",
         "@local_config_python//:python_headers",
+        "@local_config_python//:python_lib",
     ],
 )
 
@@ -27,29 +28,31 @@ cc_test(
     size = "small",
     srcs = ["py_cyber_test.cc"],
     deps = [
-        ":py3_cyber",
+        ":py_cyber",
         "//cyber/proto:unit_test_cc_proto",
         "@com_google_googletest//:gtest",
-        "@local_config_python//:python_lib",
     ],
 )
 
 cc_binary(
-    name = "_cyber_record_py3.so",
+    name = "_cyber_record_wrapper.so",
+    srcs = ["py_record.cc"],
     linkshared = True,
     deps = [
-        ":py3_record",
+        ":py_record",
     ],
 )
 
 cc_library(
-    name = "py3_record",
+    name = "py_record",
     srcs = ["py_record.cc"],
     hdrs = ["py_record.h"],
     deps = [
+        "//cyber:cyber_core",
         "//cyber/message:py_message",
         "//cyber/record",
         "@local_config_python//:python_headers",
+        "@local_config_python//:python_lib",
     ],
 )
 
@@ -58,68 +61,72 @@ cc_test(
     size = "small",
     srcs = ["py_record_test.cc"],
     deps = [
-        ":py3_record",
-        "//cyber:cyber_core",
+        ":py_record",
         "//cyber/proto:unit_test_cc_proto",
         "@com_google_googletest//:gtest_main",
-        "@fastrtps",
-        "@local_config_python//:python_lib",
+        #"@fastrtps",
     ],
 )
 
 cc_binary(
-    name = "_cyber_time_py3.so",
+    name = "_cyber_time_wrapper.so",
+    srcs = ["py_time.cc"],
     linkshared = True,
     deps = [
-        ":py3_time",
+        ":py_time",
     ],
 )
 
 cc_library(
-    name = "py3_time",
+    name = "py_time",
     srcs = ["py_time.cc"],
     hdrs = ["py_time.h"],
     deps = [
         "//cyber:cyber_core",
         "@fastrtps",
         "@local_config_python//:python_headers",
+        "@local_config_python//:python_lib",
     ],
 )
 
 cc_binary(
-    name = "_cyber_timer_py3.so",
+    name = "_cyber_timer_wrapper.so",
+    srcs = ["py_timer.cc"],
     linkshared = True,
     deps = [
-        ":py3_timer",
+        ":py_timer",
     ],
 )
 
 cc_library(
-    name = "py3_timer",
+    name = "py_timer",
     srcs = ["py_timer.cc"],
     hdrs = ["py_timer.h"],
     deps = [
         "//cyber:cyber_core",
         "@local_config_python//:python_headers",
+        "@local_config_python//:python_lib",
     ],
 )
 
 cc_binary(
-    name = "_cyber_parameter_py3.so",
+    name = "_cyber_parameter_wrapper.so",
+    srcs = ["py_parameter.cc"],
     linkshared = True,
     deps = [
-        ":py3_parameter",
+        ":py_parameter",
     ],
 )
 
 cc_library(
-    name = "py3_parameter",
+    name = "py_parameter",
     srcs = ["py_parameter.cc"],
     hdrs = ["py_parameter.h"],
     deps = [
-        ":py3_cyber",
+        ":py_cyber",
         "//cyber:cyber_core",
         "@local_config_python//:python_headers",
+        "@local_config_python//:python_lib",
     ],
 )
 

cyber/python/internal/py_cyber.cc

@@ -901,10 +901,10 @@ static PyMethodDef _cyber_methods[] = {
 };
 
 /// Init function of this module
-PyMODINIT_FUNC PyInit__cyber_py3(void) {
+PyMODINIT_FUNC PyInit__cyber_wrapper(void) {
   static struct PyModuleDef module_def = {
       PyModuleDef_HEAD_INIT,
-      "_cyber_py3",    // Module name.
+      "_cyber_wrapper",    // Module name.
       "Cyber module",  // Module doc.
       -1,              // Module size.
       _cyber_methods,  // Module methods.

cyber/python/internal/py_parameter.cc

@@ -599,10 +599,10 @@ static PyMethodDef _cyber_parameter_methods[] = {
 };
 
 /// Init function of this module
-PyMODINIT_FUNC PyInit__cyber_parameter_py3(void) {
+PyMODINIT_FUNC PyInit__cyber_parameter_wrapper(void) {
   static struct PyModuleDef module_def = {
       PyModuleDef_HEAD_INIT,
-      "_cyber_parameter_py3",    // Module name.
+      "_cyber_parameter_wrapper",    // Module name.
       "CyberParameter module",   // Module doc.
       -1,                        // Module size.
       _cyber_parameter_methods,  // Module methods.

cyber/python/internal/py_record.cc

@@ -558,10 +558,10 @@ static PyMethodDef _cyber_record_methods[] = {
 };
 
 /// Init function of this module
-PyMODINIT_FUNC PyInit__cyber_record_py3(void) {
+PyMODINIT_FUNC PyInit__cyber_record_wrapper(void) {
   static struct PyModuleDef module_def = {
       PyModuleDef_HEAD_INIT,
-      "_cyber_record_py3",    // Module name.
+      "_cyber_record_wrapper",    // Module name.
       "CyberRecord module",   // Module doc.
       -1,                     // Module size.
       _cyber_record_methods,  // Module methods.
@@ -571,6 +571,6 @@ PyMODINIT_FUNC PyInit__cyber_record_py3(void) {
       nullptr,
   };
 
-  AINFO << "init _cyber_record_py3";
+  AINFO << "init _cyber_record_wrapper";
   return PyModule_Create(&module_def);
 }

cyber/python/internal/py_time.cc

@@ -332,10 +332,10 @@ static PyMethodDef _cyber_time_methods[] = {
 };
 
 /// Init function of this module
-PyMODINIT_FUNC PyInit__cyber_time_py3(void) {
+PyMODINIT_FUNC PyInit__cyber_time_wrapper(void) {
   static struct PyModuleDef module_def = {
       PyModuleDef_HEAD_INIT,
-      "_cyber_time_py3",    // Module name.
+      "_cyber_time_wrapper",    // Module name.
       "CyberTime module",   // Module doc.
       -1,                   // Module size.
       _cyber_time_methods,  // Module methods.

cyber/python/internal/py_timer.cc

@@ -158,10 +158,10 @@ static PyMethodDef _cyber_timer_methods[] = {
 };
 
 /// Init function of this module
-PyMODINIT_FUNC PyInit__cyber_timer_py3(void) {
+PyMODINIT_FUNC PyInit__cyber_timer_wrapper(void) {
   static struct PyModuleDef module_def = {
       PyModuleDef_HEAD_INIT,
-      "_cyber_timer_py3",    // Module name.
+      "_cyber_timer_wrapper",    // Module name.
       "CyberTimer module",   // Module doc.
       -1,                    // Module size.
       _cyber_timer_methods,  // Module methods.

cyber/setup.bash

@@ -34,7 +34,7 @@ for entry in "${cyber_bin_path}" "${recorder_path}" "${monitor_path}" "${launch_
     add_to_path "${entry}"
 done
 
-PYTHON_LD_PATH="${bazel_bin_path}/cyber/py_wrapper"
+PYTHON_LD_PATH="${bazel_bin_path}/cyber/python/internal"
 export PYTHONPATH=${PYTHON_LD_PATH}:${CYBER_PATH}/python:$PYTHONPATH
 
 export CYBER_DOMAIN_ID=80