scripts: make replay works for current working dir. add replay sequence script.

modules/tools/replay/replay_sequence.py

@@ -25,8 +25,7 @@ import rospy
 from std_msgs.msg import String
 from google.protobuf import text_format
 
-import common.proto_utils as proto_utils
-
+import common.message_manager as message_manager
 
 def generate_message(filename, pb_type):
     f_handle = file(filename, 'r')
@@ -40,22 +39,28 @@ def seq_publisher(seq_num, period):
     """publisher"""
     rospy.init_node('replay_node', anonymous=True)
     messages = {}
-    for topic, msg_type in proto_utils.topic_pb_dict.iteritems():
+    for msg in message_manager.topic_pb_list:
+        topic = msg.topic()
+        name = msg.name()
+        msg_type = msg.msg_type()
         messages[topic] = {}
-        filename = str(seq_num) + "_" + topic + ".pb.txt"
+        filename = str(seq_num) + "_" + name + ".pb.txt"
         print "trying to load pb file:", filename
         messages[topic]["publisher"] = rospy.Publisher(
             topic, msg_type, queue_size=1)
-        pb_msg = msg_type()
-        if not proto_utils.get_pb_from_file(filename, pb_msg):
+        pb_msg = msg.parse_file(filename)
+        if not pb_msg:
             print topic, " pb is none"
+            # continue
         messages[topic]["value"] = pb_msg
 
     rate = rospy.Rate(int(1.0 / period))  # 10hz
     while not rospy.is_shutdown():
-        for topic, module_features in messages:
-            if module_features["value"] is not None:
-                module_features["publisher"].publish(module_features["value"])
+        for topic in messages:
+            if messages[topic]["value"] is not None:
+                print "publish: ", topic
+                messages[topic]["publisher"].publish(
+                    messages[topic]["value"])
         rate.sleep()
 
 

scripts/replay.sh

@@ -16,11 +16,6 @@
 # limitations under the License.
 ###############################################################################
 
+# e.g. replay.sh 1_chassis.pb.txt
 
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-
-cd "${DIR}/.."
-
-source "${DIR}/apollo_base.sh"
-
-python modules/tools/replay/replay_file.py $@
+python /apollo/modules/tools/replay/replay_file.py $@

scripts/replay_seq.sh

+#!/usr/bin/env bash
+
+###############################################################################
+# Copyright 2017 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.
+###############################################################################
+
+# e.g. replay_seq.sh 11
+
+python /apollo/modules/tools/replay/replay_sequence.py $@