Tools: Add common module for python tools.

modules/tools/calibration/result2pb.py

@@ -18,12 +18,11 @@
 
 import sys
 
-from google.protobuf import text_format
 import numpy as np
 
-sys.path.append("../../bazel-genfiles")
+import common.proto_utils as proto_utils
 from modules.control.proto import calibration_table_pb2
-from modules.control.proto import control_conf_pb2
+from modules.control.proto.control_conf_pb2 import ControlConf
 
 
 def load_calibration_raw_data(fn):
@@ -85,14 +84,6 @@ def load_calibration_raw_data_old(fn):
     return speed_table
 
 
-def load_old_control_conf_pb_txt(control_conf_pb_txt_file):
-    control_conf_pb = control_conf_pb2.ControlConf()
-    f_handle = open(control_conf_pb_txt_file, 'r')
-    text_format.Merge(f_handle.read(), control_conf_pb)
-    f_handle.close()
-    return control_conf_pb
-
-
 def get_calibration_table_pb(speed_table):
     calibration_table_pb = calibration_table_pb2.ControlCalibrationTable()
     speeds = speed_table.keys()
@@ -115,7 +106,7 @@ if __name__ == "__main__":
     if len(sys.argv) < 2:
         print "usage: python plot_results.py old_control_conf.pb.txt result.csv"
 
-    ctl_conf_pb = load_old_control_conf_pb_txt(sys.argv[1])
+    ctl_conf_pb = proto_utils.get_pb_from_text_file(sys.argv[1], ControlConf())
     speed_table_dict = load_calibration_raw_data(sys.argv[2])
     calibration_table_pb = get_calibration_table_pb(speed_table_dict)
     ctl_conf_pb.lon_controller_conf.calibration_table.CopyFrom(

modules/tools/mapshow/setup.sh → modules/tools/common/proto_utils.py

-#!/usr/bin/env bash
+#!/usr/bin/env python
 
 ###############################################################################
 # Copyright 2017 The Apollo Authors. All Rights Reserved.
@@ -15,7 +15,32 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 ###############################################################################
+"""Protobuf utils."""
+import google.protobuf.text_format as text_format
 
 
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-export PYTHONPATH="${DIR}/../../../bazel-genfiles:${PYTHONPATH}"
+def get_pb_from_text_file(filename, proto_obj):
+    """Get a proto from given text file."""
+    with open(filename, 'r') as file_in:
+        return text_format.Merge(file_in.read(), proto_obj)
+
+
+def get_pb_from_bin_file(filename, proto_obj):
+    """Get a proto from given binary file."""
+    with open(filename, 'rb') as file_in:
+        proto_obj.ParseFromString(file_in.read())
+    return proto_obj
+
+def get_pb_from_file(filename, proto_obj):
+    """Get a proto from given file by trying binary mode and text mode."""
+    try:
+        return get_pb_from_bin_file(filename, proto_obj)
+    except:
+        print 'Info: Cannot parse %s as binary proto.' % filename
+
+    try:
+        return get_pb_from_text_file(filename, proto_obj)
+    except:
+        print 'Error: Cannot parse %s as text proto' % filename
+
+    return None

modules/tools/mapshow/README.md

-##About
+# Map Show
+
+## About
+
 Mapshow is a tool to display hdmap info on a map.
 
-##Setup
-If you run mapshow inside docker, there is no setup for running the tool. Otherwise, you have to run following command to setup python path. 
+## Setup
 
-```shell
-source setup.sh
+If you run mapshow inside docker, there is no setup for running the tool.
+Otherwise, you have to run following command to setup python path.
+
+```bash
+# In apollo root dir:
+source scripts/apollo_base.sh
 ```
 
 ## Usage
@@ -26,20 +32,18 @@ source setup.sh
 
 Show basic map layout only
 
-```
+```bash
 python mapshow.py -m /path/to/map/file
 ```
 
-
-
 Show basic map layout with all lane ids
 
-```
+```bash
 python mapshow.py -m /path/to/map/file -sl
 ```
 
 show basic map layout with specific lane ids
 
-```
+```bash
 python mapshow.py -m /path/to/map/file -l 1474023788152_1_-1
 ```
\ No newline at end of file

modules/tools/mapshow/localization.py

 import math
 import threading
 
-from google.protobuf import text_format
-
-from modules.localization.proto import localization_pb2
+import common.proto_utils as proto_utils
+from modules.localization.proto.localization_pb2 import LocalizationEstimate
 
 
 class Localization:
@@ -17,10 +16,8 @@ class Localization:
         self.localization_data_lock.release()
 
     def load(self, localization_file_name):
-        self.localization_pb = localization_pb2.LocalizationEstimate()
-        f_handle = open(localization_file_name, 'r')
-        text_format.Merge(f_handle.read(), self.localization_pb)
-        f_handle.close()
+        self.localization_pb = proto_utils.get_pb_from_text_file(
+            localization_file_name, LocalizationEstimate())
 
     def plot_vehicle(self, ax):
         self.plot_vehicle_position(ax)

modules/tools/mapshow/map.py

@@ -19,10 +19,10 @@
 import random
 
 import matplotlib.pyplot as plt
-from google.protobuf import text_format
 from matplotlib import cm as cmx
 from matplotlib import colors as mcolors
 
+import common.proto_utils as proto_utils
 from modules.map.proto import map_pb2
 
 class Map:
@@ -43,20 +43,8 @@ class Map:
             self.colors.append(color_val)
 
     def load(self, map_file_name):
-        try:
-            f_handle = open(map_file_name, "rb")
-            self.map_pb.ParseFromString(f_handle.read())
-            f_handle.close()
-            return True
-        except Exception as e:
-            try:
-                f_handle = open(map_file_name, 'r')
-                text_format.Merge(f_handle.read(), self.map_pb)
-                f_handle.close()
-                return True
-            except Exception as e:
-                print "Error: map file is incorrect!"
-                return False
+        res = proto_utils.get_pb_from_file(map_file_name, self.map_pb)
+        return res != None
 
     def draw_lanes(self, ax, is_show_lane_ids, laneids):
         cnt = 1

modules/tools/perception/extend_prediction.py

@@ -8,26 +8,13 @@ import time
 
 import numpy
 import rospy
-from google.protobuf import text_format
 from std_msgs.msg import String
 
+import common.proto_utils as proto_utils
 from modules.prediction.proto.prediction_obstacle_pb2 import PredictionObstacle
 from modules.prediction.proto.prediction_obstacle_pb2 import PredictionObstacles
 
 
-def load_pb_from_file(filename, pb_value):
-    """load pb from file"""
-    try:
-        f_handle = open(filename, "rb")
-        pb_value.ParseFromString(f_handle.read())
-        f_handle.close()
-    except Exception as e:
-        f_handle = open(filename, 'r')
-        text_format.Merge(f_handle.read(), pb_value)
-        f_handle.close()
-    return pb_value
-
-
 def distance(p1, p2):
     """distance between two trajectory points"""
     return math.sqrt((p1.y - p2.y)**2 + (p1.x - p2.x)**2);
@@ -80,6 +67,7 @@ if __name__ == '__main__':
     parser.add_argument("-d", "--distance", action="store", type=float, default=70.0,
             help="set the prediction distance")
     args = parser.parse_args()
-    prediction_data = load_pb_from_file(args.prediction, PredictionObstacles())
+    prediction_data = proto_utils.get_pb_from_file(args.prediction,
+                                                   PredictionObstacles())
     extended_prediction = extend_prediction(prediction_data, args.distance, args.period)
     print extended_prediction

modules/tools/planning_traj_plot/main.py

@@ -18,30 +18,12 @@
 
 import sys
 
-import gflags
 import matplotlib.pyplot as plt
-from gflags import FLAGS
-from google.protobuf import text_format
 
+import common.proto_utils as proto_utils
 import mkz_polygon
-from modules.planning.proto import planning_pb2
-from modules.localization.proto import localization_pb2
-
-
-def read_planning_pb(planning_pb_file):
-    planning_pb = planning_pb2.ADCTrajectory()
-    f_handle = open(planning_pb_file, 'r')
-    text_format.Merge(f_handle.read(), planning_pb)
-    f_handle.close()
-    return planning_pb
-
-
-def read_localization_pb(localization_pb_file):
-    localization_pb = localization_pb2.LocalizationEstimate()
-    f_handle = open(localization_pb_file, 'r')
-    text_format.Merge(f_handle.read(), localization_pb)
-    f_handle.close()
-    return localization_pb
+from modules.planning.proto.planning_pb2 import ADCTrajectory
+from modules.localization.proto.localization_pb2 import LocalizationEstimate
 
 
 def plot_trajectory(planning_pb, ax):
@@ -142,8 +124,10 @@ if __name__ == "__main__":
 
     planning_pb_file = sys.argv[1]
     localization_pb_file = sys.argv[2]
-    planning_pb = read_planning_pb(planning_pb_file)
-    localization_pb = read_localization_pb(localization_pb_file)
+    planning_pb = proto_utils.get_pb_from_text_file(
+        planning_pb_file, ADCTrajectory())
+    localization_pb = proto_utils.get_pb_from_text_file(
+        localization_pb_file, LocalizationEstimate())
 
     plot_trajectory(planning_pb, plt)
     plot_vehicle(localization_pb, plt)

modules/tools/planning_traj_plot/run.sh

@@ -24,6 +24,6 @@ then
 fi
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+source "${DIR}/../../../scripts/apollo_base.sh"
 
-export PYTHONPATH="${DIR}/../../../bazel-genfiles:${PYTHONPATH}"
 eval "python ${DIR}/main.py $1 $2"

scripts/apollo_base.sh

@@ -105,13 +105,16 @@ function set_lib_path() {
   if [ "$RELEASE_DOCKER" == 1 ];then
       source /apollo/ros/setup.bash
       export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/apollo/lib
-      export PYTHONPATH=/apollo/lib:${PYTHONPATH}
+      PY_LIB_PATH=/apollo/lib
+      PY_TOOLS_PATH=/apollo/modules/tools
   else
       if [ -e "${APOLLO_ROOT_DIR}/bazel-apollo/external/ros/setup.bash" ]; then
          source "${APOLLO_ROOT_DIR}/bazel-apollo/external/ros/setup.bash"
       fi
-      export PYTHONPATH=${APOLLO_ROOT_DIR}/bazel-genfiles:${PYTHONPATH}
+      PY_LIB_PATH=${APOLLO_ROOT_DIR}/bazel-genfiles
+      PY_TOOLS_PATH=${APOLLO_ROOT_DIR}/modules/tools
   fi
+  export PYTHONPATH=${PY_LIB_PATH}:${PY_TOOLS_PATH}:${PYTHONPATH}
 }
 
 function create_data_dir() {