Bazel: introduce bazel management for some python code in modules/tools

modules/tools/plot_control/BUILD

+load("@rules_python//python:defs.bzl", "py_binary")
+
+package(default_visibility = ["//visibility:public"])
+
+py_binary(
+    name = "plot_control",
+    srcs = ["plot_control.py"],
+    deps = [
+        "//cyber/python/cyber_py3:cyber",
+        "//modules/control/proto:control_cmd_py_pb2",
+    ],
+)
+
+py_binary(
+    name = "realtime_test",
+    srcs = ["realtime_test.py"],
+    deps = [
+        "//cyber/python/cyber_py3:cyber",
+        "//modules/canbus/proto:chassis_py_pb2",
+        "//modules/localization/proto:localization_py_pb2",
+    ],
+)

modules/tools/plot_control/plot_control.py

@@ -18,10 +18,10 @@
 
 import sys
 import gflags
-from cyber_py3 import cyber
+from cyber.python.cyber_py3 import cyber
 import matplotlib.pyplot as plt
 import matplotlib.animation as animation
-from modules.control.proto import control_cmd_pb2
+from modules.control.proto import control_cmd_py_pb2
 BRAKE_LINE_DATA = []
 TROTTLE_LINE_DATA = []
 STEERING_LINE_DATA = []
@@ -51,7 +51,7 @@ def listener():
     cyber.init()
     test_node = cyber.Node("control_listener")
     test_node.create_reader("/apollo/control",
-                            control_cmd_pb2.ControlCommand, callback)
+                            control_cmd_py_pb2.ControlCommand, callback)
     test_node.spin()
     cyber.shutdown()
 

modules/tools/plot_control/realtime_test.py

@@ -22,9 +22,9 @@ import datetime
 import os
 import sys
 
-from cyber_py3 import cyber
-from modules.canbus.proto import chassis_pb2
-from modules.localization.proto import localization_pb2
+from cyber.python.cyber_py3 import cyber
+from modules.canbus.proto import chassis_py_pb2
+from modules.localization.proto import localization_py_pb2
 
 
 SmoothParam = 9
@@ -90,6 +90,6 @@ if __name__ == '__main__':
     rttest.acclimit = args.acc
     cyber_node = cyber.Node("RealTimeTest")
     cyber_node.create_reader("/apollo/canbus/chassis",
-                             chassis_pb2.Chassis, rttest.chassis_callback)
+                             chassis_py_pb2.Chassis, rttest.chassis_callback)
     cyber_node.spin()
     cyber.shutdown()

modules/tools/plot_planning/BUILD

+load("@rules_python//python:defs.bzl", "py_binary", "py_library")
+
+package(default_visibility = ["//visibility:public"])
+
+py_binary(
+    name = "chassis_speed",
+    srcs = ["chassis_speed.py"],
+    deps = [
+        ":record_reader",
+    ],
+)
+
+py_binary(
+    name = "imu_acc",
+    srcs = ["imu_acc.py"],
+    deps = [
+        ":record_reader",
+    ],
+)
+
+py_binary(
+    name = "imu_angular_velocity",
+    srcs = ["imu_angular_velocity.py"],
+    deps = [
+        ":record_reader",
+    ],
+)
+
+py_binary(
+    name = "imu_av_curvature",
+    srcs = ["imu_av_curvature.py"],
+    deps = [
+        ":imu_angular_velocity",
+        ":imu_speed",
+        ":record_reader",
+    ],
+)
+
+py_binary(
+    name = "imu_speed",
+    srcs = ["imu_speed.py"],
+    deps = [
+        ":record_reader",
+    ],
+)
+
+py_binary(
+    name = "imu_speed_acc",
+    srcs = ["imu_speed_acc.py"],
+    deps = [
+        ":imu_speed",
+        ":record_reader",
+    ],
+)
+
+py_binary(
+    name = "imu_speed_jerk",
+    srcs = ["imu_speed_jerk.py"],
+    deps = [
+        ":imu_speed_acc",
+        ":record_reader",
+    ],
+)
+
+py_binary(
+    name = "planning_speed",
+    srcs = ["planning_speed.py"],
+)
+
+py_binary(
+    name = "plot_acc_jerk",
+    srcs = ["plot_acc_jerk.py"],
+    deps = [
+        ":imu_speed_acc",
+        ":imu_speed_jerk",
+        ":record_reader",
+    ],
+)
+
+py_binary(
+    name = "plot_chassis_acc",
+    srcs = ["plot_chassis_acc.py"],
+    deps = [
+        "//cyber/python/cyber_py3:cyber",
+        "//modules/canbus/proto:chassis_py_pb2",
+        "//modules/control/proto:control_cmd_py_pb2",
+    ],
+)
+
+py_binary(
+    name = "plot_planning_acc",
+    srcs = ["plot_planning_acc.py"],
+    deps = [
+        "//cyber/python/cyber_py3:cyber",
+        "//modules/canbus/proto:chassis_py_pb2",
+        "//modules/control/proto:control_cmd_py_pb2",
+    ],
+)
+
+py_binary(
+    name = "plot_planning_speed",
+    srcs = ["plot_planning_speed.py"],
+    deps = [
+        "//cyber/python/cyber_py3:cyber",
+        "//modules/canbus/proto:chassis_py_pb2",
+        "//modules/control/proto:control_cmd_py_pb2",
+    ],
+)
+
+py_binary(
+    name = "plot_speed_jerk",
+    srcs = ["plot_speed_jerk.py"],
+    deps = [
+        ":imu_speed",
+        ":imu_speed_jerk",
+        ":record_reader",
+    ],
+)
+
+py_binary(
+    name = "plot_speed_steering",
+    srcs = ["plot_speed_steering.py"],
+    deps = [
+        "//cyber/python/cyber_py3:cyber",
+        "//modules/canbus/proto:chassis_py_pb2",
+        "//modules/planning/proto:planning_py_pb2",
+    ],
+)
+
+py_library(
+    name = "record_reader",
+    srcs = ["record_reader.py"],
+    deps = [
+        "//cyber/python/cyber_py3:cyber",
+        "//modules/canbus/proto:chassis_py_pb2",
+        "//modules/localization/proto:localization_py_pb2",
+        "//modules/planning/proto:planning_py_pb2",
+    ],
+)
+
+py_binary(
+    name = "speed_dsteering_data",
+    srcs = ["speed_dsteering_data.py"],
+    deps = [
+        "//cyber/python/cyber_py3:cyber",
+        "//modules/canbus/proto:chassis_py_pb2",
+    ],
+)

modules/tools/plot_planning/plot_chassis_acc.py

@@ -23,9 +23,9 @@ import gflags
 import matplotlib.animation as animation
 import matplotlib.pyplot as plt
 
-from cyber_py3 import cyber
-from modules.canbus.proto import chassis_pb2
-from modules.control.proto import control_cmd_pb2
+from cyber.python.cyber_py3 import cyber
+from modules.canbus.proto import chassis_py_pb2
+from modules.control.proto import control_cmd_py_pb2
 
 
 INIT_ACC_DATA = []
@@ -78,7 +78,7 @@ def listener():
     cyber.init()
     test_node = cyber.Node("chassis_acc_listener")
     test_node.create_reader("/apollo/canbus/chassis",
-                            chassis_pb2.Chassis, callback)
+                            chassis_py_pb2.Chassis, callback)
 
 
 def compensate(data_list):

modules/tools/plot_planning/plot_planning_acc.py

@@ -23,9 +23,9 @@ import gflags
 import matplotlib.animation as animation
 import matplotlib.pyplot as plt
 
-from cyber_py3 import cyber
-from modules.control.proto import control_cmd_pb2
-from modules.planning.proto import planning_pb2
+from cyber.python.cyber_py3 import cyber
+from modules.control.proto import control_cmd_py_pb2
+from modules.planning.proto import planning_py_pb2
 
 
 LAST_TRAJ_DATA = []
@@ -108,7 +108,7 @@ def listener():
     cyber.init()
     test_node = cyber.Node("planning_acc_listener")
     test_node.create_reader("/apollo/planning",
-                            planning_pb2.ADCTrajectory, callback)
+                            planning_py_pb2.ADCTrajectory, callback)
 
 
 def compensate(data_list):

modules/tools/plot_planning/plot_planning_speed.py

@@ -23,9 +23,9 @@ import gflags
 import matplotlib.animation as animation
 import matplotlib.pyplot as plt
 
-from cyber_py3 import cyber
-from modules.control.proto import control_cmd_pb2
-from modules.planning.proto import planning_pb2
+from cyber.python.cyber_py3 import cyber
+from modules.control.proto import control_cmd_py_pb2
+from modules.planning.proto import planning_py_pb2
 
 
 LAST_TRAJ_DATA = []
@@ -91,7 +91,7 @@ def listener():
     cyber.init()
     test_node = cyber.Node("planning_listener")
     test_node.create_reader("/apollo/planning",
-                            planning_pb2.ADCTrajectory, callback)
+                            planning_py_pb2.ADCTrajectory, callback)
 
 
 def compensate(data_list):

modules/tools/plot_planning/plot_speed_steering.py

@@ -21,8 +21,8 @@ import sys
 
 import matplotlib.pyplot as plt
 
-from cyber_py3.record import RecordReader
-from modules.canbus.proto import chassis_pb2
+from cyber.python.cyber_py3.record import RecordReader
+from modules.canbus.proto import chassis_py_pb2
 
 
 def process(reader):
@@ -34,14 +34,14 @@ def process(reader):
 
     for msg in reader.read_messages():
         if msg.topic == "/apollo/canbus/chassis":
-            chassis = chassis_pb2.Chassis()
+            chassis = chassis_py_pb2.Chassis()
             chassis.ParseFromString(msg.message)
 
             steering_percentage = chassis.steering_percentage
             speed_mps = chassis.speed_mps
             timestamp_sec = chassis.header.timestamp_sec
 
-            if chassis.driving_mode != chassis_pb2.Chassis.COMPLETE_AUTO_DRIVE:
+            if chassis.driving_mode != chassis_py_pb2.Chassis.COMPLETE_AUTO_DRIVE:
                 last_steering_percentage = steering_percentage
                 last_speed_mps = speed_mps
                 last_timestamp_sec = timestamp_sec

modules/tools/plot_planning/record_reader.py

@@ -16,10 +16,10 @@
 # limitations under the License.
 ###############################################################################
 
-from cyber_py3.record import RecordReader
-from modules.canbus.proto import chassis_pb2
-from modules.localization.proto import localization_pb2
-from modules.planning.proto import planning_pb2
+from cyber.python.cyber_py3.record import RecordReader
+from modules.canbus.proto import chassis_py_pb2
+from modules.localization.proto import localization_py_pb2
+from modules.planning.proto import planning_py_pb2
 
 
 class RecordItemReader:
@@ -32,19 +32,19 @@ class RecordItemReader:
             if msg.topic not in topics:
                 continue
             if msg.topic == "/apollo/canbus/chassis":
-                chassis = chassis_pb2.Chassis()
+                chassis = chassis_py_pb2.Chassis()
                 chassis.ParseFromString(msg.message)
                 data = {"chassis": chassis}
                 yield data
 
             if msg.topic == "/apollo/localization/pose":
-                location_est = localization_pb2.LocalizationEstimate()
+                location_est = localization_py_pb2.LocalizationEstimate()
                 location_est.ParseFromString(msg.message)
                 data = {"pose": location_est}
                 yield data
 
             if msg.topic == "/apollo/planning":
-                planning = planning_pb2.ADCTrajectory()
+                planning = planning_py_pb2.ADCTrajectory()
                 planning.ParseFromString(msg.message)
                 data = {"planning": planning}
                 yield data

modules/tools/plot_planning/speed_dsteering_data.py

@@ -19,8 +19,8 @@
 import sys
 from record_reader import RecordItemReader
 import matplotlib.pyplot as plt
-from cyber_py3.record import RecordReader
-from modules.canbus.proto import chassis_pb2
+from cyber.python.cyber_py3.record import RecordReader
+from modules.canbus.proto import chassis_py_pb2
 
 
 class SpeedDsteeringData:

modules/tools/plot_trace/BUILD

+load("@rules_python//python:defs.bzl", "py_binary")
+
+package(default_visibility = ["//visibility:public"])
+
+py_binary(
+    name = "plot_planning_result",
+    srcs = ["plot_planning_result.py"],
+    deps = [
+        "//modules/canbus/proto:chassis_py_pb2",
+        "//modules/localization/proto:localization_py_pb2",
+        "//modules/planning/proto:planning_py_pb2",
+    ],
+)
+
+py_binary(
+    name = "plot_trace",
+    srcs = ["plot_trace.py"],
+    deps = [
+        "//cyber/python/cyber_py3:cyber",
+        "//modules/canbus/proto:chassis_py_pb2",
+        "//modules/localization/proto:localization_py_pb2",
+    ],
+)

modules/tools/plot_trace/plot_planning_result.py

@@ -26,9 +26,9 @@ import matplotlib.animation as animation
 import matplotlib.pyplot as plt
 import numpy as np
 
-from modules.canbus.proto import chassis_pb2
-from modules.localization.proto import localization_pb2
-from modules.planning.proto import planning_pb2
+from modules.canbus.proto import chassis_py_pb2
+from modules.localization.proto import localization_py_pb2
+from modules.planning.proto import planning_py_pb2
 
 
 g_args = None
@@ -56,7 +56,7 @@ def get_debug_paths(planning_pb):
 
 def plot_planning(ax, planning_file):
     with open(planning_file, 'r') as fp:
-        planning_pb = planning_pb2.ADCTrajectory()
+        planning_pb = planning_py_pb2.ADCTrajectory()
         text_format.Merge(fp.read(), planning_pb)
         trajectory = get_3d_trajectory(planning_pb)
         ax.plot(trajectory[0], trajectory[1], trajectory[2],

modules/tools/plot_trace/plot_trace.py

@@ -22,8 +22,9 @@ import matplotlib.animation as animation
 import matplotlib.pyplot as plt
 import numpy as np
 
-from modules.canbus.proto import chassis_pb2
-from modules.localization.proto import localization_pb2
+from cyber.python.cyber_py3 import cyber
+from modules.canbus.proto import chassis_py_pb2
+from modules.localization.proto import localization_py_pb2
 
 
 GPS_X = list()
@@ -37,7 +38,7 @@ IS_AUTO_MODE = False
 
 def chassis_callback(chassis_data):
     global IS_AUTO_MODE
-    if chassis_data.driving_mode == chassis_pb2.Chassis.COMPLETE_AUTO_DRIVE:
+    if chassis_data.driving_mode == chassis_py_pb2.Chassis.COMPLETE_AUTO_DRIVE:
         IS_AUTO_MODE = True
     else:
         IS_AUTO_MODE = False
@@ -55,9 +56,9 @@ def localization_callback(localization_data):
 
 
 def setup_listener(node):
-    node.create_reader(CHASSIS_TOPIC, chassis_pb2.Chassis, chassis_callback)
+    node.create_reader(CHASSIS_TOPIC, chassis_py_pb2.Chassis, chassis_callback)
     node.create_reader(LOCALIZATION_TOPIC,
-                       localization_pb2.LocalizationEstimate,
+                       localization_py_pb2.LocalizationEstimate,
                        localization_callback)
     while not cyber.is_shutdown():
         time.sleep(0.002)

modules/tools/record_play/BUILD

+load("@rules_python//python:defs.bzl", "py_binary")
+
+package(default_visibility = ["//visibility:public"])
+
+py_binary(
+    name = "rtk_player",
+    srcs = ["rtk_player.py"],
+    deps = [
+        "//cyber/python/cyber_py3:cyber",
+        "//cyber/python/cyber_py3:cyber_time",
+        "//modules/canbus/proto:chassis_py_pb2",
+        "//modules/common/configs/proto:vehicle_config_py_pb2",
+        "//modules/common/proto:drive_state_py_pb2",
+        "//modules/common/proto:pnc_point_py_pb2",
+        "//modules/control/proto:pad_msg_py_pb2",
+        "//modules/localization/proto:localization_py_pb2",
+        "//modules/planning/proto:planning_py_pb2",
+        "//modules/tools/common:proto_utils",
+    ],
+)
+
+py_binary(
+    name = "rtk_recorder",
+    srcs = ["rtk_recorder.py"],
+    deps = [
+        "//cyber/python/cyber_py3:cyber",
+        "//modules/canbus/proto:chassis_py_pb2",
+        "//modules/localization/proto:localization_py_pb2",
+        "//modules/tools/common:proto_utils",
+    ],
+)

modules/tools/record_play/rtk_player.py

@@ -30,17 +30,17 @@ import time
 from numpy import genfromtxt
 import scipy.signal as signal
 
-from cyber_py3 import cyber
-from cyber_py3 import cyber_time
-from common.logger import Logger
-from modules.canbus.proto import chassis_pb2
-from modules.common.configs.proto import vehicle_config_pb2
-from modules.common.proto import drive_state_pb2
-from modules.common.proto import pnc_point_pb2
-from modules.control.proto import pad_msg_pb2
-from modules.localization.proto import localization_pb2
-from modules.planning.proto import planning_pb2
-import common.proto_utils as proto_utils
+from cyber.python.cyber_py3 import cyber
+from cyber.python.cyber_py3 import cyber_time
+from modules.tools.common.logger import Logger
+from modules.canbus.proto import chassis_py_pb2
+from modules.common.configs.proto import vehicle_config_py_pb2
+from modules.common.proto import drive_state_py_pb2
+from modules.common.proto import pnc_point_py_pb2
+from modules.control.proto import pad_msg_py_pb2
+from modules.localization.proto import localization_py_pb2
+from modules.planning.proto import planning_py_pb2
+import modules.tools.common.proto_utils as proto_utils
 
 
 APOLLO_ROOT = os.path.join(os.path.dirname(__file__), '../../../')
@@ -69,14 +69,14 @@ class RtkPlayer(object):
         self.data = genfromtxt(file_handler, delimiter=',', names=True)
         file_handler.close()
 
-        self.localization = localization_pb2.LocalizationEstimate()
-        self.chassis = chassis_pb2.Chassis()
-        self.padmsg = pad_msg_pb2.PadMessage()
+        self.localization = localization_py_pb2.LocalizationEstimate()
+        self.chassis = chassis_py_pb2.Chassis()
+        self.padmsg = pad_msg_py_pb2.PadMessage()
         self.localization_received = False
         self.chassis_received = False
 
         self.planning_pub = node.create_writer('/apollo/planning',
-                                               planning_pb2.ADCTrajectory)
+                                               planning_py_pb2.ADCTrajectory)
 
         self.speedmultiplier = speedmultiplier / 100
         self.terminating = False
@@ -97,7 +97,7 @@ class RtkPlayer(object):
         self.estop = False
         self.logger.info("Planning Ready")
 
-        vehicle_config = vehicle_config_pb2.VehicleConfig()
+        vehicle_config = vehicle_config_py_pb2.VehicleConfig()
         proto_utils.get_pb_from_text_file(
             "/apollo/modules/common/data/vehicle_param.pb.txt", vehicle_config)
         self.vehicle_param = vehicle_config.vehicle_param
@@ -118,7 +118,7 @@ class RtkPlayer(object):
         """
         self.chassis.CopyFrom(data)
         self.automode = (self.chassis.driving_mode ==
-                         chassis_pb2.Chassis.COMPLETE_AUTO_DRIVE)
+                         chassis_py_pb2.Chassis.COMPLETE_AUTO_DRIVE)
         self.chassis_received = True
 
     def padmsg_callback(self, data):
@@ -212,7 +212,7 @@ class RtkPlayer(object):
                 "localization not received yet when publish_planningmsg")
             return
 
-        planningdata = planning_pb2.ADCTrajectory()
+        planningdata = planning_py_pb2.ADCTrajectory()
         now = cyber_time.Time.now().to_sec()
         planningdata.header.timestamp_sec = now
         planningdata.header.module_name = "planning"
@@ -269,10 +269,10 @@ class RtkPlayer(object):
             self.data['time'][self.start]
         planningdata.gear = int(self.data['gear'][self.closest_time()])
         planningdata.engage_advice.advice = \
-            drive_state_pb2.EngageAdvice.READY_TO_ENGAGE
+            drive_state_py_pb2.EngageAdvice.READY_TO_ENGAGE
 
         for i in range(self.start, self.end):
-            adc_point = pnc_point_pb2.TrajectoryPoint()
+            adc_point = pnc_point_py_pb2.TrajectoryPoint()
             adc_point.path_point.x = self.data['x'][i]
             adc_point.path_point.y = self.data['y'][i]
             adc_point.path_point.z = self.data['z'][i]
@@ -292,7 +292,7 @@ class RtkPlayer(object):
                     (self.vehicle_param.length // 2 - self.vehicle_param.back_edge_to_center) * \
                     math.sin(adc_point.path_point.theta)
 
-            if planningdata.gear == chassis_pb2.Chassis.GEAR_REVERSE:
+            if planningdata.gear == chassis_py_pb2.Chassis.GEAR_REVERSE:
                 adc_point.v = -adc_point.v
                 adc_point.path_point.s = -adc_point.path_point.s
 
@@ -359,14 +359,14 @@ def main():
                        args['complete'].lower(), args['replan'].lower())
     atexit.register(player.shutdown)
 
-    node.create_reader('/apollo/canbus/chassis', chassis_pb2.Chassis,
+    node.create_reader('/apollo/canbus/chassis', chassis_py_pb2.Chassis,
                        player.chassis_callback)
 
     node.create_reader('/apollo/localization/pose',
-                       localization_pb2.LocalizationEstimate,
+                       localization_py_pb2.LocalizationEstimate,
                        player.localization_callback)
 
-    node.create_reader('/apollo/control/pad', pad_msg_pb2.PadMessage,
+    node.create_reader('/apollo/control/pad', pad_msg_py_pb2.PadMessage,
                        player.padmsg_callback)
 
     while not cyber.is_shutdown():

modules/tools/record_play/rtk_recorder.py

@@ -26,12 +26,12 @@ import os
 import sys
 import time
 
-from cyber_py3 import cyber
+from cyber.python.cyber_py3 import cyber
 from gflags import FLAGS
 
-from common.logger import Logger
-from modules.canbus.proto import chassis_pb2
-from modules.localization.proto import localization_pb2
+from modules.tools.common.logger import Logger
+from modules.canbus.proto import chassis_py_pb2
+from modules.localization.proto import localization_py_pb2
 
 
 class RtkRecord(object):
@@ -60,8 +60,8 @@ class RtkRecord(object):
         self.write("x,y,z,speed,acceleration,curvature,"
                    "curvature_change_rate,time,theta,gear,s,throttle,brake,steering\n")
 
-        self.localization = localization_pb2.LocalizationEstimate()
-        self.chassis = chassis_pb2.Chassis()
+        self.localization = localization_py_pb2.LocalizationEstimate()
+        self.chassis = chassis_py_pb2.Chassis()
         self.chassis_received = False
 
         self.cars = 0.0
@@ -185,11 +185,11 @@ def main(argv):
     recorder = RtkRecord(record_file)
     atexit.register(recorder.shutdown)
     node.create_reader('/apollo/canbus/chassis',
-                       chassis_pb2.Chassis,
+                       chassis_py_pb2.Chassis,
                        recorder.chassis_callback)
 
     node.create_reader('/apollo/localization/pose',
-                       localization_pb2.LocalizationEstimate,
+                       localization_py_pb2.LocalizationEstimate,
                        recorder.localization_callback)
 
     while not cyber.is_shutdown():

modules/tools/routing/BUILD

+load("@rules_python//python:defs.bzl", "py_binary", "py_library")
+
+package(default_visibility = ["//visibility:public"])
+
+py_binary(
+    name = "debug_passage_region",
+    srcs = ["debug_passage_region.py"],
+    deps = [
+        ":debug_topo",
+        "//modules/routing/proto:routing_py_pb2",
+        "//modules/routing/proto:topo_graph_py_pb2",
+        "//modules/tools/common:proto_utils",
+    ],
+)
+
+py_binary(
+    name = "debug_route",
+    srcs = ["debug_route.py"],
+    deps = [
+        ":debug_topo",
+        "//modules/routing/proto:topo_graph_py_pb2",
+        "//modules/tools/common:proto_utils",
+    ],
+)
+
+py_library(
+    name = "debug_topo",
+    srcs = ["debug_topo.py"],
+    deps = [
+        ":util",
+        "//modules/routing/proto:topo_graph_py_pb2",
+        "//modules/tools/common:proto_utils",
+    ],
+)
+
+py_binary(
+    name = "road_show",
+    srcs = ["road_show.py"],
+    deps = [
+        ":util",
+        "//modules/tools/common:proto_utils",
+    ],
+)
+
+py_library(
+    name = "util",
+    srcs = ["util.py"],
+    deps = [
+        "//modules/map/proto:map_py_pb2",
+        "//modules/routing/proto:routing_py_pb2",
+        "//modules/routing/proto:topo_graph_py_pb2",
+        "//modules/tools/common:proto_utils",
+    ],
+)

modules/tools/routing/debug_passage_region.py

@@ -21,10 +21,10 @@ import sys
 
 import matplotlib.pyplot as plt
 
-import common.proto_utils as proto_utils
-import debug_topo
-from modules.routing.proto.routing_pb2 import RoutingResponse
-from modules.routing.proto.topo_graph_pb2 import Graph
+import modules.tools.common.proto_utils as proto_utils
+import modules.tools.routing.debug_topo as debug_topo
+from modules.routing.proto.routing_py_pb2 import RoutingResponse
+from modules.routing.proto.topo_graph_py_pb2 import Graph
 
 
 color_iter = itertools.cycle(

modules/tools/routing/debug_route.py

@@ -23,8 +23,8 @@ import sys
 import gflags
 import matplotlib.pyplot as plt
 
-import debug_topo
-import modules.routing.proto.topo_graph_pb2 as topo_graph_pb2
+import modules.tools.routing.debug_topo as debug_topo
+import modules.routing.proto.topo_graph_py_pb2 as topo_graph_py_pb2
 import util
 
 

modules/tools/routing/debug_topo.py

@@ -22,9 +22,9 @@ import sys
 
 import matplotlib.pyplot as plt
 
-import common.proto_utils as proto_utils
-import modules.routing.proto.topo_graph_pb2 as topo_graph_pb2
-import util
+import modules.tools.common.proto_utils as proto_utils
+import modules.routing.proto.topo_graph_py_pb2 as topo_graph_py_pb2
+import modules.tools.routing.util as util
 
 
 color_iter = itertools.cycle(
@@ -139,7 +139,7 @@ def plot_node(node, plot_id, color):
 
 def plot_edge(edge, midddle_point_map):
     """plot topology graph edge"""
-    if edge.direction_type == topo_graph_pb2.Edge.FORWARD:
+    if edge.direction_type == topo_graph_py_pb2.Edge.FORWARD:
         return
     # if lane change is allowed, draw an arrow from lane with from_id to lane with to_id
     from_id = edge.from_lane_id

modules/tools/routing/road_show.py

@@ -21,8 +21,8 @@ import sys
 
 import matplotlib.pyplot as plt
 
-import common.proto_utils as proto_utils
-import util
+import modules.tools.common.proto_utils as proto_utils
+import modules.tools.routing.util as util
 
 
 g_color = [

modules/tools/routing/util.py

@@ -23,9 +23,9 @@ import gflags
 import matplotlib.pyplot as plt
 
 import common.proto_utils as proto_utils
-import modules.map.proto.map_pb2 as map_pb2
-import modules.routing.proto.topo_graph_pb2 as topo_graph_pb2
-import modules.routing.proto.routing_pb2 as routing_pb2
+import modules.map.proto.map_py_pb2 as map_py_pb2
+import modules.routing.proto.topo_graph_py_pb2 as topo_graph_py_pb2
+import modules.routing.proto.routing_py_pb2 as routing_py_pb2
 
 FLAGS = gflags.FLAGS
 gflags.DEFINE_string('map_dir', 'modules/map/data/demo', 'map directory')
@@ -49,14 +49,14 @@ def get_mapdata(map_dir):
     print('Please wait for loading map data...')
     map_data_path = os.path.join(map_dir, 'base_map.bin')
     print('File: %s' % map_data_path)
-    return proto_utils.get_pb_from_bin_file(map_data_path, map_pb2.Map())
+    return proto_utils.get_pb_from_bin_file(map_data_path, map_py_pb2.Map())
 
 
 def get_topodata(map_dir):
     print('Please wait for loading routing topo data...')
     topo_data_path = os.path.join(map_dir, 'routing_map.bin')
     print("File: %s" % topo_data_path)
-    return proto_utils.get_pb_from_bin_file(topo_data_path, topo_graph_pb2.Graph())
+    return proto_utils.get_pb_from_bin_file(topo_data_path, topo_graph_py_pb2.Graph())
 
 
 def get_routingdata():
@@ -65,7 +65,7 @@ def get_routingdata():
         os.path.join(os.path.dirname(__file__), '../../../data/log'))
     route_data_path = os.path.join(log_dir, 'passage_region_debug.bin')
     print("File: %s" % route_data_path)
-    return proto_utils.get_pb_from_text_file(route_data_path, routing_pb2.RoutingResponse())
+    return proto_utils.get_pb_from_text_file(route_data_path, routing_py_pb2.RoutingResponse())
 
 
 def onclick(event):