【5】apollo编写python节点步骤及实例

1. 在workspace/modules下新建包buildtool create --template component modules/test_one
   

2. 编译包 buildtool build -p modules/test_two/
   

3. 增加自己的proto消息
   在刚才自动生成的proto文件里面添加自己定义的消息,记得重新编译.

syntax = "proto2";

package apollo;

// message type of channel, just a placeholder for demo,
// you should use `--channel_message_type` option to specify the real message type
message TestTwoMsg {

}

message TestTwoConfig {
  optional string name = 1;
};
// new added
message TestTwoMymessage{
  optional string twoInfo = 1;
}

也可以新建proto文件, 修改BUILD文件;记得重新编译.
proto文件内容如下

syntax = "proto2";
package apollo;

message TestTwoLwlgzy{
  optional string twoInfo = 1;
  optional string twoFault = 2;
}

修改对应BUILF的文件

load("//tools:apollo_package.bzl", "apollo_package")
load("//tools/proto:proto.bzl", "proto_library")
load("//tools:cpplint.bzl", "cpplint")

package(default_visibility = ["//visibility:public"])

proto_library(
    name = "test_two_proto",
    srcs = ["test_two.proto"],
)

proto_library(
    name = "test_two_lwlgzy_proto",
    srcs = ["test_two_lwlgzy.proto"],
)
apollo_package()

cpplint()

4. 生成的pb2文件路径在/opt/apollo/neo/python/modules/test_two/proto
   a). 新建test.py文件加入如下内容 from modules.test_two.proto.test_two_pb2 import TestTwoMymessage
   b). 给运行权限sudo chmod 755 *.py
   运行没有报错即为正常.

本机没有编译or缺少需要引用的proto文件时候, 也可以直接将其他机器生成的pb2.py文件拷贝到类似/opt/apollo/neo/python/xxx/xxx/proto 下import才不会报错.

5. python 文件中import 路径为from 包名路径.proto.xx_pb2 import xxx. 例如:from modules.test_two.proto.test_two_lwlgzy_pb2 import TestTwoLwlgzy

modules/test_two/
|-- BUILD
|-- conf
|   |-- test_two.conf
|   `-- test_two.pb.txt
|-- cyberfile.xml
|-- dag
|   `-- test_two.dag
|-- launch
|   `-- test_two.launch
|-- proto
|   |-- BUILD
|   |-- test_two.proto
|   `-- test_two_lwlgzy.proto
|-- test.py
|-- test_two_component.cc
`-- test_two_component.h

4 directories, 12 files

6. 播包cyber_recorder play -f modules/chassis.00000.20210622135417

订阅底盘话题处理故障实例

import time
import asyncio
from datetime import datetime
from cyber.python.cyber_py3 import cyber
from modules.canbus_vehicle.yt.proto.yt_pb2 import Yt
from od_health_test.proto.od_health_test_pb2 import OdErrorInfo, OdErrorMsgs

import logging
from modules.tools.common.logger import Logger
import os

APOLLO_ROOT = "/apollo"

class xxHealthMonitor:

    def __init__(self) -> None:
        self.health_node_ = cyber.Node("xx_health_monitor_node")
        
        Logger.config(
            log_file = os.path.join(APOLLO_ROOT, 'data/log/xx_health.log'),
            use_stdout=True,
            log_level=logging.DEBUG)
        
        self.logger = Logger.get_logger("HealthMonitor")
        self.logger.info("health_monitor_node is started. ")

        self.health_node_.create_reader("/apollo/canbus/chassis_detail",Yt,self._chassis_cb_)
        self.health_writer = self.health_node_.create_writer("/xx/health", OdErrorMsgs)
      
        self.has_data = False
        self.bat_total_voltage = 0
        self.bat_total_current = 0

        self.od_ErrMessages = OdErrorMsgs()
        e_info = OdErrorInfo()
        e_info.err_level = ''
        e_info.err_message = ''
        self.od_ErrMessages.error_msgs.append(e_info)
        
        self.last_data_time = None
       
    # /apollo/canbus/chassis_detail  100hz
    def _chassis_cb_(self,msg):
        self.last_data_time = time.time()
        
       #...解析数据,添加逻辑判断

        
      
    def _padding_fault_msgs(self, level, msg):
         err_info = OdErrorInfo()
         err_info.err_level = level
         err_info.err_message = msg
         self.od_ErrMessages.error_msgs.append(err_info)

    def _error_checking(self):
           pass

    def run(self):
        while not cyber.is_shutdown():
            try:
                current_time = time.time()
                if self.last_data_time is None or (current_time -  self.last_data_time)>1:
                    self.od_ErrMessages = OdErrorMsgs()
                    e_info = OdErrorInfo()
                    e_info.err_level = '1'
                    e_info.err_message = 'No data received from chassis_detail'
                    self.od_ErrMessages.error_msgs.append(e_info)
                    
                    self.health_writer.write(self.od_ErrMessages)

                else:
                    self.od_ErrMessages = OdErrorMsgs()
                    self._error_checking()
                    self.health_writer.write(self.od_ErrMessages)                 
                    # print(datetime.now().strftime("%Y-%m-%d %H:%M:%S"))

                self.dump2log()
                
            except Exception as e:
                print("Error:", e)
       
            time.sleep(1) # 1hz
            self.has_data = False

    def dump2log(self):
        dumpMsg = ""
        for oo in self.od_ErrMessages.error_msgs:
            dumpMsg += f"[{oo.err_level}:{oo.err_message}],"
        
        # print(writemsg.strip(','))
        self.logger.info(dumpMsg.strip(','))


if __name__=="__main__":
    cyber.init()
    print("health monitor is starting!")
    health_monitor = OdHealthMonitor()
    health_monitor.run()

    print("health monitor is closing!")
    cyber.shutdown()

7. launch文件
   编写test.launch文件具体内容如下，终端执行cyber_launch start test.launch启动对应的模块

<cyber>
    <![CDATA[
        launch apollo system, include tf,localization,drivers,perception,prediction,pnc
        dreamview and other tools.
    ]]>

    <module>
        <name>od_health</name>
        <type>binary</type>
        <process_name>
            python /apollo_workspace/modules/xx_xxxx/xx_xxxx_xx.py
        </process_name>
    </module>


</cyber>