Merge pull request #6 from wheelos/whl_mock

Whl mock

Author: daohu527

cyber/setup.bash

@@ -27,15 +27,14 @@ for entry in "${mainboard_path}" \
 done
 pathprepend "${HOME}/.local/bin" PATH
 
-# pathprepend "${APOLLO_ROOT_DIR}" PYTHONPATH
-
 # Set up the Python environment
 # For cyber python
+pathprepend "${APOLLO_ROOT_DIR}" PYTHONPATH
+# For common_msgs
 pathprepend "${bazel_bin_path}" PYTHONPATH
 # For cyber c++ wrap so
 pathprepend "${bazel_bin_path}/cyber/python/internal" PYTHONPATH
-# For common_msgs
-pathprepend "${bazel_bin_path}/modules" PYTHONPATH
+
 
 # for protobuf python
 export PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=python

modules/tools/whl-mock/PredictionObstacles_template.txt

@@ -0,0 +1,26 @@
+# Protobuf Text Format Template for message: apollo.prediction.PredictionObstacles
+#
+# Instructions:
+# 1. Fill in the values for each field.
+# 2. For repeated fields, add multiple entries by repeating the field name.
+# 3. For enum fields, use defined enum names.
+# 4. Remove comments (#) and placeholder values before publishing.
+# 5. Fields not specified will use their default Protobuf values.
+#
+header {
+  timestamp_sec: 0.0
+  module_name: "PLACEHOLDER_STRING"
+  sequence_num: 0
+  lidar_timestamp: 0
+  camera_timestamp: 0
+  radar_timestamp: 0
+  version: 0
+  status {
+    error_code: OK
+    msg: "PLACEHOLDER_STRING"
+  }
+  frame_id: "PLACEHOLDER_STRING"
+}
+perception_error_code: OK
+start_timestamp: 0.0
+end_timestamp: 0.0

modules/tools/whl-mock/README.md

@@ -0,0 +1,58 @@
+# whl-mock
+
+`whl-mock` is a tool for publishing arbitrary message types in Apollo. It
+generates message templates, lets you edit them, and publishes the customized
+messages. Typical use cases include sending routing or other messages by editing
+the corresponding template file (e.g., `RoutingRequest_template.txt`) and
+publishing it from the command line.
+
+## Quick Start
+
+### 1. Build Dependencies
+
+Compile `cyber` and `common_msgs`:
+
+```shell
+./apollo.sh build_cpu cyber common_msgs
+```
+
+### 2. Set Up Environment
+
+Source the environment variables:
+
+```shell
+source cyber/setup.bash
+```
+
+## Publishing Messages
+
+1. Edit the desired message template file (e.g., `<your_msg_template>.txt`).
+2. Publish the message:
+
+```shell
+# Example:
+python modules/tools/whl-mock/publisher.py --publish -i PredictionObstacles_template.txt -t /apollo/prediction
+# General usage:
+# python modules/tools/whl-mock/publisher.py --publish -i your_message_template.txt -t /your_topic -p 0.1
+```
+
+3. In another terminal, run:
+
+```shell
+cyber_monitor
+```
+
+to verify the published message.
+
+## Generating Message Templates
+
+To publish a different message type:
+
+1. Modify the message type in the code if needed.
+2. Generate a new template:
+
+```shell
+python modules/tools/whl-mock/publisher.py --gen
+```
+
+3. Edit the generated `<your_msg_template>.txt` file as needed.

modules/tools/whl-mock/publisher.py

@@ -17,7 +17,8 @@
 #
 # This affects the generated template and the message type that will be published.
 # Make sure it matches the actual message type you want to use.
-from common_msgs.control_msgs.control_cmd_pb2 import ControlCommand as MessageType
+
+from cyber.proto.unit_test_pb2 import ChatterBenchmark as MessageType
 
 # ========================================================
 
@@ -28,6 +29,16 @@
 )
 
 
+def fill_header(msg: Message):
+    """
+    Fill the header fields of the message with default values.
+    This is a placeholder function and should be customized based on your message type.
+    """
+    if hasattr(msg, "header"):
+        msg.header.timestamp_sec = time.time()
+        msg.header.sequence_num += 1
+
+
 class ProtoTemplateGenerator:
     def __init__(self, message_type: Type[Message]):
         self.message_type = message_type
@@ -38,7 +49,7 @@ def generate_template(self, output_filepath: str):
             self._fill_template_recursive(msg_instance)
 
             template_str = text_format.MessageToString(
-                msg_instance, as_utf8=True, indent=2, as_one_line=False
+                msg_instance, as_utf8=True, indent=0, as_one_line=False
             )
 
             preamble = f"""# Protobuf Text Format Template for message: {self.message_type.DESCRIPTOR.full_name}
@@ -93,9 +104,8 @@ def _fill_template_recursive(self, msg_instance: Message):
                             self._get_placeholder_for_primitive(field.type)
                         )
             elif field.type == descriptor.FieldDescriptor.TYPE_MESSAGE:
-                nested_msg = field.message_type._concrete_class()
-                self._fill_template_recursive(nested_msg)
-                setattr(msg_instance, field.name, nested_msg)
+                nested_instance = getattr(msg_instance, field.name)
+                self._fill_template_recursive(nested_instance)
             elif field.type == descriptor.FieldDescriptor.TYPE_ENUM:
                 enum_desc = field.enum_type
                 first_enum_value = enum_desc.values[0].number if enum_desc.values else 0
@@ -112,6 +122,8 @@ def _get_placeholder_for_primitive(self, field_type: int) -> Any:
 
         if field_type == descriptor.FieldDescriptor.TYPE_STRING:
             return "PLACEHOLDER_STRING"
+        elif field_type == descriptor.FieldDescriptor.TYPE_BYTES:
+            return b""
         elif field_type in (
             descriptor.FieldDescriptor.TYPE_INT32,
             descriptor.FieldDescriptor.TYPE_INT64,
@@ -187,10 +199,12 @@ def publish_message(
                     i, _, _ = select.select([sys.stdin], [], [], None)
                     if i:
                         input_line = sys.stdin.readline()
+                        fill_header(msg_to_publish)
                         writer.write(msg_to_publish)
                         logging.info(f"Topic '{topic_name}' message published.")
             else:
                 while not cyber.is_shutdown():
+                    fill_header(msg_to_publish)
                     writer.write(msg_to_publish)
                     if period > 0:
                         time.sleep(period)