map tools: data verification tool, commit build files and proto files (…

…ApolloAuto#9038)

* first ten files fixed

* first ten files fixed

* first ten files fixed

* build files&&proto files

* build files&&proto files

* fix BUILD files' problems

* trigger this file to be linted

* trigger this file to be linted

modules/map/tools/map_datachecker/client/BUILD

@@ -0,0 +1,146 @@
+load("//tools:cpplint.bzl", "cpplint")
+
+
+package(default_visibility = ["//visibility:public"])
+
+cc_binary(
+    name = "map_datachecker_client",
+    deps = [
+        ":map_datachecker_client_lib",
+    ],
+)
+
+cc_library(
+    name = "map_datachecker_client_lib",
+    srcs = [
+        "main.cc",
+    ],
+    deps = [
+        ":client",
+        ":client_gflags",
+    ],
+    linkopts = [
+        "-lboost_filesystem",
+        "-lgrpc++",
+    ],
+)
+
+cc_library(
+    name = "client",
+    srcs = [
+        "client.cc"
+    ],
+    hdrs = [
+        "client.h",
+        "client_alignment.h",
+    ],
+    deps = [
+        ":client_gflags",
+        ":client_channel_checker",
+        ":client_common",
+        ":client_loops_check",
+        "@yaml_cpp//:yaml",
+        "//cyber:cyber",
+    ],
+    linkopts = [
+        "-lboost_filesystem",
+        "-lgrpc++",
+    ],
+)
+
+cc_library(
+    name = "client_channel_checker",
+    srcs = [
+        "client_channel_checker.cc",
+    ],
+    hdrs = [
+        "client_channel_checker.h",
+    ],
+    deps = [
+        ":client_gflags",
+        ":client_common",
+        ":exception_handler",
+        "//cyber:cyber",
+        "//modules/map/tools/map_datachecker/proto:map_datachecker_grpc",
+        "@yaml_cpp//:yaml",
+    ],
+    linkopts = [
+        "-lboost_filesystem",
+        "-lgrpc++",
+    ],
+)
+
+cc_library(
+    name = "client_common",
+    srcs = [
+        "client_common.cc",
+    ],
+    hdrs = [
+        "client_common.h",
+    ],
+    deps = [
+        "//cyber:cyber",
+    ],
+    linkopts = [
+        "-lboost_filesystem",
+        "-lgrpc++",
+    ],
+)
+
+cc_library(
+    name = "client_gflags",
+    srcs = [
+        "client_gflags.cc",
+    ],
+    hdrs = [
+        "client_gflags.h",
+    ],
+    deps = [
+        "//external:gflags",
+    ],
+    linkopts = [
+
+    ],
+)
+
+cc_library(
+    name = "client_loops_check",
+    srcs = [
+        "client_loops_check.cc",
+    ],
+    hdrs = [
+        "client_loops_check.h",
+    ],
+    deps = [
+        ":client_common",
+        ":client_gflags",
+        ":exception_handler",
+        "//cyber:cyber",
+        "//modules/map/tools/map_datachecker/proto:map_datachecker_grpc",
+        "@yaml_cpp//:yaml",
+    ],
+    linkopts = [
+        "-lboost_filesystem",
+        "-lgrpc++",
+    ],
+)
+
+cc_library(
+    name = "exception_handler",
+    srcs = [
+        "exception_handler.cc",
+    ],
+    hdrs = [
+        "exception_handler.h",
+    ],
+    deps = [
+        ":client_common",
+        "//cyber:cyber",
+        "//modules/map/tools/map_datachecker/proto:map_datachecker_proto",
+    ],
+    linkopts = [
+
+    ],
+)
+
+cpplint()

modules/map/tools/map_datachecker/client/client_common.cc

@@ -21,8 +21,6 @@
 #include <string>
 #include <vector>
 
-#include "modules/map/tools/map_datachecker/client/exception_handler.h"
-
 namespace apollo {
 namespace hdmap {
 std::vector<std::string> GetFileLines(const std::string& path) {

modules/map/tools/map_datachecker/proto/BUILD

@@ -0,0 +1,33 @@
+load("//tools:cpplint.bzl", "cpplint")
+load("//tools:grpc_library.bzl", "cc_grpc_library")
+package(default_visibility = ["//visibility:public"])
+
+cc_proto_library(
+    name = "map_datachecker_proto",
+    deps = [
+        ":map_datachecker_proto_lib",
+    ],
+)
+
+proto_library(
+    name = "map_datachecker_proto_lib",
+    srcs = [
+        "collection_check_message.proto",
+        "collection_error_code.proto",
+    ],
+)
+
+cc_grpc_library(
+    name = "map_datachecker_grpc",
+    srcs = [
+        "collection_service.proto",
+    ],
+    deps_cc = [
+        ":map_datachecker_proto",
+    ],
+    deps = [
+        ":map_datachecker_proto_lib",
+    ]
+)
+
+cpplint()

modules/map/tools/map_datachecker/proto/collection_check_message.proto

@@ -0,0 +1,97 @@
+// Define Collection map-data check messages
+syntax = "proto2";
+package apollo.hdmap;
+
+import "modules/map/tools/map_datachecker/proto/collection_error_code.proto";
+
+enum CmdType {
+    START = 1;
+    CHECK = 2;
+    STOP = 3;
+}
+
+enum DataType {
+    MAP_MAKING = 1;
+    MAP_CHECKOUT = 2;
+}
+
+message VerifyRange {
+    optional double start_time = 1; // verify data's start timestamp
+    optional double end_time = 2;   // verify data's end timestamp
+}
+
+message LoopResult {
+    required bool is_reached = 1;
+    optional double loop_num = 2;   // is_reached==false, indicate current laps
+}
+
+message TopicResult {
+    repeated string topic_lack = 1;
+}
+
+message FrameRate {
+    optional string topic = 1;
+    optional double expected_rate = 2;
+    optional double current_rate = 3;
+    repeated string bad_record_name = 4;    // record path file name, maybe more than one.
+}
+
+message VerifyResult {
+    optional TopicResult topics = 1;
+    repeated FrameRate rates = 2;
+}
+
+// ChannelVerify API, multi-service used
+message ChannelVerifyRequest {
+    optional CmdType cmd = 1;
+    optional string collect_id = 2;
+    optional string path = 3;
+}
+
+message ChannelVerifyResponse {
+    optional ErrorCode code = 1;
+    optional VerifyResult result = 2;
+}
+
+// LoopsVerify API, multi-service used
+message LoopsVerifyRequest {
+    optional CmdType cmd = 1;
+    optional DataType type = 2;
+    repeated VerifyRange range = 3;     // used by map-worker. verify data's timestamp ranges, maybe has more than one.
+}
+
+message LoopsVerifyResponse {
+    optional ErrorCode code = 1;
+    optional double progress = 2;
+    optional LoopResult loop_result = 3;   // usable when progress==1
+}
+
+// DynamicAlign API, multi-service used
+message DynamicAlignRequest {
+    optional CmdType cmd = 1;
+}
+
+message DynamicAlignResponse {
+    optional ErrorCode code = 1;
+    optional double progress = 2;
+}
+
+// StaticAlign API, multi-service used
+message StaticAlignRequest {
+    optional CmdType cmd = 1;
+}
+
+message StaticAlignResponse {
+    optional ErrorCode code = 1;
+    optional double progress = 2;
+}
+
+// EightRoute API, multi-service used
+message EightRouteRequest {
+    optional CmdType cmd = 1;
+}
+
+message EightRouteResponse {
+    optional ErrorCode code = 1;
+    optional double progress = 2;
+}

modules/map/tools/map_datachecker/proto/collection_error_code.proto

@@ -0,0 +1,47 @@
+syntax = "proto2";
+package apollo.hdmap;
+
+enum ErrorCode 
+{
+    // common: x
+    SUCCESS = 0;
+    ERROR = 1;
+    ERROR_REQUEST = 2;      // invalid request parameter
+    ERROR_SERVICE_NO_RESPONSE = 3;      // cybertron services no response
+    ERROR_REPEATED_START = 4;
+    ERROR_CHECK_BEFORE_START = 5;
+
+    // APP fetch: 10x
+    ERROR_GPSBIN_LACK = 101;            // gpsbin in car is lack or not complete.
+    ERROR_DISKINFO_ERROR = 102;
+    ERROR_DISK_UNMOUNT = 103;
+
+    ERROR_SPEED_LACK = 105;
+    WARNING_ODOMETER_LACK = 106;
+    ERROR_RTKSTATUS_EMPTY = 107;
+
+    // map-datachecker: 20x
+    ERROR_MAPGRPC_NOT_CONNECT = 201;
+
+    // map-datachecher: dynamic_align: 21x
+    WARNING_NOT_STRAIGHT = 212;             // heading too large, need warning straight driving.
+    WARNING_PROGRESS_ROLLBACK = 213;        // progress rollback because turn a corner.
+
+    // map-datachecher: eight_route: 22x
+    ERROR_NOT_EIGHT_ROUTE = 221;          // heading is not an eight route.
+
+    // map-datachecher: data_verify: 23x
+    ERROR_CHANNEL_VERIFY_TOPIC_LACK = 231;  // some topic lack in channel_verify.
+    ERROR_CHANNEL_VERIFY_RATES_ABNORMAL = 232;  // some topic rates abnormal
+    ERROR_VERIFY_NO_RECORDERS = 233;    // data verify has/find no recorders in disks.
+    ERROR_LOOPS_NOT_REACHED = 234;          // loops is not enough 5/6
+    ERROR_VERIFY_NO_GNSSPOS = 235;          // cybertron has no gnsspos callback.
+
+    // map-datachecker: static_align: 24x
+    ERROR_NOT_STATIC = 241;             // car is not static.
+    ERROR_GNSS_SIGNAL_FAIL = 242;       // gnss signal is broken | fail
+
+    // task handler: 30x
+    SUCCESS_TASK_EMPTY = 301;   // indicate this collect task has no recorders before
+    SUCCESS_TASK_STOCK = 302;   // indicate this collect task has collected some recorders already
+}

modules/map/tools/map_datachecker/proto/collection_service.proto

@@ -0,0 +1,17 @@
+syntax = "proto2";
+package apollo.hdmap;
+
+import "modules/map/tools/map_datachecker/proto/collection_check_message.proto";
+// MAP
+service CollectionCheckerService {
+
+    rpc ServiceDynamicAlign (DynamicAlignRequest) returns (DynamicAlignResponse) {}
+
+    rpc ServiceStaticAlign (StaticAlignRequest) returns (StaticAlignResponse) {}
+
+    rpc ServiceEightRoute (EightRouteRequest) returns (EightRouteResponse) {}
+
+    rpc ServiceChannelVerify (ChannelVerifyRequest) returns (ChannelVerifyResponse) {}
+
+    rpc ServiceLoopsVerify (LoopsVerifyRequest) returns (LoopsVerifyResponse) {}
+}