add feature：dump record to excel

modules/tools/dump_record_to_excel/BUILD

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+load("@rules_python//python:defs.bzl", "py_binary")
+
+package(default_visibility = ["//visibility:public"])
+
+py_binary(
+    name = "dump_record",
+    srcs = ["dump_record.py"],
+    deps = [
+        "//cyber/python/cyber_py3:cyber",
+        "//cyber/python/cyber_py3:record",
+        "//modules/tools/common:message_manager",
+    ],
+)

modules/tools/dump_record_to_excel/dump_record.py

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+#!/usr/bin/env python3
+
+###############################################################################
+# Copyright 2017 The Apollo Authors. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+###############################################################################
+"""
+This program can dump a cyber record into separate text files that contains
+the pb messages
+"""
+import os
+os.system("pip install pandas")
+os.system("pip install openpyxl")
+import argparse
+import sys
+import yaml
+import pandas as pd
+from openpyxl import load_workbook
+from cyber.python.cyber_py3 import cyber
+from cyber.python.cyber_py3 import record
+from modules.tools.common.message_manager import PbMessageManager
+
+g_message_manager = PbMessageManager()
+
+
+def parse_attrib(attrib_name, topic, keyword_list):
+    if ('Repeated' in str(type(eval(attrib_name)))): # Dont support repeated component
+        return
+    if (isinstance(eval(attrib_name), str) or isinstance(eval(attrib_name), int) or isinstance(eval(attrib_name), float)):
+        if not keyword_list or (keyword_list and [True for i in keyword_list if i in attrib_name]):
+            attrib_list[topic][attrib_name] = []
+    else:
+        for j in [(attrib_name + '.' + i) for i in dir(eval(attrib_name)) if ord('a') <= ord(i[0]) <= ord('z') and i != "yield"]:
+            parse_attrib(j, topic, keyword_list)
+
+
+def dump_record(in_record, out_dir, start_time, duration, topic_list):
+    global msg
+    global attrib_list
+    Flag_initial = True
+
+    topic_name_list = [i["name"] for i in topic_list if i["name"]]
+    attrib_list = {i:{} for i in topic_name_list}
+    timestamp_list = {i:[] for i in topic_name_list}
+    for i, topic in enumerate(topic_name_list):
+        meta_msg = g_message_manager.get_msg_meta_by_topic(topic)
+        if meta_msg is None:
+            print('Unknown topic: %s' % topic)
+            continue
+        msg = meta_msg.msg_type()
+        parse_attrib("msg", topic, topic_list[i]["keyword"])
+
+    # print(topic_list)
+    # print(topic_name_list)
+    # print(attrib_list)
+
+    try:
+        freader = record.RecordReader(in_record)
+    except Exception:
+        print('Cannot open record file %s' % in_record)
+    else:
+        for BagMessage in freader.read_messages():
+            if Flag_initial:
+                initial_time = BagMessage.timestamp
+                Flag_initial = False
+
+            t_sec = BagMessage.timestamp
+            if start_time and t_sec / 1e9 < start_time:
+                # print('Not yet reached the start time')
+                continue
+            if duration:
+                if start_time:
+                    if t_sec / 1e9 >= start_time + duration:
+                        print('Done')
+                        break
+                elif t_sec / 1e9 >= initial_time / 1e9 + duration:
+                    print('Done')
+                    break
+
+            topic = BagMessage.topic
+            if topic == '/apollo/sensor/mobileye':
+                continue
+            if topic in topic_name_list:
+                meta_msg = g_message_manager.get_msg_meta_by_topic(topic)
+                if meta_msg is None:
+                    print('Unknown topic: %s' % topic)
+                    continue
+                msg = meta_msg.msg_type()
+                msg.ParseFromString(BagMessage.message)
+                for key, value in attrib_list[topic].items():
+                    value.append(eval(key))
+                timestamp_list[topic].append(msg.header.timestamp_sec)
+
+        writer = pd.ExcelWriter(out_dir + '/dump_record_result.xlsx')
+        for i, topic in enumerate(topic_name_list):
+            Raw_Data = pd.DataFrame(attrib_list[topic], timestamp_list[topic], attrib_list[topic].keys())
+            Raw_Data.to_excel(writer, sheet_name=topic.replace('/','_'))
+        writer.save()
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(
+        description="A tool to dump the protobuf messages in a cyber record into text files"
+    )
+    parser.add_argument(
+        "in_record",
+        action="store",
+        type=str,
+        help="the input cyber record")
+    parser.add_argument(
+        "-s",
+        "--start_time",
+        action="store",
+        type=float,
+        help="start time to parse record, eg: 1635927111.6681252")
+    parser.add_argument(
+        "-d",
+        "--duration",
+        action="store",
+        type=float,
+        help="duration of parse record, unit:s")
+    parser.add_argument(
+        "out_dir",
+        action="store",
+        type=str,
+        help="the output directory for the dumped file")
+
+    args = parser.parse_args()
+    if not os.path.exists(args.out_dir):
+        print('%s does not exist' % args.out_dir)
+        sys.exit(1)
+
+    yaml_file = '/apollo/modules/tools/dump_record/dump_record.yaml'
+    with open(yaml_file, 'r') as f:
+        params = yaml.safe_load(f)
+    topic_list = params['Topic']
+    # print(topic_list)
+
+    dump_record(args.in_record, args.out_dir, args.start_time, args.duration, topic_list)
+
+    # print(attrib_list)

modules/tools/dump_record_to_excel/dump_record.yaml

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+Topic:
+  - name: /apollo/planning
+    keyword:
+      - path_point
+
+  - name:
+    keyword:
+
+  - name:
+    keyword:

modules/tools/dump_record_to_excel/readme.txt

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+工具使用步骤：
+1, 在yaml文件中定义需要解析的topic以及具体的属性
+2, 运行脚本
+
+详细说明：
+第一步：
+	# 在/apollo/modules/tools/dump_record/dump_record.yaml中添加需要解析的topic信息
+	# name即topic的名称，与cyber monitor中看到的名称一致
+	# keyword即想要提取这个topic中具体哪个属性信息，keyword采取模糊匹配，只要属性中包含关键字就会被记录下来。
+	# keyword留空则表示记录该topic下的所有信息,但是keyword关键字必须保留
+
+	# 注意：
+	# 1, 目前脚本不支持数量可变的属性提取，比如障碍物的数量每次都不一样，即在cyber monitor中可以用右键扩展的属性目前不支持
+	# 2, yaml语法要求，冒号后面必须接一个空格，然后再写具体信息，空格不可省略
+
+	# 示例 -----------------------------------------------------
+
+	Topic:
+	  - name: /apollo/planning   # 提取planning这个topic中包含point和rss关键字的所有属性
+		keyword:
+		  - point
+		  - rss
+
+	  - name: /apollo/control    # 提取control这个topic中包含speed关键字的所有属性
+		keyword:
+		  - speed
+
+	  - name: /apollo/prediction  # 提取prediction这个topic中的所有属性
+		keyword:
+
+第二步：
+	进入apollo容器内，运行 ./scripts/dump_record.sh 「-s 1635927111.6681252」 「-d 5」 record文件路径  文件输出目录
+	其中-s和-d是可选参数，分别表示开始时间（start_time）和持续时间（duration）。详情请查看程序或运行 ./scripts/dump_record.sh -h
+	开始时间（start_time）可以通过cyber_record play 播包时获取，本程序也会打印出record文件的最早的时间
+	举例：
+	./scripts/dump_record.sh  data/record/1103.record  data/record/test  -d  5  -s  1635927115.909