Tools: Add Cyber Recorder GUI Lite

modules/tools/cyber_recorder_gui/BUILD

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+load("//tools:apollo_package.bzl", "apollo_package", "apollo_cc_binary", "apollo_qt_library")
+
+package(default_visibility = ["//visibility:public"])
+
+apollo_cc_binary(
+    name = "cyber_recorder_gui_lite",
+    srcs = ["main.cpp"],
+    copts = [
+        "-Iexternal/qt",
+        "-std=c++17",
+        "-fPIC",
+    ],
+    linkopts = [
+        "-pthread",
+    ],
+    deps = [
+        ":cyber_recorder_gui_lite_lib",
+        "//cyber",
+        "//cyber/proto:record_cc_proto",
+        "@qt//:qt_core",
+        "@qt//:qt_gui",
+        "@qt//:qt_widgets",
+    ],
+)
+
+apollo_qt_library(
+    name = "cyber_recorder_gui_lite_lib",
+    srcs=["mainwindow.cpp",
+          "record_playbar.cpp",
+          "info.cc",
+          "doubleslider.cc",
+          "player/play_task_buffer.cc",
+          "player/play_task_consumer.cc",
+          "player/play_task_producer.cc",
+          "player/play_task.cc",
+          "player/player.cc"],
+    hdrs=["mainwindow.h",
+          "record_playbar.h",
+          "info.h",
+          "doubleslider.h",
+          "player/play_param.h",
+          "player/play_task_buffer.h",
+          "player/play_task_consumer.h",
+          "player/play_task_producer.h",
+          "player/play_task.h",
+          "player/player.h"],
+    #srcs = glob(["*.cpp","*.cc"]),
+    #hdrs = glob(["*.h"]),
+    uis = glob(["*.ui"]),
+    copts = [
+        "-Iexternal/qt",
+        "-std=c++17",
+        "-fPIC",
+    ],
+    includes = [
+        ".",
+    ],
+    linkstatic = False,
+    deps = [
+        "//cyber",
+        "//cyber/common:cyber_common",
+        "//cyber/proto:record_cc_proto",
+        "@qt//:qt_core",
+        "@qt//:qt_gui",
+        "@qt//:qt_widgets",
+    ],
+)
+
+
+# TODO(all): Disable linter temporarily as the generated ui files should be
+# excluded from check. But we should also check the .h and .cc files, if they
+# are extracted to their own cc_libraries. See the TODO above.
+# cpplint()
+apollo_package(enable_source=False)
+apollo_package()

modules/tools/cyber_recorder_gui/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+
+project(cyber_recorder_gui_lite VERSION 0.1 LANGUAGES CXX)
+
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+
+set(CMAKE_AUTOUIC ON)
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTORCC ON)
+
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+find_package(QT NAMES Qt6 Qt5 COMPONENTS Widgets REQUIRED)
+find_package(Qt${QT_VERSION_MAJOR} COMPONENTS Widgets REQUIRED)
+
+set(PROJECT_SOURCES
+        main.cpp
+        mainwindow.cpp
+        mainwindow.h
+        mainwindow.ui
+        record_playbar.cpp
+        record_playbar.h
+
+)
+
+if(${QT_VERSION_MAJOR} GREATER_EQUAL 6)
+    qt_add_executable(cyber_recorder_gui_lite
+        MANUAL_FINALIZATION
+        ${PROJECT_SOURCES}
+    )
+# Define target properties for Android with Qt 6 as:
+#    set_property(TARGET cyber_recorder_gui_lite APPEND PROPERTY QT_ANDROID_PACKAGE_SOURCE_DIR
+#                 ${CMAKE_CURRENT_SOURCE_DIR}/android)
+# For more information, see https://doc.qt.io/qt-6/qt-add-executable.html#target-creation
+else()
+    if(ANDROID)
+        add_library(cyber_recorder_gui_lite SHARED
+            ${PROJECT_SOURCES}
+        )
+# Define properties for Android with Qt 5 after find_package() calls as:
+#    set(ANDROID_PACKAGE_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/android")
+    else()
+        add_executable(cyber_recorder_gui_lite
+            ${PROJECT_SOURCES}
+        )
+    endif()
+endif()
+
+target_link_libraries(cyber_recorder_gui_lite PRIVATE Qt${QT_VERSION_MAJOR}::Widgets)
+
+set_target_properties(cyber_recorder_gui_lite PROPERTIES
+    MACOSX_BUNDLE_GUI_IDENTIFIER my.example.com
+    MACOSX_BUNDLE_BUNDLE_VERSION ${PROJECT_VERSION}
+    MACOSX_BUNDLE_SHORT_VERSION_STRING ${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}
+    MACOSX_BUNDLE TRUE
+    WIN32_EXECUTABLE TRUE
+)
+
+if(QT_VERSION_MAJOR EQUAL 6)
+    qt_finalize_executable(cyber_recorder_gui_lite)
+endif()

modules/tools/cyber_recorder_gui/README.md

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+# Cyber Recorder GUI Lite
+
+`cyber_recorder_gui_lite` is a lightweight Qt graphical interface for replaying Apollo Cyber record files. It can open one record file or all record shards in a directory, display basic record information, and publish the recorded messages back to Cyber for debugging.
+
+This module is the reduced version of `modules/cyber_recorder_gui`. It is intentionally kept as a separate package and executable so that both versions can coexist without an install-name conflict.
+
+## Features
+
+- Open a single `.record` file.
+- Open a directory containing `.record` and `.record.*` shards.
+- Preview record metadata and channel information.
+- Play, pause, resume, and stop playback.
+- Seek during playback with the progress bar.
+- Display the selected time range and current playback status.
+
+The lite version does not include the full version's map selector or `log2worldsim` export workflow.
+
+## Build
+
+From the Apollo workspace root (`/apollo_workspace` inside the development container):
+
+```bash
+# Apollo buildtool workflow
+buildtool build -p modules/tools/cyber_recorder_gui --cpu
+```
+
+For a direct Bazel build (after the Apollo dependencies are installed):
+
+```bash
+bazel build //modules/tools/cyber_recorder_gui:cyber_recorder_gui_lite
+```
+
+The generated executable is:
+
+```text
+bazel-bin/modules/tools/cyber_recorder_gui/cyber_recorder_gui_lite
+```
+
+## Run
+
+Run the executable directly:
+
+```bash
+./bazel-bin/modules/tools/cyber_recorder_gui/cyber_recorder_gui_lite
+```
+
+Or start it with `cyber_launch`:
+
+```bash
+cyber_launch start modules/tools/cyber_recorder_gui/launch/cyber_recorder_gui_lite.launch
+```
+
+The application initializes the Cyber node `cyber_recorder_gui_lite` and shows a window titled **Cyber Recorder GUI Lite**.
+
+## Basic usage
+
+1. Click **File** and select one record file, or click **Dir** and select a directory.
+2. Check the metadata shown in the information panel.
+3. Click **Play** to start replay.
+4. Use **Pause** / **Resume** to control playback.
+5. Drag or click the upper progress bar to seek while playing.
+6. Click **Stop** to reset playback to the beginning.
+
+The directory picker starts at `/apollo_workspace/data/`. Directory playback loads files matching `*.record` and `*.record.*`, sorted by file name. Keep record shards in a naturally sortable sequence, for example:
+
+```text
+demo.record
+demo.record.00000
+demo.record.00001
+```
+
+## Playback defaults
+
+| Setting | Default |
+| --- | --- |
+| Playback rate | `1.0` |
+| Start time | Record beginning |
+| End time | Record end (`uint64_t` maximum is used as the default bound) |
+| Preload time | `3` seconds |
+| Loop playback | Disabled |
+| Channel selection | All channels when no filter is configured |
+
+The lower dual-handle slider currently updates the displayed `Range` label only; it does not restrict the actual playback interval.
+
+## Troubleshooting
+
+### No window appears
+
+Make sure the container has access to the host display (X11 or Wayland) and that Qt can connect to it.
+
+### A record cannot be opened
+
+Verify that the path points to an Apollo Cyber record, that the file is not corrupted, and that the current user can read it. You can inspect a file with Apollo's record tools before starting the GUI.
+
+### Other modules receive no messages
+
+Confirm that the record contains the expected channel and that the subscriber is running in the same Cyber environment. The following commands can help:
+
+```bash
+cyber_channel list
+cyber_channel echo /your/channel/name
+```
+
+### The progress bar does not seek
+
+Seeking is enabled while playback is active. Start playback before dragging or clicking the upper progress bar.
+
+## Source layout
+
+| Path | Purpose |
+| --- | --- |
+| `main.cpp` | Qt application entry point and Cyber initialization |
+| `mainwindow.ui` | Main window layout |
+| `mainwindow.cpp` / `mainwindow.h` | File selection, playback controls, and status updates |
+| `info.cc` / `info.h` | Record metadata reader |
+| `player/` | Playback tasks, buffering, and message publishing |
+| `launch/cyber_recorder_gui_lite.launch` | `cyber_launch` configuration |
+| `BUILD` | Bazel targets and package installation rule |
+| `cyberfile.xml` | Apollo package metadata (`cyber-recorder-gui-lite`) |

modules/tools/cyber_recorder_gui/README_cn.md

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+# Cyber Recorder GUI Lite 使用说明
+
+`cyber_recorder_gui_lite` 是一个基于 Qt 的 Apollo Cyber record 轻量级图形回放工具。它可以打开单个 record 文件，也可以加载目录中的分片 record 文件，显示 record 基础信息，并将消息重新发布到 Cyber 通道，方便调试依赖历史数据的模块。
+
+本模块是 `modules/cyber_recorder_gui` 的缩减版。它使用独立的包名、节点名和可执行文件名，可以与完整版同时保留，避免安装目标冲突。
+
+## 功能
+
+- 打开单个 `.record` 文件。
+- 打开包含 `.record` 和 `.record.*` 分片文件的目录。
+- 预览 record 元信息和通道信息。
+- 播放、暂停、继续和停止回放。
+- 使用进度条在播放过程中跳转。
+- 显示选定时间范围和当前播放状态。
+
+缩减版不包含完整版中的地图选择器和 `log2worldsim` 导出流程。
+
+## 编译
+
+在 Apollo 工作空间根目录执行（容器内通常为 `/apollo_workspace`）：
+
+```bash
+# 使用 Apollo buildtool
+buildtool build -p modules/tools/cyber_recorder_gui --cpu
+```
+
+如果 Apollo 依赖已经安装，也可以直接使用 Bazel：
+
+```bash
+bazel build //modules/tools/cyber_recorder_gui:cyber_recorder_gui_lite
+```
+
+生成的可执行文件路径为：
+
+```text
+bazel-bin/modules/tools/cyber_recorder_gui/cyber_recorder_gui_lite
+```
+
+## 启动
+
+直接运行：
+
+```bash
+./bazel-bin/modules/tools/cyber_recorder_gui/cyber_recorder_gui_lite
+```
+
+或者使用 `cyber_launch`：
+
+```bash
+cyber_launch start modules/tools/cyber_recorder_gui/launch/cyber_recorder_gui_lite.launch
+```
+
+程序启动时会初始化 Cyber 节点 `cyber_recorder_gui_lite`，窗口标题为 **Cyber Recorder GUI Lite**。
+
+## 基本使用流程
+
+1. 点击 **File** 选择单个 record 文件，或点击 **Dir** 选择一个目录。
+2. 在信息框中检查 record 元信息。
+3. 点击 **Play** 开始回放。
+4. 使用 **Pause** / **Resume** 暂停或继续。
+5. 播放时拖动或点击上方进度条进行跳转。
+6. 点击 **Stop** 停止播放并将进度重置到起点。
+
+目录选择框默认打开 `/apollo_workspace/data/`。目录模式只加载文件名匹配 `*.record` 或 `*.record.*` 的文件，并按文件名排序。建议分片文件保持自然排序，例如：
+
+```text
+demo.record
+demo.record.00000
+demo.record.00001
+```
+
+## 默认播放参数
+
+| 参数 | 默认值 |
+| --- | --- |
+| 播放速率 | `1.0` |
+| 起始时间 | record 起点 |
+| 结束时间 | record 末尾（默认边界使用 `uint64_t` 最大值） |
+| 预加载时间 | `3` 秒 |
+| 循环播放 | 关闭 |
+| 通道选择 | 未配置过滤条件时播放全部通道 |
+
+下方双端滑条目前只更新 `Range` 文本，不会真正限制播放器的播放起止时间。
+
+## 常见问题
+
+### 启动后没有窗口
+
+请确认容器已经正确透传宿主机的 X11 或 Wayland 显示环境，并且 Qt 能够连接显示服务。
+
+### 无法打开 record 文件
+
+请确认路径指向 Apollo Cyber record 文件，文件没有损坏，且当前用户具有读取权限。可以先使用 Apollo 自带的 record 工具检查文件。
+
+### 其他模块收不到回放消息
+
+确认 record 中包含目标通道，并确认订阅模块和 GUI 运行在同一个 Cyber 环境中。可以执行：
+
+```bash
+cyber_channel list
+cyber_channel echo /your/channel/name
+```
+
+### 进度条无法跳转
+
+只有在播放状态下才会处理跳转。请先点击 **Play**，再拖动或点击上方进度条。
+
+## 源码结构
+
+| 路径 | 用途 |
+| --- | --- |
+| `main.cpp` | Qt 程序入口及 Cyber 初始化 |
+| `mainwindow.ui` | 主窗口布局 |
+| `mainwindow.cpp` / `mainwindow.h` | 文件选择、播放控制和状态更新 |
+| `info.cc` / `info.h` | record 元信息读取 |
+| `player/` | 播放任务、缓冲和消息发布 |
+| `launch/cyber_recorder_gui_lite.launch` | `cyber_launch` 启动配置 |
+| `BUILD` | Bazel 构建目标和安装规则 |
+| `cyberfile.xml` | Apollo 包元数据（`cyber-recorder-gui-lite`） |