No speed message shown in modules.control.proto.control_cmd.proto

[GabrielZZZ]

Describe the bug
When getting the message from the channel /apollo/control, it does not show the speed value.

To Reproduce
There is the speed attribute in ControlCommand message, but when parsing it to string it is missing (by using RecordReader):

• Definition in the proto:
  
• Used in the code:
  
• Output:

================================================================================
read [342] messages
channel_name -> /apollo/control
msgtime -> 1620182274178138589
msgnum -> 2634
msgtype -> apollo.control.ControlCommand
***After parse(if needed),the message is ->
header {
timestamp_sec: 1620182274.1778834
module_name: "control"
sequence_num: 8718479
lidar_timestamp: 1620182267181144832
camera_timestamp: 0
radar_timestamp: 0
status {
error_code: OK
}
}
throttle: 39.10915995817429
brake: 0.0
steering_rate: 100.0
steering_target: -0.06347336173587831
acceleration: 1.5562662041293684
gear_location: GEAR_DRIVE
debug {
simple_lon_debug {
station_reference: -0.21777487008534857
station_error: 0.4897856130825693
station_error_limited: 0.4897856130825693
preview_station_error: 1.6093243895356213
speed_reference: 5.384371751538408
speed_error: -0.145165615948061
speed_controller_input_limited: -0.04720849333154713
preview_speed_reference: 5.775615032449311
preview_speed_error: 0.24607766496284178
preview_acceleration_reference: 1.8979706051601024
acceleration_cmd_closeloop: -0.34170440103073396
acceleration_cmd: 1.5562662041293684
acceleration_lookup: 1.5562662041293684
speed_lookup: 5.529537200927734
calibration_value: 39.10915995817429
throttle_cmd: 39.10915995817429
brake_cmd: 0.0
is_full_stop: false
slope_offset_compensation: -0.00016343699918443898
current_station: -0.7075604831679179
path_remain: 62.79051606656276
pid_saturation_status: 0
speed_offset: 0.09795712261651386
current_speed: 5.529537200836042
acceleration_reference: 2.0
current_acceleration: 0.0
acceleration_error: 2.0
jerk_reference: 0.0
current_jerk: 0.0
jerk_error: 0.0
current_matched_point {
path_point {
x: 587071.6035621514
y: 4141462.572670841
}
}
current_reference_point {
path_point {
x: 587071.6040481732
y: 4141463.0624555927
}
}
preview_reference_point {
path_point {
x: 587071.605246781
y: 4141464.1819905792
}
}
}
simple_lat_debug {
lateral_error: -0.00012828438860794367
ref_heading: 1.5696882461512862
heading: 1.5698408716604897
heading_error: 0.0001526255092034745
heading_error_rate: 0.0006288771531676729
lateral_error_rate: 0.0008439484276745847
curvature: -0.000110340511105544
steer_angle: -0.06347336173587831
steer_angle_feedforward: -0.029053152330131293
steer_angle_lateral_contribution: 0.004599812552741785
steer_angle_lateral_rate_contribution: -0.001130555097643681
steer_angle_heading_contribution: -0.03368318795823802
steer_angle_heading_rate_contribution: -0.004965382914795466
steer_angle_feedback: -0.035179313417935384
steering_position: -0.07225602120161057
ref_speed: 5.529537200927734
steer_angle_limited: -0.06423246574806668
lateral_acceleration: 0.0
lateral_jerk: 0.0
ref_heading_rate: -0.0006288771531676729
heading_rate: 0.0
ref_heading_acceleration: 0.0
heading_acceleration: 0.0
heading_error_acceleration: 0.0
ref_heading_jerk: 0.0
heading_jerk: 0.0
heading_error_jerk: 0.0
lateral_error_feedback: -0.00012828438860794367
heading_error_feedback: 0.0001526255092034745
current_target_point {
path_point {
x: 587071.6049958749
y: 4141463.9517052053
}
}
steer_angle_feedback_augment: 0.0
steer_mrac_enable_status: false
}
input_debug {
localization_header {
timestamp_sec: 1620182274.1339664
module_name: "localization"
sequence_num: 9750
}
canbus_header {
timestamp_sec: 1620182267.2811449
module_name: "chassis"
sequence_num: 27
}
trajectory_header {
timestamp_sec: 1620182274.1022925
module_name: "planning"
sequence_num: 6996
lidar_timestamp: 1620182267181144832
camera_timestamp: 0
radar_timestamp: 0
}
latest_replan_trajectory_header {
timestamp_sec: 1620182270.997513
module_name: "planning"
sequence_num: 6977
lidar_timestamp: 1620182264281147648
camera_timestamp: 0
radar_timestamp: 0
}
}
}
signal {
turn_signal: TURN_NONE
}
latency_stats {
total_time_ms: 2.652708
controller_time_ms: 1.9273757934570312
controller_time_ms: 0.13947486877441406
total_time_exceeded: false
}
engage_advice {
advice: READY_TO_ENGAGE
}

Expected behavior
It should show speed value in each message.

Desktop (please complete the following information):

• OS: [e.g. iOS] Ubuntu 20.04
• Browser [e.g. chrome, safari] chrome
• Version [e.g. 22] master

Additional context
Add any other context about the problem here.

[daohu527]

Closed due to inactivity. If the problem persists, pls feel free to reopen it or create a new one and refer to it.