refactor: prepare paths (#99)

* refactor: prepare paths Signed-off-by: Hayato Mizushima <[email protected]> * refactor: variable Signed-off-by: Hayato Mizushima <[email protected]> --------- Signed-off-by: Hayato Mizushima <[email protected]>
tier4 · Feb 25, 2025 · 0ca0c0b · 0ca0c0b
1 parent 59d3b2f
commit 0ca0c0b
Showing 1 changed file with 13 additions and 10 deletions.
diff --git a/driving_log_replayer_v2/driving_log_replayer_v2/launch/argument.py b/driving_log_replayer_v2/driving_log_replayer_v2/launch/argument.py
@@ -207,11 +207,10 @@ def update_conf_with_dataset_info(
     dataset_info: dict,
     output_dir: Path,
 ) -> None:
-    v = dataset_info
-    conf["vehicle_id"] = v["VehicleId"]
-    conf["initial_pose"] = json.dumps(v.get("InitialPose", {}))
-    conf["direct_initial_pose"] = json.dumps(v.get("DirectInitialPose", {}))
-    conf["goal_pose"] = json.dumps(v.get("GoalPose", {}))
+    conf["vehicle_id"] = dataset_info["VehicleId"]
+    conf["initial_pose"] = json.dumps(dataset_info.get("InitialPose", {}))
+    conf["direct_initial_pose"] = json.dumps(dataset_info.get("DirectInitialPose", {}))
+    conf["goal_pose"] = json.dumps(dataset_info.get("GoalPose", {}))
     conf["t4_dataset_path"] = t4_dataset_path.as_posix()
     conf["vehicle_model"] = yaml_obj["VehicleModel"]
     conf["sensor_model"] = yaml_obj["SensorModel"]
@@ -226,17 +225,21 @@ def update_conf_with_dataset_info(
         conf["record_only"] = "true"
 
 
+def prepare_paths(conf: dict) -> tuple[Path, Path, Path]:
+    scenario_path = Path(conf["scenario_path"])
+    dataset_dir = scenario_path.parent if conf["dataset_dir"] == "" else Path(conf["dataset_dir"])
+    output_dir = create_output_dir(conf["output_dir"], scenario_path)
+    conf["output_dir"] = output_dir.as_posix()
+    return scenario_path, dataset_dir, output_dir
+
+
 def ensure_arg_compatibility(context: LaunchContext) -> list:
     conf = context.launch_configurations
     is_valid = is_arg_valid(conf)
     if is_valid is not None:
         return is_valid
 
-    scenario_path = Path(conf["scenario_path"])
-    dataset_dir = scenario_path.parent if conf["dataset_dir"] == "" else Path(conf["dataset_dir"])
-    output_dir = create_output_dir(conf["output_dir"], scenario_path)
-    conf["output_dir"] = output_dir.as_posix()
-
+    scenario_path, dataset_dir, output_dir = prepare_paths(conf)
     yaml_obj = load_scenario(scenario_path)
     datasets = yaml_obj["Evaluation"]["Datasets"]
     dataset_index = get_dataset_index_from_conf(conf, datasets)