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feat: set dataset index #28

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Sep 6, 2024
Merged

feat: set dataset index #28

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43 changes: 24 additions & 19 deletions driving_log_replayer_v2/launch/driving_log_replayer_v2.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -109,6 +109,19 @@ def check_launch_component(conf: dict) -> dict:
return launch_component


def get_dataset_index(idx_str: str, dataset_length: int) -> int | None:
if idx_str == "": # default value
if dataset_length == 1:
return 0
return None
try:
idx_int = int(idx_str)
if idx_int < 0 or idx_int > dataset_length:
return None
except ValueError:
return None


def ensure_arg_compatibility(context: LaunchContext) -> list:
conf = context.launch_configurations
scenario_path = Path(conf["scenario_path"])
Expand All @@ -118,24 +131,16 @@ def ensure_arg_compatibility(context: LaunchContext) -> list:

with scenario_path.open() as scenario_file:
yaml_obj = yaml.safe_load(scenario_file)
# check datasets length and index

datasets = yaml_obj["Evaluation"]["Datasets"]
idx_str = conf["dataset_index"]
if idx_str == "": # default value
if len(datasets) == 1:
dataset_index = 0
else:
return [
LogInfo(msg="launch argument 'dataset_index:=i' is required"),
]
else:
dataset_index = int(idx_str)
dataset_index = get_dataset_index(conf["dataset_index"], len(datasets))
if dataset_index is None:
return [LogInfo(msg=f"dataset_index={conf['dataset_index']} is invalid")]

for k, v in datasets[dataset_index].items():
dataset_path = dataset_dir.joinpath(k)
t4_dataset_path = dataset_dir.joinpath(k)
conf["vehicle_id"] = v["VehicleId"]
init_pose: dict | None = v.get(
"InitialPose",
) # nullに設定されている。または書かれてない場合はNone
init_pose: dict | None = v.get("InitialPose")
if init_pose is not None:
conf["initial_pose"] = json.dumps(init_pose)
direct_pose: dict | None = v.get("DirectInitialPose")
Expand All @@ -144,19 +149,19 @@ def ensure_arg_compatibility(context: LaunchContext) -> list:
goal_pose: dict | None = v.get("GoalPose")
if goal_pose is not None:
conf["goal_pose"] = json.dumps(goal_pose)
conf["map_path"] = dataset_path.joinpath("map").as_posix()
conf["t4_dataset_path"] = t4_dataset_path.as_posix()
conf["vehicle_model"] = yaml_obj["VehicleModel"]
conf["sensor_model"] = yaml_obj["SensorModel"]
conf["t4_dataset_path"] = dataset_path.as_posix()
conf["input_bag"] = dataset_path.joinpath("input_bag").as_posix()
conf["map_path"] = t4_dataset_path.joinpath("map").as_posix()
conf["input_bag"] = t4_dataset_path.joinpath("input_bag").as_posix()
conf["result_json_path"] = output_dir.joinpath("result.json").as_posix()
conf["result_bag_path"] = output_dir.joinpath("result_bag").as_posix()
conf["result_archive_path"] = output_dir.joinpath("result_archive").as_posix()
conf["use_case"] = yaml_obj["Evaluation"]["UseCaseName"]

return [
LogInfo(
msg=f"{dataset_path=}, {dataset_index=}, {output_dir=}, use_case={conf['use_case']}",
msg=f"{t4_dataset_path=}, {dataset_index=}, {output_dir=}, use_case={conf['use_case']}",
),
LogInfo(
msg=f"{check_launch_component(conf)=}",
Expand Down