Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

refactor: launch argument #97

Merged
merged 1 commit into from
Feb 25, 2025
Merged

refactor: launch argument #97

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
42 changes: 23 additions & 19 deletions driving_log_replayer_v2/driving_log_replayer_v2/launch/argument.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -170,9 +170,7 @@ def add_launch_arg(
return launch_arguments


def ensure_arg_compatibility(context: LaunchContext) -> list: # noqa
conf = context.launch_configurations

def is_arg_valid(conf: dict) -> LogInfo | None:
# check conf
if conf["dataset_dir"] != "" and conf["t4_dataset_path"] != "":
return [
Expand All @@ -188,6 +186,14 @@ def ensure_arg_compatibility(context: LaunchContext) -> list: # noqa
msg="Both remap_arg and remap_profile are specified. Only one of them can be specified."
)
]
return None


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"])
Expand All @@ -205,22 +211,20 @@ def ensure_arg_compatibility(context: LaunchContext) -> list: # noqa
if isinstance(dataset_dir, str):
return [LogInfo(msg=dataset_index)]

for k, v in datasets[dataset_index].items():
t4_dataset_path = (
Path(conf["t4_dataset_path"])
if conf["t4_dataset_path"] != ""
else dataset_dir.joinpath(k)
) # t4_dataset_pathが引数で渡されていたら更新しない。指定ない場合はdata_dirから作る
conf["vehicle_id"] = v["VehicleId"]
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")
if direct_pose is not None:
conf["direct_initial_pose"] = json.dumps(direct_pose)
goal_pose: dict | None = v.get("GoalPose")
if goal_pose is not None:
conf["goal_pose"] = json.dumps(goal_pose)
k, v = next(iter(datasets[dataset_index].items()))
t4_dataset_path = (
Path(conf["t4_dataset_path"]) if conf["t4_dataset_path"] != "" else dataset_dir.joinpath(k)
) # t4_dataset_pathが引数で渡されていたら更新しない。指定ない場合はdata_dirから作る
conf["vehicle_id"] = v["VehicleId"]
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")
if direct_pose is not None:
conf["direct_initial_pose"] = json.dumps(direct_pose)
goal_pose: dict | None = v.get("GoalPose")
if goal_pose is not None:
conf["goal_pose"] = json.dumps(goal_pose)
conf["t4_dataset_path"] = t4_dataset_path.as_posix()
conf["vehicle_model"] = yaml_obj["VehicleModel"]
conf["sensor_model"] = yaml_obj["SensorModel"]
Expand Down
Loading