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refactor: prepare paths #99

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merged 2 commits into from
Feb 25, 2025
Merged

refactor: prepare paths #99

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87d2550
refactor: prepare paths
hayato-m126 Feb 25, 2025
8328060
refactor: variable
hayato-m126 Feb 25, 2025
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23 changes: 13 additions & 10 deletions driving_log_replayer_v2/driving_log_replayer_v2/launch/argument.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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"]
Expand All @@ -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)
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