lantu_vehstate/cicv_ica_longitudinal_control06_delay_time_THW_new.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-
##################################################################
#
# Copyright (c) 2023 CICV, Inc. All Rights Reserved
#
##################################################################
"""
@Authors:           zhanghaiwen, yangzihao
@Data:              2024/02/21
@Last Modified:     2024/02/21
@Summary:           The template of custom indicator.
"""

"""
设计思路：

"""

import math
import pandas as pd
import numpy as np
from common import zip_time_pairs, continuous_group, get_status_active_data, _cal_THW, _cal_v_ego_projection
from log import logger

"""import functions"""


# custom metric codes
Max_Time = 1000
class CustomMetric(object):
    def __init__(self, all_data, case_name):
        self.data = all_data
        self.optimal_dict = self.data.config
        self.status_trigger_dict = self.data.status_trigger_dict
        self.case_name = case_name
        self.markline_df = pd.DataFrame(columns=['start_time', 'end_time', 'start_frame', 'end_frame', 'type'])
        self.graph_list = []

        self.df = pd.DataFrame()
        self.ego_df = pd.DataFrame()
        self.df_ica = pd.DataFrame()

        # self.stable_start_time_THW = None
        self.stable_average_THW = None
        self.delay_time_THW = Max_Time

        self.result = {
            "name": "跟车延迟时间",
            "value": [],
            # "weight": [],
            "tableData": {
                "avg": "",  # 平均值，或指标值
                "max": "",
                "min": ""
            },
            "reportData": {
                "name": "跟车延迟时间（s）",
                # "legend": [], # 如果有多个data，则需要增加data对应的说明，如：["横向加速度", "纵向加速度"]
                "data": [],
                "markLine": [],
                "range": [],
            },
            "statusFlag": {}
        }
        self.run()
        print(f"跟车延迟时间: {self.result['value']}")

    def data_extract(self):
        self.df = self.data.object_df
        self.ego_df = self.data.ego_data

        active_time_ranges = self.status_trigger_dict['ICA']['ICA_follow_time']
        self.df_ica = get_status_active_data(active_time_ranges, self.ego_df)

        # self.df_ica = self.ego_df[self.ego_df['ICA_status'] == "LLC_Follow_Vehicle"].copy()  # 数字3对应ICA的Active
        # self.df_ica = self.df[self.df['ACC_status'] == "Shut_off"].copy()  # 数字3对应ICA的Active
        # self.df_ica = self.df[self.df['ACC_status'] == "Active"].copy()  # 数字3对应ICA的Active

        if self.df_ica.empty:
            self.result['statusFlag']['function_ICA'] = False
        else:
            self.result['statusFlag']['function_ICA'] = True

    def _find_stable_THW(self, window_size, percent_deviation, set_value):
        """
        在给定的数据窗口中查找稳定跟车时距离THW，并计算该段内THW的平均值。

        Args:
            window_size (int): 窗口大小，表示在数据中寻找稳定段时考虑的连续数据点数量。
            percent_deviation (float): THW值相对于设定值的允许偏差百分比。
            set_value (float): THW的设定值。

        Returns:
            None

        """
        ego_x = self.df_ica[self.df_ica['playerId'] == 1]['posX'].reset_index(drop=True)
        ego_y = self.df_ica[self.df_ica['playerId'] == 1]['posY'].reset_index(drop=True)
        obj_x = self.df_ica[self.df_ica['playerId'] == 2]['posX'].reset_index(drop=True)
        obj_y = self.df_ica[self.df_ica['playerId'] == 2]['posY'].reset_index(drop=True)

        ego_speedx = self.df_ica[self.df_ica['playerId'] == 1]['speedX'].reset_index(drop=True)
        ego_speedy = self.df_ica[self.df_ica['playerId'] == 1]['speedY'].reset_index(drop=True)
        obj_speedx = self.df_ica[self.df_ica['playerId'] == 2]['speedX'].reset_index(drop=True)
        obj_speedy = self.df_ica[self.df_ica['playerId'] == 2]['speedY'].reset_index(drop=True)

        dx = obj_x - ego_x
        dy = obj_y - ego_y
        vx = obj_speedx - ego_speedx
        vy = obj_speedy - ego_speedy
        dist = np.sqrt(dx ** 2 + dy ** 2)
        ego_v_projection_in_dist = _cal_v_ego_projection(dx, dy, ego_speedx, ego_speedy)
        thw1 = _cal_THW(dist, ego_v_projection_in_dist)
        thw = thw1.tolist()
        THW = []
        for item in thw:
            THW.append(item)
            THW.append(item)
        self.df_ica['THW'] = THW

        THW = self.df_ica['THW'].values
        deviation = set_value * (percent_deviation / 100)
        stable_start = None
        stable_average_THW = None

        for i in range(len(THW) - window_size + 1):
            window_data = THW[i:i + window_size]

            if all(set_value - deviation <= s <= set_value + deviation for s in window_data):
                if stable_start is None:
                    stable_start = i
                    stable_end = i + window_size - 1
                    stable_average_THW = np.mean(window_data)

                j = i + window_size
                while j < len(THW) - window_size + 1:
                    next_window_data = THW[j:j + window_size]

                    if all(set_value - deviation <= s <= set_value + deviation for s in next_window_data):
                        stable_end = j + window_size - 1
                        stable_average_THW = (stable_average_THW * (j - stable_start) + sum(next_window_data)) / (
                                j - stable_start + window_size)
                        j += window_size
                    else:
                        stable_start = j + window_size - 1
                        stable_end = i + window_size - 1
                        stable_average_THW = np.mean(window_data)
                        break

        # self.stable_start_time_THW = self.df_ica['simTime'].iloc[stable_start]
        self.stable_average_THW = stable_average_THW

    def data_analyze(self):
        if self.df_ica.empty:
            self.delay_time_THW = 0
            self.result['value'] = [round(self.delay_time_THW, 3)]
            print(f"Delay time: {self.delay_time_THW}")
        else:

            change_indices = self.df_ica[self.df_ica['set_headway_time'] != self.df_ica['set_headway_time'].shift()].index
            print(f"Change indices of set speed: {change_indices}")

            set_headway_time = self.df_ica.loc[change_indices[0], 'set_headway_time']
            self._find_stable_THW(window_size=4, percent_deviation=5, set_value=set_headway_time)

            if not change_indices.empty:
                first_change_index = change_indices[change_indices != 0].min()
                set_THW_at_change = self.df_ica.loc[first_change_index, 'set_headway_time']
                timestamp_at_change = self.df_ica.loc[first_change_index, 'simTime']
                print(f"Set THW at first change: {set_THW_at_change}, Timestamp: {timestamp_at_change}")
                if self.stable_average_THW:
                    target_THW = (self.stable_average_THW + self.df_ica.loc[first_change_index, 'set_headway_time']) / 2
                    closest_index = (self.df_ica['set_headway_time'] - target_THW).abs().idxmin()
                    closest_current_THW = self.df_ica.loc[closest_index, 'set_headway_time']
                    closest_timestamp = self.df_ica.loc[closest_index, 'simTime']
                    print(f"Closest speed: {closest_current_THW} at time: {closest_timestamp}")

                    self.delay_time_THW = closest_timestamp - timestamp_at_change
                else:
                    self.delay_time_THW = Max_Time
                self.result['value'] = [round(self.delay_time_THW, 3)]
                print(f"Delay time: {self.delay_time_THW}")

            else:
                self.delay_time_THW = 0.0
                self.result['value'] = [0.0]
                print("No valid change point for further calculation.")

    def markline_statistic(self):
        pass

    def report_data_statistic(self):
        # time_list = self.ego_df['simTime'].values.tolist()
        # graph_list = [x for x in self.graph_list if not np.isnan(x)]
        self.result['tableData']['avg'] = self.result['value'][0] if not self.df_ica.empty else '-'
        self.result['tableData']['max'] = '-'
        self.result['tableData']['min'] = '-'

        # zip_vs_time = zip_time_pairs(time_list, self.graph_list)
        self.result['reportData']['data'] = []

        # self.markline_statistic()
        # markline_slices = self.markline_df.to_dict('records')
        self.result['reportData']['markLine'] = []

        self.result['reportData']['range'] = [0, 1.2]

    def run(self):
        # logger.info(f"Custom metric run:[{self.result['name']}].")
        logger.info(f"[case:{self.case_name}] Custom metric:[delay_time_THW:{self.result['name']}] evaluate.")

        try:
            self.data_extract()
        except Exception as e:
            logger.error(f"[case:{self.case_name}] Custom metric:{self.result['name']} data extract ERROR!", e)

        try:
            self.data_analyze()
        except Exception as e:
            logger.error(f"[case:{self.case_name}] Custom metric:{self.result['name']} data analyze ERROR!", e)

        try:
            self.report_data_statistic()
        except Exception as e:
            logger.error(f"[case:{self.case_name}] Custom metric:{self.result['name']} report data statistic ERROR!", e)

# if __name__ == "__main__":
#     pass