zhaoyuan_traffic

config/config.py

@@ -0,0 +1,131 @@
+import os
+
+# 根目录路径
+ROOT_PATH = "/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/"
+
+# 路径配置
+RAW_DATA_PATH = os.path.join(ROOT_PATH, "data/raw")
+PROCESSED_DATA_PATH = os.path.join(ROOT_PATH, "data/processed")
+CONFIG_PATH = os.path.join(ROOT_PATH, "config/data_process.yaml")
+REPORT_PATH = os.path.join(ROOT_PATH, "result")
+LOG_PATH = os.path.join(ROOT_PATH, "log/single_case.log")
+SAFETY_CONFIG_PATH = os.path.join(ROOT_PATH, "models/safety/safety_config.yaml")
+COMFORT_CONFIG_PATH = os.path.join(ROOT_PATH, "models/comfort/comfort_config.yaml")
+
+# 安全指标列表
+SAFETY_METRIC_LIST = [
+    "TTC",
+    "MTTC",
+    "THW",
+    "LonSD",
+    "LatSD",
+    "DRAC",
+    "BTN",
+    "STN",
+    "collisionRisk",
+    "collisionSeverity",
+]
+
+# 舒适性指标列表
+COMFORT_METRIC_LIST = ["weaving", "shake", "cadence", "slamBrake", "slamAccelerate"]
+
+COMFORT_INFO = [
+    "simTime",
+    "simFrame",
+    "speedX",
+    "speedY",
+    "accelX",
+    "accelY",
+    "curvHor",
+    "lightMask",
+    "v",
+    "lat_acc",
+    "lon_acc",
+    "time_diff",
+    "lon_acc_diff",
+    "lon_acc_roc",
+    "speedH",
+    "accelH",
+]
+# 交通事故类型列表
+TRIFFIC_TYPE_LIST = [
+    "higwayExceededSpeed_50",
+    "higwayreverse",
+    "higwayDrivingAgainst",
+    "higwayDrivingLaneStopped",
+    "higwayEmergencyLaneStopped",
+    "emergencyLaneDriving",
+    "trafficSignalViolation",
+]
+TRIFFIC_INFO = [
+    "simTime",
+    "simFrame",
+    "speedX",
+    "speedY",
+    "accelX",
+    "accelY",
+    "curvHor",
+    "lightMask",
+    "v",
+]
+TRIFFIC_TYPE_LIST_MAP = {
+    "higwayExceededSpeed_50": "超速",
+    "higwayreverse": "逆行",
+    "higwayDrivingAgainst": "会车",
+    "higwayDrivingLaneStopped": "压线停车",
+    "higwayEmergencyLaneStopped": "应急车道停车",
+    "emergencyLaneDriving": "应急车道行驶",
+    "trafficSignalViolation": "违章停车",
+}
+# 道路功能等级与描述的映射
+ROAD_FUNCTION_LEVEL_MAP = {
+    1: "高速",
+    2: "城市快速路",
+    3: "一般道路",
+    # 可以根据需要增加更多的功能等级
+}
+
+# 时间配置
+T0 = 0
+T1 = 3
+T2 = 5
+
+# 数据质量等级
+DATA_QUALITY_LEVEL_1 = 30
+DATA_QUALITY_LEVEL_2 = 20
+
+# 文件名配置
+EGO_CAR_FILE = "EgoState.csv"
+OBJECT_CAR_FILE = "ObjState.csv"
+
+# 车辆参数配置
+TC = 0.3  # 时间常数
+RHO = 0.3  # 驾驶员制动反应时间（单位：秒）
+EGO_ACCEL_MAX = 6  # 自车油门最大加速度（单位：m/s^2）
+OBJ_DECEL_MAX = 8  # 前车刹车最大减速度（单位：m/s^2）
+EGO_DECEL_MIN = 1  # 自车刹车最小减速度（单位：m/s^2，这里可能是ug的误写，应明确单位）
+EGO_DECEL_LON_MAX = 8  # 自车纵向刹车最大减速度（单位：m/s^2）
+EGO_DECEL_LAT_MAX = 1  # 自车横向刹车最大减速度（单位：m/s^2）
+
+
+# 道路类型与描述的映射
+ROAD_TYPE_MAP = {
+    1: "无属性",
+    2: "IC（高速出入路）",
+    3: "JCT（高速连接）",
+    # 可以根据需要增加更多的道路类型
+}
+
+
+LANE_TYPE_MAP = {
+    1: "直行车道",
+    2: "左转车道",
+    3: "右转车道",
+    4: "掉头车道",
+    5: "停车位",
+    6: "公交站台",
+    7: "人行横道",
+    8: "非机动车道",
+    9: "自行车道",
+    10: "其他",
+}

data/processed/data/CrosswalkInfo.csv

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data/processed/data/RoadInfo.csv

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data/processed/data/TrafficLight.csv

@@ -0,0 +1 @@
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data/processed/data/TrafficSign.csv

@@ -0,0 +1 @@
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install/requirements.txt

@@ -0,0 +1,27 @@
+certifi==2024.8.30
+chardet==5.2.0
+charset-normalizer==3.4.0
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+cycler==0.12.1
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+pillow==11.0.0
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+python-dateutil==2.9.0.post0
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+six==1.16.0
+tzdata==2024.2
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log/single_case.log

@@ -0,0 +1,1355 @@
+[2024-10-30 11:33:51,503] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/evaluate_zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
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+[2024-10-30 11:33:51,511] - [INFO] - [single_case_eval.py] [line:27] - [[case:ACC] SINGLE_CASE_EVAL: Start running...]
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+[2024-10-30 11:33:51,511] - [INFO] - [single_case_eval.py] [line:41] - [[case:ICA] data_precheck: Start running...]
+[2024-10-30 11:33:51,511] - [INFO] - [data_process.py] [line:131] - [[case:ACC] Check if the data is valid: Start.]
+[2024-10-30 11:33:51,511] - [INFO] - [data_process.py] [line:131] - [[case:ICA] Check if the data is valid: Start.]
+[2024-10-30 11:33:51,511] - [INFO] - [data_process.py] [line:115] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/evaluate_zhaoyuan/data/processed/ACC]
+[2024-10-30 11:33:51,511] - [INFO] - [data_process.py] [line:115] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/evaluate_zhaoyuan/data/processed/ICA]
+[2024-10-30 11:33:51,605] - [INFO] - [data_process.py] [line:156] - [[case:ICA] Check if the data is valid: End.]
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+[2024-10-30 11:33:51,801] - [INFO] - [data_process.py] [line:433] - [merged_ObjState.csv has been saved.]
+[2024-10-30 11:33:51,839] - [INFO] - [data_process.py] [line:433] - [merged_ObjState.csv has been saved.]
+[2024-10-30 11:33:53,789] - [INFO] - [evaluate_main.py] [line:53] - [所有子文件夹处理完成]
+[2024-10-30 11:33:53,789] - [INFO] - [evaluate_main.py] [line:55] - [程序结束，执行时间：2 s]
+[2024-10-30 11:33:53,789] - [INFO] - [evaluate_main.py] [line:56] - [[case:/home/kevin/kevin/zhaoyuan/evaluate_zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-10-30 14:42:37,197] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-10-30 14:42:37,197] - [INFO] - [evaluate_main.py] [line:34] - [2 subfolders found to process: ['ACC', 'ICA']]
+[2024-10-30 14:42:37,205] - [INFO] - [single_case_eval.py] [line:27] - [[case:ACC] SINGLE_CASE_EVAL: Start running...]
+[2024-10-30 14:42:37,205] - [INFO] - [single_case_eval.py] [line:27] - [[case:ICA] SINGLE_CASE_EVAL: Start running...]
+[2024-10-30 14:42:37,206] - [INFO] - [single_case_eval.py] [line:41] - [[case:ACC] data_precheck: Start running...]
+[2024-10-30 14:42:37,206] - [INFO] - [single_case_eval.py] [line:41] - [[case:ICA] data_precheck: Start running...]
+[2024-10-30 14:42:37,206] - [INFO] - [data_process.py] [line:131] - [[case:ACC] Check if the data is valid: Start.]
+[2024-10-30 14:42:37,206] - [INFO] - [data_process.py] [line:131] - [[case:ICA] Check if the data is valid: Start.]
+[2024-10-30 14:42:37,206] - [INFO] - [data_process.py] [line:115] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/ACC]
+[2024-10-30 14:42:37,206] - [INFO] - [data_process.py] [line:115] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/ICA]
+[2024-10-30 14:42:37,300] - [INFO] - [data_process.py] [line:156] - [[case:ICA] Check if the data is valid: End.]
+[2024-10-30 14:42:37,307] - [INFO] - [data_process.py] [line:156] - [[case:ACC] Check if the data is valid: End.]
+[2024-10-30 14:42:37,492] - [INFO] - [data_process.py] [line:433] - [merged_ObjState.csv has been saved.]
+[2024-10-30 14:42:37,526] - [INFO] - [data_process.py] [line:433] - [merged_ObjState.csv has been saved.]
+[2024-10-30 14:42:39,479] - [INFO] - [evaluate_main.py] [line:53] - [所有子文件夹处理完成]
+[2024-10-30 14:42:39,479] - [INFO] - [evaluate_main.py] [line:55] - [程序结束，执行时间：2 s]
+[2024-10-30 14:42:39,479] - [INFO] - [evaluate_main.py] [line:56] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-10-30 15:06:42,728] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-10-30 15:06:42,728] - [INFO] - [evaluate_main.py] [line:34] - [2 subfolders found to process: ['ACC', 'ICA']]
+[2024-10-30 15:06:42,737] - [INFO] - [single_case_eval.py] [line:27] - [[case:ICA] SINGLE_CASE_EVAL: Start running...]
+[2024-10-30 15:06:42,737] - [INFO] - [single_case_eval.py] [line:27] - [[case:ACC] SINGLE_CASE_EVAL: Start running...]
+[2024-10-30 15:06:42,737] - [INFO] - [single_case_eval.py] [line:41] - [[case:ICA] data_precheck: Start running...]
+[2024-10-30 15:06:42,737] - [INFO] - [single_case_eval.py] [line:41] - [[case:ACC] data_precheck: Start running...]
+[2024-10-30 15:06:42,737] - [INFO] - [data_process.py] [line:131] - [[case:ICA] Check if the data is valid: Start.]
+[2024-10-30 15:06:42,737] - [INFO] - [data_process.py] [line:131] - [[case:ACC] Check if the data is valid: Start.]
+[2024-10-30 15:06:42,737] - [INFO] - [data_process.py] [line:115] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/ICA]
+[2024-10-30 15:06:42,737] - [INFO] - [data_process.py] [line:115] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/ACC]
+[2024-10-30 15:06:42,833] - [INFO] - [data_process.py] [line:156] - [[case:ICA] Check if the data is valid: End.]
+[2024-10-30 15:06:42,837] - [INFO] - [data_process.py] [line:156] - [[case:ACC] Check if the data is valid: End.]
+[2024-10-30 15:06:43,025] - [INFO] - [data_process.py] [line:433] - [merged_ObjState.csv has been saved.]
+[2024-10-30 15:06:43,066] - [INFO] - [data_process.py] [line:433] - [merged_ObjState.csv has been saved.]
+[2024-10-30 15:06:45,110] - [INFO] - [evaluate_main.py] [line:52] - [所有子文件夹处理完成]
+[2024-10-30 15:06:45,110] - [INFO] - [evaluate_main.py] [line:54] - [程序结束，执行时间：2 s]
+[2024-10-30 15:06:45,110] - [INFO] - [evaluate_main.py] [line:55] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-06 16:47:14,506] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-06 16:47:14,506] - [INFO] - [evaluate_main.py] [line:34] - [3 subfolders found to process: ['data', 'ACC', 'ICA']]
+[2024-11-06 16:47:14,795] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-06 16:47:14,795] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-06 16:47:14,795] - [INFO] - [data_process.py] [line:131] - [[case:data] Check if the data is valid: Start.]
+[2024-11-06 16:47:14,795] - [INFO] - [data_process.py] [line:115] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-06 16:47:14,823] - [INFO] - [data_process.py] [line:156] - [[case:data] Check if the data is valid: End.]
+[2024-11-06 16:47:14,826] - [ERROR] - [single_case_eval.py] [line:62] - [[case:data] SINGLE_CASE_EVAL: Single case run ERROR: FileNotFoundError(2, 'No such file or directory')!]
+Traceback (most recent call last):
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/scripts/single_case_eval.py", line 54, in single_case_eval
+    data = data_process.DataPreprocessing(case_name, mode_label)
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 191, in __init__
+    self._merge_csv()
+    ~~~~~~~~~~~~~~~^^
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 398, in _merge_csv
+    df_ego = pd.read_csv(os.path.join(self.data_path, 'EgoState.csv')).drop_duplicates().dropna(how='all')
+             ~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/parsers/readers.py", line 1026, in read_csv
+    return _read(filepath_or_buffer, kwds)
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/parsers/readers.py", line 620, in _read
+    parser = TextFileReader(filepath_or_buffer, **kwds)
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/parsers/readers.py", line 1620, in __init__
+    self._engine = self._make_engine(f, self.engine)
+                   ~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/parsers/readers.py", line 1880, in _make_engine
+    self.handles = get_handle(
+                   ~~~~~~~~~~^
+        f,
+        ^^
+    ...<6 lines>...
+        storage_options=self.options.get("storage_options", None),
+        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+    )
+    ^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/common.py", line 873, in get_handle
+    handle = open(
+        handle,
+    ...<3 lines>...
+        newline="",
+    )
+FileNotFoundError: [Errno 2] No such file or directory: '/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data/EgoState.csv'
+[2024-11-06 16:47:15,110] - [INFO] - [single_case_eval.py] [line:27] - [[case:ACC] SINGLE_CASE_EVAL: Start running...]
+[2024-11-06 16:47:15,110] - [INFO] - [single_case_eval.py] [line:41] - [[case:ACC] data_precheck: Start running...]
+[2024-11-06 16:47:15,110] - [INFO] - [data_process.py] [line:131] - [[case:ACC] Check if the data is valid: Start.]
+[2024-11-06 16:47:15,110] - [INFO] - [data_process.py] [line:115] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/ACC]
+[2024-11-06 16:47:15,362] - [INFO] - [data_process.py] [line:156] - [[case:ACC] Check if the data is valid: End.]
+[2024-11-06 16:47:15,446] - [INFO] - [single_case_eval.py] [line:27] - [[case:ICA] SINGLE_CASE_EVAL: Start running...]
+[2024-11-06 16:47:15,446] - [INFO] - [single_case_eval.py] [line:41] - [[case:ICA] data_precheck: Start running...]
+[2024-11-06 16:47:15,446] - [INFO] - [data_process.py] [line:131] - [[case:ICA] Check if the data is valid: Start.]
+[2024-11-06 16:47:15,446] - [INFO] - [data_process.py] [line:115] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/ICA]
+[2024-11-06 16:47:15,571] - [INFO] - [data_process.py] [line:433] - [merged_ObjState.csv has been saved.]
+[2024-11-06 16:47:15,663] - [INFO] - [data_process.py] [line:156] - [[case:ICA] Check if the data is valid: End.]
+[2024-11-06 16:47:15,906] - [INFO] - [data_process.py] [line:433] - [merged_ObjState.csv has been saved.]
+[2024-11-06 17:00:51,805] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-06 17:00:51,805] - [INFO] - [evaluate_main.py] [line:34] - [3 subfolders found to process: ['data', 'ACC', 'ICA']]
+[2024-11-06 17:00:52,073] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-06 17:00:52,073] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-06 17:00:52,073] - [INFO] - [data_process.py] [line:131] - [[case:data] Check if the data is valid: Start.]
+[2024-11-06 17:00:52,073] - [INFO] - [data_process.py] [line:115] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-06 17:00:52,106] - [INFO] - [data_process.py] [line:156] - [[case:data] Check if the data is valid: End.]
+[2024-11-06 17:00:52,110] - [ERROR] - [single_case_eval.py] [line:62] - [[case:data] SINGLE_CASE_EVAL: Single case run ERROR: FileNotFoundError(2, 'No such file or directory')!]
+Traceback (most recent call last):
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/scripts/single_case_eval.py", line 54, in single_case_eval
+    data = data_process.DataPreprocessing(case_name, mode_label)
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 191, in __init__
+    self._merge_csv()
+    ~~~~~~~~~~~~~~~^^
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 398, in _merge_csv
+    df_ego = pd.read_csv(os.path.join(self.data_path, 'EgoState.csv')).drop_duplicates().dropna(how='all')
+             ~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/parsers/readers.py", line 1026, in read_csv
+    return _read(filepath_or_buffer, kwds)
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/parsers/readers.py", line 620, in _read
+    parser = TextFileReader(filepath_or_buffer, **kwds)
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/parsers/readers.py", line 1620, in __init__
+    self._engine = self._make_engine(f, self.engine)
+                   ~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/parsers/readers.py", line 1880, in _make_engine
+    self.handles = get_handle(
+                   ~~~~~~~~~~^
+        f,
+        ^^
+    ...<6 lines>...
+        storage_options=self.options.get("storage_options", None),
+        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+    )
+    ^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/common.py", line 873, in get_handle
+    handle = open(
+        handle,
+    ...<3 lines>...
+        newline="",
+    )
+FileNotFoundError: [Errno 2] No such file or directory: '/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data/EgoState.csv'
+[2024-11-06 17:00:52,423] - [INFO] - [single_case_eval.py] [line:27] - [[case:ACC] SINGLE_CASE_EVAL: Start running...]
+[2024-11-06 17:00:52,424] - [INFO] - [single_case_eval.py] [line:41] - [[case:ACC] data_precheck: Start running...]
+[2024-11-06 17:00:52,424] - [INFO] - [data_process.py] [line:131] - [[case:ACC] Check if the data is valid: Start.]
+[2024-11-06 17:00:52,424] - [INFO] - [data_process.py] [line:115] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/ACC]
+[2024-11-06 17:00:52,547] - [INFO] - [data_process.py] [line:156] - [[case:ACC] Check if the data is valid: End.]
+[2024-11-06 17:00:52,740] - [INFO] - [single_case_eval.py] [line:27] - [[case:ICA] SINGLE_CASE_EVAL: Start running...]
+[2024-11-06 17:00:52,740] - [INFO] - [single_case_eval.py] [line:41] - [[case:ICA] data_precheck: Start running...]
+[2024-11-06 17:00:52,740] - [INFO] - [data_process.py] [line:131] - [[case:ICA] Check if the data is valid: Start.]
+[2024-11-06 17:00:52,740] - [INFO] - [data_process.py] [line:115] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/ICA]
+[2024-11-06 17:00:52,743] - [INFO] - [data_process.py] [line:433] - [merged_ObjState.csv has been saved.]
+[2024-11-06 17:00:52,879] - [INFO] - [data_process.py] [line:156] - [[case:ICA] Check if the data is valid: End.]
+[2024-11-06 17:00:53,152] - [INFO] - [data_process.py] [line:433] - [merged_ObjState.csv has been saved.]
+[2024-11-06 17:03:17,520] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-06 17:03:17,520] - [INFO] - [evaluate_main.py] [line:34] - [3 subfolders found to process: ['data', 'ACC', 'ICA']]
+[2024-11-06 17:03:17,793] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-06 17:03:17,794] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-06 17:03:17,794] - [INFO] - [data_process.py] [line:131] - [[case:data] Check if the data is valid: Start.]
+[2024-11-06 17:03:17,794] - [INFO] - [data_process.py] [line:115] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-06 17:03:17,831] - [INFO] - [data_process.py] [line:156] - [[case:data] Check if the data is valid: End.]
+[2024-11-06 17:03:17,897] - [INFO] - [data_process.py] [line:433] - [merged_ObjState.csv has been saved.]
+[2024-11-06 17:03:18,115] - [INFO] - [single_case_eval.py] [line:27] - [[case:ACC] SINGLE_CASE_EVAL: Start running...]
+[2024-11-06 17:03:18,115] - [INFO] - [single_case_eval.py] [line:41] - [[case:ACC] data_precheck: Start running...]
+[2024-11-06 17:03:18,115] - [INFO] - [data_process.py] [line:131] - [[case:ACC] Check if the data is valid: Start.]
+[2024-11-06 17:03:18,115] - [INFO] - [data_process.py] [line:115] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/ACC]
+[2024-11-06 17:03:18,272] - [INFO] - [data_process.py] [line:156] - [[case:ACC] Check if the data is valid: End.]
+[2024-11-06 17:03:18,438] - [INFO] - [single_case_eval.py] [line:27] - [[case:ICA] SINGLE_CASE_EVAL: Start running...]
+[2024-11-06 17:03:18,438] - [INFO] - [single_case_eval.py] [line:41] - [[case:ICA] data_precheck: Start running...]
+[2024-11-06 17:03:18,438] - [INFO] - [data_process.py] [line:131] - [[case:ICA] Check if the data is valid: Start.]
+[2024-11-06 17:03:18,438] - [INFO] - [data_process.py] [line:115] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/ICA]
+[2024-11-06 17:03:18,546] - [INFO] - [data_process.py] [line:433] - [merged_ObjState.csv has been saved.]
+[2024-11-06 17:03:18,621] - [INFO] - [data_process.py] [line:156] - [[case:ICA] Check if the data is valid: End.]
+[2024-11-06 17:03:18,974] - [INFO] - [data_process.py] [line:433] - [merged_ObjState.csv has been saved.]
+[2024-11-06 17:03:21,332] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-06 17:03:21,332] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：3 s]
+[2024-11-06 17:03:21,332] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 17:35:31,404] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 17:35:31,405] - [INFO] - [evaluate_main.py] [line:34] - [3 subfolders found to process: ['data', 'ACC', 'ICA']]
+[2024-11-14 17:35:31,867] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 17:35:31,867] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 17:35:31,867] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 17:35:31,867] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 17:35:32,029] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 17:35:32,153] - [INFO] - [data_process.py] [line:523] - [merged_ObjState.csv has been saved.]
+[2024-11-14 17:35:32,228] - [ERROR] - [single_case_eval.py] [line:62] - [[case:data] SINGLE_CASE_EVAL: Single case run ERROR: KeyError("['road_fc\\troad_type'] not in index")!]
+Traceback (most recent call last):
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/scripts/single_case_eval.py", line 54, in single_case_eval
+    data = data_process.DataPreprocessing(case_name, mode_label)
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 208, in __init__
+    self._object_df_process()
+    ~~~~~~~~~~~~~~~~~~~~~~~^^
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 320, in _object_df_process
+    self.ego_map_df[columns_to_copy + ["simTime", "simFrame"]],
+    ~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/core/frame.py", line 4108, in __getitem__
+    indexer = self.columns._get_indexer_strict(key, "columns")[1]
+              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/core/indexes/base.py", line 6200, in _get_indexer_strict
+    self._raise_if_missing(keyarr, indexer, axis_name)
+    ~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/core/indexes/base.py", line 6252, in _raise_if_missing
+    raise KeyError(f"{not_found} not in index")
+KeyError: "['road_fc\\troad_type'] not in index"
+[2024-11-14 17:35:32,365] - [INFO] - [single_case_eval.py] [line:27] - [[case:ACC] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 17:35:32,365] - [INFO] - [single_case_eval.py] [line:41] - [[case:ACC] data_precheck: Start running...]
+[2024-11-14 17:35:32,365] - [INFO] - [data_process.py] [line:148] - [[case:ACC] Check if the data is valid: Start.]
+[2024-11-14 17:35:32,365] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/ACC]
+[2024-11-14 17:35:32,484] - [INFO] - [data_process.py] [line:173] - [[case:ACC] Check if the data is valid: End.]
+[2024-11-14 17:35:32,532] - [ERROR] - [single_case_eval.py] [line:62] - [[case:ACC] SINGLE_CASE_EVAL: Single case run ERROR: FileNotFoundError(2, 'No such file or directory')!]
+Traceback (most recent call last):
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/scripts/single_case_eval.py", line 54, in single_case_eval
+    data = data_process.DataPreprocessing(case_name, mode_label)
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 205, in __init__
+    self._merge_csv()
+    ~~~~~~~~~~~~~~~^^
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 462, in _merge_csv
+    self.ego_map_df = pd.read_csv(
+                      ~~~~~~~~~~~^
+        os.path.join(self.data_path, "EgoMap.csv")
+        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+    ).drop_duplicates()  # 地图信息
+    ^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/parsers/readers.py", line 1026, in read_csv
+    return _read(filepath_or_buffer, kwds)
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/parsers/readers.py", line 620, in _read
+    parser = TextFileReader(filepath_or_buffer, **kwds)
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/parsers/readers.py", line 1620, in __init__
+    self._engine = self._make_engine(f, self.engine)
+                   ~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/parsers/readers.py", line 1880, in _make_engine
+    self.handles = get_handle(
+                   ~~~~~~~~~~^
+        f,
+        ^^
+    ...<6 lines>...
+        storage_options=self.options.get("storage_options", None),
+        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+    )
+    ^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/common.py", line 873, in get_handle
+    handle = open(
+        handle,
+    ...<3 lines>...
+        newline="",
+    )
+FileNotFoundError: [Errno 2] No such file or directory: '/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/ACC/EgoMap.csv'
+[2024-11-14 17:35:32,965] - [INFO] - [single_case_eval.py] [line:27] - [[case:ICA] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 17:35:32,966] - [INFO] - [single_case_eval.py] [line:41] - [[case:ICA] data_precheck: Start running...]
+[2024-11-14 17:35:32,966] - [INFO] - [data_process.py] [line:148] - [[case:ICA] Check if the data is valid: Start.]
+[2024-11-14 17:35:32,966] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/ICA]
+[2024-11-14 17:35:33,219] - [INFO] - [data_process.py] [line:173] - [[case:ICA] Check if the data is valid: End.]
+[2024-11-14 17:35:33,243] - [ERROR] - [single_case_eval.py] [line:62] - [[case:ICA] SINGLE_CASE_EVAL: Single case run ERROR: FileNotFoundError(2, 'No such file or directory')!]
+Traceback (most recent call last):
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/scripts/single_case_eval.py", line 54, in single_case_eval
+    data = data_process.DataPreprocessing(case_name, mode_label)
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 205, in __init__
+    self._merge_csv()
+    ~~~~~~~~~~~~~~~^^
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 462, in _merge_csv
+    self.ego_map_df = pd.read_csv(
+                      ~~~~~~~~~~~^
+        os.path.join(self.data_path, "EgoMap.csv")
+        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+    ).drop_duplicates()  # 地图信息
+    ^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/parsers/readers.py", line 1026, in read_csv
+    return _read(filepath_or_buffer, kwds)
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/parsers/readers.py", line 620, in _read
+    parser = TextFileReader(filepath_or_buffer, **kwds)
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/parsers/readers.py", line 1620, in __init__
+    self._engine = self._make_engine(f, self.engine)
+                   ~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/parsers/readers.py", line 1880, in _make_engine
+    self.handles = get_handle(
+                   ~~~~~~~~~~^
+        f,
+        ^^
+    ...<6 lines>...
+        storage_options=self.options.get("storage_options", None),
+        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+    )
+    ^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/common.py", line 873, in get_handle
+    handle = open(
+        handle,
+    ...<3 lines>...
+        newline="",
+    )
+FileNotFoundError: [Errno 2] No such file or directory: '/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/ICA/EgoMap.csv'
+[2024-11-14 17:36:48,735] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 17:36:48,736] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 17:36:49,183] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 17:36:49,184] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 17:36:49,184] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 17:36:49,184] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 17:36:49,238] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 17:36:49,318] - [INFO] - [data_process.py] [line:523] - [merged_ObjState.csv has been saved.]
+[2024-11-14 17:36:49,386] - [ERROR] - [single_case_eval.py] [line:62] - [[case:data] SINGLE_CASE_EVAL: Single case run ERROR: KeyError("['road_fc\\troad_type'] not in index")!]
+Traceback (most recent call last):
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/scripts/single_case_eval.py", line 54, in single_case_eval
+    data = data_process.DataPreprocessing(case_name, mode_label)
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 208, in __init__
+    self._object_df_process()
+    ~~~~~~~~~~~~~~~~~~~~~~~^^
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 320, in _object_df_process
+    self.ego_map_df[columns_to_copy + ["simTime", "simFrame"]],
+    ~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/core/frame.py", line 4108, in __getitem__
+    indexer = self.columns._get_indexer_strict(key, "columns")[1]
+              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/core/indexes/base.py", line 6200, in _get_indexer_strict
+    self._raise_if_missing(keyarr, indexer, axis_name)
+    ~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/core/indexes/base.py", line 6252, in _raise_if_missing
+    raise KeyError(f"{not_found} not in index")
+KeyError: "['road_fc\\troad_type'] not in index"
+[2024-11-14 17:38:44,082] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 17:38:44,082] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 17:38:44,572] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 17:38:44,573] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 17:38:44,573] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 17:38:44,573] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 17:38:44,632] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 17:38:44,732] - [INFO] - [data_process.py] [line:523] - [merged_ObjState.csv has been saved.]
+[2024-11-14 17:39:32,199] - [ERROR] - [single_case_eval.py] [line:62] - [[case:data] SINGLE_CASE_EVAL: Single case run ERROR: KeyError("['road_fc\\troad_type'] not in index")!]
+Traceback (most recent call last):
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/scripts/single_case_eval.py", line 54, in single_case_eval
+    data = data_process.DataPreprocessing(case_name, mode_label)
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 208, in __init__
+    self._object_df_process()
+    ~~~~~~~~~~~~~~~~~~~~~~~^^
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 320, in _object_df_process
+    self.ego_map_df[columns_to_copy + ["simTime", "simFrame"]],
+    ~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/core/frame.py", line 4108, in __getitem__
+    indexer = self.columns._get_indexer_strict(key, "columns")[1]
+              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/core/indexes/base.py", line 6200, in _get_indexer_strict
+    self._raise_if_missing(keyarr, indexer, axis_name)
+    ~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/core/indexes/base.py", line 6252, in _raise_if_missing
+    raise KeyError(f"{not_found} not in index")
+KeyError: "['road_fc\\troad_type'] not in index"
+[2024-11-14 17:46:54,802] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 17:46:54,803] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 17:46:55,305] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 17:46:55,305] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 17:46:55,306] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 17:46:55,306] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 17:46:55,361] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 17:46:55,443] - [INFO] - [data_process.py] [line:526] - [merged_ObjState.csv has been saved.]
+[2024-11-14 17:46:58,658] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-14 17:46:58,658] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：3 s]
+[2024-11-14 17:46:58,658] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 17:47:43,134] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 17:47:43,135] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 17:47:43,624] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 17:47:43,624] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 17:47:43,624] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 17:47:43,624] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 17:47:43,680] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 17:47:43,764] - [INFO] - [data_process.py] [line:526] - [merged_ObjState.csv has been saved.]
+[2024-11-14 17:48:03,322] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-14 17:48:03,322] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：20 s]
+[2024-11-14 17:48:03,322] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 17:53:17,169] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 17:53:17,169] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 17:53:17,660] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 17:53:17,660] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 17:53:17,660] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 17:53:17,660] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 17:53:17,721] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 17:53:17,801] - [INFO] - [data_process.py] [line:532] - [merged_ObjState.csv has been saved.]
+[2024-11-14 17:53:21,027] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-14 17:53:21,027] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：3 s]
+[2024-11-14 17:53:21,027] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 17:59:55,707] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 17:59:55,708] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 17:59:56,195] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 17:59:56,195] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 17:59:56,195] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 17:59:56,196] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 17:59:56,250] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 17:59:59,537] - [INFO] - [data_process.py] [line:532] - [merged_ObjState.csv has been saved.]
+[2024-11-14 17:59:59,730] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-14 17:59:59,730] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：4 s]
+[2024-11-14 17:59:59,730] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 18:00:18,894] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 18:00:18,894] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 18:00:19,384] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 18:00:19,384] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 18:00:19,384] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 18:00:19,384] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 18:00:19,447] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 18:00:35,978] - [INFO] - [data_process.py] [line:532] - [merged_ObjState.csv has been saved.]
+[2024-11-14 18:00:36,169] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-14 18:00:36,170] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：17 s]
+[2024-11-14 18:00:36,170] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 18:01:00,326] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 18:01:00,327] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 18:01:00,815] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 18:01:00,815] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 18:01:00,815] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 18:01:00,815] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 18:01:00,868] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 18:01:24,512] - [INFO] - [data_process.py] [line:532] - [merged_ObjState.csv has been saved.]
+[2024-11-14 18:01:24,705] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-14 18:01:24,705] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：24 s]
+[2024-11-14 18:01:24,705] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 18:01:58,781] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 18:01:58,781] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 18:02:04,140] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 18:02:04,140] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 18:02:04,140] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 18:02:04,140] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 18:02:04,194] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 18:03:49,513] - [INFO] - [data_process.py] [line:532] - [merged_ObjState.csv has been saved.]
+[2024-11-14 18:06:14,116] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 18:06:14,116] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 18:06:19,676] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 18:06:19,676] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 18:06:19,676] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 18:06:19,676] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 18:06:19,728] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 18:07:23,415] - [INFO] - [data_process.py] [line:532] - [merged_ObjState.csv has been saved.]
+[2024-11-14 18:13:08,830] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 18:13:08,830] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 18:13:10,839] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 18:13:10,839] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 18:13:10,839] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 18:13:10,839] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 18:13:10,893] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 18:17:06,860] - [INFO] - [data_process.py] [line:535] - [merged_ObjState.csv has been saved.]
+[2024-11-14 18:17:18,399] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 18:17:18,400] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 18:17:21,711] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 18:17:21,711] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 18:17:21,711] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 18:17:21,711] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 18:17:21,768] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 18:17:24,175] - [ERROR] - [single_case_eval.py] [line:62] - [[case:data] SINGLE_CASE_EVAL: Single case run ERROR: TypeError("join() got an unexpected keyword argument 'dtype'")!]
+Traceback (most recent call last):
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/scripts/single_case_eval.py", line 54, in single_case_eval
+    data = data_process.DataPreprocessing(case_name, mode_label)
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 205, in __init__
+    self._merge_csv()
+    ~~~~~~~~~~~~~~~^^
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 469, in _merge_csv
+    os.path.join(self.data_path, "ObjState.csv", dtype={"simTime": float})
+    ~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+TypeError: join() got an unexpected keyword argument 'dtype'
+[2024-11-14 18:18:56,240] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 18:18:56,241] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 18:18:58,428] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 18:18:58,428] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 18:18:58,428] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 18:18:58,428] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 18:18:58,481] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 18:19:13,236] - [INFO] - [data_process.py] [line:535] - [merged_ObjState.csv has been saved.]
+[2024-11-14 18:25:40,259] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 18:25:40,260] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 18:25:41,651] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 18:25:41,652] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 18:25:41,652] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 18:25:41,652] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 18:25:41,702] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 18:25:52,299] - [INFO] - [data_process.py] [line:536] - [merged_ObjState.csv has been saved.]
+[2024-11-14 18:25:56,721] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-14 18:25:56,721] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：16 s]
+[2024-11-14 18:25:56,721] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 19:06:45,337] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 19:06:45,337] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 19:06:45,342] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 19:06:45,343] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 19:06:45,343] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 19:06:45,343] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 19:06:45,367] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 19:06:45,427] - [INFO] - [data_process.py] [line:434] - [merged_ObjState.csv has been saved.]
+[2024-11-14 19:06:45,480] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-14 19:06:45,480] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：0 s]
+[2024-11-14 19:06:45,480] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 19:07:35,891] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 19:07:35,891] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 19:07:35,896] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 19:07:35,897] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 19:07:35,897] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 19:07:35,897] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 19:07:35,922] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 19:07:35,981] - [INFO] - [data_process.py] [line:434] - [merged_ObjState.csv has been saved.]
+[2024-11-14 19:07:36,031] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-14 19:07:36,031] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：0 s]
+[2024-11-14 19:07:36,031] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 19:31:39,142] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 19:31:39,142] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 19:31:39,148] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 19:31:39,148] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 19:31:39,148] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 19:31:39,148] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 19:31:39,173] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 19:31:39,285] - [INFO] - [data_process.py] [line:434] - [merged_ObjState.csv has been saved.]
+[2024-11-14 19:31:39,340] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-14 19:31:39,340] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：0 s]
+[2024-11-14 19:31:39,340] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 19:44:06,006] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 19:44:06,006] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 19:44:06,011] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 19:44:06,011] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 19:44:06,011] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 19:44:06,011] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 19:44:06,036] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 19:44:06,149] - [INFO] - [data_process.py] [line:435] - [merged_ObjState.csv has been saved.]
+[2024-11-14 19:44:06,201] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-14 19:44:06,201] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：0 s]
+[2024-11-14 19:44:06,201] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 19:47:05,637] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 19:47:05,637] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 19:47:05,643] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 19:47:05,644] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 19:47:05,644] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 19:47:05,644] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 19:47:05,670] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 19:47:05,724] - [INFO] - [data_process.py] [line:435] - [merged_ObjState.csv has been saved.]
+[2024-11-14 19:47:05,770] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-14 19:47:05,770] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：0 s]
+[2024-11-14 19:47:05,770] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 19:47:51,331] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 19:47:51,332] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 19:47:54,595] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 19:47:54,596] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 19:47:54,596] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 19:47:54,596] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 19:47:54,652] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 19:47:59,449] - [INFO] - [data_process.py] [line:435] - [merged_ObjState.csv has been saved.]
+[2024-11-14 19:48:47,280] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 19:48:47,280] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 19:48:50,949] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 19:48:50,950] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 19:48:50,950] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 19:48:50,950] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 19:48:51,022] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 19:48:54,156] - [INFO] - [data_process.py] [line:435] - [merged_ObjState.csv has been saved.]
+[2024-11-14 19:48:56,688] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-14 19:48:56,688] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：9 s]
+[2024-11-14 19:48:56,688] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 20:14:21,682] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 20:14:21,682] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 20:14:22,214] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 20:14:22,214] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 20:14:22,214] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 20:14:22,214] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 20:14:22,256] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 20:14:22,288] - [ERROR] - [single_case_eval.py] [line:62] - [[case:data] SINGLE_CASE_EVAL: Single case run ERROR: AttributeError("'DataPreprocessing' object has no attribute 'ego_map_df'")!]
+Traceback (most recent call last):
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/scripts/single_case_eval.py", line 54, in single_case_eval
+    data = data_process.DataPreprocessing(case_name, mode_label)
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 205, in __init__
+    self._merge_csv()
+    ~~~~~~~~~~~~~~~^^
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 428, in _merge_csv
+    self.ego_map_df[columns_to_copy],
+    ^^^^^^^^^^^^^^^
+AttributeError: 'DataPreprocessing' object has no attribute 'ego_map_df'. Did you mean: 'ego_data_df'?
+[2024-11-14 20:16:19,837] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 20:16:19,838] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 20:16:20,369] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 20:16:20,370] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 20:16:20,370] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 20:16:20,370] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 20:16:20,414] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 20:16:20,451] - [ERROR] - [single_case_eval.py] [line:62] - [[case:data] SINGLE_CASE_EVAL: Single case run ERROR: KeyError('simTime')!]
+Traceback (most recent call last):
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/scripts/single_case_eval.py", line 54, in single_case_eval
+    data = data_process.DataPreprocessing(case_name, mode_label)
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 205, in __init__
+    self._merge_csv()
+    ~~~~~~~~~~~~~~~^^
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 426, in _merge_csv
+    merged_df = pd.merge(
+        merged_df,
+    ...<2 lines>...
+        how="left",
+    )
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/core/reshape/merge.py", line 170, in merge
+    op = _MergeOperation(
+        left_df,
+    ...<10 lines>...
+        validate=validate,
+    )
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/core/reshape/merge.py", line 794, in __init__
+    ) = self._get_merge_keys()
+        ~~~~~~~~~~~~~~~~~~~~^^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/core/reshape/merge.py", line 1297, in _get_merge_keys
+    right_keys.append(right._get_label_or_level_values(rk))
+                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^^^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/core/generic.py", line 1911, in _get_label_or_level_values
+    raise KeyError(key)
+KeyError: 'simTime'
+[2024-11-14 20:18:49,890] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 20:18:49,890] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 20:18:50,430] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 20:18:50,430] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 20:18:50,430] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 20:18:50,431] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 20:18:50,481] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 20:18:50,557] - [INFO] - [data_process.py] [line:442] - [merged_ObjState.csv has been saved.]
+[2024-11-14 20:18:50,612] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-14 20:18:50,612] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：0 s]
+[2024-11-14 20:18:50,612] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 20:19:09,568] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 20:19:09,568] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 20:19:09,574] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 20:19:09,574] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 20:19:09,574] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 20:19:09,574] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 20:19:09,604] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 20:19:09,661] - [INFO] - [data_process.py] [line:442] - [merged_ObjState.csv has been saved.]
+[2024-11-14 20:19:09,704] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-14 20:19:09,704] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：0 s]
+[2024-11-14 20:19:09,704] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 20:24:52,668] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 20:24:52,668] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 20:24:52,674] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 20:24:52,674] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 20:24:52,674] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 20:24:52,674] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 20:24:52,704] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 20:24:52,761] - [INFO] - [data_process.py] [line:456] - [merged_ObjState.csv has been saved.]
+[2024-11-14 20:24:52,803] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-14 20:24:52,803] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：0 s]
+[2024-11-14 20:24:52,803] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 20:26:22,883] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 20:26:22,884] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 20:26:23,424] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 20:26:23,424] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 20:26:23,424] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 20:26:23,424] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 20:26:23,476] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 20:26:23,547] - [INFO] - [data_process.py] [line:456] - [merged_ObjState.csv has been saved.]
+[2024-11-14 20:26:53,156] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-14 20:26:53,156] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：30 s]
+[2024-11-14 20:26:53,156] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 20:30:45,115] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 20:30:45,115] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 20:30:45,664] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 20:30:45,664] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 20:30:45,664] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 20:30:45,664] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 20:30:45,723] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 20:30:45,799] - [INFO] - [data_process.py] [line:456] - [merged_ObjState.csv has been saved.]
+[2024-11-14 20:30:48,126] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-14 20:30:48,126] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：3 s]
+[2024-11-14 20:30:48,126] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 20:31:05,653] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 20:31:05,653] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 20:31:06,217] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 20:31:06,218] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 20:31:06,218] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 20:31:06,218] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 20:31:06,276] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 20:31:06,349] - [INFO] - [data_process.py] [line:458] - [merged_ObjState.csv has been saved.]
+[2024-11-14 20:33:41,378] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-14 20:33:41,378] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：155 s]
+[2024-11-14 20:33:41,378] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 20:33:54,487] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 20:33:54,488] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 20:33:55,034] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 20:33:55,034] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 20:33:55,034] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 20:33:55,034] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 20:33:55,097] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 20:33:55,169] - [INFO] - [data_process.py] [line:460] - [merged_ObjState.csv has been saved.]
+[2024-11-14 20:34:12,552] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-14 20:34:12,552] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：18 s]
+[2024-11-14 20:34:12,552] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 20:35:18,659] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 20:35:18,660] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 20:35:19,204] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 20:35:19,204] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 20:35:19,204] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 20:35:19,204] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 20:35:19,261] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 20:35:19,334] - [INFO] - [data_process.py] [line:461] - [merged_ObjState.csv has been saved.]
+[2024-11-14 20:35:19,390] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-14 20:35:19,390] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：0 s]
+[2024-11-14 20:35:19,390] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 20:35:39,240] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 20:35:39,241] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 20:35:39,779] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 20:35:39,780] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 20:35:39,780] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 20:35:39,780] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 20:35:39,833] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 20:35:39,905] - [INFO] - [data_process.py] [line:461] - [merged_ObjState.csv has been saved.]
+[2024-11-14 20:35:44,469] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-14 20:35:44,470] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：5 s]
+[2024-11-14 20:35:44,470] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 20:36:22,254] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 20:36:22,255] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 20:36:22,809] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 20:36:22,809] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 20:36:22,809] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 20:36:22,809] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 20:36:22,859] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 20:36:22,933] - [INFO] - [data_process.py] [line:461] - [merged_ObjState.csv has been saved.]
+[2024-11-14 20:37:19,423] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-14 20:37:19,424] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：57 s]
+[2024-11-14 20:37:19,424] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 20:37:42,071] - [INFO] - [evaluate_main.py] [line:29] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 20:37:42,072] - [INFO] - [evaluate_main.py] [line:34] - [1 subfolders found to process: ['data']]
+[2024-11-14 20:37:42,623] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 20:37:42,623] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 20:37:42,623] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 20:37:42,623] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 20:37:42,679] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 20:37:42,751] - [INFO] - [data_process.py] [line:461] - [merged_ObjState.csv has been saved.]
+[2024-11-14 20:38:00,241] - [INFO] - [evaluate_main.py] [line:54] - [所有子文件夹处理完成]
+[2024-11-14 20:38:00,242] - [INFO] - [evaluate_main.py] [line:56] - [程序结束，执行时间：18 s]
+[2024-11-14 20:38:00,242] - [INFO] - [evaluate_main.py] [line:57] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 20:39:41,300] - [INFO] - [evaluate_main.py] [line:31] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 20:39:41,300] - [INFO] - [evaluate_main.py] [line:36] - [1 subfolders found to process: ['data']]
+[2024-11-14 20:39:41,300] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 20:39:41,300] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 20:39:41,301] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 20:39:41,301] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 20:39:41,344] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 20:39:41,410] - [INFO] - [data_process.py] [line:461] - [merged_ObjState.csv has been saved.]
+[2024-11-14 20:39:50,552] - [INFO] - [evaluate_main.py] [line:56] - [所有子文件夹处理完成]
+[2024-11-14 20:39:50,552] - [INFO] - [evaluate_main.py] [line:58] - [程序结束，执行时间：9 s]
+[2024-11-14 20:39:50,552] - [INFO] - [evaluate_main.py] [line:59] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 20:40:17,105] - [INFO] - [evaluate_main.py] [line:31] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 20:40:17,105] - [INFO] - [evaluate_main.py] [line:36] - [1 subfolders found to process: ['data']]
+[2024-11-14 20:40:17,105] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 20:40:17,105] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 20:40:17,105] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 20:40:17,105] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 20:40:17,147] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 20:40:17,215] - [INFO] - [data_process.py] [line:461] - [merged_ObjState.csv has been saved.]
+[2024-11-14 20:45:24,255] - [INFO] - [evaluate_main.py] [line:31] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 20:45:24,255] - [INFO] - [evaluate_main.py] [line:36] - [1 subfolders found to process: ['data']]
+[2024-11-14 20:45:24,255] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 20:45:24,255] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 20:45:24,255] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 20:45:24,256] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 20:45:24,306] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 20:45:24,311] - [ERROR] - [single_case_eval.py] [line:62] - [[case:data] SINGLE_CASE_EVAL: Single case run ERROR: FileNotFoundError(2, 'No such file or directory')!]
+Traceback (most recent call last):
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/scripts/single_case_eval.py", line 54, in single_case_eval
+    data = data_process.DataPreprocessing(case_name, mode_label)
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 205, in __init__
+    self._merge_csv()
+    ~~~~~~~~~~~~~~~^^
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 444, in _merge_csv
+    pd.read_csv(os.path.join(self.data_path, "EgoState.csv"))
+    ~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/parsers/readers.py", line 1026, in read_csv
+    return _read(filepath_or_buffer, kwds)
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/parsers/readers.py", line 620, in _read
+    parser = TextFileReader(filepath_or_buffer, **kwds)
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/parsers/readers.py", line 1620, in __init__
+    self._engine = self._make_engine(f, self.engine)
+                   ~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/parsers/readers.py", line 1880, in _make_engine
+    self.handles = get_handle(
+                   ~~~~~~~~~~^
+        f,
+        ^^
+    ...<6 lines>...
+        storage_options=self.options.get("storage_options", None),
+        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+    )
+    ^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/common.py", line 873, in get_handle
+    handle = open(
+        handle,
+    ...<3 lines>...
+        newline="",
+    )
+FileNotFoundError: [Errno 2] No such file or directory: '/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data/EgoState.csv'
+[2024-11-14 20:50:06,818] - [INFO] - [evaluate_main.py] [line:31] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 20:50:06,818] - [INFO] - [evaluate_main.py] [line:36] - [1 subfolders found to process: ['data']]
+[2024-11-14 20:50:06,818] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 20:50:06,819] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 20:50:06,819] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 20:50:06,819] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 20:50:06,864] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 20:50:06,984] - [INFO] - [data_process.py] [line:513] - [merged_ObjState.csv has been saved.]
+[2024-11-14 20:50:06,988] - [ERROR] - [single_case_eval.py] [line:62] - [[case:data] SINGLE_CASE_EVAL: Single case run ERROR: FileNotFoundError(2, 'No such file or directory')!]
+Traceback (most recent call last):
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/scripts/single_case_eval.py", line 54, in single_case_eval
+    data = data_process.DataPreprocessing(case_name, mode_label)
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 206, in __init__
+    self._read_csv()
+    ~~~~~~~~~~~~~~^^
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 358, in _read_csv
+    self.ego_df = pd.read_csv(
+                  ~~~~~~~~~~~^
+        os.path.join(self.data_path, "EgoState.csv")
+        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+    ).drop_duplicates()
+    ^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/parsers/readers.py", line 1026, in read_csv
+    return _read(filepath_or_buffer, kwds)
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/parsers/readers.py", line 620, in _read
+    parser = TextFileReader(filepath_or_buffer, **kwds)
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/parsers/readers.py", line 1620, in __init__
+    self._engine = self._make_engine(f, self.engine)
+                   ~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/parsers/readers.py", line 1880, in _make_engine
+    self.handles = get_handle(
+                   ~~~~~~~~~~^
+        f,
+        ^^
+    ...<6 lines>...
+        storage_options=self.options.get("storage_options", None),
+        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+    )
+    ^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/io/common.py", line 873, in get_handle
+    handle = open(
+        handle,
+    ...<3 lines>...
+        newline="",
+    )
+FileNotFoundError: [Errno 2] No such file or directory: '/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data/EgoState.csv'
+[2024-11-14 20:50:43,650] - [INFO] - [evaluate_main.py] [line:31] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 20:50:43,651] - [INFO] - [evaluate_main.py] [line:36] - [1 subfolders found to process: ['data']]
+[2024-11-14 20:50:43,651] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 20:50:43,651] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 20:50:43,651] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 20:50:43,651] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 20:50:43,702] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 20:50:43,821] - [INFO] - [data_process.py] [line:513] - [merged_ObjState.csv has been saved.]
+[2024-11-14 20:50:43,840] - [ERROR] - [single_case_eval.py] [line:62] - [[case:data] SINGLE_CASE_EVAL: Single case run ERROR: KeyError("None of [Index(['simTime', 'playerId', 'accelX'], dtype='object')] are in the [columns]")!]
+Traceback (most recent call last):
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/scripts/single_case_eval.py", line 54, in single_case_eval
+    data = data_process.DataPreprocessing(case_name, mode_label)
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 207, in __init__
+    self._object_accel_get_from_egostate()
+    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
+  File "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/common/data_process.py", line 521, in _object_accel_get_from_egostate
+    self.ego_df[["simTime", "playerId", "accelX"]],
+    ~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/core/frame.py", line 4108, in __getitem__
+    indexer = self.columns._get_indexer_strict(key, "columns")[1]
+              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/core/indexes/base.py", line 6200, in _get_indexer_strict
+    self._raise_if_missing(keyarr, indexer, axis_name)
+    ~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/kevin/anaconda3/envs/zhaoyuan/lib/python3.13/site-packages/pandas/core/indexes/base.py", line 6249, in _raise_if_missing
+    raise KeyError(f"None of [{key}] are in the [{axis_name}]")
+KeyError: "None of [Index(['simTime', 'playerId', 'accelX'], dtype='object')] are in the [columns]"
+[2024-11-14 20:51:16,081] - [INFO] - [evaluate_main.py] [line:31] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 20:51:16,081] - [INFO] - [evaluate_main.py] [line:36] - [1 subfolders found to process: ['data']]
+[2024-11-14 20:51:16,082] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 20:51:16,082] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 20:51:16,082] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 20:51:16,082] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 20:51:16,134] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 20:51:16,252] - [INFO] - [data_process.py] [line:513] - [merged_ObjState.csv has been saved.]
+[2024-11-14 20:52:09,968] - [INFO] - [evaluate_main.py] [line:31] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 20:52:09,968] - [INFO] - [evaluate_main.py] [line:36] - [1 subfolders found to process: ['data']]
+[2024-11-14 20:52:09,969] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 20:52:09,969] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 20:52:09,969] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 20:52:09,969] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 20:52:10,022] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 20:52:10,139] - [INFO] - [data_process.py] [line:513] - [merged_ObjState.csv has been saved.]
+[2024-11-14 20:54:05,467] - [INFO] - [evaluate_main.py] [line:31] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 20:54:05,467] - [INFO] - [evaluate_main.py] [line:36] - [1 subfolders found to process: ['data']]
+[2024-11-14 20:54:05,467] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 20:54:05,467] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 20:54:05,467] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 20:54:05,467] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 20:54:05,520] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 20:54:05,643] - [INFO] - [data_process.py] [line:513] - [merged_ObjState.csv has been saved.]
+[2024-11-14 20:55:52,917] - [INFO] - [evaluate_main.py] [line:56] - [所有子文件夹处理完成]
+[2024-11-14 20:55:52,918] - [INFO] - [evaluate_main.py] [line:58] - [程序结束，执行时间：107 s]
+[2024-11-14 20:55:52,918] - [INFO] - [evaluate_main.py] [line:59] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 21:01:13,191] - [INFO] - [evaluate_main.py] [line:31] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 21:01:13,191] - [INFO] - [evaluate_main.py] [line:36] - [1 subfolders found to process: ['data']]
+[2024-11-14 21:01:13,191] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 21:01:13,191] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 21:01:13,191] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 21:01:13,191] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 21:01:13,238] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 21:01:13,364] - [INFO] - [data_process.py] [line:513] - [merged_ObjState.csv has been saved.]
+[2024-11-14 21:03:55,507] - [INFO] - [evaluate_main.py] [line:31] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 21:03:55,507] - [INFO] - [evaluate_main.py] [line:36] - [1 subfolders found to process: ['data']]
+[2024-11-14 21:03:56,045] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 21:03:56,046] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 21:03:56,046] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 21:03:56,046] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 21:03:56,100] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 21:03:56,173] - [INFO] - [data_process.py] [line:451] - [merged_ObjState.csv has been saved.]
+[2024-11-14 21:04:25,895] - [INFO] - [evaluate_main.py] [line:56] - [所有子文件夹处理完成]
+[2024-11-14 21:04:25,895] - [INFO] - [evaluate_main.py] [line:58] - [程序结束，执行时间：30 s]
+[2024-11-14 21:04:25,895] - [INFO] - [evaluate_main.py] [line:59] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 21:09:49,268] - [INFO] - [evaluate_main.py] [line:33] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 21:09:49,269] - [INFO] - [evaluate_main.py] [line:38] - [1 subfolders found to process: ['data']]
+[2024-11-14 21:09:49,813] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 21:09:49,813] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 21:09:49,814] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 21:09:49,814] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 21:09:49,873] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 21:09:49,947] - [INFO] - [data_process.py] [line:451] - [merged_ObjState.csv has been saved.]
+[2024-11-14 21:10:32,995] - [INFO] - [evaluate_main.py] [line:58] - [所有子文件夹处理完成]
+[2024-11-14 21:10:32,995] - [INFO] - [evaluate_main.py] [line:60] - [程序结束，执行时间：43 s]
+[2024-11-14 21:10:32,996] - [INFO] - [evaluate_main.py] [line:61] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 21:10:48,586] - [INFO] - [evaluate_main.py] [line:33] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 21:10:48,586] - [INFO] - [evaluate_main.py] [line:38] - [1 subfolders found to process: ['data']]
+[2024-11-14 21:10:49,123] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 21:10:49,123] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-14 21:10:49,123] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-14 21:10:49,123] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data]
+[2024-11-14 21:10:49,177] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-14 21:10:49,249] - [INFO] - [data_process.py] [line:451] - [merged_ObjState.csv has been saved.]
+[2024-11-14 21:12:14,185] - [INFO] - [evaluate_main.py] [line:58] - [所有子文件夹处理完成]
+[2024-11-14 21:12:14,185] - [INFO] - [evaluate_main.py] [line:60] - [程序结束，执行时间：85 s]
+[2024-11-14 21:12:14,185] - [INFO] - [evaluate_main.py] [line:61] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-14 21:13:15,926] - [INFO] - [evaluate_main.py] [line:33] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-14 21:13:15,926] - [INFO] - [evaluate_main.py] [line:38] - [1 subfolders found to process: ['data']]
+[2024-11-14 21:13:16,464] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-14 21:13:16,464] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
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+[2024-11-14 21:13:16,554] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
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+[2024-11-14 21:15:58,039] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
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+[2024-11-14 21:16:28,838] - [INFO] - [evaluate_main.py] [line:61] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
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+[2024-11-14 21:17:16,800] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
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+[2024-11-14 21:17:52,482] - [INFO] - [evaluate_main.py] [line:61] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
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+[2024-11-14 21:18:38,868] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
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+[2024-11-14 21:18:47,287] - [INFO] - [evaluate_main.py] [line:61] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
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+[2024-11-14 21:19:55,532] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
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+[2024-11-14 21:19:55,636] - [INFO] - [evaluate_main.py] [line:61] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
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+[2024-11-14 21:21:07,537] - [INFO] - [evaluate_main.py] [line:61] - [[case:/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
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+[2024-11-14 21:22:31,345] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
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+[2024-11-18 17:34:17,000] - [INFO] - [evaluate_main.py] [line:60] - [程序结束，执行时间：102 s]
+[2024-11-18 17:34:17,000] - [INFO] - [evaluate_main.py] [line:61] - [[case:/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-18 17:46:20,771] - [INFO] - [evaluate_main.py] [line:33] - [[case:/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-18 17:46:20,772] - [INFO] - [evaluate_main.py] [line:38] - [1 subfolders found to process: ['data']]
+[2024-11-18 17:46:20,888] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-18 17:46:20,889] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-18 17:46:20,889] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-18 17:46:20,889] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed/data]
+[2024-11-18 17:46:20,995] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-18 17:46:25,297] - [INFO] - [data_process.py] [line:451] - [merged_ObjState.csv has been saved.]
+[2024-11-18 17:55:26,020] - [INFO] - [evaluate_main.py] [line:33] - [[case:/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-18 17:55:26,021] - [INFO] - [evaluate_main.py] [line:38] - [1 subfolders found to process: ['data']]
+[2024-11-18 17:55:26,137] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-18 17:55:26,138] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-18 17:55:26,138] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-18 17:55:26,138] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed/data]
+[2024-11-18 17:55:26,236] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-18 17:55:29,786] - [INFO] - [data_process.py] [line:451] - [merged_ObjState.csv has been saved.]
+[2024-11-18 18:15:10,827] - [INFO] - [evaluate_main.py] [line:58] - [所有子文件夹处理完成]
+[2024-11-18 18:15:10,828] - [INFO] - [evaluate_main.py] [line:60] - [程序结束，执行时间：1184 s]
+[2024-11-18 18:15:10,828] - [INFO] - [evaluate_main.py] [line:61] - [[case:/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-18 18:15:15,194] - [INFO] - [evaluate_main.py] [line:33] - [[case:/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-18 18:15:15,194] - [INFO] - [evaluate_main.py] [line:38] - [1 subfolders found to process: ['data']]
+[2024-11-18 18:15:15,313] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-18 18:15:15,314] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-18 18:15:15,314] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-18 18:15:15,314] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed/data]
+[2024-11-18 18:15:15,419] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-18 18:15:18,556] - [INFO] - [data_process.py] [line:451] - [merged_ObjState.csv has been saved.]
+[2024-11-19 10:00:24,330] - [INFO] - [evaluate_main.py] [line:33] - [[case:/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-19 10:00:24,330] - [INFO] - [evaluate_main.py] [line:38] - [1 subfolders found to process: ['data']]
+[2024-11-19 10:00:24,445] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-19 10:00:24,445] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-19 10:00:24,445] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-19 10:00:24,445] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed/data]
+[2024-11-19 10:00:24,537] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-19 10:00:37,074] - [INFO] - [evaluate_main.py] [line:33] - [[case:/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-19 10:00:37,076] - [INFO] - [evaluate_main.py] [line:38] - [1 subfolders found to process: ['data']]
+[2024-11-19 10:00:37,190] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-19 10:00:37,191] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-19 10:00:37,191] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-19 10:00:37,191] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed/data]
+[2024-11-19 10:00:37,300] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-19 10:00:37,344] - [ERROR] - [single_case_eval.py] [line:62] - [[case:data] SINGLE_CASE_EVAL: Single case run ERROR: KeyError('curvHor')!]
+Traceback (most recent call last):
+  File "/home/server/.local/lib/python3.8/site-packages/pandas/core/indexes/base.py", line 3653, in get_loc
+    return self._engine.get_loc(casted_key)
+  File "pandas/_libs/index.pyx", line 147, in pandas._libs.index.IndexEngine.get_loc
+  File "pandas/_libs/index.pyx", line 176, in pandas._libs.index.IndexEngine.get_loc
+  File "pandas/_libs/hashtable_class_helper.pxi", line 7080, in pandas._libs.hashtable.PyObjectHashTable.get_item
+  File "pandas/_libs/hashtable_class_helper.pxi", line 7088, in pandas._libs.hashtable.PyObjectHashTable.get_item
+KeyError: 'curvHor'
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/scripts/single_case_eval.py", line 54, in single_case_eval
+    data = data_process.DataPreprocessing(case_name, mode_label)
+  File "/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/models/common/data_process.py", line 200, in __init__
+    self._merge_csv()
+  File "/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/models/common/data_process.py", line 400, in _merge_csv
+    df_laneinfo["curvHor"] = df_laneinfo["curvHor"].round(3)
+  File "/home/server/.local/lib/python3.8/site-packages/pandas/core/frame.py", line 3761, in __getitem__
+    indexer = self.columns.get_loc(key)
+  File "/home/server/.local/lib/python3.8/site-packages/pandas/core/indexes/base.py", line 3655, in get_loc
+    raise KeyError(key) from err
+KeyError: 'curvHor'
+[2024-11-19 10:04:14,479] - [INFO] - [evaluate_main.py] [line:33] - [[case:/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-19 10:04:14,479] - [INFO] - [evaluate_main.py] [line:38] - [1 subfolders found to process: ['data']]
+[2024-11-19 10:04:14,594] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-19 10:04:14,594] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-19 10:04:14,594] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-19 10:04:14,594] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed/data]
+[2024-11-19 10:04:14,720] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-19 10:04:14,817] - [INFO] - [data_process.py] [line:460] - [merged_ObjState.csv has been saved.]
+[2024-11-19 10:41:08,007] - [INFO] - [evaluate_main.py] [line:33] - [[case:/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-19 10:41:08,007] - [INFO] - [evaluate_main.py] [line:38] - [1 subfolders found to process: ['data']]
+[2024-11-19 10:41:08,121] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-19 10:41:08,121] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-19 10:41:08,121] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-19 10:41:08,122] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed/data]
+[2024-11-19 10:41:08,233] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-19 10:41:08,313] - [INFO] - [data_process.py] [line:460] - [merged_ObjState.csv has been saved.]
+[2024-11-19 10:42:02,319] - [INFO] - [evaluate_main.py] [line:33] - [[case:/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-19 10:42:02,319] - [INFO] - [evaluate_main.py] [line:38] - [1 subfolders found to process: ['data']]
+[2024-11-19 10:42:02,432] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-19 10:42:02,432] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-19 10:42:02,433] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-19 10:42:02,433] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed/data]
+[2024-11-19 10:42:02,529] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-19 10:42:02,624] - [INFO] - [data_process.py] [line:460] - [merged_ObjState.csv has been saved.]
+[2024-11-19 11:03:50,691] - [INFO] - [evaluate_main.py] [line:33] - [[case:/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-19 11:03:50,691] - [INFO] - [evaluate_main.py] [line:38] - [1 subfolders found to process: ['data']]
+[2024-11-19 11:03:50,806] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-19 11:03:50,807] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-19 11:03:50,807] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-19 11:03:50,807] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed/data]
+[2024-11-19 11:03:50,962] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-19 11:03:51,054] - [INFO] - [data_process.py] [line:460] - [merged_ObjState.csv has been saved.]
+[2024-11-19 13:22:49,995] - [INFO] - [evaluate_main.py] [line:58] - [所有子文件夹处理完成]
+[2024-11-19 13:22:49,997] - [INFO] - [evaluate_main.py] [line:60] - [程序结束，执行时间：8339 s]
+[2024-11-19 13:22:49,997] - [INFO] - [evaluate_main.py] [line:61] - [[case:/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-19 13:23:20,038] - [INFO] - [evaluate_main.py] [line:33] - [[case:/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-19 13:23:20,038] - [INFO] - [evaluate_main.py] [line:38] - [1 subfolders found to process: ['data']]
+[2024-11-19 13:23:20,157] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-19 13:23:20,158] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-19 13:23:20,159] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-19 13:23:20,159] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed/data]
+[2024-11-19 13:23:20,272] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-19 13:23:20,347] - [INFO] - [data_process.py] [line:460] - [merged_ObjState.csv has been saved.]
+[2024-11-19 13:23:38,129] - [INFO] - [evaluate_main.py] [line:58] - [所有子文件夹处理完成]
+[2024-11-19 13:23:38,129] - [INFO] - [evaluate_main.py] [line:60] - [程序结束，执行时间：18 s]
+[2024-11-19 13:23:38,129] - [INFO] - [evaluate_main.py] [line:61] - [[case:/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-19 13:23:43,580] - [INFO] - [evaluate_main.py] [line:33] - [[case:/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-19 13:23:43,581] - [INFO] - [evaluate_main.py] [line:38] - [1 subfolders found to process: ['data']]
+[2024-11-19 13:23:43,700] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-19 13:23:43,701] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-19 13:23:43,701] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-19 13:23:43,701] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed/data]
+[2024-11-19 13:23:43,819] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-19 13:23:43,897] - [INFO] - [data_process.py] [line:460] - [merged_ObjState.csv has been saved.]
+[2024-11-19 13:23:44,059] - [INFO] - [evaluate_main.py] [line:58] - [所有子文件夹处理完成]
+[2024-11-19 13:23:44,060] - [INFO] - [evaluate_main.py] [line:60] - [程序结束，执行时间：0 s]
+[2024-11-19 13:23:44,060] - [INFO] - [evaluate_main.py] [line:61] - [[case:/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-19 13:23:59,971] - [INFO] - [evaluate_main.py] [line:33] - [[case:/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-19 13:23:59,972] - [INFO] - [evaluate_main.py] [line:38] - [1 subfolders found to process: ['data']]
+[2024-11-19 13:24:00,090] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-19 13:24:00,091] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-19 13:24:00,091] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-19 13:24:00,091] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed/data]
+[2024-11-19 13:24:00,217] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-19 13:24:00,295] - [INFO] - [data_process.py] [line:460] - [merged_ObjState.csv has been saved.]
+[2024-11-19 13:24:00,425] - [INFO] - [evaluate_main.py] [line:58] - [所有子文件夹处理完成]
+[2024-11-19 13:24:00,426] - [INFO] - [evaluate_main.py] [line:60] - [程序结束，执行时间：0 s]
+[2024-11-19 13:24:00,426] - [INFO] - [evaluate_main.py] [line:61] - [[case:/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-19 13:24:28,124] - [INFO] - [evaluate_main.py] [line:33] - [[case:/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-19 13:24:28,125] - [INFO] - [evaluate_main.py] [line:38] - [1 subfolders found to process: ['data']]
+[2024-11-19 13:24:28,243] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-19 13:24:28,244] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-19 13:24:28,244] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-19 13:24:28,245] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed/data]
+[2024-11-19 13:24:28,354] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-19 13:24:28,429] - [INFO] - [data_process.py] [line:460] - [merged_ObjState.csv has been saved.]
+[2024-11-19 13:25:17,431] - [INFO] - [evaluate_main.py] [line:58] - [所有子文件夹处理完成]
+[2024-11-19 13:25:17,431] - [INFO] - [evaluate_main.py] [line:60] - [程序结束，执行时间：49 s]
+[2024-11-19 13:25:17,431] - [INFO] - [evaluate_main.py] [line:61] - [[case:/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]
+[2024-11-19 14:01:29,005] - [INFO] - [evaluate_main.py] [line:33] - [[case:/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-19 14:01:29,005] - [INFO] - [evaluate_main.py] [line:38] - [1 subfolders found to process: ['data']]
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+[2024-11-19 15:21:15,772] - [INFO] - [evaluate_main.py] [line:33] - [[case:/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed] SINGLE_CASE_EVAL: Start.]
+[2024-11-19 15:21:15,773] - [INFO] - [evaluate_main.py] [line:38] - [1 subfolders found to process: ['data']]
+[2024-11-19 15:21:15,778] - [INFO] - [single_case_eval.py] [line:27] - [[case:data] SINGLE_CASE_EVAL: Start running...]
+[2024-11-19 15:21:15,779] - [INFO] - [single_case_eval.py] [line:41] - [[case:data] data_precheck: Start running...]
+[2024-11-19 15:21:15,779] - [INFO] - [data_process.py] [line:148] - [[case:data] Check if the data is valid: Start.]
+[2024-11-19 15:21:15,779] - [INFO] - [data_process.py] [line:130] - [Start Check Frame loss statistic: /home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed/data]
+[2024-11-19 15:21:15,826] - [INFO] - [data_process.py] [line:173] - [[case:data] Check if the data is valid: End.]
+[2024-11-19 15:21:15,892] - [INFO] - [data_process.py] [line:460] - [merged_ObjState.csv has been saved.]
+[2024-11-19 15:21:15,940] - [INFO] - [evaluate_main.py] [line:58] - [所有子文件夹处理完成]
+[2024-11-19 15:21:15,940] - [INFO] - [evaluate_main.py] [line:60] - [程序结束，执行时间：0 s]
+[2024-11-19 15:21:15,940] - [INFO] - [evaluate_main.py] [line:61] - [[case:/home/server/anaconda3/envs/vitual_XGJ/zhaoyuan-master_1118/zhaoyuan/data/processed] SINGLE_CASE_EVAL: End.]

models/comfort/comfort.py

@@ -0,0 +1,626 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+##################################################################
+#
+# Copyright (c) 2023 CICV, Inc. All Rights Reserved
+#
+##################################################################
+"""
+@Authors:           zhanghaiwen(zhanghaiwen@china-icv.cn), yangzihao(yangzihao@china-icv.cn)
+@Data:              2023/06/25
+@Last Modified:     2023/06/25
+@Summary:           Comfort metrics
+"""
+
+import sys
+import math
+import pandas as pd
+import numpy as np
+import scipy.signal
+from pathlib import Path 
+root_path = Path(__file__).resolve().parent.parent 
+
+sys.path.append(str(root_path)) 
+sys.path.append('/home/kevin/kevin/zhaoyuan/evaluate_zhaoyuan/') 
+print(sys.path)
+from models.common.score import Score
+from common.common import get_interpolation, get_frame_with_time
+from config import config
+from models.common import data_process
+
+from models.common import log  # 确保这个路径是正确的，或者调整它
+log_path = config.LOG_PATH 
+logger = log.get_logger(log_path)
+
+
+def peak_valley_decorator(method):
+    def wrapper(self, *args, **kwargs):
+        peak_valley = self._peak_valley_determination(self.df)
+        pv_list = self.df.loc[peak_valley, ['simTime', 'speedH']].values.tolist()
+        if len(pv_list) != 0:
+            flag = True
+            p_last = pv_list[0]
+
+            for i in range(1, len(pv_list)):
+                p_curr = pv_list[i]
+
+                if self._peak_valley_judgment(p_last, p_curr):
+                    # method(self, p_curr, p_last)
+                    method(self, p_curr, p_last, flag, *args, **kwargs)
+                else:
+                    p_last = p_curr
+
+            return method
+        else:
+            flag = False
+            p_curr = [0, 0]
+            p_last = [0, 0]
+            method(self, p_curr, p_last, flag, *args, **kwargs)
+            return method
+
+    return wrapper
+
+
+class Comfort(object):
+    """
+    Class for achieving comfort metrics for autonomous driving.
+
+    Attributes:
+        dataframe: Vehicle driving data, stored in dataframe format.
+    """
+
+    def __init__(self, data_processed):
+        
+        self.eval_data = pd.DataFrame()
+        self.data_processed = data_processed
+        
+
+        self.data = data_processed.obj_data[1]
+        self.mileage = data_processed.report_info['mileage']
+        self.ego_df = pd.DataFrame()
+        self.discomfort_df = pd.DataFrame(columns=['start_time', 'end_time', 'start_frame', 'end_frame', 'type'])
+        self.df_drivectrl = data_processed.driver_ctrl_df
+
+        
+        self.calculated_value = {  
+            'Weaving': 0,  
+            'shake': 0,  
+            'cadence': 0,  
+            'slamBrake': 0,  
+            'slamAccelerate': 0,   
+        } 
+
+        self.metric_list = config.COMFORT_METRIC_LIST
+
+        self.time_list = data_processed.driver_ctrl_data['time_list']
+        self.frame_list = data_processed.driver_ctrl_data['frame_list']
+
+        self.count_dict = {}
+        self.duration_dict = {}
+        self.strength_dict = {}
+
+        self.discomfort_count = 0
+        self.zigzag_count = 0
+        self.shake_count = 0
+        self.cadence_count = 0
+        self.slam_brake_count = 0
+        self.slam_accel_count = 0
+
+        self.zigzag_strength = 0
+        self.shake_strength = 0
+        self.cadence_strength = 0
+        self.slam_brake_strength = 0
+        self.slam_accel_strength = 0
+
+        self.discomfort_duration = 0
+        self.zigzag_duration = 0
+        self.shake_duration = 0
+        self.cadence_duration = 0
+        self.slam_brake_duration = 0
+        self.slam_accel_duration = 0
+
+        self.zigzag_time_list = []
+        self.zigzag_frame_list = []
+        self.zigzag_stre_list = []
+        self.cur_ego_path_list = []
+        self.curvature_list = []
+
+        self._get_data()
+        self._comf_param_cal()
+
+    def _get_data(self):
+        """
+
+        """
+        self.ego_df = self.data[config.COMFORT_INFO].copy()
+        self.df = self.ego_df.reset_index(drop=True)  # 索引是csv原索引
+
+    def _cal_cur_ego_path(self, row):
+        try:
+            divide = (row['speedX'] ** 2 + row['speedY'] ** 2) ** (3 / 2)
+            if not divide:
+                res = None
+            else:
+                res = (row['speedX'] * row['accelY'] - row['speedY'] * row['accelX']) / divide
+        except:
+            res = None
+        return res
+
+    def _comf_param_cal(self):
+        """
+
+        """
+
+        # [log]
+        self.ego_df['ip_acc'] = self.ego_df['v'].apply(get_interpolation, point1=[18, 4], point2=[72, 2])
+        self.ego_df['ip_dec'] = self.ego_df['v'].apply(get_interpolation, point1=[18, -5], point2=[72, -3.5])
+        self.ego_df['slam_brake'] = (self.ego_df['lon_acc'] - self.ego_df['ip_dec']).apply(
+            lambda x: 1 if x < 0 else 0)
+        self.ego_df['slam_accel'] = (self.ego_df['lon_acc'] - self.ego_df['ip_acc']).apply(
+            lambda x: 1 if x > 0 else 0)
+        self.ego_df['cadence'] = self.ego_df.apply(
+            lambda row: self._cadence_process_new(row['lon_acc'], row['ip_acc'], row['ip_dec']), axis=1)
+
+        # for shake detector
+        self.ego_df['cur_ego_path'] = self.ego_df.apply(self._cal_cur_ego_path, axis=1)
+        self.ego_df['curvHor'] = self.ego_df['curvHor'].astype('float')
+        self.ego_df['cur_diff'] = (self.ego_df['cur_ego_path'] - self.ego_df['curvHor']).abs()
+        self.ego_df['R'] = self.ego_df['curvHor'].apply(lambda x: 10000 if x == 0 else 1 / x)
+        self.ego_df['R_ego'] = self.ego_df['cur_ego_path'].apply(lambda x: 10000 if x == 0 else 1 / x)
+        self.ego_df['R_diff'] = (self.ego_df['R_ego'] - self.ego_df['R']).abs()
+
+        self.cur_ego_path_list = self.ego_df['cur_ego_path'].values.tolist()
+        self.curvature_list = self.ego_df['curvHor'].values.tolist()
+
+    def _peak_valley_determination(self, df):
+        """
+        Determine the peak and valley of the vehicle based on its current angular velocity.
+
+        Parameters:
+            df: Dataframe containing the vehicle angular velocity.
+
+        Returns:
+            peak_valley: List of indices representing peaks and valleys.
+        """
+
+        peaks, _ = scipy.signal.find_peaks(df['speedH'], height=0.01, distance=1, prominence=0.01)
+        valleys, _ = scipy.signal.find_peaks(-df['speedH'], height=0.01, distance=1, prominence=0.01)
+        peak_valley = sorted(list(peaks) + list(valleys))
+
+        return peak_valley
+
+    def _peak_valley_judgment(self, p_last, p_curr, tw=10000, avg=0.02):
+        """
+        Determine if the given peaks and valleys satisfy certain conditions.
+
+        Parameters:
+            p_last: Previous peak or valley data point.
+            p_curr: Current peak or valley data point.
+            tw: Threshold time difference between peaks and valleys.
+            avg: Angular velocity gap threshold.
+
+        Returns:
+            Boolean indicating whether the conditions are satisfied.
+        """
+        t_diff = p_curr[0] - p_last[0]
+        v_diff = abs(p_curr[1] - p_last[1])
+        s = p_curr[1] * p_last[1]
+
+        zigzag_flag = t_diff < tw and v_diff > avg and s < 0
+        if zigzag_flag and ([p_last[0], p_curr[0]] not in self.zigzag_time_list):
+            self.zigzag_time_list.append([p_last[0], p_curr[0]])
+        return zigzag_flag
+
+    @peak_valley_decorator
+    def zigzag_count_func(self, p_curr, p_last, flag=True):
+        """
+        Count the number of zigzag movements.
+
+        Parameters:
+            df: Input dataframe data.
+
+        Returns:
+            zigzag_count: Number of zigzag movements.
+        """
+        if flag:
+            self.zigzag_count += 1
+        else:
+            self.zigzag_count += 0
+
+    @peak_valley_decorator
+    def cal_zigzag_strength_strength(self, p_curr, p_last, flag=True):
+        """
+        Calculate various strength statistics.
+
+        Returns:
+            Tuple containing maximum strength, minimum strength,
+            average strength, and 99th percentile strength.
+        """
+        if flag:
+            v_diff = abs(p_curr[1] - p_last[1])
+            t_diff = p_curr[0] - p_last[0]
+            self.zigzag_stre_list.append(v_diff / t_diff)  # 平均角加速度
+        else:
+            self.zigzag_stre_list = []
+
+    def _shake_detector(self, Cr_diff=0.05, T_diff=0.39):
+        """
+        ego车横向加速度ax;
+        ego车轨迹横向曲率;
+        ego车轨迹曲率变化率;
+        ego车所在车lane曲率;
+        ego车所在车lane曲率变化率;
+        转向灯（暂时存疑，可不用）Cr_diff = 0.1, T_diff = 0.04
+        求解曲率公式k(t) = (x'(t) * y''(t) - y'(t) * x''(t)) / ((x'(t))^2 + (y'(t))^2)^(3/2)
+        """
+        time_list = []
+        frame_list = []
+        shake_time_list = []
+
+        df = self.ego_df.copy()
+        df = df[df['cur_diff'] > Cr_diff]
+        df['frame_ID_diff'] = df['simFrame'].diff()  # 找出行车轨迹曲率与道路曲率之差大于阈值的数据段
+        filtered_df = df[df.frame_ID_diff > T_diff]  # 此处是用大间隔区分多次晃动情景    。
+
+        row_numbers = filtered_df.index.tolist()
+        cut_column = pd.cut(df.index, bins=row_numbers)
+
+        grouped = df.groupby(cut_column)
+        dfs = {}
+        for name, group in grouped:
+            dfs[name] = group.reset_index(drop=True)
+
+        for name, df_group in dfs.items():
+            # 直道，未主动换道
+            df_group['curvHor'] = df_group['curvHor'].abs()
+            df_group_straight = df_group[(df_group.lightMask == 0) & (df_group.curvHor < 0.001)]
+            if not df_group_straight.empty:
+                tmp_list = df_group_straight['simTime'].values
+                # shake_time_list.append([tmp_list[0], tmp_list[-1]])
+                time_list.extend(df_group_straight['simTime'].values)
+                frame_list.extend(df_group_straight['simFrame'].values)
+                self.shake_count = self.shake_count + 1
+
+            # 打转向灯，道路为直道，此时晃动判断标准车辆曲率变化率为一个更大的阈值
+            df_group_change_lane = df_group[(df_group['lightMask'] != 0) & (df_group['curvHor'] < 0.001)]
+            df_group_change_lane_data = df_group_change_lane[df_group_change_lane.cur_diff > Cr_diff + 0.2]
+            if not df_group_change_lane_data.empty:
+                tmp_list = df_group_change_lane_data['simTime'].values
+                # shake_time_list.append([tmp_list[0], tmp_list[-1]])
+                time_list.extend(df_group_change_lane_data['simTime'].values)
+                frame_list.extend(df_group_change_lane_data['simFrame'].values)
+                self.shake_count = self.shake_count + 1
+
+            # 转弯，打转向灯
+            df_group_turn = df_group[(df_group['lightMask'] != 0) & (df_group['curvHor'].abs() > 0.001)]
+            df_group_turn_data = df_group_turn[df_group_turn.cur_diff.abs() > Cr_diff + 0.1]
+            if not df_group_turn_data.empty:
+                tmp_list = df_group_turn_data['simTime'].values
+                # shake_time_list.append([tmp_list[0], tmp_list[-1]])
+                time_list.extend(df_group_turn_data['simTime'].values)
+                frame_list.extend(df_group_turn_data['simFrame'].values)
+                self.shake_count = self.shake_count + 1
+
+        TIME_RANGE = 1
+        t_list = time_list
+        f_list = frame_list
+        group_time = []
+        group_frame = []
+        sub_group_time = []
+        sub_group_frame = []
+        for i in range(len(f_list)):
+            if not sub_group_time or t_list[i] - t_list[i - 1] <= TIME_RANGE:
+                sub_group_time.append(t_list[i])
+                sub_group_frame.append(f_list[i])
+            else:
+                group_time.append(sub_group_time)
+                group_frame.append(sub_group_frame)
+                sub_group_time = [t_list[i]]
+                sub_group_frame = [f_list[i]]
+
+
+        # 输出图表值
+        shake_time = [[g[0], g[-1]] for g in group_time]
+        shake_frame = [[g[0], g[-1]] for g in group_frame]
+        self.shake_count = len(shake_time)
+
+        if shake_time:
+            time_df = pd.DataFrame(shake_time, columns=['start_time', 'end_time'])
+            frame_df = pd.DataFrame(shake_frame, columns=['start_frame', 'end_frame'])
+            discomfort_df = pd.concat([time_df, frame_df], axis=1)
+            discomfort_df['type'] = 'shake'
+            self.discomfort_df = pd.concat([self.discomfort_df, discomfort_df], ignore_index=True)
+
+        return time_list
+
+    def _cadence_process(self, lon_acc_roc, ip_dec_roc):
+        if abs(lon_acc_roc) >= abs(ip_dec_roc) or abs(lon_acc_roc) < 1:
+            return np.nan
+        # elif abs(lon_acc_roc) == 0:
+        elif abs(lon_acc_roc) == 0:
+            return 0
+        elif lon_acc_roc > 0 and lon_acc_roc < -ip_dec_roc:
+            return 1
+        elif lon_acc_roc < 0 and lon_acc_roc > ip_dec_roc:
+            return -1
+
+    def _cadence_process_new(self, lon_acc, ip_acc, ip_dec):
+        if abs(lon_acc) < 1 or lon_acc > ip_acc or lon_acc < ip_dec:
+            return np.nan
+        # elif abs(lon_acc_roc) == 0:
+        elif abs(lon_acc) == 0:
+            return 0
+        elif lon_acc > 0 and lon_acc < ip_acc:
+            return 1
+        elif lon_acc < 0 and lon_acc > ip_dec:
+            return -1
+        else:
+            return 0
+
+    def _cadence_detector(self):
+        """
+        # 加速度突变：先加后减，先减后加，先加然后停，先减然后停
+        # 顿挫：2s内多次加速度变化率突变
+        # 求出每一个特征点，然后提取，然后将每一个特征点后面的2s做一个窗口，统计频率，避免无效运算
+
+        # 将特征点筛选出来
+        # 将特征点时间作为聚类标准，大于1s的pass，小于等于1s的聚类到一个分组
+        # 去掉小于3个特征点的分组
+        """
+        # data = self.ego_df[['simTime', 'simFrame', 'lon_acc_roc', 'cadence']].copy()
+        data = self.ego_df[['simTime', 'simFrame', 'lon_acc', 'lon_acc_roc', 'cadence']].copy()
+        time_list = data['simTime'].values.tolist()
+
+        data = data[data['cadence'] != np.nan]
+        data['cadence_diff'] = data['cadence'].diff()
+        data.dropna(subset='cadence_diff', inplace=True)
+        data = data[data['cadence_diff'] != 0]
+
+        t_list = data['simTime'].values.tolist()
+        f_list = data['simFrame'].values.tolist()
+
+        TIME_RANGE = 1
+        group_time = []
+        group_frame = []
+        sub_group_time = []
+        sub_group_frame = []
+        for i in range(len(f_list)):
+            if not sub_group_time or t_list[i] - t_list[i - 1] <= TIME_RANGE:  # 特征点相邻一秒内的，算作同一组顿挫
+                sub_group_time.append(t_list[i])
+                sub_group_frame.append(f_list[i])
+            else:
+                group_time.append(sub_group_time)
+                group_frame.append(sub_group_frame)
+                sub_group_time = [t_list[i]]
+                sub_group_frame = [f_list[i]]
+
+        group_time.append(sub_group_time)
+        group_frame.append(sub_group_frame)
+        group_time = [g for g in group_time if len(g) >= 1]  # 有一次特征点则算作一次顿挫
+        group_frame = [g for g in group_frame if len(g) >= 1]
+
+
+        # 将顿挫组的起始时间为组重新统计时间
+
+        # 输出图表值
+        cadence_time = [[g[0], g[-1]] for g in group_time]
+        cadence_frame = [[g[0], g[-1]] for g in group_frame]
+
+        if cadence_time:
+            time_df = pd.DataFrame(cadence_time, columns=['start_time', 'end_time'])
+            frame_df = pd.DataFrame(cadence_frame, columns=['start_frame', 'end_frame'])
+            discomfort_df = pd.concat([time_df, frame_df], axis=1)
+            discomfort_df['type'] = 'cadence'
+            self.discomfort_df = pd.concat([self.discomfort_df, discomfort_df], ignore_index=True)
+
+        # 将顿挫组的起始时间为组重新统计时间
+        cadence_time_list = [time for pair in cadence_time for time in time_list if pair[0] <= time <= pair[1]]
+
+        # time_list = [element for sublist in group_time for element in sublist]
+        # merged_list = [element for sublist in res_group for element in sublist]
+        # res_df = data[data['simTime'].isin(merged_list)]
+
+        stre_list = []
+        freq_list = []
+        for g in group_time:
+            # calculate strength
+            g_df = data[data['simTime'].isin(g)]
+            strength = g_df['lon_acc'].abs().mean()
+            stre_list.append(strength)
+
+            # calculate frequency
+            cnt = len(g)
+            t_start = g_df['simTime'].iloc[0]
+            t_end = g_df['simTime'].iloc[-1]
+            t_delta = t_end - t_start
+            frequency = cnt / t_delta
+            freq_list.append(frequency)
+
+        self.cadence_count = len(freq_list)
+        cadence_stre = sum(stre_list) / len(stre_list) if stre_list else 0
+
+        return cadence_time_list
+
+    def _slam_brake_detector(self):
+        # 统计急刹全为1的分段的个数，记录分段开头的frame_ID
+        # data = self.ego_df[['simTime', 'simFrame', 'lon_acc_roc', 'ip_dec_roc', 'slam_brake']].copy()
+        data = self.ego_df[['simTime', 'simFrame', 'lon_acc', 'lon_acc_roc', 'ip_dec', 'slam_brake']].copy()
+        # data['slam_diff'] = data['slam_brake'].diff()
+        # res_df = data[data['slam_diff'] == 1]
+
+        res_df = data[data['slam_brake'] == 1]
+        t_list = res_df['simTime'].values
+        f_list = res_df['simFrame'].values.tolist()
+
+        TIME_RANGE = 1
+        group_time = []
+        group_frame = []
+        sub_group_time = []
+        sub_group_frame = []
+        for i in range(len(f_list)):
+            if not sub_group_time or f_list[i] - f_list[i - 1] <= TIME_RANGE:  # 连续帧的算作同一组急刹
+                sub_group_time.append(t_list[i])
+                sub_group_frame.append(f_list[i])
+            else:
+                group_time.append(sub_group_time)
+                group_frame.append(sub_group_frame)
+                sub_group_time = [t_list[i]]
+                sub_group_frame = [f_list[i]]
+
+        group_time.append(sub_group_time)
+        group_frame.append(sub_group_frame)
+        group_time = [g for g in group_time if len(g) >= 2]  # 达到两帧算作一次急刹
+        group_frame = [g for g in group_frame if len(g) >= 2]
+
+        # 输出图表值
+        slam_brake_time = [[g[0], g[-1]] for g in group_time]
+        slam_brake_frame = [[g[0], g[-1]] for g in group_frame]
+
+        if slam_brake_time:
+            time_df = pd.DataFrame(slam_brake_time, columns=['start_time', 'end_time'])
+            frame_df = pd.DataFrame(slam_brake_frame, columns=['start_frame', 'end_frame'])
+            discomfort_df = pd.concat([time_df, frame_df], axis=1)
+            discomfort_df['type'] = 'slam_brake'
+            self.discomfort_df = pd.concat([self.discomfort_df, discomfort_df], ignore_index=True)
+
+        time_list = [element for sublist in group_time for element in sublist]
+        self.slam_brake_count = len(group_time)  # / self.mileage  # * 1000000
+        return time_list
+
+    def _slam_accel_detector(self):
+        # 统计急刹全为1的分段的个数，记录分段开头的frame_ID
+        # data = self.ego_df[['simTime', 'simFrame', 'lon_acc_roc', 'ip_acc_roc', 'slam_accel']].copy()
+        data = self.ego_df[['simTime', 'simFrame', 'lon_acc', 'ip_acc', 'slam_accel']].copy()
+        # data['slam_diff'] = data['slam_accel'].diff()
+        # res_df = data.loc[data['slam_diff'] == 1]
+
+        res_df = data.loc[data['slam_accel'] == 1]
+        t_list = res_df['simTime'].values
+        f_list = res_df['simFrame'].values.tolist()
+
+        group_time = []
+        group_frame = []
+        sub_group_time = []
+        sub_group_frame = []
+        for i in range(len(f_list)):
+            if not group_time or f_list[i] - f_list[i - 1] <= 1:  # 连续帧的算作同一组急加速
+                sub_group_time.append(t_list[i])
+                sub_group_frame.append(f_list[i])
+            else:
+                group_time.append(sub_group_time)
+                group_frame.append(sub_group_frame)
+                sub_group_time = [t_list[i]]
+                sub_group_frame = [f_list[i]]
+
+        group_time.append(sub_group_time)
+        group_frame.append(sub_group_frame)
+        group_time = [g for g in group_time if len(g) >= 2]
+        group_frame = [g for g in group_frame if len(g) >= 2]
+
+
+        # 输出图表值
+        slam_accel_time = [[g[0], g[-1]] for g in group_time]
+        slam_accel_frame = [[g[0], g[-1]] for g in group_frame]
+
+        if slam_accel_time:
+            time_df = pd.DataFrame(slam_accel_time, columns=['start_time', 'end_time'])
+            frame_df = pd.DataFrame(slam_accel_frame, columns=['start_frame', 'end_frame'])
+            discomfort_df = pd.concat([time_df, frame_df], axis=1)
+            discomfort_df['type'] = 'slam_accel'
+            self.discomfort_df = pd.concat([self.discomfort_df, discomfort_df], ignore_index=True)
+
+        time_list = [element for sublist in group_time for element in sublist]
+        self.slam_accel_count = len(group_time)  # / self.mileage  # * 1000000
+        return time_list
+
+    def comf_statistic(self):
+        
+        df = self.ego_df[['simTime', 'cur_diff', 'lon_acc', 'lon_acc_roc', 'accelH']].copy()
+
+        self.zigzag_count_func()
+        self.cal_zigzag_strength_strength()
+        if self.zigzag_time_list:
+            zigzag_df = pd.DataFrame(self.zigzag_time_list, columns=['start_time', 'end_time'])
+            zigzag_df = get_frame_with_time(zigzag_df, self.ego_df)
+            zigzag_df['type'] = 'zigzag'
+            self.discomfort_df = pd.concat([self.discomfort_df, zigzag_df], ignore_index=True)
+            # discomfort_df = pd.concat([time_df, frame_df], axis=1)
+            # self.discomfort_df = pd.concat([self.discomfort_df, discomfort_df], ignore_index=True)
+
+        zigzag_t_list = []
+        # 只有[t_start, t_end]数对，要提取为完整time list
+        t_list = df['simTime'].values.tolist()
+        for t_start, t_end in self.zigzag_time_list:
+            index_1 = t_list.index(t_start)
+            index_2 = t_list.index(t_end)
+            zigzag_t_list.extend(t_list[index_1:index_2 + 1])
+        zigzag_t_list = list(set(zigzag_t_list))
+        shake_t_list = self._shake_detector()
+        cadence_t_list = self._cadence_detector()
+        slam_brake_t_list = self._slam_brake_detector()
+        slam_accel_t_list = self._slam_accel_detector()
+
+    
+
+        discomfort_time_list = zigzag_t_list + shake_t_list + cadence_t_list + slam_brake_t_list + slam_accel_t_list
+        discomfort_time_list = sorted(discomfort_time_list)  # 排序
+        discomfort_time_list = list(set(discomfort_time_list))  # 去重
+
+        # TIME_DIFF = self.time_list[3] - self.time_list[2]
+        # TIME_DIFF = 0.4
+        FREQUENCY = 100
+        TIME_DIFF = 1 / FREQUENCY
+        self.discomfort_duration = len(discomfort_time_list) * TIME_DIFF
+
+        df['flag_zigzag'] = df['simTime'].apply(lambda x: 1 if x in zigzag_t_list else 0)
+        df['flag_shake'] = df['simTime'].apply(lambda x: 1 if x in shake_t_list else 0)
+        df['flag_cadence'] = df['simTime'].apply(lambda x: 1 if x in cadence_t_list else 0)
+        df['flag_slam_brake'] = df['simTime'].apply(lambda x: 1 if x in slam_brake_t_list else 0)
+        df['flag_slam_accel'] = df['simTime'].apply(lambda x: 1 if x in slam_accel_t_list else 0)
+
+
+        self.calculated_value = {
+            "weaving": self.zigzag_count,
+            "shake": self.shake_count,
+            "cadence": self.cadence_count,
+            "slamBrake": self.slam_brake_count,
+            "slamAccelerate": self.slam_accel_count
+        }
+       
+        return self.calculated_value
+
+    def _nan_detect(self, num):
+        if math.isnan(num):
+            return 0
+        return num
+
+    def zip_time_pairs(self, zip_list):
+        zip_time_pairs = zip(self.time_list, zip_list)
+        zip_vs_time = [[x, "" if math.isnan(y) else y] for x, y in zip_time_pairs]
+        return zip_vs_time
+
+    def report_statistic(self):
+        comfort_result = self.comf_statistic()
+
+        evaluator = Score(config.COMFORT_CONFIG_PATH)
+        result = evaluator.evaluate(comfort_result) 
+        print(f'Comfort Result:{self.calculated_value}')
+        
+        return result
+    
+if __name__ == '__main__':
+    case_name = 'ICA'
+    mode_label = 'PGVIL'
+    
+    data = data_process.DataPreprocessing(case_name, mode_label)
+
+
+    comfort_instance = Comfort(data)  
+    # 调用实例方法 report_statistic，它不接受除 self 之外的参数  
+    try:  
+        comfort_result = comfort_instance.report_statistic() 
+        result = {'comfort': comfort_result}
+        
+        print(result) 
+    except Exception as e:  
+        print(f"An error occurred in Comfort.report_statistic: {e}")

models/comfort/comfort_config.yaml

@@ -0,0 +1,36 @@
+
+name: comfort
+priority: 0
+comfortLat:
+  name: comfortLat
+  priority: 0
+  Weaving:
+    name: Weaving
+    priority: 0
+    max: 0
+    min: 0
+  shake:
+    name: shake
+    priority: 0
+    max: 0
+    min: 0
+comfortLon:
+  name: comfortLon
+  priority: 0
+  cadence:
+    name: cadence
+    priority: 0
+    max: 0
+    min: 0
+  slamBrake:
+    name: slamBrake 
+    priority: 0
+    max: 0
+    min: 0
+  slamAccelerate:
+    name: slamAccelerate
+    priority: 0
+    max: 0
+    min: 0
+
+

models/common/common.py

@@ -0,0 +1,61 @@
+import os
+import sys
+import json
+from pathlib import Path
+
+
+
+def dict2json(data_dict, file_path):  
+    """  
+    将字典转换为JSON格式并保存到文件中。  
+  
+    参数:  
+    data_dict (dict): 要转换的字典。  
+    file_path (str): 保存JSON文件的路径。  
+    """  
+    try:  
+        with open(file_path, 'w', encoding='utf-8') as json_file:  
+            json.dump(data_dict, json_file, ensure_ascii=False, indent=4)  
+        print(f"JSON文件已保存到 {file_path}")  
+    except Exception as e:  
+        print(f"保存JSON文件时出错: {e}")
+
+def get_interpolation(x, point1, point2):
+    """
+    According to the two extreme value points, the equation of one variable is determined,
+    and the solution of the equation is obtained in the domain of definition.
+
+    Arguments:
+        x: A float number of the independent variable.
+        point1: A set of the coordinate extreme point.
+        point2: A set of the other coordinate extreme point.
+
+    Returns:
+        y: A float number of the dependent variable.
+    """
+    try:
+        k = (point1[1] - point2[1]) / (point1[0] - point2[0])
+        b = (point1[0] * point2[1] - point1[1] * point2[0]) / (point1[0] - point2[0])
+        y = x * k + b
+        return y
+    except Exception as e:
+        return f"Error: {str(e)}"
+    
+def get_frame_with_time(df1, df2):
+    # 将dataframe1按照start_time与simTime进行合并
+    df1_start = df1.merge(df2[['simTime', 'simFrame']], left_on='start_time', right_on='simTime')
+    df1_start = df1_start[['start_time', 'simFrame']].copy()
+    df1_start.rename(columns={'simFrame': 'start_frame'}, inplace=True)
+
+    # 将dataframe1按照end_time与simTime进行合并
+    df1_end = df1.merge(df2[['simTime', 'simFrame']], left_on='end_time', right_on='simTime')
+    df1_end = df1_end[['end_time', 'simFrame']].copy()
+    df1_end.rename(columns={'simFrame': 'end_frame'}, inplace=True)
+
+    # 将两个合并后的数据框按照行索引进行拼接
+    result = pd.concat([df1_start, df1_end], axis=1)
+    return result
+    
+
+if __name__ == "__main__":
+    pass

models/common/data_process.py

@@ -0,0 +1,463 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+##################################################################
+#
+# Copyright (c) 2024 CICV, Inc. All Rights Reserved
+#
+##################################################################
+"""
+@Authors:           zhanghaiwen(zhanghaiwen@china-icv.cn)
+@Data:              2024/10/17
+@Last Modified:     2024/10/17
+@Summary:           Evaluation functions
+"""
+
+import os
+import sys
+import yaml
+import traceback
+import numpy as np
+import pandas as pd
+from collections import Counter
+from pathlib import Path
+
+root_path = Path(__file__).resolve().parent.parent
+sys.path.append(str(root_path))
+from models.common import log
+from config import config
+
+log_path = config.LOG_PATH  # 后边改成python包传递路径
+
+logger = log.get_logger(log_path)
+
+
+class DataQuality(object):
+    def __init__(self, df=None):
+        self.df = df
+        self.frame_list = []
+        self.frame_diff_list = []
+        self.frame_diff_counter = {}
+        self.total_frame_count = 0
+        self.max_frame_number = 0
+        self.frame_loss_count = 0
+        self.frame_loss_rate = 0
+        self.frame_loss_max = 0
+        self.frame_loss_max_start = []
+        self.result = ""
+
+    def quality_detect(self):
+        self.frame_extract()
+        if self.frame_list:
+            self.cal_total_frame_count()
+            self.cal_max_frame_number()
+            self.cal_frame_diff()
+            self.cal_frame_loss_count()
+            self.cal_frame_loss_rate()
+            self.cal_frame_loss_max()
+            self.cal_frame_diff_counter()
+            self.result_print()
+        else:
+            self.result = "No data in this file."
+            print("No data in this file.")
+
+    def frame_extract(self):
+        self.df = self.df.dropna(subset=["simFrame"])
+        self.frame_list = sorted(self.df["simFrame"].unique())
+
+    def cal_frame_diff(self):
+        maxx = -1
+        for i in range(1, len(self.frame_list)):
+            diff = self.frame_list[i] - self.frame_list[i - 1] - 1
+            if diff > maxx and diff != 0:
+                maxx = diff
+                self.frame_loss_max_start = [self.frame_list[i - 1], self.frame_list[i]]
+            self.frame_diff_list.append(int(diff))
+
+    def cal_total_frame_count(self):
+        self.total_frame_count = len(self.frame_list) - 1 if self.frame_list else 0
+
+    def cal_max_frame_number(self):
+        self.max_frame_number = self.frame_list[-1] if self.frame_list else 0
+
+    def cal_frame_loss_count(self):
+        self.frame_loss_count = sum(self.frame_diff_list)
+
+    def cal_frame_loss_rate(self):
+        if self.total_frame_count + 1 > 0:
+            self.frame_loss_rate = round(
+                self.frame_loss_count / (self.total_frame_count + 1), 4
+            )
+        else:
+            self.frame_loss_rate = 0
+
+    def cal_frame_loss_max(self):
+        self.frame_loss_max = max(self.frame_diff_list) if self.frame_diff_list else 0
+
+    def cal_frame_diff_counter(self):
+        self.frame_diff_counter = dict(Counter(self.frame_diff_list))
+        sorted_items = sorted(
+            self.frame_diff_counter.items(), key=lambda x: x[1], reverse=True
+        )
+        self.frame_diff_counter = dict(sorted_items[1:])  # 跳过不丢帧次数统计
+
+    def result_print(self):
+        self.result += f"丢帧率: {self.frame_loss_rate * 100:.2f}%, "
+        self.result += f"总帧数: {self.total_frame_count + 1}, "
+        self.result += f"丢帧数量: {self.frame_loss_count}, "
+        self.result += f"最长丢帧数量: {self.frame_loss_max}, "
+        self.result += f"最长丢帧时起始帧: {self.frame_loss_max_start}, "
+        self.result += f"丢帧数及次数统计: {self.frame_diff_counter}."
+
+        print("此文件总帧数:", self.total_frame_count + 1)
+        print("此文件最大帧数:", self.max_frame_number)
+        print("此文件丢帧数量:", self.frame_loss_count)
+        print("此文件丢帧率:", f"{self.frame_loss_rate * 100:.2f}%")
+        print("此文件最长丢帧数量:", self.frame_loss_max)
+        print("此文件最长丢帧时起始帧:", self.frame_loss_max_start)
+        print("此文件丢帧数及次数统计:", self.frame_diff_counter)
+
+
+def get_all_files(path):
+    return [
+        os.path.join(root, file)
+        for root, _, files in os.walk(path)
+        for file in files
+        if file.endswith(".csv")
+    ]
+
+
+def frame_loss_statistic(path):
+    logger.info(f"Start Check Frame loss statistic: {path}")
+    file_names = get_all_files(path)
+    frame_loss_dict = {}
+    for file in file_names:
+        file_name = os.path.basename(file)
+        print(f"\n[{file_name}]")
+        df = pd.read_csv(file, index_col=False)
+        d_q = DataQuality(df)
+        d_q.quality_detect()
+        frame_loss_dict[file_name] = {
+            "result": d_q.result,
+            "frame_loss_rate": d_q.frame_loss_rate,
+        }
+    return frame_loss_dict
+
+
+def data_precheck(file_path, case_name):
+    """检查数据是否是有效数据，丢帧率是否在阈值内，数据中检查关键信息是否齐全"""
+    logger.info(f"[case:{case_name}] Check if the data is valid: Start.")
+
+    if not os.path.exists(file_path):
+        logger.error(f"[case:{file_path}] SINGLE_CASE_EVAL: Invalid dataPath!")
+        exit(1)
+
+    frame_loss_dict = {}
+    try:
+        frame_loss_dict = frame_loss_statistic(file_path)
+    except Exception as e:
+        logger.error(
+            f"[case:{case_name}] SINGLE_CASE_EVAL: frame loss statistic ERROR: {repr(e)}",
+            exc_info=True,
+        )
+        exit(-1)
+
+    # 检查帧丢失率
+    for key, value in frame_loss_dict.items():
+        if value["frame_loss_rate"] > config.DATA_QUALITY_LEVEL_1:
+            logger.error(
+                f"[case:{case_name}] SINGLE_CASE_EVAL: [{key}] frame loss rate > {config.DATA_QUALITY_LEVEL_1}%: {value['result']}"
+            )
+            return False
+
+    # 检查关键信息是否齐全（根据实际情况修改）
+    logger.info(f"[case:{case_name}] Check if the data is valid: End.")
+    return True
+
+
+class DataPreprocessing:
+
+    def __init__(self, case_name, mode_label):
+        # Base info
+        self.data_path = os.path.join(config.PROCESSED_DATA_PATH, case_name)
+        self.case_name = case_name
+
+        # Initialize data containers
+        self.object_df = pd.DataFrame()
+        self.driver_ctrl_df = pd.DataFrame()
+        self.vehicle_sys_df = pd.DataFrame()
+        self.ego_data_df = pd.DataFrame()
+        self.config = config
+        self.mode_label = mode_label
+
+        self.obj_data = {}
+        self.ego_data = {}
+        self.obj_id_list = []
+
+        # Data quality level
+        self.data_quality_level = config.DATA_QUALITY_LEVEL_1
+
+        # Load and process data
+        self._merge_csv()
+        self._read_csv()
+        self._process_object_df()
+        self.report_info = self._get_report_info(self.obj_data.get(1, pd.DataFrame()))
+        self._process_mode()
+
+    def _process_mode(self):
+        if self.mode_label == "real_car":
+            self._process_real_car()
+        elif self.mode_label == "PGVIL":
+            self._process_PGVIL()
+
+    def _process_real_car(self):
+        # Process real car data (implementation needed)
+        pass
+
+    def _process_PGVIL(self):
+        """Process PGVIL data"""
+        self.driver_ctrl_data = self._get_driver_ctrl_data(self.driver_ctrl_df)
+
+    @staticmethod
+    def cal_velocity(lat_v, lon_v):
+        """
+        Calculate the resultant velocity from lateral and longitudinal components.
+
+        Args:
+            lat_v: Lateral velocity in m/s
+            lon_v: Longitudinal velocity in m/s
+
+        Returns:
+            Resultant velocity in km/h
+        """
+        return np.sqrt(lat_v**2 + lon_v**2)  # Using numpy for vectorized operations
+
+    def _process_object_df(self):
+
+        EGO_PLAYER_ID = 1
+        data = self.object_df.copy()
+
+        # calculate common parameters
+        data["lat_v"] = data["speedY"] * 1
+        data["lon_v"] = data["speedX"] * 1
+        data["v"] = data.apply(
+            lambda row: self.cal_velocity(row["lat_v"], row["lon_v"]), axis=1
+        )
+        data["v"] = data["v"]  # km/h
+
+        # calculate acceleraton components
+        data["lat_acc"] = data["accelY"] * 1
+        data["lon_acc"] = data["accelX"] * 1
+        data["accel"] = data.apply(
+            lambda row: self.cal_velocity(row["lat_acc"], row["lon_acc"]), axis=1
+        )
+
+        data = data.dropna(subset=["type"])
+        data.reset_index(drop=True, inplace=True)
+        self.object_df = data.copy()
+
+        # calculate respective parameters
+        for obj_id, obj_data in data.groupby("playerId"):
+            self.obj_data[obj_id] = obj_data
+            self.obj_data[obj_id]["time_diff"] = self.obj_data[obj_id]["simTime"].diff()
+
+            self.obj_data[obj_id]["lat_acc_diff"] = self.obj_data[obj_id][
+                "lat_acc"
+            ].diff()
+            self.obj_data[obj_id]["lon_acc_diff"] = self.obj_data[obj_id][
+                "lon_acc"
+            ].diff()
+            self.obj_data[obj_id]["yawrate_diff"] = self.obj_data[obj_id][
+                "speedH"
+            ].diff()
+
+            self.obj_data[obj_id]["lat_acc_roc"] = (
+                self.obj_data[obj_id]["lat_acc_diff"]
+                / self.obj_data[obj_id]["time_diff"]
+            )
+            self.obj_data[obj_id]["lon_acc_roc"] = (
+                self.obj_data[obj_id]["lon_acc_diff"]
+                / self.obj_data[obj_id]["time_diff"]
+            )
+            self.obj_data[obj_id]["accelH"] = (
+                self.obj_data[obj_id]["yawrate_diff"]
+                / self.obj_data[obj_id]["time_diff"]
+            )
+
+            self.obj_data[obj_id]["lat_acc_roc"] = self.obj_data[obj_id][
+                "lat_acc_roc"
+            ].replace([np.inf, -np.inf], [9999, -9999])
+            self.obj_data[obj_id]["lon_acc_roc"] = self.obj_data[obj_id][
+                "lon_acc_roc"
+            ].replace([np.inf, -np.inf], [9999, -9999])
+            self.obj_data[obj_id]["accelH"] = self.obj_data[obj_id]["accelH"].replace(
+                [np.inf, -np.inf], [9999, -9999]
+            )
+
+        # get object id list
+        self.obj_id_list = list(self.obj_data.keys())
+        self.ego_data = self.obj_data[EGO_PLAYER_ID]
+
+    def _get_driver_ctrl_data(self, df):
+        """
+        Process and get driver control information.
+
+        Args:
+            df: A DataFrame containing driver control data.
+
+        Returns:
+            A dictionary of driver control info.
+        """
+        driver_ctrl_data = {
+            "time_list": df["simTime"].round(2).tolist(),
+            "frame_list": df["simFrame"].tolist(),
+            "brakePedal_list": (
+                (df["brakePedal"] * 100).tolist()
+                if df["brakePedal"].max() < 1
+                else df["brakePedal"].tolist()
+            ),
+            "throttlePedal_list": (
+                (df["throttlePedal"] * 100).tolist()
+                if df["throttlePedal"].max() < 1
+                else df["throttlePedal"].tolist()
+            ),
+            "steeringWheel_list": df["steeringWheel"].tolist(),
+        }
+        return driver_ctrl_data
+
+    def _read_csv(self):
+        """Read CSV files into DataFrames."""
+        self.driver_ctrl_df = pd.read_csv(
+            os.path.join(self.data_path, "DriverCtrl.csv")
+        ).drop_duplicates()
+        self.object_df = pd.read_csv(
+            os.path.join(self.data_path, "merged_ObjState.csv"),
+            dtype={"simTime": float},
+        ).drop_duplicates(subset=["simTime", "simFrame", "playerId"])
+        self.road_mark_df = pd.read_csv(
+            os.path.join(self.data_path, "RoadMark.csv"), dtype={"simTime": float}
+        ).drop_duplicates()
+        self.road_pos_df = pd.read_csv(
+            os.path.join(self.data_path, "RoadPos.csv"), dtype={"simTime": float}
+        ).drop_duplicates()
+        self.traffic_light_df = pd.read_csv(
+            os.path.join(self.data_path, "TrafficLight.csv"), dtype={"simTime": float}
+        ).drop_duplicates()
+        self.traffic_signal_df = pd.read_csv(
+            os.path.join(self.data_path, "TrafficSign.csv"), dtype={"simTime": float}
+        ).drop_duplicates()
+        self.lane_info_new_df = pd.read_csv(
+            os.path.join(self.data_path, "LaneInfo_new.csv"), dtype={"simTime": float}
+        ).drop_duplicates()
+        self.road_info_df = pd.read_csv(
+            os.path.join(self.data_path, "RoadInfo.csv"), dtype={"simTime": float}
+        ).drop_duplicates()
+        self.inter_info_df = pd.read_csv(
+            os.path.join(self.data_path, "InterInfo.csv"), dtype={"simTime": float}
+        ).drop_duplicates()
+        self.cross_walk_df = pd.read_csv(
+            os.path.join(self.data_path, "CrosswalkInfo.csv"), dtype={"simTime": float}
+        ).drop_duplicates()
+
+    def _get_report_info(self, df):
+        """Extract report information from the DataFrame."""
+        mileage = self._mileage_cal(df)
+        duration = self._duration_cal(df)
+        return {"mileage": mileage, "duration": duration}
+
+    def _mileage_cal(self, df):
+        """Calculate mileage based on the driving data."""
+        if df["travelDist"].nunique() == 1:
+            df["time_diff"] = df["simTime"].diff().fillna(0)
+            df["avg_speed"] = (df["v"] + df["v"].shift()).fillna(0) / 2
+            df["distance_increment"] = df["avg_speed"] * df["time_diff"] / 3.6
+            df["travelDist"] = df["distance_increment"].cumsum().fillna(0)
+
+            mileage = round(df["travelDist"].iloc[-1] - df["travelDist"].iloc[0], 2)
+            return mileage
+        return 0.0  # Return 0 if travelDist is not valid
+
+    def _duration_cal(self, df):
+        """Calculate duration of the driving data."""
+        return df["simTime"].iloc[-1] - df["simTime"].iloc[0]
+
+    def _merge_csv(self):
+        """Merge CSV files into one consolidated DataFrame."""
+        df_object = pd.read_csv(
+            os.path.join(self.data_path, "ObjState.csv"), dtype={"simTime": float}
+        ).drop_duplicates()
+        df_laneinfo = pd.read_csv(
+            os.path.join(self.data_path, "LaneInfo.csv"), dtype={"simTime": float}
+        ).drop_duplicates()
+        df_roadPos = pd.read_csv(
+            os.path.join(self.data_path, "RoadPos.csv"), dtype={"simTime": float}
+        ).drop_duplicates()
+        df_vehicleSys = pd.read_csv(
+            os.path.join(self.data_path, "VehicleSystems.csv"), dtype={"simTime": float}
+        ).drop_duplicates()
+        ego_map_df = pd.read_csv(
+            os.path.join(self.data_path, "EgoMap.csv"), dtype={"simTime": float}
+        ).drop_duplicates()
+
+        # Rename columns for clarity
+        df_laneinfo = df_laneinfo.rename(columns={"curvHor": "curvHor", "id": "laneId"})
+        df_laneinfo["curvHor"] = df_laneinfo["curvHor"].round(3)
+
+        # Merge data
+        combined_df = pd.merge(
+            df_roadPos,
+            df_laneinfo,
+            on=["simTime", "simFrame", "playerId", "laneId"],
+            how="inner",
+        )
+
+        df_laneinfo_new = combined_df[
+            ["simTime", "simFrame", "playerId", "curvHor", "curvHorDot"]
+        ].drop_duplicates()
+        df_roadPos = df_roadPos[
+            ["simTime", "simFrame", "playerId", "laneOffset", "rollRel", "pitchRel"]
+        ].copy()
+        df_vehicleSys = df_vehicleSys[
+            ["simTime", "simFrame", "playerId", "lightMask", "steering"]
+        ].copy()
+
+        # Final merge to create complete DataFrame
+        merged_df = pd.merge(
+            df_object, df_vehicleSys, on=["simTime", "simFrame", "playerId"], how="left"
+        )
+        merged_df = pd.merge(
+            merged_df,
+            df_laneinfo_new,
+            on=["simTime", "simFrame", "playerId"],
+            how="left",
+        )
+        merged_df = pd.merge(
+            merged_df, df_roadPos, on=["simTime", "simFrame", "playerId"], how="left"
+        )
+
+        # Columns to copy from ego map
+        columns_to_copy = [
+            "simTime",
+            "simFrame",
+            "playerId",
+            "road_link_id",
+            "road_fc",
+            "road_type",
+            "road_speed_max",
+            "road_speed_min",
+        ]
+
+        # Merge EGO data with map data
+        merged_df = pd.merge(
+            merged_df,
+            ego_map_df[columns_to_copy],
+            on=["simTime", "simFrame", "playerId"],
+            how="left",
+        )
+
+        # Clean up and save
+        merged_df.drop_duplicates(inplace=True)
+        merged_df = merged_df[merged_df.simFrame > 0].copy()
+        merged_df.to_csv(
+            os.path.join(self.data_path, "merged_ObjState.csv"), index=False
+        )
+        logger.info("merged_ObjState.csv has been saved.")

models/common/log.py

@@ -0,0 +1,73 @@
+import logging
+import os
+logger = None
+class Logger:
+    _instance = None
+
+    def __new__(cls, log_file):
+        if cls._instance is None:
+            cls._instance = super(Logger, cls).__new__(cls)
+            cls._instance._initialize_logger(log_file)
+        return cls._instance
+
+    def _initialize_logger(self, log_file):
+        # 确保日志目录存在
+        os.makedirs(os.path.dirname(log_file), exist_ok=True)
+        
+        # 设置日志格式
+        formatter = logging.Formatter(
+            "[%(asctime)s] - [%(levelname)s] - [%(filename)s] [line:%(lineno)d] - [%(message)s]"
+        )
+        
+        # 创建文件处理器
+        file_handler = logging.FileHandler(log_file, mode='a', encoding='utf-8')
+        file_handler.setFormatter(formatter)
+
+        # 创建控制台处理器
+        stream_handler = logging.StreamHandler()
+        stream_handler.setFormatter(formatter)
+
+
+        # 配置日志记录器
+        self.logger = logging.getLogger()
+        self.logger.setLevel(logging.DEBUG)
+        self.logger.addHandler(file_handler)
+        self.logger.addHandler(stream_handler)
+
+    def debug(self, message):
+        """记录调试信息"""
+        self.logger.debug(message)
+
+    def info(self, message):
+        """记录普通信息"""
+        self.logger.info(message)
+
+    def warning(self, message):
+        """记录警告信息"""
+        self.logger.warning(message)
+
+    def error(self, message):
+        """记录错误信息"""
+        self.logger.error(message)
+
+    def critical(self, message):
+        """记录严重错误信息"""
+        self.logger.critical(message)
+def get_logger(log_path):
+    """
+    返回已配置的全局日志记录器。
+    """
+    global logger
+    if not logger:
+        logger = Logger(log_path).logger
+    return logger
+# 使用示例
+if __name__ == "__main__":
+    path = "/home/kevin/kevin/zhaoyuan/evaluate_zhaoyuan/log" 
+    log = Logger()
+    
+    log.info("程序开始运行")
+    log.debug("这是一个调试消息")
+    log.warning("这是一个警告消息")
+    log.error("这是一个错误消息")
+    log.critical("这是一个严重错误消息")

models/common/score.py

@@ -0,0 +1,166 @@
+import os
+import sys  
+import yaml 
+import json 
+
+sys.path.append('/home/kevin/kevin/zhaoyuan/evaluate_zhaoyuan/') 
+from config import config
+
+class Score:  
+    def __init__(self, config_path, calculated_metrics=None):  
+        self.config_path = config_path  
+        # self.calculated_metrics = calculated_metrics 
+        self.calculated_metrics = calculated_metrics
+        self.safety_config = self.load_config()
+        self.level_3_merics = self._extract_level_3_metrics(self.safety_config) 
+
+        self.result = {}  
+  
+    def load_config(self):  
+        with open(self.config_path, 'r') as file:  
+            return yaml.safe_load(file)  
+    
+    def _extract_level_3_metrics(self, d):
+        name = []
+        for key, value in d.items():
+            if isinstance(value, dict):  # 如果值是字典，继续遍历
+                self._extract_level_3_metrics(value)
+            elif key == 'name':  # 找到name键时，将值添加到列表
+                name.append(value)
+        return name
+                         
+    def is_within_range(self, value, min_val, max_val):  
+        return min_val <= value <= max_val  
+  
+    def evaluate_level_3(self, metrics):  
+        result3 = {}  
+        name = metrics.get('name')  
+        priority = metrics.get('priority')  
+        max_val = metrics.get('max')  
+        min_val = metrics.get('min')
+        
+        self.level_3_merics.append(name)  
+        metric_value = self.calculated_metrics.get(name)  
+        result3[name] = {  
+            'result': True,  
+            'priority': priority 
+        } 
+        if metric_value is None:  
+            return result3  
+  
+        if not self.is_within_range(metric_value, min_val, max_val) and priority == 0:  
+            result3[name]['result'] = False  
+        elif not self.is_within_range(metric_value, min_val, max_val) and priority == 1:  
+            result3[name]['priority_1_count'] += 1  
+  
+        # Count priority 1 failures and override result if more than 3  
+       
+        priority_1_metrics = [v for v in result3.values() if v['priority'] == 1 and not v['result']]  
+        if len([m for m in priority_1_metrics if not m['result']]) > 3:  
+            result3[name]['result'] = False
+        # print("------------3-------------")
+        # print(result3)
+  
+        return result3  
+  
+    def evaluate_level_2(self, metrics):  
+        result2 = {}  
+        name = metrics.get('name')  
+        priority = metrics.get('priority')  
+        result2[name] = {}  
+  
+        for metric, sub_metrics in metrics.items():  
+            if metric not in ['name', 'priority']:  
+                result2[name].update(self.evaluate_level_3(sub_metrics))  
+  
+        # Aggregate results for level 2  config.T0 config.T1 config.T2
+        priority_0_count = sum(1 for v in result2[name].values() if v['priority'] == 0 and not v['result']) 
+        priority_1_count = sum(1 for v in result2[name].values() if v['priority'] == 1 and not v['result']) 
+        priority_2_count = sum(1 for v in result2[name].values() if v['priority'] == 2 and not v['result']) 
+
+        if priority_0_count > config.T0:  
+            result2[name]['result'] = False
+            
+        elif priority_1_count > config.T1:  
+            for metric in result2[name].values():  
+                metric['result'] = False 
+        elif priority_2_count > config.T2:  
+            for metric in result2[name].values():  
+                metric['result'] = False
+        else:  
+            result2[name]['result'] = True  # Default to True unless overridden  
+        result2[name]['priority'] = priority 
+        result2[name]['priority_0_count'] = priority_0_count  
+        result2[name]['priority_1_count'] = priority_1_count
+        result2[name]['priority_2_count'] = priority_2_count  
+        # print("------------2-------------") 
+        # print(result2)
+  
+        return result2  
+  
+    def evaluate_level_1(self): 
+        priority_1_count = 0
+        name = self.safety_config.get('name')
+        priority = self.safety_config.get('priority') 
+        result1 = {} 
+        result1[name] = {}  
+        for metric, metrics in self.safety_config.items():
+            if metric not in ['name', 'priority']:  
+                result1[name].update(self.evaluate_level_2(metrics))
+                
+        # Aggregate results for level 2  config.T0 config.T1 config.T2
+        priority_0_count = sum(1 for v in result1[name].values() if v['priority'] == 0 and not v['result']) 
+        priority_1_count = sum(1 for v in result1[name].values() if v['priority'] == 1 and not v['result']) 
+        priority_2_count = sum(1 for v in result1[name].values() if v['priority'] == 2 and not v['result']) 
+
+        if priority_0_count > config.T0:  
+            result1[name]['result'] = False
+            
+        elif priority_1_count > config.T1:  
+            for metric in result1[name].values():  
+                metric['result'] = False 
+        elif priority_2_count > config.T2:  
+            for metric in result1[name].values():  
+                metric['result'] = False
+        else:  
+            result1[name]['result'] = True  # Default to True unless overridden  
+        result1[name]['priority'] = priority 
+        result1[name]['priority_0_count'] = priority_0_count  
+        result1[name]['priority_1_count'] = priority_1_count
+        result1[name]['priority_2_count'] = priority_2_count  
+        # print("------------2-------------") 
+        # print(result1)
+       
+        return result1  
+  
+    def evaluate(self, calculated_metrics):
+        self.calculated_metrics = calculated_metrics  
+        self.result = self.evaluate_level_1()  
+        return self.result  
+  
+  
+def main():  
+    config_path = r'/home/kevin/kevin/zhaoyuan/evaluate_zhaoyuan/models/safety/safety_config.yaml' 
+    config_path1 = r'/home/kevin/kevin/zhaoyuan/evaluate_zhaoyuan/models/safety/safety_config.json'  
+    calculated_metrics = {  
+        'TTC': 1.0,  
+        'MTTC': 1.0,  
+        'THW': 1.0,  
+        'LonSD': 50.0,  
+        'LatSD': 3.0,  
+        'DRAC': 3.0,  
+        'BTN': -1000.0,  
+        'STN': 0.5,  
+        'collisionRisk': 5.0,  
+        'collisionSeverity': 2.0,  
+    }  
+  
+    # evaluator = Score(config_path, calculated_metrics) 
+    evaluator = Score(config_path)  
+    result = evaluator.evaluate(calculated_metrics) 
+    with open(config_path1, 'w') as json_file:
+        json.dump(result, json_file, indent=4)  # `indent` 参数用于美化输出
+    #print(f"Is the overall safety valid? {result['safety_indicator_name']['result'] if 'safety_indicator_name' in result else 'Unknown'}")  # Replace 'safety_indicator_name' with actual top-level metric name  
+  
+if __name__ == '__main__':  
+    main()

models/map/CMakeLists.txt

@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.10)
+project(engine)
+
+# set(CMAKE_CXX_STANDARD 11)
+# set(CMAKE_CXX_STANDARD_REQUIRED True)
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED True)
+
+
+find_package(GDAL REQUIRED)
+# include_directories(${CMAKE_SOURCE_DIR}/lib)
+include_directories(
+    include
+    /usr/include
+    ${GDAL_INCLUDE_DIRS}
+    lib
+)
+add_library(utils STATIC lib/utils.cpp)
+# add_executable(engine src/engine_20241104_1.cpp)
+add_executable(engine src/main.cpp include/engine.cpp)
+target_link_libraries(engine ${GDAL_LIBRARIES} utils)

models/map/build/CMakeCache.txt

@@ -0,0 +1,386 @@
+# This is the CMakeCache file.
+# For build in directory: /home/kevin/kevin/zhaoyuan/zhaoyuan/models/map/build
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
+# KEY:TYPE=VALUE
+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
+# EXTERNAL cache entries
+########################
+
+//Path to a program.
+CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line
+
+//Path to a program.
+CMAKE_AR:FILEPATH=/usr/bin/ar
+
+//Choose the type of build, options are: None Debug Release RelWithDebInfo
+// MinSizeRel ...
+CMAKE_BUILD_TYPE:STRING=
+
+//Enable/Disable color output during build.
+CMAKE_COLOR_MAKEFILE:BOOL=ON
+
+//CXX compiler
+CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-11
+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-11
+
+//Flags used by the CXX compiler during all build types.
+CMAKE_CXX_FLAGS:STRING=
+
+//Flags used by the CXX compiler during DEBUG builds.
+CMAKE_CXX_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the CXX compiler during MINSIZEREL builds.
+CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the CXX compiler during RELEASE builds.
+CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the CXX compiler during RELWITHDEBINFO builds.
+CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//C compiler
+CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc
+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_C_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-11
+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_C_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-11
+
+//Flags used by the C compiler during all build types.
+CMAKE_C_FLAGS:STRING=
+
+//Flags used by the C compiler during DEBUG builds.
+CMAKE_C_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the C compiler during MINSIZEREL builds.
+CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the C compiler during RELEASE builds.
+CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the C compiler during RELWITHDEBINFO builds.
+CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//Path to a program.
+CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND
+
+//Flags used by the linker during all build types.
+CMAKE_EXE_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during DEBUG builds.
+CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during MINSIZEREL builds.
+CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during RELEASE builds.
+CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during RELWITHDEBINFO builds.
+CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Enable/Disable output of compile commands during generation.
+CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=
+
+//Install path prefix, prepended onto install directories.
+CMAKE_INSTALL_PREFIX:PATH=/usr/local
+
+//Path to a program.
+CMAKE_LINKER:FILEPATH=/usr/bin/ld
+
+//Path to a program.
+CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/gmake
+
+//Flags used by the linker during the creation of modules during
+// all build types.
+CMAKE_MODULE_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of modules during
+// DEBUG builds.
+CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of modules during
+// MINSIZEREL builds.
+CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of modules during
+// RELEASE builds.
+CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of modules during
+// RELWITHDEBINFO builds.
+CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_NM:FILEPATH=/usr/bin/nm
+
+//Path to a program.
+CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy
+
+//Path to a program.
+CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump
+
+//Value Computed by CMake
+CMAKE_PROJECT_DESCRIPTION:STATIC=
+
+//Value Computed by CMake
+CMAKE_PROJECT_HOMEPAGE_URL:STATIC=
+
+//Value Computed by CMake
+CMAKE_PROJECT_NAME:STATIC=engine
+
+//Path to a program.
+CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib
+
+//Path to a program.
+CMAKE_READELF:FILEPATH=/usr/bin/readelf
+
+//Flags used by the linker during the creation of shared libraries
+// during all build types.
+CMAKE_SHARED_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during DEBUG builds.
+CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during MINSIZEREL builds.
+CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during RELEASE builds.
+CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during RELWITHDEBINFO builds.
+CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//If set, runtime paths are not added when installing shared libraries,
+// but are added when building.
+CMAKE_SKIP_INSTALL_RPATH:BOOL=NO
+
+//If set, runtime paths are not added when using shared libraries.
+CMAKE_SKIP_RPATH:BOOL=NO
+
+//Flags used by the linker during the creation of static libraries
+// during all build types.
+CMAKE_STATIC_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during DEBUG builds.
+CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during MINSIZEREL builds.
+CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during RELEASE builds.
+CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during RELWITHDEBINFO builds.
+CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_STRIP:FILEPATH=/usr/bin/strip
+
+//If this value is on, makefiles will be generated without the
+// .SILENT directive, and all commands will be echoed to the console
+// during the make.  This is useful for debugging only. With Visual
+// Studio IDE projects all commands are done without /nologo.
+CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
+
+//Path to the gdal-config tool
+GDAL_CONFIG:FILEPATH=/usr/bin/gdal-config
+
+//Path to the GDAL include directory
+GDAL_INCLUDE_DIR:PATH=/usr/include/gdal
+
+//Path to the GDAL library
+GDAL_LIBRARY:FILEPATH=/usr/lib/libgdal.so
+
+//Value Computed by CMake
+engine_BINARY_DIR:STATIC=/home/kevin/kevin/zhaoyuan/zhaoyuan/models/map/build
+
+//Value Computed by CMake
+engine_IS_TOP_LEVEL:STATIC=ON
+
+//Value Computed by CMake
+engine_SOURCE_DIR:STATIC=/home/kevin/kevin/zhaoyuan/zhaoyuan/models/map
+
+
+########################
+# INTERNAL cache entries
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+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER)
+# define COMPILER_ID "IntelLLVM"
+#if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_ID "GNU"
+#endif
+/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and
+ * later.  Look for 6 digit vs. 8 digit version number to decide encoding.
+ * VVVV is no smaller than the current year when a version is released.
+ */
+#if __INTEL_LLVM_COMPILER < 1000000L
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER    % 10)
+#else
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER     % 100)
+#endif
+#if defined(_MSC_VER)
+  /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#elif defined(__GNUG__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+#endif
+#if defined(__GNUC_MINOR__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#endif
+#if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_C)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_C >= 0x5100
+   /* __SUNPRO_C = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# endif
+
+#elif defined(__HP_cc)
+# define COMPILER_ID "HP"
+  /* __HP_cc = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_cc     % 100)
+
+#elif defined(__DECC)
+# define COMPILER_ID "Compaq"
+  /* __DECC_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECC_VER         % 10000)
+
+#elif defined(__IBMC__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__NVCOMPILER)
+# define COMPILER_ID "NVHPC"
+# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
+# if defined(__NVCOMPILER_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__CLANG_FUJITSU)
+# define COMPILER_ID "FujitsuClang"
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(__FUJITSU)
+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+#   define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+#   define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+#   define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+#   define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+#   define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+#   define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__BCC__)
+# define COMPILER_ID "Bruce"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+#  define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+  /* SDCC = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+#  define PLATFORM_ID "VxWorks"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__ICCSTM8__)
+#  define ARCHITECTURE_ID "STM8"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+#  define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+#  define ARCHITECTURE_ID "TMS320C6x"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number. */
+#ifdef COMPILER_VERSION
+char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
+
+/* Construct a string literal encoding the version number components. */
+#elif defined(COMPILER_VERSION_MAJOR)
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#elif defined(COMPILER_VERSION_INTERNAL_STR)
+char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+#if !defined(__STDC__) && !defined(__clang__)
+# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__)
+#  define C_VERSION "90"
+# else
+#  define C_VERSION
+# endif
+#elif __STDC_VERSION__ > 201710L
+# define C_VERSION "23"
+#elif __STDC_VERSION__ >= 201710L
+# define C_VERSION "17"
+#elif __STDC_VERSION__ >= 201000L
+# define C_VERSION "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_VERSION "99"
+#else
+# define C_VERSION "90"
+#endif
+const char* info_language_standard_default =
+  "INFO" ":" "standard_default[" C_VERSION "]";
+
+const char* info_language_extensions_default = "INFO" ":" "extensions_default["
+/* !defined(_MSC_VER) to exclude Clang's MSVC compatibility mode. */
+#if (defined(__clang__) || defined(__GNUC__) ||                               \
+     defined(__TI_COMPILER_VERSION__)) &&                                     \
+  !defined(__STRICT_ANSI__) && !defined(_MSC_VER)
+  "ON"
+#else
+  "OFF"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+  require += info_cray[argc];
+#endif
+  require += info_language_standard_default[argc];
+  require += info_language_extensions_default[argc];
+  (void)argv;
+  return require;
+}
+#endif

models/map/build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp

@@ -0,0 +1,791 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+#if !defined(__has_include)
+/* If the compiler does not have __has_include, pretend the answer is
+   always no.  */
+#  define __has_include(x) 0
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_ID "GNU"
+# endif
+  /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later,
+     except that a few beta releases use the old format with V=2021.  */
+# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+#  if defined(__INTEL_COMPILER_UPDATE)
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+#  else
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+#  endif
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE)
+   /* The third version component from --version is an update index,
+      but no macro is provided for it.  */
+#  define COMPILER_VERSION_PATCH DEC(0)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+   /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER)
+# define COMPILER_ID "IntelLLVM"
+#if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_ID "GNU"
+#endif
+/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and
+ * later.  Look for 6 digit vs. 8 digit version number to decide encoding.
+ * VVVV is no smaller than the current year when a version is released.
+ */
+#if __INTEL_LLVM_COMPILER < 1000000L
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER    % 10)
+#else
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER     % 100)
+#endif
+#if defined(_MSC_VER)
+  /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#elif defined(__GNUG__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+#endif
+#if defined(__GNUC_MINOR__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#endif
+#if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__NVCOMPILER)
+# define COMPILER_ID "NVHPC"
+# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
+# if defined(__NVCOMPILER_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__CLANG_FUJITSU)
+# define COMPILER_ID "FujitsuClang"
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(__FUJITSU)
+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+#   define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+#   define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+#   define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+#   define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+#   define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+#   define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+#  define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
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models/map/build/cmake_install.cmake

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+# Install script for directory: /home/kevin/kevin/zhaoyuan/zhaoyuan/models/map
+
+# Set the install prefix
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+  set(CMAKE_INSTALL_PREFIX "/usr/local")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
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+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
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+  set(CMAKE_CROSSCOMPILING "FALSE")
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+  set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
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+string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
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+file(WRITE "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/map/build/${CMAKE_INSTALL_MANIFEST}"
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models/map/data/hd_crosswalks.csv

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models/map/data/hd_sign.csv

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models/map/data/hd_stopline.csv

@@ -0,0 +1,73 @@
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+44100644,20163175,"30225965",1,2,"[[258031.390252463,4150005.709097510],[258035.680193840,4150006.294792480]]"
+44100645,20163127,"30225905",1,2,"[[258107.202175392,4150027.065726244],[258107.867994476,4150023.558149148]]"
+44100646,20163166,"30225954",1,1,"[[257949.295420726,4150004.011107424],[257948.764335801,4150007.567875254]]"
+44100647,20163203,"30226006",1,1,"[[257753.541110375,4149974.864467805],[257753.006625659,4149978.350380011]]"
+44100648,20163089,"[30225851,30225852]",1,1,"[[258314.189184337,4149924.261431689],[258315.993321295,4149921.267620324],[258317.930583645,4149918.053249497]]"
+44100649,20163081,"30225841",1,1,"[[258272.525821709,4149921.177830370],[258268.700725402,4149920.393028176]]"
+44100650,20163085,"30225846",1,1,"[[258433.495824110,4149769.296932057],[258429.243003983,4149765.141873778]]"
+44100651,20163144,"30225926",1,1,"[[257941.744958136,4149907.733349412],[257938.619207593,4149907.255568896]]"
+44100652,20163157,"30225941",1,2,"[[258115.031578394,4150041.625582825],[258111.392808943,4150041.112780151]]"
+44100653,20163191,"[30225988,30225989]",1,1,"[[258247.450353349,4150059.241710385],[258245.814419708,4150062.364383092],[258243.182714636,4150067.402257363]]"
+44100654,20163147,"30225930",1,1,"[[258191.895109374,4150153.825752134],[258191.645445298,4150157.232487744]]"
+44100655,20163152,"30225936",1,1,"[[258307.794592815,4149774.816568221],[258307.659696807,4149777.778574721]]"

models/map/data/hd_trafficlight.csv

@@ -0,0 +1,30 @@
+trafficlight_id,trafficlight_ref_link,trafficlight_ref_lane,trafficlight_type,trafficlight_head,trafficlight_coords
+48100015,20163096,"",1,"2","[[258278.982434618,4150096.644118016],[258278.976477597,4150096.646290245],[258279.441055529,4150096.934794765],[258279.447012548,4150096.932622537],[258278.982434618,4150096.644118016]]"
+48100016,20163204,"",1,"1","[[258253.756082584,4150068.709667481],[258253.858527523,4150068.722352901],[258254.082389009,4150068.413300210],[258253.979852386,4150068.400506381],[258253.756082584,4150068.709667481]]"
+48100017,20163135,"",1,"2","[[258357.350669174,4149975.651458694],[258357.366335963,4149975.690988590],[258358.727435689,4149976.456724192],[258358.722790932,4149976.421761352],[258357.350669174,4149975.651458694]]"
+48100018,20163198,"",1,"1","[[258353.325774234,4149920.019532882],[258353.341514018,4149919.997528663],[258352.011207050,4149919.213239457],[258352.009144054,4149919.224517270],[258353.325774234,4149920.019532882]]"
+48100019,20163170,"",1,"1","[[258315.918393971,4149928.923423339],[258315.599238834,4149929.298660748],[258315.612101026,4149929.372703286],[258315.949776696,4149928.976713665],[258315.918393971,4149928.923423339]]"
+48100020,20163189,"",1,"2","[[258283.054350315,4150086.111848872],[258283.064360445,4150086.142546348],[258283.318665453,4150085.735536390],[258283.308655326,4150085.704838912],[258283.054350315,4150086.111848872]]"
+48100021,20163089,"",1,"1","[[258392.030739009,4149967.266953591],[258392.071079885,4149967.290328844],[258392.335057479,4149966.773972929],[258392.303310882,4149966.735576108],[258392.030739009,4149967.266953591]]"
+48100022,20163198,"",1,"2","[[258351.868799329,4149919.077427055],[258351.875789940,4149919.059008873],[258350.593873598,4149918.297861277],[258350.590057819,4149918.315854089],[258351.868799329,4149919.077427055]]"
+48100023,20163159,"",1,"1","[[258178.827677435,4150157.757140606],[258178.827313775,4150157.778143176],[258179.221285408,4150157.830339777],[258179.221560611,4150157.809339777],[258178.827677435,4150157.757140606]]"
+48100024,20163147,"",1,"[1,2]","[[258159.945480440,4150152.492171255],[258159.966933979,4150152.109249021],[258159.897745697,4150152.229547564],[258159.876203708,4150152.612472369],[258159.945480440,4150152.492171255]]"
+48100025,20163076,"",1,"2","[[258295.333341351,4150086.487005643],[258295.489385042,4150086.089402442],[258295.493856839,4150086.042179474],[258295.337816369,4150086.439893648],[258295.333341351,4150086.487005643]]"
+48100026,20163999,"",1,"1","[[258271.049986485,4150057.522728042],[258271.052003185,4150057.491570241],[258270.628378605,4150057.235419455],[258270.626358684,4150057.266466279],[258271.049986485,4150057.522728042]]"
+48100027,20163096,"",1,"2","[[258279.826438777,4150097.157625063],[258279.823130006,4150097.177824580],[258280.302819905,4150097.474553654],[258280.306131900,4150097.454465111],[258279.826438777,4150097.157625063]]"
+48100028,20163189,"",1,"1","[[258284.015488488,4150084.711018162],[258283.957497954,4150084.710925058],[258283.698423339,4150085.130513191],[258283.756502328,4150085.130603723],[258284.015488488,4150084.711018162]]"
+48100029,20163236,"",1,"1","[[258269.799349170,4150068.995901930],[258270.002186331,4150068.609156839],[258269.927272818,4150068.632990771],[258269.721302184,4150068.981952437],[258269.799349170,4150068.995901930]]"
+48100030,20163135,"",1,"1","[[258348.240512087,4149970.514992445],[258349.557282209,4149971.290676933],[258349.593020112,4149971.240880343],[258348.276158310,4149970.465087442],[258348.240512087,4149970.514992445]]"
+48100031,20163999,"",1,"2","[[258270.150131657,4150057.018951511],[258270.172518086,4150056.997198347],[258269.760506728,4150056.735490118],[258269.738120302,4150056.757243284],[258270.150131657,4150057.018951511]]"
+48100032,20163204,"",1,"2","[[258253.407505316,4150069.607896524],[258253.657764127,4150069.247540904],[258253.559787902,4150069.193630277],[258253.323417892,4150069.517040926],[258253.407505316,4150069.607896524]]"
+48100033,20163217,"",1,"[1,2]","[[258355.432573895,4149921.318298012],[258355.447014858,4149921.312547514],[258354.151418399,4149920.543688535],[258354.153833075,4149920.556724530],[258355.432573895,4149921.318298012]]"
+48100034,20163076,"",2,"1","[[258294.796020479,4150087.330625240],[258295.014861255,4150086.952301583],[258294.944268185,4150086.862719797],[258294.763290624,4150087.252272611],[258294.796020479,4150087.330625240]]"
+48100035,20163999,"",1,"2","[[258268.934216301,4150056.329094907],[258269.351044231,4150056.555454446],[258269.266652153,4150056.451057158],[258268.849824218,4150056.224697624],[258268.934216301,4150056.329094907]]"
+48100036,20163096,"",2,"1","[[258278.493398978,4150096.467614600],[258278.584760222,4150096.412648125],[258278.131770782,4150096.108590709],[258278.040409534,4150096.163557189],[258278.493398978,4150096.467614600]]"
+48100037,20163236,"",1,"2","[[258270.376261871,4150068.000521722],[258270.419235763,4150067.971284423],[258270.634465735,4150067.627163042],[258270.609544882,4150067.653099355],[258270.376261871,4150068.000521722]]"
+48100038,20163135,"",1,"1","[[258355.955596232,4149974.877379759],[258355.971259811,4149974.916798676],[258357.332454701,4149975.682753446],[258357.327809938,4149975.647790605],[258355.955596232,4149974.877379759]]"
+48100039,20163089,"",1,"2","[[258392.881660272,4149965.715729465],[258392.935915534,4149965.718264245],[258393.200031265,4149965.194462766],[258393.138283347,4149965.205251546],[258392.881660272,4149965.715729465]]"
+48100040,20163092,"",1,"2","[[258195.032291583,4150151.958291769],[258195.082422534,4150151.526332803],[258194.948569993,4150151.535663649],[258194.898435825,4150151.967511640],[258195.032291583,4150151.958291769]]"
+48100041,20163170,"",1,"2","[[258314.849735300,4149930.418224035],[258314.525188441,4149930.812055430],[258314.591924192,4149930.805341874],[258314.901055925,4149930.426396967],[258314.849735300,4149930.418224035]]"
+48100042,20163159,"",1,"1","[[258178.233785928,4150157.682984993],[258177.879244782,4150157.631975328],[258177.783047375,4150157.691081995],[258178.137588517,4150157.742091658],[258178.233785928,4150157.682984993]]"
+48100043,20163135,"",1,"2","[[258349.626112346,4149971.334772249],[258350.770029091,4149971.996298274],[258350.788933899,4149971.973535749],[258349.664224143,4149971.321004036],[258349.626112346,4149971.334772249]]"

models/map/include/csv.h

@@ -0,0 +1,1550 @@
+// Copyright: (2012-2015) Ben Strasser <code@ben-strasser.net>
+// License: BSD-3
+//
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// 1. Redistributions of source code must retain the above copyright notice,
+//    this list of conditions and the following disclaimer.
+//
+// 2. Redistributions in binary form must reproduce the above copyright notice,
+//    this list of conditions and the following disclaimer in the documentation
+//    and/or other materials provided with the distribution.
+//
+// 3. Neither the name of the copyright holder nor the names of its contributors
+//    may be used to endorse or promote products derived from this software
+//    without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#ifndef CSV_H
+#define CSV_H
+
+#include <algorithm>
+#include <cstdio>
+#include <cstring>
+#include <exception>
+#include <string>
+#include <utility>
+#include <vector>
+#ifndef CSV_IO_NO_THREAD
+#include <condition_variable>
+#include <mutex>
+#include <thread>
+#endif
+#include <cassert>
+#include <cerrno>
+#include <istream>
+#include <limits>
+#include <memory>
+#include <fstream>
+
+namespace io
+{
+  ////////////////////////////////////////////////////////////////////////////
+  //                                 LineReader                             //
+  ////////////////////////////////////////////////////////////////////////////
+
+  namespace error
+  {
+    struct base : std::exception
+    {
+      virtual void format_error_message() const = 0;
+
+      const char *what() const noexcept override
+      {
+        format_error_message();
+        return error_message_buffer;
+      }
+
+      mutable char error_message_buffer[2048];
+    };
+
+    // this only affects the file name in the error message
+    const int max_file_name_length = 1024;
+
+    struct with_file_name
+    {
+      with_file_name() { std::memset(file_name, 0, sizeof(file_name)); }
+
+      void set_file_name(const char *file_name)
+      {
+        if (file_name != nullptr)
+        {
+          // This call to strncpy has parenthesis around it
+          // to silence the GCC -Wstringop-truncation warning
+          (strncpy(this->file_name, file_name, sizeof(this->file_name)));
+          this->file_name[sizeof(this->file_name) - 1] = '\0';
+        }
+        else
+        {
+          this->file_name[0] = '\0';
+        }
+      }
+
+      char file_name[max_file_name_length + 1];
+    };
+
+    struct with_file_line
+    {
+      with_file_line() { file_line = -1; }
+
+      void set_file_line(int file_line) { this->file_line = file_line; }
+
+      int file_line;
+    };
+
+    struct with_errno
+    {
+      with_errno() { errno_value = 0; }
+
+      void set_errno(int errno_value) { this->errno_value = errno_value; }
+
+      int errno_value;
+    };
+
+    struct can_not_open_file : base, with_file_name, with_errno
+    {
+      void format_error_message() const override
+      {
+        if (errno_value != 0)
+          std::snprintf(error_message_buffer, sizeof(error_message_buffer),
+                        "Can not open file \"%s\" because \"%s\".", file_name,
+                        std::strerror(errno_value));
+        else
+          std::snprintf(error_message_buffer, sizeof(error_message_buffer),
+                        "Can not open file \"%s\".", file_name);
+      }
+    };
+
+    struct line_length_limit_exceeded : base, with_file_name, with_file_line
+    {
+      void format_error_message() const override
+      {
+        std::snprintf(
+            error_message_buffer, sizeof(error_message_buffer),
+            "Line number %d in file \"%s\" exceeds the maximum length of 2^24-1.",
+            file_line, file_name);
+      }
+    };
+  } // namespace error
+
+  class ByteSourceBase
+  {
+  public:
+    virtual int read(char *buffer, int size) = 0;
+    virtual ~ByteSourceBase() {}
+  };
+
+  namespace detail
+  {
+
+    class OwningStdIOByteSourceBase : public ByteSourceBase
+    {
+    public:
+      explicit OwningStdIOByteSourceBase(FILE *file) : file(file)
+      {
+        // Tell the std library that we want to do the buffering ourself.
+        std::setvbuf(file, 0, _IONBF, 0);
+      }
+
+      int read(char *buffer, int size) { return std::fread(buffer, 1, size, file); }
+
+      ~OwningStdIOByteSourceBase() { std::fclose(file); }
+
+    private:
+      FILE *file;
+    };
+
+    class NonOwningIStreamByteSource : public ByteSourceBase
+    {
+    public:
+      explicit NonOwningIStreamByteSource(std::istream &in) : in(in) {}
+
+      int read(char *buffer, int size)
+      {
+        in.read(buffer, size);
+        return in.gcount();
+      }
+
+      ~NonOwningIStreamByteSource() {}
+
+    private:
+      std::istream &in;
+    };
+
+    class NonOwningStringByteSource : public ByteSourceBase
+    {
+    public:
+      NonOwningStringByteSource(const char *str, long long size)
+          : str(str), remaining_byte_count(size) {}
+
+      int read(char *buffer, int desired_byte_count)
+      {
+        int to_copy_byte_count = desired_byte_count;
+        if (remaining_byte_count < to_copy_byte_count)
+          to_copy_byte_count = remaining_byte_count;
+        std::memcpy(buffer, str, to_copy_byte_count);
+        remaining_byte_count -= to_copy_byte_count;
+        str += to_copy_byte_count;
+        return to_copy_byte_count;
+      }
+
+      ~NonOwningStringByteSource() {}
+
+    private:
+      const char *str;
+      long long remaining_byte_count;
+    };
+
+#ifndef CSV_IO_NO_THREAD
+    class AsynchronousReader
+    {
+    public:
+      void init(std::unique_ptr<ByteSourceBase> arg_byte_source)
+      {
+        std::unique_lock<std::mutex> guard(lock);
+        byte_source = std::move(arg_byte_source);
+        desired_byte_count = -1;
+        termination_requested = false;
+        worker = std::thread([&]
+                             {
+      std::unique_lock<std::mutex> guard(lock);
+      try {
+        for (;;) {
+          read_requested_condition.wait(guard, [&] {
+            return desired_byte_count != -1 || termination_requested;
+          });
+          if (termination_requested)
+            return;
+
+          read_byte_count = byte_source->read(buffer, desired_byte_count);
+          desired_byte_count = -1;
+          if (read_byte_count == 0)
+            break;
+          read_finished_condition.notify_one();
+        }
+      } catch (...) {
+        read_error = std::current_exception();
+      }
+      read_finished_condition.notify_one(); });
+      }
+
+      bool is_valid() const { return byte_source != nullptr; }
+
+      void start_read(char *arg_buffer, int arg_desired_byte_count)
+      {
+        std::unique_lock<std::mutex> guard(lock);
+        buffer = arg_buffer;
+        desired_byte_count = arg_desired_byte_count;
+        read_byte_count = -1;
+        read_requested_condition.notify_one();
+      }
+
+      int finish_read()
+      {
+        std::unique_lock<std::mutex> guard(lock);
+        read_finished_condition.wait(
+            guard, [&]
+            { return read_byte_count != -1 || read_error; });
+        if (read_error)
+          std::rethrow_exception(read_error);
+        else
+          return read_byte_count;
+      }
+
+      ~AsynchronousReader()
+      {
+        if (byte_source != nullptr)
+        {
+          {
+            std::unique_lock<std::mutex> guard(lock);
+            termination_requested = true;
+          }
+          read_requested_condition.notify_one();
+          worker.join();
+        }
+      }
+
+    private:
+      std::unique_ptr<ByteSourceBase> byte_source;
+
+      std::thread worker;
+
+      bool termination_requested;
+      std::exception_ptr read_error;
+      char *buffer;
+      int desired_byte_count;
+      int read_byte_count;
+
+      std::mutex lock;
+      std::condition_variable read_finished_condition;
+      std::condition_variable read_requested_condition;
+    };
+#endif
+
+    class SynchronousReader
+    {
+    public:
+      void init(std::unique_ptr<ByteSourceBase> arg_byte_source)
+      {
+        byte_source = std::move(arg_byte_source);
+      }
+
+      bool is_valid() const { return byte_source != nullptr; }
+
+      void start_read(char *arg_buffer, int arg_desired_byte_count)
+      {
+        buffer = arg_buffer;
+        desired_byte_count = arg_desired_byte_count;
+      }
+
+      int finish_read() { return byte_source->read(buffer, desired_byte_count); }
+
+    private:
+      std::unique_ptr<ByteSourceBase> byte_source;
+      char *buffer;
+      int desired_byte_count;
+    };
+  } // namespace detail
+
+  class LineReader
+  {
+  private:
+    static const int block_len = 1 << 20;
+    std::unique_ptr<char[]> buffer; // must be constructed before (and thus
+                                    // destructed after) the reader!
+#ifdef CSV_IO_NO_THREAD
+    detail::SynchronousReader reader;
+#else
+    detail::AsynchronousReader reader;
+#endif
+    int data_begin;
+    int data_end;
+
+    char file_name[error::max_file_name_length + 1];
+    unsigned file_line;
+
+    static std::unique_ptr<ByteSourceBase> open_file(const char *file_name)
+    {
+      // We open the file in binary mode as it makes no difference under *nix
+      // and under Windows we handle \r\n newlines ourself.
+      FILE *file = std::fopen(file_name, "rb");
+      if (file == 0)
+      {
+        int x = errno; // store errno as soon as possible, doing it after
+                       // constructor call can fail.
+        error::can_not_open_file err;
+        err.set_errno(x);
+        err.set_file_name(file_name);
+        throw err;
+      }
+      return std::unique_ptr<ByteSourceBase>(
+          new detail::OwningStdIOByteSourceBase(file));
+    }
+
+    void init(std::unique_ptr<ByteSourceBase> byte_source)
+    {
+      file_line = 0;
+
+      buffer = std::unique_ptr<char[]>(new char[3 * block_len]);
+      data_begin = 0;
+      data_end = byte_source->read(buffer.get(), 2 * block_len);
+
+      // Ignore UTF-8 BOM
+      if (data_end >= 3 && buffer[0] == '\xEF' && buffer[1] == '\xBB' &&
+          buffer[2] == '\xBF')
+        data_begin = 3;
+
+      if (data_end == 2 * block_len)
+      {
+        reader.init(std::move(byte_source));
+        reader.start_read(buffer.get() + 2 * block_len, block_len);
+      }
+    }
+
+  public:
+    LineReader() = delete;
+    LineReader(const LineReader &) = delete;
+    LineReader &operator=(const LineReader &) = delete;
+
+    explicit LineReader(const char *file_name)
+    {
+      set_file_name(file_name);
+      init(open_file(file_name));
+    }
+
+    explicit LineReader(const std::string &file_name)
+    {
+      set_file_name(file_name.c_str());
+      init(open_file(file_name.c_str()));
+    }
+
+    LineReader(const char *file_name,
+               std::unique_ptr<ByteSourceBase> byte_source)
+    {
+      set_file_name(file_name);
+      init(std::move(byte_source));
+    }
+
+    LineReader(const std::string &file_name,
+               std::unique_ptr<ByteSourceBase> byte_source)
+    {
+      set_file_name(file_name.c_str());
+      init(std::move(byte_source));
+    }
+
+    LineReader(const char *file_name, const char *data_begin,
+               const char *data_end)
+    {
+      set_file_name(file_name);
+      init(std::unique_ptr<ByteSourceBase>(new detail::NonOwningStringByteSource(
+          data_begin, data_end - data_begin)));
+    }
+
+    LineReader(const std::string &file_name, const char *data_begin,
+               const char *data_end)
+    {
+      set_file_name(file_name.c_str());
+      init(std::unique_ptr<ByteSourceBase>(new detail::NonOwningStringByteSource(
+          data_begin, data_end - data_begin)));
+    }
+
+    LineReader(const char *file_name, FILE *file)
+    {
+      set_file_name(file_name);
+      init(std::unique_ptr<ByteSourceBase>(
+          new detail::OwningStdIOByteSourceBase(file)));
+    }
+
+    LineReader(const std::string &file_name, FILE *file)
+    {
+      set_file_name(file_name.c_str());
+      init(std::unique_ptr<ByteSourceBase>(
+          new detail::OwningStdIOByteSourceBase(file)));
+    }
+
+    LineReader(const char *file_name, std::istream &in)
+    {
+      set_file_name(file_name);
+      init(std::unique_ptr<ByteSourceBase>(
+          new detail::NonOwningIStreamByteSource(in)));
+    }
+
+    LineReader(const std::string &file_name, std::istream &in)
+    {
+      set_file_name(file_name.c_str());
+      init(std::unique_ptr<ByteSourceBase>(
+          new detail::NonOwningIStreamByteSource(in)));
+    }
+
+    void set_file_name(const std::string &file_name)
+    {
+      set_file_name(file_name.c_str());
+    }
+
+    void set_file_name(const char *file_name)
+    {
+      if (file_name != nullptr)
+      {
+        strncpy(this->file_name, file_name, sizeof(this->file_name));
+        this->file_name[sizeof(this->file_name) - 1] = '\0';
+      }
+      else
+      {
+        this->file_name[0] = '\0';
+      }
+    }
+
+    const char *get_truncated_file_name() const { return file_name; }
+
+    void set_file_line(unsigned file_line) { this->file_line = file_line; }
+
+    unsigned get_file_line() const { return file_line; }
+
+    char *next_line()
+    {
+      if (data_begin == data_end)
+        return nullptr;
+
+      ++file_line;
+
+      assert(data_begin < data_end);
+      assert(data_end <= block_len * 2);
+
+      if (data_begin >= block_len)
+      {
+        std::memcpy(buffer.get(), buffer.get() + block_len, block_len);
+        data_begin -= block_len;
+        data_end -= block_len;
+        if (reader.is_valid())
+        {
+          data_end += reader.finish_read();
+          std::memcpy(buffer.get() + block_len, buffer.get() + 2 * block_len,
+                      block_len);
+          reader.start_read(buffer.get() + 2 * block_len, block_len);
+        }
+      }
+
+      int line_end = data_begin;
+      while (line_end != data_end && buffer[line_end] != '\n')
+      {
+        ++line_end;
+      }
+
+      if (line_end - data_begin + 1 > block_len)
+      {
+        error::line_length_limit_exceeded err;
+        err.set_file_name(file_name);
+        err.set_file_line(file_line);
+        throw err;
+      }
+
+      if (line_end != data_end && buffer[line_end] == '\n')
+      {
+        buffer[line_end] = '\0';
+      }
+      else
+      {
+        // some files are missing the newline at the end of the
+        // last line
+        ++data_end;
+        buffer[line_end] = '\0';
+      }
+
+      // handle windows \r\n-line breaks
+      if (line_end != data_begin && buffer[line_end - 1] == '\r')
+        buffer[line_end - 1] = '\0';
+
+      char *ret = buffer.get() + data_begin;
+      data_begin = line_end + 1;
+      return ret;
+    }
+  };
+
+  ////////////////////////////////////////////////////////////////////////////
+  //                                 CSV                                    //
+  ////////////////////////////////////////////////////////////////////////////
+
+  namespace error
+  {
+    const int max_column_name_length = 63;
+    struct with_column_name
+    {
+      with_column_name()
+      {
+        std::memset(column_name, 0, max_column_name_length + 1);
+      }
+
+      void set_column_name(const char *column_name)
+      {
+        if (column_name != nullptr)
+        {
+          std::strncpy(this->column_name, column_name, max_column_name_length);
+          this->column_name[max_column_name_length] = '\0';
+        }
+        else
+        {
+          this->column_name[0] = '\0';
+        }
+      }
+
+      char column_name[max_column_name_length + 1];
+    };
+
+    const int max_column_content_length = 63;
+
+    struct with_column_content
+    {
+      with_column_content()
+      {
+        std::memset(column_content, 0, max_column_content_length + 1);
+      }
+
+      void set_column_content(const char *column_content)
+      {
+        if (column_content != nullptr)
+        {
+          std::strncpy(this->column_content, column_content,
+                       max_column_content_length);
+          this->column_content[max_column_content_length] = '\0';
+        }
+        else
+        {
+          this->column_content[0] = '\0';
+        }
+      }
+
+      char column_content[max_column_content_length + 1];
+    };
+
+    struct extra_column_in_header : base, with_file_name, with_column_name
+    {
+      void format_error_message() const override
+      {
+        std::snprintf(error_message_buffer, sizeof(error_message_buffer),
+                      R"(Extra column "%s" in header of file "%s".)", column_name,
+                      file_name);
+      }
+    };
+
+    struct missing_column_in_header : base, with_file_name, with_column_name
+    {
+      void format_error_message() const override
+      {
+        std::snprintf(error_message_buffer, sizeof(error_message_buffer),
+                      R"(Missing column "%s" in header of file "%s".)", column_name,
+                      file_name);
+      }
+    };
+
+    struct duplicated_column_in_header : base, with_file_name, with_column_name
+    {
+      void format_error_message() const override
+      {
+        std::snprintf(error_message_buffer, sizeof(error_message_buffer),
+                      R"(Duplicated column "%s" in header of file "%s".)",
+                      column_name, file_name);
+      }
+    };
+
+    struct header_missing : base, with_file_name
+    {
+      void format_error_message() const override
+      {
+        std::snprintf(error_message_buffer, sizeof(error_message_buffer),
+                      "Header missing in file \"%s\".", file_name);
+      }
+    };
+
+    struct too_few_columns : base, with_file_name, with_file_line
+    {
+      void format_error_message() const override
+      {
+        std::snprintf(error_message_buffer, sizeof(error_message_buffer),
+                      "Too few columns in line %d in file \"%s\".", file_line,
+                      file_name);
+      }
+    };
+
+    struct too_many_columns : base, with_file_name, with_file_line
+    {
+      void format_error_message() const override
+      {
+        std::snprintf(error_message_buffer, sizeof(error_message_buffer),
+                      "Too many columns in line %d in file \"%s\".", file_line,
+                      file_name);
+      }
+    };
+
+    struct escaped_string_not_closed : base, with_file_name, with_file_line
+    {
+      void format_error_message() const override
+      {
+        std::snprintf(error_message_buffer, sizeof(error_message_buffer),
+                      "Escaped string was not closed in line %d in file \"%s\".",
+                      file_line, file_name);
+      }
+    };
+
+    struct integer_must_be_positive : base,
+                                      with_file_name,
+                                      with_file_line,
+                                      with_column_name,
+                                      with_column_content
+    {
+      void format_error_message() const override
+      {
+        std::snprintf(
+            error_message_buffer, sizeof(error_message_buffer),
+            R"(The integer "%s" must be positive or 0 in column "%s" in file "%s" in line "%d".)",
+            column_content, column_name, file_name, file_line);
+      }
+    };
+
+    struct no_digit : base,
+                      with_file_name,
+                      with_file_line,
+                      with_column_name,
+                      with_column_content
+    {
+      void format_error_message() const override
+      {
+        std::snprintf(
+            error_message_buffer, sizeof(error_message_buffer),
+            R"(The integer "%s" contains an invalid digit in column "%s" in file "%s" in line "%d".)",
+            column_content, column_name, file_name, file_line);
+      }
+    };
+
+    struct integer_overflow : base,
+                              with_file_name,
+                              with_file_line,
+                              with_column_name,
+                              with_column_content
+    {
+      void format_error_message() const override
+      {
+        std::snprintf(
+            error_message_buffer, sizeof(error_message_buffer),
+            R"(The integer "%s" overflows in column "%s" in file "%s" in line "%d".)",
+            column_content, column_name, file_name, file_line);
+      }
+    };
+
+    struct integer_underflow : base,
+                               with_file_name,
+                               with_file_line,
+                               with_column_name,
+                               with_column_content
+    {
+      void format_error_message() const override
+      {
+        std::snprintf(
+            error_message_buffer, sizeof(error_message_buffer),
+            R"(The integer "%s" underflows in column "%s" in file "%s" in line "%d".)",
+            column_content, column_name, file_name, file_line);
+      }
+    };
+
+    struct invalid_single_character : base,
+                                      with_file_name,
+                                      with_file_line,
+                                      with_column_name,
+                                      with_column_content
+    {
+      void format_error_message() const override
+      {
+        std::snprintf(
+            error_message_buffer, sizeof(error_message_buffer),
+            R"(The content "%s" of column "%s" in file "%s" in line "%d" is not a single character.)",
+            column_content, column_name, file_name, file_line);
+      }
+    };
+  } // namespace error
+
+  using ignore_column = unsigned int;
+  static const ignore_column ignore_no_column = 0;
+  static const ignore_column ignore_extra_column = 1;
+  static const ignore_column ignore_missing_column = 2;
+
+  template <char... trim_char_list>
+  struct trim_chars
+  {
+  private:
+    constexpr static bool is_trim_char(char) { return false; }
+
+    template <class... OtherTrimChars>
+    constexpr static bool is_trim_char(char c, char trim_char,
+                                       OtherTrimChars... other_trim_chars)
+    {
+      return c == trim_char || is_trim_char(c, other_trim_chars...);
+    }
+
+  public:
+    static void trim(char *&str_begin, char *&str_end)
+    {
+      while (str_begin != str_end && is_trim_char(*str_begin, trim_char_list...))
+        ++str_begin;
+      while (str_begin != str_end &&
+             is_trim_char(*(str_end - 1), trim_char_list...))
+        --str_end;
+      *str_end = '\0';
+    }
+  };
+
+  struct no_comment
+  {
+    static bool is_comment(const char *) { return false; }
+  };
+
+  template <char... comment_start_char_list>
+  struct single_line_comment
+  {
+  private:
+    constexpr static bool is_comment_start_char(char) { return false; }
+
+    template <class... OtherCommentStartChars>
+    constexpr static bool
+    is_comment_start_char(char c, char comment_start_char,
+                          OtherCommentStartChars... other_comment_start_chars)
+    {
+      return c == comment_start_char ||
+             is_comment_start_char(c, other_comment_start_chars...);
+    }
+
+  public:
+    static bool is_comment(const char *line)
+    {
+      return is_comment_start_char(*line, comment_start_char_list...);
+    }
+  };
+
+  struct empty_line_comment
+  {
+    static bool is_comment(const char *line)
+    {
+      if (*line == '\0')
+        return true;
+      while (*line == ' ' || *line == '\t')
+      {
+        ++line;
+        if (*line == 0)
+          return true;
+      }
+      return false;
+    }
+  };
+
+  template <char... comment_start_char_list>
+  struct single_and_empty_line_comment
+  {
+    static bool is_comment(const char *line)
+    {
+      return single_line_comment<comment_start_char_list...>::is_comment(line) ||
+             empty_line_comment::is_comment(line);
+    }
+  };
+
+  template <char sep>
+  struct no_quote_escape
+  {
+    static const char *find_next_column_end(const char *col_begin)
+    {
+      while (*col_begin != sep && *col_begin != '\0')
+        ++col_begin;
+      return col_begin;
+    }
+
+    static void unescape(char *&, char *&) {}
+  };
+
+  template <char sep, char quote>
+  struct double_quote_escape
+  {
+    static const char *find_next_column_end(const char *col_begin)
+    {
+      while (*col_begin != sep && *col_begin != '\0')
+        if (*col_begin != quote)
+          ++col_begin;
+        else
+        {
+          do
+          {
+            ++col_begin;
+            while (*col_begin != quote)
+            {
+              if (*col_begin == '\0')
+                throw error::escaped_string_not_closed();
+              ++col_begin;
+            }
+            ++col_begin;
+          } while (*col_begin == quote);
+        }
+      return col_begin;
+    }
+
+    static void unescape(char *&col_begin, char *&col_end)
+    {
+      if (col_end - col_begin >= 2)
+      {
+        if (*col_begin == quote && *(col_end - 1) == quote)
+        {
+          ++col_begin;
+          --col_end;
+          char *out = col_begin;
+          for (char *in = col_begin; in != col_end; ++in)
+          {
+            if (*in == quote && (in + 1) != col_end && *(in + 1) == quote)
+            {
+              ++in;
+            }
+            *out = *in;
+            ++out;
+          }
+          col_end = out;
+          *col_end = '\0';
+        }
+      }
+    }
+  };
+
+  struct throw_on_overflow
+  {
+    template <class T>
+    static void on_overflow(T &)
+    {
+      throw error::integer_overflow();
+    }
+
+    template <class T>
+    static void on_underflow(T &)
+    {
+      throw error::integer_underflow();
+    }
+  };
+
+  struct ignore_overflow
+  {
+    template <class T>
+    static void on_overflow(T &) {}
+
+    template <class T>
+    static void on_underflow(T &) {}
+  };
+
+  struct set_to_max_on_overflow
+  {
+    template <class T>
+    static void on_overflow(T &x)
+    {
+      // using (std::numeric_limits<T>::max) instead of
+      // std::numeric_limits<T>::max to make code including windows.h with its max
+      // macro happy
+      x = (std::numeric_limits<T>::max)();
+    }
+
+    template <class T>
+    static void on_underflow(T &x)
+    {
+      x = (std::numeric_limits<T>::min)();
+    }
+  };
+
+  namespace detail
+  {
+    template <class quote_policy>
+    void chop_next_column(char *&line, char *&col_begin, char *&col_end)
+    {
+      assert(line != nullptr);
+
+      col_begin = line;
+      // the col_begin + (... - col_begin) removes the constness
+      col_end =
+          col_begin + (quote_policy::find_next_column_end(col_begin) - col_begin);
+
+      if (*col_end == '\0')
+      {
+        line = nullptr;
+      }
+      else
+      {
+        *col_end = '\0';
+        line = col_end + 1;
+      }
+    }
+
+    template <class trim_policy, class quote_policy>
+    void parse_line(char *line, char **sorted_col,
+                    const std::vector<int> &col_order)
+    {
+      for (int i : col_order)
+      {
+        if (line == nullptr)
+          throw ::io::error::too_few_columns();
+        char *col_begin, *col_end;
+        chop_next_column<quote_policy>(line, col_begin, col_end);
+
+        if (i != -1)
+        {
+          trim_policy::trim(col_begin, col_end);
+          quote_policy::unescape(col_begin, col_end);
+
+          sorted_col[i] = col_begin;
+        }
+      }
+      if (line != nullptr)
+        throw ::io::error::too_many_columns();
+    }
+
+    template <unsigned column_count, class trim_policy, class quote_policy>
+    void parse_header_line(char *line, std::vector<int> &col_order,
+                           const std::string *col_name,
+                           ignore_column ignore_policy)
+    {
+      col_order.clear();
+
+      bool found[column_count];
+      std::fill(found, found + column_count, false);
+      while (line)
+      {
+        char *col_begin, *col_end;
+        chop_next_column<quote_policy>(line, col_begin, col_end);
+
+        trim_policy::trim(col_begin, col_end);
+        quote_policy::unescape(col_begin, col_end);
+
+        for (unsigned i = 0; i < column_count; ++i)
+          if (col_begin == col_name[i])
+          {
+            if (found[i])
+            {
+              error::duplicated_column_in_header err;
+              err.set_column_name(col_begin);
+              throw err;
+            }
+            found[i] = true;
+            col_order.push_back(i);
+            col_begin = 0;
+            break;
+          }
+        if (col_begin)
+        {
+          if (ignore_policy & ::io::ignore_extra_column)
+            col_order.push_back(-1);
+          else
+          {
+            error::extra_column_in_header err;
+            err.set_column_name(col_begin);
+            throw err;
+          }
+        }
+      }
+      if (!(ignore_policy & ::io::ignore_missing_column))
+      {
+        for (unsigned i = 0; i < column_count; ++i)
+        {
+          if (!found[i])
+          {
+            error::missing_column_in_header err;
+            err.set_column_name(col_name[i].c_str());
+            throw err;
+          }
+        }
+      }
+    }
+
+    template <class overflow_policy>
+    void parse(char *col, char &x)
+    {
+      if (!*col)
+        throw error::invalid_single_character();
+      x = *col;
+      ++col;
+      if (*col)
+        throw error::invalid_single_character();
+    }
+
+    template <class overflow_policy>
+    void parse(char *col, std::string &x)
+    {
+      x = col;
+    }
+
+    template <class overflow_policy>
+    void parse(char *col, const char *&x)
+    {
+      x = col;
+    }
+
+    template <class overflow_policy>
+    void parse(char *col, char *&x) { x = col; }
+
+    template <class overflow_policy, class T>
+    void parse_unsigned_integer(const char *col, T &x)
+    {
+      x = 0;
+      while (*col != '\0')
+      {
+        if ('0' <= *col && *col <= '9')
+        {
+          T y = *col - '0';
+          if (x > ((std::numeric_limits<T>::max)() - y) / 10)
+          {
+            overflow_policy::on_overflow(x);
+            return;
+          }
+          x = 10 * x + y;
+        }
+        else
+          throw error::no_digit();
+        ++col;
+      }
+    }
+
+    template <class overflow_policy>
+    void parse(char *col, unsigned char &x)
+    {
+      parse_unsigned_integer<overflow_policy>(col, x);
+    }
+    template <class overflow_policy>
+    void parse(char *col, unsigned short &x)
+    {
+      parse_unsigned_integer<overflow_policy>(col, x);
+    }
+    template <class overflow_policy>
+    void parse(char *col, unsigned int &x)
+    {
+      parse_unsigned_integer<overflow_policy>(col, x);
+    }
+    template <class overflow_policy>
+    void parse(char *col, unsigned long &x)
+    {
+      parse_unsigned_integer<overflow_policy>(col, x);
+    }
+    template <class overflow_policy>
+    void parse(char *col, unsigned long long &x)
+    {
+      parse_unsigned_integer<overflow_policy>(col, x);
+    }
+
+    template <class overflow_policy, class T>
+    void parse_signed_integer(const char *col, T &x)
+    {
+      if (*col == '-')
+      {
+        ++col;
+
+        x = 0;
+        while (*col != '\0')
+        {
+          if ('0' <= *col && *col <= '9')
+          {
+            T y = *col - '0';
+            if (x < ((std::numeric_limits<T>::min)() + y) / 10)
+            {
+              overflow_policy::on_underflow(x);
+              return;
+            }
+            x = 10 * x - y;
+          }
+          else
+            throw error::no_digit();
+          ++col;
+        }
+        return;
+      }
+      else if (*col == '+')
+        ++col;
+      parse_unsigned_integer<overflow_policy>(col, x);
+    }
+
+    template <class overflow_policy>
+    void parse(char *col, signed char &x)
+    {
+      parse_signed_integer<overflow_policy>(col, x);
+    }
+    template <class overflow_policy>
+    void parse(char *col, signed short &x)
+    {
+      parse_signed_integer<overflow_policy>(col, x);
+    }
+    template <class overflow_policy>
+    void parse(char *col, signed int &x)
+    {
+      parse_signed_integer<overflow_policy>(col, x);
+    }
+    template <class overflow_policy>
+    void parse(char *col, signed long &x)
+    {
+      parse_signed_integer<overflow_policy>(col, x);
+    }
+    template <class overflow_policy>
+    void parse(char *col, signed long long &x)
+    {
+      parse_signed_integer<overflow_policy>(col, x);
+    }
+
+    template <class T>
+    void parse_float(const char *col, T &x)
+    {
+      bool is_neg = false;
+      if (*col == '-')
+      {
+        is_neg = true;
+        ++col;
+      }
+      else if (*col == '+')
+        ++col;
+
+      x = 0;
+      while ('0' <= *col && *col <= '9')
+      {
+        int y = *col - '0';
+        x *= 10;
+        x += y;
+        ++col;
+      }
+
+      if (*col == '.' || *col == ',')
+      {
+        ++col;
+        T pos = 1;
+        while ('0' <= *col && *col <= '9')
+        {
+          pos /= 10;
+          int y = *col - '0';
+          ++col;
+          x += y * pos;
+        }
+      }
+
+      if (*col == 'e' || *col == 'E')
+      {
+        ++col;
+        int e;
+
+        parse_signed_integer<set_to_max_on_overflow>(col, e);
+
+        if (e != 0)
+        {
+          T base;
+          if (e < 0)
+          {
+            base = T(0.1);
+            e = -e;
+          }
+          else
+          {
+            base = T(10);
+          }
+
+          while (e != 1)
+          {
+            if ((e & 1) == 0)
+            {
+              base = base * base;
+              e >>= 1;
+            }
+            else
+            {
+              x *= base;
+              --e;
+            }
+          }
+          x *= base;
+        }
+      }
+      else
+      {
+        if (*col != '\0')
+          throw error::no_digit();
+      }
+
+      if (is_neg)
+        x = -x;
+    }
+
+    template <class overflow_policy>
+    void parse(char *col, float &x)
+    {
+      parse_float(col, x);
+    }
+    template <class overflow_policy>
+    void parse(char *col, double &x)
+    {
+      parse_float(col, x);
+    }
+    template <class overflow_policy>
+    void parse(char *col, long double &x)
+    {
+      parse_float(col, x);
+    }
+
+    template <class overflow_policy, class T>
+    void parse(char *col, T &x)
+    {
+      // Mute unused variable compiler warning
+      (void)col;
+      (void)x;
+      // GCC evaluates "false" when reading the template and
+      // "sizeof(T)!=sizeof(T)" only when instantiating it. This is why
+      // this strange construct is used.
+      static_assert(sizeof(T) != sizeof(T),
+                    "Can not parse this type. Only builtin integrals, floats, "
+                    "char, char*, const char* and std::string are supported");
+    }
+
+  } // namespace detail
+
+  template <unsigned column_count, class trim_policy = trim_chars<' ', '\t'>,
+            class quote_policy = no_quote_escape<','>,
+            class overflow_policy = throw_on_overflow,
+            class comment_policy = no_comment>
+  class CSVReader
+  {
+  private:
+    LineReader in;
+
+    char *row[column_count];
+    std::string column_names[column_count];
+
+    std::vector<int> col_order;
+
+    template <class... ColNames>
+    void set_column_names(std::string s, ColNames... cols)
+    {
+      column_names[column_count - sizeof...(ColNames) - 1] = std::move(s);
+      set_column_names(std::forward<ColNames>(cols)...);
+    }
+
+    void set_column_names() {}
+
+  public:
+    CSVReader() = delete;
+    CSVReader(const CSVReader &) = delete;
+    CSVReader &operator=(const CSVReader &);
+
+    template <class... Args>
+    explicit CSVReader(Args &&...args) : in(std::forward<Args>(args)...)
+    {
+      std::fill(row, row + column_count, nullptr);
+      col_order.resize(column_count);
+      for (unsigned i = 0; i < column_count; ++i)
+        col_order[i] = i;
+      for (unsigned i = 1; i <= column_count; ++i)
+        column_names[i - 1] = "col" + std::to_string(i);
+    }
+
+    char *next_line() { return in.next_line(); }
+
+    template <class... ColNames>
+    void read_header(ignore_column ignore_policy, ColNames... cols)
+    {
+      static_assert(sizeof...(ColNames) >= column_count,
+                    "not enough column names specified");
+      static_assert(sizeof...(ColNames) <= column_count,
+                    "too many column names specified");
+      try
+      {
+        set_column_names(std::forward<ColNames>(cols)...);
+
+        char *line;
+        do
+        {
+          line = in.next_line();
+          if (!line)
+            throw error::header_missing();
+        } while (comment_policy::is_comment(line));
+
+        detail::parse_header_line<column_count, trim_policy, quote_policy>(
+            line, col_order, column_names, ignore_policy);
+      }
+      catch (error::with_file_name &err)
+      {
+        err.set_file_name(in.get_truncated_file_name());
+        throw;
+      }
+    }
+
+    template <class... ColNames>
+    void set_header(ColNames... cols)
+    {
+      static_assert(sizeof...(ColNames) >= column_count,
+                    "not enough column names specified");
+      static_assert(sizeof...(ColNames) <= column_count,
+                    "too many column names specified");
+      set_column_names(std::forward<ColNames>(cols)...);
+      std::fill(row, row + column_count, nullptr);
+      col_order.resize(column_count);
+      for (unsigned i = 0; i < column_count; ++i)
+        col_order[i] = i;
+    }
+
+    bool has_column(const std::string &name) const
+    {
+      return col_order.end() !=
+             std::find(col_order.begin(), col_order.end(),
+                       std::find(std::begin(column_names), std::end(column_names),
+                                 name) -
+                           std::begin(column_names));
+    }
+
+    void set_file_name(const std::string &file_name)
+    {
+      in.set_file_name(file_name);
+    }
+
+    void set_file_name(const char *file_name) { in.set_file_name(file_name); }
+
+    const char *get_truncated_file_name() const
+    {
+      return in.get_truncated_file_name();
+    }
+
+    void set_file_line(unsigned file_line) { in.set_file_line(file_line); }
+
+    unsigned get_file_line() const { return in.get_file_line(); }
+
+  private:
+    void parse_helper(std::size_t) {}
+
+    template <class T, class... ColType>
+    void parse_helper(std::size_t r, T &t, ColType &...cols)
+    {
+      if (row[r])
+      {
+        try
+        {
+          try
+          {
+            ::io::detail::parse<overflow_policy>(row[r], t);
+          }
+          catch (error::with_column_content &err)
+          {
+            err.set_column_content(row[r]);
+            throw;
+          }
+        }
+        catch (error::with_column_name &err)
+        {
+          err.set_column_name(column_names[r].c_str());
+          throw;
+        }
+      }
+      parse_helper(r + 1, cols...);
+    }
+
+  public:
+    template <class... ColType>
+    bool read_row(ColType &...cols)
+    {
+      static_assert(sizeof...(ColType) >= column_count,
+                    "not enough columns specified");
+      static_assert(sizeof...(ColType) <= column_count,
+                    "too many columns specified");
+      try
+      {
+        try
+        {
+
+          char *line;
+          do
+          {
+            line = in.next_line();
+            if (!line)
+              return false;
+          } while (comment_policy::is_comment(line));
+
+          detail::parse_line<trim_policy, quote_policy>(line, row, col_order);
+
+          parse_helper(0, cols...);
+        }
+        catch (error::with_file_name &err)
+        {
+          err.set_file_name(in.get_truncated_file_name());
+          throw;
+        }
+      }
+      catch (error::with_file_line &err)
+      {
+        err.set_file_line(in.get_file_line());
+        throw;
+      }
+
+      return true;
+    }
+  };
+
+  // CSVWriter
+  class LineWriter
+  {
+  private:
+    std::ofstream file;
+
+  public:
+    LineWriter(const std::string &filename)
+    {
+      file.open(filename);
+      if (!file.is_open())
+      {
+        throw std::runtime_error("Unable to open file");
+      }
+    }
+
+    ~LineWriter()
+    {
+      if (file.is_open())
+      {
+        file.close();
+      }
+    }
+
+    void write(const std::string &line)
+    {
+      file << line;
+    }
+  };
+
+  // CSVWriter 的实现
+  template <unsigned column_count,
+            class trim_policy = std::string,  // 使用默认值 ' ' 和 '\t'
+            class quote_policy = std::string, // 在这里我们可以简单化
+            class overflow_policy = std::runtime_error>
+  class CSVWriter
+  {
+  private:
+    LineWriter out;
+    std::string column_names[column_count];
+
+    void write_header()
+    {
+      for (unsigned i = 0; i < column_count; ++i)
+      {
+        if (i > 0)
+          out.write(",");
+        out.write(column_names[i]);
+      }
+      out.write("\n");
+    }
+
+  public:
+    CSVWriter(const std::string &filename, const std::initializer_list<std::string> &cols)
+        : out(filename)
+    {
+      // 使用初始化列表设置列名
+      unsigned index = 0;
+      for (const auto &col : cols)
+      {
+        if (index < column_count)
+        {
+          column_names[index++] = col;
+        }
+        else
+        {
+          throw overflow_policy("Too many column names specified");
+        }
+      }
+      write_header(); // 写入头部
+    }
+
+    template <class... ColType>
+    void write_row(ColType... cols)
+    {
+      write_row_helper(cols...);
+      out.write("\n");
+    }
+
+  private:
+    template <typename T>
+    void write_value(const T &value)
+    {
+      out.write(std::to_string(value)); // 简化，不进行引用处理
+    }
+
+    template <typename T, typename... Rest>
+    void write_row_helper(const T &value, const Rest &...rest)
+    {
+      write_value(value);
+      if constexpr (sizeof...(rest) > 0)
+      {
+        out.write(",");
+        write_row_helper(rest...);
+      }
+    }
+  };
+
+} // namespace io
+#endif

models/map/include/engine.cpp

@@ -0,0 +1,410 @@
+/*
+ * @Description:
+ * @Version: 1.0
+ * @Autor: Sun Yalun
+ * @Date: 2024-10-17 10:19:38
+ * @LastEditors: Sun Yalun
+ * @LastEditTime: 2024-11-08 15:42:41
+ */
+#include <iostream>
+#include <sstream>
+#include "engine.h"
+#include <string>
+#include <cmath>
+#include <iomanip>
+#include <fstream>
+#include "utils.h"
+#include <map>
+#include <algorithm>
+#include <vector>
+std::vector<InterInfo> getInters(const std::string &intercsvPath, const Point &point, double distance)
+{
+    std::vector<InterInfo> result;
+    std::vector<InterInfo> intersections = readIntersectionsFromCSV(intercsvPath);
+    if (intersections.empty())
+    {
+        std::cerr << "没有读取到路口信息。" << std::endl;
+        return result;
+    }
+    // 创建一个距离和路口对象的映射
+    std::map<double, InterInfo> dist_to_inter;
+    for (const auto &intersection : intersections)
+    {
+        Point centeroid(0.0, 0.0, 0.0);
+        centeroid = calculateCentroid(intersection.inter_coords);
+        // 计算中心点到查询点的距离
+        double dist = calculateDistance(point.pos_x, point.pos_y, centeroid.pos_x, centeroid.pos_y);
+        std::cout << std::fixed << std::setprecision(8);
+        // std::cout << "dist: " << dist << std::endl;
+        // 如果满足距离要求，把满足条件的路口加入结果
+        if (dist <= distance)
+        {
+            // result.push_back(intersection);
+            dist_to_inter[dist] = intersection;
+        }
+    }
+    // 从排序后的列表中提取出路口信息
+    for (const auto &dist_inter : dist_to_inter)
+    {
+        result.push_back(dist_inter.second);
+    }
+    if (result.size() == 0)
+    {
+        // std::cerr << "没有找到符合条件的路口。" << std::endl;
+        InterInfo inter;
+        inter.inter_id = 10000;
+        inter.inter_ref_link = {10001};
+        inter.inter_type = 10002;
+        inter.inter_in_shape = 10003;
+        inter.inter_coords = {Point(1.0, 1.0, 0.0)};
+        result.push_back(inter);
+    }
+    return result;
+}
+
+std::vector<CrosswalkInfo> getCrosswalks(const std::string &crosscsvPath, const Point &point, double distance)
+{
+    std::vector<CrosswalkInfo> result;
+    std::vector<CrosswalkInfo> crosswalks = readCrosswalksFromCSV(crosscsvPath);
+    if (crosswalks.empty())
+    {
+        std::cerr << "没有读取到人行横道信息。" << std::endl;
+        return result;
+    }
+    std::map<double, CrosswalkInfo> dist_to_cross;
+    for (const auto &crosswalk : crosswalks)
+    {
+        Point centeroid(0.0, 0.0, 0.0);
+        centeroid = calculateCentroid(crosswalk.cross_coords);
+        // 计算中心点到查询点的距离
+        double dist = calculateDistance(point.pos_x, point.pos_y, centeroid.pos_x, centeroid.pos_y);
+        std::cout << std::fixed << std::setprecision(8);
+        // std::cout << "dist: " << dist << std::endl;
+        // 如果满足距离要求，把满足条件的路口加入结果
+        if (dist <= distance)
+        {
+            // result.push_back(crosswalk);
+            dist_to_cross[dist] = crosswalk;
+        }
+    }
+    for (const auto &dist_cross : dist_to_cross)
+    {
+        result.push_back(dist_cross.second);
+    }
+    if (result.size() == 0)
+    {
+        // std::cerr << "没有找到符合条件的人行横道。" << std::endl;
+        CrosswalkInfo cross;
+        cross.cross_id = 20000;
+        cross.cross_coords = {Point(2.0, 2.0, 0.0)};
+        result.push_back(cross);
+    }
+    return result;
+}
+
+std::vector<TrafficlightInfo> getForwardTrafficlight(const std::string &lightcsvPath, const Point &point, double distance)
+{
+    std::vector<TrafficlightInfo> result;
+    std::vector<TrafficlightInfo> trafficlights = readTrafficlightsFromCSV(lightcsvPath);
+    std::map<double, TrafficlightInfo> dist_to_light;
+    for (const auto &light : trafficlights)
+    {
+        Point centeroid(0.0, 0.0, 0.0);
+        centeroid = calculateCentroid(light.trafficlight_coords);
+        // 计算中心点到查询点的距离
+        double dist = calculateDistance(point.pos_x, point.pos_y, centeroid.pos_x, centeroid.pos_y);
+        // 如果距离超过指定范围，跳过
+        if (dist > distance)
+        {
+            continue;
+        }
+        // 计算信号灯中心点到信号灯的方向向量
+        double dx = centeroid.pos_x - point.pos_x;
+        double dy = centeroid.pos_y - point.pos_y;
+
+        double heading_rad = point.heading;
+        double hx = std::cos(heading_rad);
+        double hy = std::sin(heading_rad);
+
+        double dot_product = dx * hx + dy * hy;
+
+        double mag_d = std::sqrt(dx * dx + dy * dy);
+        double mag_h = std::sqrt(hx * hx + hy * hy);
+
+        double cos_theta = dot_product / (mag_d * mag_h);
+        double theta = std::acos(cos_theta);
+
+        double angle_threshold = M_PI / 2;
+
+        // 如果夹角小于阈值，认为信号灯在前方
+        if (theta < angle_threshold)
+        {
+            // result.push_back(light);
+            dist_to_light[dist] = light;
+        }
+    }
+    for (const auto &dist_light : dist_to_light)
+    {
+        result.push_back(dist_light.second);
+    }
+    if (result.size() == 0)
+    {
+        // std::cerr << "没有找到符合条件的交通信号灯。" << std::endl;
+        TrafficlightInfo tflight;
+        tflight.trafficlight_id = 30000;
+        tflight.trafficlight_ref_link = 30001;
+        tflight.trafficlight_ref_lane = {30002};
+        tflight.trafficlight_type = 30003;
+        tflight.trafficlight_head = {30004};
+        tflight.trafficlight_coords = {Point(3.0, 3.0, 0.0)};
+        result.push_back(tflight);
+    }
+    return result;
+}
+
+// 根据位置获取所在道路信息
+std::vector<RoadInfo> getLink(const std::string &linkcsvPath, const Point &point)
+{
+    std::vector<RoadInfo> result;
+    std::vector<RoadInfo> roads = readRoadsFromCSV(linkcsvPath);
+    if (roads.empty())
+    {
+        std::cerr << "没有读取到道路信息。" << std::endl;
+        return result;
+    }
+    for (const auto &road : roads)
+    {
+        bool isNear = false;
+        const auto &coords = road.link_coords;
+        double min_dist = road.link_lanenum * 3.5 * 0.8; // 根据车道数计算最小距离
+        double dist1 = computeBazierDistanceToCurve(point, coords);
+        if (dist1 <= min_dist)
+        {
+            result.push_back(road);
+            isNear = true;
+            break;
+        }
+        if (isNear)
+        {
+            continue;
+        }
+    }
+
+    if (result.size() == 0)
+    {
+        // std::cerr << "没有找到符合条件的道路。" << std::endl;
+        RoadInfo rInfo;
+        rInfo.link_id = 40000;
+        rInfo.link_fc = 40001;
+        rInfo.link_type = 40002;
+        rInfo.link_speed_max = 180;
+        rInfo.link_speed_min = 0;
+        rInfo.link_direction = 40003;
+        rInfo.link_lanenum = 40004;
+        rInfo.link_coords = {Point(4.0, 4.0, 0.0)};
+        result.push_back(rInfo);
+    }
+    return result;
+}
+
+// 根据所在位置获取所在车道信息
+std::vector<LaneInfo> getLane(const std::string &lanecsvPath, const Point &point)
+{
+    // std::cout << point.pos_x << " " << point.pos_y << " " << point.heading << std::endl;
+    std::vector<LaneInfo> result;
+    std::vector<LaneInfo> lanes = readLanesFromCSV(lanecsvPath);
+    if (lanes.empty())
+    {
+        std::cerr << "没有读取到车道信息。" << std::endl;
+        return result;
+    }
+    for (const auto &lane : lanes)
+    {
+        bool isNear = false;
+        const auto &coords = lane.lane_coords;
+        double min_dist = lane.lane_width;
+        double dist1 = computeMinDistanceToCurve(point, coords, 10);
+        if (dist1 <= min_dist)
+        {
+            result.push_back(lane);
+            isNear = true;
+            break;
+        }
+        if (isNear)
+        {
+            continue;
+        }
+    }
+    if (result.size() == 0)
+    {
+        // std::cerr << "没有找到符合条件的车道。" << std::endl;
+        LaneInfo lInfo;
+        lInfo.lane_id = 50000;
+        lInfo.lane_length = 50001.0;
+        lInfo.lane_type = 50002;
+        lInfo.lane_width = 50003.0;
+        lInfo.lane_turn = 50004;
+        lInfo.lane_ref_link = 50005;
+        lInfo.lane_speed_max = 180;
+        lInfo.lane_speed_min = 0;
+        lInfo.lane_coords = {Point(5.0, 5.0, 0.0)};
+        result.push_back(lInfo);
+    }
+    return result;
+}
+// 根据位置获取指定范围内交通标识牌信息
+std::vector<SignalInfo> getSignals(const std::string &signcsvPath, const Point &point, double distance)
+{
+    std::vector<SignalInfo> result;
+    std::vector<SignalInfo> signals = readSignalsFromCSV(signcsvPath);
+    if (signals.empty())
+    {
+        std::cerr << "没有读取到交通标牌信息。" << std::endl;
+        return result;
+    }
+    std::map<double, SignalInfo> dist_to_sign;
+    for (const auto &sign : signals)
+    {
+        Point centeroid(0.0, 0.0, 0.0);
+        centeroid = calculateCentroid(sign.sign_coords);
+        // 计算中心点到查询点的距离
+        double dist = calculateDistance(point.pos_x, point.pos_y, centeroid.pos_x, centeroid.pos_y);
+        std::cout << std::fixed << std::setprecision(8);
+        // std::cout << "dist: " << dist << std::endl;
+        // 如果满足距离要求，把满足条件的路口加入结果
+        if (dist <= distance)
+        {
+            // result.push_back(sign);
+            dist_to_sign[dist] = sign;
+        }
+    }
+    for (const auto &dist_sign : dist_to_sign)
+    {
+        result.push_back(dist_sign.second);
+    }
+    if (result.size() == 0)
+    {
+        // std::cerr << "没有找到符合条件的交通标牌。" << std::endl;
+        SignalInfo signal;
+        signal.sign_id = 60000;
+        signal.sign_type = 60001;
+        signal.sign_type1 = 60002;
+        signal.sign_ref_link = 60003;
+        signal.sign_coords = {Point(6.0, 6.0, 0.0)};
+    }
+    return result;
+}
+// 根据位置获取指定范围内箭头信息
+std::vector<ArrowInfo> getArrow(const std::string &arrowcsvPath, const Point &point, double distance)
+{
+    std::vector<ArrowInfo> result;
+    std::vector<ArrowInfo> arrows = readArrowsFromCSV(arrowcsvPath);
+    if (arrows.empty())
+    {
+        std::cerr << "没有读取到箭头信息。" << std::endl;
+        return result;
+    }
+    std::map<double, ArrowInfo> dist_to_arrow;
+    for (const auto &arrow : arrows)
+    {
+        Point centeroid(0.0, 0.0, 0.0);
+        centeroid = calculateCentroid(arrow.arrow_coords);
+        // 计算中心点到查询点的距离
+        double dist = calculateDistance(point.pos_x, point.pos_y, centeroid.pos_x, centeroid.pos_y);
+        std::cout << std::fixed << std::setprecision(8);
+        // std::cout << "dist: " << dist << std::endl;
+        if (dist > distance)
+        {
+            continue;
+        }
+        double dx = centeroid.pos_x - point.pos_x;
+        double dy = centeroid.pos_y - point.pos_y;
+        double heading_rad = point.heading;
+        double hx = std::cos(heading_rad);
+        double hy = std::sin(heading_rad);
+        double dot_product = dx * hx + dy * hy;
+        double mag_d = std::sqrt(dx * dx + dy * dy);
+        double mag_h = std::sqrt(hx * hx + hy * hy);
+        double cos_theta = dot_product / (mag_d * mag_h);
+        double theta = std::acos(cos_theta);
+        double angle_threshold = M_PI / 2;
+        if (theta < angle_threshold)
+        {
+            // result.push_back(arrow);
+            dist_to_arrow[dist] = arrow;
+        }
+    }
+    for (const auto &dist_arrow : dist_to_arrow)
+    {
+        result.push_back(dist_arrow.second);
+    }
+    if (result.size() == 0)
+    {
+        // std::cerr << "没有找到符合条件的箭头。" << std::endl;
+        ArrowInfo aInfo;
+        aInfo.arrow_id = 70000;
+        aInfo.arrow_ref_lane = 70001;
+        aInfo.arrow_direction = {70002};
+        aInfo.arrow_coords = {Point(7.0, 7.0, 0.0)};
+        result.push_back(aInfo);
+    }
+    return result;
+}
+
+// 根据位置获取指定范围内车道停止线信息
+std::vector<StoplineInfo> getStopline(const std::string &stoplinecsvPath, const Point &point, double distance)
+{
+    std::vector<StoplineInfo> result;
+    std::vector<StoplineInfo> stoplines = readStopLinesFromCSV(stoplinecsvPath);
+    if (stoplines.empty())
+    {
+        std::cerr << "没有读取到车道停止线信息。" << std::endl;
+    }
+    std::map<double, StoplineInfo> dist_to_stopline;
+    for (const auto &stopline : stoplines)
+    {
+        Point centeroid(0.0, 0.0, 0.0);
+        centeroid = calculateCentroid(stopline.stopline_coords);
+        // 计算中心点到查询点的距离
+        double dist = calculateDistance(point.pos_x, point.pos_y, centeroid.pos_x, centeroid.pos_y);
+        std::cout << std::fixed << std::setprecision(8);
+        // std::cout << "dist: " << dist << std::endl;
+        if (dist > distance)
+        {
+            continue;
+        }
+        double dx = centeroid.pos_x - point.pos_x;
+        double dy = centeroid.pos_y - point.pos_y;
+        double heading_rad = point.heading;
+        double hx = std::cos(heading_rad);
+        double hy = std::sin(heading_rad);
+        double dot_product = dx * hx + dy * hy;
+        double mag_d = std::sqrt(dx * dx + dy * dy);
+        double mag_h = std::sqrt(hx * hx + hy * hy);
+        double cos_theta = dot_product / (mag_d * mag_h);
+        double theta = std::acos(cos_theta);
+        double angle_threshold = M_PI / 2;
+        if (theta < angle_threshold)
+        {
+            // result.push_back(stopline);
+            dist_to_stopline[dist] = stopline;
+        }
+    }
+    for (const auto &dist_stopline : dist_to_stopline)
+    {
+        result.push_back(dist_stopline.second);
+    }
+    if (result.size() == 0)
+    {
+        // std::cerr << "没有找到符合条件的车道停止线。" << std::endl;
+        StoplineInfo sInfo;
+        sInfo.stopline_id = 80000;
+        sInfo.stopline_ref_link = 80001;
+        sInfo.stopline_ref_lane = {80002};
+        sInfo.stopline_color = 80003;
+        sInfo.stopline_type = 80004;
+        sInfo.stopline_coords = {Point(8.0, 8.0, 0.0)};
+        result.push_back(sInfo);
+    }
+    return result;
+}

models/map/include/engine.h

@@ -0,0 +1,123 @@
+#pragma once
+
+#include <vector>
+#include <string>
+
+// 定义地图相关信息结构体
+// 定义坐标点结构体
+struct Point
+{
+    // 构造函数
+    Point(double x, double y, double h) : pos_x(x), pos_y(y), heading(h) {};
+    double pos_x;
+    double pos_y;
+    double heading; // 大地坐标系，弧度
+};
+
+// 定义交通标牌信息结构体
+struct SignalInfo
+{
+    int sign_id;
+    int sign_type;
+    int sign_type1;
+    int sign_ref_link;
+    std::vector<Point> sign_coords;
+};
+
+// 定义人行横道信息结构体
+struct CrosswalkInfo
+{
+    int cross_id;
+    std::vector<Point> cross_coords;
+};
+
+// 定义交通信号灯信息结构体
+struct TrafficlightInfo
+{
+    int trafficlight_id;
+    int trafficlight_ref_link;
+    std::vector<int> trafficlight_ref_lane;
+    int trafficlight_type;
+    // int trafficlight_head;
+    std::vector<int> trafficlight_head;
+    std::vector<Point> trafficlight_coords;
+};
+
+// 定义路口信息结构体
+struct InterInfo
+{
+    int inter_id;
+    std::vector<int> inter_ref_link;
+    int inter_type;
+    int inter_in_shape;
+    std::vector<Point> inter_coords;
+};
+
+// 定义车道停止线信息结构体
+struct StoplineInfo
+{
+    int stopline_id;
+    int stopline_ref_link;
+    std::vector<int> stopline_ref_lane;
+    int stopline_color;
+    int stopline_type;
+    std::vector<Point> stopline_coords;
+};
+
+// 定义道路信息结构体
+struct RoadInfo
+{
+    int link_id;
+    int link_fc;
+    int link_type;
+    int link_speed_max;
+    int link_speed_min;
+    int link_direction;
+    int link_lanenum;
+    std::vector<Point> link_coords;
+};
+
+// 定义车道信息结构体
+struct LaneInfo
+{
+    int lane_id;
+    double lane_length;
+    int lane_type;
+    double lane_width;
+    int lane_turn;
+    int lane_ref_link;
+    int lane_speed_max;
+    int lane_speed_min;
+    std::vector<Point> lane_coords;
+};
+
+// 定义车道箭头信息结构体
+struct ArrowInfo
+{
+    int arrow_id;
+    int arrow_ref_lane;
+    std::vector<int> arrow_direction;
+    std::vector<Point> arrow_coords;
+};
+
+// 获取地图相关信息函数声明
+// 初始化函数
+bool engineInit(const std::string &folder_path);
+
+// 2024.10.30
+// 根据位置获取指定范围内所有路口信息
+std::vector<InterInfo> getInters(const std::string &intercsvPath, const Point &point, double distance);
+// 根据位置获取指定范围内所有人行横道信息
+std::vector<CrosswalkInfo> getCrosswalks(const std::string &crosscsvPath, const Point &point, double distance);
+// 根据位置获取前方指定范围内所有交通信号灯信息
+std::vector<TrafficlightInfo> getForwardTrafficlight(const std::string &lightcsvPath, const Point &point, double distance);
+// 根据位置获取所在道路信息
+std::vector<RoadInfo> getLink(const std::string &linkcsvPath, const Point &point);
+// 根据位置获取所在车道信息
+std::vector<LaneInfo> getLane(const std::string &lanecsvPath, const Point &point);
+// 根据位置获取指定范围内所有交通标牌信息
+std::vector<SignalInfo> getSignals(const std::string &signcsvPath, const Point &point, double distance);
+// 根据位置获取指定范围内车道停止线信息;
+std::vector<StoplineInfo> getStopline(const std::string &stoplinecsvPath, const Point &point, double distance);
+// 根据位置获取指定范围内车道箭头信息
+std::vector<ArrowInfo> getArrow(const std::string &arrowcsvPath, const Point &point, double distance);

models/map/include/wgs842utm.cpp

@@ -0,0 +1,54 @@
+/*
+ * @Description: 
+ * @Version: 1.0
+ * @Autor: Sun Yalun
+ * @Date: 2024-10-17 17:44:07
+ * @LastEditors: Sun Yalun
+ * @LastEditTime: 2024-10-22 16:58:59
+ */
+#include <iostream>
+#include <iomanip>
+#include "wgs842utm.h"
+void wgs842utm(const Point& degree_point, Point& point) {
+    // 定义 WGS84 地理坐标系
+    OGRSpatialReference wgs84;
+    wgs84.SetWellKnownGeogCS("WGS84");
+
+    // 定义 UTM 50N 投影坐标系
+    OGRSpatialReference utm50n;
+    utm50n.SetUTM(50, TRUE);  // 50 表示 50 区，TRUE 表示北半球
+
+    // 创建坐标转换对象
+    OGRCoordinateTransformation *poTransform = OGRCreateCoordinateTransformation(&wgs84, &utm50n);
+
+    if (poTransform == NULL) {
+        std::cerr << "无法创建坐标转换对象" << std::endl;
+        return;
+    }
+    double x = degree_point.pos_x;
+    double y = degree_point.pos_y;
+    // 进行坐标转换，注意转换的是经度（lon）和纬度（lat）
+    if (!poTransform->Transform(1, &y, &x)) {
+        std::cerr << "坐标转换失败" << std::endl;
+        OGRCoordinateTransformation::DestroyCT(poTransform);
+        return;
+    }
+
+    // 输出 UTM 结果
+
+    point.pos_x = y;  // 转换后的 X（东）坐标
+    point.pos_y = x;  // 转换后的 Y（北）坐标
+    point.heading = 0.0;
+    // 清理
+    OGRCoordinateTransformation::DestroyCT(poTransform);
+    // std::cout << std::fixed << std::setprecision(7);
+}
+
+// 对vector中的所有Point进行整体坐标转换为utm坐标
+void wgs842utmall(const std::vector<Point>& degree_points, std::vector<Point>& points) {
+    for (auto& degree_point : degree_points) {
+        Point point(0.0, 0.0, 0.0);
+        wgs842utm(degree_point, point);
+        points.push_back(point);
+    }
+}

models/map/include/wgs842utm.h

@@ -0,0 +1,13 @@
+#pragma once
+#ifndef WGS842UTM_H
+#define WGS842UTM_H
+
+#include <gdal_priv.h>
+#include <ogr_spatialref.h>
+#include "engine.h"
+
+
+void wgs842utm(const Point& degree_point, Point& point);
+void wgs842utmall(const std::vector<Point>& degree_points, std::vector<Point>& points);
+
+#endif // WGS842UTM_Hwob

models/map/lib/utils.cpp

@@ -0,0 +1,1035 @@
+/*
+ * @Description:
+ * @Version: 1.0
+ * @Autor: Sun Yalun
+ * @Date: 2024-11-04 15:37:55
+ * @LastEditors: Sun Yalun
+ * @LastEditTime: 2024-11-08 14:41:50
+ */
+
+#include "utils.h"
+#include <cmath>
+#include <iostream>
+#include <sstream>
+#include <iomanip>
+#include <fstream>
+#include <algorithm>
+#include <unordered_map>
+#include <limits>
+
+BoundingBox createBoundingBox(const Point &p1, const Point &p2)
+{
+    BoundingBox box;
+    box.min_x = std::min(p1.pos_x, p2.pos_x);
+    box.max_x = std::max(p1.pos_x, p2.pos_x);
+    box.min_y = std::min(p1.pos_y, p2.pos_y);
+    box.max_y = std::max(p1.pos_y, p2.pos_y);
+    return box;
+}
+
+bool isPointInBoundingBox(const Point &p, const BoundingBox &box)
+{
+    return (p.pos_x >= box.min_x && p.pos_x <= box.max_x &&
+            p.pos_y >= box.min_y && p.pos_y <= box.max_y);
+}
+
+std::vector<int> parseRef(const std::string &ref_str)
+{
+    std::vector<int> refs;
+    std::string s = ref_str;
+    if (s.size() >= 2 && s.front() == '[' && s.back() == ']')
+    {
+        s = s.substr(1, s.size() - 2);
+    }
+
+    std::stringstream ss(s);
+    std::string token;
+    while (std::getline(ss, token, ','))
+    {
+        try
+        {
+            refs.push_back(std::stoi(token));
+        }
+        catch (const std::invalid_argument &e)
+        {
+            std::cerr << "Invalid ref value: " << token << std::endl;
+        }
+    }
+    return refs;
+}
+
+std::vector<Point> parseCoords(const std::string &coords_str)
+{
+    std::vector<Point> points;
+    std::string s = coords_str;
+
+    // 移除最外层的中括号
+    if (!s.empty() && s.front() == '[' && s.back() == ']')
+    {
+        s = s.substr(1, s.size() - 2);
+    }
+
+    std::stringstream ss(s);
+    std::string point_str;
+    while (std::getline(ss, point_str, ']'))
+    {
+        // 每个点以 '[' 开始，移除它
+        size_t start = point_str.find('[');
+        if (start != std::string::npos)
+        {
+            std::string coords = point_str.substr(start + 1);
+            // 将逗号替换为空格，以便于后续解析
+            std::replace(coords.begin(), coords.end(), ',', ' ');
+            std::stringstream coord_ss(coords);
+            double x, y;
+            coord_ss >> x >> y;
+            Point p(0.0, 0.0, 0.0);
+            p.pos_x = x;
+            p.pos_y = y;
+            points.push_back(p);
+        }
+        // 忽略逗号
+        ss.ignore(1, ',');
+    }
+
+    return points;
+}
+
+double calculateDistance(double x1, double y1, double x2, double y2)
+{
+    double dx = x1 - x2;
+    double dy = y1 - y2;
+    return std::sqrt(dx * dx + dy * dy);
+}
+
+double pointToSegmentDistance(const Point &p, const Point &p1, const Point &p2)
+{
+    double x0 = p.pos_x;
+    double y0 = p.pos_y;
+    double x1 = p1.pos_x;
+    double y1 = p1.pos_y;
+    double x2 = p2.pos_x;
+    double y2 = p2.pos_y;
+
+    double dx = x2 - x1;
+    double dy = y2 - y1;
+    double mag = dx * dx + dy * dy;
+
+    if (mag == 0.0)
+    {
+        return std::sqrt((x0 - x1) * (x0 - x1) + (y0 - y1) * (y0 - y1));
+    }
+
+    double u = ((x0 - x1) * dx + (y0 - y1) * dy) / mag;
+    u = std::max(0.0, std::min(1.0, u));
+
+    double x = x1 + u * dx;
+    double y = y1 + u * dy;
+    return std::sqrt((x - x0) * (x - x0) + (y - y0) * (y - y0));
+}
+
+double computeMinDistanceToCurve(const Point &queryPoint, const std::vector<Point> &curve, size_t window_size)
+{
+    if (curve.size() < 2)
+    {
+        // std::cerr << "曲线点不足以形成线段。" << std::endl;
+        return std::numeric_limits<double>::max();
+    }
+
+    double min_distance = std::numeric_limits<double>::max();
+
+    // 初始滑动窗口范围
+    for (size_t i = 0; i < curve.size() - 1; ++i)
+    {
+        BoundingBox box = createBoundingBox(curve[i], curve[i + 1]);
+        if (!isPointInBoundingBox(queryPoint, box))
+        {
+            continue;
+        }
+
+        // 如果在窗口范围内，计算距离
+        double dist = pointToSegmentDistance(queryPoint, curve[i], curve[i + 1]);
+        if (dist < min_distance)
+        {
+            min_distance = dist;
+        }
+
+        // 滑动窗口: 超出窗口范围的段不计算
+        if (i >= window_size && dist > min_distance)
+        {
+            break;
+        }
+    }
+
+    return min_distance;
+}
+
+double computeBazierDistanceToCurve(const Point &queryPoint, const std::vector<Point> &coords)
+{
+    double min_dist = std::numeric_limits<double>::max();
+    if (coords.size() < 2)
+    {
+        // std::cerr << "曲线点不足以形成线段。" << std::endl;
+        return std::numeric_limits<double>::max();
+    }
+    for (int i = 0; i < coords.size() - 1; ++i)
+    {
+        double dist1 = pointToSegmentDistance(queryPoint, coords[i], coords[i + 1]);
+        min_dist = std::min(min_dist, dist1);
+    }
+    return min_dist;
+}
+
+Point calculateCentroid(const std::vector<Point> &coords)
+{
+    double sum_x = 0.0, sum_y = 0.0;
+    int n = coords.size();
+    for (const auto &p : coords)
+    {
+        sum_x += p.pos_x;
+        sum_y += p.pos_y;
+    }
+    return Point{sum_x / n, sum_y / n, 0.0};
+}
+
+std::vector<InterInfo> readIntersectionsFromCSV(const std::string &csvPath)
+{
+    std::vector<InterInfo> intersections;
+    std::ifstream csvFile(csvPath);
+    if (!csvFile.is_open())
+    {
+        std::cerr << "无法打开路口信息csv文件: " << csvPath << std::endl;
+        return intersections;
+    }
+
+    std::string line;
+    // 读取表头
+    if (!std::getline(csvFile, line))
+    {
+        std::cerr << "路口信息csv文件为空或无法读取表头。" << std::endl;
+        return intersections;
+    }
+
+    // 解析表头，建立列名到索引的映射
+    std::unordered_map<std::string, int> headerMap;
+    std::stringstream headerStream(line);
+    std::string headerField;
+    int index = 0;
+    while (std::getline(headerStream, headerField, ','))
+    {
+        // 去除可能的引号和空格
+        headerField.erase(std::remove(headerField.begin(), headerField.end(), '\"'), headerField.end());
+        headerField.erase(std::remove(headerField.begin(), headerField.end(), ' '), headerField.end());
+        headerMap[headerField] = index++;
+    }
+
+    // 检查是否存在所有必要的列
+    std::vector<std::string> requiredColumns = {"inter_id", "inter_type", "inter_in_shape", "inter_ref_link", "inter_coords"};
+    for (const auto &col : requiredColumns)
+    {
+        if (headerMap.find(col) == headerMap.end())
+        {
+            std::cerr << "路口信息csv文件中未找到列名为 " << col << " 的列。" << std::endl;
+            return intersections;
+        }
+    }
+
+    int inter_id_idx = headerMap["inter_id"];
+    int inter_type_idx = headerMap["inter_type"];
+    int inter_in_shape_idx = headerMap["inter_in_shape"];
+    int inter_ref_link_idx = headerMap["inter_ref_link"];
+    int inter_coords_idx = headerMap["inter_coords"];
+
+    // 读取每一行
+    while (std::getline(csvFile, line))
+    {
+        std::stringstream ss(line);
+        std::string field;
+        std::vector<std::string> fields;
+        bool in_quotes = false;
+        std::string token;
+
+        for (size_t i = 0; i < line.size(); ++i)
+        {
+            char c = line[i];
+            if (c == '\"')
+            {
+                in_quotes = !in_quotes;
+            }
+            else if (c == ',' && !in_quotes)
+            {
+                fields.push_back(token);
+                token.clear();
+            }
+            else
+            {
+                token += c;
+            }
+        }
+        fields.push_back(token);
+
+        // 检查字段数是否足够
+        if (fields.size() < requiredColumns.size())
+        {
+            std::cerr << "字段数量不足，跳过行: " << line << std::endl;
+            continue;
+        }
+
+        InterInfo inter;
+        try
+        {
+            inter.inter_id = std::stoi(fields[inter_id_idx]);
+            inter.inter_type = std::stoi(fields[inter_type_idx]);
+            inter.inter_in_shape = std::stoi(fields[inter_in_shape_idx]);
+            inter.inter_ref_link = parseRef(fields[inter_ref_link_idx]);
+            inter.inter_coords = parseCoords(fields[inter_coords_idx]);
+        }
+        catch (const std::exception &e)
+        {
+            std::cerr << "解析错误，跳过行: " << line << "\n错误信息: " << e.what() << std::endl;
+            continue;
+        }
+
+        intersections.push_back(inter);
+    }
+
+    csvFile.close();
+    return intersections;
+}
+
+std::vector<CrosswalkInfo> readCrosswalksFromCSV(const std::string &csvPath)
+{
+    std::vector<CrosswalkInfo> crosswalks;
+    std::ifstream csvFile(csvPath);
+    if (!csvFile.is_open())
+    {
+        std::cerr << "无法打开人行横道信息csv文件: " << csvPath << std::endl;
+        return crosswalks;
+    }
+
+    std::string line;
+    // 读取表头
+    if (!std::getline(csvFile, line))
+    {
+        std::cerr << "人行横道信息csv文件为空或无法读取表头。" << std::endl;
+        return crosswalks;
+    }
+
+    // 解析表头，建立列名到索引的映射
+    std::unordered_map<std::string, int> headerMap;
+    std::stringstream headerStream(line);
+    std::string headerField;
+    int index = 0;
+    while (std::getline(headerStream, headerField, ','))
+    {
+        // 去除可能的引号和空格
+        headerField.erase(std::remove(headerField.begin(), headerField.end(), '\"'), headerField.end());
+        headerField.erase(std::remove(headerField.begin(), headerField.end(), ' '), headerField.end());
+        headerMap[headerField] = index++;
+    }
+
+    // 检查是否存在所有必要的列
+    std::vector<std::string> requiredColumns = {"cross_id", "cross_coords"};
+    for (const auto &col : requiredColumns)
+    {
+        if (headerMap.find(col) == headerMap.end())
+        {
+            std::cerr << "人行横道信息csv文件中未找到列名为 " << col << " 的列。" << std::endl;
+            return crosswalks;
+        }
+    }
+
+    int cross_id_idx = headerMap["cross_id"];
+    int cross_coords_idx = headerMap["cross_coords"];
+
+    // 读取每一行
+    while (std::getline(csvFile, line))
+    {
+        std::stringstream ss(line);
+        std::string field;
+        std::vector<std::string> fields;
+        bool in_quotes = false;
+        std::string token;
+
+        for (size_t i = 0; i < line.size(); ++i)
+        {
+            char c = line[i];
+            if (c == '\"')
+            {
+                in_quotes = !in_quotes;
+            }
+            else if (c == ',' && !in_quotes)
+            {
+                fields.push_back(token);
+                token.clear();
+            }
+            else
+            {
+                token += c;
+            }
+        }
+        fields.push_back(token);
+
+        // 检查字段数是否足够
+        if (fields.size() < requiredColumns.size())
+        {
+            std::cerr << "字段数量不足，跳过行: " << line << std::endl;
+            continue;
+        }
+
+        CrosswalkInfo cross;
+        try
+        {
+            cross.cross_id = std::stoi(fields[cross_id_idx]);
+            cross.cross_coords = parseCoords(fields[cross_coords_idx]);
+        }
+        catch (const std::exception &e)
+        {
+            std::cerr << "解析错误，跳过行: " << line << "\n错误信息: " << e.what() << std::endl;
+            continue;
+        }
+
+        crosswalks.push_back(cross);
+    }
+
+    csvFile.close();
+    return crosswalks;
+}
+
+std::vector<TrafficlightInfo> readTrafficlightsFromCSV(const std::string &csvPath)
+{
+    std::vector<TrafficlightInfo> trafficlights;
+    std::ifstream csvFile(csvPath);
+    if (!csvFile.is_open())
+    {
+        std::cerr << "无法打开交通信号灯信息csv文件: " << csvPath << std::endl;
+        return trafficlights;
+    }
+
+    std::string line;
+    // 读取表头
+    if (!std::getline(csvFile, line))
+    {
+        std::cerr << "交通信号灯信息csv文件为空或无法读取表头。" << std::endl;
+        return trafficlights;
+    }
+
+    // 解析表头，建立列名到索引的映射
+    std::unordered_map<std::string, int> headerMap;
+    std::stringstream headerStream(line);
+    std::string headerField;
+    int index = 0;
+    while (std::getline(headerStream, headerField, ','))
+    {
+        // 去除可能的引号和空格
+        headerField.erase(std::remove(headerField.begin(), headerField.end(), '\"'), headerField.end());
+        headerField.erase(std::remove(headerField.begin(), headerField.end(), ' '), headerField.end());
+        headerMap[headerField] = index++;
+    }
+
+    // 检查是否存在所有必要的列
+    std::vector<std::string> requiredColumns = {"trafficlight_id", "trafficlight_ref_link", "trafficlight_ref_lane", "trafficlight_type", "trafficlight_head", "trafficlight_coords"};
+    for (const auto &col : requiredColumns)
+    {
+        if (headerMap.find(col) == headerMap.end())
+        {
+            std::cerr << "交通信号灯信息csv文件中未找到列名为 " << col << " 的列。" << std::endl;
+            return trafficlights;
+        }
+    }
+
+    int trafficlight_id_idx = headerMap["trafficlight_id"];
+    int trafficlight_ref_link_idx = headerMap["trafficlight_ref_link"];
+    int trafficlight_ref_lane_idx = headerMap["trafficlight_ref_lane"];
+    int trafficlight_type_idx = headerMap["trafficlight_type"];
+    int trafficlight_head_idx = headerMap["trafficlight_head"];
+    int trafficlight_coords_idx = headerMap["trafficlight_coords"];
+
+    // 读取每一行
+    while (std::getline(csvFile, line))
+    {
+        std::stringstream ss(line);
+        std::string field;
+        std::vector<std::string> fields;
+        bool in_quotes = false;
+        std::string token;
+
+        for (size_t i = 0; i < line.size(); ++i)
+        {
+            char c = line[i];
+            if (c == '\"')
+            {
+                in_quotes = !in_quotes;
+            }
+            else if (c == ',' && !in_quotes)
+            {
+                fields.push_back(token);
+                token.clear();
+            }
+            else
+            {
+                token += c;
+            }
+        }
+        fields.push_back(token);
+
+        // 检查字段数是否足够
+        if (fields.size() < requiredColumns.size())
+        {
+            std::cerr << "字段数量不足，跳过行: " << line << std::endl;
+            continue;
+        }
+        TrafficlightInfo trafficlight;
+        try
+        {
+            trafficlight.trafficlight_id = std::stoi(fields[trafficlight_id_idx]);
+            trafficlight.trafficlight_ref_link = std::stoi(fields[trafficlight_ref_link_idx]);
+            trafficlight.trafficlight_ref_lane = parseRef(fields[trafficlight_ref_lane_idx]);
+            trafficlight.trafficlight_type = std::stoi(fields[trafficlight_type_idx]);
+            trafficlight.trafficlight_head = parseRef(fields[trafficlight_head_idx]);
+            trafficlight.trafficlight_coords = parseCoords(fields[trafficlight_coords_idx]);
+        }
+        catch (const std::exception &e)
+        {
+            std::cerr << "解析错误，跳过行: " << line << "\n错误信息: " << e.what() << std::endl;
+            continue;
+        }
+
+        trafficlights.push_back(trafficlight);
+    }
+
+    csvFile.close();
+    return trafficlights;
+}
+
+std::vector<RoadInfo> readRoadsFromCSV(const std::string &csvPath)
+{
+    std::vector<RoadInfo> roads;
+    std::ifstream csvFile(csvPath);
+    if (!csvFile.is_open())
+    {
+        std::cerr << "无法打开道路信息csv文件: " << csvPath << std::endl;
+        return roads;
+    }
+
+    std::string line;
+    // 读取表头
+    if (!std::getline(csvFile, line))
+    {
+        std::cerr << "道路信息csv文件为空或无法读取表头。" << std::endl;
+        return roads;
+    }
+
+    // 解析表头，建立列名到索引的映射
+    std::unordered_map<std::string, int> headerMap;
+    std::stringstream headerStream(line);
+    std::string headerField;
+    int index = 0;
+    while (std::getline(headerStream, headerField, ','))
+    {
+        // 去除可能的引号和空格
+        headerField.erase(std::remove(headerField.begin(), headerField.end(), '\"'), headerField.end());
+        headerField.erase(std::remove(headerField.begin(), headerField.end(), ' '), headerField.end());
+        headerMap[headerField] = index++;
+    }
+
+    // 检查是否存在所有必要的列
+    std::vector<std::string> requiredColumns = {"link_id", "link_fc", "link_type", "link_speed_max", "link_speed_min", "link_direction", "link_lanenum", "link_coords"};
+    for (const auto &col : requiredColumns)
+    {
+        if (headerMap.find(col) == headerMap.end())
+        {
+            std::cerr << "道路信息csv文件中未找到列名为 " << col << " 的列。" << std::endl;
+            return roads;
+        }
+    }
+
+    int link_id_idx = headerMap["link_id"];
+    int link_fc_idx = headerMap["link_fc"];
+    int link_type_idx = headerMap["link_type"];
+    int link_speed_max_idx = headerMap["link_speed_max"];
+    int link_speed_min_idx = headerMap["link_speed_min"];
+    int link_direction_idx = headerMap["link_direction"];
+    int link_lanenum_idx = headerMap["link_lanenum"];
+    int link_coords_idx = headerMap["link_coords"];
+
+    // 读取每一行
+    while (std::getline(csvFile, line))
+    {
+        std::stringstream ss(line);
+        std::string field;
+        std::vector<std::string> fields;
+        bool in_quotes = false;
+        std::string token;
+
+        for (size_t i = 0; i < line.size(); ++i)
+        {
+            char c = line[i];
+            if (c == '\"')
+            {
+                in_quotes = !in_quotes;
+            }
+            else if (c == ',' && !in_quotes)
+            {
+                fields.push_back(token);
+                token.clear();
+            }
+            else
+            {
+                token += c;
+            }
+        }
+        fields.push_back(token);
+
+        // 检查字段数是否足够
+        if (fields.size() < requiredColumns.size())
+        {
+            std::cerr << "字段数量不足，跳过行: " << line << std::endl;
+            continue;
+        }
+
+        RoadInfo road;
+        try
+        {
+            road.link_id = std::stoi(fields[link_id_idx]);
+            road.link_fc = std::stoi(fields[link_fc_idx]);
+            road.link_type = std::stoi(fields[link_type_idx]);
+            road.link_speed_max = std::stod(fields[link_speed_max_idx]);
+            road.link_speed_min = std::stod(fields[link_speed_min_idx]);
+            road.link_direction = std::stoi(fields[link_direction_idx]);
+            road.link_lanenum = std::stoi(fields[link_lanenum_idx]);
+            road.link_coords = parseCoords(fields[link_coords_idx]);
+        }
+        catch (const std::exception &e)
+        {
+            std::cerr << "解析错误，跳过行: " << line << "\n错误信息: " << e.what() << std::endl;
+            continue;
+        }
+        roads.push_back(road);
+    }
+
+    csvFile.close();
+    return roads;
+}
+
+std::vector<LaneInfo> readLanesFromCSV(const std::string &csvPath)
+{
+    std::vector<LaneInfo> lanes;
+    std::ifstream csvFile(csvPath);
+    if (!csvFile.is_open())
+    {
+        std::cerr << "无法打开车道信息csv文件: " << csvPath << std::endl;
+        return lanes;
+    }
+
+    std::string line;
+    // 读取表头
+    if (!std::getline(csvFile, line))
+    {
+        std::cerr << "车道信息csv文件为空或无法读取表头。" << std::endl;
+        return lanes;
+    }
+
+    // 解析表头，建立列名到索引的映射
+    std::unordered_map<std::string, int> headerMap;
+    std::stringstream headerStream(line);
+    std::string headerField;
+    int index = 0;
+    while (std::getline(headerStream, headerField, ','))
+    {
+        // 去除可能的引号和空格
+        headerField.erase(std::remove(headerField.begin(), headerField.end(), '\"'), headerField.end());
+        headerField.erase(std::remove(headerField.begin(), headerField.end(), ' '), headerField.end());
+        headerMap[headerField] = index++;
+    }
+
+    // 检查是否存在所有必要的列
+    std::vector<std::string> requiredColumns = {"lane_id", "lane_length", "lane_type", "lane_width", "lane_turn", "lane_ref_link", "lane_speed_max", "lane_speed_min", "lane_coords"};
+    for (const auto &col : requiredColumns)
+    {
+        if (headerMap.find(col) == headerMap.end())
+        {
+            std::cerr << "车道信息csv文件中未找到列名为 " << col << " 的列。" << std::endl;
+            return lanes;
+        }
+    }
+    int lane_id_idx = headerMap["lane_id"];
+    int lane_length_idx = headerMap["lane_length"];
+    int lane_type_idx = headerMap["lane_type"];
+    int lane_width_idx = headerMap["lane_width"];
+    int lane_turn_idx = headerMap["lane_turn"];
+    int lane_ref_link_idx = headerMap["lane_ref_link"];
+    int lane_speed_max_idx = headerMap["lane_speed_max"];
+    int lane_speed_min_idx = headerMap["lane_speed_min"];
+    int lane_coords_idx = headerMap["lane_coords"];
+
+    // 读取每一行
+    while (std::getline(csvFile, line))
+    {
+        std::stringstream ss(line);
+        std::string field;
+        std::vector<std::string> fields;
+        bool in_quotes = false;
+        std::string token;
+
+        for (size_t i = 0; i < line.size(); ++i)
+        {
+            char c = line[i];
+            if (c == '\"')
+            {
+                in_quotes = !in_quotes;
+            }
+            else if (c == ',' && !in_quotes)
+            {
+                fields.push_back(token);
+                token.clear();
+            }
+            else
+            {
+                token += c;
+            }
+        }
+        fields.push_back(token);
+
+        // 检查字段数是否足够
+        if (fields.size() < requiredColumns.size())
+        {
+            std::cerr << "字段数量不足，跳过行: " << line << std::endl;
+            continue;
+        }
+
+        LaneInfo lane;
+        try
+        {
+            lane.lane_id = std::stoi(fields[lane_id_idx]);
+            lane.lane_length = std::stod(fields[lane_length_idx]);
+            lane.lane_type = std::stoi(fields[lane_type_idx]);
+            lane.lane_width = std::stod(fields[lane_width_idx]);
+            lane.lane_turn = std::stoi(fields[lane_turn_idx]);
+            lane.lane_ref_link = std::stoi(fields[lane_ref_link_idx]);
+            lane.lane_speed_max = std::stoi(fields[lane_speed_max_idx]);
+            lane.lane_speed_min = std::stoi(fields[lane_speed_min_idx]);
+            lane.lane_coords = parseCoords(fields[lane_coords_idx]);
+        }
+        catch (const std::exception &e)
+        {
+            std::cerr << "解析错误，跳过行: " << line << "\n错误信息: " << e.what() << std::endl;
+            continue;
+        }
+        lanes.push_back(lane);
+    }
+
+    csvFile.close();
+    return lanes;
+}
+
+std::vector<SignalInfo> readSignalsFromCSV(const std::string &csvPath)
+{
+    std::vector<SignalInfo> signs;
+    std::ifstream csvFile(csvPath);
+    if (!csvFile.is_open())
+    {
+        std::cerr << "无法打开交通标牌信息csv文件: " << csvPath << std::endl;
+        return signs;
+    }
+
+    std::string line;
+    // 读取表头
+    if (!std::getline(csvFile, line))
+    {
+        std::cerr << "交通标牌信息csv文件为空或无法读取表头。" << std::endl;
+        return signs;
+    }
+
+    // 解析表头，建立列名到索引的映射
+    std::unordered_map<std::string, int> headerMap;
+    std::stringstream headerStream(line);
+    std::string headerField;
+    int index = 0;
+    while (std::getline(headerStream, headerField, ','))
+    {
+        // 去除可能的引号和空格
+        headerField.erase(std::remove(headerField.begin(), headerField.end(), '\"'), headerField.end());
+        headerField.erase(std::remove(headerField.begin(), headerField.end(), ' '), headerField.end());
+        headerMap[headerField] = index++;
+    }
+
+    // 检查是否存在所有必要的列
+    std::vector<std::string> requiredColumns = {"sign_id", "sign_type", "sign_type1", "sign_ref_link", "sign_coords"};
+    for (const auto &col : requiredColumns)
+    {
+        if (headerMap.find(col) == headerMap.end())
+        {
+            std::cerr << "交通标牌信息csv文件中未找到列名为 " << col << " 的列。" << std::endl;
+            return signs;
+        }
+    }
+
+    int sign_id_idx = headerMap["sign_id"];
+    int sign_type_idx = headerMap["sign_type"];
+    int sign_type1_idx = headerMap["sign_type1"];
+    int sign_ref_link_idx = headerMap["sign_ref_link"];
+    int sign_coords_idx = headerMap["sign_coords"];
+
+    // 读取每一行
+    while (std::getline(csvFile, line))
+    {
+        std::stringstream ss(line);
+        std::string field;
+        std::vector<std::string> fields;
+        bool in_quotes = false;
+        std::string token;
+
+        for (size_t i = 0; i < line.size(); ++i)
+        {
+            char c = line[i];
+            if (c == '\"')
+            {
+                in_quotes = !in_quotes;
+            }
+            else if (c == ',' && !in_quotes)
+            {
+                fields.push_back(token);
+                token.clear();
+            }
+            else
+            {
+                token += c;
+            }
+        }
+        fields.push_back(token);
+
+        // 检查字段数是否足够
+        if (fields.size() < requiredColumns.size())
+        {
+            std::cerr << "字段数量不足，跳过行: " << line << std::endl;
+            continue;
+        }
+
+        SignalInfo sign;
+        try
+        {
+            sign.sign_id = std::stoi(fields[sign_id_idx]);
+            sign.sign_type = std::stoi(fields[sign_type_idx]);
+            sign.sign_type1 = std::stoi(fields[sign_type1_idx]);
+            sign.sign_ref_link = std::stoi(fields[sign_ref_link_idx]);
+            sign.sign_coords = parseCoords(fields[sign_coords_idx]);
+        }
+        catch (const std::exception &e)
+        {
+            std::cerr << "解析错误，跳过行: " << line << "\n错误信息: " << e.what() << std::endl;
+            continue;
+        }
+        signs.push_back(sign);
+    }
+
+    csvFile.close();
+    return signs;
+}
+
+// 从csv文件中读取停止线信息
+std::vector<StoplineInfo> readStopLinesFromCSV(const std::string &csvPath)
+{
+    std::vector<StoplineInfo> stopLines;
+    std::ifstream csvFile(csvPath);
+    if (!csvFile.is_open())
+    {
+        std::cerr << "无法打开停止线信息csv文件: " << csvPath << std::endl;
+        return stopLines;
+    }
+
+    std::string line;
+    // 读取表头
+    if (!std::getline(csvFile, line))
+    {
+        std::cerr << "停止线信息csv文件为空或无法读取表头。" << std::endl;
+        return stopLines;
+    }
+
+    // 解析表头，建立列名到索引的映射
+    std::unordered_map<std::string, int> headerMap;
+    std::stringstream headerStream(line);
+    std::string headerField;
+    int index = 0;
+    while (std::getline(headerStream, headerField, ','))
+    {
+        // 去除可能的引号和空格
+        headerField.erase(std::remove(headerField.begin(), headerField.end(), '\"'), headerField.end());
+        headerField.erase(std::remove(headerField.begin(), headerField.end(), ' '), headerField.end());
+        headerMap[headerField] = index++;
+    }
+
+    // 检查是否存在所有必要的列
+    std::vector<std::string> requiredColumns = {"stopline_id", "stopline_ref_link", "stopline_ref_lane", "stopline_color", "stopline_type", "stopline_coords"};
+    for (const auto &col : requiredColumns)
+    {
+        if (headerMap.find(col) == headerMap.end())
+        {
+            std::cerr << "停止线信息csv文件中未找到列名为 " << col << " 的列。" << std::endl;
+            return stopLines;
+        }
+    }
+
+    int stop_id_idx = headerMap["stopline_id"];
+    int stop_ref_link_idx = headerMap["stopline_ref_link"];
+    int stop_ref_lane_idx = headerMap["stopline_ref_lane"];
+    int stop_color_idx = headerMap["stopline_color"];
+    int stop_type_idx = headerMap["stopline_type"];
+    int stop_coords_idx = headerMap["stopline_coords"];
+
+    // 读取每一行
+    while (std::getline(csvFile, line))
+    {
+        std::stringstream ss(line);
+        std::string field;
+        std::vector<std::string> fields;
+        bool in_quotes = false;
+        std::string token;
+
+        for (size_t i = 0; i < line.size(); ++i)
+        {
+            char c = line[i];
+            if (c == '\"')
+            {
+                in_quotes = !in_quotes;
+            }
+            else if (c == ',' && !in_quotes)
+            {
+                fields.push_back(token);
+                token.clear();
+            }
+            else
+            {
+                token += c;
+            }
+        }
+        fields.push_back(token);
+
+        // 检查字段数是否足够
+        if (fields.size() < requiredColumns.size())
+        {
+            std::cerr << "字段数量不足，跳过行: " << line << std::endl;
+            continue;
+        }
+
+        StoplineInfo stopLine;
+        try
+        {
+            stopLine.stopline_id = std::stoi(fields[stop_id_idx]);
+            stopLine.stopline_ref_link = std::stoi(fields[stop_ref_link_idx]);
+            stopLine.stopline_ref_lane = parseRef(fields[stop_ref_lane_idx]);
+            stopLine.stopline_color = std::stoi(fields[stop_color_idx]);
+            stopLine.stopline_type = std::stoi(fields[stop_type_idx]);
+            stopLine.stopline_coords = parseCoords(fields[stop_coords_idx]);
+        }
+        catch (const std::exception &e)
+        {
+            std::cerr << "解析错误，跳过行: " << line << "\n错误信息: " << e.what() << std::endl;
+            continue;
+        }
+        stopLines.push_back(stopLine);
+    }
+
+    csvFile.close();
+    return stopLines;
+}
+
+// 从csv文件中读取箭头信息
+std::vector<ArrowInfo> readArrowsFromCSV(const std::string &csvPath)
+{
+    std::vector<ArrowInfo> arrows;
+    std::ifstream csvFile(csvPath);
+    if (!csvFile.is_open())
+    {
+        std::cerr << "无法打开箭头信息csv文件: " << csvPath << std::endl;
+        return arrows;
+    }
+
+    std::string line;
+    // 读取表头
+    if (!std::getline(csvFile, line))
+    {
+        std::cerr << "箭头信息csv文件为空或无法读取表头。" << std::endl;
+        return arrows;
+    }
+
+    // 解析表头，建立列名到索引的映射
+    std::unordered_map<std::string, int> headerMap;
+    std::stringstream headerStream(line);
+    std::string headerField;
+    int index = 0;
+    while (std::getline(headerStream, headerField, ','))
+    {
+        // 去除可能的引号和空格
+        headerField.erase(std::remove(headerField.begin(), headerField.end(), '\"'), headerField.end());
+        headerField.erase(std::remove(headerField.begin(), headerField.end(), ' '), headerField.end());
+        headerMap[headerField] = index++;
+    }
+
+    // 检查是否存在所有必要的列
+    std::vector<std::string> requiredColumns = {"arrow_id", "arrow_ref_lane", "arrow_direction"};
+    for (const auto &col : requiredColumns)
+    {
+        if (headerMap.find(col) == headerMap.end())
+        {
+            std::cerr << "箭头信息csv文件中未找到列名为 " << col << " 的列。" << std::endl;
+            return arrows;
+        }
+    }
+
+    int arrow_id_idx = headerMap["arrow_id"];
+    int arrow_lane_idx = headerMap["arrow_ref_lane"];
+    int arrow_direction_idx = headerMap["arrow_direction"];
+
+    // 读取每一行
+    while (std::getline(csvFile, line))
+    {
+        std::stringstream ss(line);
+        std::string field;
+        std::vector<std::string> fields;
+        bool in_quotes = false;
+        std::string token;
+
+        for (size_t i = 0; i < line.size(); ++i)
+        {
+            char c = line[i];
+            if (c == '\"')
+            {
+                in_quotes = !in_quotes;
+            }
+            else if (c == ',' && !in_quotes)
+            {
+                fields.push_back(token);
+                token.clear();
+            }
+            else
+            {
+                token += c;
+            }
+        }
+        fields.push_back(token);
+
+        // 检查字段数是否足够
+        if (fields.size() < requiredColumns.size())
+        {
+            std::cerr << "字段数量不足，跳过行: " << line << std::endl;
+            continue;
+        }
+        ArrowInfo arrow;
+        try
+        {
+            arrow.arrow_id = std::stoi(fields[arrow_id_idx]);
+            arrow.arrow_ref_lane = std::stoi(fields[arrow_lane_idx]);
+            arrow.arrow_direction = parseRef(fields[arrow_direction_idx]);
+        }
+        catch (const std::exception &e)
+        {
+            std::cerr << "解析错误，跳过行: " << line << "\n错误信息: " << e.what() << std::endl;
+            continue;
+        }
+        arrows.push_back(arrow);
+    }
+
+    csvFile.close();
+    return arrows;
+}

models/map/lib/utils.h

@@ -0,0 +1,39 @@
+/*
+ * @Description: 
+ * @Version: 1.0
+ * @Autor: Sun Yalun
+ * @Date: 2024-11-04 15:38:06
+ * @LastEditors: Sun Yalun
+ * @LastEditTime: 2024-11-08 14:39:18
+ */
+// lib/utils.h
+#ifndef UTILS_H
+#define UTILS_H
+
+#include "engine.h"
+#include <string>
+#include <vector>
+struct BoundingBox {
+    double min_x, max_x;
+    double min_y, max_y;
+};
+BoundingBox createBoundingBox(const Point& p1, const Point& p2);
+bool isPointInBoundingBox(const Point& p, const BoundingBox& box);
+std::vector<int> parseRef(const std::string& ref_str);
+std::vector<Point> parseCoords(const std::string& coords_str);
+std::vector<InterInfo> readIntersectionsFromCSV(const std::string& csvPath);
+std::vector<CrosswalkInfo> readCrosswalksFromCSV(const std::string& csvPath);
+std::vector<TrafficlightInfo> readTrafficlightsFromCSV(const std::string& csvPath);
+std::vector<RoadInfo> readRoadsFromCSV(const std::string& csvPath);
+std::vector<LaneInfo> readLanesFromCSV(const std::string& csvPath);
+std::vector<SignalInfo> readSignalsFromCSV(const std::string& csvPath);
+std::vector<StoplineInfo> readStopLinesFromCSV(const std::string& csvPath);
+std::vector<ArrowInfo> readArrowsFromCSV(const std::string& csvPath);
+double calculateDistance(double x1, double y1, double x2, double y2);
+double pointToSegmentDistance(const Point& p, const Point& p1, const Point& p2);
+double computeMinDistanceToCurve(const Point& queryPoint, const std::vector<Point>& curve, size_t window_size=10);
+double computeBazierDistanceToCurve(const Point& queryPoint, const std::vector<Point>& coords);
+Point calculateCentroid(const std::vector<Point>& coords);
+
+
+#endif // UTILS_H

models/map/readme.md

@@ -0,0 +1,30 @@
+# 地图引擎使用方式
+
+unzip engine_cpp_20241108.zip 
+
+解压后有一个文件夹20241108
+
+20241108文件夹：地图引擎源代码工程
+
+cd 20241108
+
+```shell
+mkdir build
+
+cd build
+
+cmake ..
+
+make
+
+./engine data文件夹的绝对路径
+比如：./engine /home/server/map/data
+此时终端会打印根据位置获取指定范围内所有路口信息，位置和距离是在engine_20241108_1.cpp中配置的。
+例如：
+路口id: 11102736
+路口类型为: 3
+路口形态为: 1
+关联路口编号为: 20163741 20163752 20163764 20163731 20163721 20163754 20163743 20163733 20163760 20163727 20163749 20163716 20163739 20163729 20163719 20163745 20163723 20163756 20163735 20163758 20163747 20163725 20163714 20163737 
+路口id为11102736路口形状点个数为188个。
+```
+

models/map/src/engine_20241108_1.cpp

@@ -0,0 +1,423 @@
+/*
+ * @Description: 
+ * @Version: 1.0
+ * @Autor: Sun Yalun
+ * @Date: 2024-10-17 10:19:38
+ * @LastEditors: Sun Yalun
+ * @LastEditTime: 2024-11-08 15:42:41
+ */
+#include <iostream>
+#include <sstream>
+#include "engine.h"
+#include <string>
+#include <cmath>
+#include <iomanip>
+#include <fstream>
+#include "utils.h"
+#include <map>
+#include <algorithm>
+#include <vector>
+std::vector<InterInfo> getInters(const std::string& intercsvPath, const Point& point, double distance){
+    std::vector<InterInfo> result;
+    std::vector<InterInfo> intersections = readIntersectionsFromCSV(intercsvPath);
+    if (intersections.empty()) {
+        std::cerr << "没有读取到路口信息。" << std::endl;
+        return result;
+    }
+    // 创建一个距离和路口对象的映射
+    std::map<double, InterInfo> dist_to_inter;
+    for (const auto& intersection : intersections) {
+        Point centeroid(0.0, 0.0, 0.0);
+        centeroid = calculateCentroid(intersection.inter_coords);
+        // 计算中心点到查询点的距离
+        double dist = calculateDistance(point.pos_x, point.pos_y, centeroid.pos_x, centeroid.pos_y);
+        std::cout << std::fixed << std::setprecision(8);
+        // std::cout << "dist: " << dist << std::endl;
+        // 如果满足距离要求，把满足条件的路口加入结果
+        if (dist <= distance) {
+            // result.push_back(intersection);
+            dist_to_inter[dist] = intersection;
+        }
+    }
+    // 从排序后的列表中提取出路口信息
+    for (const auto& dist_inter : dist_to_inter) {
+        result.push_back(dist_inter.second);
+    }
+    if(result.size() == 0){
+        std::cerr << "没有找到符合条件的路口。" << std::endl;
+    }
+    return result;
+}
+
+std::vector<CrosswalkInfo> getCrosswalks(const std::string& crosscsvPath, const Point& point, double distance){
+    std::vector<CrosswalkInfo> result;
+    std::vector<CrosswalkInfo> crosswalks = readCrosswalksFromCSV(crosscsvPath);
+    if(crosswalks.empty()){
+        std::cerr << "没有读取到人行横道信息。" << std::endl;
+        return result;        
+    }
+    std::map<double, CrosswalkInfo> dist_to_cross;
+    for (const auto& crosswalk : crosswalks) {
+        Point centeroid(0.0, 0.0, 0.0);
+        centeroid = calculateCentroid(crosswalk.cross_coords);
+        // 计算中心点到查询点的距离
+        double dist = calculateDistance(point.pos_x, point.pos_y, centeroid.pos_x, centeroid.pos_y);
+        std::cout << std::fixed << std::setprecision(8);
+        // std::cout << "dist: " << dist << std::endl;
+        // 如果满足距离要求，把满足条件的路口加入结果
+        if (dist <= distance) {
+            // result.push_back(crosswalk);
+            dist_to_cross[dist] = crosswalk;
+        }
+    }
+    for (const auto& dist_cross : dist_to_cross) {
+        result.push_back(dist_cross.second);
+    }
+    if(result.size() == 0){
+        std::cerr << "没有找到符合条件的人行横道。" << std::endl;
+    }
+    return result;
+}
+
+std::vector<TrafficlightInfo> getForwardTrafficlight(const std::string& lightcsvPath, const Point& point, double distance){
+    std::vector<TrafficlightInfo> result;
+    std::vector<TrafficlightInfo> trafficlights = readTrafficlightsFromCSV(lightcsvPath);
+    std::map<double, TrafficlightInfo> dist_to_light;
+    for (const auto& light : trafficlights) {
+        Point centeroid(0.0, 0.0, 0.0);
+        centeroid = calculateCentroid(light.trafficlight_coords);
+        // 计算中心点到查询点的距离
+        double dist = calculateDistance(point.pos_x, point.pos_y, centeroid.pos_x, centeroid.pos_y);
+        // 如果距离超过指定范围，跳过
+        if (dist > distance) {
+            continue;
+        }
+        // 计算信号灯中心点到信号灯的方向向量
+        double dx = centeroid.pos_x - point.pos_x;
+        double dy = centeroid.pos_y - point.pos_y;
+
+        double heading_rad = point.heading; 
+        double hx = std::cos(heading_rad);
+        double hy = std::sin(heading_rad);
+
+        double dot_product = dx * hx + dy * hy;
+
+        double mag_d = std::sqrt(dx * dx + dy * dy);
+        double mag_h = std::sqrt(hx * hx + hy * hy);
+
+        double cos_theta = dot_product / (mag_d * mag_h);
+        double theta = std::acos(cos_theta);
+
+        double angle_threshold = M_PI / 2;
+
+        // 如果夹角小于阈值，认为信号灯在前方
+        if (theta < angle_threshold) {
+            // result.push_back(light);
+            dist_to_light[dist] = light;
+        }
+    }
+    for (const auto& dist_light : dist_to_light) {
+        result.push_back(dist_light.second);
+    }
+    if(result.size() == 0){
+        std::cerr << "没有找到符合条件的交通信号灯。" << std::endl;
+    }
+    return result;    
+
+}
+
+// 根据位置获取所在道路信息
+std::vector<RoadInfo> getLink(const std::string& linkcsvPath, const Point& point) {
+    std::vector<RoadInfo> result;
+    std::vector<RoadInfo> roads = readRoadsFromCSV(linkcsvPath);
+    if (roads.empty()) {
+        std::cerr << "没有读取到道路信息。" << std::endl;
+        return result;
+    }
+    for (const auto& road : roads) {
+        bool isNear = false;
+        const auto& coords = road.link_coords;
+        double min_dist = road.link_lanenum * 3.5 * 0.8;  // 根据车道数计算最小距离
+        double dist1 = computeBazierDistanceToCurve(point, coords);
+        if(dist1 <= min_dist) {
+            result.push_back(road);
+            isNear = true;
+            break;
+        }
+        if (isNear) {
+            continue;
+        }
+    } 
+    
+    if(result.size() == 0){
+        std::cerr << "没有找到符合条件的道路。" << std::endl;
+    }
+    return result;
+}
+
+// 根据所在位置获取所在车道信息
+std::vector<LaneInfo> getLane(const std::string &lanecsvPath, const Point& point) {
+    // std::cout << point.pos_x << " " << point.pos_y << " " << point.heading << std::endl;
+    std::vector<LaneInfo> result;
+    std::vector<LaneInfo> lanes = readLanesFromCSV(lanecsvPath);
+    if (lanes.empty()) {
+        std::cerr << "没有读取到车道信息。" << std::endl;
+        return result;
+    }
+    for (const auto& lane : lanes) {
+        bool isNear = false;
+        const auto& coords = lane.lane_coords;
+        double min_dist = lane.lane_width;
+        double dist1 = computeMinDistanceToCurve(point, coords, 10);
+        if(dist1 <= min_dist) {
+            result.push_back(lane);
+            isNear = true;
+            break;
+        }
+        if (isNear) {
+            continue;
+        }
+    }  
+    if(result.size() == 0){
+        std::cerr << "没有找到符合条件的车道。" << std::endl;
+    }
+    return result;
+}
+// 根据位置获取指定范围内交通标识牌信息
+std::vector<SignalInfo> getSignals(const std::string &signcsvPath, const Point& point, double distance){
+    std::vector<SignalInfo> result;
+    std::vector<SignalInfo> signals = readSignalsFromCSV(signcsvPath);
+    if (signals.empty()) {
+        std::cerr << "没有读取到交通标牌信息。" << std::endl;
+        return result;
+    }
+    std::map<double, SignalInfo> dist_to_sign;
+    for (const auto& sign : signals) {
+        Point centeroid(0.0, 0.0, 0.0);
+        centeroid = calculateCentroid(sign.sign_coords);
+        // 计算中心点到查询点的距离
+        double dist = calculateDistance(point.pos_x, point.pos_y, centeroid.pos_x, centeroid.pos_y);
+        std::cout << std::fixed << std::setprecision(8);
+        // std::cout << "dist: " << dist << std::endl;
+        // 如果满足距离要求，把满足条件的路口加入结果
+        if (dist <= distance) {
+            // result.push_back(sign);
+            dist_to_sign[dist] = sign;
+        }
+    }
+    for (const auto& dist_sign : dist_to_sign) {
+        result.push_back(dist_sign.second);
+    }
+    if(result.size() == 0){
+        std::cerr << "没有找到符合条件的交通标牌。" << std::endl;
+    }
+    return result;
+}
+// 根据位置获取指定范围内箭头信息
+std::vector<ArrowInfo> getArrow(const std::string &arrowcsvPath, const Point& point, double distance) {
+    std::vector<ArrowInfo> result;
+    std::vector<ArrowInfo> arrows = readArrowsFromCSV(arrowcsvPath);
+    if (arrows.empty()) {
+        std::cerr << "没有读取到箭头信息。" << std::endl;
+        return result;
+    }
+    std::map<double, ArrowInfo> dist_to_arrow;
+    for (const auto& arrow : arrows) {
+        Point centeroid(0.0, 0.0, 0.0);
+        centeroid = calculateCentroid(arrow.arrow_coords);
+        // 计算中心点到查询点的距离
+        double dist = calculateDistance(point.pos_x, point.pos_y, centeroid.pos_x, centeroid.pos_y);
+        std::cout << std::fixed << std::setprecision(8);
+        // std::cout << "dist: " << dist << std::endl;
+        if(dist > distance){
+            continue;
+        }
+        double dx = centeroid.pos_x - point.pos_x;
+        double dy = centeroid.pos_y - point.pos_y;
+        double heading_rad = point.heading; 
+        double hx = std::cos(heading_rad);
+        double hy = std::sin(heading_rad);
+        double dot_product = dx * hx + dy * hy;
+        double mag_d = std::sqrt(dx * dx + dy * dy);
+        double mag_h = std::sqrt(hx * hx + hy * hy);
+        double cos_theta = dot_product / (mag_d * mag_h);
+        double theta = std::acos(cos_theta);
+        double angle_threshold = M_PI / 2;
+        if (theta < angle_threshold) {
+            // result.push_back(arrow);
+            dist_to_arrow[dist] = arrow;
+        }
+    }
+    for (const auto& dist_arrow : dist_to_arrow) {
+        result.push_back(dist_arrow.second);
+    }
+    if(result.size() == 0){
+        std::cerr << "没有找到符合条件的箭头。" << std::endl;
+    }
+    return result;
+}
+
+// 根据位置获取指定范围内车道停止线信息
+std::vector<StoplineInfo> getStopline(const std::string &stoplinecsvPath, const Point& point, double distance) {
+    std::vector<StoplineInfo> result;
+    std::vector<StoplineInfo> stoplines = readStopLinesFromCSV(stoplinecsvPath);
+    if (stoplines.empty()) {
+        std::cerr << "没有读取到车道停止线信息。" << std::endl;
+    }
+    std::map<double, StoplineInfo> dist_to_stopline;
+    for (const auto& stopline : stoplines) {
+        Point centeroid(0.0, 0.0, 0.0);
+        centeroid = calculateCentroid(stopline.stopline_coords);
+        // 计算中心点到查询点的距离
+        double dist = calculateDistance(point.pos_x, point.pos_y, centeroid.pos_x, centeroid.pos_y);
+        std::cout << std::fixed << std::setprecision(8);
+        // std::cout << "dist: " << dist << std::endl;
+        if(dist > distance){
+            continue;
+        }
+        double dx = centeroid.pos_x - point.pos_x;
+        double dy = centeroid.pos_y - point.pos_y;
+        double heading_rad = point.heading; 
+        double hx = std::cos(heading_rad);
+        double hy = std::sin(heading_rad);
+        double dot_product = dx * hx + dy * hy;
+        double mag_d = std::sqrt(dx * dx + dy * dy);
+        double mag_h = std::sqrt(hx * hx + hy * hy);
+        double cos_theta = dot_product / (mag_d * mag_h);
+        double theta = std::acos(cos_theta);
+        double angle_threshold = M_PI / 2;
+        if (theta < angle_threshold) {
+            // result.push_back(stopline);
+            dist_to_stopline[dist] = stopline;
+        }
+    }
+    for (const auto& dist_stopline : dist_to_stopline) {
+        result.push_back(dist_stopline.second);
+    }
+    if(result.size() == 0){
+        std::cerr << "没有找到符合条件的车道停止线。" << std::endl;
+    }
+    return result;
+}
+// 测试代码
+int main(int argc, char **argv) {
+
+    std::string mapCsv_path = argv[1];
+    std::string interPath = mapCsv_path + "/hd_intersections.csv";
+    std::string crossPath = mapCsv_path + "/hd_crosswalks.csv";
+    std::string trafficlightPath = mapCsv_path + "/hd_trafficlight.csv";
+    std::string roadPath = mapCsv_path + "/hd_link.csv";
+    std::string arrowPath = mapCsv_path + "/hd_arrow.csv";
+    std::string stoplinePath = mapCsv_path + "/hd_stopline.csv";
+    std::string lanePath = mapCsv_path + "/hd_lane.csv";
+    std::string signPath = mapCsv_path + "/hd_sign.csv";
+
+    // Point chaxun_point(789043.30, 4151434.91, 2*M_PI / 3.0);
+    // Point chaxun_point(789077.20, 4151506.82, -2*M_PI / 3.0);
+    // Point chaxun_point(789065.83, 4151328.90, 2*M_PI / 3.0);
+    // Point chaxun_point(789084.10, 4151281.66, 2*M_PI / 3.0);
+    Point chaxun_point(258384.896, 4149921.26, 2*M_PI / 3.0);
+    double distance = 60;
+
+    std::vector<InterInfo> chaxun_inters = getInters(interPath, chaxun_point, distance);
+    // 打印查询到的路口信息
+    for (const auto& inter : chaxun_inters) {
+        std::cout << "路口id: " << inter.inter_id << std::endl;
+        std::cout << "路口类型为: " << inter.inter_type << std::endl;
+        std::cout << "路口形态为: " << inter.inter_in_shape << std::endl;
+        std::cout << "关联路口编号为: ";
+        for (const auto& refLink : inter.inter_ref_link) {
+            std::cout << refLink << " ";
+        }
+        std::cout << std::endl;
+        std::cout << "路口id为" << inter.inter_id <<"路口形状点个数为" << inter.inter_coords.size() << "个。" << std::endl;
+    }
+    std::vector<CrosswalkInfo> chaxun_crosswalks = getCrosswalks(crossPath, chaxun_point, distance);
+    // 打印查询到的人行横道信息
+    for (const auto& cross : chaxun_crosswalks) {
+        std::cout << "人行横道id: " << cross.cross_id << std::endl;
+    }
+    std::vector<TrafficlightInfo> chaxun_trafficlights = getForwardTrafficlight(trafficlightPath, chaxun_point, distance);
+    // 打印查询到的信号灯信息
+    for (const auto& light : chaxun_trafficlights) {
+        std::cout << "信号灯id: " << light.trafficlight_id << std::endl;
+        std::cout << "信号灯类型为: " << light.trafficlight_type << std::endl;
+        std::cout << "信号灯关联路段编号为: " << light.trafficlight_ref_link << std::endl; 
+        std::cout << "信号灯关联车道编号: ";
+        for (const auto& refLane : light.trafficlight_ref_lane) {
+            std::cout << refLane << " ";
+        }
+        std::cout << std::endl;
+        std::cout << "信号灯指向: ";
+        for (const auto& head: light.trafficlight_head) {
+            std::cout << head << " ";
+        }
+        std::cout << std::endl;
+        std::cout << "信号灯坐标点个数为: " << light.trafficlight_coords.size() << std::endl;
+    }
+    std::vector<RoadInfo> chaxun_roads = getLink(roadPath, chaxun_point);
+    // 打印查询到的道路信息
+    for (const auto& road : chaxun_roads) {
+        std::cout << "道路id: " << road.link_id << std::endl;
+        std::cout << "道路功能等级为: " << road.link_fc << std::endl;
+        std::cout << "道路类型为: " << road.link_type << std::endl;
+        std::cout << "道路方向为: " << road.link_direction << std::endl;
+        std::cout << "道路最大速度为: " << road.link_speed_max << std::endl;
+        std::cout << "道路最小速度为: " << road.link_speed_min << std::endl;
+        std::cout << "道路车道数为: " << road.link_lanenum << std::endl;
+        std::cout << "道路坐标点个数为: " << road.link_coords.size() << std::endl;
+    }
+    std::vector<LaneInfo> chaxun_lanes = getLane(lanePath, chaxun_point);
+    // 打印查询到的车道信息
+    for (const auto& lane : chaxun_lanes) {
+        std::cout << "车道id: " << lane.lane_id << std::endl;
+        std::cout << "车道长度为: " << lane.lane_length << std::endl;
+        std::cout << "车道类型为: " << lane.lane_type << std::endl;
+        std::cout << "车道宽度为: " << lane.lane_width << std::endl;
+        std::cout << "车道当前行驶方向为: " << lane.lane_turn << std::endl;
+        std::cout << "车道关联路段编号为: " << lane.lane_ref_link << std::endl;
+        std::cout << "车道最大速度为: " << lane.lane_speed_max << std::endl;
+        std::cout << "车道最小速度为: " << lane.lane_speed_min << std::endl;
+        std::cout << "车道坐标点个数为: " << lane.lane_coords.size() << std::endl;
+    }
+
+    std::vector<SignalInfo> chaxun_signals = getSignals(signPath, chaxun_point, distance);
+    // 打印查询到的交通标牌信息
+    for (const auto& sign : chaxun_signals) {
+        std::cout << "交通标牌id: " << sign.sign_id << std::endl;
+        std::cout << "交通标牌类型为: " << sign.sign_type << std::endl;
+        std::cout << "交通标牌子类型为" << sign.sign_type1 << std::endl;
+        std::cout << "交通标牌关联道路id为: " << sign.sign_ref_link << std::endl;
+        std::cout << "交通标牌坐标点个数为: " << sign.sign_coords.size() << std::endl;
+    }
+
+    // 根据车道id获取停止线信息
+    std::vector<StoplineInfo> chaxun_stoplines = getStopline(stoplinePath, chaxun_point, distance);
+    // 打印查询到的停止线信息
+    for (const auto& stopline : chaxun_stoplines) {
+        std::cout << "停止线id: " << stopline.stopline_id << std::endl;
+        std::cout << "停止线关联道路id为: " << stopline.stopline_ref_link << std::endl;
+        std::cout << "停止线关联车道编号: ";
+        for (const auto& refLane : stopline.stopline_ref_lane) {
+            std::cout << refLane << " ";
+        }        
+        std::cout << std::endl;
+        std::cout << "停止线颜色为：" << stopline.stopline_color << std::endl;
+        std::cout << "停止线类型为: " << stopline.stopline_type << std::endl;
+        std::cout << "停止线坐标点个数为: " << stopline.stopline_coords.size() << std::endl;
+    }
+    // 根据车道id获取箭头信息
+    std::vector<ArrowInfo> chaxun_arrows = getArrow(arrowPath, chaxun_point, distance);
+    // 打印查询到的箭头信息
+    for (const auto& arrow : chaxun_arrows) {
+        std::cout << "箭头id: " << arrow.arrow_id << std::endl;
+        std::cout << "箭头关联车道id为: " << arrow.arrow_ref_lane << std::endl;
+        std::cout << "箭头方向为: ";
+        for (const auto& direction : arrow.arrow_direction) {
+            std::cout << direction << " ";
+        }
+        std::cout << std::endl;
+    }
+    std::cout << "查询完毕。" << std::endl;
+    return 0;
+}

models/map/src/main.cpp

@@ -0,0 +1,100 @@
+#include <iostream>
+#include <sstream>
+#include "engine.h"
+#include "csv.h"
+#include <string>
+#include <cmath>
+#include <iomanip>
+#include <fstream>
+#include "utils.h"
+#include <map>
+#include <algorithm>
+#include <vector>
+const double X_OFFSET = 258109.4239876;
+const double Y_OFFSET = 4149969.964821;
+
+int main(int argc, char **argv)
+{
+
+    std::string mapCsv_path = "/home/kevin/kevin/zhaoyuan/zhaoyuan/models/map/data";
+    std::string csv_data_path = "/home/kevin/kevin/zhaoyuan/zhaoyuan/data/processed/data";
+    std::string csv_read_data = csv_data_path + "/ObjState.csv";
+    std::string csv_writedata = csv_data_path + "/EgoMap.csv";
+
+    std::string interPath = mapCsv_path + "/hd_intersections.csv";
+    std::string crossPath = mapCsv_path + "/hd_crosswalks.csv";
+    std::string trafficlightPath = mapCsv_path + "/hd_trafficlight.csv";
+    std::string roadPath = mapCsv_path + "/hd_link.csv";
+    std::string arrowPath = mapCsv_path + "/hd_arrow.csv";
+    std::string stoplinePath = mapCsv_path + "/hd_stopline.csv";
+    std::string lanePath = mapCsv_path + "/hd_lane.csv";
+    std::string signPath = mapCsv_path + "/hd_sign.csv";
+
+    // 创建一个 CSV 解析器对象 招远xodr地图原点坐标
+    // xOffset value=258109.4239876
+    // yOffset value=4149969.964821
+    io::CSVReader<6> reader(csv_read_data); // 假设有 3 列
+    reader.read_header(io::ignore_extra_column, "simTime", "simFrame", "playerId", "posX", "posY", "posH");
+
+    io::CSVWriter<11> writer(csv_writedata, {"simTime", "simFrame", "playerId", "posX", "posY", "posH", "road_link_id", "road_fc", "road_type", "road_speed_max", "road_speed_min"});
+
+    int simFrame;
+    int playerId;
+    double simTime;
+    double posX;
+    double posY;
+    double posH;
+    //     struct RoadInfo
+    // {
+    //     int link_id;
+    //     int link_fc;
+    //     int link_type;
+    //     int link_speed_max;
+    //     int link_speed_min;
+    //     int link_direction;
+    //     int link_lanenum;
+    //     std::vector<Point> link_coords;
+    // };
+
+    while (reader.read_row(simTime, simFrame, playerId, posX, posY, posH))
+    {
+        if (playerId == 1)
+        {
+            // std::cout << "Row: " << simTime << " " << simFrame << " " << posX << " " << posY << " " << posH << std::endl;
+            posX += X_OFFSET;
+            posY += Y_OFFSET;
+            Point point(posX, posY, posH);
+            double distance = 1;
+
+            std::vector<RoadInfo> chaxun_roads = getLink(roadPath, point);
+            // std::vector<InterInfo> chaxun_inters = getInters(interPath, point, distance);
+            // // 打印查询到的路口信息
+            // for (const auto &inter : chaxun_inters)
+            // {
+            //     std::cout << "路口id: " << inter.inter_id << std::endl;
+            //     std::cout << "路口类型为: " << inter.inter_type << std::endl;
+            //     std::cout << "路口形态为: " << inter.inter_in_shape << std::endl;
+            //     std::cout << "关联路口编号为: ";
+            //     for (const auto &refLink : inter.inter_ref_link)
+            //     {
+            //         std::cout << refLink << " ";
+            //     }
+            //     std::cout << std::endl;
+            //     std::cout << "路口id为" << inter.inter_id << "路口形状点个数为" << inter.inter_coords.size() << "个。" << std::endl;
+            // }
+            for (auto road : chaxun_roads)
+            {
+                // std::cout << "road link_id: " << road.link_id << std::endl;
+                // std::cout << "road link_fc: " << road.link_fc << std::endl;
+                // std::cout << "road link_type: " << road.link_type << std::endl;
+                // std::cout << "road link_speed_max: " << road.link_speed_max << std::endl;
+                // std::cout << "road link_speed_min: " << road.link_speed_min << std::endl;
+                int id = 1;
+
+                writer.write_row(simTime, simFrame, id, posX, posY, posH, road.link_id, road.link_fc, road.link_type, road.link_speed_max, road.link_speed_min);
+            }
+        }
+    }
+
+    return 0;
+}

models/safety/safety.py

@@ -0,0 +1,554 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+##################################################################
+#
+# Copyright (c) 2023 CICV, Inc. All Rights Reserved
+#
+##################################################################
+"""
+@Authors:           zhanghaiwen(zhanghaiwen@china-icv.cn)
+@Data:              2023/07/25
+@Last Modified:     2023/07/26
+@Summary:           safe metrics
+"""
+
+import sys
+import os
+import math
+import numpy as np
+import pandas as pd
+from pathlib import Path 
+root_path = Path(__file__).resolve().parent.parent  
+sys.path.append(str(root_path)) 
+from models.common.score import Score
+from config import config
+
+from collections import defaultdict
+import scipy.integrate as spi
+from models.common import log  # 确保这个路径是正确的，或者调整它
+log_path = config.LOG_PATH
+logger = log.get_logger(log_path)  
+
+
+class Safe(object):
+    
+
+    def __init__(self, data_processed):
+        
+        self.data_processed = data_processed
+
+        self.df = data_processed.object_df.copy()
+        self.ego_df = data_processed.ego_data
+        self.obj_id_list = data_processed.obj_id_list
+        self.metric_list = config.SAFETY_METRIC_LIST
+      
+        # score data
+        self.calculated_value = {  
+        'TTC': 1.0,  
+        'MTTC': 1.0,  
+        'THW': 1.0,  
+        'LonSD': 0.0,  
+        'LatSD': 0.0,  
+        'DRAC': 0.0,  
+        'BTN': 1.0,  
+        'STN': 1.0,  
+        'collisionRisk': 0.0,  
+        'collisionSeverity': 0.0,  
+    } 
+
+        # lists of drving control info
+        
+        self.time_list = data_processed.driver_ctrl_data['time_list']
+        
+        self.frame_list = self.ego_df['simFrame'].values.tolist()
+       
+        self.collisionRisk = 0
+        self.empty_flag = True
+
+        # no car following scene
+        if len(self.obj_id_list) > 1:
+            self.unsafe_df = pd.DataFrame(columns=['start_time', 'end_time', 'start_frame', 'end_frame', 'type'])
+            self.unsafe_time_df = pd.DataFrame(columns=['start_time', 'end_time', 'start_frame', 'end_frame', 'type'])
+            self.unsafe_dist_df = pd.DataFrame(columns=['start_time', 'end_time', 'start_frame', 'end_frame', 'type'])
+            # self.unsafe_acce_df = pd.DataFrame(columns=['start_time', 'end_time', 'start_frame', 'end_frame', 'type'])
+            self.unsafe_acce_drac_df = pd.DataFrame(
+                columns=['start_time', 'end_time', 'start_frame', 'end_frame', 'type'])
+            self.unsafe_acce_xtn_df = pd.DataFrame(
+                columns=['start_time', 'end_time', 'start_frame', 'end_frame', 'type'])
+            self.unsafe_prob_df = pd.DataFrame(columns=['start_time', 'end_time', 'start_frame', 'end_frame', 'type'])
+            self.most_dangerous = {}
+            self.pass_percent = {}
+            self._safe_param_cal_new()
+    
+    def _safe_param_cal_new(self):
+        
+        Tc = config.TC  # 安全距离
+        rho = config.RHO  # 驾驶员制动反应时间
+        ego_accel_max = config.EGO_ACCEL_MAX  # 自车油门最大加速度
+        obj_decel_max = config.OBJ_DECEL_MAX  # 前车刹车最大减速度
+        ego_decel_min = config.EGO_DECEL_MIN # 自车刹车最小减速度 ug
+        ego_decel_lon_max = config.EGO_DECEL_LON_MAX
+        ego_decel_lat_max = config.EGO_DECEL_LAT_MAX
+
+        # 构建双层字典数据结构
+        obj_dict = defaultdict(dict)
+        # 构建字典列表，每个元素是一个字典，包含'start_time', 'end_time', 'start_frame', 'end_frame', 'type'五个键值对
+        obj_data_dict = self.df.to_dict('records')
+
+        for item in obj_data_dict:
+            obj_dict[item['simFrame']][item['playerId']] = item
+
+        df_list = []
+        EGO_PLAYER_ID = 1
+
+        # self.empty_flag = True
+        for frame_num in self.frame_list:
+            ego_data = obj_dict[frame_num][EGO_PLAYER_ID]
+            v1 = ego_data['v']   # km/h to m/s
+            x1 = ego_data['posX']
+            y1 = ego_data['posY']
+            h1 = ego_data['posH']
+            len1 = ego_data['dimX']
+            width1 = ego_data['dimY']
+            o_x1 = ego_data['offX']
+            v_x1 = ego_data['speedX']   # km/h to m/s
+            v_y1 = ego_data['speedY']   # km/h to m/s
+            a_x1 = ego_data['accelX']
+            a_y1 = ego_data['accelY']
+            # a1 = ego_data['accel']
+
+            for playerId in self.obj_id_list:
+                if playerId == EGO_PLAYER_ID:
+                    continue
+
+                try:
+                    obj_data = obj_dict[frame_num][playerId]
+                except KeyError:
+                    continue
+
+                x2 = obj_data['posX']
+                y2 = obj_data['posY']
+
+                dist = self.dist(x1, y1, x2, y2)
+                obj_data['dist'] = dist
+
+                v_x2 = obj_data['speedX']   # km/h to m/s
+                v_y2 = obj_data['speedY']   # km/h to m/s
+
+                v2 = obj_data['v']   # km/h to m/s
+                # h2 = obj_data['posH']
+                len2 = obj_data['dimX']
+                width2 = obj_data['dimY']
+                o_x2 = obj_data['offX']
+                a_x2 = obj_data['accelX']
+                a_y2 = obj_data['accelY']
+                # a2 = obj_data['accel']
+
+                dx, dy = x2 - x1, y2 - y1
+
+                # 定义矢量A和x轴正向向量x
+                A = np.array([dx, dy])
+                x = np.array([1, 0])
+
+                # 计算点积和向量长度
+                dot_product = np.dot(A, x)
+                vector_length_A = np.linalg.norm(A)
+                vector_length_x = np.linalg.norm(x)
+
+                # 计算夹角的余弦值
+                cos_theta = dot_product / (vector_length_A * vector_length_x)
+
+                # 将余弦值转换为角度值（弧度制）
+                beta = np.arccos(cos_theta)  # 如何通过theta正负确定方向
+
+                lon_d = dist * math.cos(beta - h1)
+                lat_d = abs(dist * math.sin(beta - h1))  # 需要增加左正右负的判断，但beta取值为[0,pi)
+
+                obj_dict[frame_num][playerId]['lon_d'] = lon_d
+                obj_dict[frame_num][playerId]['lat_d'] = lat_d
+
+
+                # 代码注释，这里是筛选出车前100米，车后5米，车右边4米的目标车，用于计算安全距离
+                if lon_d > 100 or lon_d < -5 or lat_d > 4:
+                    continue
+
+                self.empty_flag = False
+
+                vx, vy = v_x1 - v_x2, v_y1 - v_y2
+                ax, ay = a_x2 - a_x1, a_y2 - a_y1
+
+                v_ego_p = self._cal_v_ego_projection(dx, dy, v_x1, v_y1)
+                v_obj_p = self._cal_v_ego_projection(dx, dy, v_x2, v_y2)
+                vrel_projection_in_dist = self._cal_v_projection(dx, dy, vx, vy)
+                arel_projection_in_dist = self._cal_a_projection(dx, dy, vx, vy, ax, ay, x1, y1, x2, y2, v_x1, v_y1,
+                                                                 v_x2, v_y2)
+
+                obj_dict[frame_num][playerId]['vrel_projection_in_dist'] = vrel_projection_in_dist
+                obj_dict[frame_num][playerId]['arel_projection_in_dist'] = arel_projection_in_dist
+                obj_dict[frame_num][playerId]['v_ego_projection_in_dist'] = v_ego_p
+                obj_dict[frame_num][playerId]['v_obj_projection_in_dist'] = v_obj_p
+
+                obj_type = obj_data['type']
+
+                TTC = self._cal_TTC(dist, vrel_projection_in_dist)
+                MTTC = self._cal_MTTC(TTC, vrel_projection_in_dist, arel_projection_in_dist)
+                THW = self._cal_THW(dist, v_ego_p)
+
+                # 单车道时可用
+                LonSD = self._cal_longitudinal_safe_dist(v_ego_p, v_obj_p, rho, ego_accel_max, ego_decel_min,
+                                                         obj_decel_max)
+
+                lat_dist = 0.5
+                v_right = v1
+                v_left = v2
+                a_right_lat_brake_min = 1
+                a_left_lat_brake_min = 1
+                a_lat_max = 5
+
+                LatSD = self._cal_lateral_safe_dist(lat_dist, v_right, v_left, rho, a_right_lat_brake_min,
+                                                    a_left_lat_brake_min,
+                                                    a_lat_max)
+
+                DRAC = self._cal_DRAC(dist, vrel_projection_in_dist, len1, len2, width1, width2, o_x1, o_x2)
+
+                lon_a1 = a_x1 * math.cos(h1) + a_y1 * math.sin(h1)
+                lon_a2 = a_x2 * math.cos(h1) + a_y2 * math.sin(h1)
+                lon_a = abs(lon_a1 - lon_a2)
+                lon_d = dist * abs(math.cos(beta - h1))
+                lon_v = v_x1 * math.cos(h1) + v_y1 * math.sin(h1)
+                BTN = self._cal_BTN_new(lon_a1, lon_a, lon_d, lon_v, ego_decel_lon_max)
+
+                lat_a1 = a_x1 * math.sin(h1) * -1 + a_y1 * math.cos(h1)
+                lat_a2 = a_x2 * math.sin(h1) * -1 + a_y2 * math.cos(h1)
+                lat_a = abs(lat_a1 - lat_a2)
+                lat_d = dist * abs(math.sin(beta - h1))
+                lat_v = v_x1 * math.sin(h1) * -1 + v_y1 * math.cos(h1)
+                STN = self._cal_STN_new(TTC, lat_a1, lat_a, lat_d, lat_v, ego_decel_lat_max, width1, width2)
+
+                obj_dict[frame_num][playerId]['lat_v_rel'] = v_x1 - v_x2
+                obj_dict[frame_num][playerId]['lon_v_rel'] = v_y1 - v_y2
+
+                # BTN = self.cal_BTN(a_y1, ay, dy, vy, max_ay)
+                # STN = self.cal_STN(TTC, a_x1, ax, dx, vx, max_ax, len1, len2)
+
+                TTC = None if (not TTC or TTC < 0) else TTC
+                MTTC = None if (not MTTC or MTTC < 0) else MTTC
+                THW = None if (not THW or THW < 0) else THW
+
+                DRAC = 10 if DRAC >= 10 else DRAC
+                # TTC要进行筛选，否则会出现nan或者TTC过大的情况
+                if not TTC or TTC > 4000:  # threshold = 4258.41
+                    collisionSeverity = 0
+                    pr_death = 0
+                    collisionRisk = 0
+                else:
+                    result, error = spi.quad(self._normal_distribution, 0, TTC - Tc)
+                    collisionSeverity = 1 - result
+                    pr_death = self._death_pr(obj_type, vrel_projection_in_dist)
+                    collisionRisk = 0.4 * pr_death + 0.6 * collisionSeverity
+
+                obj_dict[frame_num][playerId]['TTC'] = TTC
+                obj_dict[frame_num][playerId]['MTTC'] = MTTC
+                obj_dict[frame_num][playerId]['THW'] = THW
+                obj_dict[frame_num][playerId]['LonSD'] = LonSD
+                obj_dict[frame_num][playerId]['LatSD'] = LatSD
+                obj_dict[frame_num][playerId]['DRAC'] = DRAC
+                obj_dict[frame_num][playerId]['BTN'] = abs(BTN)
+                obj_dict[frame_num][playerId]['STN'] = abs(STN)
+                obj_dict[frame_num][playerId]['collisionSeverity'] = collisionSeverity * 100
+                obj_dict[frame_num][playerId]['pr_death'] = pr_death * 100
+                obj_dict[frame_num][playerId]['collisionRisk'] = collisionRisk * 100
+
+            df_fnum = pd.DataFrame(obj_dict[frame_num].values())
+            df_list.append(df_fnum)
+
+        df_safe = pd.concat(df_list)
+
+        col_list = ['simTime', 'simFrame', 'playerId',
+                    'TTC', 'MTTC', 'THW', 'LonSD', 'LatSD', 'DRAC', 'BTN', 'STN', 'collisionSeverity', 'pr_death',
+                    'collisionRisk']
+
+        self.df_safe = df_safe[col_list].reset_index(drop=True)   
+
+    def _cal_v_ego_projection(self, dx, dy, v_x1, v_y1):
+        # 计算 AB 连线的向量 AB
+        # dx = x2 - x1
+        # dy = y2 - y1
+
+        # 计算 AB 连线的模长 |AB|
+        AB_mod = math.sqrt(dx ** 2 + dy ** 2)
+
+        # 计算 AB 连线的单位向量 U_AB
+        U_ABx = dx / AB_mod
+        U_ABy = dy / AB_mod
+
+        # 计算 A 在 AB 连线上的速度 V1_on_AB
+        V1_on_AB = v_x1 * U_ABx + v_y1 * U_ABy
+
+        return V1_on_AB
+
+    def _cal_v_projection(self, dx, dy, vx, vy):
+        # 计算 AB 连线的向量 AB
+        # dx = x2 - x1
+        # dy = y2 - y1
+
+        # 计算 AB 连线的模长 |AB|
+        AB_mod = math.sqrt(dx ** 2 + dy ** 2)
+
+        # 计算 AB 连线的单位向量 U_AB
+        U_ABx = dx / AB_mod
+        U_ABy = dy / AB_mod
+
+        # 计算 A 相对于 B 的速度 V_relative
+        # vx = vx1 - vx2
+        # vy = vy1 - vy2
+
+        # 计算 A 相对于 B 在 AB 连线上的速度 V_on_AB
+        V_on_AB = vx * U_ABx + vy * U_ABy
+
+        return V_on_AB
+
+    def _cal_a_projection(self, dx, dy, vx, vy, ax, ay, x1, y1, x2, y2, v_x1, v_y1, v_x2, v_y2):
+        # 计算 AB 连线的向量 AB
+        # dx = x2 - x1
+        # dy = y2 - y1
+
+        # 计算 θ
+        V_mod = math.sqrt(vx ** 2 + vy ** 2)
+        AB_mod = math.sqrt(dx ** 2 + dy ** 2)
+        if V_mod == 0 or AB_mod == 0:
+            return 0
+
+        cos_theta = (vx * dx + vy * dy) / (V_mod * AB_mod)
+        theta = math.acos(cos_theta)
+
+        # 计算 AB 连线的模长 |AB|
+        AB_mod = math.sqrt(dx ** 2 + dy ** 2)
+
+        # 计算 AB 连线的单位向量 U_AB
+        U_ABx = dx / AB_mod
+        U_ABy = dy / AB_mod
+
+        # 计算 A 相对于 B 的加速度 a_relative
+        # ax = ax1 - ax2
+        # ay = ay1 - ay2
+
+        # 计算 A 相对于 B 在 AB 连线上的加速度 a_on_AB
+        a_on_AB = ax * U_ABx + ay * U_ABy
+
+        VA = np.array([v_x1, v_y1])
+        VB = np.array([v_x2, v_y2])
+        D_A = np.array([x1, y1])
+        D_B = np.array([x2, y2])
+        V_r = VA - VB
+        V = np.linalg.norm(V_r)
+        w = self._cal_relative_angular_v(theta, D_A, D_B, VA, VB)
+        a_on_AB_back = self._calculate_derivative(a_on_AB, w, V, theta)
+        return a_on_AB_back
+
+    # 计算相对加速度
+    def _calculate_derivative(self, a, w, V, theta):
+        # 计算(V×cos(θ))'的值
+        # derivative = a * math.cos(theta) - w * V * math.sin(theta)theta
+        derivative = a - w * V * math.sin(theta)
+        return derivative
+
+    def _cal_relative_angular_v(self, theta, A, B, VA, VB):
+        dx = A[0] - B[0]
+        dy = A[1] - B[1]
+        dvx = VA[0] - VB[0]
+        dvy = VA[1] - VB[1]
+        # (dx * dvy - dy * dvx)
+        angular_velocity = math.sqrt(dvx ** 2 + dvy ** 2) * math.sin(theta) / math.sqrt(dx ** 2 + dy ** 2)
+        return angular_velocity
+
+    def _death_pr(self, obj_type, v_relative):
+        if obj_type == 5:
+            p_death = 1 / (1 + np.exp(7.723 - 0.15 * v_relative))
+        else:
+            p_death = 1 / (1 + np.exp(8.192 - 0.12 * v_relative))
+        return p_death
+
+    def _cal_collisionRisk_level(self, obj_type, v_relative, collisionSeverity):
+        if obj_type == 5:
+            p_death = 1 / (1 + np.exp(7.723 - 0.15 * v_relative))
+        else:
+            p_death = 1 / (1 + np.exp(8.192 - 0.12 * v_relative))
+        collisionRisk = 0.4 * p_death + 0.6 * collisionSeverity
+        return collisionRisk
+
+    # 求两车之间当前距离
+    def dist(self, x1, y1, x2, y2):
+        dist = np.sqrt((x1 - x2) ** 2 + (y1 - y2) ** 2)
+        return dist
+
+    # TTC (time to collision)
+    def _cal_TTC(self, dist, vrel_projection_in_dist):
+        if vrel_projection_in_dist == 0:
+            return math.inf
+        TTC = dist / vrel_projection_in_dist
+        return TTC
+
+    def _cal_MTTC(self, dist, vrel_projection_in_dist, arel_projection_in_dist):
+        MTTC = math.nan
+        if arel_projection_in_dist != 0:
+            tmp = vrel_projection_in_dist ** 2 + 2 * arel_projection_in_dist * dist
+            if tmp < 0:
+                return math.nan
+            t1 = (-1 * vrel_projection_in_dist - math.sqrt(tmp)) / arel_projection_in_dist
+            t2 = (-1 * vrel_projection_in_dist + math.sqrt(tmp)) / arel_projection_in_dist
+            if t1 > 0 and t2 > 0:
+                if t1 >= t2:
+                    MTTC = t2
+                elif t1 < t2:
+                    MTTC = t1
+            elif t1 > 0 and t2 <= 0:
+                MTTC = t1
+            elif t1 <= 0 and t2 > 0:
+                MTTC = t2
+        if arel_projection_in_dist == 0 and vrel_projection_in_dist > 0:
+            MTTC = dist / vrel_projection_in_dist
+        return MTTC
+
+    # THW (time headway)
+    def _cal_THW(self, dist, v_ego_projection_in_dist):
+        if not v_ego_projection_in_dist:
+            THW = None
+        else:
+            THW = dist / v_ego_projection_in_dist
+        return THW
+
+    def velocity(self, v_x, v_y):
+        v = math.sqrt(v_x ** 2 + v_y ** 2) * 3.6
+        return v
+
+    def _cal_longitudinal_safe_dist(self, v_ego_p, v_obj_p, rho, ego_accel_max, ego_decel_min, ego_decel_max):
+        lon_dist_min = v_ego_p * rho + ego_accel_max * (rho ** 2) / 2 + (v_ego_p + rho * ego_accel_max) ** 2 / (
+                2 * ego_decel_min) - v_obj_p ** 2 / (2 * ego_decel_max)
+        return lon_dist_min
+
+    def _cal_lateral_safe_dist(self, lat_dist, v_right, v_left, rho, a_right_lat_brake_min, a_left_lat_brake_min,
+                               a_lat_max):
+        v_right_rho = v_right + rho * a_lat_max
+        v_left_rho = v_left + rho * a_lat_max
+        dist_min = lat_dist + ((v_right + v_right_rho) * rho / 2 + v_right_rho ** 2 / a_right_lat_brake_min / 2 + (
+                (v_left + v_right_rho) * rho / 2) + v_left_rho ** 2 / a_left_lat_brake_min / 2)
+        return dist_min
+
+    # DRAC (decelerate required avoid collision)
+    def _cal_DRAC(self, dist, vrel_projection_in_dist, len1, len2, width1, width2, o_x1, o_x2):
+        dist_length = dist - (len2 / 2 - o_x2 + len1 / 2 + o_x1)  # 4.671
+        if dist_length < 0:
+            dist_width = dist - (width2 / 2 + width1 / 2)
+            if dist_width < 0:
+                return math.inf
+            else:
+                d = dist_width
+        else:
+            d = dist_length
+        DRAC = vrel_projection_in_dist ** 2 / (2 * d)
+        return DRAC
+
+    # BTN (brake threat number)
+    def _cal_BTN_new(self, lon_a1, lon_a, lon_d, lon_v, ego_decel_lon_max):
+        BTN = (lon_a1 + lon_a - lon_v ** 2 / (2 * lon_d)) / ego_decel_lon_max  # max_ay为此车可实现的最大纵向加速度，目前为本次实例里的最大值
+        return BTN
+
+    # STN (steer threat number)
+    def _cal_STN_new(self, ttc, lat_a1, lat_a, lat_d, lat_v, ego_decel_lat_max, width1, width2):
+        STN = (lat_a1 + lat_a + 2 / ttc ** 2 * (lat_d + abs(ego_decel_lat_max * lat_v) * (
+                width1 + width2) / 2 + abs(lat_v * ttc))) / ego_decel_lat_max
+        return STN
+
+    # BTN (brake threat number)
+    def cal_BTN(self, a_y1, ay, dy, vy, max_ay):
+        BTN = (a_y1 + ay - vy ** 2 / (2 * dy)) / max_ay  # max_ay为此车可实现的最大纵向加速度，目前为本次实例里的最大值
+        return BTN
+
+    # STN (steer threat number)
+    def cal_STN(self, ttc, a_x1, ax, dx, vx, max_ax, width1, width2):
+        STN = (a_x1 + ax + 2 / ttc ** 2 * (dx + np.sign(max_ax * vx) * (width1 + width2) / 2 + vx * ttc)) / max_ax
+        return STN
+
+    # 追尾碰撞风险
+    def _normal_distribution(self, x):
+        mean = 1.32
+        std_dev = 0.26
+        return (1 / (math.sqrt(std_dev * 2 * math.pi))) * math.exp(-0.5 * (x - mean) ** 2 / std_dev)
+
+    def continuous_group(self, df):
+        time_list = df['simTime'].values.tolist()
+        frame_list = df['simFrame'].values.tolist()
+
+        group_time = []
+        group_frame = []
+        sub_group_time = []
+        sub_group_frame = []
+
+        for i in range(len(frame_list)):
+            if not sub_group_time or frame_list[i] - frame_list[i - 1] <= 1:
+                sub_group_time.append(time_list[i])
+                sub_group_frame.append(frame_list[i])
+            else:
+                group_time.append(sub_group_time)
+                group_frame.append(sub_group_frame)
+                sub_group_time = [time_list[i]]
+                sub_group_frame = [frame_list[i]]
+
+        group_time.append(sub_group_time)
+        group_frame.append(sub_group_frame)
+        group_time = [g for g in group_time if len(g) >= 2]
+        group_frame = [g for g in group_frame if len(g) >= 2]
+
+        # 输出图表值
+        time = [[g[0], g[-1]] for g in group_time]
+        frame = [[g[0], g[-1]] for g in group_frame]
+
+        unfunc_time_df = pd.DataFrame(time, columns=['start_time', 'end_time'])
+        unfunc_frame_df = pd.DataFrame(frame, columns=['start_frame', 'end_frame'])
+
+        unfunc_df = pd.concat([unfunc_time_df, unfunc_frame_df], axis=1)
+        return unfunc_df
+        # 统计最危险的指标
+    
+    def _safe_statistic_most_dangerous(self):
+
+        min_list = ['TTC', 'MTTC', 'THW', 'LonSD', 'LatSD']
+        max_list = ['DRAC', 'BTN', 'STN', 'collisionRisk', 'collisionSeverity']
+        
+        for metric in min_list:
+            if metric in self.metric_list:
+                if metric in self.df.columns:
+                    self.calculated_value[metric] = self.df[metric].min()
+                else:
+                    self.calculated_value[metric] = 10.0
+
+        for metric in max_list:
+            if metric in self.metric_list:
+                if metric in self.df.columns:
+                    self.calculated_value[metric] = self.df[metric].max()
+                else:
+                    self.calculated_value[metric] = 10.0
+        return self.calculated_value
+
+    def _safe_no_obj_statistic(self):
+        # list_metric = ["TTC","MTTC","THW","LonSD","LatSD","DRAC","BTN","STN","collisionSeverity", "collisionRisk"]
+        
+        return self.calculated_value
+    
+    def report_statistic(self, ):
+        
+        safety_result = {}
+
+        if len(self.obj_id_list) == 1:
+            safety_result = self._safe_no_obj_statistic()
+        else:
+            safety_result = self._safe_statistic_most_dangerous()
+        
+        evaluator = Score(config.SAFETY_CONFIG_PATH)  
+        result = evaluator.evaluate(safety_result) 
+        
+        print("\n[安全性表现及得分情况]")
+        
+        return result
+    

models/safety/safety_config.yaml

@@ -0,0 +1,65 @@
+
+name: safety
+priority: 0
+safeTime:
+  name: safetime
+  priority: 0
+  TTC:
+    name: TTC
+    priority: 0
+    max: 2000.0
+    min: 2.86
+  MTTC:
+    name: MTTC
+    priority: 0
+    max: 2000.0
+    min: 3.0
+  THW:
+    name: THW
+    priority: 0
+    max: 2000.0
+    min: 1.5
+safeDistance:
+  name: safeDistance
+  priority: 0
+  LonSD:
+    name: LonSD
+    priority: 0
+    max: 2000.0
+    min: 10.0
+  LatSD:
+    name: LatSD 
+    priority: 0
+    max: 2000.0
+    min: 2.0
+safeAcceleration:
+  name: safeAcceleration
+  priority: 0
+  DRAC:
+    name: DRAC
+    priority: 0
+    max: 5.0
+    min: -2000.0
+  BTN:
+    name: BTN
+    priority: 0
+    max: 1.0
+    min: -2000.0
+  STN:
+    name: STN
+    priority: 0
+    max: 1.0
+    min: -2000.0
+safeProbability:
+  name: safeProbability
+  priority: 0
+  collisionRisk:
+    name: collisionRisk
+    priority: 0
+    max: 10.0
+    min: 0.0
+  collisionSeverity:
+    name: collisionSeverity
+    priority: 0
+    max: 10.0
+    min: 0.0

models/traffic/traffic.py

@@ -0,0 +1,559 @@
+import sys
+import os
+import math
+import numpy as np
+import pandas as pd
+from pathlib import Path
+
+root_path = Path(__file__).resolve().parent.parent
+sys.path.append(str(root_path))
+from models.common.score import Score
+from config import config
+from models.common import log  # 确保这个路径是正确的，或者调整它
+
+log_path = config.LOG_PATH
+logger = log.get_logger(log_path)
+
+
+class TrafficViolation:
+    """交通违规基类"""
+
+    def __init__(self, vehicle_id: str):
+        self.vehicle_id = vehicle_id
+        self.violation_count = 0  # 违规次数
+
+    def get_violation_info(self):
+        return f"车辆ID: {self.vehicle_id} - 违规次数: {self.violation_count}"
+
+
+class OvertakingViolation(object):
+    """超车违规类"""
+
+    def __init__(self, df_data):
+        print("OvertakingViolation-------------------------")
+        self.traffic_violations_type = "超车违规类"
+
+        self.ego_data = df_data.obj_data[1]  # Copy to avoid modifying the original DataFrame
+        self.laneinfo_new_data = df_data.lane_info_new_df
+        self.roadinfo_data = df_data.road_info_df
+        self.drivercrtrl_data = df_data.driver_ctrl_df
+        self.interinfo_data = df_data.inter_info_df
+        self.crosswalkinfo_data = df_data.cross_walk_df
+        self.object_data = df_data.object_df
+
+
+        self.overtake_on_right_count = 0
+        self.overtake_when_turn_around_count = 0
+        self.overtake_when_passing_car_count = 0
+        self.overtake_in_forbid_lane_count = 0
+        self.overtake_in_ramp_count = 0
+        self.overtake_in_tunnel_count = 0
+        self.overtake_on_accelerate_lane_count = 0
+        self.overtake_on_decelerate_lane_count = 0
+        self.overtake_in_different_senerios_count = 0
+
+    def different_road_area_simtime(self, df, threshold = 0.5):
+        if not df:
+            return []
+        simtime_group = []
+        current_simtime_group = [df[0]]
+
+        for i in range(1, len(df)):
+            if abs(df[i] - df[i-1]) <= threshold:
+                current_simtime_group.append(df[i])
+            else:
+                simtime_group.append(current_simtime_group)
+                current_simtime_group = [df[i]]
+
+        simtime_group.append(current_simtime_group)
+        return simtime_group
+
+    def _is_overtake(self, lane_id, dx, dy, ego_speedx, ego_speedy):
+        lane_start_id = lane_id[0]
+        lane_end_id = lane_id[-1]
+        dx_start = dx[0]
+        dx_end = dx[-1]
+        dy_start = dy[0]
+        dy_end = dy[-1]
+        ego_start_speedx = ego_speedx[0]
+        ego_end_speedx = ego_speedx[-1]
+        ego_start_speedy = ego_speedy[0]
+        ego_end_speedy = ego_speedy[-1]
+        if (lane_start_id == lane_end_id
+                and (dx_start * ego_start_speedx + dy_start * ego_start_speedy >= 0)
+                and (dx_end * ego_end_speedx + dy_end * ego_end_speedy < 0)):
+            # 返回读取的帧和下一个起始帧ID（即当前帧之后的第11帧，如果存在的话）
+            return True
+        else:
+            return False
+
+    def _is_dxy_of_car(self, df, id):
+        '''
+        :param df: objstate.csv and so on
+        :param id: playerId
+        :param string_type: posX/Y or speedX/Y and so on
+        :return: dataframe of dx/y and so on
+        '''
+        car_dx = df[df['playerId'] == id]['posX'].values - df[df['playerId'] == 1]['posX'].values
+        car_dy = df[df['playerId'] == id]['posY'].values - df[df['playerId'] == 1]['posY'].values
+
+        return car_dx, car_dy
+
+        # 在前车右侧超车、会车时超车、前车掉头时超车
+    def illegal_overtake_with_car(self, window_width=250):
+
+        # 获取csv文件中最短的帧数
+        frame_id_length = min(len(self.object_data['simFrame']), len(self.laneinfo_new_data['simFrame']),
+                              len(self.drivercrtrl_data['simFrame']))
+        start_frame_id = self.object_data['simFrame'].iloc[0]  # 获取起始点的帧数
+        while (start_frame_id + window_width) < frame_id_length:
+            simframe_window = list(np.arange(start_frame_id, start_frame_id + window_width))
+            # 读取滑动窗口的dataframe数据
+            obj_data_frames = self.object_data[self.object_data['simFrame'].isin(simframe_window)]
+            lane_data_frames = self.laneinfo_new_data[self.laneinfo_new_data['simFrame'].isin(simframe_window)]
+            driver_data_frames = self.drivercrtrl_data[self.drivercrtrl_data['simFrame'].isin(simframe_window)]
+            # 读取前后的laneId
+            lane_id = lane_data_frames['lane_id']
+            # 读取前后方向盘转角steeringWheel
+            driverctrl_start_state = driver_data_frames['steeringWheel'].iloc[0]
+            driverctrl_end_state = driver_data_frames['steeringWheel'].iloc[-1]
+            # 读取车辆前后的位置信息
+            dx, dy = self._is_dxy_of_car(obj_data_frames, 2)
+            ego_speedx = obj_data_frames[obj_data_frames['playerId'] == 1]['speedX']
+            ego_speedy = obj_data_frames[obj_data_frames['playerId'] == 1]['speedY']
+
+            obj_speedx = obj_data_frames[obj_data_frames['playerId'] == 2]['speedX']
+            obj_speedy = obj_data_frames[obj_data_frames['playerId'] == 2]['speedY']
+            if len(obj_data_frames[obj_data_frames['playerId'] == 3]) > 0:
+                obj1_start_speedx = obj_data_frames[obj_data_frames['playerId'] == 3]['speedX'].iloc[0]
+                obj1_start_speedy = obj_data_frames[obj_data_frames['playerId'] == 3]['speedY'].iloc[0]
+                if ego_speedx.iloc[0] * obj1_start_speedx + ego_speedy.iloc[0] * obj1_start_speedy < 0:
+                    self.overtake_when_passing_car_count += self._is_overtake(lane_id, dx, dy, ego_speedx,
+                                                                              ego_speedy)
+                    start_frame_id += window_width
+            '''
+            如果滑动窗口开始和最后的laneid一致；
+            方向盘转角前后方向相反(开始方向盘转角向右后来方向盘转角向左)；
+            自车和前车的位置发生的交换；
+            则认为右超车
+            '''
+            if driverctrl_start_state > 0 and driverctrl_end_state < 0:
+                self.overtake_on_right_count += self._is_overtake(lane_id, dx, dy, ego_speedx, ego_speedy)
+                start_frame_id += window_width
+            elif ego_speedx.iloc[0] * obj_speedx.iloc[0] + ego_speedy.iloc[0] * obj_speedy.iloc[0] < 0:
+                self.overtake_when_turn_around_count += self._is_overtake(lane_id, dx, dy, ego_speedx, ego_speedy)
+                start_frame_id += window_width
+            else:
+                start_frame_id += 1
+        print(
+            f"在会车时超车{self.overtake_when_passing_car_count}次, 右侧超车{self.overtake_on_right_count}次, 在前车掉头时超车{self.overtake_when_turn_around_count}次")
+
+    # 借道超车场景
+    def overtake_in_forbid_lane(self):
+        simTime = self.object_data[self.object_data['playerId'] == 2]['simTime'].tolist()
+        simtime_devide = self.different_road_area_simtime(simTime)
+        for simtime in simtime_devide:
+            lane_overtake = self.laneinfo_new_data[self.laneinfo_new_data['simTime'].isin(simtime)]
+            try:
+                lane_type = lane_overtake['lane_type'].tolist()
+                if 2 in lane_type:
+                    self.overtake_in_forbid_lane_count += 1
+            except Exception as e:
+                print("数据缺少lane_type信息")
+        print(f"在不该占用车道超车{self.overtake_in_forbid_lane_count}次")
+
+    # 在匝道超车
+    def overtake_in_ramp_area(self):
+        ramp_simtime_list = self.roadinfo_data[(self.roadinfo_data['road_type'] == 19)]['simTime'].tolist()
+        ramp_simTime_list = self.different_road_area_simtime(ramp_simtime_list)
+        for ramp_simtime in ramp_simTime_list:
+            lane_id = self.laneinfo_new_data['lane_id'].tolist()
+            objstate_in_ramp = self.object_data[self.object_data['simTime'].isin(ramp_simtime)]
+            dx, dy = self._is_dxy_of_car(objstate_in_ramp, 2)
+            ego_speedx = objstate_in_ramp[objstate_in_ramp['playerId'] == 1]['speedX'].tolist()
+            ego_speedy = objstate_in_ramp[objstate_in_ramp['playerId'] == 1]['speedY'].tolist()
+            if len(lane_id) > 0:
+                self.overtake_in_ramp_count += self._is_overtake(lane_id, dx, dy, ego_speedx, ego_speedy)
+            else:
+                continue
+        print(f"在匝道超车{self.overtake_in_ramp_count}次")
+
+    def overtake_in_tunnel_area(self):
+        tunnel_simtime_list = self.roadinfo_data[(self.roadinfo_data['road_type'] == 15)]['simTime'].tolist()
+        tunnel_simTime_list = self.different_road_area_simtime(tunnel_simtime_list)
+        for tunnel_simtime in tunnel_simTime_list:
+            lane_id = self.laneinfo_new_data['lane_id'].tolist()
+            objstate_in_tunnel = self.object_data[self.object_data['simTime'].isin(tunnel_simtime)]
+            dx, dy = self._is_dxy_of_car(objstate_in_tunnel, 2)
+            ego_speedx = objstate_in_tunnel[objstate_in_tunnel['playerId'] == 1]['speedX'].tolist()
+            ego_speedy = objstate_in_tunnel[objstate_in_tunnel['playerId'] == 1]['speedY'].tolist()
+            if len(lane_id) > 0:
+                self.overtake_in_tunnel_count += self._is_overtake(lane_id, dx, dy, ego_speedx, ego_speedy)
+            else:
+                continue
+        print(f"在suidao超车{self.overtake_in_tunnel_count}次")
+
+    # 加速车道超车
+    def overtake_on_accelerate_lane(self):
+        accelerate_simtime_list = \
+            self.laneinfo_new_data[self.laneinfo_new_data['lane_type'] == 2]['simTime'].tolist()
+        accelerate_simTime_list = self.different_road_area_simtime(accelerate_simtime_list)
+        for accelerate_simtime in accelerate_simTime_list:
+            lane_id = self.laneinfo_new_data['lane_id'].tolist()
+            objstate_in_accelerate = self.object_data[self.object_data['simTime'].isin(accelerate_simtime)]
+            dx, dy = self._is_dxy_of_car(objstate_in_accelerate, 2)
+            ego_speedx = objstate_in_accelerate[objstate_in_accelerate['playerId'] == 1]['speedX'].tolist()
+            ego_speedy = objstate_in_accelerate[objstate_in_accelerate['playerId'] == 1]['speedY'].tolist()
+
+            self.overtake_on_accelerate_lane_count += self._is_overtake(lane_id, dx, dy, ego_speedx, ego_speedy)
+        print(f"在加速车道超车{self.overtake_on_accelerate_lane_count}次")
+
+    # 减速车道超车
+    def overtake_on_decelerate_lane(self):
+        decelerate_simtime_list = self.laneinfo_new_data[(self.laneinfo_new_data['lane_type'] == 3)]['simTime'].tolist()
+        decelerate_simTime_list = self.different_road_area_simtime(decelerate_simtime_list)
+        for decelerate_simtime in decelerate_simTime_list:
+            lane_id = self.laneinfo_new_data[self.laneinfo_new_data['playerId'] == 1]['id']
+            objstate_in_decelerate = self.object_data[self.object_data['simTime'].isin(decelerate_simtime)]
+            dx, dy = self._is_dxy_of_car(objstate_in_decelerate, 2)
+            ego_speedx = objstate_in_decelerate[objstate_in_decelerate['playerId'] == 1]['speedX']
+            ego_speedy = objstate_in_decelerate[objstate_in_decelerate['playerId'] == 1]['speedY']
+
+            self.overtake_on_decelerate_lane_count += self._is_overtake(lane_id, dx, dy, ego_speedx, ego_speedy)
+        print(f"在减速车道超车{self.overtake_on_decelerate_lane_count}次")
+
+    # 在交叉路口
+    def overtake_in_different_senerios(self):
+        crossroad_simTime = self.interinfo_data[self.interinfo_data['interid'] != 10000][
+            'simTime'].tolist()  # 判断是路口或者隧道区域
+        # 筛选在路口或者隧道区域的objectstate、driverctrl、laneinfo数据
+        crossroad_objstate = self.object_data[self.object_data['simTime'].isin(crossroad_simTime)]
+        crossroad_laneinfo = self.laneinfo_new_data[self.laneinfo_new_data['simTime'].isin(crossroad_simTime)]
+
+        # 读取前后的laneId
+        lane_id = crossroad_laneinfo['lane_id']
+
+        # 读取车辆前后的位置信息
+        dx, dy = self._is_dxy_of_car(crossroad_objstate, 2)
+        ego_speedx = crossroad_objstate[crossroad_objstate['playerId'] == 1]['speedX'].tolist()
+        ego_speedy = crossroad_objstate[crossroad_objstate['playerId'] == 1]['speedY'].tolist()
+        '''
+        如果滑动窗口开始和最后的laneid一致；
+        自车和前车的位置发生的交换；
+        则认为发生超车
+        '''
+        if len(lane_id) > 0:
+            self.overtake_in_different_senerios_count += self._is_overtake(lane_id, dx, dy, ego_speedx, ego_speedy)
+        else:
+            pass
+        print(f"在路口超车{self.overtake_in_different_senerios_count}次")
+
+    def overtake_statistic(self):
+        self.overtake_in_forbid_lane()
+        self.overtake_on_decelerate_lane()
+        self.overtake_on_accelerate_lane()
+        self.overtake_in_ramp_area()
+        self.overtake_in_tunnel_area()
+        self.overtake_in_different_senerios()
+        self.illegal_overtake_with_car()
+
+        self.calculated_value = {
+            "overtake_on_right": self.overtake_on_right_count,
+            "overtake_when_turn_around": self.overtake_when_turn_around_count,
+            "overtake_when_passing_car": self.overtake_when_passing_car_count,
+            "overtake_in_forbid_lane": self.overtake_in_forbid_lane_count,
+            "overtake_in_ramp": self.overtake_in_ramp_count,
+            "overtake_in_tunnel": self.overtake_in_tunnel_count,
+            "overtake_on_accelerate_lane": self.overtake_on_accelerate_lane_count,
+            "overtake_on_decelerate_lane": self.overtake_on_decelerate_lane_count,
+            "overtake_in_different_senerios": self.overtake_in_different_senerios_count
+        }
+        return self.calculated_value
+
+class SlowdownViolation(object):
+    """减速让行违规类"""
+    def __init__(self, df_data):
+        print("OvertakingViolation-------------------------")
+        self.traffic_violations_type = "减速让行违规类"
+
+        self.ego_data = df_data.obj_data[1]  # Copy to avoid modifying the original DataFrame
+        self.laneinfo_new_data = df_data.lane_info_new_df
+        self.roadinfo_data = df_data.road_info_df
+        self.drivercrtrl_data = df_data.driver_ctrl_df
+        self.interinfo_data = df_data.inter_info_df
+        self.crosswalkinfo_data = df_data.cross_walk_df
+        self.object_data = df_data.object_df
+
+        self.slow_down_in_crosswalk_count = 0
+        self.pedestrian_in_crosswalk_count = 0
+
+    def different_road_area_simtime(self, df, threshold = 0.5):
+        if not df:
+            return []
+        simtime_group = []
+        current_simtime_group = [df[0]]
+
+        for i in range(1, len(df)):
+            if abs(df[i] - df[i-1]) <= threshold:
+                current_simtime_group.append(df[i])
+            else:
+                simtime_group.append(current_simtime_group)
+                current_simtime_group = [df[i]]
+
+        simtime_group.append(current_simtime_group)
+        return simtime_group
+
+    def slow_down_in_crosswalk(self):
+        crosswalk_simTime = self.crosswalkinfo_data[self.crosswalkinfo_data['crossid'] != 20000][
+            'simTime'].tolist()  # 判断是路口或者隧道区域
+        crosswalk_simTime_devide = self.different_road_area_simtime(crosswalk_simTime)
+        for crosswalk_simtime in crosswalk_simTime_devide:
+            # 筛选在人行横道区域的crosswalk_objstate数据
+            crosswalk_objstate = self.object_data[self.object_data['simTime'].isin(crosswalk_simtime)]
+
+            ego_speedx = crosswalk_objstate[crosswalk_objstate['playerId'] == 1]['speedX'].tolist()
+            ego_speedy = crosswalk_objstate[crosswalk_objstate['playerId'] == 1]['speedY'].tolist()
+            ego_speed = np.sqrt(ego_speedx**2 + ego_speedy**2)
+            if(max(ego_speed)*3.6 > 15):
+                self.slow_down_in_crosswalk_count += 1
+
+            print(f"在人行横道超车{self.slow_down_in_crosswalk_count}次")
+
+    def pedestrian_in_crosswalk(self):
+        crosswalk_simTime = self.crosswalkinfo_data[self.crosswalkinfo_data['crossid'] != 20000][
+            'simTime'].tolist()  # 判断是路口或者隧道区域
+        crosswalk_simTime_devide = self.different_road_area_simtime(crosswalk_simTime)
+        for crosswalk_simtime in crosswalk_simTime_devide:
+            crosswalk_objstate = self.object_data[self.object_data['simTime'].isin(crosswalk_simtime)]
+            if len(crosswalk_objstate[crosswalk_objstate['playerId'] == 5]) > 0:
+                pedestrian_simtime = crosswalk_objstate[crosswalk_objstate['playerId'] == 5]['simTime']
+                pedestrian_objstate = crosswalk_objstate[crosswalk_objstate['simTime'].isin(pedestrian_simtime)]
+                ego_speed = np.sqrt(pedestrian_objstate['speedX']**2 + pedestrian_objstate['speedY']**2)
+                if ego_speed.any() > 0:
+                    self.pedestrian_in_crosswalk_count += 1
+
+
+    def slowdown_statistic(self):
+        self.slow_down_in_crosswalk()
+        self.pedestrian_in_crosswalk()
+
+        self.calculated_value = {
+            "slow_down_in_crosswalk": self.slow_down_in_crosswalk_count,
+            "pedestrian_in_crosswalk": self.pedestrian_in_crosswalk_count
+        }
+        return self.calculated_value
+
+
+
+class WrongWayViolation(TrafficViolation):
+    """逆行违规类"""
+
+    def __init__(self, vehicle_id: str, wrong_way_location: str):
+        super().__init__(vehicle_id)
+        self.wrong_way_location = wrong_way_location
+
+    def get_violation_info(self):
+        return f"{super().get_violation_info()} - 逆行发生在 {self.wrong_way_location}"
+
+
+class SpeedingViolation(object):
+    """超速违规类"""
+
+    def __init__(self, df_data):
+        print("SpeedingViolation-------------------------")
+        self.traffic_violations_type = "超速违规类"
+
+        self.data = df_data.obj_data[1]  # Copy to avoid modifying the original DataFrame
+
+        # 初始化违规统计
+        self.violation_counts = {
+            "urbanExpresswayOrHighwaySpeedOverLimit50": 0,
+            "urbanExpresswayOrHighwaySpeedOverLimit20to50": 0,
+            "urbanExpresswayOrHighwaySpeedOverLimit0to20": 0,
+            "urbanExpresswayOrHighwaySpeedUnderLimit": 0,
+            "generalRoadSpeedOverLimit50": 0,
+            "generalRoadSpeedOverLimit20to50": 0,
+        }
+
+        # 处理数据
+        self.process_violations()
+
+    def process_violations(self):
+        """处理数据帧，检查超速和其他违规行为"""
+        # 定义速度限制
+        self.data["speed_limit_max"] = self.data["road_speed_max"]
+        self.data["speed_limit_min"] = self.data["road_speed_min"]
+
+        # 提取有效道路类型
+        # 提取有效道路类型
+        urban_expressway_or_highway = {1, 2}  # 使用大括号直接创建集合
+        general_road = {3}  # 直接创建包含一个元素的集合
+
+
+        # 违规判定
+        conditions = [
+            (
+                self.data["road_fc"].isin(urban_expressway_or_highway)
+                & (self.data["v"] > self.data["speed_limit_max"] * 1.5)
+            ),
+            (
+                self.data["road_fc"].isin(urban_expressway_or_highway)
+                & (self.data["v"] > self.data["speed_limit_max"] * 1.2)
+                & (self.data["v"] <= self.data["speed_limit_max"] * 1.5)
+            ),
+            (
+                self.data["road_fc"].isin(urban_expressway_or_highway)
+                & (self.data["v"] > self.data["speed_limit_max"])
+                & (self.data["v"] <= self.data["speed_limit_max"] * 1.2)
+            ),
+            (
+                self.data["road_fc"].isin(urban_expressway_or_highway)
+                & (self.data["v"] < self.data["speed_limit_min"])
+            ),
+            (
+                self.data["road_fc"].isin(general_road)
+                & (self.data["v"] > self.data["speed_limit_max"] * 1.5)
+            ),
+            (
+                self.data["road_fc"].isin(general_road)
+                & (self.data["v"] > self.data["speed_limit_max"] * 1.2)
+                & (self.data["v"] <= self.data["speed_limit_max"] * 1.5)
+            ),
+        ]
+
+        violation_types = [
+            "urbanExpresswayOrHighwaySpeedOverLimit50",
+            "urbanExpresswayOrHighwaySpeedOverLimit20to50",
+            "urbanExpresswayOrHighwaySpeedOverLimit0to20",
+            "urbanExpresswayOrHighwaySpeedUnderLimit",
+            "generalRoadSpeedOverLimit50",
+            "generalRoadSpeedOverLimit20to50",
+        ]
+
+        # 设置违规类型
+        self.data["violation_type"] = None
+        for condition, violation_type in zip(conditions, violation_types):
+            self.data.loc[condition, "violation_type"] = violation_type
+
+        # 统计各类违规情况
+        self.violation_counts = self.data["violation_type"].value_counts().to_dict()
+
+    # def get_violation_info(self) -> str:
+    #     return (
+    #         f"超过50%: {self.violation_counts.get('urbanExpresswayOrHighwaySpeedOverLimit50', 0)}, "
+    #         f"超过20%-50%: {self.violation_counts.get('urbanExpresswayOrHighwaySpeedOverLimit20to50', 0)}, "
+    #         f"超过20%以内: {self.violation_counts.get('urbanExpresswayOrHighwaySpeedOverLimit0to20', 0)}, "
+    #         f"低于最低时速: {self.violation_counts.get('urbanExpresswayOrHighwaySpeedUnderLimit', 0)}, "
+    #         f"非高速公路超速50%以上: {self.violation_counts.get('generalRoadSpeedOverLimit50', 0)}, "
+    #         f"非高速公路超速20%-50%: {self.violation_counts.get('generalRoadSpeedOverLimit20to50', 0)}"
+    #     )
+
+    def report_statistic(self) -> str:
+        return (
+            f"高速或者城市快速路超过50%: {self.violation_counts.get('urbanExpresswayOrHighwaySpeedOverLimit50', 0)},\n"
+            f"高速或者城市快速路超过20%-50%: {self.violation_counts.get('urbanExpresswayOrHighwaySpeedOverLimit20to50', 0)},\n"
+            f"高速或者城市快速路超过20%以内: {self.violation_counts.get('urbanExpresswayOrHighwaySpeedOverLimit0to20', 0)},\n"
+            f"高速或者城市快速路低于最低时速: {self.violation_counts.get('urbanExpresswayOrHighwaySpeedUnderLimit', 0)},\n"
+            f"非高速公路超速50%以上: {self.violation_counts.get('generalRoadSpeedOverLimit50', 0)},\n"
+            f"非高速公路超速20%-50%: {self.violation_counts.get('generalRoadSpeedOverLimit20to50', 0)}"
+        )
+
+
+class ParkingViolation(TrafficViolation):
+    """违规停车类"""
+
+    def __init__(self, vehicle_id: str, parking_location: str):
+        super().__init__(vehicle_id)
+        self.traffic_violations_type = " 违规停车类 "
+        self.parking_location = parking_location
+        self.city_road_violation_count = 0
+        self.city_emergency_violation_count = 0
+        self.highway_road_violation_count = 0
+        self.highway_emergency_violation_count = 0
+
+    def get_violation_info(self):
+        return (
+            f"{super().get_violation_info()} - 违规停车发生在 {self.parking_location}"
+        )
+
+    def city_road_violation(self):
+        # 驾驶机动车在城市快速路行车道上违法停车的
+        self.city_road_violation_count += 1
+        return self.city_road_violation_count, True
+
+    def city_emergency_violation(self):
+        # 驾驶机动车非紧急情况下在城市快速路应急车道上停车的
+        self.city_emergency_violation_count += 1
+        return self.city_emergency_violation_count, True
+
+    def highway_road_violation(self):
+        # 驾驶机动车在高速公路行车道上违法停车的
+        self.highway_road_violation_count += 1
+        return self.highway_road_violation_count, True
+
+    def highway_emergency_violation(self):
+        # 驾驶机动车非紧急情况下在高速公路应急车道上停车的
+        self.highway_emergency_violation_count += 1
+        return self.highway_emergency_violation_count, True
+
+
+class TrafficLightViolation(TrafficViolation):
+    """违反交通灯类"""
+
+    def __init__(self, vehicle_id: str, violation_type: str, traffic_location: str):
+        super().__init__(vehicle_id)
+        self.traffic_violations_type = " 违反交通灯类 "
+        self.violation_type = violation_type  # 可能是 '闯红灯' 等
+        self.traffic_location = traffic_location
+
+    def get_violation_info(self):
+        return f"{super().get_violation_info()} - {self.violation_type} 发生在 {self.traffic_location}"
+
+
+class ViolationManager:
+    """违规管理类，用于管理所有违规行为"""
+
+    def __init__(self, data_processed):
+
+        self.violations = []
+        self.data = data_processed.obj_data[1]
+        self.ego_df = self.data[config.TRIFFIC_INFO].copy()
+
+        self.SpeedingViolation = SpeedingViolation
+        self.ParkingViolation = ParkingViolation
+        self.TrafficLightViolation = TrafficLightViolation
+
+    def add_violation(self, violation: TrafficViolation):
+        self.violations.append(violation)
+
+    def report_violations(self):
+        for violation in self.violations:
+            print(violation.get_violation_info())
+
+
+# 示例使用
+if __name__ == "__main__":
+    manager = ViolationManager()
+
+    # 添加超车违规
+    overtaking_violation = OvertakingViolation("ABC123", "1号公路")
+    manager.add_violation(overtaking_violation)
+
+    # 添加逆行违规
+    wrong_way_violation = WrongWayViolation("XYZ789", "2号公路")
+    manager.add_violation(wrong_way_violation)
+
+    # 添加超速违规
+    speeding_violation = SpeedingViolation("LMN456", 85.0, 60.0)
+    manager.add_violation(speeding_violation)
+
+    # 添加违规停车
+    parking_violation = ParkingViolation("DEF012", "商场停车场")
+    manager.add_violation(parking_violation)
+
+    # 添加违反交通灯行为
+    traffic_light_violation = TrafficLightViolation("GHI345", "闯红灯", "第三街口")
+    manager.add_violation(traffic_light_violation)
+
+    # 报告所有违规行为
+    manager.report_violations()