PJI_outdoor_robot_evaluate_real/pji_run_test.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-
##################################################################
#
# Copyright (c) 2023 CICV, Inc. All Rights Reserved
#
##################################################################
"""
@Authors:           yangzihao(yangzihao@china-icv.cn)
@Data:              2024/04/21
@Last Modified:     2024/04/21
@Summary:           Evaluation entrance
"""

import os
import sys
import time
from single_case_eval import single_case_eval
from common import get_subfolders_name
# from pjirebot_evaluate_csv import parsebag
import log

if __name__ == "__main__":

    from warnings import simplefilter

    # simplefilter(action="ignore", category=FutureWarning)
    simplefilter(action="ignore")

    # TODO：优化输入为dict
    # input_dict = {
    #     "data_path": dataPath,
    #     "resultPath": resultPath,
    #     "trackPath": trackPath
    # }

    # if len(sys.argv) >= 3:
    #     dataPath = sys.argv[1]
    #     resultPath = sys.argv[2]
    #     trackPath = sys.argv[3]
    #     if len(sys.argv) > 4:
    #         case_name = sys.argv[4]
    #     else:
    #         case_name = dataPath.split('/')[-1]  # .split('.')[0]
    #
    #     # logFileName = f'{resultPath}/log.log'
    #     logFileName = os.path.join(resultPath, 'log.log')
    #     log.setup_logger(logFileName)
    #     logger = log.get_logger()
    #
    #     if not os.path.exists(dataPath):
    #         print('Invalid dataPath!')
    #         logger.error(f"[case:{case_name}] SINGLE_CASE_EVAL: Invalid dataPath!")
    #         sys.exit(-1)
    #     else:
    #         try:
    #             logger.info(f"[case:{case_name}] SINGLE_CASE_EVAL: Start evaluating:")
    #             print("SINGLE_CASE_EVAL程序开始运行：")
    #             configPath = r"./config.json"
    #             print(
    #                 f"   configPath: {configPath},\n   dataPath: {dataPath},\n   resultPath: {resultPath},\n   trackPath: {trackPath}")
    #             t1 = time.time()
    #             parsebag(dataPath, resultPath)  # EgoState_pji.csv存放resultPath下
    #             single_case_eval(configPath, resultPath, resultPath, trackPath, case_name)
    #             t2 = time.time()
    #             print(f"程序结束，执行时间：{int(t2 - t1)} s")
    #             logger.info(f"[case:{case_name}] SINGLE_CASE_EVAL: End.")
    #             sys.exit(0)
    #         except Exception as e:
    #             print("异常，退出...")
    #             print(repr(e))
    #             sys.exit(-1)
    # else:
    #     print('No enough arguments!')
    #     sys.exit(-1)

    # dataPath = './bag/2024-04-22-08-48-30_obstacledetection_30.bag'
    # dataPath = './task/case0613'
    dataPath = './task/case0730'

    # resultPath = './result/integration'
    resultPath = dataPath
    trackPath = f'{dataPath}/trajectory.png'

    logFileName = f'{resultPath}/log.log'
    log.setup_logger(logFileName)
    logger = log.get_logger()

    case_name = dataPath.split('/')[-1].split('.')[0]
    # case_name = os.path.basename(os.path.dirname(dataPath))

    if not os.path.exists(dataPath):
        print('Invalid dataPath!')
        logger.error(f"[case:{case_name}] SINGLE_CASE_EVAL: Invalid dataPath!")
        sys.exit(-1)
    else:
        try:
            logger.info(f"[case:{case_name}] SINGLE_CASE_EVAL: Start evaluating:")
            print("SINGLE_CASE_EVAL程序开始运行：")

            # configPath = r"./config_comfort.json"
            # configPath = r"./config_safe.json"
            # configPath = r"./config_accurate.json"
            configPath = r"./config_0627.json"

            print(f"   configPath: {configPath},\n   resultPath: {resultPath}")
            t1 = time.time()
            # parsebag(dataPath, resultPath)
            single_case_eval(configPath, resultPath, resultPath, trackPath, case_name)
            t2 = time.time()
            print(f"程序结束，执行时间：{int(t2 - t1)} s")
            logger.info(f"[case:{case_name}] SINGLE_CASE_EVAL: End.")
            sys.exit(0)
        except Exception as e:
            print("异常，退出...")
            print(repr(e))
            sys.exit(-1)