PJI_outdoor_robot_evaluate_real/common.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-
##################################################################
#
# Copyright (c) 2023 CICV, Inc. All Rights Reserved
#
##################################################################
"""
@Authors:           yangzihao(yangzihao@china-icv.cn)
@Data:              2023/07/24
@Last Modified:     2023/07/24
@Summary:           Evaluateion functions
"""

import sys

sys.path.append('../common')
sys.path.append('../modules')

import os
import time
import json
import math
import pandas as pd
import numpy as np
import zipfile
import importlib
import matplotlib.pyplot as plt


def _cal_max_min_avg(num_list):
    maxx = round(max(num_list), 3) if num_list else "-"
    minn = round(min(num_list), 3) if num_list else "-"
    avg = round(sum(num_list) / len(num_list), 3) if num_list else "-"

    result = {
        "max": maxx,
        "min": minn,
        "avg": avg
    }

    return result


def save_line_chart(list1, list2, save_path):
    plt.plot(list1, label='列表1')
    plt.plot(list2, label='列表2')

    plt.xlabel('索引')
    plt.ylabel('值')
    plt.title('折线图')
    plt.legend()

    plt.savefig(save_path)
    plt.close()


def import_class(path, file):
    sys.path.append(path)  # 将path添加到Python的搜索路径中
    # module_name = file[:-3]  # 去掉文件名的".py"后缀
    module = __import__(file, fromlist=['ScoreModel'])
    class_instance = module.ScoreModel
    return class_instance


def import_class_lib(path, file):
    sys.path.append(path)  # 将path添加到Python的搜索路径中
    module = importlib.import_module(file)
    class_name = "ScoreModel"
    class_instance = getattr(module, class_name)
    return class_instance


def score_over_100(score):
    if score > 100:
        return 100
    return score


def normalize_dict_values(dictionary):
    # 计算字典中键的数量
    n = len(dictionary)

    # 初始化总和为0
    total_sum = 0

    # 遍历字典，对每个值进行赋值，并累加总和
    for key, value in dictionary.items():
        # 计算当前值，除了最后一个值外都四舍五入到两位小数
        if key != list(dictionary.keys())[-1]:
            new_value = round(1 / n, 2)
        else:
            # 最后一个值的计算：1减去之前所有值的和
            new_value = round(1 - total_sum, 2)

            # 更新字典的值
        dictionary[key] = new_value

        # 累加当前值到总和
        total_sum += new_value

    return dictionary


def cal_velocity(lat_v, lon_v):
    """
    The function can calculate the velocity with lateral velocity and longitudinal velocity.

    Args:
        lat_v: lateral velocity, m/s
        lon_v: longitudinal velocity, m/s

    Returns:
        v: the resultant velocity, km/h

    """
    v = (lat_v ** 2 + lon_v ** 2) ** 0.5
    return v


def json2dict(json_file):
    with open(json_file, 'r', encoding='utf-8') as f:
        json_dict = json.load(f)
    return json_dict


def get_subfolders_name(path):
    return [name for name in os.listdir(path) if os.path.isdir(os.path.join(path, name))]


def zip_dir(dir_path, zip_file_path):
    """
    This function can zip the files in dir_path as a zipfile.

    Arguments:
        dir_path: A str of the path of the files to be ziped.
        zip_file_path: A str of the path of the zipfile to be stored.

    Returns:
        None
    """
    with zipfile.ZipFile(zip_file_path, 'w', zipfile.ZIP_DEFLATED) as zipf:
        for root, dirs, files in os.walk(dir_path):
            for file in files:
                file_path = os.path.join(root, file)
                zipf.write(file_path)


def score_grade(score):
    """
    Returns the corresponding grade based on the input score.

    Arguments:
        score: An integer or float representing the score.

    Returns:
        grade: A string representing the grade.
    """
    if score >= 90:
        grade = '优秀'
    elif score >= 80:
        grade = '良好'
    elif score > 60:
        grade = '一般'
    else:
        grade = '较差'

    return grade


def mileage_format(mileage):
    if mileage < 1000:
        return f"{mileage:.2f}米"
    else:
        mileage = mileage / 1000
        return f"{mileage:.2f}公里"


def duration_format(duration):
    if duration < 60:
        return f"{duration:.2f}秒"
    elif duration < 3600:
        minute = int(duration / 60)
        second = int(duration % 60)
        return f"{minute}分{second}秒" if second != 0 else f"{minute}分"
    else:
        hour = int(duration / 3600)
        minute = int((duration % 3600) / 60)
        second = int(duration % 60)
        ans = f"{hour:d}时"
        ans = ans + f"{minute}分" if minute != 0 else ans
        ans = ans + f"{second}秒" if second != 0 else ans
        return ans


def continuous_group(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]

    time_df = pd.DataFrame(time, columns=['start_time', 'end_time'])
    frame_df = pd.DataFrame(frame, columns=['start_frame', 'end_frame'])

    result_df = pd.concat([time_df, frame_df], axis=1)

    return result_df


def continuous_group_old(df):
    time_list = df['simTime'].values.tolist()
    frame_list = df['simFrame'].values.tolist()

    group = []
    sub_group = []

    for i in range(len(frame_list)):
        if not sub_group or frame_list[i] - frame_list[i - 1] <= 1:
            sub_group.append(time_list[i])
        else:
            group.append(sub_group)
            sub_group = [time_list[i]]

    group.append(sub_group)
    group = [g for g in group if len(g) >= 2]

    # 输出图表值
    time = [[g[0], g[-1]] for g in group]
    unsafe_df = pd.DataFrame(time, columns=['start_time', 'end_time'])

    return unsafe_df


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


def string_concatenate(str_list):
    """
    This function concatenates the input string list to generate a new string.
    If str_list is empty, an empty string is returned.
    If str_list has only one element, return that element.
    If str_list has multiple elements, concatenate all the elements except the last element with ', ', and then concatenate the resulting string with the last element with 'and'.

    Arguments:
        str_list: A list of strings.

    Returns:
        ans_str: A concatenated string.
    """
    if not str_list:
        return ""
    ans_str = '、'.join(str_list[:-1])
    ans_str = ans_str + "和" + str_list[-1] if len(str_list) > 1 else ans_str + str_list[-1]
    return ans_str


def zip_time_pairs(time_list, zip_list, upper_limit=9999):
    zip_time_pairs = zip(time_list, zip_list)
    zip_vs_time = [[x, upper_limit if y > upper_limit else y] for x, y in zip_time_pairs if not math.isnan(y)]
    return zip_vs_time


def replace_key_with_value(input_string, replacement_dict):
    """
    替换字符串中的关键字为给定的字典中的值。

    :param input_string: 需要进行替换的字符串
    :param replacement_dict: 替换规则，格式为 {key: value}
    :return: 替换后的字符串
    """
    # 遍历字典中的键值对，并用值替换字符串中的键
    for key, value in replacement_dict.items():
        if key in input_string:
            input_string = input_string.replace(key, value)

    return input_string


def continous_judge(frame_list):
    if not frame_list:
        return 0

    cnt = 1
    for i in range(1, len(frame_list)):
        if frame_list[i] - frame_list[i - 1] <= 3:
            continue
        cnt += 1
    return cnt


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 statistic_analysis(data_list):
    sorted_data_list = sorted(data_list)
    maxx = sorted_data_list[-1]
    minn = sorted_data_list[0]
    meann = sum(sorted_data_list) / len(sorted_data_list)
    percentile_99 = np.percentile(sorted_data_list, 99)
    ans_list = [maxx, minn, meann, percentile_99]
    return ans_list