zhaoyuan/modules/metric/traffic.py

# ... 保留原有导入和常量定义 ...
import math
import operator 
import copy
import numpy as np
import pandas as pd
from typing import Dict, Any, List, Optional
from modules.lib import log_manager
from modules.lib.score import Score
from modules.lib.log_manager import LogManager
from modules.lib import data_process


OVERTAKE_INFO = [
    "simTime",
    "simFrame",
    "playerId",
    "speedX",
    "speedY",
    "posX",
    "posY",
    "posH",
    "lane_id",
    "lane_type",
    "road_type",
    "interid",
    "crossid",
]
SLOWDOWN_INFO = [
    "simTime",
    "simFrame",
    "playerId",
    "speedX",
    "speedY",
    "posX",
    "posY",
    "crossid",
    "lane_type",
]
TURNAROUND_INFO = [
    "simTime",
    "simFrame",
    "playerId",
    "speedX",
    "speedY",
    "posX",
    "posY",
    "sign_type1",
    "lane_type",
]

TRFFICSIGN_INFO = [
    "simTime",
    "simFrame",  
    "playerId",
    "speedX",
    "speedY",
    "v",
    "posX",
    "posY",
    "sign_type1",
    "sign_ref_link",
    "sign_x",
    "sign_y",
]
# 修改指标函数名称为 calculate_xxx 格式
def calculate_overtake_when_passing_car(data_processed):
    """计算会车时超车指标"""
    overtakingviolation = OvertakingViolation(data_processed)
    overtake_when_passing_car_count = overtakingviolation.calculate_overtake_when_passing_car_count()
    return {"overtake_when_passing_car": overtake_when_passing_car_count}


def calculate_overtake_on_right(data_processed):
    """计算右侧超车指标"""
    overtakingviolation = OvertakingViolation(data_processed)
    overtake_on_right_count = overtakingviolation.calculate_overtake_on_right_count()
    return {"overtake_on_right": overtake_on_right_count}


def calculate_overtake_when_turn_around(data_processed):
    """计算掉头时超车指标"""
    overtakingviolation = OvertakingViolation(data_processed)
    overtake_when_turn_around_count = overtakingviolation.calculate_overtake_when_turn_around_count()
    return {"overtake_when_turn_around": overtake_when_turn_around_count}


def calculate_overtake_in_forbid_lane(data_processed):
    """计算在禁止车道超车指标"""
    overtakingviolation = OvertakingViolation(data_processed)
    overtake_in_forbid_lane_count = overtakingviolation.calculate_overtake_in_forbid_lane_count()
    return {"overtake_in_forbid_lane": overtake_in_forbid_lane_count}


def calculate_overtake_in_ramp(data_processed):
    """计算在匝道超车指标"""
    overtakingviolation = OvertakingViolation(data_processed)
    overtake_in_ramp_area_count = overtakingviolation.calculate_overtake_in_ramp_area_count()
    return {"overtake_in_ramp": overtake_in_ramp_area_count}


def calculate_overtake_in_tunnel(data_processed):
    """计算在隧道超车指标"""
    overtakingviolation = OvertakingViolation(data_processed)
    overtake_in_tunnel_area_count = overtakingviolation.calculate_overtake_in_tunnel_area_count()
    return {"overtake_in_tunnel": overtake_in_tunnel_area_count}


def calculate_overtake_on_accelerate_lane(data_processed):
    """计算在加速车道超车指标"""
    overtakingviolation = OvertakingViolation(data_processed)
    overtake_on_accelerate_lane_count = overtakingviolation.calculate_overtake_on_accelerate_lane_count()
    return {"overtake_on_accelerate_lane": overtake_on_accelerate_lane_count}


def calculate_overtake_on_decelerate_lane(data_processed):
    """计算在减速车道超车指标"""
    overtakingviolation = OvertakingViolation(data_processed)
    overtake_on_decelerate_lane_count = overtakingviolation.calculate_overtake_on_decelerate_lane_count()
    return {"overtake_on_decelerate_lane": overtake_on_decelerate_lane_count}


def calculate_overtake_in_different_senerios(data_processed):
    """计算在不同场景超车指标"""
    overtakingviolation = OvertakingViolation(data_processed)
    overtake_in_different_senerios_count = overtakingviolation.calculate_overtake_in_different_senerios_count()
    return {"overtake_in_different_senerios": overtake_in_different_senerios_count}


def calculate_slow_down_in_crosswalk(data_processed):
    """计算在人行横道减速指标"""
    slowdownviolation = SlowdownViolation(data_processed)
    slow_down_in_crosswalk_count = slowdownviolation.calculate_slow_down_in_crosswalk_count()
    return {"slowdown_down_in_crosswalk": slow_down_in_crosswalk_count}


def calculate_avoid_pedestrian_in_crosswalk(data_processed):
    """计算在人行横道避让行人指标"""
    avoidpedestrianincrosswalk = SlowdownViolation(data_processed)
    avoid_pedestrian_in_crosswalk_count = avoidpedestrianincrosswalk.calculate_avoid_pedestrian_in_the_crosswalk_count()
    return {"avoid_pedestrian_in_crosswalk": avoid_pedestrian_in_crosswalk_count}


def calculate_avoid_pedestrian_in_the_road(data_processed):
    """计算在道路上避让行人指标"""
    avoidpedestrianintheroad = SlowdownViolation(data_processed)
    avoid_pedestrian_in_the_road_count = avoidpedestrianintheroad.calculate_avoid_pedestrian_in_the_road_count()
    return {"avoid_pedestrian_in_the_road": avoid_pedestrian_in_the_road_count}


def calculate_avoid_pedestrian_when_turning(data_processed):
    """计算转弯时避让行人指标"""
    avoidpedestrianwhenturning = SlowdownViolation(data_processed)
    avoid_pedestrian_when_turning_count = avoidpedestrianwhenturning.calculate_avoid_pedestrian_when_turning_count()
    return {"avoid_pedestrian_when_turning_count": avoid_pedestrian_when_turning_count}


def calculate_turn_in_forbiden_turn_left_sign(data_processed):
    """计算在禁止左转标志处左转指标"""
    turnaroundviolation = TurnaroundViolation(data_processed)
    turn_in_forbiden_turn_left_sign_count = turnaroundviolation.calculate_turn_in_forbiden_turn_left_sign_count()
    return {"turn_in_forbiden_turn_left_sign": turn_in_forbiden_turn_left_sign_count}


def calculate_turn_in_forbiden_turn_back_sign(data_processed):
    """计算在禁止掉头标志处掉头指标"""
    turnaroundviolation = TurnaroundViolation(data_processed)
    turn_in_forbiden_turn_back_sign_count = turnaroundviolation.calculate_turn_in_forbiden_turn_back_sign_count()
    return {"turn_in_forbiden_turn_back_sign": turn_in_forbiden_turn_back_sign_count}


def calculate_avoid_pedestrian_when_turn_back(data_processed):
    """计算掉头时避让行人指标"""
    turnaroundviolation = TurnaroundViolation(data_processed)
    avoid_pedestrian_when_turn_back_count = turnaroundviolation.calaulate_avoid_pedestrian_when_turn_back_count()
    return {"avoid_pedestrian_when_turn_back": avoid_pedestrian_when_turn_back_count}


def calculate_urbanexpresswayorhighwaydrivinglanestopped(data_processed):
    """计算城市快速路或高速公路行车道停车指标"""
    wrongwayviolation = WrongWayViolation(data_processed)
    urbanExpresswayOrHighwayDrivingLaneStopped_count = wrongwayviolation.calculate_urbanExpresswayOrHighwayDrivingLaneStopped_count()
    return {"urbanExpresswayOrHighwayDrivingLaneStopped": urbanExpresswayOrHighwayDrivingLaneStopped_count}


def calculate_urbanexpresswayorhighwayemergencylanestopped(data_processed):
    """计算城市快速路或高速公路应急车道停车指标"""
    wrongwayviolation = WrongWayViolation(data_processed)
    urbanExpresswayOrHighwayEmergencyLaneStopped_count = wrongwayviolation.calculate_urbanExpresswayOrHighwayDrivingLaneStopped_count()
    return {"urbanExpresswayOrHighwayEmergencyLaneStopped": urbanExpresswayOrHighwayEmergencyLaneStopped_count}


def calculate_urbanexpresswayemergencylanedriving(data_processed):
    """计算城市快速路应急车道行驶指标"""
    wrongwayviolation = WrongWayViolation(data_processed)
    urbanExpresswayEmergencyLaneDriving_count = wrongwayviolation.calculate_urbanExpresswayEmergencyLaneDriving()
    return {"urbanExpresswayEmergencyLaneDriving": urbanExpresswayEmergencyLaneDriving_count}


def calculate_urbanexpresswayorhighwayspeedoverlimit50(data_processed):
    """计算城市快速路或高速公路超速50%以上指标"""
    speedingviolation = SpeedingViolation(data_processed)
    urbanExpresswayOrHighwaySpeedOverLimit50_count = speedingviolation.calculate_urbanExpresswayOrHighwaySpeedOverLimit50_count()
    return {"urbanExpresswayOrHighwaySpeedOverLimit50": urbanExpresswayOrHighwaySpeedOverLimit50_count}


def calculate_urbanexpresswayorhighwayspeedoverlimit20to50(data_processed):
    """计算城市快速路或高速公路超速20%-50%指标"""
    speedingviolation = SpeedingViolation(data_processed)
    urbanExpresswayOrHighwaySpeedOverLimit20to50_count = speedingviolation.calculate_urbanExpresswayOrHighwaySpeedOverLimit20to50_count()
    return {"urbanExpresswayOrHighwaySpeedOverLimit20to50": urbanExpresswayOrHighwaySpeedOverLimit20to50_count}


def calculate_urbanexpresswayorhighwayspeedoverlimit0to20(data_processed):
    """计算城市快速路或高速公路超速0-20%指标"""
    speedingviolation = SpeedingViolation(data_processed)
    urbanExpresswayOrHighwaySpeedOverLimit0to20_count = speedingviolation.calculate_urbanExpresswayOrHighwaySpeedOverLimit0to20_count()
    return {"urbanExpresswayOrHighwaySpeedOverLimit0to20": urbanExpresswayOrHighwaySpeedOverLimit0to20_count}


def calculate_urbanexpresswayorhighwayspeedunderlimit(data_processed):
    """计算城市快速路或高速公路低于最低限速指标"""
    speedingviolation = SpeedingViolation(data_processed)
    urbanExpresswayOrHighwaySpeedUnderLimit_count = speedingviolation.calculate_urbanExpresswayOrHighwaySpeedUnderLimit_count()
    return {"urbanExpresswayOrHighwaySpeedUnderLimit": urbanExpresswayOrHighwaySpeedUnderLimit_count}


def calculate_generalroadspeedoverlimit50(data_processed):
    """计算一般道路超速50%以上指标"""
    speedingviolation = SpeedingViolation(data_processed)
    generalRoadSpeedOverLimit50_count = speedingviolation.calculate_generalRoadSpeedOverLimit50()
    return {"generalRoadSpeedOverLimit50": generalRoadSpeedOverLimit50_count}


def calculate_generalroadspeedoverlimit20to50(data_processed):
    """计算一般道路超速20%-50%指标"""
    speedingviolation = SpeedingViolation(data_processed)
    generalRoadSpeedOverLimit20to50_count = speedingviolation.calculate_generalRoadSpeedOverLimit20to50_count()
    return {"generalRoadSpeedOverLimit20to50": generalRoadSpeedOverLimit20to50_count}


def calculate_trafficsignalviolation(data_processed):
    """计算交通信号违规指标"""
    trafficlightviolation = TrafficLightViolation(data_processed)
    trafficSignalViolation_count = trafficlightviolation.calculate_trafficSignalViolation_count()
    return {"trafficSignalViolation": trafficSignalViolation_count}


def calculate_illegaldrivingorparkingatcrossroads(data_processed):
    """计算交叉路口违法行驶或停车指标"""
    trafficlightviolation = TrafficLightViolation(data_processed)
    illegalDrivingOrParkingAtCrossroads_count = trafficlightviolation.calculate_illegalDrivingOrParkingAtCrossroads()
    return {"illegalDrivingOrParkingAtCrossroads": illegalDrivingOrParkingAtCrossroads_count}


def calculate_generalroadirregularlaneuse(data_processed):
    """计算一般道路不按规定车道行驶指标"""
    warningviolation = WarningViolation(data_processed)
    generalRoadIrregularLaneUse_count = warningviolation.calculate_generalRoadIrregularLaneUse_count()
    return {"generalRoadIrregularLaneUse": generalRoadIrregularLaneUse_count}


def calculate_urbanexpresswayorhighwayridelanedivider(data_processed):
    """计算城市快速路或高速公路骑车道线行驶指标"""
    warningviolation = WarningViolation(data_processed)
    urbanExpresswayOrHighwayRideLaneDivider_count = warningviolation.calculate_urbanExpresswayOrHighwayRideLaneDivider_count()
    return {"urbanExpresswayOrHighwayRideLaneDivider": urbanExpresswayOrHighwayRideLaneDivider_count}

def calculate_nostraightthrough(data_processed):
    """计算禁止直行标志牌处直行指标"""
    trafficsignviolation = TrafficSignViolation(data_processed)
    noStraightThrough_count = trafficsignviolation.calculate_NoStraightThrough_count()
    return {"NoStraightThrough": noStraightThrough_count}


def calculate_speedlimitviolation(data_processed):
    """计算违反限速规定指标"""
    trafficsignviolation = TrafficSignViolation(data_processed)
    SpeedLimitViolation_count = trafficsignviolation.calculate_SpeedLimitViolation_count()
    return {"SpeedLimitViolation": SpeedLimitViolation_count}


def calculate_minimumspeedlimitviolation(data_processed):
    """计算违反最低限速规定指标"""
    trafficsignviolation = TrafficSignViolation(data_processed)
    calculate_MinimumSpeedLimitViolation_count = trafficsignviolation.calculate_MinimumSpeedLimitViolation_count()
    return {"MinimumSpeedLimitViolation": calculate_MinimumSpeedLimitViolation_count}


# 修改 TrafficRegistry 类的 _build_registry 方法
class TrafficRegistry:
    """交通违规指标注册器"""
    
    def __init__(self, data_processed):
        self.logger = LogManager().get_logger()
        self.data = data_processed
        # 检查traffic_config是否为空
        if not hasattr(data_processed, 'traffic_config') or not data_processed.traffic_config:
            self.logger.warning("交通违规配置为空，跳过交通违规指标计算")
            self.traffic_config = {}
            self.metrics = []
            self._registry = {}
            return
        self.traffic_config = data_processed.traffic_config.get("traffic", {})
        self.metrics = self._extract_metrics(self.traffic_config)
        self._registry = self._build_registry()
    
    def _extract_metrics(self, config_node: dict) -> list:
        """从配置中提取指标名称"""
        metrics = []
        def _recurse(node):
            if isinstance(node, dict):
                if 'name' in node and not any(isinstance(v, dict) for v in node.values()):
                    metrics.append(node['name'])
                for v in node.values():
                    _recurse(v)
        _recurse(config_node)
        self.logger.info(f'评比的交通违规指标列表:{metrics}')
        return metrics
    
    def _build_registry(self) -> dict:
        """构建指标函数注册表"""
        registry = {}
        for metric_name in self.metrics:
            func_name = f"calculate_{metric_name.lower()}"
            try:
                registry[metric_name] = globals()[func_name]
            except KeyError:
                self.logger.error(f"未实现交通违规指标函数: {func_name}")
        return registry
    
    def batch_execute(self) -> dict:
        """批量执行指标计算"""
        results = {}
        # 如果配置为空或没有注册的指标，直接返回空结果
        if not hasattr(self, 'traffic_config') or not self.traffic_config or not self._registry:
            self.logger.info("交通违规配置为空或无注册指标，返回空结果")
            return results
            
        for name, func in self._registry.items():
            try:
                result = func(self.data)
                results.update(result)
                # 新增：将每个指标的结果写入日志
                self.logger.info(f'交通违规指标[{name}]计算结果: {result}')
            except Exception as e:
                self.logger.error(f"{name} 执行失败: {str(e)}", exc_info=True)
                results[name] = None
        self.logger.info(f'交通违规指标计算结果:{results}')
        return results


class TrafficManager:
    """交通违规指标管理类"""
    
    def __init__(self, data_processed):
        self.data = data_processed
        self.logger = LogManager().get_logger()
        # 检查traffic_config是否为空
        if not hasattr(data_processed, 'traffic_config') or not data_processed.traffic_config:
            self.logger.warning("交通违规配置为空，跳过交通违规指标计算初始化")
            self.registry = None
        else:
            self.registry = TrafficRegistry(self.data)
    
    def report_statistic(self):
        """计算并报告交通违规指标结果"""
        # 如果registry为None，直接返回空字典
        if self.registry is None:
            self.logger.info("交通违规指标管理器未初始化，返回空结果")
            return {}
            
        traffic_result = self.registry.batch_execute()
        return traffic_result


class OvertakingViolation(object):
    """超车违规类"""

    def __init__(self, df_data):
        print("超车违规类初始化中...")
        self.traffic_violations_type = "超车违规类"

        # 存储原始数据引用，不进行拷贝
        self._raw_data = df_data.obj_data[1]  # 自车数据
        
        # 安全获取其他车辆数据
        self._data_obj = None
        self._other_obj_data1 = None
        
        # 检查是否存在ID为2的对象数据
        if 2 in df_data.obj_id_list:
            self._data_obj = df_data.obj_data[2]
        
        # 检查是否存在ID为3的对象数据
        if 3 in df_data.obj_id_list:
            self._other_obj_data1 = df_data.obj_data[3]
        
        # 初始化属性，但不立即创建数据副本
        self._ego_data = None
        self._obj_data = None
        self._other_obj_data = None
        
        # 使用字典统一管理违规计数器
        self.violation_counts = {
            "overtake_on_right": 0,
            "overtake_when_turn_around": 0,
            "overtake_when_passing_car": 0,
            "overtake_in_forbid_lane": 0,
            "overtake_in_ramp": 0,
            "overtake_in_tunnel": 0,
            "overtake_on_accelerate_lane": 0,
            "overtake_on_decelerate_lane": 0,
            "overtake_in_different_senerios": 0
        }
        
        # 标记计算状态
        self._calculated = {
            "illegal_overtake": False,
            "forbid_lane": False,
            "ramp_area": False,
            "tunnel_area": False,
            "accelerate_lane": False,
            "decelerate_lane": False,
            "different_senerios": False
        }
     
    @property
    def ego_data(self):
        """懒加载方式获取ego数据，只在首次访问时创建副本"""
        if self._ego_data is None:
            self._ego_data = self._raw_data[OVERTAKE_INFO].copy().reset_index(drop=True)
        return self._ego_data
    
    @property
    def obj_data(self):
        """懒加载方式获取obj数据"""
        if self._obj_data is None:
            if self._data_obj is not None:
                self._obj_data = self._data_obj[OVERTAKE_INFO].copy().reset_index(drop=True)
            else:
                # 如果没有数据，创建一个空的DataFrame，列名与ego_data相同
                self._obj_data = pd.DataFrame(columns=OVERTAKE_INFO)
        return self._obj_data
    
    @property
    def other_obj_data(self):
        """懒加载方式获取other_obj数据"""
        if self._other_obj_data is None:
            if self._other_obj_data1 is not None:
                self._other_obj_data = self._other_obj_data1[OVERTAKE_INFO].copy().reset_index(drop=True)
            else:
                # 如果没有数据，创建一个空的DataFrame，列名与ego_data相同
                self._other_obj_data = pd.DataFrame(columns=OVERTAKE_INFO)
        return self._other_obj_data

    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 = lane_id[0]
        lane_end = lane_id[-1]
        start_condition = dx[0] * ego_speedx[0] + dy[0] * ego_speedy[0] >= 0
        end_condition = dx[-1] * ego_speedx[-1] + dy[-1] * ego_speedy[-1] < 0

        return lane_start == lane_end and start_condition and end_condition

    def _is_dxy_of_car(self, ego_df, obj_df):
        """
        :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 = obj_df["posX"].values - ego_df["posX"].values
        car_dy = obj_df["posY"].values - ego_df["posY"].values

        return car_dx, car_dy

    def illegal_overtake_with_car_detector(self, window_width=250):
        """检测超车违规"""
        # 如果已经计算过，直接返回
        if self._calculated["illegal_overtake"]:
            return
            
        # 如果没有其他车辆数据，直接返回，保持默认值0
        if self.obj_data.empty:
            print("没有其他车辆数据，无法检测超车违规，默认为0")
            self._calculated["illegal_overtake"] = True
            return

        # 获取csv文件中最短的帧数
        frame_id_length = len(self.ego_data["simFrame"])
        start_frame_id = self.ego_data["simFrame"].iloc[0]  # 获取起始点的帧数

        while (start_frame_id + window_width) < frame_id_length:
            simframe_window1 = list(
                np.arange(start_frame_id, start_frame_id + window_width)
            )
            simframe_window = list(map(int, simframe_window1))
            # 读取滑动窗口的dataframe数据
            ego_data_frames = self.ego_data[
                self.ego_data["simFrame"].isin(simframe_window)
            ]
            
            # 确保有足够的数据进行处理
            if len(ego_data_frames) == 0:
                start_frame_id += 1
                continue
                
            obj_data_frames = self.obj_data[
                self.obj_data["simFrame"].isin(simframe_window)
            ]
            
            # 如果没有其他车辆数据，跳过当前窗口
            if len(obj_data_frames) == 0:
                start_frame_id += 1
                continue
                
            other_data_frames = self.other_obj_data[
                self.other_obj_data["simFrame"].isin(simframe_window)
            ]
            
            # 读取前后的laneId
            lane_id = ego_data_frames["lane_id"].tolist()
            
            # 读取前后方向盘转角steeringWheel
            driverctrl_start_state = ego_data_frames["posH"].iloc[0]
            driverctrl_end_state = ego_data_frames["posH"].iloc[-1]
            
            # 读取车辆前后的位置信息
            dx, dy = self._is_dxy_of_car(ego_data_frames, obj_data_frames)
            ego_speedx = ego_data_frames["speedX"].tolist()
            ego_speedy = ego_data_frames["speedY"].tolist()

            # 安全获取obj_speedx和obj_speedy
            obj_with_id_2 = obj_data_frames[obj_data_frames["playerId"] == 2]
            if not obj_with_id_2.empty:
                obj_speedx = obj_with_id_2["speedX"].tolist()
                obj_speedy = obj_with_id_2["speedY"].tolist()
            else:
                obj_speedx = []
                obj_speedy = []
                
            # 检查会车时超车
            if len(other_data_frames) > 0:
                other_start_speedx = other_data_frames["speedX"].iloc[0]
                other_start_speedy = other_data_frames["speedY"].iloc[0]
                if (
                        ego_speedx[0] * other_start_speedx
                        + ego_speedy[0] * other_start_speedy
                        < 0
                ):
                    self.violation_counts["overtake_when_passing_car"] += self._is_overtake(
                        lane_id, dx, dy, ego_speedx, ego_speedy
                    )
                    start_frame_id += window_width
                    continue
            
            # 检查右侧超车
            if driverctrl_start_state > 0 and driverctrl_end_state < 0:
                self.violation_counts["overtake_on_right"] += self._is_overtake(
                    lane_id, dx, dy, ego_speedx, ego_speedy
                )
                start_frame_id += window_width
                continue
            
            # 检查掉头时超车
            if obj_speedx and obj_speedy:  # 确保列表不为空
                if ego_speedx[0] * obj_speedx[0] + ego_speedy[0] * obj_speedy[0] < 0:
                    self.violation_counts["overtake_when_turn_around"] += self._is_overtake(
                        lane_id, dx, dy, ego_speedx, ego_speedy
                    )
                    start_frame_id += window_width
                    continue
            
            # 如果没有检测到任何违规，移动窗口
            start_frame_id += 1
            
        self._calculated["illegal_overtake"] = True

    # 借道超车场景
    def overtake_in_forbid_lane_detector(self):
        """检测借道超车违规"""
        # 如果已经计算过，直接返回
        if self._calculated["forbid_lane"]:
            return
            
        # 如果没有其他车辆数据，直接返回，保持默认值0
        if self.obj_data.empty:
            print("没有其他车辆数据，无法检测借道超车违规，默认为0")
            self._calculated["forbid_lane"] = True
            return
            
        simTime = self.obj_data["simTime"].tolist()
        simtime_devide = self.different_road_area_simtime(simTime)
        for simtime in simtime_devide:
            lane_overtake = self.ego_data[self.ego_data["simTime"].isin(simtime)]
            try:
                lane_type = lane_overtake["lane_type"].tolist()
                if (50002 in lane_type and len(set(lane_type)) > 2) or (
                        50002 not in lane_type and len(set(lane_type)) > 1
                ):
                    self.violation_counts["overtake_in_forbid_lane"] += 1
            except Exception as e:
                print("数据缺少lane_type信息")
                
        self._calculated["forbid_lane"] = True

    # 在匝道超车
    def overtake_in_ramp_area_detector(self):
        """检测匝道超车违规"""
        # 如果已经计算过，直接返回
        if self._calculated["ramp_area"]:
            return
            
        # 如果没有其他车辆数据，直接返回，保持默认值0
        if self.obj_data.empty:
            print("没有其他车辆数据，无法检测匝道超车违规，默认为0")
            self._calculated["ramp_area"] = True
            return
            
        ramp_simtime_list = self.ego_data[(self.ego_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.ego_data["lane_id"].tolist()
            ego_in_ramp = self.ego_data[self.ego_data["simTime"].isin(ramp_simtime)]
            objstate_in_ramp = self.obj_data[
                self.obj_data["simTime"].isin(ramp_simtime)
            ]
            dx, dy = self._is_dxy_of_car(ego_in_ramp, objstate_in_ramp)
            ego_speedx = ego_in_ramp["speedX"].tolist()
            ego_speedy = ego_in_ramp["speedY"].tolist()
            if len(lane_id) > 0:
                self.violation_counts["overtake_in_ramp"] += self._is_overtake(
                    lane_id, dx, dy, ego_speedx, ego_speedy
                )
            else:
                continue
                
        self._calculated["ramp_area"] = True

    def overtake_in_tunnel_area_detector(self):
        """检测隧道超车违规"""
        # 如果已经计算过，直接返回
        if self._calculated["tunnel_area"]:
            return
            
        # 如果没有其他车辆数据，直接返回，保持默认值0
        if self.obj_data.empty:
            print("没有其他车辆数据，无法检测隧道超车违规，默认为0")
            self._calculated["tunnel_area"] = True
            return
            
        tunnel_simtime_list = self.ego_data[(self.ego_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.ego_data["lane_id"].tolist()
            ego_in_tunnel = self.ego_data[self.ego_data["simTime"].isin(tunnel_simtime)]
            objstate_in_tunnel = self.obj_data[
                self.obj_data["simTime"].isin(tunnel_simtime)
            ]
            dx, dy = self._is_dxy_of_car(ego_in_tunnel, objstate_in_tunnel)
            ego_speedx = ego_in_tunnel["speedX"].tolist()
            ego_speedy = ego_in_tunnel["speedY"].tolist()
            if len(lane_id) > 0:
                self.violation_counts["overtake_in_tunnel"] += self._is_overtake(
                    lane_id, dx, dy, ego_speedx, ego_speedy
                )
            else:
                continue
                
        self._calculated["tunnel_area"] = True

    # 加速车道超车
    def overtake_on_accelerate_lane_detector(self):
        """检测加速车道超车违规"""
        # 如果已经计算过，直接返回
        if self._calculated["accelerate_lane"]:
            return
            
        # 如果没有其他车辆数据，直接返回，保持默认值0
        if self.obj_data.empty:
            print("没有其他车辆数据，无法检测加速车道超车违规，默认为0")
            self._calculated["accelerate_lane"] = True
            return
            
        accelerate_simtime_list = self.ego_data[self.ego_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.ego_data["lane_id"].tolist()
            ego_in_accelerate = self.ego_data[
                self.ego_data["simTime"].isin(accelerate_simtime)
            ]
            objstate_in_accelerate = self.obj_data[
                self.obj_data["simTime"].isin(accelerate_simtime)
            ]
            dx, dy = self._is_dxy_of_car(ego_in_accelerate, objstate_in_accelerate)
            ego_speedx = ego_in_accelerate["speedX"].tolist()
            ego_speedy = ego_in_accelerate["speedY"].tolist()

            self.violation_counts["overtake_on_accelerate_lane"] += self._is_overtake(
                lane_id, dx, dy, ego_speedx, ego_speedy
            )
            
        self._calculated["accelerate_lane"] = True

    # 减速车道超车
    def overtake_on_decelerate_lane_detector(self):
        """检测减速车道超车违规"""
        # 如果已经计算过，直接返回
        if self._calculated["decelerate_lane"]:
            return
            
        # 如果没有其他车辆数据，直接返回，保持默认值0
        if self.obj_data.empty:
            print("没有其他车辆数据，无法检测减速车道超车违规，默认为0")
            self._calculated["decelerate_lane"] = True
            return
            
        decelerate_simtime_list = self.ego_data[(self.ego_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.ego_data["id"].tolist()
            ego_in_decelerate = self.ego_data[
                self.ego_data["simTime"].isin(decelerate_simtime)
            ]
            objstate_in_decelerate = self.obj_data[
                self.obj_data["simTime"].isin(decelerate_simtime)
            ]
            dx, dy = self._is_dxy_of_car(ego_in_decelerate, objstate_in_decelerate)
            ego_speedx = ego_in_decelerate["speedX"].tolist()
            ego_speedy = ego_in_decelerate["speedY"].tolist()

            self.violation_counts["overtake_on_decelerate_lane"] += self._is_overtake(
                lane_id, dx, dy, ego_speedx, ego_speedy
            )
            
        self._calculated["decelerate_lane"] = True

    # 在交叉路口
    def overtake_in_different_senerios_detector(self):
        """检测不同场景超车违规"""
        # 如果已经计算过，直接返回
        if self._calculated["different_senerios"]:
            return
            
        # 如果没有其他车辆数据，直接返回，保持默认值0
        if self.obj_data.empty:
            print("没有其他车辆数据，无法检测不同场景超车违规，默认为0")
            self._calculated["different_senerios"] = True
            return
            
        crossroad_simTime = self.ego_data[self.ego_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_ego = self.ego_data[self.ego_data["simTime"].isin(crossroad_simTime)]
        crossroad_objstate = self.obj_data[
            self.obj_data["simTime"].isin(crossroad_simTime)
        ]
        # 读取前后的laneId
        lane_id = crossroad_ego["lane_id"].tolist()

        # 读取车辆前后的位置信息
        dx, dy = self._is_dxy_of_car(crossroad_ego, crossroad_objstate)
        ego_speedx = crossroad_ego["speedX"].tolist()
        ego_speedy = crossroad_ego["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.violation_counts["overtake_in_different_senerios"] += self._is_overtake(
                lane_id, dx, dy, ego_speedx, ego_speedy
            )
            
        self._calculated["different_senerios"] = True

    def calculate_overtake_when_passing_car_count(self):
        """计算会车时超车违规次数"""
        self.illegal_overtake_with_car_detector()
        return self.violation_counts["overtake_when_passing_car"]

    def calculate_overtake_on_right_count(self):
        """计算右侧超车违规次数"""
        self.illegal_overtake_with_car_detector()
        return self.violation_counts["overtake_on_right"]

    def calculate_overtake_when_turn_around_count(self):
        """计算掉头时超车违规次数"""
        self.illegal_overtake_with_car_detector()
        return self.violation_counts["overtake_when_turn_around"]

    def calculate_overtake_in_forbid_lane_count(self):
        """计算借道超车违规次数"""
        self.overtake_in_forbid_lane_detector()
        return self.violation_counts["overtake_in_forbid_lane"]

    def calculate_overtake_in_ramp_area_count(self):
        """计算匝道超车违规次数"""
        self.overtake_in_ramp_area_detector()
        return self.violation_counts["overtake_in_ramp"]

    def calculate_overtake_in_tunnel_area_count(self):
        """计算隧道超车违规次数"""
        self.overtake_in_tunnel_area_detector()
        return self.violation_counts["overtake_in_tunnel"]

    def calculate_overtake_on_accelerate_lane_count(self):
        """计算加速车道超车违规次数"""
        self.overtake_on_accelerate_lane_detector()
        return self.violation_counts["overtake_on_accelerate_lane"]

    def calculate_overtake_on_decelerate_lane_count(self):
        """计算减速车道超车违规次数"""
        self.overtake_on_decelerate_lane_detector()
        return self.violation_counts["overtake_on_decelerate_lane"]

    def calculate_overtake_in_different_senerios_count(self):
        """计算不同场景超车违规次数"""
        self.overtake_in_different_senerios_detector()
        return self.violation_counts["overtake_in_different_senerios"]


class SlowdownViolation(object):
    """减速让行违规类"""

    def __init__(self, df_data):
        print("减速让行违规类-------------------------")
        self.traffic_violations_type = "减速让行违规类"
        
        # 存储原始数据引用
        self._raw_data = df_data.obj_data[1]
        self.object_items = set(df_data.object_df.type.tolist())
        
        # 存储行人数据引用
        self._pedestrian_df = None
        if 13 in self.object_items:  # 行人的type是13
            self._pedestrian_df = df_data.object_df[df_data.object_df.type == 13]
        
        # 初始化属性，但不立即创建数据副本
        self._ego_data = None
        self._pedestrian_data = None
        
        # 初始化计数器
        self.slow_down_in_crosswalk_count = 0
        self.avoid_pedestrian_in_crosswalk_count = 0
        self.avoid_pedestrian_in_the_road_count = 0
        self.aviod_pedestrian_when_turning_count = 0
    
    @property
    def ego_data(self):
        """懒加载方式获取ego数据"""
        if self._ego_data is None:
            self._ego_data = self._raw_data[SLOWDOWN_INFO].copy().reset_index(drop=True)
        return self._ego_data
    
    @property
    def pedestrian_data(self):
        """懒加载方式获取行人数据"""
        if self._pedestrian_data is None:
            if self._pedestrian_df is not None:
                # 使用浅拷贝代替深拷贝
                self._pedestrian_data = self._pedestrian_df[SLOWDOWN_INFO].copy().reset_index(drop=True)
            else:
                self._pedestrian_data = pd.DataFrame()
        return self._pedestrian_data

    def pedestrian_in_front_of_car(self):
        if len(self.pedestrian_data) == 0:
            return []
        else:
            self.ego_data["dx"] = self.ego_data["posX"] - self.pedestrian_data["posX"]
            self.ego_data["dy"] = self.ego_data["posY"] - self.pedestrian_data["posY"]
            self.ego_data["dist"] = np.sqrt(
                self.ego_data["dx"] ** 2 + self.ego_data["dy"] ** 2
            )

            self.ego_data["rela_pos"] = (
                    self.ego_data["dx"] * self.ego_data["speedX"]
                    + self.ego_data["dy"] * self.ego_data["speedY"]
            )
            simtime = self.ego_data[
                (self.ego_data["rela_pos"] > 0) & (self.ego_data["dist"] < 50)
                ]["simTime"].tolist()
            return simtime

    def different_road_area_simtime(self, df, threshold=0.6):
        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_detector(self):
        # 筛选出路口或隧道区域的时间点
        crosswalk_simTime = self.ego_data[self.ego_data["crossid"] != 20000][
            "simTime"
        ].tolist()
        crosswalk_simTime_divide = self.different_road_area_simtime(crosswalk_simTime)

        for crosswalk_simtime in crosswalk_simTime_divide:
            # 筛选出当前时间段内的数据
            # start_time, end_time = crosswalk_simtime
            start_time = crosswalk_simtime[0]
            end_time = crosswalk_simtime[-1]
            print(f"当前时间段：{start_time} - {end_time}")
            crosswalk_objstate = self.ego_data[
                (self.ego_data["simTime"] >= start_time)
                & (self.ego_data["simTime"] <= end_time)
                ]

            # 计算车辆速度
            ego_speedx = np.array(crosswalk_objstate["speedX"].tolist())
            ego_speedy = np.array(crosswalk_objstate["speedY"].tolist())
            ego_speed = np.sqrt(ego_speedx ** 2 + ego_speedy ** 2)

            # 判断是否超速
            if max(ego_speed) > 15 / 3.6:  # 15 km/h 转换为 m/s
                self.slow_down_in_crosswalk_count += 1

        # 输出总次数
        print(f"在人行横道超车总次数：{self.slow_down_in_crosswalk_count}次")

    def avoid_pedestrian_in_crosswalk_detector(self):
        crosswalk_simTime = self.ego_data[self.ego_data["crossid"] != 20000][
            "simTime"
        ].tolist()
        crosswalk_simTime_devide = self.different_road_area_simtime(crosswalk_simTime)
        for crosswalk_simtime in crosswalk_simTime_devide:
            if not self.pedestrian_data.empty:
                crosswalk_objstate = self.pedestrian_data[
                    self.pedestrian_data["simTime"].isin(crosswalk_simtime)
                ]
            else:
                crosswalk_objstate = pd.DataFrame()
            if len(crosswalk_objstate) > 0:
                pedestrian_simtime = crosswalk_objstate["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.avoid_pedestrian_in_crosswalk_count += 1

    def avoid_pedestrian_in_the_road_detector(self):
        simtime = self.pedestrian_in_front_of_car()
        if len(simtime) == 0:
            self.avoid_pedestrian_in_the_road_count += 0
        else:
            pedestrian_on_the_road = self.pedestrian_data[
                self.pedestrian_data["simTime"].isin(simtime)
            ]
            simTime = pedestrian_on_the_road["simTime"].tolist()
            simTime_devide = self.different_road_area_simtime(simTime)
            for simtime1 in simTime_devide:
                sub_pedestrian_on_the_road = pedestrian_on_the_road[
                    pedestrian_on_the_road["simTime"].isin(simtime1)
                ]
                ego_car = self.ego_data.loc[(self.ego_data["simTime"].isin(simtime1))]
                dist = np.sqrt(
                    (ego_car["posX"].values - sub_pedestrian_on_the_road["posX"].values)
                    ** 2
                    + (
                            ego_car["posY"].values
                            - sub_pedestrian_on_the_road["posY"].values
                    )
                    ** 2
                )
                speed = np.sqrt(
                    ego_car["speedX"].values ** 2 + ego_car["speedY"].values ** 2
                )
                data = {"dist": dist, "speed": speed}
                new_ego_car = pd.DataFrame(data)
                new_ego_car = new_ego_car.assign(
                    Column3=lambda x: (x["dist"] < 1) & (x["speed"] == 0)
                )
                if new_ego_car["Column3"].any():
                    self.avoid_pedestrian_in_the_road_count += 1

    def aviod_pedestrian_when_turning_detector(self):
        pedestrian_simtime_list = self.pedestrian_in_front_of_car()
        if len(pedestrian_simtime_list) > 0:
            simtime_list = self.ego_data[
                (self.ego_data["simTime"].isin(pedestrian_simtime_list))
                & (self.ego_data["lane_type"] == 20)
                ]["simTime"].tolist()
            simTime_list = self.different_road_area_simtime(simtime_list)
            pedestrian_on_the_road = self.pedestrian_data[
                self.pedestrian_data["simTime"].isin(simtime_list)
            ]
            for simtime in simTime_list:
                sub_pedestrian_on_the_road = pedestrian_on_the_road[
                    pedestrian_on_the_road["simTime"].isin(simtime)
                ]
                ego_car = self.ego_data.loc[(self.ego_data["simTime"].isin(simtime))]
                ego_car["dist"] = np.sqrt(
                    (ego_car["posX"].values - sub_pedestrian_on_the_road["posX"].values)
                    ** 2
                    + (
                            ego_car["posY"].values
                            - sub_pedestrian_on_the_road["posY"].values
                    )
                    ** 2
                )
                ego_car["speed"] = np.sqrt(
                    ego_car["speedX"].values ** 2 + ego_car["speedY"].values ** 2
                )
                if any(ego_car["speed"].tolist()) != 0:
                    self.aviod_pedestrian_when_turning_count += 1

    def calculate_slow_down_in_crosswalk_count(self):
        self.slow_down_in_crosswalk_detector()
        return self.slow_down_in_crosswalk_count

    def calculate_avoid_pedestrian_in_the_crosswalk_count(self):
        self.avoid_pedestrian_in_crosswalk_detector()
        return self.avoid_pedestrian_in_crosswalk_count

    def calculate_avoid_pedestrian_in_the_road_count(self):
        self.avoid_pedestrian_in_the_road_detector()
        return self.avoid_pedestrian_in_the_road_count

    def calculate_avoid_pedestrian_when_turning_count(self):
        self.aviod_pedestrian_when_turning_detector()
        return self.aviod_pedestrian_when_turning_count


class TurnaroundViolation(object):

    def __init__(self, df_data):
        print("掉头违规类初始化中...")
        self.traffic_violations_type = "掉头违规类"

        # 存储原始数据引用
        self._raw_data = df_data.obj_data[1]
        self.object_items = set(df_data.object_df.type.tolist())
        
        # 存储行人数据引用
        self._pedestrian_df = None
        if 13 in self.object_items:  # 行人的type是13
            self._pedestrian_df = df_data.object_df[df_data.object_df.type == 13]
        
        # 初始化属性，但不立即创建数据副本
        self._ego_data = None
        self._pedestrian_data = None
        
        # 初始化计数器
        self.turning_in_forbiden_turn_back_sign_count = 0
        self.turning_in_forbiden_turn_left_sign_count = 0
        self.avoid_pedestrian_when_turn_back_count = 0
    
    @property
    def ego_data(self):
        """懒加载方式获取ego数据"""
        if self._ego_data is None:
            self._ego_data = self._raw_data[TURNAROUND_INFO].copy().reset_index(drop=True)
        return self._ego_data
    
    @property
    def pedestrian_data(self):
        """懒加载方式获取行人数据"""
        if self._pedestrian_data is None:
            if self._pedestrian_df is not None:
                self._pedestrian_data = self._pedestrian_df[SLOWDOWN_INFO].copy().reset_index(drop=True)
            else:
                self._pedestrian_data = pd.DataFrame()
        return self._pedestrian_data

    def pedestrian_in_front_of_car(self):
        if len(self.pedestrian_data) == 0:
            return []
        else:
            self.ego_data["dx"] = self.ego_data["posX"] - self.pedestrian_data["posX"]
            self.ego_data["dy"] = self.ego_data["posY"] - self.pedestrian_data["posY"]
            self.ego_data["dist"] = np.sqrt(
                self.ego_data["dx"] ** 2 + self.ego_data["dy"] ** 2
            )

            self.ego_data["rela_pos"] = (
                    self.ego_data["dx"] * self.ego_data["speedX"]
                    + self.ego_data["dy"] * self.ego_data["speedY"]
            )
            simtime = self.ego_data[
                (self.ego_data["rela_pos"] > 0) & (self.ego_data["dist"] < 50)
                ]["simTime"].tolist()
            return simtime

    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 turn_back_in_forbiden_sign_detector(self):
        """
        禁止掉头type = 8
        """
        forbiden_turn_back_simTime = self.ego_data[self.ego_data["sign_type1"] == 8][
            "simTime"
        ].tolist()
        forbiden_turn_left_simTime = self.ego_data[self.ego_data["sign_type1"] == 9][
            "simTime"
        ].tolist()

        forbiden_turn_back_simtime_devide = self.different_road_area_simtime(
            forbiden_turn_back_simTime
        )
        forbiden_turn_left_simtime_devide = self.different_road_area_simtime(
            forbiden_turn_left_simTime
        )
        for forbiden_turn_back_simtime in forbiden_turn_back_simtime_devide:
            ego_car1 = self.ego_data.loc[
                (self.ego_data["simFrame"].isin(forbiden_turn_back_simtime))
            ]
            ego_start_speedx1 = ego_car1["speedX"].iloc[0]
            ego_start_speedy1 = ego_car1["speedY"].iloc[0]
            ego_end_speedx1 = ego_car1["speedX"].iloc[-1]
            ego_end_speedy1 = ego_car1["speedY"].iloc[-1]

            if (
                    ego_end_speedx1 * ego_start_speedx1
                    + ego_end_speedy1 * ego_start_speedy1
                    < 0
            ):
                self.turning_in_forbiden_turn_back_sign_count += 1

        for forbiden_turn_left_simtime in forbiden_turn_left_simtime_devide:
            ego_car2 = self.ego_data.loc[
                (self.ego_data["simFrame"].isin(forbiden_turn_left_simtime))
            ]
            ego_start_speedx2 = ego_car2["speedX"].iloc[0]
            ego_start_speedy2 = ego_car2["speedY"].iloc[0]
            ego_end_speedx2 = ego_car2["speedX"].iloc[-1]
            ego_end_speedy2 = ego_car2["speedY"].iloc[-1]

            if (
                    ego_end_speedx2 * ego_start_speedx2
                    + ego_end_speedy2 * ego_start_speedy2
                    < 0
            ):
                self.turning_in_forbiden_turn_left_sign_count += 1

    def avoid_pedestrian_when_turn_back_detector(self):
        sensor_on_intersection = self.pedestrian_in_front_of_car()
        avoid_pedestrian_when_turn_back_simTime_list = self.ego_data[
            self.ego_data["lane_type"] == 20
            ]["simTime"].tolist()
        avoid_pedestrian_when_turn_back_simTime_devide = (
            self.different_road_area_simtime(
                avoid_pedestrian_when_turn_back_simTime_list
            )
        )
        if len(sensor_on_intersection) > 0:
            for avoid_pedestrian_when_turn_back_simtime in avoid_pedestrian_when_turn_back_simTime_devide:
                pedestrian_in_intersection_simtime = self.pedestrian_data[
                    self.pedestrian_data["simTime"].isin(
                        avoid_pedestrian_when_turn_back_simtime
                    )
                ].tolist()
                ego_df = self.ego_data[
                    self.ego_data["simTime"].isin(pedestrian_in_intersection_simtime)
                ].reset_index(drop=True)
                pedestrian_df = self.pedestrian_data[
                    self.pedestrian_data["simTime"].isin(
                        pedestrian_in_intersection_simtime
                    )
                ].reset_index(drop=True)
                ego_df["dist"] = np.sqrt(
                    (ego_df["posx"] - pedestrian_df["posx"]) ** 2
                    + (ego_df["posy"] - pedestrian_df["posy"]) ** 2
                )
                ego_df["speed"] = np.sqrt(ego_df["speedx"] ** 2 + ego_df["speedy"] ** 2)
                if any(ego_df["speed"].tolist()) != 0:
                    self.avoid_pedestrian_when_turn_back_count += 1

    def calculate_turn_in_forbiden_turn_left_sign_count(self):
        self.turn_back_in_forbiden_sign_detector()
        return self.turning_in_forbiden_turn_left_sign_count

    def calculate_turn_in_forbiden_turn_back_sign_count(self):
        self.turn_back_in_forbiden_sign_detector()
        return self.turning_in_forbiden_turn_back_sign_count

    def calaulate_avoid_pedestrian_when_turn_back_count(self):
        self.avoid_pedestrian_when_turn_back_detector()
        return self.avoid_pedestrian_when_turn_back_count

class WrongWayViolation(object):
    """停车违规类"""

    def __init__(self, df_data):
        print("停车违规类初始化中...")
        self.traffic_violations_type = "停车违规类"
        
        # 存储原始数据引用
        self._raw_data = df_data.obj_data[1]
        
        # 初始化属性，但不立即创建数据副本
        self._data = None
        
        # 初始化违规统计
        self.violation_count = {
            "urbanExpresswayOrHighwayDrivingLaneStopped": 0,
            "urbanExpresswayOrHighwayEmergencyLaneStopped": 0,
            "urbanExpresswayEmergencyLaneDriving": 0,
        }
    
    @property
    def data(self):
        """懒加载方式获取数据"""
        if self._data is None:
            # 使用浅拷贝代替深拷贝
            self._data = self._raw_data.copy()
        return self._data

    def process_violations(self):
        """处理停车或者紧急车道行驶违规数据"""
        # 提取有效道路类型
        urban_expressway_or_highway = {1, 2}
        driving_lane = {1, 4, 5, 6}
        emergency_lane = {12}
        self.data["v"] *= 3.6  # 转换速度

        # 使用向量化和条件判断进行违规判定
        conditions = [
            (
                    self.data["road_fc"].isin(urban_expressway_or_highway)
                    & self.data["lane_type"].isin(driving_lane)
                    & (self.data["v"] == 0)
            ),
            (
                    self.data["road_fc"].isin(urban_expressway_or_highway)
                    & self.data["lane_type"].isin(emergency_lane)
                    & (self.data["v"] == 0)
            ),
            (
                    self.data["road_fc"].isin(urban_expressway_or_highway)
                    & self.data["lane_type"].isin(emergency_lane)
                    & (self.data["v"] != 0)
            ),
        ]

        violation_types = [
            "urbanExpresswayOrHighwayDrivingLaneStopped",
            "urbanExpresswayOrHighwayEmergencyLaneStopped",
            "urbanExpresswayEmergencyLaneDriving",
        ]

        # 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

        # 统计违规情况
        self.violation_count = (
            self.data["violation_type"]
            .value_counts()
            .reindex(violation_types, fill_value=0)
            .to_dict()
        )

    def calculate_urbanExpresswayOrHighwayDrivingLaneStopped_count(self):
        self.process_violations()
        return self.violation_count["urbanExpresswayOrHighwayDrivingLaneStopped"]

    def calculate_urbanExpresswayOrHighwayEmergencyLaneStopped_count(self):
        self.process_violations()
        return self.violation_count["urbanExpresswayEmergencyLaneDriving"]

    def calculate_urbanExpresswayEmergencyLaneDriving(self):
        self.process_violations()
        return self.violation_count["urbanExpresswayEmergencyLaneDriving"]

class SpeedingViolation(object):
    """超速违规类"""

    """ 这里没有道路标志牌限速指标,因为shp地图中没有这个信息"""

    def __init__(self, df_data):
        print("超速违规类初始化中...")
        self.traffic_violations_type = "超速违规类"
        # 存储原始数据引用
        self._raw_data = df_data.obj_data[1]
        
        # 初始化属性，但不立即创建数据副本
        self._data = None
        # 初始化违规统计
        self.violation_counts = {
            "urbanExpresswayOrHighwaySpeedOverLimit50": 0,
            "urbanExpresswayOrHighwaySpeedOverLimit20to50": 0,
            "urbanExpresswayOrHighwaySpeedOverLimit0to20": 0,
            "urbanExpresswayOrHighwaySpeedUnderLimit": 0,
            "generalRoadSpeedOverLimit50": 0,
            "generalRoadSpeedOverLimit20to50": 0,
        }

    @property
    def data(self):
        """懒加载方式获取数据"""
        if self._data is None:
            # 使用浅拷贝代替深拷贝
            self._data = self._raw_data.copy()
            # 预处理数据 - 转换速度单位
            self._data["v"] *= 3.6  # 转换为 km/h
        return self._data

    def process_violations(self):
        """处理数据帧，检查超速和其他违规行为"""
        # 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
        self.data["v"] *= 3.6  # 转换速度

        # 违规判定
        conditions = [
            (
                    self.data["road_fc"].isin(urban_expressway_or_highway)
                    & (self.data["v"] > self.data["road_speed_max"] * 1.5)
            ),
            (
                    self.data["road_fc"].isin(urban_expressway_or_highway)
                    & (self.data["v"] > self.data["road_speed_max"] * 1.2)
                    & (self.data["v"] <= self.data["road_speed_max"] * 1.5)
            ),
            (
                    self.data["road_fc"].isin(urban_expressway_or_highway)
                    & (self.data["v"] > self.data["road_speed_max"])
                    & (self.data["v"] <= self.data["road_speed_max"] * 1.2)
            ),
            (
                    self.data["road_fc"].isin(urban_expressway_or_highway)
                    & (self.data["v"] < self.data["road_speed_min"])
            ),
            (
                    self.data["road_fc"].isin(general_road)
                    & (self.data["v"] > self.data["road_speed_max"] * 1.5)
            ),
            (
                    self.data["road_fc"].isin(general_road)
                    & (self.data["v"] > self.data["road_speed_max"] * 1.2)
                    & (self.data["v"] <= self.data["road_speed_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 calculate_urbanExpresswayOrHighwaySpeedOverLimit50_count(self):
        self.process_violations()
        return self.violation_counts.get("urbanExpresswayOrHighwaySpeedOverLimit50") if self.violation_counts.get(
            "urbanExpresswayOrHighwaySpeedOverLimit50") else 0

    def calculate_urbanExpresswayOrHighwaySpeedOverLimit20to50_count(self):
        self.process_violations()
        return self.violation_counts["urbanExpresswayOrHighwaySpeedOverLimit20to50"] if self.violation_counts.get(
            "urbanExpresswayOrHighwaySpeedOverLimit20to50") else 0

    def calculate_urbanExpresswayOrHighwaySpeedOverLimit0to20_count(self):
        self.process_violations()
        return self.violation_counts["urbanExpresswayOrHighwaySpeedOverLimit0to20"] if self.violation_counts.get(
            "urbanExpresswayOrHighwaySpeedOverLimit0to20") else 0

    def calculate_urbanExpresswayOrHighwaySpeedUnderLimit_count(self):
        self.process_violations()
        return self.violation_counts["urbanExpresswayOrHighwaySpeedUnderLimit"] if self.violation_counts.get(
            "urbanExpresswayOrHighwaySpeedUnderLimit") else 0

    def calculate_generalRoadSpeedOverLimit50(self):
        self.process_violations()
        return self.violation_counts["generalRoadSpeedOverLimit50"] if self.violation_counts.get(
            "generalRoadSpeedOverLimit50") else 0

    def calculate_generalRoadSpeedOverLimit20to50_count(self):
        self.process_violations()
        return self.violation_counts["generalRoadSpeedOverLimit20to50"] if self.violation_counts.get(
            "generalRoadSpeedOverLimit20to50") else 0

class TrafficLightViolation(object):
    """违反交通灯类"""

    """需要补充判断车辆是左转直行还是右转，判断红绿灯是方向性红绿灯还是通过性红绿灯"""

    def __init__(self, df_data):
        """初始化方法"""
        self.traffic_violations_type = "违反交通灯类"
        print("违反交通灯类 类初始化中...")
        self.config = df_data.vehicle_config

        self.data_ego = df_data.ego_data  # 获取数据
        self.violation_counts = {
            "trafficSignalViolation": 0,
            "illegalDrivingOrParkingAtCrossroads": 0,
        }

        # 处理数据并判定违规
        self.process_violations()

    def is_point_cross_line(self, point, stop_line_points):
        """
        判断车辆的某一坐标点是否跨越了由两个点定义的停止线（线段）。
        使用向量叉积判断点是否在线段上，并通过计算车辆的航向角来判断是否跨越了停止线。

        :param point: 车辆位置点 (x, y, heading)，包括 x, y 位置以及朝向角度（弧度制）
        :param stop_line_points: 停止线两个端点 [[x1, y1], [x2, y2]]
        :return: True 如果车辆跨越了停止线，否则 False
        """
        line_vector = np.array(
            [
                stop_line_points[1][0] - stop_line_points[0][0],
                stop_line_points[1][1] - stop_line_points[0][1],
            ]
        )
        point_vector = np.array(
            [point[0] - stop_line_points[0][0], point[1] - stop_line_points[0][1]]
        )

        cross_product = np.cross(line_vector, point_vector)
        if cross_product != 0:
            return False

        mid_point = (
                np.array([stop_line_points[0][0], stop_line_points[0][1]])
                + 0.5 * line_vector
        )
        axletree_to_mid_vector = np.array(
            [point[0] - mid_point[0], point[1] - mid_point[1]]
        )
        direction_vector = np.array([math.cos(point[2]), math.sin(point[2])])

        norm_axletree_to_mid = np.linalg.norm(axletree_to_mid_vector)
        norm_direction = np.linalg.norm(direction_vector)

        if norm_axletree_to_mid == 0 or norm_direction == 0:
            return False

        cos_theta = np.dot(axletree_to_mid_vector, direction_vector) / (
                norm_axletree_to_mid * norm_direction
        )
        angle_theta = math.degrees(math.acos(cos_theta))

        return angle_theta <= 90

    def _filter_data(self):
        """过滤数据，筛选出需要分析的记录"""
        return self.data_ego[
            (self.data_ego["stopline_id"] != -1)
            & (self.data_ego["stopline_type"] == 1)
            & (self.data_ego["trafficlight_id"] != -1)
            ]

    def _group_data(self, filtered_data):
        """按时间差对数据进行分组"""
        filtered_data["time_diff"] = filtered_data["simTime"].diff().fillna(0)
        threshold = 0.5
        filtered_data["group"] = (filtered_data["time_diff"] > threshold).cumsum()
        return filtered_data.groupby("group")

    def _analyze_group(self, group_data):
        """分析单个分组的数据，判断是否闯红灯"""
        photos = []
        stop_in_intersection = False

        for _, row in group_data.iterrows():
            vehicle_pos = np.array([row["posX"], row["posY"], row["posH"]])
            stop_line_points = [
                [row["stopline_x1"], row["stopline_y1"]],
                [row["stopline_x2"], row["stopline_y2"]],
            ]
            traffic_light_status = row["traffic_light_status"]
            heading_vector = np.array([np.cos(row["posH"]), np.sin(row["posH"])])
            heading_vector = heading_vector / np.linalg.norm(heading_vector)

            # with open(self.config_path / "vehicle_config.yaml", 'r') as f:
            #     config = yaml.load(f, Loader=yaml.FullLoader)
            front_wheel_pos = vehicle_pos[:2] + self.config["EGO_WHEELBASS"] * heading_vector
            rear_wheel_pos = vehicle_pos[:2] - self.config["EGO_WHEELBASS"] * heading_vector
            dist = math.sqrt(
                (row["posX"] - row["traffic_light_x"]) ** 2
                + (row["posY"] - row["traffic_light_y"]) ** 2
            )

            if abs(row["speedH"]) > 0.01 or abs(row["speedH"]) < 0.01:
                has_crossed_line_front = (
                        self.is_point_cross_line(front_wheel_pos, stop_line_points)
                        and traffic_light_status == 1
                )
                has_crossed_line_rear = (
                        self.is_point_cross_line(rear_wheel_pos, stop_line_points)
                        and row["v"] > 0
                        and traffic_light_status == 1
                )
                has_stop_in_intersection = has_crossed_line_front and row["v"] == 0
                has_passed_intersection = has_crossed_line_front and dist < 1.0
                # print(f'time: {row["simTime"]}, speed: {row["speedH"]}, posH: {row["posH"]}, dist: {dist:.2f}, has_stop_in_intersection: {has_stop_in_intersection}, has_passed_intersection: {has_passed_intersection}')

                photos.extend(
                    [
                        has_crossed_line_front,
                        has_crossed_line_rear,
                        has_passed_intersection,
                        has_stop_in_intersection,
                    ]
                )
                stop_in_intersection = has_passed_intersection

        return photos, stop_in_intersection

    def is_vehicle_run_a_red_light(self):
        """判断车辆是否闯红灯"""
        filtered_data = self._filter_data()
        grouped_data = self._group_data(filtered_data)
        self.photos_group = []
        self.stop_in_intersections = []

        for _, group_data in grouped_data:
            photos, stop_in_intersection = self._analyze_group(group_data)
            self.photos_group.append(photos)
            self.stop_in_intersections.append(stop_in_intersection)

    def process_violations(self):
        """处理数据并判定违规"""
        self.is_vehicle_run_a_red_light()
        count_1 = sum(all(photos) for photos in self.photos_group)
        count_2 = sum(
            stop_in_intersection for stop_in_intersection in self.stop_in_intersections
        )

        self.violation_counts["trafficSignalViolation"] = count_1
        self.violation_counts["illegalDrivingOrParkingAtCrossroads"] = count_2

    def calculate_trafficSignalViolation_count(self):
        self.process_violations()
        return self.violation_counts["trafficSignalViolation"]

    def calculate_illegalDrivingOrParkingAtCrossroads(self):
        self.process_violations()
        return self.violation_counts["illegalDrivingOrParkingAtCrossroads"]

class WarningViolation(object):
    """警告性违规类"""

    def __init__(self, df_data):
        print("警告性违规类初始化中...")
        self.traffic_violations_type = "警告性违规类"
        
        # 存储原始数据引用
        self.config = df_data.vehicle_config
        self._raw_data = df_data.obj_data[1]
        
        # 初始化属性，但不立即创建数据副本
        self._data = None
        
        # 初始化违规计数器
        self.violation_counts = {
            "generalRoadIrregularLaneUse": 0,  # 驾驶机动车在高速公路、城市快速路以外的道路上不按规定车道行驶
            "urbanExpresswayOrHighwayRideLaneDivider": 0,  # 机动车在高速公路或者城市快速路上骑、轧车行道分界线
        }
    
    @property
    def data(self):
        """懒加载方式获取数据"""
        if self._data is None:
            # 使用浅拷贝代替深拷贝
            self._data = self._raw_data.copy()
        return self._data

    def process_violations(self):
        """处理所有违规类型"""
        # 处理普通道路不按规定车道行驶违规
        self._process_irregular_lane_use()
        
        # 处理骑、轧车行道分界线违规
        self._process_lane_divider_violation()

    def _process_irregular_lane_use(self):
        """处理普通道路不按规定车道行驶违规"""
        # 定义道路和车道类型
        general_road = {3}  # 普通道路
        lane_type = {11}    # 非机动车道
        
        # 使用布尔索引来筛选满足条件的行
        condition = (self.data["road_fc"].isin(general_road)) & (
            self.data["lane_type"].isin(lane_type)
        )
        
        # 创建一个新的列，并根据条件设置值
        self.data["is_violation"] = condition
        
        # 统计满足条件的连续时间段
        violation_segments = self.count_continuous_violations(
            self.data["is_violation"], self.data["simTime"]
        )
        
        # 更新违规计数
        self.violation_counts["generalRoadIrregularLaneUse"] = len(violation_segments)

    def _process_lane_divider_violation(self):
        """处理骑、轧车行道分界线违规"""
        # 获取车辆和车道宽度
        car_width = self.config["CAR_WIDTH"]
        lane_width = self.data["lane_width"]
        
        # 计算阈值
        threshold = (lane_width - car_width) / 2
        
        # 找到满足条件的行
        self.data["is_violation"] = self.data["laneOffset"] > threshold
        
        # 统计满足条件的连续时间段
        violation_segments = self.count_continuous_violations(
            self.data["is_violation"], self.data["simTime"]
        )
        
        # 更新违规计数
        self.violation_counts["urbanExpresswayOrHighwayRideLaneDivider"] = len(
            violation_segments
        )

    def count_continuous_violations(self, violation_series, time_series):
        """统计连续违规的时间段数量
        
        Args:
            violation_series: 表示是否违规的布尔序列
            time_series: 对应的时间序列
            
        Returns:
            list: 连续违规时间段列表
        """
        continuous_segments = []
        current_segment = []

        for is_violation, time in zip(violation_series, time_series):
            if is_violation:
                if not current_segment:  # 新的连续段开始
                    current_segment.append(time)
            else:
                if current_segment:  # 连续段结束
                    current_segment.append(time)  # 添加结束时间
                    continuous_segments.append(current_segment)
                    current_segment = []

        # 检查是否有一个未结束的连续段在最后
        if current_segment:
            current_segment.append(time_series.iloc[-1])  # 使用最后的时间作为结束时间
            continuous_segments.append(current_segment)

        return continuous_segments

    def calculate_generalRoadIrregularLaneUse_count(self):
        """计算普通道路不按规定车道行驶违规次数"""
        # 只处理普通道路不按规定车道行驶违规
        self._process_irregular_lane_use()
        return self.violation_counts["generalRoadIrregularLaneUse"]

    def calculate_urbanExpresswayOrHighwayRideLaneDivider_count(self):
        """计算骑、轧车行道分界线违规次数"""
        # 只处理骑、轧车行道分界线违规
        self._process_lane_divider_violation()
        return self.violation_counts["urbanExpresswayOrHighwayRideLaneDivider"]

class TrafficSignViolation:
    """交通标志违规类"""
    
    PROHIBITED_STRAIGHT_THRESHOLD = 5
    SIGN_TYPE_STRAIGHT_PROHIBITED = 7
    SIGN_TYPE_SPEED_LIMIT = 12
    SIGN_TYPE_MIN_SPEED_LIMIT = 13

    def __init__(self, df_data):
        print("交通标志违规类初始化中...")
        self.traffic_violations_type = "交通标志违规类"
        
        # 存储原始数据引用
        self._raw_data = df_data.obj_data[1]
        
        # 初始化属性，但不立即创建数据副本
        self._data = None
        
        # 延迟计算标志
        self._calculated = False
        self._violation_counts = {
            "NoStraightThrough": 0,
            "SpeedLimitViolation": 0,
            "MinimumSpeedLimitViolation": 0
        }
    
    @property
    def data(self):
        """懒加载方式获取数据"""
        if self._data is None:
            # 使用浅拷贝代替深拷贝
            self._data = self._raw_data.copy()
            # 预处理数据 - 按时间排序
            self._data = self._data.sort_values('simTime').reset_index(drop=True)
        return self._data

    def _ensure_calculated(self):
        """保证计算只执行一次"""
        if not self._calculated:
            self._check_prohibition_violations()
            self._check_instruction_violations()
            self._calculated = True

    def calculate_NoStraightThrough_count(self):
        """计算禁止直行违规次数"""
        self._ensure_calculated()
        return self._violation_counts["NoStraightThrough"]

    def calculate_SpeedLimitViolation_count(self):
        """计算超速违规次数"""
        self._ensure_calculated()
        return self._violation_counts["SpeedLimitViolation"]

    def calculate_MinimumSpeedLimitViolation_count(self):
        """计算最低限速违规次数"""
        self._ensure_calculated()
        return self._violation_counts["MinimumSpeedLimitViolation"]

    def _check_prohibition_violations(self):
        """处理禁令标志违规（禁止直行和限速）"""
        self._check_straight_violation()
        self._check_speed_violation(
            self.SIGN_TYPE_SPEED_LIMIT,
            operator.gt,
            "SpeedLimitViolation"
        )

    def _check_instruction_violations(self):
        """处理指示标志违规（最低限速）"""
        self._check_speed_violation(
            self.SIGN_TYPE_MIN_SPEED_LIMIT,
            operator.lt,
            "MinimumSpeedLimitViolation"
        )

    def _check_straight_violation(self):
        """检查禁止直行违规"""
        straight_df = self.data[self.data["sign_type1"] == self.SIGN_TYPE_STRAIGHT_PROHIBITED]
        
        if not straight_df.empty:
            # 计算航向角变化并填充缺失值
            straight_df = straight_df.copy()
            straight_df['posH_diff'] = straight_df['posH'].diff().abs().fillna(0)
            
            # 创建筛选条件
            mask = (
                (straight_df['posH_diff'] <= self.PROHIBITED_STRAIGHT_THRESHOLD) &
                (straight_df['v'] > 0)
            )
            
            self._violation_counts["NoStraightThrough"] = mask.sum()

    def _check_speed_violation(self, sign_type, compare_op, count_key):
        """通用速度违规检查方法
        
        Args:
            sign_type: 标志类型
            compare_op: 比较操作符
            count_key: 违规计数键名
        """
        violation_df = self.data[self.data["sign_type1"] == sign_type]
        
        if not violation_df.empty:
            mask = compare_op(violation_df['v'], violation_df['sign_speed'])
            self._violation_counts[count_key] = mask.sum()