zhaoyuan_DataPreProcess/core/optimized_processor.py

from pathlib import Path
from typing import Optional
import traceback

from .processors.built_in.lst import ZipCSVProcessor, RosbagProcessor, Config

# from .processors.final_processor import FinalDataProcessor
from core.processors.built_in.lst import (
    data_precheck,
    run_cpp_engine,
    FinalDataProcessor,
)
from core.processors.built_in.pgvil import run_pgvil_engine, PGVILProcessor
from core.processors.built_in.pgvil import Config as PGVILConfig


def process_lst_data(
    zip_data_path: Path,
    output_base_dir: Path,
    trafficlight_json_path: Optional[Path] = None,
    utm_zone: int = 51,
    x_offset: float = 0.0,
    y_offset: float = 0.0,
    continue_to_iterate: bool = False,
) -> Optional[Path]:
    """
    Processes LST data using an optimized pipeline.

    Args:
        zip_data_path: Path to the input ZIP file
        output_base_dir: Base directory for output
        trafficlight_json_path: Optional path to traffic light JSON file
        utm_zone: UTM zone for coordinate projection
        x_offset: X offset for C++ engine
        y_offset: Y offset for C++ engine
        continue_to_iterate: Flag to control iteration continuation

    Returns:
        Path to the final merged_ObjState.csv file if successful, None otherwise
    """
    print(f"Starting LST data processing for: {zip_data_path.name}")

    # Validate input paths
    if not zip_data_path.exists():
        print(f"Error: Input ZIP file not found: {zip_data_path}")
        return None

    if not trafficlight_json_path:
        print(f"Warning: Traffic light JSON file not found: {trafficlight_json_path}")
        trafficlight_json_path = None

    try:
        # Initialize configuration
        config = Config(
            zip_path=zip_data_path.resolve(),
            output_path=output_base_dir.resolve(),
            json_path=(
                trafficlight_json_path.resolve() if trafficlight_json_path else None
            ),
            dbc_path=Path("_internal/VBox.dbc").resolve(),
            engine_path=Path("_internal/engine").resolve(),
            map_path=Path("_internal/data_map").resolve(),
            utm_zone=utm_zone,
            x_offset=x_offset,
            y_offset=y_offset,
        )

        # Process built-in data types
        print("Processing built-in data types...")
        zip_processor = ZipCSVProcessor(config)
        zip_processor.process_zip()

        # Process rosbag data if available
        rosbag_processor = RosbagProcessor(config)
        rosbag_processor.process_zip_for_rosbags()

        # Run C++ engine for additional processing
        if not run_cpp_engine(config):
            raise RuntimeError("C++ engine execution failed")

        # Validate processed data
        if not data_precheck(config.output_dir):
            raise ValueError("Data quality pre-check failed")

        # Final processing of built-in data
        print("Processing and merging built-in data...")
        final_processor = FinalDataProcessor(config)

        if not final_processor.process():
            raise RuntimeError("Final data processing failed")
        final_csv_path = config.output_dir / "merged_ObjState.csv"

        return final_csv_path

    except Exception as e:
        print(f"Error: Processing failed for {zip_data_path.name}: {str(e)}")
        print(f"Debug: Stacktrace: {traceback.format_exc()}")
        return None


def process_pgvil_data(
    zip_data_path: Path,
    output_base_dir: Path,
    utm_zone: int = 51,
    x_offset: float = 0.0,
    y_offset: float = 0.0,
) -> Optional[Path]:
    """处理PGVIL数据

    Args:
        zip_data_path: ZIP数据文件路径
        output_base_dir: 输出基础目录
        utm_zone: UTM坐标系区域
        x_offset: X坐标偏移量
        y_offset: Y坐标偏移量

    Returns:
        Optional[Path]: 处理后的CSV文件路径，处理失败则返回None
    """
    pgvil_config = PGVILConfig(
        zip_path=zip_data_path,
        output_path=output_base_dir,
        utm_zone=utm_zone,
        x_offset=x_offset,
        y_offset=y_offset,
        engine_path=Path("_internal/engine").resolve(),
        map_path=Path("_internal/data_map").resolve(),
    )

    if not zip_data_path.exists():
        print(f"Error: Input ZIP file not found: {zip_data_path}")
        return None
    try:
        # 确保输出目录存在
        output_base_dir.mkdir(parents=True, exist_ok=True)
        processor = PGVILProcessor(pgvil_config)
        # 解压ZIP文件
        pgvil_root = processor.process_zip()
        if not pgvil_root.exists():
            raise RuntimeError("Failed to extract ZIP file")
        

        # Run C++ engine for additional processing
        if not run_pgvil_engine(pgvil_config):
            raise RuntimeError("C++ engine execution failed")

        merged_csv = processor.merge_csv_files()
        if merged_csv is None or not merged_csv.exists():
            raise RuntimeError("Failed to merge CSV files")
        print(f"merged_csv: {merged_csv}")
        return merged_csv

    except Exception as e:
        print(f"Error: Processing failed for {zip_data_path.name}: {str(e)}")
        return None