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33423097
编写于
10月 09, 2017
作者:
A
Aaron Xiao
提交者:
Dong Li
10月 08, 2017
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Tools: Add script to stat auto/manual mileages from bags. (#602)
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modules/tools/data_extractor/stat_mileage.py
modules/tools/data_extractor/stat_mileage.py
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modules/tools/data_extractor/stat_mileage.py
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33423097
#!/usr/bin/env python
###############################################################################
# Copyright 2017 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
"""
Stat disengagements and auto/manual driving mileage.
Usage:
./stat_mileage.py bag1 bag2 ...
"""
import
collections
import
math
import
sys
from
rosbag.bag
import
Bag
from
modules.canbus.proto.chassis_pb2
import
Chassis
kChassisTopic
=
'/apollo/canbus/chassis'
kLocalizationTopic
=
'/apollo/localization/pose'
class
MileageCalculator
(
object
):
"""Calculate mileage."""
def
__init__
(
self
):
"""Init."""
self
.
auto_mileage
=
0.0
self
.
manual_mileage
=
0.0
self
.
disengagements
=
0
def
calculate
(
self
,
bag_file
):
"""Calculate mileage."""
last_pos
=
None
cur_mode
=
'Unknown'
mileage
=
collections
.
defaultdict
(
lambda
:
0.0
)
with
Bag
(
bag_file
,
'r'
)
as
bag
:
for
topic
,
msg
,
t
in
bag
.
read_messages
(
topics
=
[
kChassisTopic
,
kLocalizationTopic
]):
if
topic
==
kChassisTopic
:
# Mode changed
if
cur_mode
!=
msg
.
driving_mode
:
if
msg
.
driving_mode
==
Chassis
.
EMERGENCY_MODE
:
self
.
disengagements
+=
1
cur_mode
=
msg
.
driving_mode
# Reset start position.
last_pos
=
None
elif
topic
==
kLocalizationTopic
:
cur_pos
=
msg
.
pose
.
position
if
last_pos
:
# Accumulate mileage, from xyz-distance to miles.
mileage
[
cur_mode
]
+=
0.000621371
*
math
.
sqrt
(
(
cur_pos
.
x
-
last_pos
.
x
)
**
2
+
(
cur_pos
.
y
-
last_pos
.
y
)
**
2
+
(
cur_pos
.
z
-
last_pos
.
z
)
**
2
)
last_pos
=
cur_pos
self
.
auto_mileage
+=
mileage
[
Chassis
.
COMPLETE_AUTO_DRIVE
]
self
.
manual_mileage
+=
(
mileage
[
Chassis
.
COMPLETE_MANUAL
]
+
mileage
[
Chassis
.
EMERGENCY_MODE
])
def
main
():
"""Main function."""
mc
=
MileageCalculator
()
for
bag_file
in
sys
.
argv
[
1
:]:
mc
.
calculate
(
bag_file
)
print
'Disengagements:
\t
'
,
mc
.
disengagements
print
'Auto mileage:
\t
'
,
mc
.
auto_mileage
,
'miles'
print
'Manual mileage:
\t
'
,
mc
.
manual_mileage
,
'miles'
if
__name__
==
'__main__'
:
main
()
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