def writeTask(runs):
fname = os.path.dirname(os.path.abspath(__file__)) + "\\tasks\\" + str(
runs['id'])
Logger.get_logger().info('Writing JSON file %s', str(runs['id']))
with open(fname + '.json', 'w') as outfile:
json.dump(runs, outfile)
def loadGatheringFile(gathering_file):
data = np.genfromtxt(gathering_file, skip_header=2)
if len(data) < 1:
Logger.get_logger().warning("spot file " + gathering_file + " is empty")
return data
def loadSpotFile(spot_file):
header = dict()
with io.open(spot_file, "r", encoding="ISO-8859-1") as fp:
for line in fp:
m = re.search(r"\[([aA-zZ -]+)\]([0-9.:]+)", line)
if m is None:
break
header[m.group(1)] = m.group(2)
header['FirstPixel'] = int(header['FirstPixel'])
header['LastPixel'] = int(header['LastPixel'])
header['NrReadOuts'] = int(header['NrReadOuts'])
header['TDI-Stages'] = int(header['TDI-Stages'])
header['LineFreq'] = float(header['LineFreq'])
header['Date'] = datetime.strptime(header['Date'], '%d.%m.%Y')
header['Time'] = datetime.strptime(header['Time'], '%H:%M:%S')
header['PixelCount'] = header['LastPixel'] - header['FirstPixel'] + 1
header['LineCount'] = header['NrReadOuts']
header['PixelSize'] = 0.00875 # milimeter
z = np.reshape(np.fromfile(spot_file, dtype=np.ushort)[:-8 * header['PixelCount']],
(header['LineCount'], header['PixelCount']))
if (len(z) < 1):
Logger.get_logger().warning("spot file " + spot_file + " is empty")
return header, z
def json_repair(folder):
spot_size = 6000 * 1024 # KB
gather_size = 1000 * 1024 # KB
if not os.path.isabs(folder):
folder = Config.get("PLOT_DATA_FOLDER") + folder
if not os.path.exists(folder) or not os.path.isdir(folder):
print("Error: folder " + folder + " does not exist!")
sys.exit(0)
errors = {}
for root, dirs, files in os.walk(folder):
for file in files:
if not file.endswith('.spot') and not file.endswith('.gather'):
continue
if (file.endswith('.spot') and os.path.getsize(folder + '/' + file) < spot_size) or \
(file.endswith('.gather') and os.path.getsize(folder + '/' + file) < gather_size):
Logger.get_logger().debug('File to small: ' + file)
name, ext = os.path.splitext(file)
pattern = r"(\d*)_([\d\w-]*)_(\d*)"
m = re.search(pattern, name)
errors[name] = ((m.group(1), m.group(2), m.group(3)))
runs_by_task = loadRuns()
runs = {}
runs['id'] = 'repair'
runs['desc'] = 'Repeat previously broken runs'
runs['runs'] = []
for name in errors:
(id, task, run_id) = errors[name]
old_run = runs_by_task[task][int(run_id)]
run = {}
run['velocity'] = old_run.vel
run['position'] = old_run.pos
run['frequency'] = old_run.freq
run['config'] = old_run.cfg
runs['runs'].append(run)
print(run)
return runs
def writeCSV(data, csv_file):
types = list(set(data.keys()).difference(('pixel',)))
data_len = len(data[types[0]])
Logger.get_logger().info("Writing csv file " + csv_file)
with open(csv_file, 'w') as fh:
f = csv.writer(fh)
f.writerow(types)
for data_pos in range(data_len):
data_row = []
for type_ in types:
data_row.append(round(data[type_][data_pos], 6))
f.writerow(data_row)
def __init__(self, record_file):
self.firstvalid = False
self.logger = Logger.get_logger("RtkRecord")
self.record_file = record_file
self.logger.info("Record file to: " + record_file)
try:
self.file_handler = open(record_file, 'w')
except IOError:
self.logger.error("Open file %s failed" % (record_file))
self.file_handler.close()
sys.exit(1)
self.write(
"x,y,z,speed,acceleration,curvature,"
"curvature_change_rate,time,theta,gear,s,throttle,brake,steering\n"
)
self.localization = localization_pb2.LocalizationEstimate()
self.chassis = chassis_pb2.Chassis()
self.chassis_received = False
self.cars = 0.0
self.startmoving = False
self.terminating = False
self.carcurvature = 0.0
self.prev_carspeed = 0.0
def __get_app_logger():
"""
初始化Logger
"""
global app_name
if Config.log_dir.startswith("/"):
log_dir = os.path.join(Config.log_dir, app_name)
else:
fdir = os.path.dirname(__file__)
log_dir = os.path.abspath(os.path.join(fdir, Config.log_dir, app_name))
if not os.path.isdir(log_dir):
os.makedirs(log_dir)
# 默认输出到stderr,resetup让日志输出到文件并按照相应规则进行切割
Config.log_level = getattr(Logger, Config.log_level, Logger.INFO)
Logger.setup(access_log_file=os.path.join(log_dir, "access.log"),
access_log_level=Config.log_level,
error_log_file=os.path.join(log_dir, "errors.log"),
ledger_log_file=os.path.join(log_dir, "ledger.log"),
transaction_log_file=os.path.join(log_dir, "transaction.log"),
when=Config.log_when,
backup_count=Config.log_backup_count,
enable_console=Config.enable_console)
# 调整application应用日志
Logger.application_handler()
# 初始化日志打印输出信息
logger = Logger.get_logger(__name__)
logger.info(message="INFO FROM GET APP LOGGER")
logger.error(message="ERRS FROM GET APP LOGGER")
def loadRuns():
runs = {}
for root, dirs, files in os.walk(os.path.dirname(os.path.abspath(__file__)) + "\\..\\tasks\\" ):
for file in files:
name, ext = os.path.splitext(file)
if not (name + ".json") in files:
continue
Logger.get_logger().info("Loading task %s", name)
taskfile = os.path.join(root, name) + '.json'
cfg = RunConfig(taskfile)
runs[name] = {}
runs[name] = cfg.getRuns()
return runs
def saveNPY(self):
data = {}
runs = loadRuns()
for root, dirs, files in os.walk(self.subdirectory):
for file in files:
if (not file.endswith('.spot')):
continue
name, ext = os.path.splitext(file)
if not (name + ".gather") in files:
continue
pattern = r"(\d*)_([\d\w-]*)_(\d*)"
m = re.search(pattern, name)
if m is None:
continue
id = m.group(1)
task = m.group(2)
run_id = m.group(3)
Logger.get_logger().info("Loading %s", name)
if not task in runs.keys():
Logger.get_logger().warn("Task %s not found", task)
header, spot = loadSpotFile(os.path.join(root, name) + '.spot')
gather = loadGatheringFile(os.path.join(root, name) + '.gather')
run = runs[task][int(run_id)]
try:
data = self.buildAndAppendData(id, header, spot, gather, run, data)
except Exception as e:
print(e)
continue
for id in data.keys():
f = self.subdirectory + "\\" + id
np.save(f, data[id])
return data
def __init__(self, record_file, node, speedmultiplier, completepath,
replan):
"""Init player."""
self.firstvalid = False
self.logger = Logger.get_logger(tag="RtkPlayer")
self.logger.info("Load record file from: %s" % record_file)
try:
file_handler = open(record_file, 'r')
except IOError:
self.logger.error("Cannot find file: " + record_file)
file_handler.close()
sys.exit(0)
self.data = genfromtxt(file_handler, delimiter=',', names=True)
file_handler.close()
self.localization = localization_pb2.LocalizationEstimate()
self.chassis = chassis_pb2.Chassis()
self.padmsg = pad_msg_pb2.PadMessage()
self.localization_received = False
self.chassis_received = False
self.planning_pub = node.create_writer('/apollo/planning',
planning_pb2.ADCTrajectory)
self.speedmultiplier = speedmultiplier / 100
self.terminating = False
self.sequence_num = 0
b, a = signal.butter(6, 0.05, 'low')
self.data['acceleration'] = signal.filtfilt(b, a,
self.data['acceleration'])
self.start = 0
self.end = 0
self.closestpoint = 0
self.automode = False
self.replan = (replan == 't')
self.completepath = (completepath == 't')
self.estop = False
self.logger.info("Planning Ready")
vehicle_config = vehicle_config_pb2.VehicleConfig()
proto_utils.get_pb_from_text_file(
"/apollo/modules/common/data/vehicle_param.pb.txt", vehicle_config)
self.vehicle_param = vehicle_config.vehicle_param
def __init__(self, record_file):
self.firstvalid = False
self.logger = Logger.get_logger("LaneRecord")
self.record_file = record_file
self.logger.info("Record file to: " + record_file)
try:
self.file_handler = open(record_file, 'w')
except IOError:
self.logger.error("Failed to open file %s " % (record_file))
self.file_handler.close()
sys.exit(-1)
self.write("x,y,z,theta,dist_l,conf_l,dist_r,conf_r\n")
self.localization = localization_pb2.LocalizationEstimate()
self.mobileye = mobileye_pb2.Mobileye()
self.mobileye_received = False
self.terminating = False
import json
import time
from decimal import Decimal
from datetime import datetime
from enum import (Enum, unique)
from functools import reduce
from operator import add
from multiprocessing import Pool
from conn.httprunner import HTTPRunner
from common.errors import (InvalidParameter, NotFound, MisMatched)
from common.logger import (Logger, LoggerContext)
from common.util import (get_stringify_uuid, get_traceback)
logger = Logger.get_logger(__name__)
@unique
class ResultState(Enum):
"""
测试结果状态对象
"""
PASS = "******" # 测试通过
FAIL = "FAIL" # 测试失败
ERROR = "ERROR" # 测试异常
PENDING = "PENDING" # 测试未执行
WARNING = "WARNING" # 测试警告,废弃
@unique
import os
import time
from datetime import datetime
from threading import Thread
import numpy as np
from clients import *
from common.config import Config
from common.logger import Logger
from run import RunConfig
logger = Logger.get_logger()
class Control:
@staticmethod
def start(run_file, subdir=None):
xps = XPSClient()
cfg = RunConfig(run_file)
if subdir is None:
subdir = "default"
logger.info("cli: run %s\\%s with config %s", subdir, cfg.id, run_file)
runs = cfg.getRuns()
cam = CameraClient()
if not cam.test():
logger.error("cli: camera offline")
import time
from selenium import webdriver
from common.logger import Logger
log = Logger.get_logger()
class Verifier(object):
navigator = None
def __init__(self,navigator):
self.navigator = navigator
def verify_sect_buckets(self,expected_buckets):
#we need to verify to make sure this table
#shows all the bucket
self.navigator.managed_buckets()
names = PageParser(self.navigator).bucket_names()
time.sleep(5)
log.info('buckets shown in the ui {0}'.format(names))
log.info('buckets retrieved from rest {0}'.format(expected_buckets))
for expected_bucket in expected_buckets:
if not expected_bucket in names:
return False
return True
class PageParser(object):
navigator = None
def __init__(self,navigator):
self.navigator = navigator
def bucket_names(self):
import time
from selenium import webdriver
from common.logger import Logger
log = Logger.get_logger()
class Verifier(object):
navigator = None
def __init__(self, navigator):
self.navigator = navigator
def verify_sect_buckets(self, expected_buckets):
#we need to verify to make sure this table
#shows all the bucket
self.navigator.managed_buckets()
names = PageParser(self.navigator).bucket_names()
time.sleep(5)
log.info('buckets shown in the ui {0}'.format(names))
log.info('buckets retrieved from rest {0}'.format(expected_buckets))
for expected_bucket in expected_buckets:
if not expected_bucket in names:
return False
return True
class PageParser(object):
navigator = None