def save_state(self, endpoint):
data = fetch_dict(endpoint)
if not data:
data = create_default_json_msg()
data['_checkpoint']['progress'] = [self._index, self.total]
save_dict(endpoint, data)
def save_global_record(route_record, sensors, endpoint):
data = fetch_dict(endpoint)
if not data:
data = create_default_json_msg()
stats_dict = route_record.__dict__
data['_checkpoint']['global_record'] = stats_dict
data['values'] = [
'{:.3f}'.format(stats_dict['scores']['score_composed']),
'{:.3f}'.format(stats_dict['scores']['score_route']),
'{:.3f}'.format(stats_dict['scores']['score_penalty']),
# infractions
'{:.3f}'.format(stats_dict['infractions']['collisions_layout']),
'{:.3f}'.format(
stats_dict['infractions']['collisions_pedestrian']),
'{:.3f}'.format(stats_dict['infractions']['collisions_vehicle']),
'{:.3f}'.format(stats_dict['infractions']['outside_route_lanes']),
'{:.3f}'.format(stats_dict['infractions']['red_light']),
'{:.3f}'.format(stats_dict['infractions']['route_dev']),
'{:.3f}'.format(stats_dict['infractions']['stop_infraction']),
'{:.3f}'.format(stats_dict['infractions']['route_timeout']),
'{:.3f}'.format(stats_dict['infractions']['vehicle_blocked'])
]
data['labels'] = [
'avg. total score', 'avg. route score', 'avg. infraction penalty',
'collisions with layout', 'collisions with pedestrians',
'collisions with vehicles', 'off-road infractions',
'red lights infractions', 'route deviation infractions',
'stop sign infractions', 'timeouts', 'vehicle blocked'
]
data['sensors'] = sensors
save_dict(endpoint, data)
def save_global_record(route_record, sensors, total_routes, endpoint):
data = fetch_dict(endpoint)
if not data:
data = create_default_json_msg()
stats_dict = route_record.__dict__
data['_checkpoint']['global_record'] = stats_dict
data['values'] = ['{:.3f}'.format(stats_dict['scores']['score_composed']),
'{:.3f}'.format(stats_dict['scores']['score_route']),
'{:.3f}'.format(stats_dict['scores']['score_penalty']),
# infractions
'{:.3f}'.format(stats_dict['infractions']['collisions_pedestrian']),
'{:.3f}'.format(stats_dict['infractions']['collisions_vehicle']),
'{:.3f}'.format(stats_dict['infractions']['collisions_layout']),
'{:.3f}'.format(stats_dict['infractions']['red_light']),
'{:.3f}'.format(stats_dict['infractions']['stop_infraction']),
'{:.3f}'.format(stats_dict['infractions']['outside_route_lanes']),
'{:.3f}'.format(stats_dict['infractions']['route_dev']),
'{:.3f}'.format(stats_dict['infractions']['route_timeout']),
'{:.3f}'.format(stats_dict['infractions']['vehicle_blocked'])
]
data['labels'] = ['Avg. driving score',
'Avg. route completion',
'Avg. infraction penalty',
'Collisions with pedestrians',
'Collisions with vehicles',
'Collisions with layout',
'Red lights infractions',
'Stop sign infractions',
'Off-road infractions',
'Route deviations',
'Route timeouts',
'Agent blocked'
]
entry_status = "Finished"
eligible = "True"
route_records = data["_checkpoint"]["records"]
progress = data["_checkpoint"]["progress"]
if progress[1] != total_routes:
raise Exception('Critical error with the route registry.')
if len(route_records) != total_routes or progress[0] != progress[1]:
entry_status = "Finished with missing data"
eligible = "False"
else:
for route in route_records:
route_status = route["status"]
if "Agent crashed" in route_status:
entry_status = "Finished with agent errors"
break
data['entry_status'] = entry_status
data['eligible'] = eligible
save_dict(endpoint, data)
def save_entry_status(entry_status, eligible, endpoint):
data = fetch_dict(endpoint)
if not data:
data = create_default_json_msg()
data['entry_status'] = entry_status
data['eligible'] = eligible
save_dict(endpoint, data)
def save_sensors(sensors, endpoint):
data = fetch_dict(endpoint)
if not data:
data = create_default_json_msg()
if not data['sensors']:
data['sensors'] = sensors
save_dict(endpoint, data)
def save_record(route_record, index, endpoint):
data = fetch_dict(endpoint)
if not data:
data = create_default_json_msg()
stats_dict = route_record.__dict__
record_list = data['_checkpoint']['records']
if index > len(record_list):
print('Error! No enough entries in the list')
sys.exit(-1)
elif index == len(record_list):
record_list.append(stats_dict)
else:
record_list[index] = stats_dict
save_dict(endpoint, data)
def save_global_record(route_record, sensors, endpoint):
data = fetch_dict(endpoint)
if not data:
data = create_default_json_msg()
stats_dict = route_record.__dict__
data['_checkpoint']['global_record'] = stats_dict
data['values'] = [
'{:.3f}'.format(stats_dict['scores']['score_composed']),
'{:.3f}'.format(stats_dict['scores']['score_route']),
'{:.3f}'.format(stats_dict['scores']['score_penalty']),
# infractions
'{:.3f}'.format(stats_dict['infractions']['collisions_pedestrian']
),
'{:.3f}'.format(stats_dict['infractions']['collisions_vehicle']),
'{:.3f}'.format(stats_dict['infractions']['collisions_layout']),
'{:.3f}'.format(stats_dict['infractions']['red_light']),
'{:.3f}'.format(stats_dict['infractions']['stop_infraction']),
'{:.3f}'.format(stats_dict['infractions']['outside_route_lanes']),
'{:.3f}'.format(stats_dict['infractions']['route_dev']),
'{:.3f}'.format(stats_dict['infractions']['route_timeout']),
'{:.3f}'.format(stats_dict['infractions']['vehicle_blocked']),
# addition: new event
'{:.3f}'.format(stats_dict['infractions']['on_sidewalk']),
'{:.3f}'.format(stats_dict['infractions']['off_road']),
'{:.3f}'.format(
stats_dict['infractions']['outside_lane_infraction']),
'{:.3f}'.format(stats_dict['infractions']['wrong_lane']),
'{:.3f}'.format(stats_dict['infractions']['collisions_invisible'])
]
data['labels'] = [
'Avg. driving score', 'Avg. route completion',
'Avg. infraction penalty', 'Collisions with pedestrians',
'Collisions with vehicles', 'Collisions with layout',
'Red lights infractions', 'Stop sign infractions',
'Off-road infractions', 'Route deviations', 'Route timeouts',
'Agent blocked', 'On Sidewalk', 'Off Road', 'Outside Lane',
'Collisions Invisible'
]
data['sensors'] = sensors
save_dict(endpoint, data)
def save_global_record(route_record, sensors, endpoint, filename, config):
data = fetch_dict(endpoint)
if not data:
data = create_default_json_msg()
stats_dict = route_record.__dict__
data['_checkpoint']['global_record'] = stats_dict
data['values'] = [
'{:.3f}'.format(stats_dict['scores']['score_composed']),
'{:.3f}'.format(stats_dict['scores']['score_route']),
'{:.3f}'.format(stats_dict['scores']['score_penalty']),
# infractions
'{:.3f}'.format(stats_dict['infractions']['collisions_layout']),
'{:.3f}'.format(
stats_dict['infractions']['collisions_pedestrian']),
'{:.3f}'.format(stats_dict['infractions']['collisions_vehicle']),
'{:.3f}'.format(stats_dict['infractions']['outside_route_lanes']),
'{:.3f}'.format(stats_dict['infractions']['red_light']),
'{:.3f}'.format(stats_dict['infractions']['route_dev']),
'{:.3f}'.format(stats_dict['infractions']['stop_infraction']),
'{:.3f}'.format(stats_dict['infractions']['route_timeout']),
'{:.3f}'.format(stats_dict['infractions']['vehicle_blocked']),
'{:.3f}'.format(config.weather.precipitation)
]
data['labels'] = [
'avg. total score', 'avg. route score', 'avg. infraction penalty',
'collisions with layout', 'collisions with pedestrians',
'collisions with vehicles', 'off-road infractions',
'red lights infractions', 'route deviation infractions',
'stop sign infractions', 'timeouts', 'vehicle blocked',
'precipitation', 'precipitation_deposits', 'cloudiness',
'wind_intensity', 'sun_azimuth_angle', 'sun_altitude_angle',
'fog_density', 'fog_distance', 'wetness'
]
data['sensors'] = sensors
# fields = ['avg. total score', 'avg. route score', 'avg. infraction penalty', 'collisions with layout',
# 'collisions with pedestrians', 'collisions with vehicles', 'off-road infractions',
# 'red lights infractions', 'route deviation infractions', 'stop sign infractions',
# 'timeouts', 'vehicle blocked']
myvalues = [{
'avg. total score':
'{:.3f}'.format(stats_dict['scores']['score_composed']),
'avg. route score':
'{:.3f}'.format(stats_dict['scores']['score_route']),
'avg. infraction penalty':
'{:.3f}'.format(stats_dict['scores']['score_penalty']),
'collisions with layout':
math.ceil(stats_dict['infractions']['collisions_layout']),
'collisions with pedestrians':
math.ceil(stats_dict['infractions']['collisions_pedestrian']),
'collisions with vehicles':
math.ceil(stats_dict['infractions']['collisions_vehicle']),
'off-road infractions':
'{:.3f}'.format(stats_dict['infractions']['outside_route_lanes']),
'red lights infractions':
'{:.3f}'.format(stats_dict['infractions']['red_light']),
'route deviation infractions':
'{:.3f}'.format(stats_dict['infractions']['route_dev']),
'stop sign infractions':
'{:.3f}'.format(stats_dict['infractions']['stop_infraction']),
'timeouts':
'{:.3f}'.format(stats_dict['infractions']['route_timeout']),
'vehicle blocked':
'{:.3f}'.format(stats_dict['infractions']['vehicle_blocked']),
'precipitation':
'{:.3f}'.format(config.weather.precipitation),
'precipitation_deposits':
'{:.3f}'.format(config.weather.precipitation_deposits),
'cloudiness':
'{:.3f}'.format(config.weather.cloudiness),
'wind_intensity':
'{:.3f}'.format(config.weather.wind_intensity),
'sun_azimuth_angle':
'{:.3f}'.format(config.weather.sun_azimuth_angle),
'sun_altitude_angle':
'{:.3f}'.format(config.weather.sun_altitude_angle),
'fog_density':
'{:.3f}'.format(config.weather.fog_density),
'fog_distance':
'{:.3f}'.format(config.weather.fog_distance),
'wetness':
'{:.3f}'.format(config.weather.wetness)
}]
file_exists = os.path.isfile(filename)
# writing to csv file
with open(filename, 'a') as csvfile:
# creating a csv dict writer object
writer = csv.DictWriter(csvfile, fieldnames=data['labels'])
if not file_exists:
# writing headers (field names)
writer.writeheader()
# writing data rows
writer.writerows(myvalues)
save_dict(endpoint, data)
