def main(normfile, output, wikiuni, jar, fasttext):
fcfg = fileconfig.Configuration()
fh.is_file(normfile)
if output:
fh.is_folder(output)
else:
output = dirname(normfile)
if wikiuni:
fh.is_file(wikiuni)
else:
wikiuni = fcfg.get('MODEL_WIKI_UNIGRAMS')
if jar:
fh.is_file(jar)
else:
jar = fcfg.get('SNLP_TAGGER_JAR')
if fasttext:
fh.is_file(fasttext)
else:
fasttext = fcfg.get('FASTTEXT_EXEC_PATH')
embeddings.embeddings_from_norms(normfile, output, wikiuni, jar, fasttext)
def main_plot(bagname):
bagname = fh.is_file(bagname)
fname, ext = fh.filename(bagname)
if ext == '.bag':
dirout = fh.mkdir_from_file(bagname)
fileinput = join(dirout, fname + '.pkl')
elif ext == '.pkl':
dirout = dirname(bagname)
fileinput = bagname
else:
logger.error('File {} is not pickle or bag'.format(bagname))
sys.exit()
fileinput = fh.is_file(fileinput)
logger.info('Reading file: %s' % fileinput)
with open(fileinput, 'rb') as f:
dic = pickle.load(f)
fplot = join(dirout, fname + '_trajectory.pdf')
logger.info('Saving plot: {}'.format(fplot))
plot_trajectories(dic['boat1'], dic['boat2'], fplot, angle1=120, angle2=30)
fplot = join(dirout, fname + '_dcpa.pdf')
logger.info('Saving plot: {}'.format(fplot))
plot_distribution(dic['stats'].dic['dcpa'],
'Valor de DCPA',
fplot,
color='tab:blue')
fplot = join(dirout, fname + '_tcpa.pdf')
logger.info('Saving plot: {}'.format(fplot))
plot_distribution(dic['stats'].dic['tcpa'],
'Valor de TCPA',
fplot,
color='tab:orange')
fplot = join(dirout, fname + '_distance.pdf')
logger.info('Saving plot: {}'.format(fplot))
plot_distribution(dic['stats'].dic['distance'],
'Distancia em metros',
fplot,
color='tab:green',
mode=True)
fplot = join(dirout, fname + '_computation.pdf')
logger.info('Saving plot: {}'.format(fplot))
plot_distribution(dic['stats'].dic['computation'],
'Custo computacional',
fplot,
color='tab:red')
def main(normfile, fembed, output):
normfile = fh.is_file(normfile)
if fembed:
fembed = fh.is_file(fembed)
else:
fembed = fh.check_output(None, normfile, prefix='emb')
fembed = fh.is_file(fembed)
if output:
output = fh.is_file(output)
else:
output = fh.check_output(None, normfile, prefix='offset')
embeddings.generate_offset_from_file(normfile, fembed, output)
def main_extract(bagname):
bagname = fh.is_file(bagname)
fname, ext = fh.filename(bagname)
if ext == '.bag':
dirout = fh.mkdir_from_file(bagname)
logger.info('Reading bag %s' % bagname)
bag = rosbag.Bag(bagname)
boat1 = Boat('Boat 1')
boat2 = Boat('Boat 2')
sim = Stats(fname)
dtopics = bag.get_type_and_topic_info()[1]
bag_messages = bag.read_messages()
for topic, msg, timestamp in bag_messages:
if topic == 'diffboat1/state':
boat1.add_x(msg.pose.pose.position.x)
boat1.add_y(msg.pose.pose.position.y)
elif topic == '/diffboat2/state':
boat2.add_x(msg.pose.pose.position.x)
boat2.add_y(msg.pose.pose.position.y)
elif topic == '/diffboat1/move_base/RRAPlannerROS/d_cpa':
sim.add('dcpa', msg.data)
elif topic == '/diffboat1/move_base/RRAPlannerROS/t_cpa':
sim.add('tcpa', msg.data)
elif topic == '/diffboat1/move_base/RRAPlannerROS/distance':
sim.add('distance', msg.data)
elif topic == '/diffboat1/move_base/RRAPlannerROS/computation_time':
sim.add('computation', msg.data)
fout = join(dirout, fname + '.pkl')
logger.info('Saving file: {}'.format(fout))
d = {'boat1': boat1, 'boat2': boat2, 'stats': sim}
with open(fout, 'wb') as f:
pickle.dump(d, f)
elif topic == '/diffboat1/move_base/RRAPlannerROS/distance':
sim.add('distance', msg.data)
elif topic == '/diffboat1/move_base/RRAPlannerROS/computation_time':
sim.add('computation', msg.data)
fout = join(dirout, fname + '.pkl')
logger.info('Saving file: {}'.format(fout))
d = {'boat1': boat1, 'boat2': boat2, 'stats': sim}
with open(fout, 'wb') as f:
pickle.dump(d, f)
def main(bagfolder):
fhandler = fh.FolderHandler(bagfolder, ext='bag')
for bagname in fhandler:
main_extract(bagname)
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument('bagfile',
metavar='bag_file',
help='Bag or folder containing several bags')
args = parser.parse_args()
if fh.is_folder(args.bagfile):
main(args.bagfile)
elif fh.is_file(args.bagfile):
main_extract(args.bagfile)
else:
logger.info('Path does not contain bag files')