def setUp(self):
self.FRC = OSIRulesChecker()
orient3d = Orientation3d()
orient3d.roll = 5
orient3d.pitch = 2
orient3d.yaw = 2
self.linked_orient3d = LinkedProtoField(orient3d, "Orientation3d")
def setUp(self):
self.FRC = OSIRulesChecker()
pb_VECTOR3D = Vector3d()
pb_VECTOR3D.x = 1
pb_VECTOR3D.y = 2
self.VECTOR3D = LinkedProtoField(pb_VECTOR3D, "Vector3D")
def setUp(self):
self.FRC = OSIRulesChecker()
pb_ORIENTATION3D = Orientation3d()
pb_ORIENTATION3D.roll = 1
# pb_ORIENTATION3D.pitch = 2 --> pitch is not set
pb_ORIENTATION3D.yaw = 2
self.ORIENTATION3D = LinkedProtoField(pb_ORIENTATION3D,
"Orientation3d")
def setUp(self):
self.FRC = OSIRulesChecker()
sv = SensorView()
linked_sv = LinkedProtoField(sv, name="SensorView")
sid = sv.sensor_id
sid.value = 0
self.linked_sid = LinkedProtoField(sid,
name="sensor_id",
parent=linked_sv)
sv2 = SensorView()
linked_sv2 = LinkedProtoField(sv2, name="SensorView")
sid2 = sv2.sensor_id
sid2.value = 2
self.linked_sid2 = LinkedProtoField(sid2,
name="sensor_id",
parent=linked_sv2)
def test_not_comply_greater(self):
field_params_rule_params = [[2, 1], [0, -1], [1, 0], [1, -1], [-1, -2],
[-1.3, -1.5], [0.9, -1.3]]
for fr_param in field_params_rule_params:
with self.subTest(fr_param=fr_param):
self.assertFalse(
self.FRC.is_greater_than(
LinkedProtoField(value=fr_param[1]),
Rule(verb="is_greater_than", params=fr_param[0])))
def test_not_comply_equal(self):
field_params_rule_params = [[3, 3], [0, 0], [-1, -1], [-1.5, -1.5],
[2.3, 2.3]]
for fr_param in field_params_rule_params:
with self.subTest(fr_param=fr_param):
self.assertFalse(
self.FRC.is_less_than(
LinkedProtoField(value=fr_param[1]),
Rule(verb="is_less_than", params=fr_param[0])))
def setUp(self):
self.FRC = OSIRulesChecker()
sv1 = SensorView()
linked_sv1 = LinkedProtoField(sv1, name="SensorView")
gt1 = sv1.global_ground_truth
linked_gt1 = LinkedProtoField(gt1,
name="global_ground_truth",
parent=linked_sv1)
gtlb1 = gt1.lane_boundary.add()
linked_gtlb1 = LinkedProtoField(gtlb1,
name="lane_boundary",
parent=linked_gt1)
bladd1 = gtlb1.boundary_line.add()
bladd1.position.x = 1699.2042678176733
bladd1.position.y = 100.16895580204906
bladd1.position.z = 0.0
bladd1.width = 0.13
bladd1.height = 0.0
self.lb1 = LinkedProtoField(bladd1,
name="boundary_line",
parent=linked_gtlb1)
self.lb1.path = 'SensorView.global_ground_truth.lane_boundary.boundary_line'
# self.lb1.parent =
sv2 = SensorView()
linked_sv2 = LinkedProtoField(sv2, name="SensorView")
gt2 = sv2.global_ground_truth
linked_gt2 = LinkedProtoField(gt2,
name="global_ground_truth",
parent=linked_sv2)
gtlb2 = gt2.lane_boundary.add()
linked_gtlb2 = LinkedProtoField(gtlb2,
name="lane_boundary",
parent=linked_gt2)
bladd2 = gtlb2.boundary_line.add()
bladd2.position.x = 1699.2042678176733
bladd2.position.y = 100.16895580204906
bladd2.position.z = 0.0
bladd2.width = 0.14
bladd2.height = 0.13
self.lb2 = LinkedProtoField(bladd2,
name="boundary_line",
parent=linked_gtlb2)
self.lb2.path = 'SensorView.global_ground_truth.lane_boundary.boundary_line'
def get_message_by_index(self, index):
"""
Get a message by its index. Try first to get it from the cache made
by the method ``cache_messages_in_index_range``.
"""
message = self.message_cache.get(index, None)
if message is not None:
return message
message = next(self.get_messages_in_index_range(index, index + 1))
return LinkedProtoField(message, name=self.type_name)
def test_comply_less(self):
field_params_rule_params = [[2, 1], [0, -1], [1, 0], [1, -1], [-1, -2],
[-1.3, -1.5], [0.9, -1.3]]
for fr_param in field_params_rule_params:
with self.subTest(fr_param=fr_param):
self.assertTrue(
self.FRC.is_less_than_or_equal_to(
LinkedProtoField(value=fr_param[1]),
Rule(verb="is_less_than_or_equal_to",
params=fr_param[0])))
def test_comply_equal(self):
field_params_rule_params = [[3, 3], [0, 0], [-1, -1], [-1.5, -1.5],
[2.3, 2.3]]
for fr_param in field_params_rule_params:
with self.subTest(fr_param=fr_param):
self.assertTrue(
self.FRC.is_greater_than_or_equal_to(
LinkedProtoField(value=fr_param[1]),
Rule(verb="is_greater_than_or_equal_to",
params=fr_param[0])))
def setUp(self):
self.FRC = OSIRulesChecker()
sv1 = SensorView()
linked_sv1 = LinkedProtoField(sv1, name="SensorView")
gt1 = sv1.global_ground_truth
linked_gt1 = LinkedProtoField(gt1,
name="global_ground_truth",
parent=linked_sv1)
gt1.host_vehicle_id.value = 0
hvid1 = gt1.host_vehicle_id
self.linked_hvid1 = LinkedProtoField(hvid1,
name="host_vehicle_id",
parent=linked_gt1)
sv2 = SensorView()
linked_sv2 = LinkedProtoField(sv2, name="SensorView")
gt2 = sv2.global_ground_truth
linked_gt2 = LinkedProtoField(gt2,
name="global_ground_truth",
parent=linked_sv2)
gt2.host_vehicle_id.value = 1
hvid1 = gt2.host_vehicle_id
self.linked_hvid2 = LinkedProtoField(hvid1,
name="host_vehicle_id",
parent=linked_gt2)
def get_messages_in_index_range(self, begin, end):
"""
Yield an iterator over messages of indexes between begin and end included.
"""
if self.show_progress:
progress_bar = Bar(max=len(self.message_offsets[begin:end]))
print("Importing messages from trace file ...")
else:
progress_bar = None
self.trace_file.seek(self.message_offsets[begin])
abs_first_offset = self.message_offsets[begin]
abs_last_offset = (self.message_offsets[end]
if end < len(self.message_offsets) else
self.retrieved_trace_size)
rel_message_offsets = [
abs_message_offset - abs_first_offset
for abs_message_offset in self.message_offsets[begin:end]
]
if self.path.lower().endswith((".txt.lzma", ".txt.xz", ".txt")):
message_sequence_len = abs_last_offset - abs_first_offset - SEPARATOR_LENGTH
serialized_messages_extract = self.trace_file.read(
message_sequence_len)
for rel_index, rel_message_offset in enumerate(
rel_message_offsets):
rel_begin = rel_message_offset
rel_end = (rel_message_offsets[rel_index + 1] -
SEPARATOR_LENGTH
if rel_index + 1 < len(rel_message_offsets) else
message_sequence_len)
message = MESSAGES_TYPE[self.type_name]()
serialized_message = serialized_messages_extract[
rel_begin:rel_end]
message.ParseFromString(serialized_message)
self.update_bar(progress_bar, rel_index)
yield LinkedProtoField(message, name=self.type_name)
elif self.path.lower().endswith((".osi.lzma", ".osi.xz", ".osi")):
message_sequence_len = abs_last_offset - abs_first_offset
serialized_messages_extract = self.trace_file.read(
message_sequence_len)
for rel_index, rel_message_offset in enumerate(
rel_message_offsets):
rel_begin = rel_message_offset + self._int_length
rel_end = (rel_message_offsets[rel_index + 1] -
self._int_length
if rel_index + 1 < len(rel_message_offsets) else
message_sequence_len)
message = MESSAGES_TYPE[self.type_name]()
serialized_message = serialized_messages_extract[
rel_begin:rel_end]
message.ParseFromString(serialized_message)
self.update_bar(progress_bar, rel_index)
yield LinkedProtoField(message, name=self.type_name)
else:
raise Exception(
f"The defined file format {self.path.split('/')[-1]} does not exist."
)
if self.show_progress:
self.update_bar(progress_bar, progress_bar.max)
progress_bar.finish()
def test_not_comply(self):
field = LinkedProtoField(value=2)
rule = Rule(verb="is_different", params=2)
compliance = self.FRC.is_different(field, rule)
self.assertFalse(compliance)
def test_not_comply(self):
field = LinkedProtoField(value=3)
rule = Rule(verb="is_less_than_or_equal_to", params=2)
compliance = self.FRC.is_equal_to(field, rule)
self.assertFalse(compliance)
def test_comply_is_optional(self):
self.assertTrue(
self.FRC.is_optional(LinkedProtoField(value=1),
Rule(verb="is_optional", params=None)))
def test_comply(self):
field = LinkedProtoField(value=3)
rule = Rule(verb="is_different_to", params=2)
compliance = self.FRC.is_different_to(field, rule)
self.assertTrue(compliance)
