def test_mixed(self):
t = np.arange(15, dtype="<f8")
s1 = Signal(
np.frombuffer(b"\x00\x00\x00\x02" * 15, dtype=">u4"), t, name="Motorola"
)
s2 = Signal(
np.frombuffer(b"\x04\x00\x00\x00" * 15, dtype="<u4"), t, name="Intel"
)
for version in ("3.30", "4.10"):
mdf = MDF(version=version)
mdf.append([s1, s2], common_timebase=True)
outfile = mdf.save(
Path(TestEndianess.tempdir.name) / f"out", overwrite=True
)
mdf.close()
with MDF(outfile) as mdf:
self.assertTrue(np.array_equal(mdf.get("Motorola").samples, [2] * 15))
self.assertTrue(np.array_equal(mdf.get("Intel").samples, [4] * 15))
for version in ("3.30", "4.10"):
mdf = MDF(version=version)
mdf.append([s2, s1], common_timebase=True)
outfile = mdf.save(
Path(TestEndianess.tempdir.name) / f"out", overwrite=True
)
mdf.close()
with MDF(outfile) as mdf:
self.assertTrue(np.array_equal(mdf.get("Motorola").samples, [2] * 15))
self.assertTrue(np.array_equal(mdf.get("Intel").samples, [4] * 15))
def test_mixed(self):
t = np.arange(15, dtype='<f8')
s1 = Signal(
np.frombuffer(b'\x00\x00\x00\x02' * 15, dtype='>u4'),
t,
name='Motorola'
)
s2 = Signal(
np.frombuffer(b'\x04\x00\x00\x00' * 15, dtype='<u4'),
t,
name='Intel'
)
for version in ('3.30', '4.10'):
mdf = MDF(version=version)
mdf.append([s1, s2], common_timebase=True)
outfile = mdf.save(
Path(TestEndianess.tempdir.name) / f"out",
overwrite=True,
)
mdf.close()
with MDF(outfile) as mdf:
self.assertTrue(
np.array_equal(
mdf.get('Motorola').samples, [2,] * 15
)
)
self.assertTrue(
np.array_equal(
mdf.get('Intel').samples, [4,] * 15
)
)
for version in ('3.30', '4.10'):
mdf = MDF(version=version)
mdf.append([s2, s1], common_timebase=True)
outfile = mdf.save(
Path(TestEndianess.tempdir.name) / f"out",
overwrite=True,
)
mdf.close()
with MDF(outfile) as mdf:
self.assertTrue(
np.array_equal(
mdf.get('Motorola').samples, [2,] * 15
)
)
self.assertTrue(
np.array_equal(
mdf.get('Intel').samples, [4,] * 15
)
)
def get_all_mdf3(output, fmt):
x = MDF(r"test.mdf")
with Timer("Get all channels", f"asammdf {asammdf_version} mdfv3",
fmt) as timer:
for i, gp in enumerate(x.groups):
for j in range(len(gp["channels"])):
x.get(group=i, index=j, samples_only=True)
output.send([timer.output, timer.error])
def get_all_mdf4_nodata(path, output, fmt):
os.chdir(path)
x = MDF(r'test.mf4', load_measured_data=False)
with Timer('Get all channels',
'asammdf {} nodata mdfv4'.format(asammdf_version),
fmt) as timer:
for i, gp in enumerate(x.groups):
for j in range(len(gp['channels'])):
x.get(group=i, index=j, samples_only=True)
output.send([timer.output, timer.error])
def get_all_mdf4(output, fmt, memory):
x = MDF(r'test.mf4', memory=memory,)
with Timer('Get all channels',
'asammdf {} {} mdfv4'.format(asammdf_version, memory),
fmt) as timer:
for i, gp in enumerate(x.groups):
for j in range(len(gp['channels'])):
x.get(group=i, index=j, samples_only=True)
output.send([timer.output, timer.error])
def get_all_mdf3(path, output, fmt):
os.chdir(path)
x = MDF(r'test.mdf')
with Timer('Get all channels',
'asammdf {} mdfv3'.format(asammdf_version),
fmt) as timer:
for i, gp in enumerate(x.groups):
for j in range(len(gp['channels'])):
x.get(group=i, index=j, samples_only=True)
output.send([timer.output, timer.error])
def fun():
mf = MDF('./GAC_A18_2020-06-26_15-01_11_0016.MF4')
file_name = 'GAC_A18_2020-06-26_15-01_11_0016.json'
signal_list = []
data_dict = {}
with open('./Book1.txt', 'r') as f:
for line in f.readlines():
signal_list.append(line[:-1])
while True:
try:
signal = signal_list.pop()
except IndexError:
break
else:
try:
data = mf.get(signal)
except Exception:
continue
else:
data_dict[signal] = {
'samples': data.samples.tolist(),
'timestamps': data.timestamps.tolist()
}
with open('./data.josn', 'w') as f:
json.dump(data_dict, f, cls=MyEncoder, ensure_ascii=False)
def get_all_mdf4_nodata():
os.chdir(path)
x = MDF(r'test.mf4', load_measured_data=False)
with Timer('asammdf {} nodata mdfv4'.format(asammdf_version)):
for i, gp in enumerate(x.groups):
for j in range(len(gp['channels'])):
y = x.get(group=i, index=j, samples_only=True)
def get_all_mdf4():
os.chdir(path)
x = MDF(r'test.mf4')
with Timer('asammdf {} mdfv4'.format(asammdf_version)):
for i, gp in enumerate(x.groups):
for j in range(len(gp['channels'])):
y = x.get(group=i, index=j)
def get_all_mdf3_compressed():
os.chdir(path)
x = MDF(r'test.mdf', compression=True)
with Timer('asammdf {} compression mdfv3'.format(asammdf_version)):
for i, gp in enumerate(x.groups):
for j in range(len(gp['channels'])):
y = x.get(group=i, index=j)
def all_mdf4():
os.chdir(path)
with Timer('asammdf {} mdfv4'.format(asammdf_version)):
x = MDF(r'test.mf4')
for i, gp in enumerate(x.groups):
for j in range(len(gp['channels'])):
y = x.get(group=i, index=j, samples_only=True)
x.save(r'x.mf4', overwrite=True)
def all_mdf3_nodata():
os.chdir(path)
with Timer('asammdf {} mdfv3 nodata'.format(asammdf_version)):
x = MDF(r'test.mdf', load_measured_data=False)
for i, gp in enumerate(x.groups):
for j in range(len(gp['channels'])):
y = x.get(group=i, index=j, samples_only=True)
x.save(r'x.mdf', overwrite=True)
def get_all_mdf4_column(output, fmt):
x = MDF(r"test_column.mf4")
with Timer("Get all channels", f"asammdf {asammdf_version} column mdfv4",
fmt) as timer:
t = perf_counter()
counter = 0
to_break = False
for i, gp in enumerate(x.groups):
if to_break:
break
for j in range(len(gp["channels"])):
t2 = perf_counter()
if t2 - t > 60:
timer.message += " {}/s".format(counter / (t2 - t))
to_break = True
break
x.get(group=i, index=j, samples_only=False)
counter += 1
output.send([timer.output, timer.error])
def get_all_mdf4(output, fmt):
x = MDF(r'test.mf4')
with Timer('Get all channels', f'asammdf {asammdf_version} mdfv4',
fmt) as timer:
t = perf_counter()
counter = 0
to_break = False
for i, gp in enumerate(x.groups):
if to_break:
break
for j in range(len(gp['channels'])):
t2 = perf_counter()
if t2 - t > 60:
timer.message += ' {}/s'.format(counter / (t2 - t))
to_break = True
break
x.get(group=i, index=j, samples_only=True)
counter += 1
output.send([timer.output, timer.error])
def get_km(trips, id, dir, revert):
if revert:
trips.reverse()
for t in trips:
file = os.path.join(dir, '%s_%s.mf4' % (t, id))
mdf = MDF(file)
sig = mdf.get('can0_KBI_Kilometerstand_2')
for s in list(sig.samples):
if s != 0:
if s < 100000:
return s
def filter_asam(output, fmt):
with Timer('Filter file', f'asammdf {asammdf_version} mdfv4',
fmt) as timer:
x = MDF(r'test.mf4').filter(
[f'Channel_{i}_{j}5' for i in range(10) for j in range(1, 20)])
t = perf_counter()
counter = 0
to_break = False
for i, gp in enumerate(x.groups):
if to_break:
break
for j in range(len(gp['channels'])):
t2 = perf_counter()
if t2 - t > 60:
timer.message += ' {}/s'.format(counter / (t2 - t))
to_break = True
break
x.get(group=i, index=j, samples_only=True)
counter += 1
output.send([timer.output, timer.error])
def filter_asam(output, fmt):
with Timer("Filter file", f"asammdf {asammdf_version} mdfv4",
fmt) as timer:
x = MDF(r"test.mf4").filter([(None, i, int(f'{j}5'))
for i in range(10, 20)
for j in range(1, 20)])
t = perf_counter()
counter = 0
to_break = False
for i, gp in enumerate(x.groups):
if to_break:
break
for j in range(len(gp["channels"])):
t2 = perf_counter()
if t2 - t > 60:
timer.message += " {}/s".format(counter / (t2 - t))
to_break = True
break
x.get(group=i, index=j, samples_only=True)
counter += 1
output.send([timer.output, timer.error])
def filter_mdf(file, signals):
mdf_file = MDF(file)
# Lenkradwinkel
lenkradwinkel = mdf_file.get('can0_LWI_Lenkradwinkel')
samples = list(lenkradwinkel.samples)
vz_samples = list(mdf_file.get('can0_LWI_VZ_Lenkradwinkel').samples)
for i in range(0, len(samples)):
if not int(vz_samples[i]):
samples[i] = samples[i] * -1
lenkradwinkel.samples = np.asarray(samples)
# Lenkradwinkel geschw.
lenkrad_gesch = mdf_file.get('can0_LWI_Lenkradw_Geschw')
samples = list(lenkrad_gesch.samples)
vz_samples = list(mdf_file.get('can0_LWI_VZ_Lenkradw_Geschw').samples)
for i in range(0, len(samples)):
if not int(vz_samples[i]):
samples[i] = samples[i] * -1
lenkrad_gesch.samples = np.asarray(samples)
# Gierrate
gierrate = mdf_file.get('can0_ESP_Gierrate')
samples = list(gierrate.samples)
vz_samples = list(mdf_file.get('can0_ESP_VZ_Gierrate').samples)
for i in range(0, len(samples)):
if not int(vz_samples[i]):
samples[i] = samples[i] * -1
gierrate.samples = np.asarray(samples)
# filter file with VZ signals
filtered_mdf = mdf_file.filter(signals)
return filtered_mdf
def test_filter(self):
print("MDF filter tests")
for input_file in Path(TestMDF.tempdir_demo.name).iterdir():
if MDF(input_file).version <= "2.00":
# if MDF(input_file, memory=memory).version < '4.00':
continue
channels_nr = np.random.randint(1, len(CHANNELS_DEMO) + 1)
channel_list = random.sample(list(CHANNELS_DEMO), channels_nr)
filtered_mdf = MDF(input_file).filter(channel_list)
target = set(k for k in filtered_mdf.channels_db
if not k.endswith("[0]") and not k.startswith("DI")
and "\\" not in k)
self.assertTrue((target - {"t", "time"}) == set(channel_list))
equal = True
with MDF(input_file) as mdf:
print(input_file)
names = list(channel_list)
for name in channel_list:
self.assertTrue(name in mdf)
names = [name + '_' for name in names]
for name in names:
self.assertFalse(name in mdf)
names = [name[:-3] for name in names]
for name in names:
self.assertFalse(name in mdf)
for name in channel_list:
original = mdf.get(name)
filtered = filtered_mdf.get(name)
if not np.array_equal(original.samples, filtered.samples):
equal = False
if not np.array_equal(original.timestamps,
filtered.timestamps):
equal = False
self.assertTrue(equal)
def test_filter(self):
print("MDF filter tests")
for mdfname in os.listdir("tmpdir_demo"):
for memory in MEMORY:
input_file = os.path.join("tmpdir_demo", mdfname)
if MDF(input_file, memory=memory).version <= "2.00":
# if MDF(input_file, memory=memory).version < '4.00':
continue
channels_nr = np.random.randint(1, len(CHANNELS_DEMO) + 1)
channel_list = random.sample(list(CHANNELS_DEMO), channels_nr)
filtered_mdf = MDF(input_file,
memory=memory).filter(channel_list,
memory=memory)
target = set(k for k in filtered_mdf.channels_db
if not k.endswith("[0]")
and not k.startswith("DI") and "\\" not in k)
self.assertTrue((target - {"t", "time"}) == set(channel_list))
equal = True
with MDF(input_file, memory=memory) as mdf:
print(input_file, memory)
for name in channel_list:
original = mdf.get(name)
filtered = filtered_mdf.get(name)
if not np.array_equal(original.samples,
filtered.samples):
equal = False
if not np.array_equal(original.timestamps,
filtered.timestamps):
equal = False
self.assertTrue(equal)
cleanup_files()
def test_filter(self):
print("MDF filter tests")
for mdfname in os.listdir('tmpdir_demo'):
for memory in MEMORY:
input_file = os.path.join('tmpdir_demo', mdfname)
if MDF(input_file, memory=memory).version <= '2.00':
# if MDF(input_file, memory=memory).version < '4.00':
continue
channels_nr = np.random.randint(1, len(CHANNELS_DEMO) + 1)
channel_list = random.sample(list(CHANNELS_DEMO), channels_nr)
filtered_mdf = MDF(input_file,
memory=memory).filter(channel_list,
memory=memory)
self.assertTrue((set(filtered_mdf.channels_db) -
{'t', 'time'}) == set(channel_list))
equal = True
with MDF(input_file, memory=memory) as mdf:
print(input_file, memory)
for name in channel_list:
original = mdf.get(name)
filtered = filtered_mdf.get(name)
if not np.array_equal(original.samples,
filtered.samples):
equal = False
if not np.array_equal(original.timestamps,
filtered.timestamps):
equal = False
self.assertTrue(equal)
cleanup_files()
class MainWin(QMainWindow, mainwin.Ui_MainWindow):
def __init__(self):
super(MainWin, self).__init__()
self.setupUi(self)
self.init()
def init(self):
# self.treeView.setFixedWidth(80)
# self.treeView.setMaximumWidth(200)
# self.listView.setMaximumHeight(100)
# self.treeView.width = 30
# self.listView.height = 50
# self.graphicsView.setFixedSize(400,300)
self.init_tree()
def plot(self, sig):
self.graphicsView.plotItem.clear()
self.graphicsView.plotItem.plot(sig.samples, pen='r')
# x = np.random.random(50)
# pItem = self.graphicsView.addItem(title='graph view')
# pItem.plot(x)
def init_tree(self):
# signals = ["EngineSpeed","VehSpeed","OutputSpeedAccel"]
self.__model = QStandardItemModel(self.treeView)
self.__model.setHorizontalHeaderLabels(["Name", "Discription"])
self.__rwmdf = MDF(r'D:/TestData/DataSpySampleDataFile.mf4')
chs = self.__rwmdf.channels_db
for _ch in chs.keys():
sig = self.__rwmdf.get(_ch)
cmt = sig.comment
cmt = "" if cmt.find("\n") != -1 else cmt
# self.__model.appendRow([QStandardItem(sig.name),QStandardItem("")])
self.__model.insertRow(0, QStandardItem(sig.name))
self.__model.insertRow(1, QStandardItem(cmt))
self.treeView.setModel(self.__model)
self.treeView.setEditTriggers(QAbstractItemView.NoEditTriggers)
self.treeView.setSortingEnabled(True)
self.treeView.header().setSectionResizeMode(
QHeaderView.ResizeToContents)
self.init_list_view([])
def init_list_view(self, lst):
self.__lstmodel = QStringListModel()
_sig = self.__rwmdf.get('EngineSpeed')
_lst = []
for val in _sig.samples:
_lst.append(str(val))
self.__lstmodel.setStringList(_lst)
self.listView.setModel(self.__lstmodel)
def on_tree_view_db_clicked(self, q_index):
try:
print("on_tree_view_db_clicked...")
# q_it = self.__model.itemFromIndex(q_index)
# print(q_index.column(), q_it.text())
# if q_index.column() == 0:
# q_it = self.__model.itemFromIndex(q_index)
# sig = self.__rwmdf._mdf.get(q_it.text())
# if sig:
# self.plot(sig)
# self.initListView(sig.samples)
except Exception as err:
print(err)
choice_1 = input("Do you want to add a signal?(y/n)\n")
if choice_1 == "n":
if len(sig_list) > 0:
filter = mdf.filter(sig_list)
file_name = input("Enter the file name to be saved\n")
filter.convert('4.10').save(file_name + '.mf4')
mdf_new = MDF((file_name + '.mf4'), memory='full')
data_frame = mdf_new.export('pandas', filename=file_name)
data_frame.to_csv(file_name + '.csv')
print("CSV and mf4 file created.\n")
choice_2 = input("Do you want to plot the signal(s)?(y/n)\n")
if choice_2 == "y":
for i in range(len(sig_list)):
plt.figure(i)
plt.xlabel('Time [s]')
plt.ylabel('[{}]'.format(mdf.get(sig_list[i]).unit))
plt.plot(
mdf.get(sig_list[i]).timestamps,
mdf.get(sig_list[i]).samples, 'b')
plt.plot(
mdf.get(sig_list[i]).timestamps,
mdf.get(sig_list[i]).samples, 'b.')
plt.grid(True)
break
elif choice_1 == "y":
sig_name = input("Enter exact Signal name\n")
sig_list.append(sig_name)
plt.show()
print("Complete")
# print(sig_list)
def main():
my_parser = argparse.ArgumentParser(
description='Transform signals with sign')
my_parser.add_argument('-i',
'--input',
action='store',
metavar='mf4_input',
type=str,
required=True,
help='Input directory with source mf4 files')
my_parser.add_argument('-o',
'--output',
action='store',
metavar='mf4_output',
type=str,
required=True,
help='Output directory')
# Execute the parse_args() method
args = my_parser.parse_args()
mf4_input = args.input
mf4_output = args.output
if not os.path.isdir(mf4_input):
print('The mf4 input path specified is not a directory')
sys.exit()
if not os.path.isdir(mf4_output):
print('The mf4 ouput path specified is not a directory')
sys.exit()
for file in os.listdir(mf4_input):
if not file.endswith('.mf4'):
continue
print('process %s' % file)
mdf_file = MDF(os.path.join(mf4_input, file))
# Lenkradwinkel
lenkradwinkel = mdf_file.get('can0_LWI_Lenkradwinkel')
samples = list(lenkradwinkel.samples)
vz_samples = list(mdf_file.get('can0_LWI_VZ_Lenkradwinkel').samples)
for i in range(0, len(samples)):
if not int(vz_samples[i]):
samples[i] = samples[i] * -1
lenkradwinkel.samples = np.asarray(samples)
# Lenkradwinkel geschw.
lenkradwinkel = mdf_file.get('can0_LWI_Lenkradw_Geschw')
samples = list(lenkradwinkel.samples)
vz_samples = list(mdf_file.get('can0_LWI_VZ_Lenkradw_Geschw').samples)
for i in range(0, len(samples)):
if not int(vz_samples[i]):
samples[i] = samples[i] * -1
lenkradwinkel.samples = np.asarray(samples)
# Gierrate
lenkradwinkel = mdf_file.get('can0_ESP_Gierrate')
samples = list(lenkradwinkel.samples)
vz_samples = list(mdf_file.get('can0_ESP_VZ_Gierrate').samples)
for i in range(0, len(samples)):
if not int(vz_samples[i]):
samples[i] = samples[i] * -1
lenkradwinkel.samples = np.asarray(samples)
# filter file with VZ signals
filtered_mdf = mdf_file.filter(interesting_signals)
filtered_mdf.save(os.path.join(mf4_output, file))
#!/usr/bin/python3 # -*- coding: UTF-8 -*- from asammdf import MDF, signal import pandas as pd import matplotlib.pyplot as plt #import numpy as np file = 'ACC6.mdf' signal = 'MeasList-AccMod_7C_CAN0' gap = 3 start = 3 #read file and creat SeriersS mdf = MDF(file) sig_raw = mdf.get(signal) sig1 = pd.Series(sig_raw.samples) plt.plot(sig1) plt.show()
from asammdf import MDF, Signal
from pandas import Series, DataFrame
import pandas as pd
import numpy as np
pd.options.display.max_rows = 10
file = 'ACC6.mdf'
signal = 'MeasList-AccMod_7C_CAN0'
gap = 3
start = 3
#read file and creat Seriers
mdf = MDF(file)
sig1_raw = mdf.get(signal)
sig1 = pd.Series(sig1_raw.samples)
#filte by change point
sig1_point_A = pd.Series(np.arange(len(sig1)))
for i in range(len(sig1) - 1):
sig1_point_A[i] = sig1[i + 1] - sig1[i]
#filte by change point's step size 'gap'
sig1_point_G = sig1_point_A[(sig1_point_A == gap)].index.tolist()
sig1_point_G_counts = len(sig1_point_G)
#filte by previous value 'start'
sig1_point_1 = []
for i in range(len(sig1_point_G)):
if sig1[sig1_point_G[i]] == start:
8: 'LaCurvOfflim',
16: 'LatAccOffLim',
32: 'LatSpdOfflim',
64: 'DispSpdOfflim',
128: 'LongAccOfflim',
256: 'YawRateOfflim',
512: 'ActrNotAvl',
1024: 'Handsoff',
2048: 'TurnIdctrOn',
4096: 'RwrdGear',
8192: 'HPPLowConf',
16384: 'LineIntersect'
}
mdf = MDF(file + '.mf4')
sig1_raw = mdf.get(signal1)
sig1 = pd.Series(sig1_raw.samples)
sig2_raw = mdf.get(signal2)
sig2 = pd.Series(sig2_raw.samples)
starttime = datetime.strptime(file[-15:], '%Y%m%dT%H%M%S')
tagtime = datetime.strptime(tag, '%Y%m%dT%H%M%S')
diftime = tagtime - starttime
tagseconds = diftime.seconds
print("\n起始时间：{}\nTag时间：{}".format(starttime, tagtime))
t3occurtime = []
t3seconds = []
t3Spr = []
t1occurtime = []
t1seconds = []
mf4_data = MDF(srcFiles[files])
csvname = srcFiles[files].name
outfilename_Comment = srcFiles[0].parent.as_posix().replace(
'/', '\\') + '\\' + csvname + '_Comments.csv'
outfilename_Gps = srcFiles[0].parent.as_posix().replace(
'/', '\\') + '\\' + csvname + '_GPS.csv'
outfilename_merged = srcFiles[0].parent.as_posix().replace(
'/', '\\') + '\\' + srcFiles[0].parts[-2] + '_Merged.csv'
filtered = mf4_data.filter(['Comment'])
sdata = filtered.get('Comment')
commentSignals.append(sdata)
comment = sdata.samples.astype(str).tolist()
timestamp = sdata.timestamps.tolist()
fname = [srcFiles[files].name] * len(comment)
gpsLatitude = mf4_data.get('GPSLatitude')
gpsLongitude = mf4_data.get('GPSLongitude')
gpsTs = gpsLatitude.timestamps.tolist()
gpsLat = gpsLatitude.samples.tolist()
gpsLon = gpsLongitude.samples.tolist()
gpsLatwgs = [(Lat / 1000000) - 90 for Lat in gpsLat]
gpsLonwgs = [(Lon / 1000000) - 180 for Lon in gpsLon]
gpsList = {'ts': gpsTs, 'lat': gpsLatwgs, 'lon': gpsLonwgs}
gpsFrame = pd.DataFrame(gpsList).to_csv(outfilename_Gps)
videoTsSec = [int(ts % 180) for ts in timestamp]
videoTsmin = [
str(ts // 60) + 'min ' + str(ts % 60) + 'sec' for ts in videoTsSec
]
class openMDF:
def __init__(self, path, roadtype=0):
self.filename = path.split('/')[-1].split('.')[0]
self.roadType = roadtype
if self.filename not in loser_file_data:
self.open_file(path)
self.task_1()
def open_file(self, path):
print('开启mf4文件')
self.mf = MDF(path)
def close_file(self):
print('关闭mf4文件')
self.mf.close()
# 统计转向灯开启时间
def task_1(self):
signal_left = '_g_PL_AD_fw_PL_AD_FCT_RunnableSppHmi_RunnableSppHmi_m_sppHmiInput_out_local.TChangeableMemPool._._._m_arrayPool._0_._elem._m_dirIndL'
signal_right = '_g_PL_AD_fw_PL_AD_FCT_RunnableSppHmi_RunnableSppHmi_m_sppHmiInput_out_local.TChangeableMemPool._._._m_arrayPool._0_._elem._m_dirIndR'
signal_speed = '_g_PL_AD_fw_PL_AD_FCT_RunnableFsm_RunnableFsm._m_fsmController._m_fip._m_displayedSpeedCalculator._m_displaySpeed._m_value'
# 轮端转角
signal_RoadWheelAngle = '_g_PL_AD_fw_VMC_VMC_FW_MvpVse_VseSes_VseSes_m_portVehicleStateEstimation_local.TChangeableMemPool._._._m_arrayPool._0_._elem._m_estimation_RoadWheelAngle_Front._m_value'
# 左航向角
Left_heading_angle_signal = '_g_GAC_A18_NET_net_apl_g_netRunnable_rbCanRxLD_serializer_m_CNetVFC_Line_SenderPort_1_local.TChangeableMemPool._._._m_arrayPool._0_._elem._m_vfc_lineInformation._0_._VFC_Line_HeadingAngle'
# 左侧车道线
Left_lane_line_signal = '_g_GAC_A18_NET_net_apl_g_netRunnable_rbCanRxLD_serializer_m_CNetVFC_Line_SenderPort_1_local.TChangeableMemPool._._._m_arrayPool._0_._elem._m_vfc_lineInformation._0_._VFC_Line_Dy'
# 右航向角
Right_heading_angle_signal = '_g_GAC_A18_NET_net_apl_g_netRunnable_rbCanRxLD_serializer_m_CNetVFC_Line_SenderPort_1_local.TChangeableMemPool._._._m_arrayPool._0_._elem._m_vfc_lineInformation._1_._VFC_Line_HeadingAngle'
# 右侧车道线
Right_lane_line_signal = '_g_GAC_A18_NET_net_apl_g_netRunnable_rbCanRxLD_serializer_m_CNetVFC_Line_SenderPort_1_local.TChangeableMemPool._._._m_arrayPool._0_._elem._m_vfc_lineInformation._1_._VFC_Line_Dy'
# vxvRef
vxvRef_signal = '_g_PL_AD_fw_DACoreCyclic_HV_PerPmeRunnable_PerPmeRunnable_m_pmePort_out_local.TChangeableMemPool._._._m_arrayPool._0_._elem._vxvRef_sw'
odometer_signal = 'ICM_TotalOdometer'
# Line ID 255
left_line_signal = 'VFC_Line01_LineID'
right_line_signal = 'VFC_Line02_LineID'
if self.mf:
try:
left = self.mf.get(signal_left)
right = self.mf.get(signal_right)
speed = self.mf.get(signal_speed)
RoadWheelAngle = self.mf.get(signal_RoadWheelAngle).samples.tolist()
Left_heading_angle = self.mf.get(Left_heading_angle_signal).samples.tolist()
Left_lane_line = self.mf.get(Left_lane_line_signal).samples.tolist()
print(len(Left_lane_line))
print(len(left.samples.tolist()))
Right_heading_angle = self.mf.get(Right_heading_angle_signal).samples.tolist()
Right_lane_line = self.mf.get(Right_lane_line_signal).samples.tolist()
vxvRef = self.mf.get(vxvRef_signal)
odometer = self.mf.get(odometer_signal)
left_line = self.mf.get(left_line_signal).samples.tolist()
right_line = self.mf.get(right_line_signal).samples.tolist()
except Exception as e:
print(e)
loser_file_data.append(self.filename)
else:
def func(data):
num = data.samples.tolist()[0]
index_list = [0]
for index in range(len(data.samples.tolist())):
if num != data.samples.tolist()[index]:
num = data.samples.tolist()[index]
index_list.append(index)
if len(data.samples.tolist())-1 not in index_list:
index_list.append(len(data.samples.tolist())-1)
return index_list
# 处理数据长度问题 speed, vxvRef
st = speed.timestamps.tolist()
start_time = 0
stop_time = -2
# 计算差值
left_data = []
left_time = left.timestamps.tolist()
old_spd = speed.samples.tolist()
old_vxv = vxvRef.samples.tolist()
old_spd_time = speed.timestamps.tolist()
old_vxvRef = vxvRef.samples.tolist()
new_spd = ['' for x in left_time]
new_vxvRef = ['' for x in left_time]
for tt in range(len(old_spd_time)):
this_index = index_number(left_time, old_spd_time[tt])
new_spd[this_index] = old_spd[tt]
new_vxvRef[this_index] = old_vxvRef[tt]
for i in range(len(new_spd)):
if new_spd[i] == '':
if i==0:
if new_spd[i+1] != 0:
new_spd[i] = new_spd[i+1]
else:
new_spd[i] = 0
else:
new_spd[i] = new_spd[i-1]
if new_vxvRef[i] == '':
if i==0:
if new_vxvRef[i+1] != 0:
new_vxvRef[i] = new_vxvRef[i+1]
else:
new_vxvRef[i] = 0
else:
new_vxvRef[i] = new_vxvRef[i-1]
left_index_list = func(left)
right_index_list = func(right)
if left_index_list == [] and right_index_list == []:
self.close_file()
return False
new_data = {
'left': [],
'left_time': [],
'right': [],
'right_time': [],
'spd': [],
'wheel': [],
'Left_heading_angle': [],
'left_lane': [],
'Right_heading_angle': [],
'right_lane': [],
'vxvRef': [],
'left_line': [],
'right_line': []
}
#
for index in range(len(left_index_list)-1):
new_data['left'].append(left.samples.tolist()[left_index_list[index]:left_index_list[index+1]])
new_data['left_time'].append(left.timestamps.tolist()[left_index_list[index]:left_index_list[index+1]])
new_data['right'].append([])
new_data['right_time'].append([])
new_data['spd'].append(new_spd[left_index_list[index]:left_index_list[index+1]])
new_data['wheel'].append(RoadWheelAngle[left_index_list[index]:left_index_list[index+1]])
new_data['Left_heading_angle'].append(Left_heading_angle[left_index_list[index]:left_index_list[index+1]])
new_data['left_lane'].append(Left_lane_line[left_index_list[index]:left_index_list[index+1]])
new_data['Right_heading_angle'].append(Right_heading_angle[left_index_list[index]:left_index_list[index+1]])
new_data['right_lane'].append(Right_lane_line[left_index_list[index]:left_index_list[index+1]])
new_data['vxvRef'].append(new_vxvRef[left_index_list[index]:left_index_list[index+1]])
new_data['left_line'].append(left_line[left_index_list[index]:left_index_list[index+1]])
new_data['right_line'].append([])
for index in range(len(right_index_list)-1):
new_data['left'].append([])
new_data['left_time'].append([])
new_data['right'].append(right.samples.tolist()[right_index_list[index]:right_index_list[index+1]])
new_data['right_time'].append(right.timestamps.tolist()[right_index_list[index]:right_index_list[index+1]])
new_data['spd'].append(new_spd[right_index_list[index]:right_index_list[index+1]])
new_data['wheel'].append(RoadWheelAngle[right_index_list[index]:right_index_list[index+1]])
new_data['Left_heading_angle'].append(Left_heading_angle[right_index_list[index]:right_index_list[index+1]])
new_data['left_lane'].append(Left_lane_line[right_index_list[index]:right_index_list[index+1]])
new_data['Right_heading_angle'].append(Right_heading_angle[right_index_list[index]:right_index_list[index+1]])
new_data['right_lane'].append(Right_lane_line[right_index_list[index]:right_index_list[index+1]])
new_data['vxvRef'].append(new_vxvRef[right_index_list[index]:right_index_list[index+1]])
new_data['left_line'].append([])
new_data['right_line'].append(right_line[right_index_list[index]:right_index_list[index+1]])
# for key,value in new_data.items():
# print(len(value))
# 车道线判断逻辑函数
def func2(i,direction,speed,max_spd,min_spd):
print(direction)
return_data = 0
lane_list = []
overrun = []
for lane_line in range(len(new_data[f'{direction}_lane'][i])-1):
if new_data[f'{direction}_lane'][i][lane_line] == 2048:
print('无信号')
continue
this_num = new_data[f'{direction}_lane'][i][lane_line] * 0.015625 - 32
next_num = new_data[f'{direction}_lane'][i][lane_line + 1] * 0.015625 - 32
print(next_num - this_num)
if abs(next_num - this_num) >= 2.4:
lane_list.append(lane_line)
print(lane_list)
if lane_list != []:
if len(lane_list) > 1:
print('多次变道， 不做计算')
else:
print(f'单次变道{direction}')
new_lane = new_data[f'{direction}_lane'][i][lane_list[0]+1:]
this_len = int(len(new_lane)/5)
new_list = [sum(new_lane[:this_len])/len(new_lane[:this_len]),sum(new_lane[this_len:this_len*2])/len(new_lane[this_len:this_len*2]),sum(new_lane[this_len*2:this_len*3])/len(new_lane[this_len*2:this_len*3]),sum(new_lane[this_len*3:this_len*4])/len(new_lane[this_len*3:this_len*4]),sum(new_lane[this_len*4:])/len(new_lane[this_len*4:])]
if new_list[0] > new_list[1] > new_list[2] > new_list[3] > new_list[4]:
# 变道到车轮压线时间
Time_from_lighting_to_pressing_line = new_data[f'{direction}_time'][i][lane_list[0]] - new_data[f'{direction}_time'][i][0]
Line_pressing_data = [self.filename,speed,max_spd,min_spd,Time_from_lighting_to_pressing_line, self.roadType]
if Line_pressing_data not in Line_pressing:
Line_pressing.append(Line_pressing_data)
return_data = 1
else:
this_len = int(len(new_data[f'{direction}_lane'][i])/5)
new_list = [
sum(new_data[f'{direction}_lane'][i][:this_len])/len(new_data[f'{direction}_lane'][i][:this_len]),
sum(new_data[f'{direction}_lane'][i][this_len:this_len*2])/len(new_data[f'{direction}_lane'][i][this_len:this_len*2]),
sum(new_data[f'{direction}_lane'][i][this_len*2:this_len*3])/len(new_data[f'{direction}_lane'][i][this_len*2:this_len*3]),
sum(new_data[f'{direction}_lane'][i][this_len*3:this_len*4])/len(new_data[f'{direction}_lane'][i][this_len*3:this_len*4]),
sum(new_data[f'{direction}_lane'][i][this_len*4:])/len(new_data[f'{direction}_lane'][i][this_len*4:])]
if min(new_list) == new_list[-1] and new_data[f'{direction}_lane'][i] != new_data[f'{direction}_lane'][-1]:
this_lane_list = new_data[f'{direction}_lane'][i][this_len*4:]
if len(new_data[f'{direction}_lane'][i+1]) >= 200:
this_lane_list.extend(new_data[f'{direction}_lane'][i+1][:200])
else:
this_lane_list.extend(new_data[f'{direction}_lane'][i+1])
for lane_line in range(len(this_lane_list)-1):
if this_lane_list[lane_line] == 2048:
print('无信号')
continue
this_num = this_lane_list[lane_line] * 0.015625 - 32
next_num = this_lane_list[lane_line + 1] * 0.015625 - 32
print(next_num - this_num)
if abs(next_num - this_num) >= 2.4:
lane_list.append(lane_line)
if lane_list != []:
if len(lane_list) > 1:
print('多次变道， 不做计算')
else:
print(f'单次变道{direction}')
new_lane = new_data[f'{direction}_lane'][i][lane_list[0]+1:]
this_len = int(len(new_lane)/5)
new_list = [sum(new_lane[:this_len])/len(new_lane[:this_len]),sum(new_lane[this_len:this_len*2])/len(new_lane[this_len:this_len*2]),sum(new_lane[this_len*2:this_len*3])/len(new_lane[this_len*2:this_len*3]),sum(new_lane[this_len*3:this_len*4])/len(new_lane[this_len*3:this_len*4]),sum(new_lane[this_len*4:])/len(new_lane[this_len*4:])]
if new_list[0] > new_list[1] > new_list[2] > new_list[3] > new_list[4]:
# 变道到车轮压线时间
Time_from_lighting_to_pressing_line = new_data[f'{direction}_time'][i][lane_list[0]] - new_data[f'{direction}_time'][i][0]
Line_pressing_data = [self.filename,speed,max_spd,min_spd,Time_from_lighting_to_pressing_line, self.roadType]
if Line_pressing_data not in Line_pressing:
Line_pressing.append(Line_pressing_data)
return_data = 1
return return_data
def func3(key,i,speed,max_spd,min_spd,direction):
result_dict[key][direction][0] += 1
this_time = new_data['{}_time'.format(direction)][i][-1] - new_data['{}_time'.format(direction)][i][0]
#################################
this_index = index_number(time_1,this_time)
new_result_dict[key][this_index] += 1
#################################
mysql_data_sql = [self.filename,direction, speed,max_spd,min_spd, this_time, self.roadType]
if mysql_data_sql not in mysql_data:
mysql_data.append(mysql_data_sql)
#################################
result_dict[key][direction][1].append(this_time)
# 数据规整完成， 长度一致，无变化
for i in range(len(new_data['spd'])):
judgment_basis = 0
for j in new_data['wheel'][i]:
if j > 0.1:
judgment_basis = 1
break
if judgment_basis == 0:
try:
# 车速计算
speed = int(sum(new_data['spd'][i]))/len(new_data['spd'][i]) * 3.6
# 最大车速留档
max_spd = int(max(new_data['spd'][i])) * 3.6
# 最小车速留档
min_spd = int(min(new_data['spd'][i])) * 3.6
except IndexError:
break
else:
if speed >=80:
if 1 in new_data['left'][i] and 1 not in new_data['right'][i]:
# 判断车道线情况
# Time_from_lighting_to_pressing_line 为开启变道灯到压线的时间
# 这里的判断逻辑需要重新计算， 考虑变道中跳变仅存在一次，并且确实变道完成
# 如：
# 1.跨过车道线完成跳变之后， 继续变动完成变道操作
# 2.跨过车到线之后的数据迅速达到正常车位， 即车道线扣除车身之后最大值应该为60公分，否则视为未变道成功， 需要继续查看后续数据来判断
lane = func2(i,'left',speed,max_spd,min_spd)
# 车道线检测
if lane == 1:
func3('80-100',i,speed,max_spd,min_spd,'left')
elif 1 not in new_data['left'][i] and 1 in new_data['right'][i]:
lane = func2(i,'right',speed,max_spd,min_spd)
if lane == 1:
func3('80-100',i,speed,max_spd,min_spd,'right')
else:
continue
elif speed >=60:
if 1 in new_data['left'][i] and 1 not in new_data['right'][i]:
# 判断车道线情况
lane = func2(i,'left',speed,max_spd,min_spd)
if lane == 1:
func3('60-80',i,speed,max_spd,min_spd,'left')
elif 1 not in new_data['left'][i] and 1 in new_data['right'][i]:
# 判断车道线情况
lane = func2(i,'right',speed,max_spd,min_spd)
if lane == 1:
func3('60-80',i,speed,max_spd,min_spd,'right')
else:
continue
elif speed >=40:
if 1 in new_data['left'][i] and 1 not in new_data['right'][i]:
# 判断车道线情况
lane = func2(i,'left',speed,max_spd,min_spd)
if lane == 1:
func3('40-60',i,speed,max_spd,min_spd,'left')
elif 1 not in new_data['left'][i] and 1 in new_data['right'][i]:
# 判断车道线情况
lane = func2(i,'right',speed,max_spd,min_spd)
if lane == 1:
func3('40-60',i,speed,max_spd,min_spd,'right')
else:
continue
elif speed > 0:
if 1 in new_data['left'][i] and 1 not in new_data['right'][i]:
# 判断车道线情况
lane = func2(i,'left',speed,max_spd,min_spd)
if lane == 1:
func3('0~40',i,speed,max_spd,min_spd,'left')
elif 1 not in new_data['left'][i] and 1 in new_data['right'][i]:
# 判断车道线情况
lane = func2(i,'right',speed,max_spd,min_spd)
if lane == 1:
func3('0~40',i,speed,max_spd,min_spd,'right')
# result_dict['0~40']['right'][1].append(this_time)
else:
continue
else:
continue
this_odometer = odometer.samples.tolist()
this_time = odometer.timestamps.tolist()
odo = this_odometer[-1] - this_odometer[0]
t = this_time[-1] - this_time[0]
global all_odometer
all_odometer += odo
global all_time
all_time += t
self.close_file()
return new_result_dict
finally:
self.close_file()
class openMDF:
def __init__(self, path, roadtype=0):
self.filename = path.split('/')[-1].split('.')[0]
self.roadType = roadtype
if self.filename not in loser_file_data:
self.open_file(path)
self.task_1()
def open_file(self, path):
print('开启mf4文件')
self.mf = MDF(path)
def close_file(self):
print('关闭mf4文件')
self.mf.close()
# 统计转向灯开启时间
def task_1(self):
signal_left = '_g_PL_AD_fw_PL_AD_FCT_RunnableSppHmi_RunnableSppHmi_m_sppHmiInput_out_local.TChangeableMemPool._._._m_arrayPool._0_._elem._m_dirIndL'
signal_right = '_g_PL_AD_fw_PL_AD_FCT_RunnableSppHmi_RunnableSppHmi_m_sppHmiInput_out_local.TChangeableMemPool._._._m_arrayPool._0_._elem._m_dirIndR'
signal_speed = '_g_PL_AD_fw_PL_AD_FCT_RunnableFsm_RunnableFsm._m_fsmController._m_fip._m_displayedSpeedCalculator._m_displaySpeed._m_value'
# 轮端转角
signal_RoadWheelAngle = '_g_PL_AD_fw_VMC_VMC_FW_MvpVse_VseSes_VseSes_m_portVehicleStateEstimation_local.TChangeableMemPool._._._m_arrayPool._0_._elem._m_estimation_RoadWheelAngle_Front._m_value'
# 左航向角
Left_heading_angle_signal = '_g_GAC_A18_NET_net_apl_g_netRunnable_rbCanRxLD_serializer_m_CNetVFC_Line_SenderPort_1_local.TChangeableMemPool._._._m_arrayPool._0_._elem._m_vfc_lineInformation._0_._VFC_Line_HeadingAngle'
# 左侧车道线
Left_lane_line_signal = '_g_GAC_A18_NET_net_apl_g_netRunnable_rbCanRxLD_serializer_m_CNetVFC_Line_SenderPort_1_local.TChangeableMemPool._._._m_arrayPool._0_._elem._m_vfc_lineInformation._0_._VFC_Line_Dy'
# 右航向角
Right_heading_angle_signal = '_g_GAC_A18_NET_net_apl_g_netRunnable_rbCanRxLD_serializer_m_CNetVFC_Line_SenderPort_1_local.TChangeableMemPool._._._m_arrayPool._0_._elem._m_vfc_lineInformation._1_._VFC_Line_HeadingAngle'
# 右侧车道线
Right_lane_line_signal = '_g_GAC_A18_NET_net_apl_g_netRunnable_rbCanRxLD_serializer_m_CNetVFC_Line_SenderPort_1_local.TChangeableMemPool._._._m_arrayPool._0_._elem._m_vfc_lineInformation._1_._VFC_Line_Dy'
# vxvRef
vxvRef_signal = '_g_PL_AD_fw_DACoreCyclic_HV_PerPmeRunnable_PerPmeRunnable_m_pmePort_out_local.TChangeableMemPool._._._m_arrayPool._0_._elem._vxvRef_sw'
odometer_signal = 'ICM_TotalOdometer'
# Line ID 255
left_line_signal = 'VFC_Line01_LineID'
right_line_signal = 'VFC_Line02_LineID'
if self.mf:
try:
left = self.mf.get(signal_left)
right = self.mf.get(signal_right)
speed = self.mf.get(signal_speed)
RoadWheelAngle = self.mf.get(
signal_RoadWheelAngle).samples.tolist()
Left_heading_angle = self.mf.get(
Left_heading_angle_signal).samples.tolist()
Left_lane_line = self.mf.get(
Left_lane_line_signal).samples.tolist()
Right_heading_angle = self.mf.get(
Right_heading_angle_signal).samples.tolist()
Right_lane_line = self.mf.get(
Right_lane_line_signal).samples.tolist()
vxvRef = self.mf.get(vxvRef_signal)
odometer = self.mf.get(odometer_signal)
left_line = self.mf.get(left_line_signal).samples.tolist()
right_line = self.mf.get(right_line_signal).samples.tolist()
except Exception as e:
print(e)
loser_file_data.append(self.filename)
else:
lane = 0
for i in range(len(Left_lane_line) - 1):
if abs((Left_lane_line[i] - Left_lane_line[i + 1]) *
0.015625 - 32) >= 2.4:
lane = 1
break
if lane == 0:
return
else:
def func(data):
num = data.samples.tolist()[0]
index_list = [0]
for index in range(len(data.samples.tolist())):
if num != data.samples.tolist()[index]:
num = data.samples.tolist()[index]
index_list.append(index)
if len(data.samples.tolist()) - 1 not in index_list:
index_list.append(len(data.samples.tolist()) - 1)
return index_list