fixing style problems
This commit is contained in:
Felipe Codevilla
parent
1f8d486fcb
commit
6396199a38
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@ -4,12 +4,19 @@ import os
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class Recording(object):
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"""
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Class to record all the logs for the benchmark. It records individual episodes measurements
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and also summary for each episodes.
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"""
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def __init__(self
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, name_to_save
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, continue_experiment
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, save_images
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):
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def __init__(self, name_to_save, continue_experiment, save_images):
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"""
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Recorder constructors
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Args:
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name_to_save: Name of the log
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continue_experiment: If you want to continue a previous experiment with the same names
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save_images: If you want to save images to the disk.
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"""
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self._dict_summary = {'exp_id': -1,
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'rep': -1,
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@ -44,15 +51,13 @@ class Recording(object):
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os.mkdir('_benchmarks_results')
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# Generate the full path for the log files
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self._path = os.path.join('_benchmarks_results'
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, name_to_save
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)
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self._path = os.path.join('_benchmarks_results', name_to_save)
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# Check for continuation of experiment, also returns the last line, used for test purposes
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# If you don't want to continue it will create a new path name with a number.
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# Also returns the fieldnames for both measurements and summary, so you can keep the
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# previous order
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self._path, _, self._summary_fieldnames, self._measurements_fieldnames\
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self._path, _, self._summary_fieldnames, self._measurements_fieldnames \
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= self._continue_experiment(continue_experiment)
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self._create_log_files()
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@ -72,20 +77,31 @@ class Recording(object):
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return self._path
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def log_poses(self, start_index, end_index, weather_id):
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"""
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Log tested poses by the benchmark
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"""
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with open(self._internal_log_name, 'a+') as log:
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log.write(' Start Poses (%d %d ) on weather %d \n ' %
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(start_index, end_index, weather_id))
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def log_poses_finish(self):
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"""
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Log when a set of poses (task) is finished by the benchmark
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"""
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with open(self._internal_log_name, 'a+') as log:
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log.write('Finished Task')
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def log_start(self, id_experiment):
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"""
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Log when a set of poses (task) is started by the benchmark
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"""
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with open(self._internal_log_name, 'a+') as log:
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log.write('Start Task %d \n' % id_experiment)
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def log_end(self):
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"""
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Log when the benchmark is finished
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"""
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with open(self._internal_log_name, 'a+') as log:
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log.write('====== Finished Entire Benchmark ======')
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@ -110,7 +126,6 @@ class Recording(object):
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with open(os.path.join(self._path, 'summary.csv'), 'a+') as ofd:
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w = csv.DictWriter(ofd, self._dict_summary.keys())
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w.fieldnames = self._summary_fieldnames
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w.writerow(self._dict_summary)
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def write_measurements_results(self, experiment, rep, pose, reward_vec, control_vec):
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@ -1,9 +1,8 @@
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import unittest
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from carla.driving_benchmark.recording import Recording
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class testRecording(unittest.TestCase):
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class testRecording(unittest.TestCase):
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def test_init(self):
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import os
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@ -13,93 +12,81 @@ class testRecording(unittest.TestCase):
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"""
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recording = Recording(name_to_save='Test1'
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, continue_experiment=False, save_images=True
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recording = Recording(name_to_save='Test1',
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continue_experiment=False, save_images=True
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)
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_ = open(os.path.join(recording._path,'summary.csv'), 'r')
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_ = open(os.path.join(recording._path, 'summary.csv'), 'r')
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_ = open(os.path.join(recording._path, 'measurements.csv'), 'r')
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# There should be three files in any newly created case
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self.assertEqual(len(os.listdir(recording._path)), 3)
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def test_write_summary_results(self):
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import os
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from carla.driving_benchmark.experiment import Experiment
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recording = Recording(name_to_save='Test1'
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, continue_experiment=False, save_images=True
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recording = Recording(name_to_save='Test1',
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continue_experiment=False, save_images=True
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)
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recording.write_summary_results( experiment=Experiment(), pose=[24,32], rep=1,
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path_distance=200, remaining_distance=0,
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final_time=0.2, time_out=49, result=1)
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recording.write_summary_results(experiment=Experiment(), pose=[24, 32], rep=1,
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path_distance=200, remaining_distance=0,
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final_time=0.2, time_out=49, result=1)
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with open(os.path.join(recording._path, 'summary.csv'), 'r') as f:
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header = f.readline().split(',')
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#Assert if header is header
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# Assert if header is header
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self.assertIn('exp_id', header)
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self.assertEqual(len(header), len(recording._dict_summary))
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#Assert if there is something writen in the row
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# Assert if there is something writen in the row
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written_row = f.readline().split(',')
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#Assert if the number of collums is correct
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# Assert if the number of collums is correct
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self.assertEqual(len(written_row), len(recording._dict_summary))
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def test_write_summary_results_good_order(self):
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import os
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from carla.driving_benchmark.experiment import Experiment
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recording = Recording(name_to_save='Test_good_order'
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, continue_experiment=False, save_images=True
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recording = Recording(name_to_save='Test_good_order',
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continue_experiment=False, save_images=True
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)
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for i in range(0, 10):
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recording.write_summary_results(experiment=Experiment(), pose=[24, 32], rep=1,
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path_distance=200, remaining_distance=0,
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final_time=0.2, time_out=49, result=1)
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recording = Recording(name_to_save='Test_good_order',
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continue_experiment=True, save_images=True
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)
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for i in range(0, 10):
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recording.write_summary_results( experiment=Experiment(), pose=[24,32], rep=1,
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path_distance=200, remaining_distance=0,
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final_time=0.2, time_out=49, result=1)
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recording = Recording(name_to_save='Test_good_order'
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, continue_experiment=True, save_images=True
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)
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recording.write_summary_results(experiment=Experiment(), pose=[24, 32], rep=1,
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path_distance=200, remaining_distance=0,
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final_time=0.2, time_out=49, result=1)
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recording = Recording(name_to_save='Test_good_order',
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continue_experiment=True, save_images=True
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)
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for i in range(0, 10):
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recording.write_summary_results( experiment=Experiment(), pose=[24,32], rep=1,
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path_distance=200, remaining_distance=0,
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final_time=0.2, time_out=49, result=1)
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recording = Recording(name_to_save='Test_good_order'
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, continue_experiment=True, save_images=True
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)
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recording.write_summary_results(experiment=Experiment(), pose=[24, 32], rep=1,
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path_distance=200, remaining_distance=0,
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final_time=0.2, time_out=49, result=1)
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recording = Recording(name_to_save='Test_good_order',
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continue_experiment=True, save_images=True
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)
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for i in range(0, 10):
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recording.write_summary_results( experiment=Experiment(), pose=[24,32], rep=1,
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path_distance=200, remaining_distance=0,
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final_time=0.2, time_out=49, result=1)
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recording = Recording(name_to_save='Test_good_order'
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, continue_experiment=True, save_images=True
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)
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for i in range(0, 10):
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recording.write_summary_results( experiment=Experiment(), pose=[24,32], rep=1,
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path_distance=200, remaining_distance=0,
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final_time=0.2, time_out=49, result=1)
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recording.write_summary_results(experiment=Experiment(), pose=[24, 32], rep=1,
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path_distance=200, remaining_distance=0,
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final_time=0.2, time_out=49, result=1)
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def test_write_measurements_results(self):
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@ -108,12 +95,10 @@ class testRecording(unittest.TestCase):
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from carla.carla_server_pb2 import Measurements
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from carla.carla_server_pb2 import Control
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recording = Recording(name_to_save='Test1'
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, continue_experiment=False, save_images=True
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recording = Recording(name_to_save='Test1',
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continue_experiment=False, save_images=True
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)
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reward_vec = [Measurements().player_measurements for x in range(20)]
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control_vec = [Control() for x in range(25)]
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@ -122,24 +107,22 @@ class testRecording(unittest.TestCase):
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control_vec=control_vec)
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with open(os.path.join(recording._path, 'measurements.csv'), 'r') as f:
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header = f.readline().split(',')
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#Assert if header is header
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# Assert if header is header
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self.assertIn('exp_id', header)
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self.assertEqual(len(header), len(recording._dict_measurements))
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#Assert if there is something writen in the row
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# Assert if there is something writen in the row
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written_row = f.readline().split(',')
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#Assert if the number of collums is correct
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# Assert if the number of collums is correct
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self.assertEqual(len(written_row), len(recording._dict_measurements))
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def test_continue_experiment(self):
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recording = Recording( name_to_save='Test1'
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, continue_experiment=False, save_images=True
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recording = Recording(name_to_save='Test1',
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continue_experiment=False, save_images=True
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)
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# A just started case should return the continue experiment case
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@ -150,31 +133,25 @@ class testRecording(unittest.TestCase):
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from carla.driving_benchmark.experiment import Experiment
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recording.write_summary_results(experiment=Experiment(), pose=[24, 32], rep=1,
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path_distance=200, remaining_distance=0,
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final_time=0.2, time_out=49, result=1)
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path_distance=200, remaining_distance=0,
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final_time=0.2, time_out=49, result=1)
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recording.write_summary_results(experiment=Experiment(), pose=[24, 32], rep=1,
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path_distance=200, remaining_distance=0,
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final_time=0.2, time_out=49, result=1)
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path_distance=200, remaining_distance=0,
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final_time=0.2, time_out=49, result=1)
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# After writing two experiments it should return 2, so you could start writing os pos 3
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self.assertEqual(recording._continue_experiment(True)[1], 3)
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# If you dont want to continue, should return also one
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self.assertEqual(recording._continue_experiment(False)[1], 1)
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def test_get_pose_and_experiment(self):
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recording = Recording( name_to_save='Test1'
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, continue_experiment=False, save_images=True
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recording = Recording(name_to_save='Test1',
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continue_experiment=False, save_images=True
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)
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from carla.driving_benchmark.experiment import Experiment
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pose, experiment = recording.get_pose_and_experiment(25)
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# An starting experiment should return zero zero
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@ -182,13 +159,12 @@ class testRecording(unittest.TestCase):
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self.assertEqual(pose, 0)
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self.assertEqual(experiment, 0)
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recording.write_summary_results( experiment=Experiment(), pose=[24,32], rep=1,
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path_distance=200, remaining_distance=0,
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final_time=0.2, time_out=49, result=1)
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recording.write_summary_results( experiment=Experiment(), pose=[24,32], rep=1,
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path_distance=200, remaining_distance=0,
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final_time=0.2, time_out=49, result=1)
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recording.write_summary_results(experiment=Experiment(), pose=[24, 32], rep=1,
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path_distance=200, remaining_distance=0,
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final_time=0.2, time_out=49, result=1)
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recording.write_summary_results(experiment=Experiment(), pose=[24, 32], rep=1,
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path_distance=200, remaining_distance=0,
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final_time=0.2, time_out=49, result=1)
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pose, experiment = recording.get_pose_and_experiment(25)
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self.assertEqual(pose, 2)
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@ -214,11 +190,10 @@ class testRecording(unittest.TestCase):
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def test_get_pose_and_experiment_corner(self):
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from carla.driving_benchmark.experiment import Experiment
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recording = Recording( name_to_save='Test1'
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, continue_experiment=False, save_images=True
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recording = Recording(name_to_save='Test1',
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continue_experiment=False, save_images=True
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)
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pose, experiment = recording.get_pose_and_experiment(1)
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@ -232,44 +207,39 @@ class testRecording(unittest.TestCase):
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self.assertEqual(pose, 0)
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self.assertEqual(experiment, 0)
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recording.write_summary_results( experiment=Experiment(), pose=[24, 32], rep=1,
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path_distance=200, remaining_distance=0,
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final_time=0.2, time_out=49, result=1)
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recording.write_summary_results(experiment=Experiment(), pose=[24, 32], rep=1,
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path_distance=200, remaining_distance=0,
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final_time=0.2, time_out=49, result=1)
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pose, experiment = recording.get_pose_and_experiment(1)
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print (pose, experiment)
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print(pose, experiment)
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self.assertEqual(pose, 0)
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self.assertEqual(experiment, 1)
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pose, experiment = recording.get_pose_and_experiment(2)
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print (pose, experiment)
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print(pose, experiment)
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# An starting experiment should return one
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self.assertEqual(pose, 1)
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self.assertEqual(experiment, 0)
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pose, experiment = recording.get_pose_and_experiment(3)
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print (pose, experiment)
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print(pose, experiment)
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# An starting experiment should return one
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self.assertEqual(pose, 1)
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self.assertEqual(experiment, 0)
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recording.write_summary_results( experiment=Experiment(), pose=[24, 32], rep=1,
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path_distance=200, remaining_distance=0,
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final_time=0.2, time_out=49, result=1)
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recording.write_summary_results(experiment=Experiment(), pose=[24, 32], rep=1,
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path_distance=200, remaining_distance=0,
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final_time=0.2, time_out=49, result=1)
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pose, experiment = recording.get_pose_and_experiment(2)
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self.assertEqual(pose, 0)
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self.assertEqual(experiment, 1)
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pose, experiment = recording.get_pose_and_experiment(3)
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self.assertEqual(pose, 2)
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@ -278,4 +248,3 @@ class testRecording(unittest.TestCase):
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if __name__ == '__main__':
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unittest.main()
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