/// <summary>
/// reads the testdata in and predicts them.
/// </summary>
/// <param name="rm">Readmethod e.g JSON or .CSV</param>
/// <param name="evalr">An IEvaluator</param>
/// <param name="filename">Where to read from</param>
/// <returns>IEnumerable of predicted testdata</returns>
public static IEnumerable <Result> ConvertTestData(IOReadTestMethod rm, IEvaluator evalr, string filename)
{
var cBag = new ConcurrentBag <Result>();
using (var finished = new CountdownEvent(1))
{
foreach ((string rating, string original) in rm(filename))
{
finished.AddCount();
ThreadPool.QueueUserWorkItem(
(state) =>
{
try
{
cBag.Add(new Result((new TUID(Thread.CurrentThread.ManagedThreadId + DateTime.Today.Millisecond, original)), Program.InternConcurrentSafe(evalr.Evaluation(float.Parse(rating)).Item1), float.Parse(rating)));
}
finally
{
finished.Signal();
}
}, null);
}
finished.Signal();
finished.Wait();
}
return(cBag);
}
/// <summary>
///
/// </summary>
public Rule Validate(QueryProvider qp)
{
if (null == DateTimeMathParser.ToDuration(Frequency, TimeUnit.Second))
{
AlertValidationException.ThrowBadParseFrequency();
}
if (!string.IsNullOrEmpty(For) && !DateTimeMathParser.ToDuration(For, TimeUnit.Second).HasValue)
{
AlertValidationException.ThrowBadParseFor();
}
if (null == Conditions || 0 == Conditions.Length)
{
AlertValidationException.ThrowNoCondtitions();
}
if (!Enum.IsDefined(typeof(NoDataOptions), NoDataOption))
{
AlertValidationException.ThrowBadParseNoDataOption();
}
if (!Enum.IsDefined(typeof(ErrorOptions), ErrorOption))
{
AlertValidationException.ThrowBadParseErrorOption();
}
Conditions
.ToList()
.ForEach(c => c.Validate(qp));
return(this);
}
public void One_Pair_At_The_Same_Position_Is_Returned(PairSelector implementation)
=> TestWithPairSelect(implementation, () =>
{
_left.Add("A");
_right.Add("A");
ExpectNumberOfPairs(1);
ExpectExactlyOnePairOf(("A", "A"));
private async Task LoadMultipleValues(LoadItems fetchingFunc)
{
IsLoading = true;
var location = await LocationProvider.GetLocation();
await DisplayValues(fetchingFunc(location));
IsLoading = false;
}
public PaginatedMessage(BotCommandContext context, IUserMessage message, int count, int initial, PageAction action) : base(context, message, new Dictionary <string, ReactionAction>(), true)
{
if (count < 1)
{
throw new ArgumentOutOfRangeException(nameof(count));
}
if (initial < 1 || initial > count)
{
throw new ArgumentOutOfRangeException(nameof(initial));
}
PageCount = count;
CurrentPage = initial;
OnChage = action;
}
/// <summary>
///
/// </summary>
public void Validate(QueryProvider qp)
{
if (null == Query)
{
AlertValidationException.ThrowBadQuery();
}
if (null == Evaluator)
{
AlertValidationException.ThrowBadEvaluator();
}
Query.Validate(qp);
Evaluator.Validate();
}
public static void CreatePaginatedMessage(BotCommandContext context, IUserMessage message, int pageCount, int initialPage, PageAction action, int timeout = 300000, Action onTimeout = null)
{
if (pageCount == 1)
{
return;
}
message.AddReactionsAsync(new[] { new Emoji(PaginatedMessage.FirstPage), new Emoji(PaginatedMessage.PreviousPage), new Emoji(PaginatedMessage.NextPage), new Emoji(PaginatedMessage.LastPage) });
var paginatedMessage = new PaginatedMessage(context, message, pageCount, initialPage, action);
ReactionMessageCache.Add(message.Id.ToString(), paginatedMessage, new CacheItemPolicy {
SlidingExpiration = TimeSpan.FromMilliseconds(timeout), RemovedCallback = onTimeout == null ? null : (CacheEntryRemovedCallback)(_ => onTimeout())
});
}
public void If_One_List_Is_Empty_The_Result_Is_Empty(PairSelector implementation)
=> TestWithImplementationAndWithSymmetricalSetups(implementation, (first, second) =>
{
second.Add("A");
ExpectNumberOfPairs(0);
});
public ResponderChannel(RSocket socket, int channelId, ReadOnlySequence <byte> metadata, ReadOnlySequence <byte> data, int initialRequest, Channeler channeler) : base(socket, channelId, initialRequest)
{
this.Metadata = metadata;
this.Data = data;
this._channeler = channeler;
}
public Lazy(System.Func <T> constructor)
{
this.constructor = constructor;
}
void ParseNextMp4Header()
{
// check if there's more data to be read
var KnownFileSize = GetKnownFileSize();
if (Mp4BytesRead >= KnownFileSize)
{
return;
}
int TimeOffset = 0;
System.Action <PopX.Mpeg4.TTrack> EnumTrack = (Track) =>
{
System.Action <byte[], int> PushPacket;
byte[] Sps_AnnexB;
byte[] Pps_AnnexB;
// track has header (so if we have moov and moof's, this only comes up once, and that's when we need to decode SPS/PPS
if (Track.SampleDescriptions != null)
{
if (Track.SampleDescriptions[0].Fourcc != "avc1")
{
throw new System.Exception("Expecting fourcc avc1, got " + Track.SampleDescriptions[0].Fourcc);
}
H264.AvccHeader Header;
Header = PopX.H264.ParseAvccHeader(Track.SampleDescriptions[0].AvccAtomData);
// wrong place to assign this! should be when we assign the track index
H264TrackHeader = Header;
var Pps = new List <byte>(new byte[] { 0, 0, 0, 1 });
Pps.AddRange(Header.PPSs[0]);
Pps_AnnexB = Pps.ToArray();
var Sps = new List <byte>(new byte[] { 0, 0, 0, 1 });
Sps.AddRange(Header.SPSs[0]);
Sps_AnnexB = Sps.ToArray();
PushPacket = (Packet, FrameNumber) =>
{
H264.AvccToAnnexb4(Header, Packet, (Bytes) => { PushFrame_AnnexB(Bytes, FrameNumber); });
};
}
else if (Preconfigured_SPS_Bytes != null && Preconfigured_SPS_Bytes.Length > 0)
{
throw new System.Exception("Need to refactor to process preconfigured SPS before handling tracks");
// split this header
Sps_AnnexB = Preconfigured_SPS_Bytes;
Pps_AnnexB = null;
// gr: turns out these are AVCC, not annexb
// gr: should be able to auto detect without header
//PushPacket = PushAnnexB;
H264.AvccHeader Header = new H264.AvccHeader();
Header.NaluLength = 2;
PushPacket = (Packet, FrameNumber) =>
{
H264.AvccToAnnexb4(Header, Packet, (Bytes) => { PushFrame_AnnexB(Bytes, FrameNumber); });
};
}
else
{
// track without header, assume it's already come via moov and this is a moof
Sps_AnnexB = null;
Pps_AnnexB = null;
PushPacket = null;
}
// load h264 header
if (Sps_AnnexB != null)
{
H264.Profile Profile;
float Level;
PopX.H264.GetProfileLevel(Sps_AnnexB, out Profile, out Level);
if (Profile != H264.Profile.Baseline)
{
Debug.LogWarning("PopH264 currently only supports baseline profile. This is " + Profile + " level=" + Level);
}
PushFrame_AnnexB(Sps_AnnexB, 0);
PushFrame_AnnexB(Pps_AnnexB, 0);
}
// load samples
if (Track.Samples == null)
{
if (VerboseDebug)
{
Debug.Log("Mp4 Track with null samples (next mdat=" + NextMdat + ")");
}
}
else
{
// gr: is there a better mdat ident? don't think so, it's just the upcoming one in mpeg sequence
// gr: sometimes, the mdat is before the tracks...
// gr: the sample offset also needs correcting
var MdatIndex = MDatBeforeTrack ? NextMdat - 1 : 0;
if (VerboseDebug)
{
Debug.Log("Found mp4 track " + Track.Samples.Count + " for next mdat: " + MdatIndex);
}
if (Track.Samples.Count > 0)
{
var LastSampleTime = Track.Samples[Track.Samples.Count - 1].PresentationTimeMs;
if (!LastFrameTime.HasValue)
{
LastFrameTime = LastSampleTime;
}
LastFrameTime = Mathf.Max(LastFrameTime.Value, LastSampleTime);
}
foreach (var Sample in Track.Samples)
{
try
{
var NewSample = new TPendingSample();
if (PendingInputSamples == null)
{
PendingInputSamples = new List <TPendingSample>();
}
NewSample.Sample = Sample;
NewSample.MdatIndex = MdatIndex;
//NewSample.DataPosition = Sample.DataPosition;
//NewSample.DataFilePosition = Sample.DataFilePosition;
//NewSample.DataSize = Sample.DataSize;
var TimeOffsetMs = (int)(TimeOffset / 10000.0f);
//NewSample.PresentationTime = Sample.PresentationTimeMs + TimeOffsetMs;
NewSample.Format = PacketFormat.Avcc;
PendingInputSamples.Add(NewSample);
}
catch (System.Exception e)
{
Debug.LogException(e);
break;
}
}
}
};
System.Action <List <PopX.Mpeg4.TTrack> > EnumTracks = (Tracks) =>
{
// moof headers don't have track headers, so we should have our track by now
// this track may be the original though, so hunt down the h264 one
if (!H264TrackIndex.HasValue)
{
for (int t = 0; t < Tracks.Count; t++)
{
var Track = Tracks[t];
if (Track.SampleDescriptions == null)
{
continue;
}
if (Track.SampleDescriptions[0].Fourcc != "avc1")
{
Debug.Log("Skipping track codec: " + Track.SampleDescriptions[0].Fourcc);
continue;
}
H264TrackIndex = t;
}
}
if (!H264TrackIndex.HasValue)
{
throw new System.Exception("Couldn't find avc1 track");
}
EnumTrack(Tracks[H264TrackIndex.Value]);
};
System.Action <PopX.TAtom> EnumMdat = (MdatAtom) =>
{
if (VerboseDebug)
{
Debug.Log("EnumMdat( NextMdat=" + NextMdat);
}
if (!H264TrackIndex.HasValue)
{
MDatBeforeTrack = true;
}
// this is the meta for the pending mdat
var MdatIndex = NextMdat;
if (Mdats == null)
{
Mdats = new Dictionary <uint, MdatBlock>();
}
var Mdat = new MdatBlock();
Mdat.Atom = MdatAtom;
Mdat.FileOffset = Mdat.Atom.AtomDataFilePosition; // need a better way to do this
if (VerboseDebug)
{
Debug.Log("Got MDat " + MdatIndex + " x" + Mdat.Bytes.Length + " bytes");
}
Mdats.Add(MdatIndex, Mdat);
// increment once everything succeeds
NextMdat++;
};
// ideally only once we've verified we have an mp4, but before moov. Maybe just if an ftyp is found
if (Decoder == null)
{
Decoder = new PopH264.Decoder(DecoderParams, DecodeOnSeperateThread);
}
System.Func <long, byte[]> PopData = (long DataSize) =>
{
var Data = ReadFileFunction(Mp4BytesRead, DataSize);
Mp4BytesRead += DataSize;
return(Data);
};
try
{
PopX.Mpeg4.ParseNextAtom(PopData, Mp4BytesRead, EnumTracks, EnumMdat);
}
catch (System.Exception e)
{
Debug.LogException(e);
}
}
public void SendRadarData()
{
if (Bridge == null || Bridge.Status != Ros.Status.Connected)
{
return;
}
var apolloHeader = new Ros.ApolloHeader()
{
timestamp_sec = (System.DateTime.UtcNow - originTime).TotalSeconds,
module_name = "conti_radar",
sequence_num = seqId
};
var radarPos = transform.position;
var radarAim = transform.forward;
var radarRight = transform.right;
radarObjList.Clear();
utilColList.Clear();
utilColList.AddRange(radarDetectedColliders.Keys);
utilColList.RemoveAll(c => c == null);
//Debug.Log("radarDetectedColliders.Count: " + radarDetectedColliders.Count);
System.Func<Collider, int> GetDynPropInt = ((col) => {
var trafAiMtr = col.GetComponentInParent<TrafAIMotor>();
if (trafAiMtr != null)
return trafAiMtr.currentSpeed > 1.0f ? 0 : 1;
return 1;
});
System.Func<Collider, Vector3> GetLinVel = ((col) => {
var trafAiMtr = col.GetComponentInParent<TrafAIMotor>();
if (trafAiMtr != null)
return trafAiMtr.currentVelocity;
else
return col.attachedRigidbody == null ? Vector3.zero : col.attachedRigidbody.velocity;
});
for (int i = 0; i < utilColList.Count; i++)
{
Collider col = utilColList[i];
Vector3 point = radarDetectedColliders[col].point;
Vector3 relPos = point - radarPos;
Vector3 carVel = gameObject.GetComponentInParent<Rigidbody>().velocity;
Vector3 relVel = carVel - GetLinVel(col);
//Debug.Log("id to be assigned to obstacle_id is " + radarDetectedColliders[col].id);
Vector3 size = col.bounds.size;
// angle is orientation of the obstacle in degrees as seen by radar, counterclockwise is positive
double angle = -Vector3.SignedAngle(transform.forward, col.transform.forward, transform.up);
if (angle > 90) {
angle -= 180;
} else if (angle < -90) {
angle += 180;
}
radarObjList.Add(new Ros.Apollo.Drivers.ContiRadarObs()
{
header = apolloHeader,
clusterortrack = false,
obstacle_id = radarDetectedColliders[col].id,
longitude_dist = Vector3.Project(relPos, radarAim).magnitude,
lateral_dist = Vector3.Project(relPos, radarRight).magnitude * (Vector3.Dot(relPos, radarRight) > 0 ? -1 : 1),
longitude_vel = Vector3.Project(relVel, radarAim).magnitude * (Vector3.Dot(relVel, radarAim) > 0 ? -1 : 1),
lateral_vel = Vector3.Project(relVel, radarRight).magnitude * (Vector3.Dot(relVel, radarRight) > 0 ? -1 : 1),
rcs = 11.0, //
dynprop = GetDynPropInt(col), // seem to be constant
longitude_dist_rms = 0,
lateral_dist_rms = 0,
longitude_vel_rms = 0,
lateral_vel_rms = 0,
probexist = 1.0, //prob confidence
meas_state = radarDetectedColliders[col].newDetection ? 1 : 2, //1 new 2 exist
longitude_accel = 0,
lateral_accel = 0,
oritation_angle = angle,
longitude_accel_rms = 0,
lateral_accel_rms = 0,
oritation_angle_rms = 0,
length = size.z,
width = size.x,
obstacle_class = size.z > 5 ? 2 : 1, // 0: point; 1: car; 2: truck; 3: pedestrian; 4: motorcycle; 5: bicycle; 6: wide; 7: unknown
});
}
var msg = new Ros.Apollo.Drivers.ContiRadar
{
header = apolloHeader,
contiobs = radarObjList,
object_list_status = new Ros.Apollo.Drivers.ObjectListStatus_60A
{
nof_objects = utilColList.Count,
meas_counter = 22800,
interface_version = 0
}
};
Bridge.Publish(ApolloTopicName, msg);
++seqId;
}
public static List <Node> Provide(Grid grid, Node startNode, System.Func <Node, bool> endNodePredicate)
{
if (endNodePredicate(startNode))
{
return(new List <Node>()
{
startNode
});
}
if (grid.NodesInGrid == null || grid.NodesInGrid.Count == 0)
{
return(new List <Node>(0));
}
Dictionary <int, NodeData> relevantNodes = new Dictionary <int, NodeData>();
List <NodeData> openNodes = new List <NodeData>();
List <NodeData> closedNodes = new List <NodeData>();
Node possibleEndNode = grid.NodesInGrid.Values.Where(endNodePredicate).OrderBy(node => Vector3.Distance(node.transform.position, startNode.transform.position)).FirstOrDefault();
NodeData nodeData = new NodeData(startNode)
{
gCost = 0, hCost = Node.OptimisticDistance(startNode, possibleEndNode)
};
relevantNodes.Add(startNode.X * 100 + startNode.Z, nodeData);
openNodes.Add(nodeData);
while (openNodes.Count > 0)
{
NodeData currentNode = openNodes.First();
IEnumerable <Node> neighbours = currentNode.Node.Neighbours;
foreach (var neighbour in neighbours)
{
if (neighbour.State == NodeState.Unwalkable)
{
continue;
}
int newGCost = 0;
if (neighbour.X != currentNode.X && neighbour.Z != currentNode.Z)
{
newGCost = currentNode.gCost + 14;
}
else
{
newGCost = currentNode.gCost + 10;
}
if (relevantNodes.TryGetValue((neighbour.X * 100 + neighbour.Z), out NodeData neighbourNodeData))
{
if (neighbourNodeData.gCost > newGCost)
{
neighbourNodeData.gCost = newGCost;
}
}
else
{
nodeData = new NodeData(neighbour)
{
gCost = newGCost, hCost = Node.OptimisticDistance(neighbour, possibleEndNode)
};
relevantNodes.Add(neighbour.X * 100 + neighbour.Z, nodeData);
openNodes.Add(nodeData);
if (endNodePredicate(neighbour))
{
foreach (var relevantNode in relevantNodes)
{
relevantNode.Value.Node.text.text = "_" + relevantNode.Value.FCost.ToString() + "_";
}
return(RecreatePath(openNodes, closedNodes, neighbour, startNode));
}
}
}
openNodes.RemoveAt(0);
openNodes = openNodes.OrderBy(node => node.hCost).ToList();
closedNodes.Add(currentNode);
}
return(new List <Node>(0));
}
