donkey
/
toys

 
			
							#!/usr/bin/env python3
# -*- coding: utf-8; mode: python; tab-width: 4; indent-tabs-mode: nil -*-
# vim: tabstop=4 expandtab shiftwidth=4 softtabstop=4 fileencoding=utf-8

import os
import sys
import json
import sqlite3

"""
{
    "LocalHost": "192.168.1.19",
    "LocalPort": 48999,
    "LocalCameraHost": "192.168.1.19",
    "LocalCameraPort": 48998,
    "SimulationHost": "192.168.1.18",
    "SimulationPort": 8880,
    "LocalizerHost": "127.0.0.1",
    "LocalizerPort": 9003,
    "VtdServer": {
        "Enabled": true,
        "SensorHost": "127.0.0.1",
        "SensorPort": 48185
    },
    "CentralMeridian": 102.65,
    "GaussianOffset": [
        20489000.0,
        3260000.0
    ],
    "BaseOffset": [
        11204.2,
        4071.96,
        314.43818336,
        135.5618
    ],
    "VtdScenarios": [],
    "HdMapPath": "/navinfo/config/data/19146703.adms",
    "Description": "\u573a\u666f\u63cf\u8ff0",
    "InsFrequency": 100,
    "EnableLocalizer": false,
    "ErrorModel": {
        "Enabled": false,
        "UseScene": true,
        "VehicleParameters": [
            2.7,
            1.92
        ],
        "TriggerPosition": [
            0.0,
            0.0,
            0.0
        ],
        "Means": [
            0.0,
            0.0,
            0.0,
            0.0
        ],
        "Varience": [
            0.0,
            0.0,
            0.0,
            0.0
        ],
        "UN": [
            0.0,
            0.0,
            0.0,
            0.0
        ],
        "LimitMaxes": [
            0.0,
            0.0,
            0.0,
            0.0
        ],
        "LimitMins": [
            0.0,
            0.0,
            0.0,
            0.0
        ],
        "ConstantErrors": [
            0.0,
            0.0,
            0.0,
            0.0
        ],
        "Amplitude": [
            1.0,
            1.0,
            1.0,
            1.0
        ],
        "Scene": "/navinfo/config/bridge/scenes/multi_scene_1_dr.csv"
    },
    "SensorErrorModel": {
        "Enabled": false,
        "UseScene": false,
        "ImuEnabled": false,
        "GnssEnabled": true,
        "CameraEnabled": true,
        "VehicleEnabled": false,
        "Gyro": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
        ],
        "GyroCB": [
            0.0,
            0.0,
            0.0
        ],
        "GyroAM": [
            0.0,
            0.0,
            0.0
        ],
        "Acc": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
        ],
        "AccCB": [
            0.0,
            0.0,
            0.0
        ],
        "AccAM": [
            0.0,
            0.0,
            0.0
        ],
        "SpeedDistrib": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
        ],
        "YawRateDistrib": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
        ],
        "XDistrib": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
        ],
        "YDistrib": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
        ],
        "ZDistrib": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
        ],
        "LaneA0Distrib": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
        ],
        "LaneInfoRecallRate": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
        ],
        "Amplitude": [
            0.0,
            0.0,
            0.0
        ],
        "Scene": ""
    },
    "ChannelNames": {
        "InsData": "InsData",
        "LocalizerInsData": "InsData2",
        "PlanningInsData": "InsData",
        "BrainInsData": "InsData02"
    },
    "Verbose": {
        "Roadmark": false,
        "InsData": false,
        "ControlCommand": false,
        "ControlFeedback": false,
        "WebSocket": false,
        "ErrorModel": false
    }
}
"""


if __name__ == "__main__":
    if len(sys.argv) < 3:
        sys.exit("update_db <db_path> <config_path>")

    update_exist = False
    if len(sys.argv) >= 4:
        update_exist = True

    db_path = os.path.abspath(sys.argv[1])
    config_path = os.path.abspath(sys.argv[2])

    if not os.path.isfile(db_path) or not os.path.isdir(config_path):
        sys.exit("<db_path> must be a db file, and <config_path> must be a directory contains config JSON files")

    replace_cols = ['common', 'map', 'channels', 'verbose']

    default_template = dict()
    default_template['common'] = json.loads('{"InsFrequency": 100,"EnableLocalizer": false,"Description": ""}')
    default_template['map'] = json.loads('{"CentralMeridian": 102.65,"GaussianOffset": [20489000.0,3260000.0],"BaseOffset": [11204.2,4071.96,314.43818336,135.5618],"VtdScenarios": [],"HdMapPath": "/navinfo/config/data/19146703.adms"}')
    default_template['error_injection'] = json.loads('{"ErrorModel": {"Enabled": false,"UseScene": true,"VehicleParameters": [2.7,1.92],"TriggerPosition": [0.0,0.0,0.0],"Means": [0.3835,-0.5556,-5.1341,0.9079],"Varience": [0.1194,0.3206,1.0249,1.2292],"UN": [20.0,20.0,30.0,40.0],"LimitMaxes": [4.0,10.0,10.0,10.0],"LimitMins": [1.0,-10.0,-15.0,-10.0],"ConstantErrors": [0.0,0.0,0.0,0.0],"Amplitude": [1.0,1.0,1.0,1.0],"Scene": "/navinfo/config/bridge/scenes/multi_scene_1_dr.csv"}}')
    default_template['sensor_error_injection'] = json.loads('{"SensorErrorModel": {"Enabled": false, "UseScene": false, "ImuEnabled": false, "GnssEnabled": false, "CameraEnabled": false, "VehicleEnabled": false, "Gyro": [-125.0, 125.0, 0.122, 5.0, 0.0, 0.05, 0.0, 0.0], "GyroCB": [10.0, 10.0, 10.0], "GyroAM": [1.0, 1.0, 1.0], "Acc": [-2.0, 2.0, 4.37, 60.0, 0.0, 0.0, 0.0], "AccCB": [80.0, 80.0, 80.0], "AccAM": [1.0, 1.0, 1.0], "SpeedDistrib": [-0.311716, 0.104909, 6, 0.003011, -0.626443, 0.0], "YawRateDistrib": [0.12766, 0.0780293, 2, 0.3617479, -0.1064279, 0.0], "XDistrib": [0.1, 0.5, 20, 1.0, -0.5, 0.05], "YDistrib": [0.1, 0.5, 20, 1.0, -0.5, 0.05], "ZDistrib": [0.1, 0.5, 20, 1.0, -0.5, 0.05], "LaneA0Distrib": [-0.163166, 0.100137, 2, 0.137245, -0.463577, 0.0], "LaneInfoRecallRate": [0.0, 0.97572, 0.8917, 0.981112, 0.995736], "Amplitude": [1.0, 1.0, 1.0], "Scene": ""}}')
    default_template['channels'] = json.loads('{"ChannelNames": {"InsData": "InsData","LocalizerInsData": "InsData2","PlanningInsData": "InsData","BrainInsData": "InsData02"}}')
    default_template['verbose'] = json.loads('{"Verbose": {"Roadmark": false,"InsData": false,"ControlCommand": false,"ControlFeedback": false,"WebSocket": false,"ErrorModel": false}}')

    conn = sqlite3.connect(db_path)
    cursor = conn.cursor()

    select_sql = """SELECT id FROM Scenario WHERE id='{}'"""
    update_sql = """UPDATE Scenario SET common=?, map=?, error_injection=?, sensor_error_injection=?, channels=?, verbose=?, others=NULL WHERE id='{}'"""
    insert_sql = """INSERT INTO Scenario (id, common, map, error_injection, sensor_error_injection, channels, verbose, others) VALUES (?,?,?,?,?,?,?,NULL)"""

    for cfg in os.listdir(config_path):
        cfg_path = os.path.join(config_path, cfg)
        if not os.path.isfile(cfg_path) or cfg.endswith('.json'):
            continue
        sid = os.path.splitext(cfg)[1][1:]
        config_json = json.loads(open(cfg_path).read())
        for col in replace_cols:
            for k in default_template[col]:
                if k in config_json:
                    default_template[col][k] = config_json[k]

        v_list = [sid, json.dumps(default_template['common'], indent=4),
            json.dumps(default_template['map'], indent=4), json.dumps(default_template['error_injection'], indent=4),
            json.dumps(default_template['sensor_error_injection'], indent=4), json.dumps(default_template['channels'], indent=4),
            json.dumps(default_template['verbose'], indent=4)]

        if update_exist:
            cursor.execute(select_sql.format(sid))
            one = cursor.fetchone()
            if one:
                cursor.execute(update_sql.format(sid), v_list[1:])
                print(f"Attempt to update {sid} ...")
            else:
                cursor.execute(insert_sql, v_list)
                print(f"Attempt to insert {sid} ...")
        else:
            cursor.execute(insert_sql, v_list)
            print(f"Attempt to insert {sid} ...")
    conn.commit()
    cursor.close()
    conn.close()
    conn = None