Add a New Executable Module leads_vec_dp (#344)

* Optimized dependency profiles. (#340) * Added `leads_vec_dp`. (#340) * Docs. (#340) * Improved workflow. (#340) * Updated pyproject.toml. (#340) * Code reformatted. (#340) * Code reformatted. (#340) * Added dependency `pyyaml`. (#340) * Docs. (#340) * Supported inferences. (#340) * Added an output for `InferredDataset.complete()`. (#340) * Code reformatted. (#340) * Added `latency_invalid()`. (#340) * Bug fixed: new latency is negative. (#340) * Code reformatted. (#340) * Code reformatted. (#340) * Bug fixed: avoided `nan`s. (#340) * Bug fixed: avoided `nan`s. (#340) * Supported visual data analysis. (#340) * Added commands. (#340) * Code reformatted. (#340) * Docs. (#340) * Added command `save-as`. (#340) * Updated LEADS.pptx. (#316) (#340) --------- Signed-off-by: Terry Fu <futerry@outlook.com>
ProjectNeura · Aug 4, 2024 · c759554 · c759554
1 parent 1ec3660
commit c759554
Show file tree

Hide file tree

Showing 17 changed files with 242 additions and 56 deletions.
diff --git a/README.md b/README.md
@@ -189,23 +189,23 @@ command, see [Environment Setup](#environment-setup).
 pip install "leads[standard]"
 ```
 
-If your platform does not support GPIO, use profile "no-gpio".
-
-```shell
-pip install "leads[no-gpio]"
-```
-
 If you only want the framework, run the following.
 
 ```shell
 pip install leads
 ```
 
-#### Verify
+This table lists all installation profiles.
 
-```shell
-leads-vec info
-```
+| Profile              | Content                                                         | For                                              | All Platforms |
+|----------------------|-----------------------------------------------------------------|--------------------------------------------------|---------------|
+| leads                | Only the framework                                              | LEADS Framework                                  | &check;       |
+| "leads[standard]"    | The framework and necessary dependencies                        | LEADS Framework                                  | &check;       |
+| "leads[gpio]"        | Everything "leads[standard]" has plug `lgpio`                   | LEADS Framework                                  | &cross;       |
+| "leads[vec]"         | Everything "leads[gpio]" has plus `pynput`                      | LEADS VeC                                        | &cross;       |
+| "leads[vec-no-gpio]" | Everything "leads[standard]" has plus `pynput`                  | LEADS VeC (if you are not using any GPIO device) | &check;       |
+| "leads[vec-rc]"      | Everything "leads[standard]" has plus `"fastapi[standard]`      | LEADS VeC Remote Analyst                         | &check;       |
+| "leads[vec-dp]"      | Everything "leads[standard]" has plus `matplotlib` and `pyyaml` | LEADS VeC Data Processor                         | &check;       |
 
 ### Arduino
 
@@ -225,6 +225,12 @@ the framework in your project.
 leads-vec run
 ```
 
+#### Verify
+
+```shell
+leads-vec info
+```
+
 #### Replay
 
 ```shell
@@ -356,12 +362,6 @@ automatically calculate the best factor to keep the original proportion as desig
 
 ### Remote Analyst
 
-The remote analyst requires additional dependencies. Install them through the following command.
-
-```shell
-pip install "leads[all]"
-```
-
 ```shell
 leads-vec-rc
 ```
@@ -394,6 +394,14 @@ If not specified, all configurations will be default values.
 
 To learn about the configuration file, read [Configurations](#configurations).
 
+### Data Processor
+
+```shell
+leads-vec-dp path/to/the/workflow.yml
+```
+
+To learn more about workflows, read [Workflows](#workflows).
+
 ## Environment Setup
 
 This section helps you set up the identical environment we have for the VeC project. A more detailed guide of
@@ -497,6 +505,62 @@ Note that a purely empty file could cause an error.
 | `data_dir`             | `str`   | Directory for the data recording system                                               | Remote       | `"data"`      |
 | `save_data`            | `bool`  | `True`: save data; `False`: discard data                                              | Remote       | `False`       |
 
+## Workflows
+
+This only applies to LEADS VeC Data Processor. Please find a more detailed version
+[here](https://leads-docs.projectneura.org/en/latest/vec/index.html#workflows).
+
+```yaml
+dataset: "data/main.csv"
+inferences:
+  repeat: 100  # default: 1
+  enhanced: true  # default: false
+  assume_initial_zeros: true  # default: false
+  methods:
+    - safe-speed
+    - speed-by-acceleration
+    - speed-by-mileage
+    - speed-by-gps-ground-speed
+    - speed-by-gps-position
+    - forward-acceleration-by-speed
+    - milage-by-speed
+    - milage-by-gps-position
+    - visual-data-realignment-by-latency
+
+jobs:
+  - name: Task 1
+    uses: bake
+  - name: Task 2
+    uses: process
+    with:
+      lap_time_assertions: # default: []
+        - 120  # lap 1 duration (seconds)
+        - 180  # lap 2 duration (seconds)
+      vehicle_hit_box: 5  # default: 3
+      min_lap_time: 60  # default: 30 (seconds)
+  - name: Draw Lap 5
+    uses: draw-lap
+    with:
+      lap_index: 4  # default: -1
+  - name: Suggest on Lap 5
+    uses: suggest-on-lap
+    with:
+      lap_index: 4
+  - name: Draw Comparison of Laps
+    uses: draw-comparison-of-laps
+    with:
+      width: 0.5  # default: 0.3
+  - name: Extract Video
+    uses: extract-video
+    with:
+      file: rear-view.mp4  # destination to save the video
+      tag: rear  # front, left, right, or rear
+  - name: Save
+    uses: save-as
+    with:
+      file: data/new.csv
+```
+
 ## Devices Module
 
 ### Example

diff --git a/docs/LEADS.pptx b/docs/LEADS.pptx
diff --git a/leads/data_persistence/analyzer/inference.py b/leads/data_persistence/analyzer/inference.py
@@ -245,7 +245,7 @@ def complete(self, *rows: dict[str, _Any], backward: bool = False) -> dict[str,
         original_target = target.copy()
         t_0, t = target["t"], base["t"]
         for channel in self._channels:
-            if (new_latency := t_0 - t + base[f"{channel}_view_latency"]) > 0:
+            if (new_latency := t - t_0 - base[f"{channel}_view_latency"]) < 0:
                 continue
             target[f"{channel}_view_base64"] = base[f"{channel}_view_base64"]
             target[f"{channel}_view_latency"] = new_latency
@@ -272,8 +272,9 @@ def merge(raw: dict[str, _Any], inferred: dict[str, _Any]) -> None:
         for key in inferred.keys():
             raw[key] = inferred[key]
 
-    def _complete(self, inferences: tuple[Inference, ...], enhanced: bool, backward: bool) -> None:
+    def _complete(self, inferences: tuple[Inference, ...], enhanced: bool, backward: bool) -> int:
         num_rows = len(self._raw_data)
+        num_affected_rows = 0
         for i in range(num_rows - 1, -1, -1) if backward else range(num_rows):
             for inference in inferences:
                 p, f = inference.depth()
@@ -287,7 +288,9 @@ def _complete(self, inferences: tuple[Inference, ...], enhanced: bool, backward:
                             InferredDataset.merge(row, self._inferred_data[j])
                         d.append(row)
                     if (r := inference.complete(*d, backward=backward)) is not None:
+                        num_affected_rows += 1
                         InferredDataset.merge(self._inferred_data[i], r)
+        return num_affected_rows
 
     @_override
     def load(self) -> None:
@@ -311,20 +314,20 @@ def assume_initial_zeros(self) -> None:
             injection["mileage"] = 0
         InferredDataset.merge(row, injection)
 
-    def complete(self, *inferences: Inference, enhanced: bool = False, assume_initial_zeros: bool = False) -> None:
+    def complete(self, *inferences: Inference, enhanced: bool = False, assume_initial_zeros: bool = False) -> int:
         """
         Infer the missing values in the dataset.
         :param inferences: the inferences to apply
         :param enhanced: True: use inferred data to infer other data; False: use only raw data to infer other data
         :param assume_initial_zeros: True: reasonably set any missing data in the first row to zero; False: no change
+        :return: the number of affected rows
         """
         for inference in inferences:
             if not set(rh := inference.header()).issubset(ah := self.read_header()):
                 raise KeyError(f"Inference {inference} requires header {rh} but the dataset only contains {ah}")
         if assume_initial_zeros:
             self.assume_initial_zeros()
-        self._complete(inferences, enhanced, False)
-        self._complete(inferences, enhanced, True)
+        return self._complete(inferences, enhanced, False) + self._complete(inferences, enhanced, True)
 
     @_override
     def __iter__(self) -> _Generator[dict[str, _Any], None, None]:

diff --git a/leads/data_persistence/analyzer/processor.py b/leads/data_persistence/analyzer/processor.py
@@ -10,7 +10,7 @@
 
 from leads.data import dlat2meters, dlon2meters, format_duration
 from leads.data_persistence.analyzer.utils import time_invalid, speed_invalid, mileage_invalid, latitude_invalid, \
-    longitude_invalid
+    longitude_invalid, latency_invalid
 from leads.data_persistence.core import CSVDataset, DEFAULT_HEADER
 from .._computational import sqrt as _sqrt
 
@@ -38,6 +38,9 @@ def __init__(self, dataset: CSVDataset) -> None:
         self._gps_invalid_rows: list[int] = []
         self._min_lat: float | None = None
         self._min_lon: float | None = None
+        # visual
+        self._min_latency: float | None = None
+        self._max_latency: float | None = None
 
         # process variables
         self._laps: list[tuple[int, int, int, float, float]] = []
@@ -69,8 +72,7 @@ def unit(row: dict[str, _Any], i: int) -> None:
             t = int(row["t"])
             speed = row["speed"]
             mileage = row["mileage"]
-            if time_invalid(t) or speed_invalid(
-                    speed) or mileage_invalid(mileage):
+            if time_invalid(t) or speed_invalid(speed) or mileage_invalid(mileage):
                 self._invalid_rows.append(i)
                 return
             if self._start_time is None:
@@ -94,6 +96,15 @@ def unit(row: dict[str, _Any], i: int) -> None:
                     self._min_lon = lon
                 self._gps_valid_count += 1
             self._valid_rows_count += 1
+            # visual
+            latencies = [row[key] for key in ("front_view_latency", "left_view_latency", "right_view_latency",
+                                              "rear_view_latency") if key in row.keys()]
+            latency = min(latencies)
+            if not latency_invalid(latency) and (self._min_latency is None or latency < self._min_latency):
+                self._min_latency = latency
+            latency = max(latencies)
+            if not latency_invalid(latency) and (self._max_latency is None or latency > self._max_latency):
+                self._max_latency = latency
 
         self.foreach(unit, False)
         if self._valid_rows_count == 0:
@@ -107,7 +118,7 @@ def _hide_others(seq: _Sequence[_Any], limit: int) -> str:
         return f"[{", ".join(map(str, seq[:limit]))}, and {diff} others]" if (diff := len(seq) - limit) > 0 else str(
             seq)
 
-    def baking_results(self) -> tuple[str, str, str, str, str, str, str, str, str, str, str, str]:
+    def baking_results(self) -> tuple[str, str, str, str, str, str, str, str, str, str, str, str, str, str]:
         """
         Get the results of the baking process.
         :return: the results in sentences
@@ -129,7 +140,9 @@ def baking_results(self) -> tuple[str, str, str, str, str, str, str, str, str, s
             f"v\u2098\u2090\u2093: {self._max_speed:.2f} KM / H",
             f"v\u2090\u1D65\u1D4D: {self._avg_speed:.2f} KM / H",
             f"GPS Hit Rate: {100 * self._gps_valid_count / self._valid_rows_count:.2f}%",
-            f"GPS Skipped Rows: {Processor._hide_others(self._gps_invalid_rows, 5)}"
+            f"GPS Skipped Rows: {Processor._hide_others(self._gps_invalid_rows, 5)}",
+            "Min Video Latency: N/A" if self._min_latency is None else f"Min Video Latency: {self._min_latency:.2f} MS",
+            "Max Video Latency: N/A" if self._max_latency is None else f"Max Video Latency: {self._max_latency:.2f} MS"
         )
 
     def erase_unit_cache(self) -> None:

diff --git a/leads/data_persistence/analyzer/utils.py b/leads/data_persistence/analyzer/utils.py
@@ -9,23 +9,27 @@ def time_invalid(o: _Any) -> bool:
 
 
 def speed_invalid(o: _Any) -> bool:
-    return not isinstance(o, int | float) or o != o or o < 0
+    return not isinstance(o, int | float) or o < 0
 
 
 def acceleration_invalid(o: _Any) -> bool:
-    return not isinstance(o, int | float) or o != o
+    return not isinstance(o, int | float)
 
 
 def mileage_invalid(o: _Any) -> bool:
-    return not isinstance(o, int | float) or o != o
+    return not isinstance(o, int | float)
 
 
 def latitude_invalid(o: _Any) -> bool:
-    return not isinstance(o, int | float) or o != o or not -90 < o < 90
+    return not isinstance(o, int | float) or not -90 < o < 90
 
 
 def longitude_invalid(o: _Any) -> bool:
-    return not isinstance(o, int | float) or o != o or not -180 < o < 180
+    return not isinstance(o, int | float) or not -180 < o < 180
+
+
+def latency_invalid(o: _Any) -> bool:
+    return not isinstance(o, int | float)
 
 
 def distance_between(lat_0: float, lon_0: float, lat: float, lon: float) -> float:

diff --git a/leads/data_persistence/core.py b/leads/data_persistence/core.py
@@ -4,6 +4,8 @@
     override as _override, Self as _Self, Iterator as _Iterator, Callable as _Callable, Iterable as _Iterable, \
     Generator as _Generator, Any as _Any
 
+from numpy import nan as _nan
+
 from leads.types import Compressor as _Compressor, VisualHeader as _VisualHeader, VisualHeaderFull as _VisualHeaderFull
 from ._computational import mean as _mean, array as _array, norm as _norm, read_csv as _read_csv, \
     DataFrame as _DataFrame, TextFileReader as _TextFileReader
@@ -218,7 +220,7 @@ def __iter__(self) -> _Generator[dict[str, _Any], None, None]:
             except StopIteration:
                 break
             for i in range(len(chunk)):
-                r = chunk.iloc[i].to_dict()
+                r = chunk.iloc[i].replace(_nan, None).to_dict()
                 if self._contains_index:
                     r.pop("index")
                 yield r

diff --git a/leads/dt/registry.py b/leads/dt/registry.py
@@ -61,7 +61,7 @@ def register_controller(tag: str, c: Controller, parent: str | None = None) -> N
 
 
 def has_controller(tag: str) -> bool:
-    return tag in _controllers.keys()
+    return tag in _controllers
 
 
 def get_controller(tag: str) -> Controller:
@@ -79,7 +79,7 @@ def _register_device(prototype: type[Device],
 
 
 def has_device(tag: str) -> bool:
-    return tag in _devices.keys()
+    return tag in _devices
 
 
 def get_device(tag: str) -> Device:

diff --git a/leads_vec/cli.py b/leads_vec/cli.py
@@ -214,9 +214,9 @@ def render(manager: ContextManager) -> None:
         if cfg.comm_stream:
             manager["comm_stream_status"] = _Label(root, text="STM OFFLINE", text_color="gray",
                                                    font=("Arial", cfg.font_size_small))
-        i = 0
+        j = 0
         for system in SystemLiteral:
-            i += 1
+            j += 1
             system_lower = system.lower()
             manager[f"{system_lower}_status"] = _Label(root, text=f"{system} READY", text_color="green",
                                                        font=("Arial", cfg.font_size_small))

diff --git a/leads_vec/run.py b/leads_vec/run.py
@@ -17,6 +17,7 @@ def run(config: str | None, devices: str, main: str, register: _Literal["systemd
             _create_service()
             _L.debug("Service registered")
             _L.debug(f"Service script is located at \"{_abspath(__file__)[:-6]}_bootloader/leads-vec.service.sh\"")
+            return 0
         case "config":
             if _exists("config.json"):
                 r = input("\"config.json\" already exists. Overwrite? (Y/n) >>>").lower()
@@ -26,6 +27,7 @@ def run(config: str | None, devices: str, main: str, register: _Literal["systemd
             with open("config.json", "w") as f:
                 f.write(str(Config({})))
             _L.debug("Configuration file saved to \"config.json\"")
+            return 0
         case "reverse_proxy":
             from ._bootloader import start_frpc as _start_frpc
 

diff --git a/leads_vec_dp/__entry__.py b/leads_vec_dp/__entry__.py
@@ -0,0 +1,13 @@
+from argparse import ArgumentParser as _ArgumentParser
+from sys import exit as _exit
+
+from leads_vec_dp.run import run
+
+
+def __entry__() -> None:
+    parser = _ArgumentParser(prog="LEADS VeC DP",
+                             description="Lightweight Embedded Assisted Driving System VeC Data Processor",
+                             epilog="GitHub: https://github.com/ProjectNeura/LEADS")
+    parser.add_argument("workflow", help="specify a workflow file")
+    args = parser.parse_args()
+    _exit(run(args.workflow))
diff --git a/leads_vec_dp/__init__.py b/leads_vec_dp/__init__.py
@@ -0,0 +1,7 @@
+from importlib.util import find_spec as _find_spec
+
+if not _find_spec("yaml"):
+    raise ImportError("Please install `pyyaml` to run this module\n>>>pip install pyyaml")
+
+from leads_vec_dp.__entry__ import __entry__
+from leads_vec_dp.run import *
diff --git a/leads_vec_dp/__main__.py b/leads_vec_dp/__main__.py
@@ -0,0 +1,4 @@
+from leads_vec_dp.__entry__ import __entry__
+
+if __name__ == "__main__":
+    __entry__()