得到最终孪生开始运行的时间

waypoint_control/multi_obj_track/collect_intersection_camera_lidar.py

@@ -1027,7 +1027,7 @@ def main():
     argparser.add_argument(
         '-i', '--intersection',
         metavar='INTERSECTION',
-        default='road_intersection_1',  # 默认路口
+        default='road_intersection_3',  # 默认路口
         help='Name of the intersection within the town (default: road_intersection_1)'
     )
     args = argparser.parse_args()

waypoint_control/multi_obj_track/demo.m

@@ -4,8 +4,12 @@
 
 % 用户输入地图名和路口编号
 townName = 'Town10';                 % 例如 Town01 或 Town10）
-juncNum = 1;                         % 请输入路口编号（1 或 2）
+juncNum = 4;                         % 请输入路口编号（1 或 2）
 
+data = load('/mnt/mydrive/traffic_twin/waypoint_control/multi_obj_track/v2x_latency_logs/simulation_total_time.mat');
+t_start = data.last_receive_time;
+% 获取程序开始时间
+sys_time_before = posixtime(datetime('now'));
 % 根据输入选择配置
 if isfield(dataset, townName)
     townConfig = dataset.(townName);
@@ -33,20 +37,31 @@
         convertTrackToCarlaCoordinate(junc, transMatrix);
 
         %% 计算单个路口跟踪指标并保存
-        %currentPath = fileparts(mfilename('fullpath'));
-        %folderPath = fullfile(currentPath, 'Evaluation');
-        % 将文件夹添加到路径
-        %addpath(folderPath);
-        %demoSingleJuncEvaluation(junc, juncConfig.juncNum);
-        %if strcmp(townName, 'Town10')
+        % currentPath = fileparts(mfilename('fullpath'));
+        % folderPath = fullfile(currentPath, 'Evaluation');
+        %% 将文件夹添加到路径
+        % addpath(folderPath);
+        % demoSingleJuncEvaluation(junc, juncConfig.juncNum);
+        % if strcmp(townName, 'Town10')
         %    townPath = [townName 'HD_Opt_Metric'];
-        %else
+        % else
         %    townPath = [townName '_Metric'];
-        %end
-        %MCTPResults = demoMultiSensorEvaluation(townPath);
+        % end
+        % MCTPResults = demoMultiSensorEvaluation(townPath);
     else
         error('路口编号不存在！');
     end
 else
     error('地图名不存在！');
-end
+end
+
+% 获取程序结束时间
+sys_time_after = posixtime(datetime('now'));
+% 计算程序耗时
+program_run_time = sys_time_after - sys_time_before;
+% 得出在线结束时间
+t_end = t_start + program_run_time;
+% 保存为.mat 文件
+save_folder = '/mnt/mydrive/traffic_twin/waypoint_control/multi_obj_track';
+mat_save_path = fullfile(save_folder, 'matlab_final_timeline.mat');
+save(mat_save_path, 't_start', 't_end', 'program_run_time');

waypoint_control/multi_obj_track/navigation/generate_trajectories.py

@@ -8,6 +8,7 @@
 import os
 import random
 import time
+import re
 from fastdtw import fastdtw
 from config import IntersectionConfig, town_configurations
 from global_route_planner import GlobalRoutePlanner
@@ -251,6 +252,52 @@ def create_pedestrian_move(start_location, end_location, world, totaltime):
     return position_history
 
 
+def read_matlab_timeline(file_path):
+    """
+    读取 matlab_final.txt 文件，提取起始时间、终止时间和总耗时
+    """
+    # 初始化一个字典来存放提取到的数据
+    extracted_data = {
+        "start_time": None,
+        "end_time": None,
+        "total_cost": None
+    }
+
+    if not os.path.exists(file_path):
+        print(f"错误：找不到文件 {file_path}")
+        return extracted_data
+
+    # 定义正则表达式，兼容中文全角冒号 "：" 和英文半角冒号 ":"
+    # 匹配规则：找到指定文字和冒号，然后提取后面的所有数字和小数点
+    pattern_start = re.compile(r"起始时间[：:]\s*([0-9\.]+)")
+    pattern_end = re.compile(r"终止时间[：:]\s*([0-9\.]+)")
+    pattern_total = re.compile(r"总耗时[：:]\s*([0-9\.]+)")
+
+    try:
+        with open(file_path, 'r', encoding='utf-8') as file:
+            content = file.read()
+
+            # 提取起始时间
+            match_start = pattern_start.search(content)
+            if match_start:
+                extracted_data["start_time"] = float(match_start.group(1))
+
+            # 提取终止时间
+            match_end = pattern_end.search(content)
+            if match_end:
+                extracted_data["end_time"] = float(match_end.group(1))
+
+            # 提取总耗时
+            match_total = pattern_total.search(content)
+            if match_total:
+                extracted_data["total_cost"] = float(match_total.group(1))
+
+        return extracted_data
+
+    except Exception as e:
+        print(f"读取文件出错: {e}")
+        return extracted_data
+
 def main():
     argparser = argparse.ArgumentParser(
         description=__doc__)
@@ -275,6 +322,10 @@ def main():
     args = argparser.parse_args()
     np.random.seed(42)
     random.seed(42)
+    # 读取起始时间
+    file_path = "../matlab_final.txt"
+    all_time = read_matlab_timeline(file_path)
+    str_time = time.time()
     # 连接到Carla服务器
     client = carla.Client(args.host, args.port)
     client.set_timeout(10.0)
@@ -717,6 +768,13 @@ def main():
         for line in sorted_lines:
             file.write(line)
 
+    # 保存最终时间
+    end_time = time.time()
+    duration = end_time - str_time
+    final_time = all_time['end_time'] + duration
+    with open("final.txt", "w") as f:
+        f.write(f"{final_time:.2f}")
+
 
 if __name__ == '__main__':
     main()

waypoint_control/multi_obj_track/reID/Utils/DEMO.m

@@ -1,49 +1,26 @@
 %% 将生成的轨迹与外观特征绑定
 %% 匹配轨迹之前，处理单个路口的轨迹id变化的情况
 config;
-townNameFull = 'Town10HD_Opt';   % 可以修改城镇和路口
 
-if strcmp(townName, 'Town10HD_Opt')
-   townName = erase(townName, "HD_Opt");
-end
-%% 获取跟踪轨迹路径
-currentPath = fileparts(mfilename('fullpath'));
-% 获取当前路径的上级目录
-parentPath = fileparts(currentPath);
-% 再次获取上级目录，即上上级目录
-grandparentPath = fileparts(parentPath);
-addpath(grandparentPath)
-dataPath = fullfile(grandparentPath, townNameFull);
-
-%% 获取路口数量
-d = dir(dataPath);
-% 筛选出文件夹（排除 . 和 ..）
-isDir = [d.isdir] & ~ismember({d.name}, {'.','..'});
-% 文件夹数量
-numFolders = sum(isDir);
+data = load('/mnt/mydrive/traffic_twin/waypoint_control/multi_obj_track/matlab_final_timeline.mat');
+t_start = data.t_end;
+% 获取程序开始时间
+sys_time_before = posixtime(datetime('now'));
 
+townName = 'Town10';   % 可以修改城镇和；路口
+dataSets = {'Town10HD_Opt/test_data_junc1', 'Town10HD_Opt/test_data_junc2', 'Town10HD_Opt/test_data_junc3', 'Town10HD_Opt/test_data_junc4', 'Town10HD_Opt/test_data_junc5'};
 
-dataSets = arrayfun(@(i) fullfile(dataPath, sprintf('test_data_junc%d', i)), ...
-                    1:numFolders, 'UniformOutput', false);
-dirParts = strsplit(dataSets{1}, '\');
+dirParts = strsplit(dataSets{1}, filesep);
 townConfig = dataset.(townName);
-
 for i = 1:length(dataSets)
-    [p, last1, ~] = fileparts(dataSets{i});          % 'test_data_junc1'
-
-    [p, last2, ~] = fileparts(p);                    % 'Town10HD_Opt'
-    % 合并
-    lastTwo = fullfile(last2, last1);                % 'Town10HD_Opt\test_data_junc1'
-
     juncField = sprintf('intersection_%d', i);
     juncConfig = townConfig.(juncField);
     transMatrix = juncConfig.TransformationMatrix;
-    loadAllTraj(lastTwo, transMatrix);
+    loadAllTraj(dataSets{i}, transMatrix);
 end
-
 %% 加载所有轨迹
 currentPath = fileparts(mfilename('fullpath'));
-juncTracksFolderPath = fullfile(currentPath, townNameFull);
+juncTracksFolderPath = fullfile(currentPath, dirParts{1});
 % 获取所有轨迹文件
 matFiles = dir(fullfile(juncTracksFolderPath, "*.mat"));
 numMatFiles = length(matFiles);
@@ -56,15 +33,24 @@
 end
 
 %% 轨迹匹配，链接全部路口的轨迹
-matchThreshold = 0.7;  % 车辆匹配阈值
+matchThreshold = 0.65;  % 车辆匹配阈值
 traj = linkIdentities(juncTrajCell, matchThreshold);
 
+% 获取程序结束时间
+sys_time_after = posixtime(datetime('now'));
+% 计算程序耗时
+program_run_time = sys_time_after - sys_time_before;
+% 得出在线结束时间
+t_end = t_start + program_run_time;
+% 保存为.mat 文件
+save_folder = '/mnt/mydrive/traffic_twin/waypoint_control/multi_obj_track';
+txt_save_path = fullfile(save_folder, 'matlab_final.txt');
+fileID = fopen(txt_save_path, 'w');
+fprintf(fileID, '起始时间：%.6f\n终止时间：%.6f\n总耗时：%.4f', t_start, t_end, program_run_time);
+fclose(fileID);
+
 % 获取当前目录
 currentFileDir = fileparts(mfilename('fullpath')); 
 
 % 保存 traj 到当前目录下的 traj.mat 文件
 save(fullfile(currentFileDir, 'traj.mat'), 'traj');
-
-computeSpeedCorrelations(townName)
-
-computeDelay(townName)