fix: cyber_record may fail unexpectedly

Author: YuqiHuai

framework/oracles/__init__.py

@@ -14,6 +14,7 @@
 from framework.oracles.impl.JunctionLaneChangeOracle import JunctionLaneChangeOracle
 
 from typing import List, Tuple
+import time
 
 
 class RecordAnalyzer:
@@ -23,11 +24,15 @@ class RecordAnalyzer:
     :param str record_path: filename of the record
     """
     record_path: str
+    analyzed: bool
+    MAX_RETRY = 3 # times
+    RETRY_DELAY = 2 # seconds
 
     def __init__(self, record_path: str) -> None:
         self.oracle_manager = OracleManager()
         self.record_path = record_path
         self.register_oracles()
+        self.analyzed = False
 
     def register_oracles(self):
         """
@@ -56,10 +61,22 @@ def analyze(self) -> List[Tuple]:
         :returns: list of violations
         :rtype: List[Tuple]
         """
-        record = Record(self.record_path)
-        for topic, message, t in record.read_messages():
-            self.oracle_manager.on_new_message(topic, message, t)
-        return self.get_results()
+        trial = 1
+        while trial <= RecordAnalyzer.MAX_RETRY:
+            try :
+                record = Record(self.record_path)
+                for topic, message, t in record.read_messages():
+                    self.oracle_manager.on_new_message(topic, message, t)
+                self.analyzed = True
+                return self.get_results()
+            except AttributeError:
+                time.sleep(2)
+                trial += 1
+            except FileNotFoundError:
+                time.sleep(2)
+                trial += 1
+        return list()
+        
 
     def get_results(self) -> List[Tuple]:
         """
@@ -68,4 +85,6 @@ def get_results(self) -> List[Tuple]:
         :returns: list of violations
         :rtype: List[Tuple]
         """
+        if not self.analyzed:
+            return list()
         return self.oracle_manager.get_results()

test_analyzer.py

@@ -2,7 +2,7 @@
 from hdmap.MapParser import MapParser
 
 ma = MapParser('./data/maps/borregas_ave/base_map.bin')
-record_path = "/home/yuqi/ResearchWorkspace/apollo/movies/movie_yuqi/Generation_00021/Scenario_00002/apollo_dev_ROUTE_1.Scenario_00002.00000"
+record_path = ""
 ra = RecordAnalyzer(record_path)
 ra.analyze()
 print(ra.get_results())