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90 lines
2.8 KiB
90 lines
2.8 KiB
import os
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import requests
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# Forks with additional car support can fork the commaCarSegments repo on huggingface or host the LFS files themselves
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COMMA_CAR_SEGMENTS_REPO = os.environ.get("COMMA_CAR_SEGMENTS_REPO", "https://huggingface.co/datasets/commaai/commaCarSegments")
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COMMA_CAR_SEGMENTS_BRANCH = os.environ.get("COMMA_CAR_SEGMENTS_BRANCH", "main")
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COMMA_CAR_SEGMENTS_LFS_INSTANCE = os.environ.get("COMMA_CAR_SEGMENTS_LFS_INSTANCE", COMMA_CAR_SEGMENTS_REPO)
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def get_comma_car_segments_database():
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from openpilot.selfdrive.car.fingerprints import MIGRATION
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database = requests.get(get_repo_raw_url("database.json")).json()
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ret = {}
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for platform in database:
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ret[MIGRATION.get(platform, platform)] = database[platform]
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return ret
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# Helpers related to interfacing with the commaCarSegments repository, which contains a collection of public segments for users to perform validation on.
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def parse_lfs_pointer(text):
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header, lfs_version = text.splitlines()[0].split(" ")
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assert header == "version"
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assert lfs_version == "https://git-lfs.github.com/spec/v1"
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header, oid_raw = text.splitlines()[1].split(" ")
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assert header == "oid"
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header, oid = oid_raw.split(":")
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assert header == "sha256"
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header, size = text.splitlines()[2].split(" ")
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assert header == "size"
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return oid, size
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def get_lfs_file_url(oid, size):
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data = {
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"operation": "download",
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"transfers": [ "basic" ],
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"objects": [
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{
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"oid": oid,
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"size": int(size)
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}
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],
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"hash_algo": "sha256"
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}
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headers = {
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"Accept": "application/vnd.git-lfs+json",
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"Content-Type": "application/vnd.git-lfs+json"
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}
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response = requests.post(f"{COMMA_CAR_SEGMENTS_LFS_INSTANCE}.git/info/lfs/objects/batch", json=data, headers=headers)
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assert response.ok
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obj = response.json()["objects"][0]
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assert "error" not in obj, obj
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return obj["actions"]["download"]["href"]
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def get_repo_raw_url(path):
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if "huggingface" in COMMA_CAR_SEGMENTS_REPO:
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return f"{COMMA_CAR_SEGMENTS_REPO}/raw/{COMMA_CAR_SEGMENTS_BRANCH}/{path}"
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def get_repo_url(path):
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# Automatically switch to LFS if we are requesting a file that is stored in LFS
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response = requests.head(get_repo_raw_url(path))
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if "text/plain" in response.headers.get("content-type"):
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# This is an LFS pointer, so download the raw data from lfs
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response = requests.get(get_repo_raw_url(path))
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assert response.status_code == 200
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oid, size = parse_lfs_pointer(response.text)
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return get_lfs_file_url(oid, size)
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else:
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# File has not been uploaded to LFS yet
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# (either we are on a fork where the data hasn't been pushed to LFS yet, or the CI job to push hasn't finished)
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return get_repo_raw_url(path)
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def get_url(route, segment, file="rlog.bz2"):
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return get_repo_url(f"segments/{route.replace('|', '/')}/{segment}/{file}")
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