Adeeb Shihadeh
12 months ago
parent
40fea75562
commit
124b4566db
2 changed files with 0 additions and 307 deletions
@ -1,304 +0,0 @@ |
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#!/usr/bin/env python3 |
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import sys |
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import json |
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import base64 |
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import os |
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import subprocess |
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from multiprocessing import Pool |
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from openpilot.tools.lib.route import Route |
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from openpilot.tools.lib.logreader import LogReader |
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try: |
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from mcap.writer import Writer, CompressionType |
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except ImportError: |
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print("mcap module not found. Attempting to install...") |
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subprocess.run([sys.executable, "-m", "pip", "install", "mcap"]) |
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# Attempt to import again after installation |
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try: |
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from mcap.writer import Writer, CompressionType |
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except ImportError: |
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print("Failed to install mcap module. Exiting.") |
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sys.exit(1) |
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FOXGLOVE_IMAGE_SCHEME_TITLE = "foxglove.CompressedImage" |
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FOXGLOVE_GEOJSON_TITLE = "foxglove.GeoJSON" |
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FOXGLOVE_IMAGE_ENCODING = "base64" |
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OUT_MCAP_FILE_NAME = "json_log.mcap" |
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RLOG_FOLDER = "rlogs" |
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SCHEMAS_FOLDER = "schemas" |
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SCHEMA_EXTENSION = ".json" |
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schemas: dict[str, int] = {} |
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channels: dict[str, int] = {} |
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writer: Writer |
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def convertBytesToString(data): |
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if isinstance(data, bytes): |
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return data.decode('latin-1') # Assuming UTF-8 encoding, adjust if needed |
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elif isinstance(data, list): |
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return [convertBytesToString(item) for item in data] |
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elif isinstance(data, dict): |
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return {key: convertBytesToString(value) for key, value in data.items()} |
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else: |
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return data |
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# Load jsonscheme for every Event |
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def loadSchema(schemaName): |
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with open(os.path.join(SCHEMAS_FOLDER, schemaName + SCHEMA_EXTENSION), "r") as file: |
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return json.loads(file.read()) |
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# Foxglove creates one graph of an array, and not one for each item of an array |
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# This can be avoided by transforming array to separate objects |
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def transformListsToJsonDict(json_data): |
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def convert_array_to_dict(array): |
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new_dict = {} |
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for index, item in enumerate(array): |
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if isinstance(item, dict): |
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new_dict[index] = transformListsToJsonDict(item) |
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else: |
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new_dict[index] = item |
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return new_dict |
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new_data = {} |
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for key, value in json_data.items(): |
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if isinstance(value, list): |
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new_data[key] = convert_array_to_dict(value) |
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elif isinstance(value, dict): |
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new_data[key] = transformListsToJsonDict(value) |
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else: |
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new_data[key] = value |
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return new_data |
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# Transform openpilot thumbnail to foxglove compressedImage |
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def transformToFoxgloveSchema(jsonMsg): |
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bytesImgData = jsonMsg.get("thumbnail").get("thumbnail").encode('latin1') |
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base64ImgData = base64.b64encode(bytesImgData) |
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base64_string = base64ImgData.decode('utf-8') |
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foxMsg = { |
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"timestamp": {"sec": "0", "nsec": jsonMsg.get("logMonoTime")}, |
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"frame_id": str(jsonMsg.get("thumbnail").get("frameId")), |
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"data": base64_string, |
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"format": "jpeg", |
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} |
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return foxMsg |
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# TODO: Check if there is a tool to build GEOJson |
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def transformMapCoordinates(jsonMsg): |
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coordinates = [] |
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for jsonCoords in jsonMsg.get("navRoute").get("coordinates"): |
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coordinates.append([jsonCoords.get("longitude"), jsonCoords.get("latitude")]) |
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# Define the GeoJSON |
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geojson_data = { |
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"type": "FeatureCollection", |
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"features": [{"type": "Feature", "geometry": {"type": "LineString", "coordinates": coordinates}, "logMonoTime": jsonMsg.get("logMonoTime")}], |
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} |
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# Create the final JSON with the GeoJSON data encoded as a string |
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geoJson = {"geojson": json.dumps(geojson_data)} |
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return geoJson |
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def jsonToScheme(jsonData): |
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zeroArray = False |
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schema = {"type": "object", "properties": {}, "required": []} |
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for key, value in jsonData.items(): |
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if isinstance(value, dict): |
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tempScheme, zeroArray = jsonToScheme(value) |
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if tempScheme == 0: |
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return 0 |
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schema["properties"][key] = tempScheme |
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schema["required"].append(key) |
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elif isinstance(value, list): |
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if all(isinstance(item, dict) for item in value) and len(value) > 0: # Handle zero value arrays |
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# Handle array of objects |
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tempScheme, zeroArray = jsonToScheme(value[0]) |
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schema["properties"][key] = {"type": "array", "items": tempScheme if value else {}} |
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schema["required"].append(key) |
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else: |
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if len(value) == 0: |
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zeroArray = True |
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# Handle array of primitive types |
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schema["properties"][key] = {"type": "array", "items": {"type": "string"}} |
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schema["required"].append(key) |
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else: |
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typeName = type(value).__name__ |
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if typeName == "str": |
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typeName = "string" |
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elif typeName == "bool": |
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typeName = "boolean" |
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elif typeName == "float": |
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typeName = "number" |
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elif typeName == "int": |
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typeName = "integer" |
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schema["properties"][key] = {"type": typeName} |
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schema["required"].append(key) |
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return schema, zeroArray |
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def saveScheme(scheme, schemaFileName): |
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schemaFileName = schemaFileName + SCHEMA_EXTENSION |
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# Create the new schemas folder |
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os.makedirs(SCHEMAS_FOLDER, exist_ok=True) |
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with open(os.path.join(SCHEMAS_FOLDER, schemaFileName), 'w') as json_file: |
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json.dump(convertBytesToString(scheme), json_file) |
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def convertToFoxGloveFormat(jsonData, rlogTopic): |
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jsonData["title"] = rlogTopic |
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if rlogTopic == "thumbnail": |
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jsonData = transformToFoxgloveSchema(jsonData) |
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jsonData["title"] = FOXGLOVE_IMAGE_SCHEME_TITLE |
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elif rlogTopic == "navRoute": |
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jsonData = transformMapCoordinates(jsonData) |
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jsonData["title"] = FOXGLOVE_GEOJSON_TITLE |
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else: |
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jsonData = transformListsToJsonDict(jsonData) |
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return jsonData |
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def generateSchemas(): |
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listOfDirs = os.listdir(RLOG_FOLDER) |
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# Open every dir in rlogs |
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for directory in listOfDirs: |
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# List every file in every rlog dir |
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dirPath = os.path.join(RLOG_FOLDER, directory) |
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listOfFiles = os.listdir(dirPath) |
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lastIteration = len(listOfFiles) |
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for iteration, file in enumerate(listOfFiles): |
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# Load json data from every file until found one without empty arrays |
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filePath = os.path.join(dirPath, file) |
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with open(filePath, 'r') as jsonFile: |
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jsonData = json.load(jsonFile) |
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scheme, zerroArray = jsonToScheme(jsonData) |
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# If array of len 0 has been found, type of its data can not be parsed, skip to the next log |
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# in search for a non empty array. If there is not an non empty array in logs, put a dummy string type |
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if zerroArray and not iteration == lastIteration - 1: |
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continue |
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title = jsonData.get("title") |
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scheme["title"] = title |
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# Add contentEncoding type, hardcoded in foxglove format |
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if title == FOXGLOVE_IMAGE_SCHEME_TITLE: |
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scheme["properties"]["data"]["contentEncoding"] = FOXGLOVE_IMAGE_ENCODING |
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saveScheme(scheme, directory) |
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break |
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def downloadLogs(logPaths): |
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segment_counter = 0 |
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for logPath in logPaths: |
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segment_counter += 1 |
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msg_counter = 1 |
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print(segment_counter) |
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rlog = LogReader(logPath) |
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for msg in rlog: |
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jsonMsg = json.loads(json.dumps(convertBytesToString(msg.to_dict()))) |
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jsonMsg = convertToFoxGloveFormat(jsonMsg, msg.which()) |
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rlog_dir_path = os.path.join(RLOG_FOLDER, msg.which()) |
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if not os.path.exists(rlog_dir_path): |
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os.makedirs(rlog_dir_path) |
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file_path = os.path.join(rlog_dir_path, str(segment_counter) + "," + str(msg_counter)) |
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with open(file_path, 'w') as json_file: |
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json.dump(jsonMsg, json_file) |
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msg_counter += 1 |
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def getLogMonoTime(jsonMsg): |
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if jsonMsg.get("title") == FOXGLOVE_IMAGE_SCHEME_TITLE: |
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logMonoTime = jsonMsg.get("timestamp").get("nsec") |
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elif jsonMsg.get("title") == FOXGLOVE_GEOJSON_TITLE: |
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logMonoTime = json.loads(jsonMsg.get("geojson")).get("features")[0].get("logMonoTime") |
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else: |
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logMonoTime = jsonMsg.get("logMonoTime") |
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return logMonoTime |
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def processMsgs(args): |
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msgFile, rlogTopicPath, rlogTopic = args |
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msgFilePath = os.path.join(rlogTopicPath, msgFile) |
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with open(msgFilePath, "r") as file: |
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jsonMsg = json.load(file) |
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logMonoTime = getLogMonoTime(jsonMsg) |
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return {'channel_id': channels[rlogTopic], 'log_time': logMonoTime, 'data': json.dumps(jsonMsg).encode("utf-8"), 'publish_time': logMonoTime} |
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# Get logs from a path, and convert them into mcap |
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def createMcap(logPaths): |
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print(f"Downloading logs [{len(logPaths)}]") |
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downloadLogs(logPaths) |
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print("Creating schemas") |
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generateSchemas() |
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print("Creating mcap file") |
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listOfRlogTopics = os.listdir(RLOG_FOLDER) |
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print(f"Registering schemas and channels [{len(listOfRlogTopics)}]") |
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for counter, rlogTopic in enumerate(listOfRlogTopics): |
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print(counter) |
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schema = loadSchema(rlogTopic) |
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schema_id = writer.register_schema(name=schema.get("title"), encoding="jsonschema", data=json.dumps(schema).encode()) |
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schemas[rlogTopic] = schema_id |
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channel_id = writer.register_channel(schema_id=schemas[rlogTopic], topic=rlogTopic, message_encoding="json") |
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channels[rlogTopic] = channel_id |
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rlogTopicPath = os.path.join(RLOG_FOLDER, rlogTopic) |
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msgFiles = os.listdir(rlogTopicPath) |
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pool = Pool() |
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results = pool.map(processMsgs, [(msgFile, rlogTopicPath, rlogTopic) for msgFile in msgFiles]) |
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pool.close() |
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pool.join() |
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for result in results: |
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writer.add_message(channel_id=result['channel_id'], log_time=result['log_time'], data=result['data'], publish_time=result['publish_time']) |
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def is_program_installed(program_name): |
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try: |
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# Check if the program is installed using dpkg (for traditional Debian packages) |
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subprocess.run(["dpkg", "-l", program_name], check=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE) |
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return True |
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except subprocess.CalledProcessError: |
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# Check if the program is installed using snap |
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try: |
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subprocess.run(["snap", "list", program_name], check=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE) |
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return True |
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except subprocess.CalledProcessError: |
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return False |
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if __name__ == '__main__': |
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# Example usage: |
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program_name = "foxglove-studio" # Change this to the program you want to check |
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if is_program_installed(program_name): |
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print(f"{program_name} detected.") |
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else: |
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print(f"{program_name} could not be detected.") |
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installFoxglove = input("Would you like to install it? YES/NO? - ") |
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if installFoxglove.lower() == "yes": |
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try: |
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subprocess.run(['./install_foxglove.sh'], check=True) |
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print("Installation completed successfully.") |
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except subprocess.CalledProcessError as e: |
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print(f"Installation failed with return code {e.returncode}.") |
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# Get a route |
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if len(sys.argv) == 1: |
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route_name = "a2a0ccea32023010|2023-07-27--13-01-19" |
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print("No route was provided, using demo route") |
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else: |
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route_name = sys.argv[1] |
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# Get logs for a route |
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print("Getting route log paths") |
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route = Route(route_name) |
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logPaths = route.log_paths() |
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# Start mcap writer |
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with open(OUT_MCAP_FILE_NAME, "wb") as stream: |
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writer = Writer(stream, compression=CompressionType.NONE) |
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writer.start() |
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createMcap(logPaths) |
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writer.finish() |
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print(f"File {OUT_MCAP_FILE_NAME} has been successfully created. Please import it into foxglove studio to continue.") |
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@ -1,3 +0,0 @@ |
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#!/bin/bash |
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echo "Installing foxglvoe studio..." |
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sudo snap install foxglove-studio |
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