Jason Young
3 years ago
commit
73a0861bcc
94 changed files with 7039 additions and 1068 deletions
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@ -1 +1 @@ |
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Subproject commit df08568318da97ed6f87747caee0a5b2c30086c4 |
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Subproject commit cda60ec9652c05de4ccfcad1fae7936e708434a3 |
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@ -1,12 +1,9 @@ |
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#include "common/watchdog.h" |
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#include "common/timing.h" |
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#include "common/util.h" |
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const std::string watchdog_fn_prefix = "/dev/shm/wd_"; // + <pid>
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bool watchdog_kick() { |
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bool watchdog_kick(uint64_t ts) { |
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static std::string fn = watchdog_fn_prefix + std::to_string(getpid()); |
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uint64_t ts = nanos_since_boot(); |
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return util::write_file(fn.c_str(), &ts, sizeof(ts), O_WRONLY | O_CREAT) > 0; |
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} |
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@ -1,3 +1,5 @@ |
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#pragma once |
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bool watchdog_kick(); |
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#include <cstdint> |
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bool watchdog_kick(uint64_t ts); |
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@ -1 +1 @@ |
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Subproject commit 6e87f536dbe8cf80040f724c89798e66ca17cf9d |
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Subproject commit 828612e1b8848ccf70072d5513c0b7977f1707da |
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@ -1 +1 @@ |
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Subproject commit 225dbacbaac312f85eaaee0b97a3acc31f9c6b47 |
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Subproject commit 3b6bd703b7a7667e4f82d0b81ef9a454819b94bd |
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@ -0,0 +1,11 @@ |
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#!/usr/bin/bash |
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set -e |
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DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" |
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cd $DIR |
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if [ ! -z "$(git status --porcelain)" ]; then |
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echo "Dirty working tree after build:" |
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git status --porcelain |
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exit 1 |
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fi |
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@ -1,56 +1,70 @@ |
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from cereal import car |
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from selfdrive.car import make_can_msg |
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from selfdrive.car.chrysler.values import RAM_CARS |
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GearShifter = car.CarState.GearShifter |
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VisualAlert = car.CarControl.HUDControl.VisualAlert |
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def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_model): |
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# LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed. |
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def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam): |
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# LKAS_HUD - Controls what lane-keeping icon is displayed |
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# == Color == |
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# 0 hidden? |
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# 1 white |
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# 2 green |
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# 3 ldw |
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# == Lines == |
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# 03 white Lines |
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# 04 grey lines |
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# 09 left lane close |
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# 0A right lane close |
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# 0B left Lane very close |
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# 0C right Lane very close |
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# 0D left cross cross |
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# 0E right lane cross |
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if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw): |
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msg = b'\x00\x00\x00\x03\x00\x00\x00\x00' |
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return make_can_msg(0x2a6, msg, 0) |
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# == Alerts == |
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# 7 Normal |
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# 6 lane departure place hands on wheel |
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color = 1 # default values are for park or neutral in 2017 are 0 0, but trying 1 1 for 2019 |
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lines = 1 |
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alerts = 0 |
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color = 2 if lkas_active else 1 |
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lines = 3 if lkas_active else 0 |
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alerts = 7 if lkas_active else 0 |
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if hud_count < (1 * 4): # first 3 seconds, 4Hz |
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alerts = 1 |
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# CAR.PACIFICA_2018_HYBRID and CAR.PACIFICA_2019_HYBRID |
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# had color = 1 and lines = 1 but trying 2017 hybrid style for now. |
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if gear in (GearShifter.drive, GearShifter.reverse, GearShifter.low): |
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if lkas_active: |
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color = 2 # control active, display green. |
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lines = 6 |
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else: |
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color = 1 # control off, display white. |
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lines = 1 |
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if hud_alert in (VisualAlert.ldw, VisualAlert.steerRequired): |
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color = 4 |
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lines = 0 |
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alerts = 6 |
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values = { |
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"LKAS_ICON_COLOR": color, # byte 0, last 2 bits |
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"CAR_MODEL": lkas_car_model, # byte 1 |
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"LKAS_LANE_LINES": lines, # byte 2, last 4 bits |
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"LKAS_ALERTS": alerts, # byte 3, last 4 bits |
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"LKAS_ICON_COLOR": color, |
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"CAR_MODEL": car_model, |
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"LKAS_LANE_LINES": lines, |
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"LKAS_ALERTS": alerts, |
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} |
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return packer.make_can_msg("LKAS_HUD", 0, values) # 0x2a6 |
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if CP.carFingerprint in RAM_CARS: |
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values['AUTO_HIGH_BEAM_ON'] = auto_high_beam |
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return packer.make_can_msg("DAS_6", 0, values) |
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def create_lkas_command(packer, apply_steer, moving_fast, frame): |
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# LKAS_COMMAND 0x292 (658) Lane-keeping signal to turn the wheel. |
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def create_lkas_command(packer, CP, apply_steer, lat_active, frame): |
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# LKAS_COMMAND Lane-keeping signal to turn the wheel |
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enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1 |
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values = { |
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"LKAS_STEERING_TORQUE": apply_steer, |
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"LKAS_HIGH_TORQUE": int(moving_fast), |
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"COUNTER": frame % 0x10, |
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"STEERING_TORQUE": apply_steer, |
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"LKAS_CONTROL_BIT": enabled_val if lat_active else 0, |
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} |
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return packer.make_can_msg("LKAS_COMMAND", 0, values) |
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return packer.make_can_msg("LKAS_COMMAND", 0, values, frame % 0x10) |
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def create_cruise_buttons(packer, frame, cancel=False): |
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def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False): |
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values = { |
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"ACC_Cancel": cancel, |
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"COUNTER": frame % 0x10, |
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"ACC_Resume": resume, |
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} |
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return packer.make_can_msg("CRUISE_BUTTONS", 0, values) |
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return packer.make_can_msg("CRUISE_BUTTONS", bus, values, frame % 0x10) |
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@ -1,3 +1,4 @@ |
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loggerd |
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encoderd |
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bootlog |
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tests/test_logger |
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@ -1 +1 @@ |
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806984d4206056fb132625c5dad6c0ca1835a2d6 |
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825acfae98543c915c18d3b19a9c5d2503e431a6 |
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@ -1,3 +1,6 @@ |
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{ |
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"English": "" |
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"English": "", |
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"中文（繁體）": "main_zh-CHT", |
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"中文（简体）": "main_zh-CHS", |
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"한국어": "main_ko" |
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} |
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#!/usr/bin/env python3 |
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import io |
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import lzma |
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import os |
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import struct |
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import sys |
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import time |
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from abc import ABC, abstractmethod |
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from collections import defaultdict, namedtuple |
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from typing import Callable, Dict, List, Optional, Tuple |
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import requests |
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from Crypto.Hash import SHA512 |
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CA_FORMAT_INDEX = 0x96824d9c7b129ff9 |
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CA_FORMAT_TABLE = 0xe75b9e112f17417d |
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CA_FORMAT_TABLE_TAIL_MARKER = 0xe75b9e112f17417 |
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FLAGS = 0xb000000000000000 |
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CA_HEADER_LEN = 48 |
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CA_TABLE_HEADER_LEN = 16 |
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CA_TABLE_ENTRY_LEN = 40 |
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CA_TABLE_MIN_LEN = CA_TABLE_HEADER_LEN + CA_TABLE_ENTRY_LEN |
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CHUNK_DOWNLOAD_TIMEOUT = 60 |
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CHUNK_DOWNLOAD_RETRIES = 3 |
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CAIBX_DOWNLOAD_TIMEOUT = 120 |
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Chunk = namedtuple('Chunk', ['sha', 'offset', 'length']) |
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ChunkDict = Dict[bytes, Chunk] |
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class ChunkReader(ABC): |
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@abstractmethod |
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def read(self, chunk: Chunk) -> bytes: |
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... |
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class FileChunkReader(ChunkReader): |
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"""Reads chunks from a local file""" |
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def __init__(self, fn: str) -> None: |
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super().__init__() |
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self.f = open(fn, 'rb') |
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def read(self, chunk: Chunk) -> bytes: |
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self.f.seek(chunk.offset) |
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return self.f.read(chunk.length) |
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class RemoteChunkReader(ChunkReader): |
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"""Reads lzma compressed chunks from a remote store""" |
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def __init__(self, url: str) -> None: |
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super().__init__() |
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self.url = url |
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self.session = requests.Session() |
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def read(self, chunk: Chunk) -> bytes: |
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sha_hex = chunk.sha.hex() |
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url = os.path.join(self.url, sha_hex[:4], sha_hex + ".cacnk") |
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for i in range(CHUNK_DOWNLOAD_RETRIES): |
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try: |
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resp = self.session.get(url, timeout=CHUNK_DOWNLOAD_TIMEOUT) |
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break |
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except Exception: |
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if i == CHUNK_DOWNLOAD_RETRIES - 1: |
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raise |
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time.sleep(CHUNK_DOWNLOAD_TIMEOUT) |
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resp.raise_for_status() |
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decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO) |
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return decompressor.decompress(resp.content) |
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def parse_caibx(caibx_path: str) -> List[Chunk]: |
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"""Parses the chunks from a caibx file. Can handle both local and remote files. |
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Returns a list of chunks with hash, offset and length""" |
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if os.path.isfile(caibx_path): |
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caibx = open(caibx_path, 'rb') |
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else: |
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resp = requests.get(caibx_path, timeout=CAIBX_DOWNLOAD_TIMEOUT) |
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resp.raise_for_status() |
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caibx = io.BytesIO(resp.content) |
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caibx.seek(0, os.SEEK_END) |
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caibx_len = caibx.tell() |
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caibx.seek(0, os.SEEK_SET) |
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# Parse header |
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length, magic, flags, min_size, _, max_size = struct.unpack("<QQQQQQ", caibx.read(CA_HEADER_LEN)) |
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assert flags == flags |
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assert length == CA_HEADER_LEN |
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assert magic == CA_FORMAT_INDEX |
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# Parse table header |
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length, magic = struct.unpack("<QQ", caibx.read(CA_TABLE_HEADER_LEN)) |
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assert magic == CA_FORMAT_TABLE |
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# Parse chunks |
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num_chunks = (caibx_len - CA_HEADER_LEN - CA_TABLE_MIN_LEN) // CA_TABLE_ENTRY_LEN |
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chunks = [] |
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offset = 0 |
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for i in range(num_chunks): |
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new_offset = struct.unpack("<Q", caibx.read(8))[0] |
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sha = caibx.read(32) |
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length = new_offset - offset |
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assert length <= max_size |
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# Last chunk can be smaller |
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if i < num_chunks - 1: |
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assert length >= min_size |
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chunks.append(Chunk(sha, offset, length)) |
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offset = new_offset |
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return chunks |
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def build_chunk_dict(chunks: List[Chunk]) -> ChunkDict: |
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"""Turn a list of chunks into a dict for faster lookups based on hash. |
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Keep first chunk since it's more likely to be already downloaded.""" |
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r = {} |
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for c in chunks: |
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if c.sha not in r: |
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r[c.sha] = c |
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return r |
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def extract(target: List[Chunk], |
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sources: List[Tuple[str, ChunkReader, ChunkDict]], |
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out_path: str, |
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progress: Optional[Callable[[int], None]] = None): |
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stats: Dict[str, int] = defaultdict(int) |
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with open(out_path, 'wb') as out: |
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for cur_chunk in target: |
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# Find source for desired chunk |
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for name, chunk_reader, store_chunks in sources: |
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if cur_chunk.sha in store_chunks: |
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bts = chunk_reader.read(store_chunks[cur_chunk.sha]) |
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# Check length |
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if len(bts) != cur_chunk.length: |
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continue |
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# Check hash |
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if SHA512.new(bts, truncate="256").digest() != cur_chunk.sha: |
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continue |
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# Write to output |
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out.seek(cur_chunk.offset) |
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out.write(bts) |
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stats[name] += cur_chunk.length |
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if progress is not None: |
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progress(sum(stats.values())) |
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break |
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else: |
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raise RuntimeError("Desired chunk not found in provided stores") |
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return stats |
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def print_stats(stats: Dict[str, int]): |
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total_bytes = sum(stats.values()) |
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print(f"Total size: {total_bytes / 1024 / 1024:.2f} MB") |
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for name, total in stats.items(): |
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print(f" {name}: {total / 1024 / 1024:.2f} MB ({total / total_bytes * 100:.1f}%)") |
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def extract_simple(caibx_path, out_path, store_path): |
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# (name, callback, chunks) |
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target = parse_caibx(caibx_path) |
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sources = [ |
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# (store_path, RemoteChunkReader(store_path), build_chunk_dict(target)), |
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(store_path, FileChunkReader(store_path), build_chunk_dict(target)), |
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] |
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return extract(target, sources, out_path) |
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if __name__ == "__main__": |
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caibx = sys.argv[1] |
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out = sys.argv[2] |
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store = sys.argv[3] |
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stats = extract_simple(caibx, out, store) |
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print_stats(stats) |
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