openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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#!/usr/bin/env python
import sys
import random
# Simple hacky Matroska generator
# Reads mp3 file "q.mp3" and jpeg images from img/0.jpg, img/1.jpg and so on and
# writes Matroska file with mjpeg and mp3 to stdout
# License=MIT
# unsigned
def big_endian_number(number):
if(number<0x100):
return chr(number)
return big_endian_number(number>>8) + chr(number&0xFF)
ben=big_endian_number
def ebml_encode_number(number):
def trailing_bits(rest_of_number, number_of_bits):
# like big_endian_number, but can do padding zeroes
if number_of_bits==8:
return chr(rest_of_number&0xFF);
else:
return trailing_bits(rest_of_number>>8, number_of_bits-8) + chr(rest_of_number&0xFF)
if number == -1:
return chr(0xFF)
if number < 2**7 - 1:
return chr(number|0x80)
if number < 2**14 - 1:
return chr(0x40 | (number>>8)) + trailing_bits(number, 8)
if number < 2**21 - 1:
return chr(0x20 | (number>>16)) + trailing_bits(number, 16)
if number < 2**28 - 1:
return chr(0x10 | (number>>24)) + trailing_bits(number, 24)
if number < 2**35 - 1:
return chr(0x08 | (number>>32)) + trailing_bits(number, 32)
if number < 2**42 - 1:
return chr(0x04 | (number>>40)) + trailing_bits(number, 40)
if number < 2**49 - 1:
return chr(0x02 | (number>>48)) + trailing_bits(number, 48)
if number < 2**56 - 1:
return chr(0x01) + trailing_bits(number, 56)
raise Exception("NUMBER TOO BIG")
def ebml_element(element_id, data, length=None):
if length==None:
length = len(data)
return big_endian_number(element_id) + ebml_encode_number(length) + data
def write_ebml_header(f, content_type, version, read_version):
f.write(
ebml_element(0x1A45DFA3, "" # EBML
+ ebml_element(0x4286, ben(1)) # EBMLVersion
+ ebml_element(0x42F7, ben(1)) # EBMLReadVersion
+ ebml_element(0x42F2, ben(4)) # EBMLMaxIDLength
+ ebml_element(0x42F3, ben(8)) # EBMLMaxSizeLength
+ ebml_element(0x4282, content_type) # DocType
+ ebml_element(0x4287, ben(version)) # DocTypeVersion
+ ebml_element(0x4285, ben(read_version)) # DocTypeReadVersion
))
def write_infinite_segment_header(f):
# write segment element header
f.write(ebml_element(0x18538067,"",-1)) # Segment (unknown length)
def random_uid():
def rint():
return int(random.random()*(0x100**4))
return ben(rint()) + ben(rint()) + ben(rint()) + ben(rint())
def example():
write_ebml_header(sys.stdout, "matroska", 2, 2)
write_infinite_segment_header(sys.stdout)
# write segment info (optional)
sys.stdout.write(ebml_element(0x1549A966, "" # SegmentInfo
+ ebml_element(0x73A4, random_uid()) # SegmentUID
+ ebml_element(0x7BA9, "mkvgen.py test") # Title
+ ebml_element(0x4D80, "mkvgen.py") # MuxingApp
+ ebml_element(0x5741, "mkvgen.py") # WritingApp
))
# write trans data (codecs etc.)
sys.stdout.write(ebml_element(0x1654AE6B, "" # Tracks
+ ebml_element(0xAE, "" # TrackEntry
+ ebml_element(0xD7, ben(1)) # TrackNumber
+ ebml_element(0x73C5, ben(0x77)) # TrackUID
+ ebml_element(0x83, ben(0x01)) # TrackType
#0x01 track is a video track
#0x02 track is an audio track
#0x03 track is a complex track, i.e. a combined video and audio track
#0x10 track is a logo track
#0x11 track is a subtitle track
#0x12 track is a button track
#0x20 track is a control track
+ ebml_element(0x536E, "mjpeg data") # Name
+ ebml_element(0x86, "V_MJPEG") # CodecID
#+ ebml_element(0x23E383, ben(100000000)) # DefaultDuration (opt.), nanoseconds
#+ ebml_element(0x6DE7, ben(100)) # MinCache
+ ebml_element(0xE0, "" # Video
+ ebml_element(0xB0, ben(640)) # PixelWidth
+ ebml_element(0xBA, ben(480)) # PixelHeight
)
)
+ ebml_element(0xAE, "" # TrackEntry
+ ebml_element(0xD7, ben(2)) # TrackNumber
+ ebml_element(0x73C5, ben(0x78)) # TrackUID
+ ebml_element(0x83, ben(0x02)) # TrackType
#0x01 track is a video track
#0x02 track is an audio track
#0x03 track is a complex track, i.e. a combined video and audio track
#0x10 track is a logo track
#0x11 track is a subtitle track
#0x12 track is a button track
#0x20 track is a control track
+ ebml_element(0x536E, "content of mp3 file") # Name
#+ ebml_element(0x6DE7, ben(100)) # MinCache
+ ebml_element(0x86, "A_MPEG/L3") # CodecID
#+ ebml_element(0xE1, "") # Audio
)
))
mp3file = open("q.mp3", "rb")
mp3file.read(500000);
def mp3framesgenerator(f):
debt=""
while True:
for i in range(0,len(debt)+1):
if i >= len(debt)-1:
debt = debt + f.read(8192)
break
#sys.stderr.write("i="+str(i)+" len="+str(len(debt))+"\n")
if ord(debt[i])==0xFF and (ord(debt[i+1]) & 0xF0)==0XF0 and i>700:
if i>0:
yield debt[0:i]
# sys.stderr.write("len="+str(i)+"\n")
debt = debt[i:]
break
mp3 = mp3framesgenerator(mp3file)
next(mp3)
for i in range(0,530):
framefile = open("img/"+str(i)+".jpg", "rb")
framedata = framefile.read()
framefile.close()
# write cluster (actual video data)
if random.random()<1:
sys.stdout.write(ebml_element(0x1F43B675, "" # Cluster
+ ebml_element(0xE7, ben(int(i*26*4))) # TimeCode, uint, milliseconds
# + ebml_element(0xA7, ben(0)) # Position, uint
+ ebml_element(0xA3, "" # SimpleBlock
+ ebml_encode_number(1) # track number
+ chr(0x00) + chr(0x00) # timecode, relative to Cluster timecode, sint16, in milliseconds
+ chr(0x00) # flags
+ framedata
)))
for u in range(0,4):
mp3f=next(mp3)
if random.random()<1:
sys.stdout.write(ebml_element(0x1F43B675, "" # Cluster
+ ebml_element(0xE7, ben(i*26*4+u*26)) # TimeCode, uint, milliseconds
+ ebml_element(0xA3, "" # SimpleBlock
+ ebml_encode_number(2) # track number
+ chr(0x00) + chr(0x00) # timecode, relative to Cluster timecode, sint16, in milliseconds
+ chr(0x00) # flags
+ mp3f
)))
if __name__ == '__main__':
example()