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84 lines
2.6 KiB
84 lines
2.6 KiB
import enum
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import re
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import numpy as np
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from openpilot.selfdrive.test.openpilotci import get_url
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from openpilot.tools.lib.helpers import RE
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from openpilot.tools.lib.logreader import LogReader
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from openpilot.tools.lib.route import Route, SegmentRange
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class ReadMode(enum.StrEnum):
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RLOG = "r" # only read rlogs
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QLOG = "q" # only read qlogs
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#AUTO = "a" # default to rlogs, fallback to qlogs, not supported yet
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def create_slice_from_string(s: str):
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m = re.fullmatch(RE.SLICE, s)
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assert m is not None, f"Invalid slice: {s}"
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start, end, step = m.groups()
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start = int(start) if start is not None else None
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end = int(end) if end is not None else None
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step = int(step) if step is not None else None
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if start is not None and ":" not in s and end is None and step is None:
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return start
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return slice(start, end, step)
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def parse_slice(sr: SegmentRange):
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route = Route(sr.route_name)
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segs = np.arange(route.max_seg_number+1)
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s = create_slice_from_string(sr._slice)
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return segs[s] if isinstance(s, slice) else [segs[s]]
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def comma_api_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False):
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segs = parse_slice(sr)
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route = Route(sr.route_name)
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log_paths = route.log_paths() if mode == ReadMode.RLOG else route.qlog_paths()
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for seg in segs:
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yield LogReader(log_paths[seg], sort_by_time=sort_by_time)
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def internal_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False):
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segs = parse_slice(sr)
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for seg in segs:
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yield LogReader(f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{'rlog' if mode == ReadMode.RLOG else 'qlog'}.bz2", sort_by_time=sort_by_time)
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def openpilotci_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False):
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segs = parse_slice(sr)
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for seg in segs:
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yield LogReader(get_url(sr.route_name, seg, 'rlog' if mode == ReadMode.RLOG else 'qlog'), sort_by_time=sort_by_time)
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def auto_source(*args, **kwargs):
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# Automatically determine viable source
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try:
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next(internal_source(*args, **kwargs))
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return internal_source(*args, **kwargs)
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except Exception:
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pass
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try:
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next(openpilotci_source(*args, **kwargs))
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return openpilotci_source(*args, **kwargs)
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except Exception:
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pass
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return comma_api_source(*args, **kwargs)
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class SegmentRangeReader:
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def __init__(self, segment_range: str, default_mode=ReadMode.RLOG, source=auto_source, sort_by_time=False):
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sr = SegmentRange(segment_range)
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mode = default_mode if sr.selector is None else ReadMode(sr.selector)
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self.lrs = source(sr, mode, sort_by_time)
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def __iter__(self):
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for lr in self.lrs:
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for m in lr:
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yield m
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