openpilot v0.9.6 release

date: 2024-02-21T23:02:42
master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5

tools/lib/comma_car_segments.py

@@ -0,0 +1,81 @@
+import os
+import requests
+
+# Forks with additional car support can fork the commaCarSegments repo on huggingface or host the LFS files themselves
+COMMA_CAR_SEGMENTS_REPO = os.environ.get("COMMA_CAR_SEGMENTS_REPO", "https://huggingface.co/datasets/commaai/commaCarSegments")
+COMMA_CAR_SEGMENTS_BRANCH = os.environ.get("COMMA_CAR_SEGMENTS_BRANCH", "main")
+COMMA_CAR_SEGMENTS_LFS_INSTANCE = os.environ.get("COMMA_CAR_SEGMENTS_LFS_INSTANCE", COMMA_CAR_SEGMENTS_REPO)
+
+def get_comma_car_segments_database():
+  return requests.get(get_repo_raw_url("database.json")).json()
+
+
+# Helpers related to interfacing with the commaCarSegments repository, which contains a collection of public segments for users to perform validation on.
+
+def parse_lfs_pointer(text):
+  header, lfs_version = text.splitlines()[0].split(" ")
+  assert header == "version"
+  assert lfs_version == "https://git-lfs.github.com/spec/v1"
+
+  header, oid_raw = text.splitlines()[1].split(" ")
+  assert header == "oid"
+  header, oid = oid_raw.split(":")
+  assert header == "sha256"
+
+  header, size = text.splitlines()[2].split(" ")
+  assert header == "size"
+
+  return oid, size
+
+def get_lfs_file_url(oid, size):
+  data = {
+    "operation": "download",
+    "transfers": [ "basic" ],
+    "objects": [
+      {
+        "oid": oid,
+        "size": int(size)
+      }
+    ],
+    "hash_algo": "sha256"
+  }
+
+  headers = {
+    "Accept": "application/vnd.git-lfs+json",
+    "Content-Type": "application/vnd.git-lfs+json"
+  }
+
+  response = requests.post(f"{COMMA_CAR_SEGMENTS_LFS_INSTANCE}.git/info/lfs/objects/batch", json=data, headers=headers)
+
+  assert response.ok
+
+  obj = response.json()["objects"][0]
+
+  assert "error" not in obj, obj
+
+  return obj["actions"]["download"]["href"]
+
+def get_repo_raw_url(path):
+  if "huggingface" in COMMA_CAR_SEGMENTS_REPO:
+    return f"{COMMA_CAR_SEGMENTS_REPO}/raw/{COMMA_CAR_SEGMENTS_BRANCH}/{path}"
+
+def get_repo_url(path):
+  # Automatically switch to LFS if we are requesting a file that is stored in LFS
+
+  response = requests.head(get_repo_raw_url(path))
+
+  if "text/plain" in response.headers.get("content-type"):
+    # This is an LFS pointer, so download the raw data from lfs
+    response = requests.get(get_repo_raw_url(path))
+    assert response.status_code == 200
+    oid, size = parse_lfs_pointer(response.text)
+
+    return get_lfs_file_url(oid, size)
+  else:
+    # File has not been uploaded to LFS yet
+    # (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)
+    return get_repo_raw_url(path)
+
+
+def get_url(route, segment, file="rlog.bz2"):
+  return get_repo_url(f"segments/{route.replace('|', '/')}/{segment}/{file}")