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2024-05-12 00:33:45 -05:00
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tools/lib/README.md
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@@ -32,22 +32,20 @@ for msg in lr:
print(msg.carState.steeringAngleDeg)
```
### Segment Ranges
### MultiLogIterator
We also support a new format called a "segment range", where you can specify which segments from a route to load.
`MultiLogIterator` is similar to `LogReader`, but reads multiple logs.
```python
from openpilot.tools.lib.route import Route
from openpilot.tools.lib.logreader import MultiLogIterator
lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/4") # 4th segment
lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/4:6") # 4th and 5th segment
lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/-1") # last segment
lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/:5") # first 5 segments
lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/1:") # all except first segment
```
and can select which type of logs to grab
```python
lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/4/q") # get qlogs
lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/4/r") # get rlogs (default)
# setup a MultiLogIterator to read all the logs in the route
r = Route("a2a0ccea32023010|2023-07-27--13-01-19")
lr = MultiLogIterator(r.log_paths())
# print all the steering angles values from all the logs in the route
for msg in lr:
if msg.which() == "carState":
print(msg.carState.steeringAngleDeg)
```