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2024-05-12 00:33:45 -05:00
parent 65bcdde866
commit 62115b2e34
179 changed files with 19155 additions and 390 deletions
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72
tools/lib/route.py
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@@ -1,10 +1,9 @@
import os
import re
from functools import cache
from urllib.parse import urlparse
from collections import defaultdict
from itertools import chain
from typing import Optional, cast
from typing import Optional
from openpilot.tools.lib.auth_config import get_token
from openpilot.tools.lib.api import CommaApi
@@ -17,7 +16,6 @@ CAMERA_FILENAMES = ['fcamera.hevc', 'video.hevc']
DCAMERA_FILENAMES = ['dcamera.hevc']
ECAMERA_FILENAMES = ['ecamera.hevc']
class Route:
def __init__(self, name, data_dir=None):
self._name = RouteName(name)
@@ -38,27 +36,27 @@ class Route:
def log_paths(self):
log_path_by_seg_num = {s.name.segment_num: s.log_path for s in self._segments}
return [log_path_by_seg_num.get(i, None) for i in range(self.max_seg_number + 1)]
return [log_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)]
def qlog_paths(self):
qlog_path_by_seg_num = {s.name.segment_num: s.qlog_path for s in self._segments}
return [qlog_path_by_seg_num.get(i, None) for i in range(self.max_seg_number + 1)]
return [qlog_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)]
def camera_paths(self):
camera_path_by_seg_num = {s.name.segment_num: s.camera_path for s in self._segments}
return [camera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number + 1)]
return [camera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)]
def dcamera_paths(self):
dcamera_path_by_seg_num = {s.name.segment_num: s.dcamera_path for s in self._segments}
return [dcamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number + 1)]
return [dcamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)]
def ecamera_paths(self):
ecamera_path_by_seg_num = {s.name.segment_num: s.ecamera_path for s in self._segments}
return [ecamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number + 1)]
return [ecamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)]
def qcamera_paths(self):
qcamera_path_by_seg_num = {s.name.segment_num: s.qcamera_path for s in self._segments}
return [qcamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number + 1)]
return [qcamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)]
# TODO: refactor this, it's super repetitive
def _get_segments_remote(self):
@@ -160,7 +158,6 @@ class Route:
raise ValueError(f'Could not find segments for route {self.name.canonical_name} in data directory {data_dir}')
return sorted(segments, key=lambda seg: seg.name.segment_num)
class Segment:
def __init__(self, name, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path):
self._name = SegmentName(name)
@@ -175,7 +172,6 @@ class Segment:
def name(self):
return self._name
class RouteName:
def __init__(self, name_str: str):
self._name_str = name_str
@@ -197,7 +193,6 @@ class RouteName:
def __str__(self) -> str: return self._canonical_name
class SegmentName:
# TODO: add constructor that takes dongle_id, time_str, segment_num and then create instances
# of this class instead of manually constructing a segment name (use canonical_name prop instead)
@@ -210,7 +205,7 @@ class SegmentName:
seg_num_delim = "--" if self._name_str.count("--") == 2 else "/"
name_parts = self._name_str.rsplit(seg_num_delim, 1)
if allow_route_name and len(name_parts) == 1:
name_parts.append("-1") # no segment number
name_parts.append("-1") # no segment number
self._route_name = RouteName(name_parts[0])
self._num = int(name_parts[1])
self._canonical_name = f"{self._route_name._dongle_id}|{self._route_name._time_str}--{self._num}"
@@ -236,62 +231,27 @@ class SegmentName:
def __str__(self) -> str: return self._canonical_name
@cache
def get_max_seg_number_cached(sr: 'SegmentRange') -> int:
try:
api = CommaApi(get_token())
return cast(int, api.get("/v1/route/" + sr.route_name.replace("/", "|"))["segment_numbers"][-1])
except Exception as e:
raise Exception("unable to get max_segment_number. ensure you have access to this route or the route is public.") from e
class SegmentRange:
def __init__(self, segment_range: str):
m = re.fullmatch(RE.SEGMENT_RANGE, segment_range)
assert m is not None, f"Segment range is not valid {segment_range}"
self.m = m
self.m = re.fullmatch(RE.SEGMENT_RANGE, segment_range)
assert self.m, f"Segment range is not valid {segment_range}"
@property
def route_name(self) -> str:
def route_name(self):
return self.m.group("route_name")
@property
def dongle_id(self) -> str:
def dongle_id(self):
return self.m.group("dongle_id")
@property
def timestamp(self) -> str:
def timestamp(self):
return self.m.group("timestamp")
@property
def slice(self) -> str:
return self.m.group("slice") or ""
def _slice(self):
return self.m.group("slice")
@property
def selector(self) -> str | None:
def selector(self):
return self.m.group("selector")
@property
def seg_idxs(self) -> list[int]:
m = re.fullmatch(RE.SLICE, self.slice)
assert m is not None, f"Invalid slice: {self.slice}"
start, end, step = (None if s is None else int(s) for s in m.groups())
# one segment specified
if start is not None and end is None and ':' not in self.slice:
if start < 0:
start += get_max_seg_number_cached(self) + 1
return [start]
s = slice(start, end, step)
# no specified end or using relative indexing, need number of segments
if end is None or end < 0 or (start is not None and start < 0):
return list(range(get_max_seg_number_cached(self) + 1))[s]
else:
return list(range(end + 1))[s]
def __str__(self) -> str:
return f"{self.dongle_id}/{self.timestamp}" + (f"/{self.slice}" if self.slice else "") + (f"/{self.selector}" if self.selector else "")
def __repr__(self) -> str:
return self.__str__()