wip

tools/scripts/save_ubloxraw_stream.py

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+#!/usr/bin/env python
+import argparse
+import os
+import sys
+from openpilot.common.basedir import BASEDIR
+from openpilot.tools.lib.logreader import MultiLogIterator
+from openpilot.tools.lib.route import Route
+
+os.environ['BASEDIR'] = BASEDIR
+
+
+def get_arg_parser():
+  parser = argparse.ArgumentParser(
+      description="Unlogging and save to file",
+      formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+
+  parser.add_argument("data_dir", nargs='?',
+                              help="Path to directory in which log and camera files are located.")
+  parser.add_argument("route_name", type=(lambda x: x.replace("#", "|")), nargs="?",
+                      help="The route whose messages will be published.")
+  parser.add_argument("--out_path", nargs='?', default='/data/ubloxRaw.stream',
+                      help="Output pickle file path")
+  return parser
+
+
+def main(argv):
+  args = get_arg_parser().parse_args(sys.argv[1:])
+  if not args.data_dir:
+    print('Data directory invalid.')
+    return
+
+  if not args.route_name:
+    # Extract route name from path
+    args.route_name = os.path.basename(args.data_dir)
+    args.data_dir = os.path.dirname(args.data_dir)
+
+  route = Route(args.route_name, args.data_dir)
+  lr = MultiLogIterator(route.log_paths())
+
+  with open(args.out_path, 'wb') as f:
+    try:
+      done = False
+      i = 0
+      while not done:
+        msg = next(lr)
+        if not msg:
+          break
+        smsg = msg.as_builder()
+        typ = smsg.which()
+        if typ == 'ubloxRaw':
+          f.write(smsg.to_bytes())
+          i += 1
+    except StopIteration:
+      print('All done')
+  print(f'Writed {i} msgs')
+
+
+if __name__ == "__main__":
+  sys.exit(main(sys.argv[1:]))