openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

tools/lib/srreader.py

@@ -0,0 +1,141 @@
+import enum
+import numpy as np
+import pathlib
+import re
+from urllib.parse import parse_qs, urlparse
+
+from openpilot.selfdrive.test.openpilotci import get_url
+from openpilot.tools.lib.helpers import RE
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.route import Route, SegmentRange
+
+class ReadMode(enum.StrEnum):
+  RLOG = "r" # only read rlogs
+  QLOG = "q" # only read qlogs
+  #AUTO = "a" # default to rlogs, fallback to qlogs, not supported yet
+
+
+def create_slice_from_string(s: str):
+  m = re.fullmatch(RE.SLICE, s)
+  assert m is not None, f"Invalid slice: {s}"
+  start, end, step = m.groups()
+  start = int(start) if start is not None else None
+  end = int(end) if end is not None else None
+  step = int(step) if step is not None else None
+
+  if start is not None and ":" not in s and end is None and step is None:
+    return start
+  return slice(start, end, step)
+
+
+def parse_slice(sr: SegmentRange):
+  route = Route(sr.route_name)
+  segs = np.arange(route.max_seg_number+1)
+  s = create_slice_from_string(sr._slice)
+  return segs[s] if isinstance(s, slice) else [segs[s]]
+
+def comma_api_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False):
+  segs = parse_slice(sr)
+  route = Route(sr.route_name)
+
+  log_paths = route.log_paths() if mode == ReadMode.RLOG else route.qlog_paths()
+
+  invalid_segs = [seg for seg in segs if log_paths[seg] is None]
+
+  assert not len(invalid_segs), f"Some of the requested segments are not available: {invalid_segs}"
+
+  for seg in segs:
+    yield LogReader(log_paths[seg], sort_by_time=sort_by_time)
+
+def internal_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False):
+  segs = parse_slice(sr)
+
+  for seg in segs:
+    yield LogReader(f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{'rlog' if mode == ReadMode.RLOG else 'qlog'}.bz2", sort_by_time=sort_by_time)
+
+def openpilotci_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False):
+  segs = parse_slice(sr)
+
+  for seg in segs:
+    yield LogReader(get_url(sr.route_name, seg, 'rlog' if mode == ReadMode.RLOG else 'qlog'), sort_by_time=sort_by_time)
+
+def direct_source(file_or_url, sort_by_time):
+  yield LogReader(file_or_url, sort_by_time=sort_by_time)
+
+def auto_source(*args, **kwargs):
+  # Automatically determine viable source
+
+  try:
+    next(internal_source(*args, **kwargs))
+    return internal_source(*args, **kwargs)
+  except Exception:
+    pass
+
+  try:
+    next(openpilotci_source(*args, **kwargs))
+    return openpilotci_source(*args, **kwargs)
+  except Exception:
+    pass
+
+  return comma_api_source(*args, **kwargs)
+
+def parse_useradmin(identifier):
+  if "useradmin.comma.ai" in identifier:
+    query = parse_qs(urlparse(identifier).query)
+    return query["onebox"][0]
+  return None
+
+def parse_cabana(identifier):
+  if "cabana.comma.ai" in identifier:
+    query = parse_qs(urlparse(identifier).query)
+    return query["route"][0]
+  return None
+
+def parse_cd(identifier):
+  if "cd:/" in identifier:
+    return identifier.replace("cd:/", "")
+  return None
+
+def parse_direct(identifier):
+  if "https://" in identifier or "http://" in identifier or pathlib.Path(identifier).exists():
+    return identifier
+  return None
+
+def parse_indirect(identifier):
+  parsed = parse_useradmin(identifier) or parse_cabana(identifier)
+
+  if parsed is not None:
+    return parsed, comma_api_source, True
+
+  parsed = parse_cd(identifier)
+  if parsed is not None:
+    return parsed, internal_source, True
+
+  return identifier, None, False
+
+class SegmentRangeReader:
+  def _logreaders_from_identifier(self, identifier):
+    parsed, source, is_indirect = parse_indirect(identifier)
+
+    if not is_indirect:
+      direct_parsed = parse_direct(identifier)
+      if direct_parsed is not None:
+        return direct_source(identifier, sort_by_time=self.sort_by_time)
+
+    sr = SegmentRange(parsed)
+    mode = self.default_mode if sr.selector is None else ReadMode(sr.selector)
+    source = self.default_source if source is None else source
+
+    return source(sr, mode, sort_by_time=self.sort_by_time)
+
+  def __init__(self, identifier: str, default_mode=ReadMode.RLOG, default_source=auto_source, sort_by_time=False):
+    self.default_mode = default_mode
+    self.default_source = default_source
+    self.sort_by_time = sort_by_time
+
+    self.lrs = self._logreaders_from_identifier(identifier)
+
+  def __iter__(self):
+    for lr in self.lrs:
+      for m in lr:
+        yield m