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https://github.com/MoreTore/openpilot.git
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common folder
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@@ -0,0 +1,78 @@
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import os
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import numpy as np
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import random
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class SamplingBuffer():
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def __init__(self, fn, size, write=False):
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self._fn = fn
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self._write = write
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if self._write:
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self._f = open(self._fn, "ab")
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else:
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self._f = open(self._fn, "rb")
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self._size = size
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self._refresh()
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def _refresh(self):
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self.cnt = os.path.getsize(self._fn) / self._size
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@property
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def count(self):
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self._refresh()
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return self.cnt
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def _fetch_one(self, x):
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assert self._write == False
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self._f.seek(x*self._size)
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return self._f.read(self._size)
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def sample(self, count, indices = None):
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if indices == None:
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cnt = self.count
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assert cnt != 0
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indices = map(lambda x: random.randint(0, cnt-1), range(count))
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return map(self._fetch_one, indices)
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def write(self, dat):
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assert self._write == True
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assert (len(dat) % self._size) == 0
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self._f.write(dat)
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self._f.flush()
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class NumpySamplingBuffer():
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def __init__(self, fn, size, dtype, write=False):
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self._size = size
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self._dtype = dtype
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self._buf = SamplingBuffer(fn, len(np.zeros(size, dtype=dtype).tobytes()), write)
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@property
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def count(self):
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return self._buf.count
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def write(self, dat):
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self._buf.write(dat.tobytes())
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def sample(self, count, indices = None):
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return np.fromstring(''.join(self._buf.sample(count, indices)), dtype=self._dtype).reshape([count]+list(self._size))
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# TODO: n IOPS needed where n is the Multi
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class MultiNumpySamplingBuffer():
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def __init__(self, fn, npa, write=False):
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self._bufs = []
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for i,n in enumerate(npa):
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self._bufs.append(NumpySamplingBuffer(fn + ("_%d" % i), n[0], n[1], write))
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def write(self, dat):
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for b,x in zip(self._bufs, dat):
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b.write(x)
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@property
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def count(self):
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return min(map(lambda x: x.count, self._bufs))
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def sample(self, count):
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cnt = self.count
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assert cnt != 0
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indices = map(lambda x: random.randint(0, cnt-1), range(count))
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return map(lambda x: x.sample(count, indices), self._bufs)
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