mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-10 14:33:42 +08:00
firestar5683
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
70 lines
1.8 KiB
Python
70 lines
1.8 KiB
Python
#!/usr/bin/env python3
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import os
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import bz2
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import capnp
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import urllib.parse
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import warnings
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from urllib.request import urlopen
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import zstandard as zstd
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from opendbc.car.common.basedir import BASEDIR
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capnp_log = capnp.load(os.path.join(BASEDIR, "rlog.capnp"), imports=[BASEDIR])
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def decompress_stream(data: bytes):
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dctx = zstd.ZstdDecompressor()
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with dctx.stream_reader(data) as reader:
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decompressed_data = reader.read()
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return decompressed_data
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class LogReader:
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def __init__(self, fn, only_union_types=False, sort_by_time=False):
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self._only_union_types = only_union_types
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_, ext = os.path.splitext(urllib.parse.urlparse(fn).path)
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if fn.startswith("http"):
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with urlopen(fn) as f:
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dat = f.read()
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else:
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with open(fn, "rb") as f:
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dat = f.read()
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if ext == ".bz2" or dat.startswith(b"BZh"):
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dat = bz2.decompress(dat)
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elif ext == ".zst" or dat.startswith(b'\x28\xB5\x2F\xFD'):
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# https://github.com/facebook/zstd/blob/dev/doc/zstd_compression_format.md#zstandard-frames
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dat = decompress_stream(dat)
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ents = capnp_log.Event.read_multiple_bytes(dat)
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self._ents = []
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try:
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for e in ents:
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self._ents.append(e)
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except capnp.KjException:
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warnings.warn("Corrupted events detected", RuntimeWarning, stacklevel=1)
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if sort_by_time:
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self._ents.sort(key=lambda x: x.logMonoTime)
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def __iter__(self):
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for ent in self._ents:
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if self._only_union_types:
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try:
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ent.which()
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yield ent
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except capnp.lib.capnp.KjException:
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pass
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else:
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yield ent
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def filter(self, msg_type: str):
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return (getattr(m, m.which()) for m in filter(lambda m: m.which() == msg_type, self))
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def first(self, msg_type: str):
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return next(self.filter(msg_type), None)
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