github-actions[bot]
54e6124925
version: sunnypilot v2026.001.000 (dev) date: 2026-05-07T23:07:19 master commit: c28eb958740187620f2282023b8f1997cf90f583
68 lines
1.7 KiB
Python
68 lines
1.7 KiB
Python
#!/usr/bin/env python3
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import os
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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"))
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def decompress_stream(data: bytes):
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dctx = zstd.ZstdDecompressor()
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decompressed_data = b""
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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 == ".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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