mirror of https://github.com/commaai/openpilot.git
George Hotz
parent
c94fb86e2d
commit
cc6477015a
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@ -1,210 +0,0 @@
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import os
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import numpy as np
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import collections
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from contextlib import closing
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from common.file_helpers import mkdirs_exists_ok
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class ColumnStoreReader():
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def __init__(self, path, mmap=False, allow_pickle=False, direct_io=False, prefix="", np_data=None):
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if not (path and os.path.isdir(path)):
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raise ValueError("Not a column store: {}".format(path))
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self._path = os.path.realpath(path)
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self._keys = os.listdir(self._path)
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self._mmap = mmap
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self._allow_pickle = allow_pickle
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self._direct_io = direct_io
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self._is_dict = 'columnstore' in self._keys
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self._prefix = prefix
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self._np_data = np_data
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@property
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def path(self):
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return self._path
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def close(self):
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pass
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def get(self, key):
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try:
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return self[key]
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except KeyError:
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return None
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def keys(self):
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if self._is_dict:
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if not self._np_data:
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self._np_data = self._load(os.path.join(self._path, 'columnstore'))
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# return top level keys by matching on prefix and splitting on '/'
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return {
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k[len(self._prefix):].split('/')[0]
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for k in self._np_data.keys()
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if k.startswith(self._prefix)
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}
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return list(self._keys)
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def iteritems(self):
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for k in self:
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yield (k, self[k])
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def itervalues(self):
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for k in self:
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yield self[k]
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def get_npy_path(self, key):
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"""Gets a filesystem path for an npy file containing the specified array,
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or none if the column store does not contain key.
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"""
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if key in self:
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return os.path.join(self._path, key)
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else:
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return None
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def _load(self, path):
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if self._mmap:
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# note that direct i/o does nothing for mmap since file read/write interface is not used
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return np.load(path, mmap_mode='r', allow_pickle=self._allow_pickle, fix_imports=False)
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if self._direct_io:
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opener = lambda path, flags: os.open(path, os.O_RDONLY | os.O_DIRECT)
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with open(path, 'rb', buffering=0, opener=opener) as f:
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return np.load(f, allow_pickle=self._allow_pickle, fix_imports=False)
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return np.load(path, allow_pickle=self._allow_pickle, fix_imports=False)
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def __getitem__(self, key):
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try:
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if self._is_dict:
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path = os.path.join(self._path, 'columnstore')
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else:
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path = os.path.join(self._path, key)
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# TODO(mgraczyk): This implementation will need to change for zip.
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if not self._is_dict and os.path.isdir(path):
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return ColumnStoreReader(path)
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else:
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if self._is_dict and self._np_data:
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ret = self._np_data
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else:
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ret = self._load(path)
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if type(ret) == np.lib.npyio.NpzFile:
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if self._is_dict:
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if self._prefix+key in ret.keys():
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return ret[self._prefix+key]
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if any(k.startswith(self._prefix+key+"/") for k in ret.keys()):
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return ColumnStoreReader(self._path, mmap=self._mmap, allow_pickle=self._allow_pickle, direct_io=self._direct_io, prefix=self._prefix+key+"/", np_data=ret)
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raise KeyError(self._prefix+key)
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# if it's saved as compressed, it has arr_0 only in the file. deref this
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return ret['arr_0']
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else:
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return ret
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except IOError:
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raise KeyError(key)
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def __contains__(self, item):
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try:
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self[item]
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return True
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except KeyError:
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return False
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def __len__(self):
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return len(self._keys)
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def __bool__(self):
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return bool(self._keys)
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def __iter__(self):
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return iter(self._keys)
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def __str__(self):
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return "ColumnStoreReader({})".format(str({k: "..." for k in self._keys}))
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def __enter__(self): return self
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def __exit__(self, type, value, traceback): self.close()
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class ColumnStoreWriter():
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def __init__(self, path, allow_pickle=False):
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self._path = path
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self._allow_pickle = allow_pickle
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mkdirs_exists_ok(self._path)
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def map_column(self, path, dtype, shape):
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npy_path = os.path.join(self._path, path)
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mkdirs_exists_ok(os.path.dirname(npy_path))
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return np.lib.format.open_memmap(npy_path, mode='w+', dtype=dtype, shape=shape)
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def add_column(self, path, data, dtype=None, compression=False, overwrite=False):
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npy_path = os.path.join(self._path, path)
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mkdirs_exists_ok(os.path.dirname(npy_path))
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if overwrite:
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f = open(npy_path, "wb")
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else:
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f = os.fdopen(os.open(npy_path, os.O_WRONLY | os.O_CREAT | os.O_EXCL), "wb")
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with closing(f) as f:
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data2 = np.array(data, copy=False, dtype=dtype)
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if compression:
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np.savez_compressed(f, data2)
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else:
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np.save(f, data2, allow_pickle=self._allow_pickle, fix_imports=False)
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def add_group(self, group_name):
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# TODO(mgraczyk): This implementation will need to change if we add zip or compression.
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return ColumnStoreWriter(os.path.join(self._path, group_name))
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def add_dict(self, data, dtypes=None, compression=False, overwrite=False):
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# default name exists to have backward compatibility with equivalent directory structure
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npy_path = os.path.join(self._path, "columnstore")
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mkdirs_exists_ok(os.path.dirname(npy_path))
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flat_dict = dict()
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_flatten_dict(flat_dict, "", data)
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for k, v in flat_dict.items():
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dtype = dtypes[k] if dtypes is not None and k in dtypes else None
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flat_dict[k] = np.array(v, copy=False, dtype=dtype)
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if overwrite:
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f = open(npy_path, "wb")
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else:
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f = os.fdopen(os.open(npy_path, os.O_WRONLY | os.O_CREAT | os.O_EXCL), "wb")
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with closing(f) as f:
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if compression:
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np.savez_compressed(f, **flat_dict)
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else:
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np.savez(f, **flat_dict)
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def close(self):
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pass
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def __enter__(self): return self
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def __exit__(self, type, value, traceback): self.close()
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def _flatten_dict(flat, ns, d):
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for k, v in d.items():
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p = (ns + "/" if len(ns) else "") + k
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if isinstance(v, collections.Mapping):
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_flatten_dict(flat, p, v)
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else:
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flat[p] = v
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def _save_dict_as_column_store(values, writer, compression):
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for k, v in values.items():
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if isinstance(v, collections.Mapping):
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_save_dict_as_column_store(v, writer.add_group(k), compression)
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else:
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writer.add_column(k, v, compression=compression)
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def save_dict_as_column_store(values, output_path, compression=False):
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with ColumnStoreWriter(output_path) as writer:
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_save_dict_as_column_store(values, writer, compression)
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@ -11,7 +11,7 @@ from cereal.services import service_list
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from tools.lib.logreader import LogReader
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from xx.chffr.lib.route import Route, RouteSegment
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from tools.lib.route_framereader import RouteFrameReader
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from common.column_store import save_dict_as_column_store
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from xx.uncommon.column_store import save_dict_as_column_store
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from xx.pipeline.lib.log_time_series import append_dict
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from selfdrive.test.process_replay.compare_logs import save_log
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