mirror of https://github.com/commaai/openpilot.git
299 lines
11 KiB
Python
299 lines
11 KiB
Python
import os
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import re
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from functools import cache
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from urllib.parse import urlparse
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from collections import defaultdict
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from itertools import chain
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from openpilot.tools.lib.auth_config import get_token
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from openpilot.tools.lib.api import CommaApi
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from openpilot.tools.lib.helpers import RE
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QLOG_FILENAMES = ['qlog', 'qlog.bz2', 'qlog.zst']
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QCAMERA_FILENAMES = ['qcamera.ts']
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LOG_FILENAMES = ['rlog', 'rlog.bz2', 'raw_log.bz2', 'rlog.zst']
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CAMERA_FILENAMES = ['fcamera.hevc', 'video.hevc']
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DCAMERA_FILENAMES = ['dcamera.hevc']
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ECAMERA_FILENAMES = ['ecamera.hevc']
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class Route:
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def __init__(self, name, data_dir=None):
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self._name = RouteName(name)
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self.files = None
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if data_dir is not None:
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self._segments = self._get_segments_local(data_dir)
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else:
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self._segments = self._get_segments_remote()
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self.max_seg_number = self._segments[-1].name.segment_num
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@property
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def name(self):
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return self._name
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@property
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def segments(self):
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return self._segments
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def log_paths(self):
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log_path_by_seg_num = {s.name.segment_num: s.log_path for s in self._segments}
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return [log_path_by_seg_num.get(i, None) for i in range(self.max_seg_number + 1)]
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def qlog_paths(self):
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qlog_path_by_seg_num = {s.name.segment_num: s.qlog_path for s in self._segments}
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return [qlog_path_by_seg_num.get(i, None) for i in range(self.max_seg_number + 1)]
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def camera_paths(self):
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camera_path_by_seg_num = {s.name.segment_num: s.camera_path for s in self._segments}
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return [camera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number + 1)]
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def dcamera_paths(self):
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dcamera_path_by_seg_num = {s.name.segment_num: s.dcamera_path for s in self._segments}
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return [dcamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number + 1)]
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def ecamera_paths(self):
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ecamera_path_by_seg_num = {s.name.segment_num: s.ecamera_path for s in self._segments}
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return [ecamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number + 1)]
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def qcamera_paths(self):
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qcamera_path_by_seg_num = {s.name.segment_num: s.qcamera_path for s in self._segments}
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return [qcamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number + 1)]
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# TODO: refactor this, it's super repetitive
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def _get_segments_remote(self):
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api = CommaApi(get_token())
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route_files = api.get('v1/route/' + self.name.canonical_name + '/files')
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self.files = list(chain.from_iterable(route_files.values()))
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segments = {}
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for url in self.files:
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_, dongle_id, time_str, segment_num, fn = urlparse(url).path.rsplit('/', maxsplit=4)
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segment_name = f'{dongle_id}|{time_str}--{segment_num}'
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if segments.get(segment_name):
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segments[segment_name] = Segment(
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segment_name,
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url if fn in LOG_FILENAMES else segments[segment_name].log_path,
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url if fn in QLOG_FILENAMES else segments[segment_name].qlog_path,
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url if fn in CAMERA_FILENAMES else segments[segment_name].camera_path,
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url if fn in DCAMERA_FILENAMES else segments[segment_name].dcamera_path,
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url if fn in ECAMERA_FILENAMES else segments[segment_name].ecamera_path,
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url if fn in QCAMERA_FILENAMES else segments[segment_name].qcamera_path,
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)
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else:
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segments[segment_name] = Segment(
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segment_name,
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url if fn in LOG_FILENAMES else None,
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url if fn in QLOG_FILENAMES else None,
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url if fn in CAMERA_FILENAMES else None,
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url if fn in DCAMERA_FILENAMES else None,
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url if fn in ECAMERA_FILENAMES else None,
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url if fn in QCAMERA_FILENAMES else None,
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)
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return sorted(segments.values(), key=lambda seg: seg.name.segment_num)
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def _get_segments_local(self, data_dir):
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files = os.listdir(data_dir)
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segment_files = defaultdict(list)
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for f in files:
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fullpath = os.path.join(data_dir, f)
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explorer_match = re.match(RE.EXPLORER_FILE, f)
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op_match = re.match(RE.OP_SEGMENT_DIR, f)
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if explorer_match:
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segment_name = explorer_match.group('segment_name')
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fn = explorer_match.group('file_name')
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if segment_name.replace('_', '|').startswith(self.name.canonical_name):
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segment_files[segment_name].append((fullpath, fn))
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elif op_match and os.path.isdir(fullpath):
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segment_name = op_match.group('segment_name')
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if segment_name.startswith(self.name.canonical_name):
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for seg_f in os.listdir(fullpath):
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segment_files[segment_name].append((os.path.join(fullpath, seg_f), seg_f))
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elif f == self.name.canonical_name:
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for seg_num in os.listdir(fullpath):
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if not seg_num.isdigit():
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continue
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segment_name = f'{self.name.canonical_name}--{seg_num}'
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for seg_f in os.listdir(os.path.join(fullpath, seg_num)):
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segment_files[segment_name].append((os.path.join(fullpath, seg_num, seg_f), seg_f))
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segments = []
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for segment, files in segment_files.items():
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try:
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log_path = next(path for path, filename in files if filename in LOG_FILENAMES)
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except StopIteration:
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log_path = None
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try:
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qlog_path = next(path for path, filename in files if filename in QLOG_FILENAMES)
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except StopIteration:
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qlog_path = None
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try:
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camera_path = next(path for path, filename in files if filename in CAMERA_FILENAMES)
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except StopIteration:
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camera_path = None
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try:
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dcamera_path = next(path for path, filename in files if filename in DCAMERA_FILENAMES)
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except StopIteration:
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dcamera_path = None
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try:
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ecamera_path = next(path for path, filename in files if filename in ECAMERA_FILENAMES)
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except StopIteration:
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ecamera_path = None
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try:
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qcamera_path = next(path for path, filename in files if filename in QCAMERA_FILENAMES)
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except StopIteration:
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qcamera_path = None
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segments.append(Segment(segment, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path))
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if len(segments) == 0:
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raise ValueError(f'Could not find segments for route {self.name.canonical_name} in data directory {data_dir}')
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return sorted(segments, key=lambda seg: seg.name.segment_num)
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class Segment:
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def __init__(self, name, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path):
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self._name = SegmentName(name)
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self.log_path = log_path
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self.qlog_path = qlog_path
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self.camera_path = camera_path
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self.dcamera_path = dcamera_path
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self.ecamera_path = ecamera_path
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self.qcamera_path = qcamera_path
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@property
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def name(self):
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return self._name
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class RouteName:
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def __init__(self, name_str: str):
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self._name_str = name_str
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delim = next(c for c in self._name_str if c in ("|", "/"))
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self._dongle_id, self._time_str = self._name_str.split(delim)
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assert len(self._dongle_id) == 16, self._name_str
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assert len(self._time_str) == 20, self._name_str
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self._canonical_name = f"{self._dongle_id}|{self._time_str}"
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@property
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def canonical_name(self) -> str: return self._canonical_name
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@property
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def dongle_id(self) -> str: return self._dongle_id
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@property
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def time_str(self) -> str: return self._time_str
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def __str__(self) -> str: return self._canonical_name
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class SegmentName:
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# TODO: add constructor that takes dongle_id, time_str, segment_num and then create instances
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# of this class instead of manually constructing a segment name (use canonical_name prop instead)
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def __init__(self, name_str: str, allow_route_name=False):
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data_dir_path_separator_index = name_str.rsplit("|", 1)[0].rfind("/")
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use_data_dir = (data_dir_path_separator_index != -1) and ("|" in name_str)
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self._name_str = name_str[data_dir_path_separator_index + 1:] if use_data_dir else name_str
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self._data_dir = name_str[:data_dir_path_separator_index] if use_data_dir else None
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seg_num_delim = "--" if self._name_str.count("--") == 2 else "/"
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name_parts = self._name_str.rsplit(seg_num_delim, 1)
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if allow_route_name and len(name_parts) == 1:
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name_parts.append("-1") # no segment number
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self._route_name = RouteName(name_parts[0])
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self._num = int(name_parts[1])
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self._canonical_name = f"{self._route_name._dongle_id}|{self._route_name._time_str}--{self._num}"
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@property
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def canonical_name(self) -> str: return self._canonical_name
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@property
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def dongle_id(self) -> str: return self._route_name.dongle_id
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@property
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def time_str(self) -> str: return self._route_name.time_str
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@property
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def segment_num(self) -> int: return self._num
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@property
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def route_name(self) -> RouteName: return self._route_name
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@property
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def data_dir(self) -> str | None: return self._data_dir
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def __str__(self) -> str: return self._canonical_name
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@cache
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def get_max_seg_number_cached(sr: 'SegmentRange') -> int:
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try:
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api = CommaApi(get_token())
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max_seg_number = api.get("/v1/route/" + sr.route_name.replace("/", "|"))["maxqlog"]
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assert isinstance(max_seg_number, int)
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return max_seg_number
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except Exception as e:
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raise Exception("unable to get max_segment_number. ensure you have access to this route or the route is public.") from e
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class SegmentRange:
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def __init__(self, segment_range: str):
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m = re.fullmatch(RE.SEGMENT_RANGE, segment_range)
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assert m is not None, f"Segment range is not valid {segment_range}"
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self.m = m
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@property
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def route_name(self) -> str:
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return self.m.group("route_name")
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@property
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def dongle_id(self) -> str:
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return self.m.group("dongle_id")
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@property
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def log_id(self) -> str:
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return self.m.group("log_id")
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@property
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def slice(self) -> str:
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return self.m.group("slice") or ""
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@property
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def selector(self) -> str | None:
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return self.m.group("selector")
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@property
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def seg_idxs(self) -> list[int]:
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m = re.fullmatch(RE.SLICE, self.slice)
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assert m is not None, f"Invalid slice: {self.slice}"
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start, end, step = (None if s is None else int(s) for s in m.groups())
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# one segment specified
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if start is not None and end is None and ':' not in self.slice:
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if start < 0:
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start += get_max_seg_number_cached(self) + 1
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return [start]
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s = slice(start, end, step)
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# no specified end or using relative indexing, need number of segments
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if end is None or end < 0 or (start is not None and start < 0):
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return list(range(get_max_seg_number_cached(self) + 1))[s]
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else:
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return list(range(end + 1))[s]
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def __str__(self) -> str:
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return f"{self.dongle_id}/{self.log_id}" + (f"/{self.slice}" if self.slice else "") + (f"/{self.selector}" if self.selector else "")
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def __repr__(self) -> str:
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return self.__str__()
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