def _get_segments_remote(self):
api = CommaApi(get_token())
route_files = api.get('v1/route/' + self.name.canonical_name + '/files')
self.files = list(chain.from_iterable(route_files.values()))
segments = {}
for url in self.files:
_, dongle_id, time_str, segment_num, fn = urlparse(url).path.rsplit('/', maxsplit=4)
segment_name = f'{dongle_id}|{time_str}--{segment_num}'
if segments.get(segment_name):
segments[segment_name] = Segment(
segment_name,
url if fn in LOG_FILENAMES else segments[segment_name].log_path,
url if fn in QLOG_FILENAMES else segments[segment_name].qlog_path,
url if fn in CAMERA_FILENAMES else segments[segment_name].camera_path,
url if fn in DCAMERA_FILENAMES else segments[segment_name].dcamera_path,
url if fn in ECAMERA_FILENAMES else segments[segment_name].ecamera_path,
url if fn in QCAMERA_FILENAMES else segments[segment_name].qcamera_path,
)
else:
segments[segment_name] = Segment(
segment_name,
url if fn in LOG_FILENAMES else None,
url if fn in QLOG_FILENAMES else None,
url if fn in CAMERA_FILENAMES else None,
url if fn in DCAMERA_FILENAMES else None,
url if fn in ECAMERA_FILENAMES else None,
url if fn in QCAMERA_FILENAMES else None,
)
return sorted(segments.values(), key=lambda seg: seg.name.segment_num)
def juggle_route(route_or_segment_name, segment_count, qlog, can, layout):
segment_start = 0
if 'cabana' in route_or_segment_name:
query = parse_qs(urlparse(route_or_segment_name).query)
api = CommaApi(get_token())
logs = api.get(
f'v1/route/{query["route"][0]}/log_urls?sig={query["sig"][0]}&exp={query["exp"][0]}'
)
elif route_or_segment_name.startswith(
"http://") or route_or_segment_name.startswith(
"https://") or os.path.isfile(route_or_segment_name):
logs = [route_or_segment_name]
else:
route_or_segment_name = SegmentName(route_or_segment_name,
allow_route_name=True)
segment_start = max(route_or_segment_name.segment_num, 0)
if route_or_segment_name.segment_num != -1 and segment_count is None:
segment_count = 1
r = Route(route_or_segment_name.route_name.canonical_name)
logs = r.qlog_paths() if qlog else r.log_paths()
segment_end = segment_start + segment_count if segment_count else None
logs = logs[segment_start:segment_end]
if None in logs:
ans = input(
f"{logs.count(None)}/{len(logs)} of the rlogs in this segment are missing, would you like to fall back to the qlogs? (y/n) "
)
if ans == 'y':
logs = r.qlog_paths()[segment_start:segment_end]
else:
print("Please try a different route or segment")
return
all_data = []
with multiprocessing.Pool(24) as pool:
for d in pool.map(load_segment, logs):
all_data += d
if not can:
all_data = [d for d in all_data if d.which() not in ['can', 'sendcan']]
# Infer DBC name from logs
dbc = None
for cp in [m for m in all_data if m.which() == 'carParams']:
try:
DBC = __import__(f"selfdrive.car.{cp.carParams.carName}.values",
fromlist=['DBC']).DBC
dbc = DBC[cp.carParams.carFingerprint]['pt']
except Exception:
pass
break
with tempfile.NamedTemporaryFile(suffix='.rlog', dir=juggle_dir) as tmp:
save_log(tmp.name, all_data, compress=False)
del all_data
start_juggler(tmp.name, dbc, layout)
def juggle_route(route_name, segment_number, segment_count, qlog, can, layout):
if 'cabana' in route_name:
query = parse_qs(urlparse(route_name).query)
api = CommaApi(get_token())
logs = api.get(
f'v1/route/{query["route"][0]}/log_urls?sig={query["sig"][0]}&exp={query["exp"][0]}'
)
elif route_name.startswith("http://") or route_name.startswith(
"https://") or os.path.isfile(route_name):
logs = [route_name]
else:
r = Route(route_name)
logs = r.qlog_paths() if qlog else r.log_paths()
if segment_number is not None:
logs = logs[segment_number:segment_number + segment_count]
if None in logs:
fallback_answer = input(
"At least one of the rlogs in this segment does not exist, would you like to use the qlogs? (y/n) : "
)
if fallback_answer == 'y':
logs = r.qlog_paths()
if segment_number is not None:
logs = logs[segment_number:segment_number + segment_count]
else:
print(
f"Please try a different {'segment' if segment_number is not None else 'route'}"
)
return
all_data = []
with multiprocessing.Pool(24) as pool:
for d in pool.map(load_segment, logs):
all_data += d
if not can:
all_data = [d for d in all_data if d.which() not in ['can', 'sendcan']]
# Infer DBC name from logs
dbc = None
for cp in [m for m in all_data if m.which() == 'carParams']:
try:
DBC = __import__(f"selfdrive.car.{cp.carParams.carName}.values",
fromlist=['DBC']).DBC
dbc = DBC[cp.carParams.carFingerprint]['pt']
except (ImportError, KeyError, AttributeError):
pass
break
tempfile = NamedTemporaryFile(suffix='.rlog', dir=juggle_dir)
save_log(tempfile.name, all_data, compress=False)
del all_data
start_juggler(tempfile.name, dbc, layout)
def _get_segments_remote(self):
api = CommaApi(get_token())
route_files = api.get('v1/route/' + self.route_name + '/files')
segments = {}
for url in chain.from_iterable(route_files.values()):
_, _, dongle_id, time_str, segment_num, fn = urlparse(url).path.split('/')
segment_name = f'{dongle_id}|{time_str}--{segment_num}'
if segments.get(segment_name):
segments[segment_name] = RouteSegment(
segment_name,
url if fn in LOG_FILENAMES else segments[segment_name].log_path,
url if fn in CAMERA_FILENAMES else segments[segment_name].camera_path
)
else:
segments[segment_name] = RouteSegment(
segment_name,
url if fn in LOG_FILENAMES else None,
url if fn in CAMERA_FILENAMES else None
)
return sorted(segments.values(), key=lambda seg: seg.canonical_name.segment_num)
def get_bootlogs(dongle_id: str):
api = CommaApi(get_token())
r = api.get(f'v1/devices/{dongle_id}/bootlogs')
return [Bootlog(b) for b in r]
except APIError as e:
print(f'Authentication Error: {e}', file=sys.stderr)
if __name__ == '__main__':
parser = argparse.ArgumentParser(description='Login to your comma account')
parser.add_argument('method',
default='google',
const='google',
nargs='?',
choices=['google', 'apple', 'github', 'jwt'])
parser.add_argument('jwt', nargs='?')
args = parser.parse_args()
if args.method == 'jwt':
if args.jwt is None:
print("method JWT selected, but no JWT was provided")
exit(1)
set_token(args.jwt)
else:
login(args.method)
try:
me = CommaApi(token=get_token()).get('/v1/me')
print("Authenticated!")
pprint.pprint(me)
except UnauthorizedError:
print("Got invalid JWT")
exit(1)
#!/usr/bin/env python3
import sys
if len(sys.argv) < 4:
print(f"{sys.argv[0]} <route> <segment> <frame number>")
print('example: ./fetch_image_from_route.py "02c45f73a2e5c6e9|2020-06-01--18-03-08" 3 500')
exit(0)
import requests
from PIL import Image
from tools.lib.auth_config import get_token
from tools.lib.framereader import FrameReader
jwt = get_token()
route = sys.argv[1]
segment = int(sys.argv[2])
frame = int(sys.argv[3])
url = 'https://api.commadotai.com/v1/route/'+sys.argv[1]+"/files"
r = requests.get(url, headers={"Authorization": "JWT "+jwt})
assert r.status_code == 200
print("got api response")
cameras = r.json()['cameras']
if segment >= len(cameras):
raise Exception("segment %d not found, got %d segments" % (segment, len(cameras)))
fr = FrameReader(cameras[segment])
if frame >= fr.frame_count:
raise Exception("frame %d not found, got %d frames" % (frame, fr.frame_count))
