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osi_trace.py
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osi_trace.py
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"""
Module to handle and manage OSI trace files.
"""
import lzma
import struct
from osi3.osi_sensorview_pb2 import SensorView
from osi3.osi_sensorviewconfiguration_pb2 import SensorViewConfiguration
from osi3.osi_groundtruth_pb2 import GroundTruth
from osi3.osi_hostvehicledata_pb2 import HostVehicleData
from osi3.osi_sensordata_pb2 import SensorData
from osi3.osi_trafficcommand_pb2 import TrafficCommand
from osi3.osi_trafficcommandupdate_pb2 import TrafficCommandUpdate
from osi3.osi_trafficupdate_pb2 import TrafficUpdate
from osi3.osi_motionrequest_pb2 import MotionRequest
from osi3.osi_streamingupdate_pb2 import StreamingUpdate
MESSAGES_TYPE = {
"SensorView": SensorView,
"SensorViewConfiguration": SensorViewConfiguration,
"GroundTruth": GroundTruth,
"HostVehicleData": HostVehicleData,
"SensorData": SensorData,
"TrafficCommand": TrafficCommand,
"TrafficCommandUpdate": TrafficCommandUpdate,
"TrafficUpdate": TrafficUpdate,
"MotionRequest": MotionRequest,
"StreamingUpdate": StreamingUpdate,
}
class OSITrace:
"""This class can import and decode OSI trace files."""
@staticmethod
def map_message_type(type_name):
"""Map the type name to the protobuf message type."""
return MESSAGES_TYPE[type_name]
@staticmethod
def message_types():
"""Message types that OSITrace supports."""
return list(MESSAGES_TYPE.keys())
def __init__(self, path=None, type_name="SensorView", cache_messages=False):
self.type = self.map_message_type(type_name)
self.file = None
self.current_index = None
self.message_offsets = None
self.read_complete = False
self.message_cache = {} if cache_messages else None
self._header_length = 4
if path:
self.from_file(path, type_name, cache_messages)
def from_file(self, path, type_name="SensorView", cache_messages=False):
"""Import a trace from a file"""
self.type = self.map_message_type(type_name)
if path.lower().endswith((".lzma", ".xz")):
self.file = lzma.open(path, "rb")
else:
self.file = open(path, "rb")
self.read_complete = False
self.current_index = 0
self.message_offsets = [0]
self.message_cache = {} if cache_messages else None
def retrieve_offsets(self, limit=None):
"""Retrieve the offsets of the messages from the file."""
if not self.read_complete:
self.current_index = len(self.message_offsets) - 1
self.file.seek(self.message_offsets[-1], 0)
while not self.read_complete and (
not limit or len(self.message_offsets) <= limit
):
self.retrieve_message(skip=True)
return self.message_offsets
def retrieve_message(self, index=None, skip=False):
"""Retrieve the next message from the file at the current position or given index, or skip it if skip is true."""
if index is not None:
self.current_index = index
self.file.seek(self.message_offsets[index], 0)
if self.message_cache is not None and self.current_index in self.message_cache:
message = self.message_cache[self.current_index]
self.current_index += 1
if self.current_index == len(self.message_offsets):
self.file.seek(0, 2)
else:
self.file.seek(self.message_offsets[self.current_index], 0)
if skip:
return self.message_offsets[self.current_index]
else:
return message
start = self.file.tell()
header = self.file.read(self._header_length)
if len(header) < self._header_length:
if start == self.message_offsets[-1]:
self.message_offsets.pop()
self.read_complete = True
self.file.seek(start, 0)
return None
message_length = struct.unpack("<L", header)[0]
if skip:
new_pos = self.file.seek(message_length, 1)
if new_pos - start < message_length + self._header_length:
if start == self.message_offsets[-1]:
self.message_offsets.pop()
self.read_complete = True
self.file.seek(start, 0)
return None
self.current_index += 1
if start == self.message_offsets[-1]:
self.message_offsets.append(new_pos)
return new_pos
message_data = self.file.read(message_length)
if len(message_data) < message_length:
if start == self.message_offsets[-1]:
self.message_offsets.pop()
self.read_complete = True
self.file.seek(start, 0)
return None
self.current_index += 1
message = self.type()
message.ParseFromString(message_data)
if start == self.message_offsets[-1]:
if self.message_cache is not None:
self.message_cache[len(self.message_offsets) - 1] = message
self.message_offsets.append(self.file.tell())
return message
def restart(self, index=None):
"""Restart the reading of the file from the beginning or from a given index."""
self.current_index = index if index else 0
self.file.seek(self.message_offsets[self.current_index], 0)
def __iter__(self):
while message := self.retrieve_message():
yield message
def get_message_by_index(self, index):
"""
Get a message by its index.
"""
if index >= len(self.message_offsets):
self.retrieve_offsets(index)
if self.message_cache is not None and index in self.message_cache:
return self.message_cache[index]
return self.retrieve_message(index=index)
def get_messages(self):
"""
Yield an iterator over all messages in the file.
"""
return self.get_messages_in_index_range(0, None)
def get_messages_in_index_range(self, begin, end):
"""
Yield an iterator over messages of indexes between begin and end included.
"""
if begin >= len(self.message_offsets):
self.retrieve_offsets(begin)
self.restart(begin)
current = begin
while end is None or current < end:
if self.message_cache is not None and current in self.message_cache:
yield self.message_cache[current]
else:
message = self.retrieve_message()
if message is None:
break
yield message
current += 1
def close(self):
if self.file:
self.file.close()
self.file = None
self.current_index = None
self.message_cache = None
self.message_offsets = None
self.read_complete = False
self.read_limit = None
self.type = None