import os
import requests
# Forks with additional car support can fork the commaCarSegments repo on huggingface or host the LFS files themselves
COMMA_CAR_SEGMENTS_REPO = os.environ.get("COMMA_CAR_SEGMENTS_REPO", "https://huggingface.co/datasets/commaai/commaCarSegments")
COMMA_CAR_SEGMENTS_BRANCH = os.environ.get("COMMA_CAR_SEGMENTS_BRANCH", "main")
COMMA_CAR_SEGMENTS_LFS_INSTANCE = os.environ.get("COMMA_CAR_SEGMENTS_LFS_INSTANCE", COMMA_CAR_SEGMENTS_REPO)
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def get_comma_car_segments_database():
from openpilot.selfdrive.car.fingerprints import MIGRATION
database = requests.get(get_repo_raw_url("database.json")).json()
ret = {}
for platform in database:
ret[MIGRATION.get(platform, platform)] = database[platform]
return ret
# Helpers related to interfacing with the commaCarSegments repository, which contains a collection of public segments for users to perform validation on.
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def parse_lfs_pointer(text):
header, lfs_version = text.splitlines()[0].split(" ")
assert header == "version"
assert lfs_version == "https://git-lfs.github.com/spec/v1"
header, oid_raw = text.splitlines()[1].split(" ")
assert header == "oid"
header, oid = oid_raw.split(":")
assert header == "sha256"
header, size = text.splitlines()[2].split(" ")
assert header == "size"
return oid, size
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def get_lfs_file_url(oid, size):
data = {
"operation": "download",
"transfers": [ "basic" ],
"objects": [
{
"oid": oid,
"size": int(size)
}
],
"hash_algo": "sha256"
}
headers = {
"Accept": "application/vnd.git-lfs+json",
"Content-Type": "application/vnd.git-lfs+json"
}
response = requests.post(f"{COMMA_CAR_SEGMENTS_LFS_INSTANCE}.git/info/lfs/objects/batch", json=data, headers=headers)
assert response.ok
obj = response.json()["objects"][0]
assert "error" not in obj, obj
return obj["actions"]["download"]["href"]
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def get_repo_raw_url(path):
if "huggingface" in COMMA_CAR_SEGMENTS_REPO:
return f"{COMMA_CAR_SEGMENTS_REPO}/raw/{COMMA_CAR_SEGMENTS_BRANCH}/{path}"
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def get_repo_url(path):
# Automatically switch to LFS if we are requesting a file that is stored in LFS
response = requests.head(get_repo_raw_url(path))
if "text/plain" in response.headers.get("content-type"):
# This is an LFS pointer, so download the raw data from lfs
response = requests.get(get_repo_raw_url(path))
assert response.status_code == 200
oid, size = parse_lfs_pointer(response.text)
return get_lfs_file_url(oid, size)
else:
# File has not been uploaded to LFS yet
# (either we are on a fork where the data hasn't been pushed to LFS yet, or the CI job to push hasn't finished)
return get_repo_raw_url(path)
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def get_url(route, segment, file="rlog.bz2"):
return get_repo_url(f"segments/{route.replace('|', '/')}/{segment}/{file}")