flandre/test/legacy/process_leagacy.py

import hashlib
import shutil
from pathlib import Path

from flandre.utils.RfMeta import RfFrameMeta, RfSequenceMeta
from flandre.utils.RfSequence import RfSequence
from flandre.utils.archive import to_zip


def f1():
    # rr = RfSequenceMeta
    tempdst = Path('/mnt/16T/private_dataset/ustemp')
    arr = []
    for (i,
         file) in enumerate(Path('/mnt/16T/private_dataset/New Folder/steel-top/').glob('*pwi.bin')):
        file = Path(file)
        x, y, _ = file.name.split('_')
        r = RfFrameMeta(encoder=0, robot_x=int(x) * 100, robot_y=int(y) * 100)
        arr.append((file, r))
    arr.sort(key=lambda item: (item[1].robot_y, item[1].robot_x))

    arg = []

    for i, item in enumerate(arr):
        file, meta = item
        meta.sequence_id = i
        print(file.name, meta.sequence_id, meta.robot_x, meta.robot_y)
        pic = file.with_suffix('.png')
        farr = []
        if pic.exists():
            farr.append((pic, '.png'))
        arg.append((file, meta, farr))

    to_zip(arg, tempdst, Path('/mnt/16T/private_dataset/us/steel-top,U=30,M=PWI,S=(256 1502).zip'))


def f2():
    tempdst = Path('/mnt/16T/private_dataset/ustemp')
    src = Path('/mnt/16T/private_dataset/New Folder/T1,U=30,M=FMC,S=(256 256 1502)/')
    arr = []
    for (i,
         file) in enumerate(Path('/mnt/16T/private_dataset/New Folder/steel-top/').glob('*pwi.bin')):
        file = Path(file)
        x, _ = file.name.split('_')
        r = RfFrameMeta(encoder=0, robot_x=int(x) * 100, robot_y=int(y) * 100)
        arr.append((file, r))
    arr.sort(key=lambda item: (item[1].robot_y, item[1].robot_x))
    print(arr)


WRITE_TMP = Path('/run/media/lambda/040fb2b8-1584-4683-bac8-fec3b264167d/write_cache/')


def proc(src: Path | str, dst: Path | str, fx, tmp=WRITE_TMP):
    src = Path(src)
    dst = Path(dst)
    assert not dst.exists()
    shutil.rmtree(tmp)
    tmp.mkdir(parents=True)
    arr = fx(src)
    print(arr)
    # to_zip(arr, tmp, dst)


def f_ok(src: Path) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]:
    arr: list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]] = []
    for p in src.glob('*'):
        m = RfFrameMeta.from_name(p.stem)
        arr.append((p, m, []))
    arr.sort(key=lambda item: item[1].sequence_id)
    return arr


def f_x(src: Path) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]:
    arr: list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]] = []
    for p in src.glob('*'):
        m = RfFrameMeta.from_name(p.stem)
        arr.append((p, m, []))
    arr.sort(key=lambda item: item[1].robot_x)
    for i, a in enumerate(arr):
        a[1].sequence_id = i
        a[1].encoder = 0
    return arr


def f_xy(src: Path) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]:
    arr: list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]] = []
    for p in src.glob('*'):
        m = RfFrameMeta.from_name(p.stem)
        arr.append((p, m, []))
    arr.sort(key=lambda item: (item[1].robot_y, item[1].robot_x))
    for i, a in enumerate(arr):
        a[1].sequence_id = i
        a[1].encoder = 0
    return arr


def f_legacy4(src: Path, t, xx=100, yy=100) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]:
    arr = []
    for p in src.glob(f'*{t}.bin'):
        x, y, _ = p.name.split('_')
        r = RfFrameMeta(encoder=0, robot_x=int(x) * xx, robot_y=int(y) * yy)
        arr.append((p, r))
    arr.sort(key=lambda item: (item[1].robot_y, item[1].robot_x))

    arg: list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]] = []

    for i, item in enumerate(arr):
        file, meta = item
        meta.sequence_id = i
        pic = file.with_suffix('.png')
        farr = []
        if pic.exists():
            farr.append((pic, '.png'))
        arg.append((file, meta, farr))
    return arg


def f_legacy4_pwi(src: Path) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]:
    return f_legacy4(src, 'pwi')


def f_legacy4_tfm(src: Path) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]:
    return f_legacy4(src, 'fmc')


def f_legacy4_pwi_y10(src: Path) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]:
    return f_legacy4(src, 'pwi', yy=10)


def f_legacy4_tfm_y10(src: Path) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]:
    return f_legacy4(src, 'fmc', yy=10)


def f_cap(src: Path) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]:
    arr = []
    for p in src.glob(f'*parallel.bin'):
        y, _ = p.name.split('_')
        r = RfFrameMeta(encoder=0, robot_y=int(y) * 100)
        arr.append((p, r))
    arr.sort(key=lambda item: item[1].robot_y)

    arg: list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]] = []

    for i, item in enumerate(arr):
        file, meta = item
        meta.sequence_id = i
        arg.append((file, meta, []))
    return arg


def f_legacy_unknown(src: Path, t) -> list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]]:
    arr = []
    for p in src.glob(f'*{t}.bin'):
        x, y, _ = p.name.split('_')
        r = RfFrameMeta(encoder=0, robot_x=int(x) * xx, robot_y=int(y) * yy)
        arr.append((p, r))
    arr.sort(key=lambda item: (item[1].robot_y, item[1].robot_x))

    arg: list[tuple[Path, RfFrameMeta, list[tuple[Path, str]]]] = []

    for i, item in enumerate(arr):
        file, meta = item
        meta.sequence_id = i
        pic = file.with_suffix('.png')
        farr = []
        if pic.exists():
            farr.append((pic, '.png'))
        arg.append((file, meta, farr))
    return arg


if __name__ == '__main__':
    b2b = hashlib.blake2b(
        Path('/run/media/lambda/040fb2b8-1584-4683-bac8-fec3b264167d/c1/remilia/cap1/34_4040_fmc.bin').read_bytes(),
        digest_size=4).hexdigest()
    print(b2b)
    print('--')
    for f in Path('/mnt/16T/private_dataset/us/').glob('*.zip'):
        m = RfSequenceMeta.from_path(f)
        if m.mode == RfSequenceMeta.RfSequenceMode.TFM and m.us == 30:
            for f in RfSequence(f).frames:
                print(m.commit, f.meta.sequence_id, f.meta.encoder, f.meta.robot_x, f.meta.robot_y, f.meta.blake2b)

    # RfSequence()

    # proc(
    #     '/run/media/lambda/040fb2b8-1584-4683-bac8-fec3b264167d/c2/Desktop/New folder/4d/cap1',
    #     '/mnt/16T/private_dataset/us/cap1,U=30,M=PWI,S=(256 1502).zip',
    #     f_legacy_unknown,
    # )