支持 H32 DLogCapture（MSOP+DIFOP）站导出到 combined

Co-authored-by: Cursor <cursoragent@cursor.com>

tools/h32_dlog/load_session.py

@@ -0,0 +1,109 @@
+"""Load H32 MSOP packets and DIFOP angles from a Medulla dlog session."""
+
+from __future__ import annotations
+
+import sys
+from dataclasses import dataclass
+from pathlib import Path
+
+import numpy as np
+
+_TOOLS = Path(__file__).resolve().parents[1]
+_RSCAP_V2 = _TOOLS / "rscap_v2"
+if str(_RSCAP_V2) not in sys.path:
+    sys.path.insert(0, str(_RSCAP_V2))
+
+from h32_msop import default_horizontal_deg, default_vertical_deg  # noqa: E402
+
+from .difop import DifopAngles, parse_difop_angles
+from .dobject import discover_records, iter_payloads, resolve_dlog_root
+from .payload_v1 import parse_difop_payload, parse_msop_batch_payload
+
+
+@dataclass
+class H32DlogLidarSession:
+    dlog_root: Path
+    msop_object: str
+    difop_object: str
+    msop_packets: list[bytes]
+    msop_host_utc_ticks: list[int]
+    msop_batch_count: int
+    difop_record_count: int
+    angle_source: str
+    vertical_deg: np.ndarray
+    horizontal_deg: np.ndarray
+    session_id: str | None = None
+    lidar_ip: str | None = None
+
+
+def load_h32_dlog_lidar(
+    dlog_root: Path | str,
+    *,
+    msop_object: str = "frontlidar-msop-raw",
+    difop_object: str = "frontlidar-difop-raw",
+    require_difop: bool = False,
+) -> H32DlogLidarSession:
+    root = resolve_dlog_root(dlog_root)
+    msop_packets: list[bytes] = []
+    msop_host_utc_ticks: list[int] = []
+    batch_count = 0
+    session_id: str | None = None
+    lidar_ip: str | None = None
+
+    for _record, payload in iter_payloads(root, msop_object):
+        batch = parse_msop_batch_payload(payload)
+        batch_count += 1
+        if session_id is None:
+            session_id = batch.session_id
+            lidar_ip = batch.lidar_ip
+        for item in batch.packets:
+            msop_packets.append(item.raw)
+            msop_host_utc_ticks.append(int(item.host_receive_utc_ticks))
+
+    angles: DifopAngles | None = None
+    difop_count = 0
+    for _record, payload in iter_payloads(root, difop_object):
+        difop = parse_difop_payload(payload)
+        difop_count += 1
+        try:
+            angles = parse_difop_angles(difop.raw)
+        except ValueError:
+            continue
+        if session_id is None:
+            session_id = difop.session_id
+            lidar_ip = difop.lidar_ip
+
+    if not msop_packets:
+        msop_records = discover_records(root, msop_object)
+        raise RuntimeError(
+            f"no MSOP packets from DObject {msop_object!r} under {root} "
+            f"(log records={len(msop_records)})"
+        )
+
+    if angles is None:
+        if require_difop:
+            raise RuntimeError(
+                f"no valid DIFOP calibration from DObject {difop_object!r} under {root}"
+            )
+        vertical = default_vertical_deg()
+        horizontal = default_horizontal_deg()
+        angle_source = "default_msop_only_vertical_-16_to_16_deg"
+    else:
+        vertical = angles.vertical_deg
+        horizontal = angles.horizontal_deg
+        angle_source = "difop_channel_angles"
+
+    return H32DlogLidarSession(
+        dlog_root=root,
+        msop_object=msop_object,
+        difop_object=difop_object,
+        msop_packets=msop_packets,
+        msop_host_utc_ticks=msop_host_utc_ticks,
+        msop_batch_count=batch_count,
+        difop_record_count=difop_count,
+        angle_source=angle_source,
+        vertical_deg=vertical,
+        horizontal_deg=horizontal,
+        session_id=session_id,
+        lidar_ip=lidar_ip,
+    )