43 lines
1.4 KiB
Python
43 lines
1.4 KiB
Python
#!/usr/bin/env python3
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"""Run R1b/R2V/R2G/R3 on unified native-time G90/HI13 exports."""
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from __future__ import annotations
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import argparse
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import json
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import sys
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from pathlib import Path
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ROOT = Path(__file__).resolve().parents[1]
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if str(ROOT) not in sys.path:
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sys.path.insert(0, str(ROOT))
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from rtk_imu.rtk_imu_multisource import (
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load_unified_sessions,
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result_to_jsonable,
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solve_r3,
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)
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def main(argv: list[str] | None = None) -> int:
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parser = argparse.ArgumentParser(description=__doc__)
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parser.add_argument("--manifest", type=Path, required=True)
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parser.add_argument("--output", type=Path, required=True)
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parser.add_argument("--session", action="append")
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parser.add_argument("--level-static", action="append", required=True)
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args = parser.parse_args(argv)
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selected = None if not args.session else set(args.session) | set(args.level_static)
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sessions = load_unified_sessions(args.manifest, selected_session_ids=selected)
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result = solve_r3(sessions, level_static_session_ids=set(args.level_static))
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payload = result_to_jsonable(result)
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args.output.parent.mkdir(parents=True, exist_ok=True)
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args.output.write_text(
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json.dumps(payload, ensure_ascii=False, indent=2) + "\n", encoding="utf-8"
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)
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print(json.dumps(payload, ensure_ascii=False, indent=2))
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return 0
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if __name__ == "__main__":
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raise SystemExit(main())
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