inject_mads_map.py

"""Inject MADS-format map_data into a USDZ for alpasim consumption.

Reads from <mads_dir>:
    clip.parquet, lane.parquet, road_boundary.parquet,
    association.parquet, wait_line.parquet, traffic_sign.parquet

Writes them into the USDZ at `map_data/<name>.parquet` (alpasim's loader scans
for any file under `map_data/` and feeds the directory to trajdata).
"""
from __future__ import annotations

import argparse
import shutil
import sys
import zipfile
from pathlib import Path

MADS_FILES = [
    "clip.parquet",
    "lane.parquet",
    "road_boundary.parquet",
    "association.parquet",
    "wait_line.parquet",
    "traffic_sign.parquet",
]


def inject(src_usdz: Path, mads_dir: Path, dst_usdz: Path) -> None:
    # Copy the source USDZ to destination, then append MADS files
    if src_usdz != dst_usdz:
        shutil.copy2(src_usdz, dst_usdz)

    # Remove any existing map_data entries (from the old CF-format inject)
    # by rebuilding the zip without them, then appending fresh MADS files.
    if dst_usdz != src_usdz:
        # Already a copy; check if it has stale map_data entries
        with zipfile.ZipFile(dst_usdz, "r") as zin:
            existing = set(zin.namelist())
        has_old_map = any(n.startswith("map_data/") for n in existing)
    else:
        has_old_map = False

    if has_old_map:
        # Rebuild without the map_data/ entries
        tmp = dst_usdz.with_suffix(".tmp.usdz")
        with zipfile.ZipFile(dst_usdz, "r") as zin, \
             zipfile.ZipFile(tmp, "w", compression=zipfile.ZIP_STORED) as zout:
            for info in zin.infolist():
                if info.filename.startswith("map_data/"):
                    continue
                zout.writestr(info, zin.read(info.filename))
        tmp.replace(dst_usdz)

    # Now append the MADS files
    with zipfile.ZipFile(dst_usdz, "a", compression=zipfile.ZIP_STORED) as zf:
        for name in MADS_FILES:
            src_file = mads_dir / name
            if not src_file.exists():
                raise FileNotFoundError(src_file)
            arc = f"map_data/{name}"
            zf.write(src_file, arcname=arc)
            print(f"  added: {arc} ({src_file.stat().st_size} bytes)")


def main() -> int:
    p = argparse.ArgumentParser()
    p.add_argument("src", type=Path, help="Source USDZ")
    p.add_argument("mads_dir", type=Path,
                   help="Dir with MADS files (clip/lane/road_boundary/association/wait_line/traffic_sign.parquet)")
    p.add_argument("dst", type=Path, help="Destination USDZ")
    args = p.parse_args()

    print(f"inject {args.mads_dir} -> {args.src} => {args.dst}")
    inject(args.src, args.mads_dir, args.dst)
    print(f"wrote {args.dst} ({args.dst.stat().st_size} bytes)")
    return 0


if __name__ == "__main__":
    sys.exit(main())