Carlos Nieto-Granda

52 papers A* 4A 7C 2Journal 27Unranked 12
YearRankTypeTitle / Venue / Authors
2026 J jnl
IEEE Robotics Autom. Lett.
Donipolo Ghimire, Aamodh Suresh, Carlos Nieto-Granda, Solmaz S. Kia
2026 J jnl
IEEE Robotics Autom. Lett.
Nirabhra Mandal, Aamodh Suresh, Carlos Nieto-Granda, Sonia Martínez
2025 J jnl
CoRR
Fernando Cladera, Zachary Ravichandran, Jason Hughes, Varun Murali, Carlos Nieto-Granda, M. Ani Hsieh, George J. Pappas, Camillo J. Taylor, Vijay Kumar
2025 J jnl
CoRR
Min-Won Seo, Aamodh Suresh, Carlos Nieto-Granda, Solmaz S. Kia
2025 J jnl
CoRR
Donipolo Ghimire, Aamodh Suresh, Carlos Nieto-Granda, Solmaz S. Kia
2025 A* conf
ICLR
Wesley A. Suttle, Aamodh Suresh, Carlos Nieto-Granda
2025 J jnl
CoRR
Wesley A. Suttle, Aamodh Suresh, Carlos Nieto-Granda
2025 J jnl
CoRR
Alkesh K. Srivastava, Aamodh Suresh, Carlos Nieto-Granda
2025 J jnl
CoRR
Nirabhra Mandal, Aamodh Suresh, Carlos Nieto-Granda, Sonia Martínez
2025 J jnl
CoRR
Jared Strader, Aaron Ray, Jacob Arkin, Mason B. Peterson, Yun Chang, Nathan Hughes, Christopher Bradley, Yi Xuan Jia, Carlos Nieto-Granda, Rajat Talak, Chuchu Fan, Luca Carlone, Jonathan P. How, Nicholas Roy
2025 J jnl
CoRR
Donipolo Ghimire, Carlos Nieto-Granda, Solmaz S. Kia
2025 J jnl
IEEE Trans. Robotics
Pol Mestres, Carlos Nieto-Granda, Jorge Cortés
2024 J jnl
CoRR
Yang Zhou, Long Quang, Carlos Nieto-Granda, Giuseppe Loianno
2024 J jnl
IEEE Robotics Autom. Lett.
Yang Zhou, Long Quang, Carlos Nieto-Granda, Giuseppe Loianno
2024 J jnl
IEEE Robotics Autom. Lett.
Pol Mestres, Carlos Nieto-Granda, Jorge Cortés
2024 J jnl
CoRR
Pol Mestres, Carlos Nieto-Granda, Jorge Cortés
2024 conf
UR
Aamodh Suresh, Carlos Nieto-Granda
2024 J jnl
CoRR
Martina Stadler, Samuel Prentice, Yasmin Veys, Long Quang, Carlos Nieto-Granda, Michael Novitzky, Ethan Stump, Nicholas Roy
2024 J jnl
IEEE Robotics Autom. Lett.
Aamodh Suresh, Carlos Nieto-Granda, Sonia Martínez
2024 J jnl
CoRR
Aamodh Suresh, Carlos Nieto-Granda, Sonia Martínez
2024 J jnl
CoRR
Pol Mestres, Carlos Nieto-Granda, Jorge Cortés
2023 C conf
FUSION
Jesse Milzman, Andre Harrison, Carlos Nieto-Granda, John G. Rogers III
2023 J jnl
CoRR
Jesse Milzman, Andre Harrison, Carlos Nieto-Granda, John G. Rogers III
2023 A conf
IROS
Yulun Tian, Yun Chang, Long Quang, Arthur Schang, Carlos Nieto-Granda, Jonathan P. How, Luca Carlone
2023 J jnl
CoRR
Yulun Tian, Yun Chang, Long Quang, Arthur Schang, Carlos Nieto-Granda, Jonathan P. How, Luca Carlone
2022 C conf
ISRR
Luis Guerrero-Bonilla, Carlos Nieto-Granda, Magnus Egerstedt
2022 J jnl
IEEE Trans. Robotics
Yulun Tian, Yun Chang, Fernando Herrera Arias, Carlos Nieto-Granda, Jonathan P. How, Luca Carlone
2021 conf
SSRR
Bradley Woosley, Carlos Nieto-Granda, John G. Rogers, Nicholas Fung, Arthur Schang
2021 J jnl
CoRR
Yulun Tian, Yun Chang, Fernando Herrera Arias, Carlos Nieto-Granda, Jonathan P. How, Luca Carlone
2021 conf
MRS
Luis Guerrero-Bonilla, Carlos Nieto-Granda, Magnus Egerstedt
2020 conf
ISER
Carlos Nieto-Granda, Shenghye Wang, Vikas Dhiman, John G. Rogers III, Henrik I. Christensen
2020 conf
HCI (10)
Christopher M. Reardon, Jason Gregory, Carlos Nieto-Granda, John G. Rogers
2020 conf
ISER
John G. Rogers, Arthur Schang, Carlos Nieto-Granda, John Ware, John Carter, Jonathan Fink, Ethan Stump
2019 A conf
IROS
Anwesan Pal, Carlos Nieto-Granda, Henrik I. Christensen
2019 J jnl
CoRR
Anwesan Pal, Carlos Nieto-Granda, Henrik I. Christensen
2018 conf
ISER
Carlos Nieto-Granda, John G. Rogers III, Nicholas Fung, Stephanie Kemna, Henrik I. Christensen, Gaurav S. Sukhatme
2017 J jnl
CoRR
Siddharth Choudhary, Luca Carlone, Carlos Nieto-Granda, John G. Rogers III, Henrik I. Christensen, Frank Dellaert
2017 J jnl
Int. J. Robotics Res.
Siddharth Choudhary, Luca Carlone, Carlos Nieto-Granda, John G. Rogers III, Henrik I. Christensen, Frank Dellaert
2017 A* conf
ICRA
Stephanie Kemna, John G. Rogers, Carlos Nieto-Granda, Stuart Young, Gaurav S. Sukhatme
2016 A conf
IROS
Varun Murali, Carlos Nieto-Granda, Siddharth Choudhary, Henrik I. Christensen
2016 A* conf
ICRA
Siddharth Choudhary, Luca Carlone, Carlos Nieto-Granda, John G. Rogers III, Henrik I. Christensen, Frank Dellaert
2014 J jnl
Int. J. Robotics Res.
Carlos Nieto-Granda, John G. Rogers III, Henrik I. Christensen
2014 A conf
AAMAS
Georgios Piliouras, Carlos Nieto-Granda, Henrik I. Christensen, Jeff S. Shamma
2012 conf
ISER
John G. Rogers III, Carlos Nieto-Granda, Henrik I. Christensen
2012 conf
ISER
Neil Dantam, Carlos Nieto-Granda, Henrik I. Christensen, Mike Stilman
2011 A conf
IROS
John G. Rogers III, Alexander J. B. Trevor, Carlos Nieto-Granda, Henrik Iskov Christensen
2010 A* conf
ICRA
Alexander J. B. Trevor, John G. Rogers III, Carlos Nieto-Granda, Henrik Iskov Christensen
2010 conf
ISER
John G. Rogers III, Alexander J. B. Trevor, Carlos Nieto-Granda, Alexander Cunningham, Manohar Paluri, Nathan Michael, Frank Dellaert, Henrik I. Christensen, Vijay Kumar
2010 A conf
IROS
John G. Rogers III, Alexander J. B. Trevor, Carlos Nieto-Granda, Henrik Iskov Christensen
2010 A conf
IROS
Carlos Nieto-Granda, John G. Rogers III, Alexander J. B. Trevor, Henrik Iskov Christensen
2005 conf
PPSDR@ICRA
Moisés Alencastre-Miranda, Lourdes Muñoz-Gómez, Carlos Nieto-Granda, Isaac Rudomín, Ricardo Swain Oropeza
2005 conf
CONIELECOMP
Carlos Nieto-Granda, Sandra Díaz-Pier, Carlos Ortega-Otero, Ricardo Swain Oropeza
s3-storage/s3_uploader.py
← Index s3-storage/s3_uploader.py python
# python s3_uploader.py /path/to/files repository_name --notes "Optional notes"
import hashlib
import multiprocessing
from multiprocessing import Pool
import sys
import logging
from logging.handlers import QueueHandler
from datetime import datetime
import os
import time
import json
from enum import Enum
import tempfile
import magic
from typing import Optional, Dict, Any
from dotenv import load_dotenv
from datetime import timezone

# File handling
import py7zr
import pyzipper
from magika import Magika

# S3 and database
from minio import Minio
import clickhouse_connect

load_dotenv(override=True)

class UploadResult(Enum):
    CORRECTLY = 0
    FAILED = 1
    SKIPPED = 2  # For duplicates

class FileNameFormatter(logging.Formatter):
    def format(self, record):
        record.filenameinfo = getattr(record, "filenameinfo", "unknown")
        return super().format(record)

def setup_logger(log_file, filename):
    """Set up a logger for a specific file"""
    logger = logging.getLogger(filename)
    if not logger.handlers:
        if os.getenv("SERVER_ENV") == "prod":
            logger.setLevel(logging.INFO)
        else:
            logger.setLevel(logging.DEBUG)
            
        # Create file handler
        handler = logging.FileHandler(log_file)
        formatter = FileNameFormatter(
            "%(asctime)s - %(filenameinfo)s - %(levelname)s - %(message)s"
        )
        handler.setFormatter(formatter)
        logger.addHandler(handler)
        logger.propagate = False
    return logger

def logger_thread(log_queue, log_file):
    handler = logging.FileHandler(log_file)
    formatter = FileNameFormatter(
        "%(asctime)s - %(filenameinfo)s - %(levelname)s - %(message)s"
    )
    handler.setFormatter(formatter)

    while True:
        try:
            record = log_queue.get()
            if record is None:
                break
            message = formatter.format(record)
            handler.stream.write(message + "\n")
            handler.stream.flush()
        except Exception:
            import traceback
            print("[ERR] Error in logger thread:", file=sys.stderr)
            traceback.print_exc(file=sys.stderr)

def get_s3_key(sha256: str, is_archived: bool, original_ext: str = None) -> str:
    """
    Generate S3 key using sharding pattern with appropriate extension
    
    Args:
        sha256: The file's SHA256 hash
        is_archived: Whether the file was already archived (zip/7z)
        original_ext: The original file extension (if any)
    """
    # If file was already archived, keep its extension
    if is_archived and original_ext and original_ext.lower() in ['.zip', '.7z']:
        extension = original_ext
    else:
        # For files we archived ourselves, use .zip
        extension = '.zip'
        
    return f"{sha256[:2]}/{sha256[2:4]}/{sha256}{extension}"

def process_single_file(args):
    """Independent worker function for processing a single file"""
    filepath, file_number, total_files, config, log_file = args
    filename = os.path.basename(filepath)
    base_logger = setup_logger(log_file, filename)
    extra = {"filenameinfo": filename}
    logger = logging.LoggerAdapter(base_logger, extra)
    s3_client = None
    ch_client = None

    try:
        logger.info(f"Processing file {file_number}/{total_files}: {filepath}")

        # Create connections for this process
        s3_client = Minio(
            config["s3_endpoint"],
            access_key=config["s3_access_key"],
            secret_key=config["s3_secret_key"],
            secure=True
        )
        
        ch_client = clickhouse_connect.get_client(
            host=config['clickhouse_host'],
            port=config['clickhouse_port'],
            username=config['clickhouse_user'],
            password=config['clickhouse_password'],
            database=config['clickhouse_database'],
            verify=config['clickhouse_verify']
        )

        # Process the file and get contents
        ext = os.path.splitext(filepath.lower())[1]
        is_archived = ext in ['.zip', '.7z']

        with tempfile.TemporaryDirectory() as temp_dir:
            try:
                if filename.startswith("."):
                    logger.debug(f"Skipping hidden file: {filename}")
                    return UploadResult.SKIPPED

                elif ext == ".zip":
                    logger.debug(f"Processing ZIP file: {filepath}")
                    with pyzipper.AESZipFile(filepath) as zf:
                        zf.pwd = b"infected"
                        filename = zf.namelist()[0]
                        zf.extractall(temp_dir)
                        extracted_path = os.path.join(temp_dir, filename)
                        
                        with open(extracted_path, "rb") as f:
                            file_content = f.read()
                        with open(filepath, "rb") as f:
                            archive_content = f.read()
                            
                elif ext == ".7z":
                    logger.debug(f"Processing 7z file: {filepath}")
                    with py7zr.SevenZipFile(filepath, mode="r", password="infected") as z:
                        z.extractall(path=temp_dir)
                        # Get first file in the archive
                        for root, _, files in os.walk(temp_dir):
                            if files:
                                filename = files[0]
                                extracted_path = os.path.join(root, filename)
                                break
                                
                        with open(extracted_path, "rb") as f:
                            file_content = f.read()
                        with open(filepath, "rb") as f:
                            archive_content = f.read()
                else:
                    logger.debug(f"Processing non-archived file: {filepath}")
                    # For non-archived files, create password protected zip
                    with open(filepath, "rb") as f:
                        file_content = f.read()
                    filename = os.path.basename(filepath)
                    
                    # Create password protected zip
                    with tempfile.NamedTemporaryFile(delete=False) as temp_zip:
                        with pyzipper.AESZipFile(
                            temp_zip.name,
                            'w',
                            compression=pyzipper.ZIP_LZMA,
                            encryption=pyzipper.WZ_AES
                        ) as zf:
                            zf.pwd = b'infected'
                            zf.writestr(filename, file_content)
                        
                        with open(temp_zip.name, 'rb') as f:
                            archive_content = f.read()
                    
                    os.unlink(temp_zip.name)

                # Calculate hash
                sha256 = hashlib.sha256(file_content).hexdigest()
                # s3_key = f"{sha256[:2]}/{sha256[2:4]}/{sha256}"
                s3_key = get_s3_key(sha256, is_archived, ext if is_archived else None)
                logger.debug(f"Calculated SHA256: {sha256}")

                # Check if exists in S3
                try:
                    s3_client.stat_object(config["s3_bucket"], s3_key)
                    exists = True
                    logger.debug(f"File exists in S3: {s3_key}")
                except:
                    exists = False
                    logger.debug(f"File does not exist in S3: {s3_key}")

                # Prepare metadata
                max_timestamp = int(datetime(9999, 12, 31, 23, 59, 59, tzinfo=timezone.utc).timestamp() * 1000)
                now = datetime.now(timezone.utc)
                now_timestamp = int(now.timestamp() * 1000)
                inverted_timestamp = datetime.fromtimestamp((max_timestamp - now_timestamp)/1000, tz=timezone.utc)


                data = [[
                    sha256,                     # String
                    filename,                   # String
                    config['repository'],       # String
                    len(file_content),         # UInt64
                    magic.from_buffer(file_content),        # String
                    magic.from_buffer(file_content, mime=True),  # String
                    Magika().identify_bytes(file_content).output.ct_label,  # String
                    now,                       # upload_date
                    now,                       # first_seen
                    inverted_timestamp,        # version_date for replacing
                    config['s3_bucket'],       # String
                    s3_key,                    # String
                    config['notes'] if config['notes'] else None  # Nullable(String)
                ]]

                column_names = [
                    'sha256', 'filename', 'repository', 'file_size',
                    'filetype', 'filetype_mime', 'filetype_magika',
                    'upload_date', 'first_seen', 'version_date', 's3_bucket', 's3_key', 'notes'
                ]

                column_type_names = [
                    'String', 'String', 'LowCardinality(String)', 'UInt64',
                    'String', 'String', 'String',
                    'DateTime64(3, \'UTC\')', 'DateTime64(3, \'UTC\')', 
                    'DateTime64(3, \'UTC\')', 'String', 'String', 'Nullable(String)'
                ]
                
                if exists:
                    # Just update database
                    try:
                        ch_client.insert(
                            'samples_catalog',
                            data,
                            column_names=column_names,
                            column_type_names=column_type_names,
                            settings={'input_format_values_interpret_expressions': 0}
                        )
                        logger.info(f"Updated metadata for existing file: {sha256}")
                    except Exception as e:
                        logger.error(f"Error inserting metadata: {str(e)}")
                        import traceback
                        logger.error(f"Full traceback: {traceback.format_exc()}")
                    return UploadResult.SKIPPED
                else:
                    try:    
                        # Upload to S3 and insert metadata
                        import io
                        file_data = io.BytesIO(archive_content)
                        s3_client.put_object(
                            bucket_name=config['s3_bucket'],
                                object_name=s3_key,
                                data=file_data,
                                length=len(archive_content)
                            )
                        logger.info(f"Uploaded to S3: {s3_key}")
                    except Exception as e:
                        logger.error(f"Error uploading to S3: {str(e)}")
                        import traceback
                        logger.error(f"Full traceback: {traceback.format_exc()}")
                        return UploadResult.FAILED
                    
                    try:
                        ch_client.insert(
                            'samples_catalog',
                            data,
                            column_names=column_names,
                            column_type_names=column_type_names,
                            settings={'input_format_values_interpret_expressions': 0}
                        )
                        logger.info(f"Successfully processed file: {sha256}")
                        return UploadResult.CORRECTLY
                    except Exception as e:
                        logger.error(f"Error inserting metadata: {str(e)}")
                        import traceback
                        logger.error(f"Full traceback: {traceback.format_exc()}")
                        return UploadResult.FAILED

            except Exception as e:
                logger.error(f"Error processing file: {str(e)}")
                import traceback
                logger.error(f"Full traceback: {traceback.format_exc()}")
                return UploadResult.FAILED

    except Exception as e:
        logger.error(f"Error in worker: {str(e)}")
        return UploadResult.FAILED
    finally:
        # if s3_client:
        #     s3_client.close()
        if ch_client:
            ch_client.close()
        if base_logger and base_logger.handlers:
            for handler in base_logger.handlers:
                handler.close()
            base_logger.handlers.clear()

class S3Uploader:
    def __init__(self, path: str, repository: str, notes: Optional[str] = None):
        """
        Initialize S3 uploader
        
        Args:
            path: Path to file or directory to process
            repository: Repository name
            notes: Optional notes to add to all files
        """
        self.path = path
        self.repository = repository
        self.notes = notes
        
        # Initialize multiprocessing components
        self.manager = multiprocessing.Manager()
        # self.log_queue = self.manager.Queue()
        self.total_results = self.manager.dict({result: 0 for result in UploadResult})
        
        # Set up logging
        self.today = datetime.today().strftime("%Y%m%dT%H%M%S")
        # self.log_file = os.getenv("LOG_FILE_PATH", "./logs/") + f"{self.today}-{self.repository}-upload.txt"
        log_base_path = os.getenv("LOG_FILE_PATH")
        if not log_base_path:
            log_base_path = os.path.join(os.getcwd(), "logs")  # Default to ./logs directory
        self.log_file = os.path.join(log_base_path, f"{self.today}-{self.repository}-upload.txt")
        os.makedirs(os.path.dirname(self.log_file), exist_ok=True)

        # Initialize S3 client
        self.s3_client = Minio(
            os.getenv("S3_ENDPOINT"),
            access_key=os.getenv("S3_ACCESS_KEY"),
            secret_key=os.getenv("S3_SECRET_KEY"),
            secure=True  # Set to False if not using HTTPS
        )
        self.bucket_name = os.getenv("S3_BUCKET")

        # Initialize ClickHouse client
        self.ch_client = clickhouse_connect.get_client(
            host=os.getenv('CLICKHOUSE_HOST'),
            port=os.getenv('CLICKHOUSE_PORT'),
            username=os.getenv('CLICKHOUSE_USER'),
            password=os.getenv('CLICKHOUSE_PASSWORD'),
            database=os.getenv('CLICKHOUSE_DATABASE'),
            verify=os.getenv('CLICKHOUSE_ENFORCE_SSL', 'False')
        )
        
        # Ensure database table exists
        self._create_table()

    def _create_table(self):
        """Create the file catalog table if it doesn't exist"""
        create_table_query = """
            CREATE TABLE IF NOT EXISTS samples_catalog (
                sha256 String,
                filename String,
                repository LowCardinality(String),
                file_size UInt64,
                filetype String,
                filetype_mime String,
                filetype_magika String,
                upload_date DateTime64(3, 'UTC'),
                first_seen DateTime64(3, 'UTC'),
                version_date DateTime64(3, 'UTC'),  -- This will be inverted timestamp
                s3_bucket String,
                s3_key String,
                notes Nullable(String),
                PRIMARY KEY (sha256, repository)
            ) ENGINE = ReplacingMergeTree(version_date)
            ORDER BY (sha256, repository)
        """
        self.ch_client.command(create_table_query)

    # # def upload(self):
    # #     """Main upload function with multiprocessing support"""
    # #     start_time = time.time()

    # #     config = {
    # #         "s3_endpoint": os.getenv("S3_ENDPOINT"),
    # #         "s3_access_key": os.getenv("S3_ACCESS_KEY"),
    # #         "s3_secret_key": os.getenv("S3_SECRET_KEY"),
    # #         "s3_bucket": os.getenv("S3_BUCKET"),
    # #         "clickhouse_host": os.getenv("CLICKHOUSE_HOST"),
    # #         "clickhouse_port": os.getenv("CLICKHOUSE_PORT"),
    # #         "clickhouse_user": os.getenv("CLICKHOUSE_USER"),
    # #         "clickhouse_password": os.getenv("CLICKHOUSE_PASSWORD"),
    # #         "clickhouse_database": os.getenv("CLICKHOUSE_DATABASE"),
    # #         "clickhouse_verify": os.getenv("CLICKHOUSE_ENFORCE_SSL", "False"),
    # #         "repository": self.repository,
    # #         "notes": self.notes
    # #     }

    # #     try:
    # #         # Get list of files
    # #         if os.path.isfile(self.path):
    # #             files = [self.path] if not self.path.endswith('.txt') else [
    # #                 line.strip() for line in open(self.path) 
    # #                 if line.strip() and not os.path.basename(line.strip()).startswith('.')
    # #             ]
    # #         elif os.path.isdir(self.path):
    # #             files = [
    # #                 os.path.join(root, file)
    # #                 for root, _, files in os.walk(self.path)
    # #                 for file in files
    # #                 if not file.startswith('.')
    # #             ]
    # #         else:
    # #             print(f"[ERR] Invalid path: {self.path}")
    # #             return

    # #         total_files = len(files)
    # #         print(f"Found {total_files} files to process")

    # #         with Pool(processes=max(1, multiprocessing.cpu_count() - 1)) as pool:
    # #             results = pool.map(
    # #                 process_single_file,
    # #                 [(f, i + 1, total_files, config, self.log_file) for i, f in enumerate(files)]
    # #             )

    # #         # Update statistics
    # #         for result in results:
    # #             if result is not None:
    # #                 self.total_results[result] += 1

    # #         # Generate summary
    # #         end_time = time.time()
    # #         elapsed_time = end_time - start_time
    # #         elapsed_time_pretty = time.strftime("%H:%M:%S", time.gmtime(elapsed_time))

    # #         summary = (
    # #             f"\n\nUpload finished for {self.path}"
    # #             f"\nTime required: {elapsed_time_pretty}"
    # #             f"\nResults:"
    # #             f"\n- Total processed: {sum(self.total_results.values())}"
    # #             f"\n- Successfully uploaded: {self.total_results[UploadResult.CORRECTLY]}"
    # #             f"\n- Skipped (already exists): {self.total_results[UploadResult.SKIPPED]}"
    # #             f"\n- Failed: {self.total_results[UploadResult.FAILED]}\n"
    # #         )

    # #         with open(self.log_file, "a") as f:
    # #             f.write(summary)

    # #         print(summary)

    # #     except Exception as e:
    # #         print(f"[ERR] Error in upload process: {str(e)}")

    # def upload(self):
    #     """Main upload function with multiprocessing support"""
    #     start_time = time.time()
    #     BATCH_SIZE = 1000  # Process files in batches of 1000

    #     config = {
    #         "s3_endpoint": os.getenv("S3_ENDPOINT"),
    #         "s3_access_key": os.getenv("S3_ACCESS_KEY"),
    #         "s3_secret_key": os.getenv("S3_SECRET_KEY"),
    #         "s3_bucket": os.getenv("S3_BUCKET"),
    #         "clickhouse_host": os.getenv("CLICKHOUSE_HOST"),
    #         "clickhouse_port": os.getenv("CLICKHOUSE_PORT"),
    #         "clickhouse_user": os.getenv("CLICKHOUSE_USER"),
    #         "clickhouse_password": os.getenv("CLICKHOUSE_PASSWORD"),
    #         "clickhouse_database": os.getenv("CLICKHOUSE_DATABASE"),
    #         "clickhouse_verify": os.getenv("CLICKHOUSE_ENFORCE_SSL", "False"),
    #         "repository": self.repository,
    #         "notes": self.notes
    #     }

    #     try:
    #         # Get list of files
    #         if os.path.isfile(self.path):
    #             files = [self.path] if not self.path.endswith('.txt') else [
    #                 line.strip() for line in open(self.path) 
    #                 if line.strip() and not os.path.basename(line.strip()).startswith('.')
    #             ]
    #         elif os.path.isdir(self.path):
    #             files = [
    #                 os.path.join(root, file)
    #                 for root, _, files in os.walk(self.path)
    #                 for file in files
    #                 if not file.startswith('.')
    #             ]
    #         else:
    #             print(f"[ERR] Invalid path: {self.path}")
    #             return

    #         total_files = len(files)
    #         print(f"Found {total_files} files to process")

    #         # Process files in batches
    #         for i in range(0, total_files, BATCH_SIZE):
    #             batch_files = files[i:i + BATCH_SIZE]
    #             batch_start = i + 1
    #             batch_end = min(i + BATCH_SIZE, total_files)
    #             print(f"\nProcessing batch {batch_start}-{batch_end} of {total_files}")
                
    #             with Pool(processes=max(1, multiprocessing.cpu_count() - 1)) as pool:
    #                 batch_results = pool.map(
    #                     process_single_file,
    #                     [(f, j + 1, total_files, config, self.log_file) 
    #                         for j, f in enumerate(batch_files, start=i)]
    #                 )
                    
    #                 # Update statistics for this batch
    #                 for result in batch_results:
    #                     if result is not None:
    #                         self.total_results[result] += 1

    #                 # Print intermediate summary
    #                 print(f"Batch {batch_start}-{batch_end} completed:")
    #                 print(f"- Successfully uploaded: {sum(1 for r in batch_results if r == UploadResult.CORRECTLY)}")
    #                 print(f"- Skipped (exists): {sum(1 for r in batch_results if r == UploadResult.SKIPPED)}")
    #                 print(f"- Failed: {sum(1 for r in batch_results if r == UploadResult.FAILED)}")

    #         # Generate final summary
    #         end_time = time.time()
    #         elapsed_time = end_time - start_time
    #         elapsed_time_pretty = time.strftime("%H:%M:%S", time.gmtime(elapsed_time))

    #         summary = (
    #             f"\n\nUpload finished for {self.path}"
    #             f"\nTime required: {elapsed_time_pretty}"
    #             f"\nResults:"
    #             f"\n- Total processed: {sum(self.total_results.values())}"
    #             f"\n- Successfully uploaded: {self.total_results[UploadResult.CORRECTLY]}"
    #             f"\n- Skipped (already exists): {self.total_results[UploadResult.SKIPPED]}"
    #             f"\n- Failed: {self.total_results[UploadResult.FAILED]}\n"
    #         )

    #         with open(self.log_file, "a") as f:
    #             f.write(summary)

    #         print(summary)

    #     except Exception as e:
    #         print(f"[ERR] Error in upload process: {str(e)}")

    def upload(self):
        """Main upload function with multiprocessing support"""
        start_time = time.time()
        BATCH_SIZE = 1000  # Process files in batches of 1000

        config = {
            "s3_endpoint": os.getenv("S3_ENDPOINT"),
            "s3_access_key": os.getenv("S3_ACCESS_KEY"),
            "s3_secret_key": os.getenv("S3_SECRET_KEY"),
            "s3_bucket": os.getenv("S3_BUCKET"),
            "clickhouse_host": os.getenv("CLICKHOUSE_HOST"),
            "clickhouse_port": os.getenv("CLICKHOUSE_PORT"),
            "clickhouse_user": os.getenv("CLICKHOUSE_USER"),
            "clickhouse_password": os.getenv("CLICKHOUSE_PASSWORD"),
            "clickhouse_database": os.getenv("CLICKHOUSE_DATABASE"),
            "clickhouse_verify": os.getenv("CLICKHOUSE_ENFORCE_SSL", "False"),
            "repository": self.repository,
            "notes": self.notes
        }

        try:
            # Get all existing filenames for this repository
            query = f"SELECT filename FROM samples_catalog WHERE repository = '{self.repository}'"
            # existing_files = set()
            # for row in self.ch_client.query(query).result_rows:
            #     filename = os.path.splitext(row[0])[0]  # Strip extension
            #     existing_files.add(filename)
            existing_files = set(row[0] for row in self.ch_client.query(query).result_rows)
            print(f"Found {len(existing_files)} existing files in repository")

            # Get list of files to process
            if os.path.isfile(self.path):
                files = [self.path] if not self.path.endswith('.txt') else [
                    line.strip() for line in open(self.path) 
                    if line.strip() and not os.path.basename(line.strip()).startswith('.')
                ]
            elif os.path.isdir(self.path):
                files = [
                    os.path.join(root, file)
                    for root, _, files in os.walk(self.path)
                    for file in files
                    if not file.startswith('.')
                ]
            else:
                print(f"[ERR] Invalid path: {self.path}")
                return

            # Filter out files that are already in the repository
            files_to_process = []
            for f in files:
                basename = os.path.splitext(os.path.basename(f))[0]
                if basename not in existing_files:
                    files_to_process.append(f)

            total_files = len(files_to_process)
            skipped_files = len(files) - total_files
            print(f"Found {total_files} new files to process (skipped {skipped_files} existing files)")

            if total_files == 0:
                print("No new files to process")
                return

            # Process files in batches
            for i in range(0, total_files, BATCH_SIZE):
                batch_files = files_to_process[i:i + BATCH_SIZE]
                batch_start = i + 1
                batch_end = min(i + BATCH_SIZE, total_files)
                print(f"\nProcessing batch {batch_start}-{batch_end} of {total_files}")
                
                with Pool(processes=max(1, multiprocessing.cpu_count() - 1)) as pool:
                    batch_results = pool.map(
                        process_single_file,
                        [(f, j + 1, total_files, config, self.log_file) 
                        for j, f in enumerate(batch_files, start=i)]
                    )
                    
                    # Update statistics for this batch
                    for result in batch_results:
                        if result is not None:
                            self.total_results[result] += 1

                    # Print intermediate summary
                    print(f"Batch {batch_start}-{batch_end} completed:")
                    print(f"- Successfully uploaded: {sum(1 for r in batch_results if r == UploadResult.CORRECTLY)}")
                    print(f"- Skipped (exists): {sum(1 for r in batch_results if r == UploadResult.SKIPPED)}")
                    print(f"- Failed: {sum(1 for r in batch_results if r == UploadResult.FAILED)}")

            # Generate final summary
            end_time = time.time()
            elapsed_time = end_time - start_time
            elapsed_time_pretty = time.strftime("%H:%M:%S", time.gmtime(elapsed_time))

            summary = (
                f"\n\nUpload finished for {self.path}"
                f"\nTime required: {elapsed_time_pretty}"
                f"\nResults:"
                f"\n- Files already in repository: {skipped_files}"
                f"\n- New files processed: {total_files}"
                f"\n- Successfully uploaded: {self.total_results[UploadResult.CORRECTLY]}"
                f"\n- Skipped (already exists): {self.total_results[UploadResult.SKIPPED]}"
                f"\n- Failed: {self.total_results[UploadResult.FAILED]}\n"
            )

            with open(self.log_file, "a") as f:
                f.write(summary)

            print(summary)

        except Exception as e:
            print(f"[ERR] Error in upload process: {str(e)}")
            import traceback
            print(traceback.format_exc())

if __name__ == "__main__":
    import argparse

    parser = argparse.ArgumentParser(description='Upload malware samples to S3 and catalog them.')
    parser.add_argument('path', help='Path to file or directory to process')
    parser.add_argument('repository', help='Repository name')
    parser.add_argument('--notes', help='Optional notes to add to all files', default=None)
    
    args = parser.parse_args()
    
    uploader = S3Uploader(args.path, args.repository, args.notes)
    uploader.upload()