Source code for marv_robotics.fulltext
# Copyright 2016 - 2018 Ternaris.
# SPDX-License-Identifier: AGPL-3.0-only
import marv
from marv.types import Words
from .bag import get_message_type, messages
@marv.node(Words)
@marv.input('stream', foreach=marv.select(messages, '*:std_msgs/String'))
def fulltext_per_topic(stream):
yield marv.set_header() # TODO: workaround
words = set()
pytype = get_message_type(stream)
rosmsg = pytype()
while True:
msg = yield marv.pull(stream)
if msg is None:
break
rosmsg.deserialize(msg.data)
words.update(rosmsg.data.split())
if not words:
raise marv.Abort()
yield marv.push({'words': list(words)})
[docs]@marv.node(Words)
@marv.input('streams', default=fulltext_per_topic)
def fulltext(streams):
"""Extract all text from bag file and store for fulltext search."""
tmp = []
while True:
stream = yield marv.pull(streams)
if stream is None:
break
tmp.append(stream)
streams = tmp
if not streams:
raise marv.Abort()
msgs = yield marv.pull_all(*streams)
words = {x for msg in msgs for x in msg.words}
yield marv.push({'words': sorted(list(words))})