Source code for marv_robotics.detail

# Copyright 2016 - 2018  Ternaris.
# SPDX-License-Identifier: AGPL-3.0-only

import json
import os

import marv
import marv_nodes
from marv.types import Section, Widget
from marv_detail import make_map_dict
from .bag import bagmeta
from .cam import ffmpeg, images
from .gnss import gnss_plots
from .trajectory import trajectory

# pylint: disable=redefined-outer-name


[docs]@marv.node(Widget) @marv.input('dataset', default=marv_nodes.dataset) @marv.input('bagmeta', default=bagmeta) def summary_keyval(dataset, bagmeta): """Keyval widget summarizing bag metadata. Useful for detail_summary_widgets. """ dataset, bagmeta = yield marv.pull_all(dataset, bagmeta) yield marv.push({'keyval': { 'items': [ {'title': 'size', 'formatter': 'filesize', 'list': False, 'cell': {'uint64': sum(x.size for x in dataset.files)}}, {'title': 'files', 'list': False, 'cell': {'uint64': len(dataset.files)}}, {'title': 'start time', 'formatter': 'datetime', 'list': False, 'cell': {'timestamp': bagmeta.start_time}}, {'title': 'end time', 'formatter': 'datetime', 'list': False, 'cell': {'timestamp': bagmeta.end_time}}, {'title': 'duration', 'formatter': 'timedelta', 'list': False, 'cell': {'timedelta': bagmeta.duration}}, ], }})
[docs]@marv.node(Widget) @marv.input('dataset', default=marv_nodes.dataset) @marv.input('bagmeta', default=bagmeta) def bagmeta_table(bagmeta, dataset): """Table widget listing metadata for each bag of dataset. Useful for detail_summary_widgets. """ dataset, bagmeta = yield marv.pull_all(dataset, bagmeta) columns = [ {'title': 'Name', 'formatter': 'rellink'}, {'title': 'Size', 'formatter': 'filesize'}, {'title': 'Start time', 'formatter': 'datetime'}, {'title': 'End time', 'formatter': 'datetime'}, {'title': 'Duration', 'formatter': 'timedelta'}, {'title': 'Message count', 'align': 'right'}, ] rows = [{'id': idx, 'cells': [ {'link': {'href': f'{idx}', 'title': os.path.basename(f.path)}}, {'uint64': f.size}, {'timestamp': bag.start_time}, {'timestamp': bag.end_time}, {'timedelta': bag.duration}, {'uint64': bag.msg_count}, ]} for idx, (bag, f) in enumerate(zip(bagmeta.bags, dataset.files))] yield marv.push({'table': {'columns': columns, 'rows': rows}})
[docs]@marv.node(Section) @marv.input('title', default='Position and Orientation') @marv.input('plots', default=gnss_plots) def gnss_section(plots, title): """Section displaying GNSS plots.""" # tmps = [] # tmp = yield marv.pull(plots) # while tmp: # tmps.append(tmp) # tmp = yield marv.pull(plots) # plots = tmps # TODO: no foreaching right now plots = [plots] widgets = [] for plot in plots: plotfile = yield marv.pull(plot) if plotfile: widgets.append({'title': plot.title, 'image': {'src': plotfile.relpath}}) assert len({x['title'] for x in widgets}) == len(widgets) if widgets: yield marv.push({'title': title, 'widgets': widgets})
[docs]@marv.node(Widget) @marv.input('stream', foreach=images) # images is a stream of streams of images def galleries(stream): """Galleries for all images streams. Used by marv_robotics.detail.images_section. """ yield marv.set_header(title=stream.title) images = [] while True: img = yield marv.pull(stream) if img is None: break images.append({'src': img.relpath}) yield marv.push({'title': stream.title, 'gallery': {'images': images}})
[docs]@marv.node(Section) @marv.input('title', default='Images') @marv.input('galleries', default=galleries) def images_section(galleries, title): """Section with galleries of images for each images stream.""" tmp = [] while True: msg = yield marv.pull(galleries) if msg is None: break tmp.append(msg) galleries = tmp galleries = sorted(galleries, key=lambda x: x.title) widgets = yield marv.pull_all(*galleries) if widgets: yield marv.push({'title': title, 'widgets': widgets})
[docs]@marv.node(Section) @marv.input('title', default='Connections') @marv.input('bagmeta', default=bagmeta) @marv.input('dataset', default=marv_nodes.dataset) def connections_section(bagmeta, dataset, title): """Section displaying information about ROS connections.""" dataset, bagmeta = yield marv.pull_all(dataset, bagmeta) if not bagmeta.topics: raise marv.Abort() columns = [ {'title': 'Topic'}, {'title': 'Type'}, {'title': 'MD5'}, {'title': 'Latching'}, {'title': 'Message count', 'align': 'right'}, ] rows = [{'id': idx, 'cells': [ {'text': con.topic}, {'text': con.datatype}, {'text': con.md5sum}, {'bool': con.latching}, {'uint64': con.msg_count}, ]} for idx, con in enumerate(bagmeta.connections)] widgets = [{'table': {'columns': columns, 'rows': rows}}] # TODO: Add text widget explaining what can be seen here: ROS bag # files store connections. There can be multiple connections for # one topic with the same or different message types and message # types with the same name might have different md5s. For # simplicity connections with the same topic, message type and md5 # are treated as one, within one bag file as well as across bags # of one set. If one of such connections is latching, the # aggregated connection will be latching. yield marv.push({'title': title, 'widgets': widgets})
[docs]@marv.node(Section) @marv.input('title', default='Trajectory') @marv.input('geojson', default=trajectory) @marv.input('minzoom', default=-30) @marv.input('maxzoom', default=40) @marv.input('tile_server_protocol', default='') def trajectory_section(geojson, title, minzoom, maxzoom, tile_server_protocol): """Section displaying trajectory on a map. Args: title (str): Detail section title. geojson: Stream with one GeoJson message. minzoom (int): Minimum zoom level. maxzoom (int): Maximum zoom level. tile_server_protocol (str): Set to ``https:`` if you host marv behind http and prefer the tile requests to be secured. """ geojson = yield marv.pull(geojson) if not geojson: raise marv.Abort() layers = [ {'title': 'Background', 'tiles': [ {'title': 'Roadmap', 'url': ( '%s//[abc].osm.ternaris.com/styles/osm-bright/rendered/{z}/{x}/{y}.png' % tile_server_protocol ), 'attribution': ( '© <a href="http://openstreetmap.org/copyright">OpenStreetMap</a> contributors' ), 'retina': 3, 'zoom': {'min': 0, 'max': 20}}, {'title': 'Satellite', 'url': ( '%s//server.arcgisonline.com/ArcGIS/rest/services/World_Imagery/MapServer/tile/{z}/{y}/{x}.png' # pylint: disable=line-too-long % tile_server_protocol ), 'attribution': ( 'Sources: Esri, DigitalGlobe, GeoEye, Earthstar Geographics, CNES/Airbus DS, ' 'USDA, USGS, AeroGRID, IGN, and the GIS User Community' ), 'zoom': {'min': 0, 'max': 18}}, ]}, {'title': 'Trajectory', 'color': (0., 1., 0., 1.), 'geojson': geojson}, ] dct = make_map_dict({ 'layers': layers, 'zoom': {'min': minzoom, 'max': maxzoom}, }) jsonfile = yield marv.make_file('data.json') with open(jsonfile.path, 'w') as f: json.dump(dct, f, sort_keys=True) yield marv.push({'title': title, 'widgets': [{'map_partial': f'marv-partial:{jsonfile.relpath}'}]})
[docs]@marv.node(Section) @marv.input('title', default='Videos') @marv.input('videos', default=ffmpeg) def video_section(videos, title): """Section displaying one video player per image stream.""" tmps = [] while True: tmp = yield marv.pull(videos) if tmp is None: break tmps.append(tmp) videos = sorted(tmps, key=lambda x: x.title) if not videos: raise marv.Abort() videofiles = yield marv.pull_all(*videos) widgets = [ { 'title': video.title, 'video': {'src': videofile.relpath}, } for video, videofile in zip(videos, videofiles) if videofile is not None ] assert len({x['title'] for x in widgets}) == len(widgets) if widgets: yield marv.push({'title': title, 'widgets': widgets})