# -*- coding: utf-8 -*-
#
# Copyright 2016 - 2018 Ternaris.
# SPDX-License-Identifier: AGPL-3.0-only
from __future__ import absolute_import, division, print_function
import json
import os
import marv
import marv_nodes
from marv_detail import make_map_dict
from marv.types import Section, Widget
from .bag import bagmeta
from .cam import ffmpeg, images
from .gnss import gnss_plots
from .trajectory import trajectory
[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(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(set(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:
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' % 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': 'marv-partial:{}'.format(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)]
assert len(set(x['title'] for x in widgets)) == len(widgets)
if widgets:
yield marv.push({'title': title, 'widgets': widgets})