detail.py

# -*- coding: utf-8 -*-
#
# This file is part of MARV Robotics
#
# Copyright 2016-2017 Ternaris
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

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_detail.types_capnp import Section, Widget
from .bag import bagmeta
from .cam import ffmpeg, images
from .gnss import gnss_plots
from .trajectory import trajectory


@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}}
        ]
    }})


@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': '{}'.format(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}})


@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})


@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}})


@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})


@marv.node(Section)
@marv.input('title', default='Topics')
@marv.input('bagmeta', default=bagmeta)
@marv.input('dataset', default=marv_nodes.dataset)
def topics_section(bagmeta, dataset, title):
    """Section displaying information about dataset topics."""
    dataset, bagmeta = yield marv.pull_all(dataset, bagmeta)
    columns = [
        {'title': 'Topic'},
        {'title': 'Message type'},
        {'title': 'Message count', 'align': 'right'}
    ]
    rows = [{'id': idx, 'cells': [
        {'text': topic.name},
        {'text': topic.msg_type},
        {'uint64': topic.msg_count}
    ]} for idx, topic in enumerate(bagmeta.topics)]
    widgets = [{'table': {'columns': columns, 'rows': rows}}]
    yield marv.push({'title': title, 'widgets': widgets})


@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/mapbox-studio-osm-bright/{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, 255, 0, 255),
         '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)}]})


@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})