Testing with studio data

examples/get-started/src/app.js

@@ -44,7 +44,7 @@ const TIMEFORMAT_SCALE = getXVIZConfig().TIMESTAMP_FORMAT === 'seconds' ? 1000 :
 
 // __IS_STREAMING__ and __IS_LIVE__ are defined in webpack.config.js
 const exampleLog = require(__IS_STREAMING__
-  ? './log-from-stream'
+  ? './log-from-scc'
   : __IS_LIVE__
     ? './log-from-live'
     : './log-from-file').default;
@@ -83,7 +83,6 @@ class Example extends PureComponent {
             values={this.state.settings}
             onChange={this._onSettingsChange}
           />
-          <StreamSettingsPanel log={log} />
         </div>
         <div id="log-panel">
           <div id="map-view">

examples/get-started/src/constants.js

@@ -25,7 +25,10 @@ export const MAPBOX_TOKEN = process.env.MapboxAccessToken; // eslint-disable-lin
 export const MAP_STYLE = 'mapbox://styles/mapbox/light-v9';
 
 export const XVIZ_CONFIG = {
-  PLAYBACK_FRAME_RATE: 10
+  currentMajorVersion: 2,
+  PLAYBACK_FRAME_RATE: 10,
+  DYNAMIC_STREAM_METADATA: true,
+  PRIMARY_POSE_STREAM: "/vehicle/LoggedContinuousPose"
 };
 
 export const CAR = CarMesh.sedan({

examples/get-started/src/log-from-scc.js

@@ -0,0 +1,27 @@
+// Copyright (c) 2019 Uber Technologies, Inc.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+
+import {StudioFileLoader} from './studio-file-loader';
+
+export default new StudioFileLoader({
+  url: 'http://192.168.1.7:4080/rvt-1-3000.scc',
+  worker: true,
+  maxConcurrency: 4
+});

examples/get-started/src/log-from-studio.js

@@ -0,0 +1,32 @@
+// Copyright (c) 2019 Uber Technologies, Inc.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+
+import {StudioLoader} from './studio-loader';
+
+export default new StudioLoader({
+  logGuid: 'mock',
+  // bufferLength: 15,
+  serverConfig: {
+    defaultLogLength: 30,
+    serverUrl: 'ws://atg1-vdi-ngpu-twojtasz:4080'
+  },
+  worker: true,
+  maxConcurrency: 4
+});

examples/get-started/src/studio-data.js

@@ -0,0 +1,192 @@
+// Copyright (c) 2019 Uber Technologies, Inc.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+const COMMS_CACHE_HEADER_VERSION = 0x033b0002;
+const MESSAGE_HEADER = 8;
+/* SCC Binary Layout
+ * [----] 4 magic
+ * [----] 4 size of header
+ * [*]    header
+ * messages
+ *
+ * Message Binary Layout
+ * [----] 4 size
+ * [----] 4 timestamp_ms
+ * [*]      data
+ */
+
+export class SCCLog {
+  constructor(onMessage) {
+    this.array = null;  // for slicing data
+    this.buffer = null; // for appending data
+    this.view = null;   // for reading data
+    this.limit = 0;
+
+    this.mark = 0;
+    this.onMessage = onMessage;
+  }
+
+  open(url) { 
+    fetch(url)
+      .then(response => {
+        if (!response.ok) {
+          this.console.log(response.statusText);
+          return;
+        }
+
+        const reader = response.body.getReader();
+        const self = this;
+        return new ReadableStream({
+          start() {
+            return pump();
+
+            function pump() {
+              reader.read().then(({ done, value }) => {
+                if (!done) {
+                  self._addChunk(response, value);
+                  return pump();
+                }
+              });
+            }
+          }
+        });
+      })
+      .catch(error => {
+        console.log("Error fetching log: " + error);
+      });
+  }
+
+  _addChunk(response, data) {
+    if (this.limit === 0) {
+      const length = response.headers.get("content-length");
+
+      this.array = new ArrayBuffer(length);
+
+      this.buffer = new Uint8Array(this.array);
+      this.buffer.set(data, 0);
+      this.limit = data.length;
+
+      this.view = new DataView(this.array);
+    } else {
+      this.buffer.set(data, this.limit);
+      this.limit += data.length;
+    }
+
+    this.publishMessages();
+  }
+
+  publishMessages() {
+    if (!this.message) {
+      const startOffset = this._readHeader(); 
+      if (startOffset) {
+        this.message = new SCCMessage(this.array, this.view, startOffset, this.limit);
+      } else {
+        return;
+      }
+    } else {
+      this.message.setLimit(this.limit);
+    }
+
+    while (this.message.available()) {
+      this.onMessage(this.message.data(), this.message.timestamp);
+      this.message.next();
+    }
+  }
+
+  _readHeader() {
+    const magic = this.view.getUint32(0, true);
+    if (magic !== COMMS_CACHE_HEADER_VERSION) {
+      throw new Error("File does not start with the expected signature.");
+    }
+
+    const headerSize = this.view.getUint32(4, true);
+    if (headerSize + 8 > this.limit) {
+      throw new Error("Header is larger than file");
+    }
+
+    return headerSize + 8;
+  }
+}
+
+class SCCMessage {
+  constructor(array, view, start, limit) {
+    this.array = array;
+    this.view = view;
+    this.start = start;
+    this.limit = limit;
+    this.mark = start;
+
+    this._size = undefined;
+    this._timestamp = undefined;
+  }
+
+  _sizeCheck(nBytes) {
+    return this.mark + nBytes < this.limit;
+  }
+
+  setLimit(end) {
+    this.limit = end;
+  }
+
+  data() {
+    return this.array.slice(this.mark + MESSAGE_HEADER, this._endOffset);
+  }
+
+  get size() {
+    if (this._size === undefined && this._sizeCheck(4)) {
+      this._size = this.view.getUint32(this.mark, true);
+    }
+
+    return this._size;
+  }
+
+  get _endOffset() {
+    if (this.size) {
+      return this.mark + MESSAGE_HEADER + this.size;
+    }
+    return undefined
+  }
+
+  get timestamp() {
+    if (this._timestamp === undefined && this._sizeCheck(4 + 4)) {
+      this._timestamp = this.view.getUint32(this.mark + 4, true);
+    }
+
+    return this._timestamp;
+  }
+
+  available() {
+    if (this._endOffset) {
+      return this._endOffset < this.limit;
+    }
+
+    return false; 
+  }
+
+  next() {
+    if (this.available()) {
+      this.mark = this._endOffset;
+
+      this._size = undefined
+      this._timestamp = undefined
+      return true;
+    }
+    return false;
+  }
+}