def process(building_map: Optional[BuildingMap]):
"""
1. Converts a `BuildingMap` message to an ordered dict.
2. Saves the images into `{static_directory}/{map_name}/`.
3. Change the `AffineImage` `data` field to the url of the image.
"""
if not building_map:
return {}
self.logger.info("got new building map")
processed_map = message_to_ordereddict(building_map)
for i in range(len(building_map.levels)):
level: Level = building_map.levels[i]
for j in range(len(level.images)):
image: AffineImage = level.images[j]
# look at non-crypto hashes if we need more performance
sha1_hash = hashlib.sha1()
sha1_hash.update(image.data)
fingerprint = base64.b32encode(
sha1_hash.digest()).lower().decode()
relpath = f"{building_map.name}/{level.name}-{image.name}.{fingerprint}.{image.encoding}" # pylint: disable=line-too-long
urlpath = self.static_files.add_file(image.data, relpath)
processed_map["levels"][i]["images"][j]["data"] = urlpath
self.rmf_gateway.building_map.on_next(processed_map)
return {building_map.name: processed_map}
def _init_task_summary(self):
topic = topics.task_summaries
self.room_records[topic] = lambda: {
x.task_id: message_to_ordereddict(x)
for x in self.rmf_gateway.current_task_summaries.values()
}
def on_next(task: TaskSummary):
async def emit_task():
await self.sio.emit(topic,
message_to_ordereddict(task),
to=topic)
self.logger.debug(f'emitted message to room "{topic}"')
self.loop.create_task(emit_task())
self._subscriptions.append(
self.rmf_gateway.task_summaries.subscribe(on_next))
def update_from_rmf(self, rmf_msg: RmfMessage):
self.id_ = key_mapper(rmf_msg)
self.data = message_to_ordereddict(rmf_msg)
return self
def update_or_create_from_rmf(cls, rmf_msg: RmfMessage):
id_ = key_mapper(rmf_msg)
data = message_to_ordereddict(rmf_msg)
return cls.update_or_create({"data": data}, id_=id_)
def _tunnel_state_callback(self, msg):
if self.save_data:
msg_dict = convert.message_to_ordereddict(msg)
self.data_writer.writerow(msg_dict)
def _init_door_state(self):
self._init_room(
topics.door_states,
self.rmf_gateway.door_states.pipe(
rx_map(lambda x: {x.door_name: message_to_ordereddict(x)})),
)
async def emit_task():
await self.sio.emit(topic,
message_to_ordereddict(task),
to=topic)
self.logger.debug(f'emitted message to room "{topic}"')
def update_or_create_from_rmf(cls, rmf_msg: RmfTaskSummary):
id_ = rmf_msg.task_id
data = message_to_ordereddict(rmf_msg)
state = rmf_msg.state
return cls.update_or_create({"data": data, "state": state}, id_=id_)
def _init_ingestor_state(self):
self._init_room(
topics.ingestor_states,
self.rmf_gateway.ingestor_states.pipe(
rx_map(lambda x: {x.guid: message_to_ordereddict(x)})),
)
async def update(task: TaskSummary):
await ttm.TaskSummary.update_or_create_from_rmf(task)
self._loggers.task_summary.info(
json.dumps(message_to_ordereddict(task)))
async def update(fleet_state: FleetState):
await ttm.FleetState.update_or_create_from_rmf(fleet_state)
self._loggers.fleet_state.info(
json.dumps(message_to_ordereddict(fleet_state)))
async def update(ingestor_state: IngestorState):
await ttm.IngestorState.update_or_create_from_rmf(ingestor_state)
self._loggers.ingestor_state.info(
json.dumps(message_to_ordereddict(ingestor_state)))
async def update(dispenser_state: DispenserState):
await ttm.DispenserState.update_or_create_from_rmf(dispenser_state)
self._loggers.dispenser_state.info(
json.dumps(message_to_ordereddict(dispenser_state)))
async def update(lift_state: LiftState):
await ttm.LiftState.update_or_create_from_rmf(lift_state)
self._loggers.lift_state.info(
json.dumps(message_to_ordereddict(lift_state)))
