コード例 #1
0
def load_dataset(setdir, dataset):
    setid = SetID(dataset.setid)
    files = [{
        'path': x.path,
        'missing': bool(x.missing),
        'mtime': x.mtime * 10**6,
        'size': x.size
    } for x in sorted(dataset.files, key=lambda x: x.idx)]
    dct = {
        'id': setid,
        'name': dataset.name,
        'files': files,
        'time_added': dataset.time_added * 10**6,
        'timestamp': dataset.timestamp * 10**6
    }
    try:
        wrapper = Wrapper.from_dict(Dataset, dct)
    except KjException as e:
        from pprint import pformat
        print('Schema violation for %s with data:\n%s\nschema: %s' %
              (Dataset.schema.node.displayName, pformat(dct),
               Dataset.schema.node.displayName),
              file=sys.stderr)
        raise e
    wrapper._setdir = setdir  # needed by dataset.load(node)
    return [wrapper]
コード例 #2
0
ファイル: streams.py プロジェクト: new-in-ros/marv-robotics
 def make_file(self, name):
     assert not self.ended
     assert not self.group, (self, name)
     path = os.path.join(self.streamdir, name)
     fd = os.open(path, os.O_CREAT | os.O_EXCL | os.O_WRONLY, 0o666)
     os.close(fd)  # shall we pass on the open handle?
     # TODO: consider storing path relative to setdir instead of name
     file = File.new_message(path=path).as_reader()
     wrapper = Wrapper(file, self.streamdir, self.setdir)
     self.logdebug('made file %r', wrapper)
     return wrapper
コード例 #3
0
ファイル: ioctrl.py プロジェクト: quocbh/marv-robotics
def push(msg):
    schema = NODE_SCHEMA.get()
    if schema is not None and not isinstance(msg, Wrapper):
        try:
            msg = Wrapper.from_dict(schema, msg)
        except KjException:
            from pprint import pformat  # pylint: disable=import-outside-toplevel
            _node = schema.schema.node
            err(f'Schema violation for {_node.displayName} with data:\n'
                f'{pformat(msg)}\nschema: {_node.displayName}')
            raise
    return Push(msg)
コード例 #4
0
 def __init__(self, prehandle, streamdir, setdir, msgs=None, info=None):
     header = info['header'] if info else {}
     handle = Handle(*prehandle.key, group=prehandle.group, header=header)
     self.handle = handle
     self.cache = deque([Msg(idx=-1, handle=handle, data=handle)], self.CACHESIZE)
     if handle.group:
         self.stream = iter([
             Handle(handle.setid, handle.node, x['name'],
                    group=bool(x['streams']),
                    header=x['header'])
             for x in info['streams'].values()
         ])
     elif msgs:
         self.stream = (Wrapper(x._reader, streamdir, setdir) for x in msgs)
     else:
         assert not info['streams']
         path = os.path.join(streamdir, '{}-stream'.format(handle.name))
         streamfile = open(path, 'rb')
         self.streamfile = streamfile
         self.stream = (Wrapper(x, streamdir, setdir) for x in
                        handle.node.schema.read_multiple_packed(streamfile))
コード例 #5
0
ファイル: node.py プロジェクト: sundermann/marv
 def load(self, setdir, default=()):
     # TODO: this is store, not node!
     from marv_pycapnp import Wrapper
     # TODO: handle substream fun
     nodedir = os.path.join(setdir, self.name)
     try:
         with open(os.path.join(nodedir, 'default-stream')) as f:
             msgs = self.schema.read_multiple_packed(f)
             return [Wrapper(x, None, setdir) for x in msgs]
     except IOError:
         if default is not ():
             return default
         raise
コード例 #6
0
ファイル: __init__.py プロジェクト: laebe/marv-robotics
 def load(self, setdir, node=None, nodename=None, default=()):
     assert bool(node) != bool(nodename)
     assert nodename != 'dataset'
     assert node.name != 'dataset'
     # TODO: handle substream fun
     name = nodename or self.name_by_node.get(node, node.name)
     nodedir = os.path.join(setdir, name)
     try:
         with open(os.path.join(nodedir, 'default-stream')) as f:
             msgs = node.schema.read_multiple_packed(f)
             return [Wrapper(x, None, setdir) for x in msgs]
     except IOError:
         if default is not ():
             return default
         raise
コード例 #7
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def load_dataset(setdir, dataset):  # pylint: disable=redefined-outer-name
    setid = SetID(dataset.setid)
    files = [{'path': x.path,
              'missing': bool(x.missing),
              'mtime': x.mtime * 10**6,
              'size': x.size} for x in sorted(dataset.files, key=lambda x: x.idx)]
    dct = {'id': setid,
           'name': dataset.name,
           'files': files,
           'time_added': dataset.time_added * 10**6,
           'timestamp': dataset.timestamp * 10**6}
    try:
        wrapper = Wrapper.from_dict(Dataset, dct, setdir=setdir)
    except KjException as e:
        from pprint import pformat  # pylint: disable=import-outside-toplevel
        err('Schema violation for %s with data:\n%s\nschema: %s' % (
            Dataset.schema.node.displayName,
            pformat(dct),
            Dataset.schema.node.displayName))
        raise e
    return [wrapper]
コード例 #8
0
ファイル: stream.py プロジェクト: quocbh/marv-robotics
 def msg(self, __msg=None, _schema=NOTSET, **kw):
     from .io import TheEnd
     assert (__msg is not None) ^ bool(kw), (__msg, kw)
     data = kw if __msg is None else __msg
     if self.group:
         assert isinstance(data, (Handle, TheEnd)), (self, data)
     elif not isinstance(data, (Wrapper, Handle, TheEnd)):
         if _schema is NOTSET:
             from marv_api.ioctrl import NODE_SCHEMA  # pylint: disable=import-outside-toplevel
             schema = NODE_SCHEMA.get()
         else:
             schema = _schema
         if schema is not None:
             try:
                 data = Wrapper.from_dict(schema, data)
             except KjException:
                 from pprint import pformat  # pylint: disable=import-outside-toplevel
                 _node = schema.schema.node
                 err(f'Schema violation for {_node.displayName} with data:\n'
                     f'{pformat(data)}\nschema: {_node.displayName}')
                 raise
     return Msg(next(self._counter), self, data)
コード例 #9
0
ファイル: test_wrapper.py プロジェクト: quocbh/marv-robotics
def test_file_wrapper():
    wrapper = Wrapper.from_dict(TestStruct, {})
    with pytest.raises(AttributeError):
        assert wrapper.path
    with pytest.raises(AttributeError):
        assert wrapper.relpath

    wrapper = Wrapper.from_dict(File, {'path': '/foo'},
                                setdir=Path(__file__).parent.parent)
    assert wrapper.path == '/foo'
    with pytest.raises(AttributeError):
        assert wrapper.relpath

    wrapper = Wrapper.from_dict(File, {'path': __file__},
                                setdir=Path(__file__).parent.parent,
                                streamdir=Path(__file__).parent)
    assert wrapper.path == __file__

    wrapper = Wrapper.from_dict(File,
                                {'path': '/path/to/setdir/streamdir/file'},
                                setdir='/path/to/moved/setdir',
                                streamdir='/irrelevant')
    assert wrapper.path == '/path/to/moved/setdir/streamdir/file'

    wrapper = Wrapper.from_dict(File,
                                {'path': '/path/to/setdir/.streamdir/file'},
                                setdir='/path/to/moved/setdir',
                                streamdir='/irrelevant')
    assert wrapper.path == '/path/to/moved/setdir/streamdir/file'
    assert wrapper.relpath == 'streamdir/file'

    # Moved, but old path exists, i.e. copied
    # Rhe last component of setdir is the setid, which usually is a random hash and looked for
    # in the stored path to return the new path.
    wrapper = Wrapper.from_dict(
        File, {'path': __file__},
        setdir=f'/path/to/moved/{Path(__file__).parent.name}',
        streamdir='/irrelevant')
    assert wrapper.path == f'/path/to/moved/{Path(__file__).parent.name}/{Path(__file__).name}'
コード例 #10
0
ファイル: __init__.py プロジェクト: sundermann/marv
def make_map_dict(dct):
    mapdct = Wrapper.from_dict(Widget.Map, dct)._reader.to_dict(verbose=True, which=True)
    fixup_map(mapdct)
    return mapdct
コード例 #11
0
ファイル: __init__.py プロジェクト: quocbh/marv-robotics
def make_map_dict(dct):
    reader = Wrapper.from_dict(Widget.Map, dct)._reader  # pylint: disable=protected-access
    mapdct = reader.to_dict(verbose=True, which=True)
    fixup_map(mapdct)
    return mapdct
コード例 #12
0
    def _run(self):
        self.started = True

        gen = self.node.invoke(self.inputs)
        assert hasattr(gen, 'send'), gen

        yield  # Wait for start signal before returning anything notable
        yield self.stream

        request_counter = count()
        msg_request_counter = defaultdict(count)
        next_msg_index_counter = defaultdict(int)
        send = None
        finished = False
        while not finished:
            try:
                request = gen.send(send)
                self.logdebug('got from node %s', type(request))
                request_idx = request_counter.next()
            except StopIteration:
                finished = True
            except Abort:
                finished = True

            if finished:
                for stream in self.streams.values():
                    if len(stream.cache) == 0:
                        yield stream.handle.msg(stream.handle)
                    if len(stream.cache) == 1:
                        self.logdebug('finishing empty stream')
                    if not stream.ended:
                        yield stream.handle.msg(THEEND)
                break

            output = None

            # preprocess
            # TODO:
            # - yield out.msg() valid? or enfore
            # - yield marv.push(out.msg(foo)) or
            # - yield marv.push(foo, out)
            if isinstance(request, Push):
                output = request.output
            elif isinstance(request, (Msg, Wrapper)):
                output = request

            # process
            if output:
                if len(self.stream.cache) == 0:
                    yield self.stream.handle.msg(self.stream.handle)

                # With first output, stream creation is done
                if self.stream_creation:
                    self.stream_creation = False

                msg = output
                if not isinstance(msg, Msg):
                    msg = self.stream.handle.msg(msg)
                else:
                    assert msg.handle.node is self.node
                    assert msg.handle.setid == self.setid
                schema = self.node.schema
                # TODO: handles should not be published by all?
                # this got introduced for merging streams
                if isinstance(msg._data, Handle):
                    # TODO: check that stream we are publishing to is a Group
                    assert self.node.group, self.node
                if schema is not None and \
                   not isinstance(msg._data, (Wrapper, Handle, TheEnd)):
                    try:
                        msg._data = Wrapper.from_dict(schema, msg._data)
                    except KjException as e:
                        from pprint import pformat
                        self.logerror(
                            'Schema violation for %s with data:\n%s\nschema: %s',
                            schema.schema.node.displayName, pformat(msg._data),
                            schema.schema.node.displayName)
                        raise e
                signal = yield msg
                assert signal in (NEXT, RESUME), signal
                continue

            elif isinstance(request, Pull):
                handle = request.handle
                # if request.skip is never used the two indices remain the same
                msg_req_idx = msg_request_counter[handle].next()
                next_msg_idx = next_msg_index_counter[handle]  # + request.skip
                next_msg_index_counter[handle] = next_msg_idx + 1
                msg = yield MsgRequest(handle, next_msg_idx, self)
                assert isinstance(msg, Msg), msg
                assert msg.idx == next_msg_idx
                # TODO: switch to DONE
                send = None if msg.data is THEEND else msg.data
                if request.enumerate:
                    send = (msg_req_idx, send)
                continue

            elif isinstance(request, PullAll):
                send = []
                for handle in request.handles:
                    msg_req_idx = msg_request_counter[handle].next()
                    next_msg_idx = next_msg_index_counter[handle]
                    next_msg_index_counter[handle] = next_msg_idx + 1
                    msg = yield MsgRequest(handle, next_msg_idx, self)
                    assert isinstance(msg, Msg), msg
                    assert msg.idx == next_msg_idx
                    # TODO: switch to DONE
                    send.append(None if msg.data is THEEND else msg.data)
                continue

            elif isinstance(request, SetHeader):
                # TODO: should this be explicitly allowed/required?
                # Handles for non-header streams would be created right away
                assert len(self.stream.cache) == 0
                self.stream.handle.header = request.header.copy()
                yield self.stream.handle.msg(self.stream.handle)
                continue

            elif isinstance(request, MakeFile):
                if len(self.stream.cache) == 0:
                    yield self.stream.handle.msg(self.stream.handle)
                stream = self.streams[request.handle or self.stream.handle]
                try:
                    make_file = stream.make_file
                except AttributeError:
                    raise MakeFileNotSupported(stream)
                send = make_file(request.name)
                continue

            elif isinstance(request, Fork):
                parent_handle = self.stream.handle
                parent = self.streams[parent_handle]
                stream = parent.create_stream(name=request.name,
                                              group=request.group)
                fork = type(self)(stream, inputs=request.inputs)
                if len(self.stream.cache) == 0:
                    yield self.stream.handle.msg(self.stream.handle)
                yield fork
                send = None  # TODO: What should we send back?
                continue

            elif isinstance(request, GetStream):
                handle = Handle(request.setid or self.setid, request.node,
                                request.name)
                msg = yield MsgRequest(handle, -1, self)
                send = msg.data
                assert send == handle, (send, handle)
                continue  # TODO: why is this not covered?

            elif isinstance(request, CreateStream):
                kw = request._asdict()
                parent_handle = kw.pop('parent', None) or self.stream.handle
                parent = self.streams[parent_handle]
                stream = parent.create_stream(**kw)
                assert stream.name != 'default'
                assert stream.handle not in self.streams, stream
                self.streams[stream.handle] = stream
                if len(parent.cache) == 0:
                    yield parent.handle.msg(parent.handle)
                if len(self.stream.cache) == 0:
                    yield self.stream.handle.msg(self.stream.handle)
                yield stream
                yield stream.handle.msg(stream.handle)
                send = stream.handle
                continue

            elif isinstance(request, GetRequested):
                assert self.stream.group, (self, request)
                signal = yield PAUSED  # increase chances for completeness
                assert signal is RESUME
                send = list(self._requested_streams)
                self.stream_creation = False
                continue

            elif isinstance(request, GetLogger):
                send = getLogger('marv.node.{}'.format(self.key_abbrev))
                continue

            else:
                raise RuntimeError(
                    'Unknown request number {}: {!r} from {!r}'.format(
                        request_idx + 1, request, self.node))
        self.stopped = True
コード例 #13
0
def test():
    builder = TestStruct.new_message()
    reader = builder.as_reader()
    wrapper = Wrapper(reader, streamdir=None, setdir=None)
    assert repr(
        wrapper
    ) == '<Wrapper marv_pycapnp.tests.test_wrapper_capnp:TestStruct>'

    builder.text = u'\u03a8'
    assert wrapper.text == u'\u03a8'
    assert isinstance(wrapper.text, unicode)

    builder.data = u'\u03a8'.encode('utf-8')
    assert wrapper.data == u'\u03a8'.encode('utf-8')
    assert isinstance(wrapper.data, str)

    builder.textList = [u'\u03a8']
    assert wrapper.text_list == [u'\u03a8']
    assert wrapper.text_list[:] == [u'\u03a8']
    assert list(wrapper.text_list) == [u'\u03a8']
    assert isinstance(wrapper.text_list[0], unicode)
    assert repr(wrapper.textList) == "[u'\\u03a8']"

    builder.dataList = [u'\u03a8'.encode('utf-8')]
    assert wrapper.data_list == [u'\u03a8'.encode('utf-8')]
    assert wrapper.data_list[:] == [u'\u03a8'.encode('utf-8')]
    assert list(wrapper.data_list) == [u'\u03a8'.encode('utf-8')]
    assert isinstance(wrapper.data_list[0], str)
    assert repr(wrapper.dataList) == "['\\xce\\xa8']"

    builder.textListInList = [[u'\u03a8'], [u'\u03a8']]
    builder.dataListInList = [[u'\u03a8'.encode('utf-8')],
                              [u'\u03a8'.encode('utf-8')]]
    assert all(
        isinstance(x, unicode) for lst in wrapper.textListInList for x in lst)
    assert all(
        isinstance(x, str) for lst in wrapper.dataListInList for x in lst)

    nested = Wrapper.from_dict(schema=TestStruct,
                               data={
                                   'text':
                                   u'\u03a8',
                                   'data':
                                   u'\u03a8'.encode('utf-8'),
                                   'textList': [u'\u03a8'],
                                   'dataList': [u'\u03a8'.encode('utf-8')],
                                   'textListInList': [[u'\u03a8'],
                                                      [u'\u03a8']],
                                   'dataListInList':
                                   [[u'\u03a8'.encode('utf-8')],
                                    [u'\u03a8'.encode('utf-8')]],
                               })
    builder.nestedList = [nested._reader]
    assert isinstance(wrapper.nested_list[0].text, unicode)
    assert isinstance(wrapper.nested_list[0].data, str)
    assert isinstance(wrapper.nested_list[0].textList[0], unicode)
    assert isinstance(wrapper.nested_list[0].dataList[0], str)

    builder.unionData = u'\u03a8'.encode('utf-8')
    assert isinstance(wrapper.union_data, str)

    builder.unionText = u'\u03a8'
    assert isinstance(wrapper.union_text, unicode)

    builder.union.data = u'\u03a8'.encode('utf-8')
    assert isinstance(wrapper.union.data, str)

    builder.union.text = u'\u03a8'
    assert isinstance(wrapper.union.text, unicode)

    builder.group.text = u'\u03a8'
    assert isinstance(wrapper.group.text, unicode)

    builder.group.data = u'\u03a8'.encode('utf-8')
    assert isinstance(wrapper.group.data, str)

    builder.enum = 'foo'
    assert wrapper.enum == 'foo'

    builder.enum = 'bar'
    assert wrapper.enum == 'bar'

    dct = wrapper.to_dict(which=True)
    assert dct == {
        'data':
        '\xce\xa8',
        'dataList': ['\xce\xa8'],
        'dataListInList': [['\xce\xa8'], ['\xce\xa8']],
        'enum':
        'bar',
        'group': {
            'data': '\xce\xa8',
            'text': u'\u03a8'
        },
        'nestedList': [{
            'data': '\xce\xa8',
            'dataList': ['\xce\xa8'],
            'dataListInList': [['\xce\xa8'], ['\xce\xa8']],
            'enum': 'foo',
            'group': {
                'data': '',
                'text': u'',
            },
            'nestedList': [],
            'text': u'\u03a8',
            'textList': [u'\u03a8'],
            'textListInList': [[u'\u03a8'], [u'\u03a8']],
            'union': {
                'text': u'',
                '_which': 'text',
            },
            'unionText': u'',
            '_which': 'unionText',
        }],
        'text':
        u'\u03a8',
        'textList': [u'\u03a8'],
        'textListInList': [[u'\u03a8'], [u'\u03a8']],
        'union': {
            'text': u'\u03a8',
            '_which': 'text',
        },
        'unionText':
        u'\u03a8',
        '_which':
        'unionText',
    }

    dct = wrapper.to_dict()
    roundtrip = Wrapper.from_dict(TestStruct, dct)
    assert dct == roundtrip.to_dict()
コード例 #14
0
ファイル: test_wrapper.py プロジェクト: quocbh/marv-robotics
def test():
    # pylint: disable=too-many-statements
    builder = TestStruct.new_message()
    reader = builder.as_reader()
    wrapper = Wrapper(reader, streamdir=None, setdir=None)
    assert repr(
        wrapper
    ) == '<Wrapper marv_pycapnp.tests.test_wrapper_capnp:TestStruct>'

    builder.text = '\u03a8'
    assert wrapper.text == '\u03a8'
    assert isinstance(wrapper.text, str)

    builder.data = '\u03a8'.encode('utf-8')
    assert wrapper.data == '\u03a8'.encode('utf-8')
    assert isinstance(wrapper.data, bytes)

    builder.textList = ['\u03a8']
    assert wrapper.text_list == ['\u03a8']
    assert wrapper.text_list[:] == ['\u03a8']
    assert list(wrapper.text_list) == ['\u03a8']
    assert isinstance(wrapper.text_list[0], str)
    assert repr(wrapper.textList) == "['Ψ']"

    builder.dataList = ['\u03a8'.encode('utf-8')]
    assert wrapper.data_list == ['\u03a8'.encode('utf-8')]
    assert wrapper.data_list[:] == ['\u03a8'.encode('utf-8')]
    assert list(wrapper.data_list) == ['\u03a8'.encode('utf-8')]
    assert isinstance(wrapper.data_list[0], bytes)
    assert repr(wrapper.dataList) == "[b'\\xce\\xa8']"

    builder.textListInList = [[u'\u03a8'], [u'\u03a8']]
    builder.dataListInList = [[u'\u03a8'.encode('utf-8')],
                              [u'\u03a8'.encode('utf-8')]]
    assert all(
        isinstance(x, str) for lst in wrapper.textListInList for x in lst)
    assert all(
        isinstance(x, bytes) for lst in wrapper.dataListInList for x in lst)

    nested = Wrapper.from_dict(
        schema=TestStruct,
        data={
            'text':
            '\u03a8',
            'data':
            '\u03a8'.encode('utf-8'),
            'textList': ['\u03a8'],
            'dataList': ['\u03a8'.encode('utf-8')],
            'textListInList': [['\u03a8'], [u'\u03a8']],
            'dataListInList': [['\u03a8'.encode('utf-8')],
                               ['\u03a8'.encode('utf-8')]],
        },
    )
    builder.nestedList = [nested._reader]  # pylint: disable=protected-access
    assert isinstance(wrapper.nested_list[0].text, str)
    assert isinstance(wrapper.nested_list[0].data, bytes)
    assert isinstance(wrapper.nested_list[0].textList[0], str)
    assert isinstance(wrapper.nested_list[0].dataList[0], bytes)

    builder.unionData = '\u03a8'.encode('utf-8')
    assert isinstance(wrapper.union_data, bytes)

    builder.unionText = '\u03a8'
    assert isinstance(wrapper.union_text, str)

    builder.union.data = '\u03a8'.encode('utf-8')
    assert isinstance(wrapper.union.data, bytes)

    builder.union.text = '\u03a8'
    assert isinstance(wrapper.union.text, str)

    builder.group.text = '\u03a8'
    assert isinstance(wrapper.group.text, str)

    builder.group.data = '\u03a8'.encode('utf-8')
    assert isinstance(wrapper.group.data, bytes)

    builder.enum = 'foo'
    assert wrapper.enum == 'foo'

    builder.enum = 'bar'
    assert wrapper.enum == 'bar'

    dct = wrapper.to_dict(which=True)
    assert dct == {
        'data':
        b'\xce\xa8',
        'dataList': [b'\xce\xa8'],
        'dataListInList': [[b'\xce\xa8'], [b'\xce\xa8']],
        'enum':
        'bar',
        'group': {
            'data': b'\xce\xa8',
            'text': '\u03a8',
        },
        'nestedList': [
            {
                'data': b'\xce\xa8',
                'dataList': [b'\xce\xa8'],
                'dataListInList': [[b'\xce\xa8'], [b'\xce\xa8']],
                'enum': 'foo',
                'group': {
                    'data': b'',
                    'text': '',
                },
                'nestedList': [],
                'text': '\u03a8',
                'textList': ['\u03a8'],
                'textListInList': [['\u03a8'], ['\u03a8']],
                'union': {
                    'text': '',
                    '_which': 'text',
                },
                'unionText': '',
                '_which': 'unionText',
            },
        ],
        'text':
        '\u03a8',
        'textList': ['\u03a8'],
        'textListInList': [['\u03a8'], ['\u03a8']],
        'union': {
            'text': '\u03a8',
            '_which': 'text',
        },
        'unionText':
        '\u03a8',
        '_which':
        'unionText',
    }

    # dict rountrip
    dct = wrapper.to_dict()
    roundtrip = Wrapper.from_dict(TestStruct, dct)
    assert dct == roundtrip.to_dict()

    # pickle roundtrip
    data = pickle.dumps(wrapper, protocol=5)
    roundtrip = pickle.loads(data)
    assert wrapper.to_dict() == roundtrip.to_dict()

    with pytest.raises(RuntimeError):
        data = pickle.dumps(wrapper)