library.py

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# -*- coding: utf-8 -*-
"""
grepros library interface.
 
Source classes:
 
- {@link grepros.inputs.AppSource AppSource}: produces messages from iterable or pushed data
- {@link grepros.inputs.BagSource BagSource}: produces messages from ROS bagfiles
- {@link grepros.inputs.LiveSource LiveSource}: produces messages from live ROS topics
 
Sink classes:
 
- {@link grepros.outputs.AppSink AppSink}: provides messages to callback function
- {@link grepros.outputs.BagSink BagSink}: writes messages to bagfile
- {@link grepros.outputs.ConsoleSink ConsoleSink}: prints messages to console
- {@link grepros.plugins.auto.csv.CsvSink CsvSink}: writes messages to CSV files, each topic to a separate file
- {@link grepros.plugins.auto.html.HtmlSink HtmlSink}: writes messages to an HTML file
- {@link grepros.outputs.LiveSink LiveSink}: publishes messages to ROS topics
- {@link grepros.plugins.mcap.McapSink McapSink}: writes messages to MCAP file
- {@link grepros.outputs.MultiSink MultiSink}: combines any number of sinks
- {@link grepros.plugins.parquet.ParquetSink ParquetSink}: writes messages to Apache Parquet files
- {@link grepros.plugins.auto.postgres.PostgresSink PostgresSink}: writes messages to a Postgres database
- {@link grepros.plugins.auto.sqlite.SqliteSink SqliteSink}: writes messages to an SQLite database
- {@link grepros.plugins.sql.SqlSink SqlSink}: writes SQL schema file for message type tables and topic views
 
{@link grepros.api.BaseBag Bag}: generic bag interface.
{@link grepros.search.Scanner Scanner}: ROS message grepper.
 
Format-specific bag classes:
 
- {@link grepros.ros1.ROS1Bag ROS1Bag}: ROS1 bag reader and writer in .bag format
- {@link grepros.ros2.ROS2Bag ROS2Bag}: ROS2 bag reader and writer in .db3 SQLite format
- {@link grepros.plugins.embag.EmbagReader EmbagReader}: ROS1 bag reader
  using the <a href="https://github.com/embarktrucks/embag">embag</a> library
- {@link grepros.plugins.mcap.McapBag McapBag}: ROS1/ROS2 bag reader and writer in MCAP format
 
Output sink `write_options` arguments can be given with underscores
instead of dashes, e.g. `"rollover_size"` instead of `"rollover-size"`.
 
------------------------------------------------------------------------------
This file is part of grepros - grep for ROS bag files and live topics.
Released under the BSD License.
 
@author      Erki Suurjaak
@created     09.12.2022
@modified    22.03.2024
------------------------------------------------------------------------------
"""
 
from . plugins.auto.csv      import CsvSink
from . plugins.auto.html     import HtmlSink
from . plugins.auto.postgres import PostgresSink
from . plugins.auto.sqlite   import SqliteSink
from . plugins.mcap          import McapBag, McapSink
from . plugins.parquet       import ParquetSink
from . plugins.sql           import SqlSink
 
from . api  import Bag
from . inputs  import AppSource, BagSource, LiveSource, Source
from . outputs import AppSink, BagSink, ConsoleSink, LiveSink, MultiSink, Sink
from . search  import BooleanResult, ExpressionTree, Scanner
from . import api
from . import common
from . import plugins
 
 
_inited = False
 
 
def grep(args=None, **kwargs):
    """
    Yields matching messages from specified source.
 
    Initializes grepros if not already initialized.
 
    Read from bagfiles: `grep(file="2022-10-*.bag", pattern="cpu")`.
 
    Read from live topics: `grep(live=True, pattern="cpu")`.
 
 
    @param   args                      arguments as namespace or dictionary, case-insensitive;
                                       or a single path as the ROS bagfile to read,
                                       or one or more {@link grepros.api.Bag Bag} instances,
                                       or a {@link grepros.inputs.Source Source} instance
    @param   kwargs                    any and all arguments as keyword overrides, case-insensitive
    <!--sep-->
 
    Bag source:
    @param   args.file                 names of ROS bagfiles to read if not all in directory
    @param   args.path                 paths to scan if not current directory
    @param   args.recurse              recurse into subdirectories when looking for bagfiles
    @param   args.decompress           decompress archived bags to file directory
    @param   args.reindex              make a copy of unindexed bags and reindex them (ROS1 only)
    @param   args.orderby              "topic" or "type" if any to group results by
    @param   args.timescale            emit messages on original timeline from first message
                                       at given rate, 0 disables
    @param   args.timescale_emission   start timeline from first matched message not first in bag
    @param   args.bag                  one or more {@link grepros.api.Bag Bag} instances
    <!--sep-->
 
    Live source:
    @param   args.live                 whether reading messages from live ROS topics
    @param   args.queue_size_in        subscriber queue size (default 10)
    @param   args.ros_time_in          stamp messages with ROS time instead of wall time
    <!--sep-->
 
    App source:
    @param   args.app                  whether reading messages from iterable or pushed data;
                                       may contain the iterable itself
    @param   args.iterable             iterable yielding (topic, msg, stamp) or (topic, msg);
                                       yielding `None` signals end of content
    Any source:
    @param   args.topic                ROS topics to read if not all
    @param   args.type                 ROS message types to read if not all
    @param   args.skip_topic           ROS topics to skip
    @param   args.skip_type            ROS message types to skip
    @param   args.start_time           earliest timestamp of messages to read
    @param   args.end_time             latest timestamp of messages to read
    @param   args.start_index          message index within topic to start from
    @param   args.end_index            message index within topic to stop at
 
    @param   args.nth_message          read every Nth message in topic, starting from first
    @param   args.nth_interval         minimum time interval between messages in topic,
                                       as seconds or ROS duration
 
    @param   args.select_field         message fields to use in matching if not all
    @param   args.noselect_field       message fields to skip in matching
 
    @param   args.unique               emit messages that are unique in topic
                                       (select_field and noselect_field apply if specified)
    @param   args.condition            Python expressions that must evaluate as true
                                       for message to be processable, see ConditionMixin
    <!--sep-->
 
    Search&zwj;:
    @param   args.pattern              pattern(s) to find in message field values
    @param   args.fixed_string         pattern contains ordinary strings, not regular expressions
    @param   args.case                 use case-sensitive matching in pattern
    @param   args.invert               select messages not matching pattern
    @param   args.expression           pattern(s) are a logical expression
                                       like 'this AND (this2 OR NOT "skip this")',
                                       with elements as patterns to find in message fields
 
    @param   args.nth_match            emit every Nth match in topic, starting from first
    @param   args.max_count            number of matched messages to emit (per file if bag input)
    @param   args.max_per_topic        number of matched messages to emit from each topic
    @param   args.max_topics           number of topics to print matches from
 
    @param   args.before               number of messages of leading context to emit before match
    @param   args.after                number of messages of trailing context to emit after match
    @param   args.context              number of messages of leading and trailing context
                                       to emit around match
 
    @param   args.highlight            highlight matched values
    @param   args.match_wrapper        string to wrap around matched values,
                                       both sides if one value, start and end if more than one,
                                       or no wrapping if zero values
 
    @return  {@link grepros.Scanner.GrepMessage GrepMessage} namedtuples
             of (topic, message, timestamp, match, index)
    """
    DEFAULT_ARGS = dict(FILE=[], LIVE=False, APP=False, ITERABLE=None,
                        COLOR="never", HIGHLIGHT=False)
 
    args0 = args
    is_bag = isinstance(args, Bag) or \
             common.is_iterable(args) and all(isinstance(x, Bag) for x in args)
    args = {"FILE": str(args)} if isinstance(args, common.PATH_TYPES) else \
           {} if is_bag or isinstance(args, Source) else args
    args = common.ArgumentUtil.validate(common.ensure_namespace(args, DEFAULT_ARGS, **kwargs))
    if not _inited: init(args)
 
    if common.is_iterable(args.APP) and not common.is_iterable(args.ITERABLE):
        args.APP, args.ITERABLE = True, args.APP
    src = args0 if isinstance(args0, Source) else \
          LiveSource(args) if args.LIVE else \
          AppSource(args) if args.APP else \
          BagSource(args0, **vars(args)) if is_bag else BagSource(args)
    if args and isinstance(args0, Source): src.configure(**kwargs)
    src.validate()
 
    try:
        for x in Scanner(args).find(src): yield x
    finally:
        if not isinstance(args0, (Bag, Source)): src.close()
 
 
def source(args=None, **kwargs):
    """
    Convenience for creating a {@link grepros.inputs.Source Source} instance from arguments.
 
    Initializes grepros if not already initialized.
 
    @param   args                      arguments as namespace or dictionary, case-insensitive;
                                       or a single path as the ROS bagfile to read
    @param   kwargs                    any and all arguments as keyword overrides, case-insensitive
    @param   args.file                 one or more names of ROS bagfiles to read from
    @param   args.live                 read messages from live ROS topics instead
    @param   args.app                  read messages from iterable or pushed data instead;
                                       may contain the iterable itself
    <!--sep-->
 
    Bag source:
    @param   args.file                 names of ROS bagfiles to read if not all in directory
    @param   args.path                 paths to scan if not current directory
    @param   args.recurse              recurse into subdirectories when looking for bagfiles
    @param   args.orderby              "topic" or "type" if any to group results by
    @param   args.decompress           decompress archived bags to file directory
    @param   args.reindex              make a copy of unindexed bags and reindex them (ROS1 only)
    @param   args.timescale            emit messages on original timeline from first message
                                       at given rate, 0 disables
    @param   args.timescale_emission   start timeline from first matched message not first in bag
    @param   args.progress             whether to print progress bar
    <!--sep-->
 
    Live source:
    @param   args.queue_size_in        subscriber queue size (default 10)
    @param   args.ros_time_in          stamp messages with ROS time instead of wall time
    @param   args.progress             whether to print progress bar
    <!--sep-->
 
    App source:
    @param   args.iterable             iterable yielding (topic, msg, stamp) or (topic, msg);
                                       yielding `None` signals end of content
    <!--sep-->
 
    Any source:
    @param   args.topic                ROS topics to read if not all
    @param   args.type                 ROS message types to read if not all
    @param   args.skip_topic           ROS topics to skip
    @param   args.skip_type            ROS message types to skip
    @param   args.start_time           earliest timestamp of messages to read
    @param   args.end_time             latest timestamp of messages to read
    @param   args.start_index          message index within topic to start from
    @param   args.end_index            message index within topic to stop at
    @param   args.unique               emit messages that are unique in topic
    @param   args.select_field         message fields to use for uniqueness if not all
    @param   args.noselect_field       message fields to skip for uniqueness
    @param   args.nth_message          read every Nth message in topic, starting from first
    @param   args.nth_interval         minimum time interval between messages in topic,
                                       as seconds or ROS duration
    @param   args.condition            Python expressions that must evaluate as true
                                       for message to be processable, see ConditionMixin
    """
    DEFAULT_ARGS = dict(FILE=[], LIVE=False, APP=False, ITERABLE=None)
    args = {"FILE": str(args)} if isinstance(args, common.PATH_TYPES) else args
    args = common.ensure_namespace(args, DEFAULT_ARGS, **kwargs)
    if not _inited: init(args)
 
    if common.is_iterable(args.APP) and not common.is_iterable(args.ITERABLE):
        args.APP, args.ITERABLE = True, args.APP
    result = (LiveSource if args.LIVE else AppSource if args.APP else BagSource)(args)
    result.validate()
    return result
 
 
def sink(args=None, **kwargs):
    """
    Convenience for creating a {@link grepros.outputs.Sink Sink} instance from arguments,
    {@link grepros.outputs.MultiSink MultiSink} if several outputs.
 
    Initializes grepros if not already initialized.
 
    @param   args                       arguments as namespace or dictionary, case-insensitive;
                                        or a single item as sink target like bag filename
    @param   kwargs                     any and all arguments as keyword overrides, case-insensitive
    @param   args.app                   provide messages to given callback function
    @param   args.console               print matches to console
    @param   args.publish               publish matches to live topics
    @param   args.write                 file or other target like Postgres database to write,
                                        as "target", or ["target", dict(format="format", ..)]
                                        or [[..target1..], [..target2..], ..]
    @param   args.write_options         format-specific options like
                                        {"overwrite": whether to overwrite existing file
                                                      (default false)}
    <!--sep-->
 
    Console sink:
    @param   args.line_prefix           print source prefix like bag filename on each message line
    @param   args.max_field_lines       maximum number of lines to print per field
    @param   args.start_line            message line number to start output from
    @param   args.end_line              message line number to stop output at
    @param   args.max_message_lines     maximum number of lines to output per message
    @param   args.lines_around_match    number of message lines around matched fields to output
    @param   args.matched_fields_only   output only the fields where match was found
    @param   args.wrap_width            character width to wrap message YAML output at
    @param   args.match_wrapper         string to wrap around matched values,
                                        both sides if one value, start and end if more than one,
                                        or no wrapping if zero values
    <!--sep-->
 
    Console / HTML sink:
    @param   args.color                 False or "never" for not using colors in replacements
    @param   args.highlight             highlight matched values (default true)
    @param   args.emit_field            message fields to emit if not all
    @param   args.noemit_field          message fields to skip in output
    @param   args.max_field_lines       maximum number of lines to output per field
    @param   args.start_line            message line number to start output from
    @param   args.end_line              message line number to stop output at
    @param   args.max_message_lines     maximum number of lines to output per message
    @param   args.lines_around_match    number of message lines around matched fields to output
    @param   args.matched_fields_only   output only the fields where match was found
    @param   args.wrap_width            character width to wrap message YAML output at
    @param   args.match_wrapper         string to wrap around matched values,
                                        both sides if one value, start and end if more than one,
                                        or no wrapping if zero values
    <!--sep-->
 
    Topic sink:
    @param   args.queue_size_out        publisher queue size (default 10)
    @param   args.publish_prefix        output topic prefix, prepended to input topic
    @param   args.publish_suffix        output topic suffix, appended to output topic
    @param   args.publish_fixname       single output topic name to publish to,
                                        overrides prefix and suffix if given
    <!--sep-->
 
    App sink:
    @param   args.emit                  callback(topic, msg, stamp, highlighted msg, index in topic)
                                        if any
    @param   args.metaemit              callback(metadata dict) if any,
                                        invoked before first emit from source batch
    <!--sep-->
 
    Any sink:
    @param   args.meta                  whether to print metainfo
    @param   args.verbose               whether to print debug information
    """
    DEFAULT_ARGS = dict(CONSOLE=False, PUBLISH=False, WRITE=[], APP=False, EMIT=None, METAEMIT=None)
 
    result = None
    args = {"WRITE": str(args)} if isinstance(args, common.PATH_TYPES) else args
    args = common.ensure_namespace(args, DEFAULT_ARGS, **kwargs)
    if not _inited: init(args)
 
    if args.WRITE:
        if isinstance(args.WRITE, common.PATH_TYPES):
            args.WRITE = [[args.WRITE]]  # Nest deeper, single file given
        elif isinstance(args.WRITE, (list, tuple)) and isinstance(args.WRITE[0], common.PATH_TYPES):
            args.WRITE = [args.WRITE]  # Nest deeper, must have been single [target, ..opts]
    if callable(args.APP) and not callable(args.EMIT): args.APP, args.EMIT = True, args.APP
 
    multisink = MultiSink(args)
    multisink.validate()
    result = multisink.sinks[0] if len(multisink.sinks) == 1 else multisink
    return result
 
 
def init(args=None, **kwargs):
    """
    Initializes ROS version bindings, loads all built-in plugins if dependencies available.
 
    @param   args
    @param   args.plugin   one or more extra plugins to load,
                           as full names or instances of Python module/class
    @param   kwargs        any and all arguments as keyword overrides, case-insensitive
    """
    global _inited
    args = common.ensure_namespace(args, {"PLUGIN": []}, **kwargs)
    if _inited:
        if args: plugins.configure(args)
        return
 
    common.ConsolePrinter.configure(color=None, apimode=True)
    api.validate()
    plugins.init(args)
    for x in (plugins.mcap, plugins.parquet, plugins.sql):
        try: plugins.configure(PLUGIN=x)
        except Exception: pass
    Bag.READER_CLASSES.add(McapBag)  # Ensure MCAP files at least get recognized,
    Bag.WRITER_CLASSES.add(McapBag)  # even if loading them will fail when dependencies missing
    if args.PLUGIN: plugins.configure(args)
    # Switch message metadata cache to constrain on total number instead of time
    api.TypeMeta.LIFETIME, api.TypeMeta.POPULATION = 0, 100
    _inited = True
 
 
 
__all__ = [
    "AppSink", "AppSource", "Bag", "BagSink", "BagSource", "BooleanResult", "ConsoleSink",
    "CsvSink", "ExpressionTree", "HtmlSink", "LiveSink", "LiveSource", "McapBag", "McapSink",
    "MultiSink", "ParquetSink", "PostgresSink", "Scanner", "Sink", "Source", "SqliteSink",
    "SqlSink", "grep", "init", "sink", "source",
]