driver.replay - register channels

[tajgr]

It allow add channels with ":" in configs for replay driver. E.g.:

"driver": "replay",
        "init": {
          "filename": null,
          "pins":{
            "oak_d.depth": "depth:null"
          }

Moreover, there is improved --parrams flag from osgar.record. It is easier to set string value now. E.g.: --params app.filename=data/logy_23/some.log

[m3d]

Can you add test explaining this change? I am also not sure I understand the improvement, so if evaluation fails it is handled as string? What would be the former command? --params app.filename="data/logy_23/some.log"?

[tajgr]

so if evaluation fails it is handled as string? What would be the former command?

Yes, it is handled as string (it is string already). The former command would be --params app.filename="'data/logy_23/some.log'" which is unintuitive from my point of view.

[tajgr]

The first part is clear?

[m3d]

my today's experience:

(osgar) md@md-ThinkPad-P50:~/git/osgar$ python -m osgar.record config/fr07-go.json --param app.max_speed=02 --note "test venku na snehu"
Traceback (most recent call last):
  File "/usr/lib/python3.8/runpy.py", line 194, in _run_module_as_main
    return _run_code(code, main_globals, None,
  File "/usr/lib/python3.8/runpy.py", line 87, in _run_code
    exec(code, run_globals)
  File "/home/md/git/osgar/osgar/record.py", line 104, in <module>
    main()
  File "/home/md/git/osgar/osgar/record.py", line 99, in main
    cfg = config_load(*args.config, application=args.application, params=args.params, without=args.without)
  File "/home/md/git/osgar/osgar/lib/config.py", line 53, in config_load
    ret['robot']['modules'][key[0]]['init'][key[1]] = literal_eval(str_value)
  File "/usr/lib/python3.8/ast.py", line 59, in literal_eval
    node_or_string = parse(node_or_string, mode='eval')
  File "/usr/lib/python3.8/ast.py", line 47, in parse
    return compile(source, filename, mode, flags,
  File "<unknown>", line 1
    02
     ^
SyntaxError: leading zeros in decimal integer literals are not permitted; use an 0o prefix for octal integers

well, up-to-today i did not know that integers could not start with 0 (yes, it was mistake, btw, it should be 0.2) ... and it would be automatically cast as string = dangerous.

osgar) md@md-ThinkPad-P50:~/git/osgar$ python
Python 3.8.10 (default, Nov 22 2023, 10:22:35) 
[GCC 9.4.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> 02
  File "<stdin>", line 1
    02
     ^
SyntaxError: leading zeros in decimal integer literals are not permitted; use an 0o prefix for octal integers
>>> exit()

[m3d]

The first part is clear?

not really, I am not sure what is the use case? That could test explain??

[tajgr]

would be automatically cast as string = dangerous

Ok. I understand, it should crash during loading rather. This part is just "nice to have". I will replace it by some comment in parrams flag.

[tajgr]

not really, I am not sure what is the use case? That could test explain??

There is an example config:

{
  "version": 2,
  "robot": {
    "modules": {
      "log": {
        "driver": "replay",
        "init": {
          "filename": null,
          "pins":{
            "lidar.scan": "scan:null",
            "gps.position": "position:null",
            "oak_d.depth": "depth:null",
            "oak_d.color": "color:null",
            "oak_1.color": "color_1:null"
          },
          "sleep_channel": ["depth", 0.1]
        }
      },
      "lidar": {
          "driver": "tools.dummy_node:DummyNode",
          "in": ["raw"],
          "out": ["scan"],
          "init": {
            "channels": ["scan"]
          }
      },
      "gps": {
          "driver": "tools.dummy_node:DummyNode",
          "in": ["raw"],
          "out": ["position"],
          "init": {
            "channels": ["position"]
          }
      },
       "oak_d": {
          "driver": "tools.dummy_node:DummyNode",
          "init": {
            "channels": ["depth", "color"]
          }
      },
       "oak_1": {
          "driver": "tools.dummy_node:DummyNode",
          "init": {
            "channels": ["color"]
          }
      },
      "height": {
        "driver": "height_node:HeightNode",
        "init": {
          "plots_map": null
        }
      }
    },
    "links": [
      ["log.scan", "lidar.scan"],
      ["log.scan", "height.scan"],

      ["log.position", "gps.position"],
      ["log.position", "height.position"],

      ["log.depth", "oak_d.depth"],
      ["log.depth", "height.depth"],

      ["log.color", "oak_d.color"],
      ["log.color_1", "oak_1.color"]
    ]
  }
}

I have a very large log (10 GB). I am testing a tool to analyze it and I need to add one stream to the log. So I modified the HeightNode and ran the record with the above mentioned config. Node "replay" reads the log and publishes individual streams. But I need the data to be found in streams with the same name as in the original log. That's why DummyNode is included. These nodes only rename the received streams. If I used the original replay node, the 10 GB log would become a 20 GB log. I need to "replay" more of these logs.

[tajgr]

The DummyNode is in another repo and it is not part of this PR.

[tajgr]

Thanks