foxglove-sdk 0.6.2__cp312-cp312-win32.whl → 0.16.6__cp312-cp312-win32.whl

foxglove/cloud.py

@@ -0,0 +1,61 @@
+from typing import Protocol
+
+from ._foxglove_py.websocket import (
+    ChannelView,
+    Client,
+    ClientChannel,
+)
+
+
+class CloudSinkListener(Protocol):
+    """
+    A mechanism to register callbacks for handling client message events.
+    """
+
+    def on_subscribe(self, client: Client, channel: ChannelView) -> None:
+        """
+        Called when a client subscribes to a channel.
+
+        :param client: The client (id) that sent the message.
+        :param channel: The channel (id, topic) that the message was sent on.
+        """
+        return None
+
+    def on_unsubscribe(self, client: Client, channel: ChannelView) -> None:
+        """
+        Called when a client unsubscribes from a channel or disconnects.
+
+        :param client: The client (id) that sent the message.
+        :param channel: The channel (id, topic) that the message was sent on.
+        """
+        return None
+
+    def on_client_advertise(self, client: Client, channel: ClientChannel) -> None:
+        """
+        Called when a client advertises a channel.
+
+        :param client: The client (id) that sent the message.
+        :param channel: The client channel that is being advertised.
+        """
+        return None
+
+    def on_client_unadvertise(self, client: Client, client_channel_id: int) -> None:
+        """
+        Called when a client unadvertises a channel.
+
+        :param client: The client (id) that is unadvertising the channel.
+        :param client_channel_id: The client channel id that is being unadvertised.
+        """
+        return None
+
+    def on_message_data(
+        self, client: Client, client_channel_id: int, data: bytes
+    ) -> None:
+        """
+        Called when a message is received from a client.
+
+        :param client: The client (id) that sent the message.
+        :param client_channel_id: The client channel id that the message was sent on.
+        :param data: The message data.
+        """
+        return None

foxglove/layouts/__init__.py

@@ -0,0 +1,17 @@
+"""
+This module defines types for programmatically constructing Foxglove `layouts <https://docs.foxglove.dev/docs/visualization/layouts>`_.
+
+This API is currently experimental and not ready for public use.
+"""
+
+
+class Layout:
+    """A Foxglove layout
+
+    :raises NotImplementedError: This class is currently experimental and not ready for public use.
+    """
+
+    def to_json(self) -> str:
+        raise NotImplementedError(
+            "This class is currently experimental and not ready for public use."
+        )

foxglove/mcap.py

@@ -0,0 +1,12 @@
+# Re-export these imports
+from ._foxglove_py.mcap import (
+    MCAPCompression,
+    MCAPWriteOptions,
+    MCAPWriter,
+)
+
+__all__ = [
+    "MCAPCompression",
+    "MCAPWriter",
+    "MCAPWriteOptions",
+]

foxglove/notebook/foxglove_widget.py

@@ -0,0 +1,82 @@
+from __future__ import annotations
+
+import pathlib
+from typing import TYPE_CHECKING, Literal
+
+import anywidget
+import traitlets
+
+if TYPE_CHECKING:
+    from ..layouts import Layout
+    from .notebook_buffer import NotebookBuffer
+
+
+class FoxgloveWidget(anywidget.AnyWidget):
+    """
+    A widget that displays a Foxglove viewer in a notebook.
+    """
+
+    _esm = pathlib.Path(__file__).parent / "static" / "widget.js"
+    width = traitlets.Union(
+        [traitlets.Int(), traitlets.Enum(values=["full"])], default_value="full"
+    ).tag(sync=True)
+    height = traitlets.Int(default_value=500).tag(sync=True)
+    src = traitlets.Unicode(default_value=None, allow_none=True).tag(sync=True)
+    _layout = traitlets.Unicode(default_value=None, allow_none=True).tag(sync=True)
+
+    def __init__(
+        self,
+        *,
+        buffer: NotebookBuffer,
+        width: int | Literal["full"] | None = None,
+        height: int | None = None,
+        src: str | None = None,
+        layout: Layout | None = None,
+    ):
+        """
+        :param buffer: The NotebookBuffer object that contains the data to display in the widget.
+        :param width: The width of the widget. Defaults to "full".
+        :param height: The height of the widget in pixels. Defaults to 500.
+        :param src: The source URL of the Foxglove viewer. Defaults to
+            "https://embed.foxglove.dev/".
+        """
+        super().__init__()
+        if width is not None:
+            self.width = width
+        else:
+            self.width = "full"
+        if height is not None:
+            self.height = height
+        if src is not None:
+            self.src = src
+
+        if layout is not None:
+            self._layout = layout.to_json()
+
+        # Callback to get the data to display in the widget
+        self._buffer = buffer
+        # Keep track of when the widget is ready to receive data
+        self._ready = False
+        # Pending data to be sent when the widget is ready
+        self._pending_data: list[bytes] = []
+        self.on_msg(self._handle_custom_msg)
+        self.refresh()
+
+    def refresh(self) -> None:
+        """
+        Refresh the widget by getting the data from the callback function and sending it
+        to the widget.
+        """
+        data = self._buffer._get_data()
+        if not self._ready:
+            self._pending_data = data
+        else:
+            self.send({"type": "update-data"}, data)
+
+    def _handle_custom_msg(self, msg: dict, buffers: list[bytes]) -> None:
+        if msg["type"] == "ready":
+            self._ready = True
+
+            if len(self._pending_data) > 0:
+                self.send({"type": "update-data"}, self._pending_data)
+                self._pending_data = []

foxglove/notebook/notebook_buffer.py

@@ -0,0 +1,114 @@
+from __future__ import annotations
+
+import os
+import uuid
+from tempfile import TemporaryDirectory
+from typing import Literal
+
+from mcap.reader import make_reader
+
+from .._foxglove_py import Context, open_mcap
+from ..layouts import Layout
+from .foxglove_widget import FoxgloveWidget
+
+
+class NotebookBuffer:
+    """
+    A data buffer to collect and manage messages and visualization in Jupyter notebooks.
+
+    The NotebookBuffer object will buffer all data logged to the provided context. When you
+    are ready to visualize the data, you can call the :meth:`show` method to display an embedded
+    Foxglove visualization widget. The widget provides a fully-featured Foxglove interface
+    directly within your Jupyter notebook, allowing you to explore multi-modal robotics data
+    including 3D scenes, plots, images, and more.
+    """
+
+    def __init__(self, *, context: Context | None = None):
+        """
+        Initialize a new NotebookBuffer for collecting logged messages.
+
+        :param context: The Context used to log the messages. If no Context is provided, the global
+            context will be used. Logged messages will be buffered.
+        """
+        # We need to keep the temporary directory alive until the writer is closed
+        self._temp_directory = TemporaryDirectory()
+        self._context = context
+        self._files: list[str] = []
+        self._create_writer()
+
+    def show(
+        self,
+        *,
+        width: int | Literal["full"] | None = None,
+        height: int | None = None,
+        src: str | None = None,
+        layout: Layout | None = None,
+    ) -> FoxgloveWidget:
+        """
+        Show the Foxglove viewer. Call this method as the last step of a notebook cell
+        to display the viewer.
+        """
+        widget = FoxgloveWidget(
+            buffer=self,
+            width=width,
+            height=height,
+            src=src,
+            layout=layout,
+        )
+        return widget
+
+    def clear(self) -> None:
+        """
+        Clear the buffered data.
+        """
+        self._writer.close()
+        # Delete the temporary directory and all its contents
+        self._temp_directory.cleanup()
+        # Reset files list
+        self._files = []
+        # Create a new temporary directory
+        self._temp_directory = TemporaryDirectory()
+        self._create_writer()
+
+    def _get_data(self) -> list[bytes]:
+        """
+        Retrieve all collected data.
+        """
+        # close the current writer
+        self._writer.close()
+
+        if len(self._files) > 1:
+            if is_mcap_empty(self._files[-1]):
+                # If the last file is empty, remove the last file since it won't add any new data
+                # to the buffer
+                os.remove(self._files[-1])
+                self._files.pop()
+            elif is_mcap_empty(self._files[0]):
+                # If the first file is empty, remove the first file since it won't add any new data
+                # to the buffer
+                os.remove(self._files[0])
+                self._files.pop(0)
+
+        # read the content of the files
+        contents: list[bytes] = []
+        for file_name in self._files:
+            with open(file_name, "rb") as f_read:
+                contents.append(f_read.read())
+
+        self._create_writer()
+
+        return contents
+
+    def _create_writer(self) -> None:
+        random_id = uuid.uuid4().hex[:8]
+        file_name = f"{self._temp_directory.name}/log-{random_id}.mcap"
+        self._files.append(file_name)
+        self._writer = open_mcap(path=file_name, context=self._context)
+
+
+def is_mcap_empty(file_name: str) -> bool:
+    with open(file_name, "rb") as f_read:
+        iter = make_reader(f_read).iter_messages()
+        is_empty = next(iter, None) is None
+
+    return is_empty

foxglove/notebook/static/widget.js

@@ -0,0 +1 @@
+var g=EventTarget,f="https://embed.foxglove.dev/",w="foxglove.default-layout";function y(){let t,e;return{promise:new Promise((a,i)=>{t=a,e=i}),resolve:t,reject:e}}var d=class extends g{#e;#a;#d;#r=!1;#n;#t={dataSource:void 0,selectLayout:void 0,extension:[]};#s;#i=!1;constructor(e){super();let{parent:s,src:a,orgSlug:i,initialDataSource:o,initialLayout:r,initialLayoutParams:n,initialExtensions:l,colorScheme:h="auto",embeddedViewer:u}=e;this.#d=i,this.#n=y();let c=a??f;try{this.#a=new URL(c)}catch{throw new Error(`[FoxgloveViewer] Invalid server URL: ${c}`)}u!=null&&this.#a.searchParams.set("embeddedViewer",u),window.addEventListener("message",this.#h),o&&this.setDataSource(o),r!=null&&n==null&&this.setLayoutData(r),n!=null&&this.selectLayout(n),l&&this.installExtensions(l),this.#e=document.createElement("iframe"),this.#e.src=this.#a.href,this.#e.title="Foxglove",this.#e.allow="cross-origin-isolated",this.#e.style.width="100%",this.#e.style.height="100%",this.#e.style.border="none",this.setColorScheme(h),s.appendChild(this.#e)}setDataSource(e){this.#l({type:"set-data-source",payload:e})}selectLayout(e){this.#l({type:"select-layout",payload:e})}async getLayout(){return this.#s||(this.#s=y(),await this.#n.promise,this.#o({type:"get-layout"})),await this.#s.promise}setLayoutData(e){this.selectLayout({storageKey:w,opaqueLayout:e,force:!0})}installExtensions(e){this.#l({type:"install-extension",payload:e})}isReady(){return this.#r}destroy(){this.#i=!0,this.#e.remove(),window.removeEventListener("message",this.#h)}isDestroyed(){return this.#i}setColorScheme(e){this.#e.style.colorScheme=e==="auto"?"normal":e}#l(e){switch(e.type){case"install-extension":this.#t.extension.push(e);break;case"set-data-source":this.#t.dataSource=e;break;case"select-layout":this.#t.selectLayout=e;break}this.#r&&this.#o(e)}#o(e){if(this.#i){console.warn("[FoxgloveViewer] Unable to post command. Frame has been destroyed.");return}v(this.#e.contentWindow,"Invariant: iframe should be loaded."),this.#e.contentWindow.postMessage(e,this.#a.origin)}#h=e=>{let s=new URL(e.origin);if(!(e.source!==this.#e.contentWindow||s.origin!==this.#a.origin)){if(this.#i){console.warn("[FoxgloveViewer] Unable to handle message. Frame has been destroyed.");return}switch(e.data.type){case"foxglove-origin-request":this.#o({type:"origin-ack"});break;case"foxglove-handshake-request":this.#r=!0,this.#n.resolve(),this.#o({type:"handshake-ack",payload:{orgSlug:this.#d,initialDataSource:this.#t.dataSource?.payload,initialLayoutParams:this.#t.selectLayout?.payload,initialExtensions:this.#t.extension.flatMap(a=>a.payload)}});break;case"foxglove-handshake-complete":this.dispatchEvent(new Event("ready"));break;case"foxglove-error":this.dispatchEvent(new CustomEvent("error",{detail:e.data.payload}));break;case"foxglove-layout-data":this.#s?(this.#s.resolve(e.data.payload),this.#s=void 0):console.warn("[FoxgloveViewer] Received layout but getLayout was not called.");break;default:console.warn("[FoxgloveViewer] Unhandled message type:",e.data);break}}}};function v(t,e="no additional info provided"){if(!t)throw new Error("Assertion Error: "+e)}var m="foxglove-notebook-default-layout";function p(t){return{storageKey:m,force:!0,layout:t?JSON.parse(t):void 0}}function x({model:t,el:e}){let s=document.createElement("div"),a=t.get("_layout"),i=new d({parent:s,embeddedViewer:"Python",src:t.get("src"),orgSlug:void 0,initialLayoutParams:p(a)});i.addEventListener("ready",()=>{t.send({type:"ready"})}),t.on("msg:custom",(o,r)=>{if(o.type==="update-data"){let n=r.map((l,h)=>new File([l.buffer],`data-${h}.mcap`));i.setDataSource({type:"file",file:n})}}),s.style.width=t.get("width")==="full"?"100%":`${t.get("width")}px`,s.style.height=`${t.get("height")}px`,t.on("change:width",()=>{s.style.width=t.get("width")==="full"?"100%":`${t.get("width")}px`}),t.on("change:height",()=>{s.style.height=`${t.get("height")}px`}),t.on("change:_layout",()=>{let o=t.get("_layout"),r=p(o);i.selectLayout(r)}),e.appendChild(s)}var R={render:x};export{R as default};

foxglove/schemas/__init__.py

@@ -1,149 +1,166 @@
-"""
-This module contains the definitions of the well-known Foxglove schemas for logging.
-
-Log messages to a corresponding channel type from :py:mod:`foxglove.channels`.
-"""
-
-# Generated by https://github.com/foxglove/foxglove-sdk
-
-from typing import Union
-
-from foxglove._foxglove_py.schemas import (
-    ArrowPrimitive,
-    CameraCalibration,
-    CircleAnnotation,
-    Color,
-    CompressedImage,
-    CompressedVideo,
-    CubePrimitive,
-    CylinderPrimitive,
-    Duration,
-    FrameTransform,
-    FrameTransforms,
-    GeoJson,
-    Grid,
-    ImageAnnotations,
-    KeyValuePair,
-    LaserScan,
-    LinePrimitive,
-    LinePrimitiveLineType,
-    LocationFix,
-    LocationFixPositionCovarianceType,
-    Log,
-    LogLevel,
-    ModelPrimitive,
-    PackedElementField,
-    PackedElementFieldNumericType,
-    Point2,
-    Point3,
-    PointCloud,
-    PointsAnnotation,
-    PointsAnnotationType,
-    Pose,
-    PoseInFrame,
-    PosesInFrame,
-    Quaternion,
-    RawImage,
-    SceneEntity,
-    SceneEntityDeletion,
-    SceneEntityDeletionType,
-    SceneUpdate,
-    SpherePrimitive,
-    TextAnnotation,
-    TextPrimitive,
-    Timestamp,
-    TriangleListPrimitive,
-    Vector2,
-    Vector3,
-)
-
-FoxgloveSchema = Union[
-    ArrowPrimitive,
-    CameraCalibration,
-    CircleAnnotation,
-    Color,
-    CompressedImage,
-    CompressedVideo,
-    CubePrimitive,
-    CylinderPrimitive,
-    FrameTransform,
-    FrameTransforms,
-    GeoJson,
-    Grid,
-    ImageAnnotations,
-    KeyValuePair,
-    LaserScan,
-    LinePrimitive,
-    LocationFix,
-    Log,
-    ModelPrimitive,
-    PackedElementField,
-    Point2,
-    Point3,
-    PointCloud,
-    PointsAnnotation,
-    Pose,
-    PoseInFrame,
-    PosesInFrame,
-    Quaternion,
-    RawImage,
-    SceneEntity,
-    SceneEntityDeletion,
-    SceneUpdate,
-    SpherePrimitive,
-    TextAnnotation,
-    TextPrimitive,
-    TriangleListPrimitive,
-    Vector2,
-    Vector3,
-]
-
-__all__ = [
-    "FoxgloveSchema",
-    "ArrowPrimitive",
-    "CameraCalibration",
-    "CircleAnnotation",
-    "Color",
-    "CompressedImage",
-    "CompressedVideo",
-    "CubePrimitive",
-    "CylinderPrimitive",
-    "Duration",
-    "FrameTransform",
-    "FrameTransforms",
-    "GeoJson",
-    "Grid",
-    "ImageAnnotations",
-    "KeyValuePair",
-    "LaserScan",
-    "LinePrimitive",
-    "LinePrimitiveLineType",
-    "LocationFix",
-    "LocationFixPositionCovarianceType",
-    "Log",
-    "LogLevel",
-    "ModelPrimitive",
-    "PackedElementField",
-    "PackedElementFieldNumericType",
-    "Point2",
-    "Point3",
-    "PointCloud",
-    "PointsAnnotation",
-    "PointsAnnotationType",
-    "Pose",
-    "PoseInFrame",
-    "PosesInFrame",
-    "Quaternion",
-    "RawImage",
-    "SceneEntity",
-    "SceneEntityDeletion",
-    "SceneEntityDeletionType",
-    "SceneUpdate",
-    "SpherePrimitive",
-    "TextAnnotation",
-    "TextPrimitive",
-    "Timestamp",
-    "TriangleListPrimitive",
-    "Vector2",
-    "Vector3",
-]
+"""
+This module contains the definitions of the well-known Foxglove schemas for logging.
+
+Log messages to a corresponding channel type from :py:mod:`foxglove.channels`.
+
+Note that the schema classes are currently immutable and do not expose
+getters and setters for their fields. This is a limitation we plan to address in the future.
+"""
+
+# Generated by https://github.com/foxglove/foxglove-sdk
+
+from typing import Union
+
+from foxglove._foxglove_py.schemas import (
+    ArrowPrimitive,
+    CameraCalibration,
+    CircleAnnotation,
+    Color,
+    CompressedImage,
+    CompressedVideo,
+    CubePrimitive,
+    CylinderPrimitive,
+    Duration,
+    FrameTransform,
+    FrameTransforms,
+    GeoJson,
+    Grid,
+    ImageAnnotations,
+    KeyValuePair,
+    LaserScan,
+    LinePrimitive,
+    LinePrimitiveLineType,
+    LocationFix,
+    LocationFixes,
+    LocationFixPositionCovarianceType,
+    Log,
+    LogLevel,
+    ModelPrimitive,
+    PackedElementField,
+    PackedElementFieldNumericType,
+    Point2,
+    Point3,
+    Point3InFrame,
+    PointCloud,
+    PointsAnnotation,
+    PointsAnnotationType,
+    Pose,
+    PoseInFrame,
+    PosesInFrame,
+    Quaternion,
+    RawAudio,
+    RawImage,
+    SceneEntity,
+    SceneEntityDeletion,
+    SceneEntityDeletionType,
+    SceneUpdate,
+    SpherePrimitive,
+    TextAnnotation,
+    TextPrimitive,
+    Timestamp,
+    TriangleListPrimitive,
+    Vector2,
+    Vector3,
+    VoxelGrid,
+)
+
+FoxgloveSchema = Union[
+    ArrowPrimitive,
+    CameraCalibration,
+    CircleAnnotation,
+    Color,
+    CompressedImage,
+    CompressedVideo,
+    CubePrimitive,
+    CylinderPrimitive,
+    Duration,
+    FrameTransform,
+    FrameTransforms,
+    GeoJson,
+    Grid,
+    ImageAnnotations,
+    KeyValuePair,
+    LaserScan,
+    LinePrimitive,
+    LocationFix,
+    LocationFixes,
+    Log,
+    ModelPrimitive,
+    PackedElementField,
+    Point2,
+    Point3,
+    Point3InFrame,
+    PointCloud,
+    PointsAnnotation,
+    Pose,
+    PoseInFrame,
+    PosesInFrame,
+    Quaternion,
+    RawAudio,
+    RawImage,
+    SceneEntity,
+    SceneEntityDeletion,
+    SceneUpdate,
+    SpherePrimitive,
+    TextAnnotation,
+    TextPrimitive,
+    Timestamp,
+    TriangleListPrimitive,
+    Vector2,
+    Vector3,
+    VoxelGrid,
+]
+
+__all__ = [
+    "FoxgloveSchema",
+    "ArrowPrimitive",
+    "CameraCalibration",
+    "CircleAnnotation",
+    "Color",
+    "CompressedImage",
+    "CompressedVideo",
+    "CubePrimitive",
+    "CylinderPrimitive",
+    "Duration",
+    "FrameTransform",
+    "FrameTransforms",
+    "GeoJson",
+    "Grid",
+    "ImageAnnotations",
+    "KeyValuePair",
+    "LaserScan",
+    "LinePrimitive",
+    "LinePrimitiveLineType",
+    "LocationFix",
+    "LocationFixPositionCovarianceType",
+    "LocationFixes",
+    "Log",
+    "LogLevel",
+    "ModelPrimitive",
+    "PackedElementField",
+    "PackedElementFieldNumericType",
+    "Point2",
+    "Point3",
+    "Point3InFrame",
+    "PointCloud",
+    "PointsAnnotation",
+    "PointsAnnotationType",
+    "Pose",
+    "PoseInFrame",
+    "PosesInFrame",
+    "Quaternion",
+    "RawAudio",
+    "RawImage",
+    "SceneEntity",
+    "SceneEntityDeletion",
+    "SceneEntityDeletionType",
+    "SceneUpdate",
+    "SpherePrimitive",
+    "TextAnnotation",
+    "TextPrimitive",
+    "Timestamp",
+    "TriangleListPrimitive",
+    "Vector2",
+    "Vector3",
+    "VoxelGrid",
+]