foxglove-sdk 0.8.1__cp312-cp312-win32.whl → 0.16.3__cp312-cp312-win32.whl

foxglove/channels/__init__.py

@@ -1,90 +1,94 @@
-"""
-This defines channels to easily log messages conforming to well-known Foxglove schemas.
-
-See the :py:mod:`foxglove.schemas` module for available definitions.
-"""
-
-# Generated by https://github.com/foxglove/foxglove-sdk
-from foxglove._foxglove_py.channels import (
-    ArrowPrimitiveChannel,
-    CameraCalibrationChannel,
-    CircleAnnotationChannel,
-    ColorChannel,
-    CompressedImageChannel,
-    CompressedVideoChannel,
-    CubePrimitiveChannel,
-    CylinderPrimitiveChannel,
-    FrameTransformChannel,
-    FrameTransformsChannel,
-    GeoJsonChannel,
-    GridChannel,
-    ImageAnnotationsChannel,
-    KeyValuePairChannel,
-    LaserScanChannel,
-    LinePrimitiveChannel,
-    LocationFixChannel,
-    LogChannel,
-    ModelPrimitiveChannel,
-    PackedElementFieldChannel,
-    Point2Channel,
-    Point3Channel,
-    PointCloudChannel,
-    PointsAnnotationChannel,
-    PoseChannel,
-    PoseInFrameChannel,
-    PosesInFrameChannel,
-    QuaternionChannel,
-    RawAudioChannel,
-    RawImageChannel,
-    SceneEntityChannel,
-    SceneEntityDeletionChannel,
-    SceneUpdateChannel,
-    SpherePrimitiveChannel,
-    TextAnnotationChannel,
-    TextPrimitiveChannel,
-    TriangleListPrimitiveChannel,
-    Vector2Channel,
-    Vector3Channel,
-)
-
-__all__ = [
-    "ArrowPrimitiveChannel",
-    "CameraCalibrationChannel",
-    "CircleAnnotationChannel",
-    "ColorChannel",
-    "CompressedImageChannel",
-    "CompressedVideoChannel",
-    "CubePrimitiveChannel",
-    "CylinderPrimitiveChannel",
-    "FrameTransformChannel",
-    "FrameTransformsChannel",
-    "GeoJsonChannel",
-    "GridChannel",
-    "ImageAnnotationsChannel",
-    "KeyValuePairChannel",
-    "LaserScanChannel",
-    "LinePrimitiveChannel",
-    "LocationFixChannel",
-    "LogChannel",
-    "ModelPrimitiveChannel",
-    "PackedElementFieldChannel",
-    "Point2Channel",
-    "Point3Channel",
-    "PointCloudChannel",
-    "PointsAnnotationChannel",
-    "PoseChannel",
-    "PoseInFrameChannel",
-    "PosesInFrameChannel",
-    "QuaternionChannel",
-    "RawAudioChannel",
-    "RawImageChannel",
-    "SceneEntityChannel",
-    "SceneEntityDeletionChannel",
-    "SceneUpdateChannel",
-    "SpherePrimitiveChannel",
-    "TextAnnotationChannel",
-    "TextPrimitiveChannel",
-    "TriangleListPrimitiveChannel",
-    "Vector2Channel",
-    "Vector3Channel",
-]
+"""
+This module defines channels to easily log messages conforming to well-known Foxglove schemas.
+
+See the :py:mod:`foxglove.schemas` module for available definitions.
+"""
+
+# Generated by https://github.com/foxglove/foxglove-sdk
+from foxglove._foxglove_py.channels import (
+    ArrowPrimitiveChannel,
+    CameraCalibrationChannel,
+    CircleAnnotationChannel,
+    ColorChannel,
+    CompressedImageChannel,
+    CompressedVideoChannel,
+    CubePrimitiveChannel,
+    CylinderPrimitiveChannel,
+    FrameTransformChannel,
+    FrameTransformsChannel,
+    GeoJsonChannel,
+    GridChannel,
+    ImageAnnotationsChannel,
+    KeyValuePairChannel,
+    LaserScanChannel,
+    LinePrimitiveChannel,
+    LocationFixChannel,
+    LocationFixesChannel,
+    LogChannel,
+    ModelPrimitiveChannel,
+    PackedElementFieldChannel,
+    Point2Channel,
+    Point3Channel,
+    PointCloudChannel,
+    PointsAnnotationChannel,
+    PoseChannel,
+    PoseInFrameChannel,
+    PosesInFrameChannel,
+    QuaternionChannel,
+    RawAudioChannel,
+    RawImageChannel,
+    SceneEntityChannel,
+    SceneEntityDeletionChannel,
+    SceneUpdateChannel,
+    SpherePrimitiveChannel,
+    TextAnnotationChannel,
+    TextPrimitiveChannel,
+    TriangleListPrimitiveChannel,
+    Vector2Channel,
+    Vector3Channel,
+    VoxelGridChannel,
+)
+
+__all__ = [
+    "ArrowPrimitiveChannel",
+    "CameraCalibrationChannel",
+    "CircleAnnotationChannel",
+    "ColorChannel",
+    "CompressedImageChannel",
+    "CompressedVideoChannel",
+    "CubePrimitiveChannel",
+    "CylinderPrimitiveChannel",
+    "FrameTransformChannel",
+    "FrameTransformsChannel",
+    "GeoJsonChannel",
+    "GridChannel",
+    "ImageAnnotationsChannel",
+    "KeyValuePairChannel",
+    "LaserScanChannel",
+    "LinePrimitiveChannel",
+    "LocationFixChannel",
+    "LocationFixesChannel",
+    "LogChannel",
+    "ModelPrimitiveChannel",
+    "PackedElementFieldChannel",
+    "Point2Channel",
+    "Point3Channel",
+    "PointCloudChannel",
+    "PointsAnnotationChannel",
+    "PoseChannel",
+    "PoseInFrameChannel",
+    "PosesInFrameChannel",
+    "QuaternionChannel",
+    "RawAudioChannel",
+    "RawImageChannel",
+    "SceneEntityChannel",
+    "SceneEntityDeletionChannel",
+    "SceneUpdateChannel",
+    "SpherePrimitiveChannel",
+    "TextAnnotationChannel",
+    "TextPrimitiveChannel",
+    "TriangleListPrimitiveChannel",
+    "Vector2Channel",
+    "Vector3Channel",
+    "VoxelGridChannel",
+]

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/mcap.py

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

foxglove/notebook/foxglove_widget.py

@@ -0,0 +1,100 @@
+from __future__ import annotations
+
+import pathlib
+from typing import TYPE_CHECKING, Any, Literal
+
+import anywidget
+import traitlets
+
+if TYPE_CHECKING:
+    from .notebook_buffer import NotebookBuffer
+
+
+class FoxgloveWidget(anywidget.AnyWidget):
+    """
+    A widget that displays a Foxglove viewer in a notebook.
+
+    :param buffer: The NotebookBuffer object that contains the data to display in the widget.
+    :param layout_storage_key: The storage key of the layout to use for 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/".
+    """
+
+    _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_params = traitlets.Dict(
+        per_key_traits={
+            "storage_key": traitlets.Unicode(),
+            "opaque_layout": traitlets.Dict(allow_none=True, default_value=None),
+            "force": traitlets.Bool(False),
+        },
+        allow_none=True,
+        default_value=None,
+    ).tag(sync=True)
+
+    def __init__(
+        self,
+        buffer: NotebookBuffer,
+        layout_storage_key: str,
+        width: int | Literal["full"] | None = None,
+        height: int | None = None,
+        src: str | None = None,
+        **kwargs: Any,
+    ):
+        super().__init__(**kwargs)
+        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
+
+        self.select_layout(layout_storage_key, **kwargs)
+
+        # 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 select_layout(self, storage_key: str, **kwargs: Any) -> None:
+        """
+        Select a layout in the Foxglove viewer.
+        """
+        opaque_layout = kwargs.get("opaque_layout", None)
+        force_layout = kwargs.get("force_layout", False)
+
+        self._layout_params = {
+            "storage_key": storage_key,
+            "opaque_layout": opaque_layout if isinstance(opaque_layout, dict) else None,
+            "force": force_layout,
+        }
+
+    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 Any, Literal
+
+from mcap.reader import make_reader
+
+from .._foxglove_py import Context, open_mcap
+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.
+
+    :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.
+    """
+
+    def __init__(self, context: Context | None = None):
+        """
+        Initialize a new NotebookBuffer for collecting logged messages.
+        """
+        # 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,
+        layout_storage_key: str,
+        width: int | Literal["full"] | None = None,
+        height: int | None = None,
+        src: str | None = None,
+        **kwargs: Any,
+    ) -> 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_storage_key=layout_storage_key,
+            **kwargs,
+        )
+        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