wehub-resource-sync
54 lines
1.7 KiB
Python
54 lines
1.7 KiB
Python
"""
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Visualize an arbitrary component as state by remapping `StateChange.state`.
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⚠️TODO(#12600): The API for component mappings is still evolving, so this
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example may change in the future.
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"""
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from __future__ import annotations
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import rerun as rr
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import rerun.blueprint as rrb
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from rerun.blueprint.datatypes import (
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ComponentSourceKind,
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VisualizerComponentMapping,
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)
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rr.init("rerun_example_state_remapping", spawn=True)
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# region: custom_data
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# Log a robot mode as a plain string component — note that this is *not* a
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# `StateChange`, just an arbitrary string logged via `AnyValues`. It shows up on
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# the entity as the component `AnyValues:mode`.
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modes = ["booting", "idle", "driving", "idle", "charging"]
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for step, mode in enumerate(modes):
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rr.set_time("step", sequence=step)
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rr.log("robot", rr.AnyValues(mode=mode))
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# endregion: custom_data
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# region: blueprint
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# Remap the state-timeline visualizer's `StateChange:state` input to read from
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# the custom `AnyValues:mode` component instead of an actual `StateChange`.
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# Any string, boolean, or numeric component can be visualized this way.
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blueprint = rrb.Blueprint(
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rrb.StateTimelineView(
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origin="/",
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name="Robot mode",
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overrides={
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"robot": [
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rr.StateChange.from_fields().visualizer(
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mappings=[
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VisualizerComponentMapping(
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target="StateChange:state",
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source_kind=ComponentSourceKind.SourceComponent,
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source_component="AnyValues:mode",
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),
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],
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),
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],
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},
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),
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)
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rr.send_blueprint(blueprint)
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# endregion: blueprint
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