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Topic/cleanup sv #395

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Topic/cleanup sv #395

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525005d
lg_sv: working cleanup of sv (needed for solo)
FuriousJulius Dec 12, 2018
a477cbf
lg_sv: cleanup cleanup every jacob everywhere
FuriousJulius Dec 12, 2018
533caf2
lg_sv: more cleanup
FuriousJulius Dec 12, 2018
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57 changes: 39 additions & 18 deletions lg_sv/scripts/server.py
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Original file line number Diff line number Diff line change
Expand Up @@ -35,10 +35,31 @@
DEFAULT_NAV_INTERVAL = 0.02
DEFAULT_TICK_RATE = 180
DEFAULT_IDLE_TIME_UNTIL_SNAP = 1.25
DEFAULT_FILTER_FUNCTION= "new_sv_filter"
X_THRESHOLD = 0.50
NODE_NAME = 'pano_viewer_server'


def old_sv_filter(panoid):
rospy.logdebug('doing old_sv function')
if panoid[0:2] == 'F:' or len(panoid) >= 60:
rospy.logdebug('returning true for old_sv')
return True
rospy.logdebug('returning false for old_sv')
return False

def new_sv_filter(panoid):
rospy.logdebug('doing new_sv function')
if panoid[0:2] != 'F:' and len(panoid) < 60:
rospy.logerr('returning true for new_sv')
return True
rospy.logdebug('returning false for new_sv')
return False

def both_sv_filter(panoid):
return True


def main():
rospy.init_node('pano_viewer_server', anonymous=True)
server_type = rospy.get_param('~server_type', 'streetview')
Expand Down Expand Up @@ -66,8 +87,16 @@ def main():
tick_rate = rospy.get_param('~tick_rate', DEFAULT_TICK_RATE)
idle_time_until_snap = rospy.get_param('~idle_time_until_snap', DEFAULT_IDLE_TIME_UNTIL_SNAP)

filter_functions = {
"old_sv_filter": old_sv_filter,
"new_sv_filter": new_sv_filter,
"both_sv_filter": both_sv_filter
}
sv_filter = rospy.get_param('~sv_filter', DEFAULT_FILTER_FUNCTION)
filter_function = filter_functions.get(sv_filter, new_sv_filter)

server = PanoViewerServer(location_pub, panoid_pub, pov_pub, tilt_min, tilt_max,
nav_sensitivity, space_nav_interval, idle_time_until_snap, x_threshold,
nav_sensitivity, space_nav_interval, idle_time_until_snap, filter_function, x_threshold,
nearby, metadata_pub, zoom_max, zoom_min, tick_rate, director_pub=director_pub,
server_type=server_type)

Expand All @@ -77,7 +106,7 @@ def main():
server.handle_location_msg)
rospy.Subscriber('/%s/metadata' % server_type, String,
server.handle_metadata_msg)
rospy.Subscriber('/%s/panoid' % server_type, String,
rospy.Subscriber('/%s/panoid' % server_type.replace('_old', ''), String,
server.handle_panoid_msg)
rospy.Subscriber('/%s/pov' % server_type, Quaternion,
server.handle_pov_msg)
Expand All @@ -96,8 +125,10 @@ def main():
def handle_director_message(scene):
rospy.loginfo('running handle director w/ scene: %s' % scene)
_server_type = server_type
# streetview_old isn't an activity type, so check for "streetview" instead
if _server_type == 'streetview_old':
_server_type = 'streetview'
# check that director emssage has our activity _server_type or return
has_asset = has_activity(scene, _server_type)
has_no_activity = has_activity(scene, 'no_activity')
if has_no_activity:
Expand All @@ -107,21 +138,14 @@ def handle_director_message(scene):
rospy.loginfo('hiding self')
visibility_publisher.publish(ApplicationState(state='HIDDEN'))
return

if scene.get('slug', '') == 'auto_generated_sv_scene':
rospy.loginfo("Ignoring my own generated message")
asset = get_activity_config_from_activity(scene, _server_type)
panoid = asset.get('panoid', '')
rospy.logerr("length of panoid is %s server type %s" % (len(panoid), server_type))
rospy.logerr("panoid is %s" % panoid)
if server_type == 'streetview' and (panoid[0:2] != 'F:' and len(panoid) < 60):
visibility_publisher.publish(ApplicationState(state='VISIBLE'))
rospy.logerr("publishing visible for {}".format(server_type))
return
elif server_type == 'streetview_old' and (panoid[0:2] == 'F:' or len(panoid) >= 60):
rospy.logerr("publishing visible for {}".format(server_type))
visibility_publisher.publish(ApplicationState(state='VISIBLE'))
return
elif server_type == 'panoviewer' or server_type == 'panovideo':
rospy.logdebug("length of panoid is %s server type %s" % (len(panoid), server_type))
rospy.logdebug("panoid is %s" % panoid)
if filter_function(panoid):
visibility_publisher.publish(ApplicationState(state='VISIBLE'))
return
visibility_publisher.publish(ApplicationState(state='HIDDEN'))
Expand All @@ -130,11 +154,8 @@ def handle_director_message(scene):
if server_type == 'streetview' or server_type == 'streetview_old':
asset = get_activity_config_from_activity(scene, server_type)
panoid = asset.get('panoid', '')
if server_type == 'streetview' and panoid[0:2] == 'F:':
rospy.logerr("leaving early for {}".format(server_type))
return
elif server_type == 'streetview_old' and panoid[0:2] != 'F':
rospy.logerr("leaving early for {}".format(server_type))
if not filter_function(panoid):
# TODO maybe hide?
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TODO found

return
else:
panoid = scene['windows'][0]['assets'][0]
Expand Down
18 changes: 10 additions & 8 deletions lg_sv/src/lg_sv/server.py
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Original file line number Diff line number Diff line change
Expand Up @@ -118,10 +118,10 @@ def translate_server_metadata_to_client_form(metadata):

class PanoViewerServer:
def __init__(self, location_pub, panoid_pub, pov_pub, tilt_min, tilt_max,
nav_sensitivity, space_nav_interval, idle_time_until_snap,
nav_sensitivity, space_nav_interval, idle_time_until_snap, filter_function,
x_threshold=X_THRESHOLD, nearby_panos=NearbyPanos(),
metadata_pub=None, zoom_max=ZOOM_MAX, zoom_min=ZOOM_MIN,
tick_rate=180, director_pub=None, server_type=""):
tick_rate=180, director_pub=None, server_type="" ):
self.location_pub = location_pub
self.panoid_pub = panoid_pub
self.pov_pub = pov_pub
Expand All @@ -141,6 +141,7 @@ def __init__(self, location_pub, panoid_pub, pov_pub, tilt_min, tilt_max,
self.tick_rate = tick_rate
self.gutter_val = 0.0005
self.tick_period = 1.0 / float(self.tick_rate)
self.filter_function = filter_function

self.state = True

Expand Down Expand Up @@ -290,7 +291,9 @@ def handle_panoid_msg(self, panoid):
Grabs the new panoid from a publisher
"""
# Nothing to do here...
rospy.logdebug('handling panoid for {}'.format(self.server_type))
if self.panoid == panoid.data:
rospy.logdebug('self.panoid was equal to panoid.data {}'.format(self.server_type))
self.nearby_panos.set_panoid(self.panoid)
return
self.generate_director_message(panoid.data)
Expand All @@ -302,11 +305,10 @@ def generate_director_message(self, panoid, pov=None):
if panoid == self.panoid:
return
server_type = self.server_type
if server_type == 'streetview' or server_type == 'streetview_old':
if panoid[0:2] == 'F:':
server_type = 'streetview_old'
else:
server_type = 'streetview'
rospy.logdebug('about to filter for {}'.format(server_type))
if not self.filter_function(panoid):
rospy.logerr('error in filter function... returning {}'.format(server_type))
return
msg = GenericMessage()
msg.type = 'json'
if pov:
Expand All @@ -319,7 +321,7 @@ def generate_director_message(self, panoid, pov=None):
"slug": "auto_generated_sv_scene",
"windows": [
{
"activity": self.server_type,
"activity": server_type.replace('_old', ''),
"assets": [
panoid
],
Expand Down