Merge pull request #365 from dora-rs/dora-record

Adding Dora record

.github/workflows/release.yml

@@ -62,6 +62,9 @@ jobs:
           cargo publish -p dora-runtime --token ${{ secrets.CARGO_REGISTRY_TOKEN }}
           cargo publish -p dora-daemon --token ${{ secrets.CARGO_REGISTRY_TOKEN }}
 
+          # Publish extension crates
+          cargo publish -p dora-record --token ${{ secrets.CARGO_REGISTRY_TOKEN }}
+
 
 
   windows-release:

.gitignore

@@ -5,6 +5,9 @@
 # These are backup files generated by rustfmt
 **/*.rs.bk
 
+# Remove arrow file from dora-record
+**/*.arrow
+
 # Removing images.
 *.jpg
 *.png

Cargo.lock

@@ -1619,6 +1619,16 @@ dependencies = [
  "safer-ffi",
 ]
 
+[[package]]
+name = "dora-record"
+version = "0.2.6"
+dependencies = [
+ "chrono",
+ "dora-node-api",
+ "dora-tracing",
+ "eyre",
+]
+
 [[package]]
 name = "dora-ros2-bridge"
 version = "0.1.0"
@@ -6569,13 +6579,6 @@ dependencies = [
  "zenoh-sync",
 ]
 
-[[package]]
-name = "zenoh-logger"
-version = "0.2.6"
-dependencies = [
- "zenoh",
-]
-
 [[package]]
 name = "zenoh-macros"
 version = "0.7.0-rc"

Cargo.toml

@@ -22,7 +22,7 @@ members = [
     "libraries/shared-memory-server",
     "libraries/extensions/download",
     "libraries/extensions/telemetry/*",
-    "libraries/extensions/zenoh-logger",
+    "libraries/extensions/dora-record",
     "libraries/extensions/ros2-bridge",
     "libraries/extensions/ros2-bridge/msg-gen",
     "libraries/extensions/ros2-bridge/msg-gen-macro",

examples/python-operator-dataflow/dataflow.yml

@@ -21,3 +21,10 @@ nodes:
       inputs:
         image: webcam/image
         bbox: object_detection/bbox
+  - id: dora-record
+    custom:
+      build: cargo build -p dora-record
+      source: ../../target/debug/dora-record
+      inputs:
+        image: webcam/image
+        bbox: object_detection/bbox

examples/rust-dataflow/dataflow.yml

@@ -23,3 +23,10 @@ nodes:
       source: ../../target/debug/rust-dataflow-example-sink
       inputs:
         message: runtime-node/rust-operator/status
+  - id: dora-record
+    custom:
+      build: cargo build -p dora-record
+      source: ../../target/debug/dora-record
+      inputs:
+        message: runtime-node/rust-operator/status
+        random: rust-node/random

libraries/extensions/zenoh-logger/Cargo.toml → libraries/extensions/dora-record/Cargo.toml

@@ -1,5 +1,5 @@
 [package]
-name = "zenoh-logger"
+name = "dora-record"
 version.workspace = true
 edition = "2021"
 documentation.workspace = true
@@ -9,4 +9,7 @@ license.workspace = true
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-zenoh = "0.7.0-rc"
+dora-node-api = { workspace = true, features = ["tracing"] }
+eyre = "0.6.8"
+chrono = "0.4.31"
+dora-tracing = { workspace = true }

libraries/extensions/dora-record/src/main.rs

@@ -0,0 +1,137 @@
+use chrono::{DateTime, Utc};
+use dora_node_api::{
+    self,
+    arrow::{
+        array::{
+            make_array, Array, ListArray, StringArray, TimestampMillisecondArray, UInt64Array,
+        },
+        buffer::{OffsetBuffer, ScalarBuffer},
+        datatypes::{DataType, Field, Schema},
+        ipc::writer::FileWriter,
+        record_batch::RecordBatch,
+    },
+    DoraNode, Event, Metadata,
+};
+use dora_tracing::telemetry::deserialize_to_hashmap;
+use eyre::{Context, ContextCompat};
+use std::{collections::HashMap, fs::File, sync::Arc};
+
+fn main() -> eyre::Result<()> {
+    let (_node, mut events) = DoraNode::init_from_env()?;
+
+    let mut writers = HashMap::new();
+    while let Some(event) = events.recv() {
+        match event {
+            Event::Input { id, data, metadata } => {
+                match writers.get_mut(&id) {
+                    None => {
+                        let field_uhlc = Field::new("timestamp_uhlc", DataType::UInt64, false);
+                        let field_utc_epoch = Field::new(
+                            "timestamp_utc",
+                            DataType::Timestamp(
+                                dora_node_api::arrow::datatypes::TimeUnit::Millisecond,
+                                None,
+                            ),
+                            false,
+                        );
+                        let field_trace_id = Field::new("trace_id", DataType::Utf8, true);
+                        let field_span_id = Field::new("span_id", DataType::Utf8, true);
+                        let field_values =
+                            Arc::new(Field::new("item", data.data_type().clone(), true));
+                        let field_data = Field::new(id.clone(), DataType::List(field_values), true);
+
+                        let schema = Arc::new(Schema::new(vec![
+                            field_trace_id,
+                            field_span_id,
+                            field_uhlc,
+                            field_utc_epoch,
+                            field_data,
+                        ]));
+                        let file = std::fs::File::create(format!("{id}.arrow")).unwrap();
+
+                        let writer = FileWriter::try_new(file, &schema).unwrap();
+                        let mut writer = writer;
+                        write_event(&mut writer, data.into(), &metadata)
+                            .context("could not write first record data")?;
+                        writers.insert(id.clone(), writer);
+                    }
+                    Some(writer) => {
+                        write_event(writer, data.into(), &metadata)
+                            .context("could not write record data")?;
+                    }
+                };
+            }
+            Event::InputClosed { id } => match writers.remove(&id) {
+                None => {}
+                Some(mut writer) => writer.finish().context("Could not finish arrow file")?,
+            },
+            _ => {}
+        }
+    }
+
+    let result: eyre::Result<Vec<_>> = writers
+        .iter_mut()
+        .map(|(_, writer)| -> eyre::Result<()> {
+            writer
+                .finish()
+                .context("Could not finish writing arrow file")?;
+            Ok(())
+        })
+        .collect();
+    result.context("At least one of the input recorder file writer failed to finish")?;
+
+    Ok(())
+}
+
+/// Write a row of data into the writer
+fn write_event(
+    writer: &mut FileWriter<File>,
+    data: Arc<dyn Array>,
+    metadata: &Metadata,
+) -> eyre::Result<()> {
+    let offsets = OffsetBuffer::new(ScalarBuffer::from(vec![0, data.len() as i32]));
+    let field = Arc::new(Field::new("item", data.data_type().clone(), true));
+    let list = ListArray::new(field, offsets, data.clone(), None);
+
+    let timestamp = metadata.timestamp();
+    let timestamp_uhlc = UInt64Array::from(vec![timestamp.get_time().0]);
+    let timestamp_uhlc = make_array(timestamp_uhlc.into());
+    let system_time = timestamp.get_time().to_system_time();
+
+    let dt: DateTime<Utc> = system_time.into();
+    let timestamp_utc = TimestampMillisecondArray::from(vec![dt.timestamp_millis()]);
+    let timestamp_utc = make_array(timestamp_utc.into());
+
+    let string_otel_context = metadata.parameters.open_telemetry_context.to_string();
+    let otel_context = deserialize_to_hashmap(&string_otel_context);
+    let traceparent = otel_context.get("traceparent");
+    let trace_id = match traceparent {
+        None => "",
+        Some(trace) => trace.split('-').nth(1).context("Trace is malformatted")?,
+    };
+    let span_id = match traceparent {
+        None => "",
+        Some(trace) => trace.split('-').nth(2).context("Trace is malformatted")?,
+    };
+    let trace_id_array = StringArray::from(vec![trace_id]);
+    let trace_id_array = make_array(trace_id_array.into());
+    let span_id_array = StringArray::from(vec![span_id]);
+    let span_id_array = make_array(span_id_array.into());
+
+    let record = RecordBatch::try_new(
+        writer.schema().clone(),
+        vec![
+            trace_id_array,
+            span_id_array,
+            timestamp_uhlc,
+            timestamp_utc,
+            make_array(list.into()),
+        ],
+    )
+    .context("Could not create record batch with the given data")?;
+    writer
+        .write(&record)
+        .context("Could not write recordbatch to file")?;
+
+    Ok(())
+}

libraries/extensions/telemetry/tracing/src/telemetry.rs

@@ -54,12 +54,17 @@ pub fn serialize_context(context: &Context) -> String {
 }
 
 pub fn deserialize_context(string_context: &str) -> Context {
-    let mut map = MetadataMap(HashMap::new());
+    let map = MetadataMap(deserialize_to_hashmap(string_context));
+    global::get_text_map_propagator(|prop| prop.extract(&map))
+}
+
+pub fn deserialize_to_hashmap(string_context: &str) -> HashMap<&str, &str> {
+    let mut map = HashMap::new();
     for s in string_context.split(';') {
         let mut values = s.split(':');
         let key = values.next().unwrap();
         let value = values.next().unwrap_or("");
-        map.0.insert(key, value);
+        map.insert(key, value);
     }
-    global::get_text_map_propagator(|prop| prop.extract(&map))
+    map
 }

libraries/extensions/zenoh-logger/src/main.rs

@@ -1,15 +0,0 @@
-use zenoh::prelude::{sync::SyncResolve, Config};
-
-fn main() {
-    let zenoh = zenoh::open(Config::default()).res_sync().unwrap();
-    let sub = zenoh
-        .declare_subscriber("/**")
-        .reliable()
-        .res_sync()
-        .unwrap();
-
-    loop {
-        let msg = sub.recv().unwrap();
-        println!("{}", msg.key_expr);
-    }
-}