Rewrite terminal-print in rust and make it connect to multiple dataflow throughout time

Cargo.lock

@@ -4017,7 +4017,7 @@ dependencies = [
  "httpdate",
  "itoa",
  "pin-project-lite",
- "socket2 0.4.10",
+ "socket2 0.5.7",
  "tokio",
  "tower-service",
  "tracing",
@@ -9356,6 +9356,14 @@ dependencies = [
  "winapi-util",
 ]
 
+[[package]]
+name = "terminal-print"
+version = "0.3.5"
+dependencies = [
+ "dora-node-api",
+ "eyre",
+]
+
 [[package]]
 name = "terminal_size"
 version = "0.3.0"
@@ -9838,7 +9846,7 @@ version = "1.6.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "97fee6b57c6a41524a810daee9286c02d7752c4253064d0b05472833a438f675"
 dependencies = [
- "cfg-if 0.1.10",
+ "cfg-if 1.0.0",
  "static_assertions",
 ]
 

Cargo.toml

@@ -32,6 +32,7 @@ members = [
     "libraries/extensions/telemetry/*",
     "node-hub/dora-record",
     "node-hub/dora-rerun",
+    "node-hub/terminal-print",
     "libraries/extensions/ros2-bridge",
     "libraries/extensions/ros2-bridge/msg-gen",
     "libraries/extensions/ros2-bridge/python",

examples/echo/dataflow.yml

@@ -14,3 +14,9 @@ nodes:
       input: terminal-input/data
     outputs:
       - echo
+
+  - id: terminal-print
+    build: cargo build -p terminal-print
+    path: dynamic
+    inputs:
+      echo: dora-echo/echo

node-hub/terminal-print/Cargo.toml

@@ -0,0 +1,13 @@
+[package]
+name = "terminal-print"
+edition = "2021"
+version.workspace = true
+description.workspace = true
+documentation.workspace = true
+license.workspace = true
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+dora-node-api = { workspace = true, features = ["tracing"] }
+eyre = "0.6.8"

node-hub/terminal-print/README.md

@@ -1,89 +0,0 @@
-# Dora Node for plotting data with OpenCV
-
-This node is used to plot a text and a list of bbox on a base image (ideal for object detection).
-
-# YAML
-
-```yaml
-- id: opencv-plot
-  build: pip install ../../node-hub/opencv-plot
-  path: opencv-plot
-  inputs:
-    # image: Arrow array of size 1 containing the base image
-    # bbox: Arrow array of bbox
-    # text: Arrow array of size 1 containing the text to be plotted
-
-  env:
-    PLOT_WIDTH: 640 # optional, default is image input width
-    PLOT_HEIGHT: 480 # optional, default is image input height
-```
-
-# Inputs
-
-- `image`: Arrow array containing the base image
-
-```python
-## Image data
-image_data: UInt8Array # Example: pa.array(img.ravel())
-metadata = {
-  "width": 640,
-  "height": 480,
-  "encoding": str, # bgr8, rgb8
-}
-
-## Example
-node.send_output(
-  image_data, {"width": 640, "height": 480, "encoding": "bgr8"}
-  )
-
-## Decoding
-storage = event["value"]
-
-metadata = event["metadata"]
-encoding = metadata["encoding"]
-width = metadata["width"]
-height = metadata["height"]
-
-if encoding == "bgr8":
-    channels = 3
-    storage_type = np.uint8
-
-frame = (
-    storage.to_numpy()
-    .astype(storage_type)
-    .reshape((height, width, channels))
-)
-```
-
-- `bbox`: an arrow array containing the bounding boxes, confidence scores, and class names of the detected objects
-
-```Python
-
-bbox: {
-    "bbox": np.array,  # flattened array of bounding boxes
-    "conf": np.array,  # flat array of confidence scores
-    "labels": np.array,  # flat array of class names
-}
-
-encoded_bbox = pa.array([bbox], {"format": "xyxy"})
-
-decoded_bbox = {
-    "bbox": encoded_bbox[0]["bbox"].values.to_numpy().reshape(-1, 4),
-    "conf": encoded_bbox[0]["conf"].values.to_numpy(),
-    "labels": encoded_bbox[0]["labels"].values.to_numpy(zero_copy_only=False),
-}
-```
-
-- `text`: Arrow array containing the text to be plotted
-
-```python
-text: str
-
-encoded_text = pa.array([text])
-
-decoded_text = encoded_text[0].as_py()
-```
-
-## License
-
-This project is licensed under Apache-2.0. Check out [NOTICE.md](../../NOTICE.md) for more information.

node-hub/terminal-print/pyproject.toml

@@ -1,27 +0,0 @@
-[tool.poetry]
-name = "terminal-print"
-version = "0.3.5"
-authors = [
-    "Haixuan Xavier Tao <tao.xavier@outlook.com>",
-    "Enzo Le Van <dev@enzo-le-van.fr>",
-]
-description = "Dora Terminal Print"
-license = "MIT License"
-homepage = "https://github.com/dora-rs/dora.git"
-readme = "README.md"
-packages = [{ include = "terminal_print" }]
-
-[tool.poetry.dependencies]
-dora-rs = "0.3.5"
-numpy = "< 2.0.0"
-pyarrow = ">= 5.0.0"
-
-[tool.poetry.scripts]
-terminal-print = "terminal_print.main:main"
-
-[build-system]
-requires = ["poetry-core>=1.8.0"]
-build-backend = "poetry.core.masonry.api"
-
-[project]
-readme = "README.md"

node-hub/terminal-print/src/main.rs

@@ -0,0 +1,40 @@
+use dora_node_api::{self, dora_core::config::NodeId, DoraNode, Event};
+use eyre::Context;
+
+fn main() -> eyre::Result<()> {
+    let mut printed = false;
+    loop {
+        if let Ok((node, mut events)) =
+            DoraNode::init_from_node_id(NodeId::from("terminal-print".to_string()))
+        {
+            printed = false;
+            println!("🔥 `terminal-print` connected to: {}", node.dataflow_id());
+
+            while let Some(event) = events.recv() {
+                match event {
+                    Event::Input {
+                        id,
+                        metadata: _,
+                        data,
+                    } => match data.data_type() {
+                        dora_node_api::arrow::datatypes::DataType::Utf8 => {
+                            let received_string: &str =
+                                TryFrom::try_from(&data).context("expected string message")?;
+                            println!("Received id: {}, data: {}", id, received_string);
+                        }
+                        _other => {
+                            println!("Received id: {}, data: {:#?}", id, data);
+                        }
+                    },
+                    _other => {}
+                }
+            }
+        } else {
+            if !printed {
+                println!("🕐 waiting for node `terminal-print` to be available...");
+                printed = true;
+            }
+            std::thread::sleep(std::time::Duration::from_secs(1));
+        }
+    }
+}

node-hub/terminal-print/terminal_print/__init__.py

@@ -1,11 +0,0 @@
-import os
-
-# Define the path to the README file relative to the package directory
-readme_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "README.md")
-
-# Read the content of the README file
-try:
-    with open(readme_path, "r", encoding="utf-8") as f:
-        __doc__ = f.read()
-except FileNotFoundError:
-    __doc__ = "README file not found."

node-hub/terminal-print/terminal_print/main.py

@@ -1,35 +0,0 @@
-import argparse
-import os
-
-import pyarrow as pa
-
-from dora import Node
-
-RUNNER_CI = True if os.getenv("CI") == "true" else False
-
-
-def main():
-
-    # Handle dynamic nodes, ask for the name of the node in the dataflow, and the same values as the ENV variables.
-    parser = argparse.ArgumentParser(description="Simple arrow sender")
-
-    parser.add_argument(
-        "--name",
-        type=str,
-        required=False,
-        help="The name of the node in the dataflow.",
-        default="terminal-print",
-    )
-
-    args = parser.parse_args()
-
-    node = Node(
-        args.name
-    )  # provide the name to connect to the dataflow if dynamic node
-    for event in node:
-        if event["type"] == "INPUT":
-            print(event["value"].to_pylist())
-
-
-if __name__ == "__main__":
-    main()

node-hub/terminal-print/tests/test_terminal_print.py

@@ -1,2 +0,0 @@
-def test_placeholder():
-    pass