isaac-sim-dora 0.1.0

Dora-rs publisher and subscriber adapter for Isaac Sim sensor pipelines.
Documentation 
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// SPDX-License-Identifier: MPL-2.0
use std::sync::Arc;

use arrow::array::StructArray;
use dora_node_api::dora_core::config::DataId;
use dora_node_api::{DoraNode, MetadataParameters};
use isaac_sim_arrow::camera::depth::{to_record_batch, CameraDepth as ArrowCameraDepth};
use isaac_sim_bridge::{
    register_camera_depth_consumer, CameraDepth, CameraDepthMeta, SourceFilter,
};
use parking_lot::Mutex;

use crate::dispatch::{spawn_drain, LatestSlot};
use crate::sensor::DoraPublish;

struct Frame {
    depths: Arc<[f32]>,
    meta: CameraDepthMeta,
}

impl DoraPublish for CameraDepth {
    fn register(node: Arc<Mutex<DoraNode>>, source: String, output_id: String) {
        register_dora_camera_depth_publisher(node, source, output_id);
    }
}

pub fn register_dora_camera_depth_publisher(
    node: Arc<Mutex<DoraNode>>,
    source: String,
    output_id: impl Into<String>,
) {
    let output: DataId = output_id.into().into();
    let filter = SourceFilter::exact(source.clone());

    let (slot, wake) = LatestSlot::<Frame>::new();
    let source_for_drain = source.clone();
    let drain_name = format!("dora-drain-camera_depth:{source}");
    let _ = spawn_drain(&drain_name, slot.clone(), wake, move |frame| {
        if let Err(e) = publish(&node, &output, &frame.depths, &frame.meta) {
            log::warn!(
                "[isaac-sim-dora] camera_depth publish failed for '{source_for_drain}': {e}"
            );
        }
    });

    register_camera_depth_consumer(move |src, depths, meta| {
        if !filter.matches(src) {
            return;
        }
        slot.publish(Frame {
            depths: Arc::from(depths),
            meta: *meta,
        });
    });
}

pub fn build_struct_array(depths: &[f32], meta: &CameraDepthMeta) -> eyre::Result<StructArray> {
    let img = ArrowCameraDepth {
        depths,
        width: meta.width,
        height: meta.height,
        fx: meta.fx,
        fy: meta.fy,
        cx: meta.cx,
        cy: meta.cy,
        timestamp_ns: meta.timestamp_ns,
    };
    let batch = to_record_batch(&img)?;
    Ok(StructArray::from(batch))
}

fn publish(
    node: &Mutex<DoraNode>,
    output: &DataId,
    depths: &[f32],
    meta: &CameraDepthMeta,
) -> eyre::Result<()> {
    let array = build_struct_array(depths, meta)?;
    let mut guard = node.lock();
    guard.send_output(output.clone(), MetadataParameters::default(), array)?;
    Ok(())
}

#[cfg(test)]
mod tests {
    use super::*;
    use arrow::array::Array;

    #[test]
    fn build_struct_array_round_trips_depths() {
        let depths = vec![1.0_f32; 4]; // 2x2
        let meta = CameraDepthMeta {
            width: 2,
            height: 2,
            fx: 0.0,
            fy: 0.0,
            cx: 0.0,
            cy: 0.0,
            timestamp_ns: 13,
        };
        let array = build_struct_array(&depths, &meta).expect("build");
        assert_eq!(array.num_columns(), 8);
        assert_eq!(array.len(), 1);
    }
}