marina 0.2.8

A dataset manager for robotics to organize, share, and discover datasets and metadata across storage backends.
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168

use anyhow::Result;
use std::env;
use std::fs;
use std::sync::Mutex;

use marina::storage::config;

static ENV_LOCK: Mutex<()> = Mutex::new(());

#[test]
fn no_config_file_yields_default() -> Result<()> {
    let _guard = ENV_LOCK.lock().expect("env test mutex poisoned");
    let tmp = tempfile::tempdir()?;
    unsafe {
        env::set_var("MARINA_CONFIG_DIR", tmp.path());
    }

    let regs = config::load_registries()?;
    assert!(
        regs.registry
            .iter()
            .any(|r| r.name == config::DEFAULT_REGISTRY_NAME)
    );
    assert!(matches!(
        regs.compression.pointcloud_mode,
        config::ConfigPointcloudMode::Lossy
    ));
    assert!((regs.compression.pointcloud_accuracy_mm - 1.0).abs() < f64::EPSILON);
    assert!(matches!(
        regs.compression.packed_mcap_compression,
        config::ConfigMcapCompression::Zstd
    ));
    assert!(matches!(
        regs.compression.packed_archive_compression,
        config::ConfigArchiveCompression::None
    ));
    assert!(matches!(
        regs.compression.unpacked_mcap_compression,
        config::ConfigMcapCompression::Lz4
    ));
    Ok(())
}

#[test]
fn existing_empty_config_does_not_add_default() -> Result<()> {
    let _guard = ENV_LOCK.lock().expect("env test mutex poisoned");
    let tmp = tempfile::tempdir()?;
    unsafe {
        env::set_var("MARINA_CONFIG_DIR", tmp.path());
    }

    // create an explicit empty registries file
    let cfg = tmp.path().join("marina.rl");
    fs::write(&cfg, "registries {}")?;

    let regs = config::load_registries()?;
    assert!(
        !regs
            .registry
            .iter()
            .any(|r| r.name == config::DEFAULT_REGISTRY_NAME)
    );
    assert!(matches!(
        regs.compression.pointcloud_mode,
        config::ConfigPointcloudMode::Lossy
    ));
    assert!((regs.compression.pointcloud_accuracy_mm - 1.0).abs() < f64::EPSILON);
    assert!(matches!(
        regs.compression.packed_mcap_compression,
        config::ConfigMcapCompression::Zstd
    ));
    assert!(matches!(
        regs.compression.packed_archive_compression,
        config::ConfigArchiveCompression::None
    ));
    assert!(matches!(
        regs.compression.unpacked_mcap_compression,
        config::ConfigMcapCompression::Lz4
    ));
    Ok(())
}

#[test]
fn custom_compression_config_is_loaded() -> Result<()> {
    let _guard = ENV_LOCK.lock().expect("env test mutex poisoned");
    let tmp = tempfile::tempdir()?;
    unsafe {
        env::set_var("MARINA_CONFIG_DIR", tmp.path());
    }

    let cfg = tmp.path().join("marina.rl");
    fs::write(
        &cfg,
        r#"
compression {
  pointcloud_mode = "off"
  pointcloud_accuracy = 2.5mm
  packed_mcap_compression = "none"
  packed_archive_compression = "none"
  unpacked_mcap_compression = "lz4"
}

registries {}
"#,
    )?;

    let regs = config::load_registries()?;
    assert!(matches!(
        regs.compression.pointcloud_mode,
        config::ConfigPointcloudMode::Off
    ));
    assert!((regs.compression.pointcloud_accuracy_mm - 2.5).abs() < f64::EPSILON);
    assert!(matches!(
        regs.compression.packed_mcap_compression,
        config::ConfigMcapCompression::None
    ));
    assert!(matches!(
        regs.compression.packed_archive_compression,
        config::ConfigArchiveCompression::None
    ));
    assert!(matches!(
        regs.compression.unpacked_mcap_compression,
        config::ConfigMcapCompression::Lz4
    ));

    Ok(())
}

#[test]
fn ssh_proxy_jump_config_is_loaded_and_saved() -> Result<()> {
    let _guard = ENV_LOCK.lock().expect("env test mutex poisoned");
    let tmp = tempfile::tempdir()?;
    unsafe {
        env::set_var("MARINA_CONFIG_DIR", tmp.path());
    }

    let cfg = tmp.path().join("marina.rl");
    fs::write(
        &cfg,
        r#"
registries {
  glumanda {
    uri = "ssh://marina@glumanda.example.org:/srv/marina"
    kind = "ssh"
    auth_env = "MARINA_SSH_KEY"
    proxy_jump = "ci@jump.example.org:2222"
    ssh_transport = "openssh"
  }
}
"#,
    )?;

    let regs = config::load_registries()?;
    let reg = regs
        .registry
        .iter()
        .find(|r| r.name == "glumanda")
        .expect("glumanda registry should be loaded");
    assert_eq!(reg.proxy_jump.as_deref(), Some("ci@jump.example.org:2222"));
    assert_eq!(reg.ssh_transport.as_deref(), Some("openssh"));

    config::save_registries(&regs)?;
    let saved = fs::read_to_string(&cfg)?;
    assert!(saved.contains("proxy_jump = \"ci@jump.example.org:2222\""));
    assert!(saved.contains("ssh_transport = \"openssh\""));

    Ok(())
}