RFC: TreeViewer ZeroMQ interface

src/python/CMakeLists.txt

@@ -173,6 +173,8 @@ set(python_files
   director/thirdparty/naming.py
   director/thirdparty/pysdf.py
   director/thirdparty/toposort.py
+  director/thirdparty/umsgpack.py
+  director/thirdparty/msgpack_numpy.py
 
   urdf_parser_py/__init__.py
   urdf_parser_py/sdf.py

src/python/director/drakevisualizerapp.py

@@ -23,11 +23,13 @@ def main(globalsDict=None):
     fact.register(mainwindowapp.MainWindowAppFactory)
     fact.register(mainwindowapp.MainWindowPanelFactory)
 
+    args = drcargs.args()
     options = fact.getDefaultOptions()
     fact.setDependentOptions(options,
-        useTreeViewer=HAVE_LCMRL,
-        useDrakeVisualizer=True,
-        useLCMGLRenderer=True)
+        useLCMTreeViewer=HAVE_LCMRL and args.treeviewer_lcm,
+        useZMQTreeViewer=args.treeviewer_zmq_url,
+        useDrakeVisualizer=args.drakevisualizer_lcm,
+        useLCMGLRenderer=args.lcmgl_renderer)
 
     fields = fact.construct(
         options=options,

src/python/director/drcargs.py

@@ -170,6 +170,24 @@ def addDefaultArgs(self, parser):
                             default=[], action='append', metavar='filename',
                             help='python scripts to run at startup')
 
+        parser.add_argument('--treeviewer-zmq-url', type=str,
+                            dest='treeviewer_zmq_url', default='tcp://*:57370')
+
+        tvlcm_parser = parser.add_mutually_exclusive_group(required=False)
+        tvlcm_parser.add_argument('--treeviewer-lcm', action='store_true', dest='treeviewer_lcm')
+        tvlcm_parser.add_argument('--no-treeviewer-lcm', action='store_false', dest='treeviewer_lcm')
+        parser.set_defaults(treeviewer_lcm=True)
+
+        dvlcm_parser = parser.add_mutually_exclusive_group(required=False)
+        dvlcm_parser.add_argument('--drakevisualizer-lcm', action='store_true', dest='drakevisualizer_lcm')
+        dvlcm_parser.add_argument('--no-drakevisualizer-lcm', action='store_false', dest='drakevisualizer_lcm')
+        parser.set_defaults(drakevisualizer_lcm=True)
+
+        lcmgl_parser = parser.add_mutually_exclusive_group(required=False)
+        lcmgl_parser.add_argument('--lcmgl-renderer', action='store_true', dest='lcmgl_renderer')
+        lcmgl_parser.add_argument('--no-lcmgl-renderer', action='store_false', dest='lcmgl_renderer')
+        parser.set_defaults(lcmgl_renderer=True)
+
 
 _argParser = None
 def getGlobalArgParser():

src/python/director/mainwindowapp.py

@@ -18,6 +18,7 @@ def __init__(self):
 
         self.mainWindow = QtGui.QMainWindow()
         self.mainWindow.resize(768 * (16/9.0), 768)
+        self.mainWindow.setAttribute(QtCore.Qt.WA_ShowWithoutActivating)
         self.settings = QtCore.QSettings()
 
         self.fileMenu = self.mainWindow.menuBar().addMenu('&File')
@@ -350,14 +351,16 @@ def getComponents(self):
             'OutputConsole' : ['MainWindow'],
             'UndoRedo' : ['MainWindow'],
             'DrakeVisualizer' : ['MainWindow'],
-            'TreeViewer' : ['MainWindow'],
+            'LCMTreeViewer' : ['MainWindow'],
+            'ZMQTreeViewer' : ['MainWindow'],
             'LCMGLRenderer' : ['MainWindow']}
 
         # these components depend on lcm and lcmgl
         # so they are disabled by default
         disabledComponents = [
             'DrakeVisualizer',
-            'TreeViewer',
+            'LCMTreeViewer',
+            'ZMQTreeViewer',
             'LCMGLRenderer']
 
         return components, disabledComponents
@@ -460,15 +463,27 @@ def initDrakeVisualizer(self, fields):
           drakeVisualizer=drakeVisualizer
           )
 
-    def initTreeViewer(self, fields):
+    def initLCMTreeViewer(self, fields):
 
         from director import treeviewer
-        treeViewer = treeviewer.TreeViewer(fields.view)
+        treeViewer = treeviewer.LCMTreeViewer(fields.view)
 
         applogic.MenuActionToggleHelper('Tools', treeViewer.name, treeViewer.isEnabled, treeViewer.setEnabled)
 
         return FieldContainer(
-          treeViewer=treeViewer
+          lcmTreeViewer=treeViewer
+          )
+
+    def initZMQTreeViewer(self, fields):
+
+        from director import treeviewer
+        args = drcargs.args()
+        treeViewer = treeviewer.ZMQTreeViewer(fields.view, zmqUrl=args.treeviewer_zmq_url)
+
+        applogic.MenuActionToggleHelper('Tools', treeViewer.name, treeViewer.isEnabled, treeViewer.setEnabled)
+
+        return FieldContainer(
+          zmqTreeViewer=treeViewer
           )
 
     def initLCMGLRenderer(self, fields):

src/python/director/taskrunner.py

@@ -56,6 +56,7 @@ def callOnMain(self, func, *args, **kwargs):
 
     def callOnThread(self, func, *args, **kwargs):
         t = Thread(target=lambda: func(*args, **kwargs))
+        t.daemon = True  # daemon kwarg doesn't exist in python 2.7
         self.threads.append(t)
         t.start()
         self.timer.start()

src/python/director/thirdparty/msgpack_numpy.py

@@ -0,0 +1,111 @@
+#!/usr/bin/env python
+
+"""
+Support for serialization of numpy data types with msgpack.
+"""
+
+# Copyright (c) 2013-2017, Lev E. Givon.
+# All rights reserved.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are
+# met:
+
+# * Redistributions of source code must retain the above copyright
+#   notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above
+#   copyright notice, this list of conditions and the following
+#   disclaimer in the documentation and/or other materials provided
+#   with the distribution.
+# * Neither the name of Lev E. Givon nor the names of any
+#   contributors may be used to endorse or promote products derived
+#   from this software without specific prior written permission.
+
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+# A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+# OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+# DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+# THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+#
+# Modified by Robin Deits (2017):
+#   * Removed all explicit references to msgpack so that this can be used
+#     with umsgpack instead
+
+
+import sys
+
+import numpy as np
+
+def encode(obj, chain=None):
+    """
+    Data encoder for serializing numpy data types.
+    """
+
+    if isinstance(obj, np.ndarray):
+        # If the dtype is structured, store the interface description;
+        # otherwise, store the corresponding array protocol type string:
+        if obj.dtype.kind == 'V':
+            kind = b'V'
+            descr = obj.dtype.descr
+        else:
+            kind = b''
+            descr = obj.dtype.str
+        return {b'nd': True,
+                b'type': descr,
+                b'kind': kind,
+                b'shape': obj.shape,
+                b'data': obj.tobytes()}
+    elif isinstance(obj, (np.bool_, np.number)):
+        return {b'nd': False,
+                b'type': obj.dtype.str,
+                b'data': obj.tobytes()}
+    elif isinstance(obj, complex):
+        return {b'complex': True,
+                b'data': obj.__repr__()}
+    else:
+        return obj if chain is None else chain(obj)
+
+def tostr(x):
+    if sys.version_info >= (3, 0):
+        if isinstance(x, bytes):
+            return x.decode()
+        else:
+            return str(x)
+    else:
+        return x
+
+def decode(obj, chain=None):
+    """
+    Decoder for deserializing numpy data types.
+    """
+
+    try:
+        if b'nd' in obj:
+            if obj[b'nd'] is True:
+
+                # Check if b'kind' is in obj to enable decoding of data
+                # serialized with older versions (#20):
+                if b'kind' in obj and obj[b'kind'] == b'V':
+                    descr = [tuple(tostr(t) if type(t) is bytes else t for t in d) \
+                             for d in obj[b'type']]
+                else:
+                    descr = obj[b'type']
+                return np.fromstring(obj[b'data'],
+                            dtype=np.dtype(descr)).reshape(obj[b'shape'])
+            else:
+                descr = obj[b'type']
+                return np.fromstring(obj[b'data'],
+                            dtype=np.dtype(descr))[0]
+        elif b'complex' in obj:
+            return complex(tostr(obj[b'data']))
+        else:
+            return obj if chain is None else chain(obj)
+    except KeyError:
+        return obj if chain is None else chain(obj)