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[RSDK-8757] allow disabling of individual capture configs #312

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merged 2 commits into from
Sep 17, 2024
Merged

[RSDK-8757] allow disabling of individual capture configs #312

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d351a39
[RSDK-8757] allow disabling of individual capture configs
gvaradarajan Sep 13, 2024
9b361fe
Merge branch 'main' into RSDK-8757-disableable-capture-config
gvaradarajan Sep 17, 2024
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42 changes: 41 additions & 1 deletion micro-rdk/src/common/data_collector.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -25,11 +25,19 @@ pub struct DataCollectorConfig {
pub method: CollectionMethod,
pub capture_frequency_hz: f32,
pub capacity: usize,
pub disabled: bool,
}

impl TryFrom<&Kind> for DataCollectorConfig {
type Error = AttributeError;
fn try_from(value: &Kind) -> Result<Self, Self::Error> {
let disabled = match value.get("disabled") {
Ok(val) => match val {
Some(Kind::BoolValue(v)) => *v,
_ => false,
},
Err(_) => false,
};
let method_str: String = value
.get("method")?
.ok_or(AttributeError::KeyNotFound("method".to_string()))?
Expand All @@ -45,7 +53,7 @@ impl TryFrom<&Kind> for DataCollectorConfig {
.unwrap_or(&Kind::NumberValue(DEFAULT_CACHE_SIZE_KB))
.try_into()?;
let capacity = (capacity_kb * 1000.0) as usize;
if capacity < 1000 {
if (capacity < 1000) && !disabled {
Comment on lines 55 to +56
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@mattjperez mattjperez Sep 13, 2024 •
edited
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nit: not actually a change from this PR but wouldn't this (without the casting to usize) be the same as if capacity_kb < 1.0?

return Err(AttributeError::ValidationError(
"cache size must be at least 1KB".to_string(),
));
Expand All @@ -64,6 +72,7 @@ impl TryFrom<&Kind> for DataCollectorConfig {
method,
capture_frequency_hz,
capacity,
disabled,
})
}
}
Expand Down Expand Up @@ -308,6 +317,7 @@ mod tests {
assert!(matches!(conf.method, CollectionMethod::Readings));
assert_eq!(conf.capture_frequency_hz, 100.0);
assert_eq!(conf.capacity, (DEFAULT_CACHE_SIZE_KB * 1000.0) as usize);
assert_eq!(conf.disabled, false);

let kind_map = HashMap::from([
(
Expand All @@ -316,12 +326,27 @@ mod tests {
),
("capture_frequency_hz".to_string(), Kind::NumberValue(100.0)),
("cache_size_kb".to_string(), Kind::NumberValue(2.0)),
("disabled".to_string(), Kind::BoolValue(true)),
]);
let conf_kind = Kind::StructValue(kind_map);
let conf: DataCollectorConfig = (&conf_kind).try_into()?;
assert!(matches!(conf.method, CollectionMethod::AngularVelocity));
assert_eq!(conf.capture_frequency_hz, 100.0);
assert_eq!(conf.capacity, 2000);
assert_eq!(conf.disabled, true);

let kind_map = HashMap::from([
(
"method".to_string(),
Kind::StringValue("AngularVelocity".to_string()),
),
("capture_frequency_hz".to_string(), Kind::NumberValue(100.0)),
("cache_size_kb".to_string(), Kind::NumberValue(2.0)),
("disabled".to_string(), Kind::BoolValue(false)),
]);
let conf_kind = Kind::StructValue(kind_map);
let conf: DataCollectorConfig = (&conf_kind).try_into()?;
assert_eq!(conf.disabled, false);

let kind_map = HashMap::from([
(
Expand All @@ -335,6 +360,21 @@ mod tests {
let conf = DataCollectorConfig::try_from(&conf_kind);
assert!(conf.is_err());

let kind_map = HashMap::from([
(
"method".to_string(),
Kind::StringValue("AngularVelocity".to_string()),
),
("capture_frequency_hz".to_string(), Kind::NumberValue(100.0)),
("cache_size_kb".to_string(), Kind::NumberValue(0.5)),
("disabled".to_string(), Kind::BoolValue(true)),
]);
let conf_kind = Kind::StructValue(kind_map);
let conf = DataCollectorConfig::try_from(&conf_kind);
assert!(conf.is_ok());
let conf = conf.unwrap();
assert_eq!(conf.disabled, true);

let kind_map = HashMap::from([
(
"method".to_string(),
Expand Down
6 changes: 4 additions & 2 deletions micro-rdk/src/common/robot.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -328,8 +328,10 @@ impl LocalRobot {
}
#[cfg(feature = "data")]
for cfg in config.data_collector_configs.iter() {
self.data_collector_configs
.push((new_resource_name.clone(), cfg.clone()));
if !cfg.disabled {
self.data_collector_configs
.push((new_resource_name.clone(), cfg.clone()));
}
}
self.insert_resource(
model,
Expand Down
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