Merge pull request #257 from rdeits/rd/drop-cassette

Drop Cassette.jl by rewriting animation handlers

Author: rdeits

Project.toml

@@ -1,11 +1,10 @@
 name = "MeshCat"
 uuid = "283c5d60-a78f-5afe-a0af-af636b173e11"
 authors = ["Robin Deits <[email protected]>"]
-version = "0.16.3"
+version = "1.0.0"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
-Cassette = "7057c7e9-c182-5462-911a-8362d720325c"
 Colors = "5ae59095-9a9b-59fe-a467-6f913c188581"
 CoordinateTransformations = "150eb455-5306-5404-9cee-2592286d6298"
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
@@ -26,7 +25,6 @@ Tar = "a4e569a6-e804-4fa4-b0f3-eef7a1d5b13e"
 UUIDs = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
 
 [compat]
-Cassette = "0.2.5, 0.3"
 Colors = "0.9, 0.10, 0.11, 0.12, 0.13"
 CoordinateTransformations = "0.5, 0.6"
 DocStringExtensions = "0.5, 0.6, 0.7, 0.8, 0.9"

notebooks/animation.ipynb

@@ -95,7 +95,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "anim = Animation()\n",
+    "anim = Animation(vis)\n",
     "\n",
     "atframe(anim, 0) do\n",
     "    # within the context of atframe, calls to \n",
@@ -153,7 +153,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "anim = Animation()\n",
+    "anim = Animation(vis)\n",
     "\n",
     "atframe(anim, 0) do\n",
     "    settransform!(vis[\"/Cameras/default\"], Translation(0, 0, 0))\n",
@@ -179,7 +179,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "anim = Animation()\n",
+    "anim = Animation(vis)\n",
     "\n",
     "atframe(anim, 0) do\n",
     "    setprop!(vis[\"/Cameras/default/rotated/<object>\"], \"zoom\", 1.0)\n",
@@ -226,7 +226,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "anim = Animation()\n",
+    "anim = Animation(vis)\n",
     "atframe(anim, 0) do\n",
     "    setvisible!(vis[:sphere], false)\n",
     "    settransform!(vis[:box1], Translation(0.0, 0, 0))\n",

src/MeshCat.jl

@@ -41,7 +41,6 @@ using Sockets: listen, @ip_str, IPAddr, IPv4, IPv6
 using Base64: base64encode
 using MsgPack: MsgPack, pack
 using Pkg.Artifacts: @artifact_str
-import Cassette
 import FFMPEG
 import HTTP
 import Logging
@@ -102,6 +101,35 @@ abstract type AbstractMaterial end
 include("util.jl")
 include("trees.jl")
 using .SceneTrees
+
+struct AnimationContext
+    animation
+    frame::Int
+end
+
+"""
+Low-level type which manages the actual meshcat server. See [`Visualizer`](@ref)
+for the public-facing interface.
+"""
+mutable struct CoreVisualizer
+    tree::SceneNode
+    connections::Set{HTTP.WebSockets.WebSocket}
+    host::IPAddr
+    port::Int
+    server::HTTP.Server
+    animation_contexts::Vector{AnimationContext}
+
+    function CoreVisualizer(host::IPAddr = ip"127.0.0.1", default_port=8700)
+        connections = Set([])
+        tree = SceneNode()
+        port = find_open_port(host, default_port, 500)
+        core = new(tree, connections, host, port)
+        core.server = start_server(core)
+        core.animation_contexts = AnimationContext[]
+        return core
+    end
+end
+
 include("mesh_files.jl")
 include("geometry.jl")
 include("objects.jl")

src/animations.jl

@@ -46,17 +46,19 @@ function Base.merge!(a::AnimationClip, others::AnimationClip...)
 end
 
 struct Animation
-    clips::Dict{Path, AnimationClip}
+    visualizer::CoreVisualizer
     default_framerate::Int
-end
+    clips::Dict{Path, AnimationClip}
 
-"""
-Create a new animation. See [`atframe`](@ref) to adjust object poses or properties
-in that animation.
+    """
+    Create a new animation. See [`atframe`](@ref) to adjust object poses or properties
+    in that animation.
+
+    $(TYPEDSIGNATURES)
+    """
+    Animation(visualizer::CoreVisualizer; fps=30) = new(visualizer, fps, Dict())
+end
 
-$(TYPEDSIGNATURES)
-"""
-Animation(fps::Int=30) = Animation(Dict{Path, AnimationClip}(), fps)
 
 """
 Merge multiple animations, storing the result in `a`.
@@ -65,6 +67,7 @@ $(TYPEDSIGNATURES)
 """
 function Base.merge!(a::Animation, others::Animation...)
     for other in others
+        @assert a.visualizer === other.visualizer
         @assert a.default_framerate == other.default_framerate
         merge!(merge!, a.clips, other.clips) # merge clips recursively
     end
@@ -80,7 +83,7 @@ The animations may involve the same properties or different properties
 (animations of the same property on the same path will have their events
 interleaved). All animations must have the same framerate.
 """
-Base.merge(a::Animation, others::Animation...) = merge!(Animation(a.default_framerate), a, others...)
+Base.merge(a::Animation, others::Animation...) = merge!(Animation(a.visualizer; fps=a.default_framerate), a, others...)
 
 """
 Convert the `.tar` file of still images produced by the meshcat "record" feature

src/atframe.jl

@@ -47,28 +47,6 @@ end
 
 js_position(t::Transformation) = convert(Vector, t(SVector(0., 0, 0)))
 
-Cassette.@context AnimationCtx
-
-function Cassette.overdub(ctx::AnimationCtx, ::typeof(settransform!), vis::Visualizer, tform::Transformation)
-    animation, frame = ctx.metadata
-    clip = getclip!(animation, vis.path)
-    _setprop!(clip, frame, "scale", "vector3", js_scaling(tform))
-    _setprop!(clip, frame, "position", "vector3", js_position(tform))
-    _setprop!(clip, frame, "quaternion", "quaternion", js_quaternion(tform))
-end
-
-function Cassette.overdub(ctx::AnimationCtx, ::typeof(setprop!), vis::Visualizer, prop::AbstractString, value)
-    animation, frame = ctx.metadata
-    clip = getclip!(animation, vis.path)
-    _setprop!(clip, frame, prop, get_property_type(prop), value)
-end
-
-function Cassette.overdub(ctx::AnimationCtx, ::typeof(setprop!), vis::Visualizer, prop::AbstractString, jstype::AbstractString, value)
-    animation, frame = ctx.metadata
-    clip = getclip!(animation, vis.path)
-    _setprop!(clip, frame, prop, jstype, value)
-end
-
 """
 Call the given function `f`, but intercept any `settransform!` or `setprop!` calls
 and apply them to the given animation at the given frame instead.
@@ -81,7 +59,7 @@ Usage:
 vis = Visualizer()
 setobject!(vis[:cube], Rect(Vec(0.0, 0.0, 0.0), Vec(0.5, 0.5, 0.5)))
 
-anim = Animation()
+anim = Animation(vis)
 
 # At frame 0, set the cube's position to be the origin
 atframe(anim, 0) do
@@ -97,6 +75,11 @@ setanimation!(vis, anim)
 ```
 """
 function atframe(f, animation::Animation, frame::Integer)
-    Cassette.overdub(AnimationCtx(metadata=(animation, frame)), f)
+    push!(animation.visualizer.animation_contexts, AnimationContext(animation, frame))
+    try
+        f()
+    finally
+        pop!(animation.visualizer.animation_contexts)
+    end
     return animation
 end

src/visualizer.jl

@@ -1,24 +1,3 @@
-"""
-Low-level type which manages the actual meshcat server. See [`Visualizer`](@ref)
-for the public-facing interface.
-"""
-mutable struct CoreVisualizer
-    tree::SceneNode
-    connections::Set{HTTP.WebSockets.WebSocket}
-    host::IPAddr
-    port::Int
-    server::HTTP.Server
-
-    function CoreVisualizer(host::IPAddr = ip"127.0.0.1", default_port=8700)
-        connections = Set([])
-        tree = SceneNode()
-        port = find_open_port(host, default_port, 500)
-        core = new(tree, connections, host, port)
-        core.server = start_server(core)
-        return core
-    end
-end
-
 function find_open_port(host, default_port, max_retries)
     for port in default_port:(default_port + max_retries)
         server = try
@@ -217,7 +196,15 @@ of its parents, so setting the transform of `vis[:group1]` affects the poses of
 the objects at `vis[:group1][:box1]` and `vis[:group1][:box2]`.
 """
 function settransform!(vis::Visualizer, tform::Transformation)
-    send(vis.core, SetTransform(tform, vis.path))
+    if !isempty(vis.core.animation_contexts)
+        ctx = last(vis.core.animation_contexts)
+        clip = getclip!(ctx.animation, vis.path)
+        _setprop!(clip, ctx.frame, "scale", "vector3", js_scaling(tform))
+        _setprop!(clip, ctx.frame, "position", "vector3", js_position(tform))
+        _setprop!(clip, ctx.frame, "quaternion", "quaternion", js_quaternion(tform))
+    else
+        send(vis.core, SetTransform(tform, vis.path))
+    end
     vis
 end
 
@@ -240,7 +227,29 @@ $(TYPEDSIGNATURES)
 with the Base.setproperty! function introduced in Julia v0.7)
 """
 function setprop!(vis::Visualizer, property::AbstractString, value)
-    send(vis.core, SetProperty(vis.path, property, value))
+    if !isempty(vis.core.animation_contexts)
+        ctx = last(vis.core.animation_contexts)
+        clip = getclip!(ctx.animation, vis.path)
+        _setprop!(clip, ctx.frame, property, get_property_type(property), value)
+    else
+        send(vis.core, SetProperty(vis.path, property, value))
+    end
+    vis
+end
+
+"""
+Variation of `setprop!` which accepts an explicit type for the underlying JS property. This property type is only used within an animation context.
+
+$(TYPEDSIGNATURES)
+"""
+function setprop!(vis::Visualizer, property::AbstractString, jstype::AbstractString, value)
+    if !isempty(vis.core.animation_contexts)
+        ctx = last(vis.core.animation_contexts)
+        clip = getclip!(ctx.animation, vis.path)
+        _setprop!(clip, ctx.frame, property, jstype, value)
+    else
+        send(vis.core, SetProperty(vis.path, property, value))
+    end
     vis
 end
 
@@ -275,3 +284,5 @@ For example, if you have `vis::Visualizer` with path `/meshcat/foo`, you can do
 """
 Base.getindex(vis::Visualizer, path...) =
     Visualizer(vis.core, joinpath(vis.path, path...))
+
+Animation(vis::Visualizer, args...; kw...) = Animation(vis.core, args...; kw...)

test/visualizer.jl

@@ -236,15 +236,15 @@ end
     end
 
     @testset "Animation" begin
-        anim1 = Animation()
+        anim1 = Animation(vis)
         atframe(anim1, 0) do
             settransform!(vis[:shapes][:box], Translation(0., 0, 0))
         end
         atframe(anim1, 30) do
             settransform!(vis[:shapes][:box], Translation(2., 0, 0) ∘ LinearMap(RotZ(π/2)))
         end
         setanimation!(vis, anim1)
-        anim2 = Animation()
+        anim2 = Animation(vis)
         atframe(anim2, 0) do
             setprop!(vis["/Cameras/default/rotated/<object>"], "zoom", 1)
         end