Configuration¶
The configuration file marv.conf
is in Python config parser / ini-syntax and consists of at least one marv section and one or more collection section. See some Examples below.
If you make changes to your configuration, keep in mind that you have to stop uwsgi
, run marv init
, and start uwsgi
again.
Relative paths¶
The location of marv.conf
is the site directory and relative paths are relative to that directory.
marv section¶
[marv]
acl¶
Use access control lists to control who can perform which actions. See marv_webapi.acls
for more information.
Example:
acl = marv_webapi.acls:public
Default:
acl = marv_webapi.acls:authenticated
collections¶
Name of one or more collections, corresponding to a collection section.
Example:
collections = bags
dburi¶
Location of sqlite database. Despite the generic name, only sqlite is supported.
Example:
dburi = sqlite:////var/local/lib/marv/db/db.sqlite
Default:
dburi = sqlite:///path/to/sitedir/db/db.sqlite
Note
Keep the db/db.sqlite
suffix for ease of migrations.
reverse_proxy¶
When marv is running behind a reverse proxy, serving of files can be offloaded for greatly improved performance. Currently, the only supported reverse proxy is nginx
.
Example:
reverse_proxy = nginx
See uWSGI behind NGINX for the corresponding nginx configuration.
collection section¶
Configuration for a collection of datasets.
scanner¶
A marv.scanner
is responsible to group files into named datasets.
Example:
scanner = marv_robotics.bag:scan
nodes¶
List of nodes made available within this collection under the name following the column, which is also the name of the function the node is created from. When listing colums or filters are added, the given extractor function run for all the collection’s datasets. For this to be quick, all node output used in listing colums and filters must be readily available. Therefore all nodes listed in the configuration are persisted in the store. For a node to be persisted it needs to define a message schema. See Declare image node for an example.
Example:
nodes =
# pkg.module:func_name
marv_nodes:dataset
marv_robotics.bag:bagmeta
For a list of nodes see Nodes.
filters¶
Listings of datasets for the web frontend and API responses can be filtered.
Nodes extract and process data from datasets. Node output persisted in the store is available via a node’s name. For this to happen the node needs to define a message type and be listed in nodes. Filters and listing_columns use S-Expressions to extract values from node output. Via API or web frontend a user supplies filter input to be compared with the extracted value using a selected operator. A filter’s name is displayed in the web frontend and its ID is used via API.
At least one operator has to be configured per filter and valid operators depend on the field type. The tags
and comments
filter are special and have to be defined exactly as shown below.
See S-Expressions on how to create functions to extract values from node output.
Example:
filters =
# id | Display Name | operators | field type | extractor function
name | Name | substring | string | (get "dataset.name")
setid | Set Id | startswith | string | (get "dataset.id")
size | Size | lt le eq ne ge gt | filesize | (sum (get "dataset.files[:].size"))
tags | Tags | any all | subset | (tags )
comments | Comments | substring | string | (comments )
fulltext | Fulltext | words | words | (get "fulltext.words")
files | File paths | substring_any | string[] | (get "dataset.files[:].path")
end_time | End time | lt le eq ne ge gt | datetime | (get "bagmeta.end_time")
duration | Duration | lt le eq ne ge gt | timedelta | (get "bagmeta.duration")
topics | Topics | any all | subset | (get "bagmeta.topics[:].name")
In case you use emacs, it’s easy to align these: C-u M-x align-regexp | RET RET y
.
field type¶
The field type determines what python type the extractor function is expected to return, how this is interpreted and displayed, and what is expected as filter input.
datetime
¶
lt
le
eq
ne
ge
gt
filesize
¶
lt
le
eq
ne
ge
gt
string
¶
substring
, startswith
string[]
¶
substring_any
subset
¶
any
, all
timedelta
¶
lt
le
eq
ne
ge
gt
words
¶
words
operators¶
lt
le
eq
ne
ge
gt
¶
Comparison of numeric input with numeric stored value.
substring
¶
Match input as substring anywhere in stored string.
startswith
¶
Stored string starts with input string.
substring_any
¶
The input string is a substring of any string in a stored list of strings.
any
¶
The set of input strings intersects with the set of stored strings.
all
¶
The set of input strings is a subset of the set of stored strings.
listing_columns¶
Columns displayed for the collection’s listing.
For certain colums the id is important, so keep the ids used in the Default configuration. The heading is used as column heading, formatters are explained below and see S-Expressions on how to write functions to extract values from node output.
Example:
listing_columns =
# id | Heading | formatter | extractor function
name | Name | route | (detail_route (get "dataset.id") (get "dataset.name"))
size | Size | filesize | (sum (get "dataset.files[:].size"))
formatter¶
Marv ships with a set of formatters. See Custom on how to override these and supply your own.
date
¶
datetime
¶
icon
¶
Render a glyphicon by name (glyphicon-<name>
) with optional additional space-separated css classes and a title rendered in a tooltip for the icon.
{'icon': name, 'classes': css_classes, 'title': title}
int
¶
link
¶
{'href': '', 'title': ''}
pill
¶
route
¶
Used only for the detail route so far in conjunction with detail_route.
string
¶
timedelta
¶
listing_sort¶
Column and sort order for listing.
Example:
listing_sort = start_time | descending
The first field corresponds to an id in listing_columns, the second is one of ascending
(default) or descending
.
listing_summary¶
Summary calculated for the filtered rows of the listing.
Example:
listing_summary =
# id | Title | formatter | extractor
datasets | datasets | int | (len (rows ))
size | size | filesize | (sum (rows "size" 0))
duration | duration | timedelta | (sum (rows "duration" 0))
A unique id, a title to be displayed bewlo the value, a formatter explained in formatter and extractor function explained in S-Expressions.
detail_summary_widgets¶
List of widgets to be rendered on the first tab of the detail view, aka the summary section.
Example:
detail_summary_widgets =
summary_keyval
bagmeta_table
You can write your own and use some of the already existing Widget nodes.
detail_sections¶
List of detail section to be rendered beyond the summary section. For any given dataset those sections will be rendered only if the dataset contains the necessary data. In absence of meaningful data, sections will be omitted from the web frontend detail view.
Example:
detail_sections =
connections_section
video_section
You can write your own and use some of the already existing Section nodes.
S-Expressions¶
S-Expressions are used in the config file to create small functions that extract values from output of stored nodes. S-Expressions are (nested) lists in parentheses, with list elements being separated by spaces.
(get "dataset.name")
(get "dataset.files[:].path")
(sum (get "dataset.files[:].size"))
(tags )
(comments )
The first element of a list is the name of a function. Any additional arguments are passed as arguments to the function and the list defining a function is replaced with its return value.
Valid arguments are:
- strings enclosed in
""
- functions enclosed in
()
0
number, literal zero
Functions¶
Functions in S-expressions get and process data from store node output. Some may be used in all scopes filters, listing_columns, and listing_summary; some only in some (see below).
detail_route
¶
Return dictionary rendering link to detail route of dataset. First argument is the dataset’s setid, second optional name is displayed instead of setid.
scope: listing_columns
format
¶
Wrapper for fmt.format(*args)
. First argument is the format string fmt
, remaining arguments are passed on.
scope: filters, listing_columns
get
¶
Get a value from a nodes output. First argument defines node and traversal into its output, second optional argument is used as default value instead of None
.
Examples:
(get "bagmeta.start_time")
(get "dataset.files[:].size")
The specifier starts with the nodes name. A .
performs dictionary key lookup. Lists can be traversed into in part or full using slicing and further dictionary lookup is performed on each element of the list.
scope: filters, listing_columns
join
¶
Wrapper for joinstr.join(args)
. First argument is the join string remaining arguments are joined with.
scope: filters, listing_columns
list
¶
Return list consisting of arguments with arguments being None removed.
scope: filters, listing_columns, listing_summary
rows
¶
Return all rows matching current filter criteria. The optional second argument extracts a specific column defined in listing_columns instead of the full row and the third provides a default value instead of None.
Examples:
(sum (rows "size" 0))
scope: listing_summary
Examples¶
Default configuration¶
#
# MARV Robotics default configuration file
#
[marv]
collections = bags
[collection bags]
scanner = marv_robotics.bag:scan
scanroots =
scanroot
nodes =
marv_nodes:dataset
marv_robotics.bag:bagmeta
marv_robotics.cam:ffmpeg
marv_robotics.cam:images
marv_robotics.fulltext:fulltext
marv_robotics.gnss:gnss_plots
marv_robotics.trajectory:trajectory
# summary widgets
marv_robotics.detail:summary_keyval
marv_robotics.detail:bagmeta_table
# detail sections
marv_robotics.detail:connections_section
marv_robotics.detail:images_section
marv_robotics.detail:video_section
marv_robotics.detail:gnss_section
marv_robotics.detail:trajectory_section
filters =
# id | Display Name | operators | value type | value function
name | Name | substring | string | (get "dataset.name")
setid | Set Id | startswith | string | (get "dataset.id")
size | Size | lt le eq ne ge gt | filesize | (sum (get "dataset.files[:].size"))
tags | Tags | any all | subset | (tags )
comments | Comments | substring | string | (comments )
fulltext | Fulltext | words | words | (get "fulltext.words")
files | File paths | substring_any | string[] | (get "dataset.files[:].path")
added_time | Added | lt le eq ne ge gt | datetime | (get "dataset.time_added")
start_time | Start time | lt le eq ne ge gt | datetime | (get "bagmeta.start_time")
end_time | End time | lt le eq ne ge gt | datetime | (get "bagmeta.end_time")
duration | Duration | lt le eq ne ge gt | timedelta | (get "bagmeta.duration")
topics | Topics | any all | subset | (get "bagmeta.topics")
msg_types | Message types | any all | subset | (get "bagmeta.msg_types")
listing_columns =
# id | Heading | formatter | value function
name | Name | route | (detail_route (get "dataset.id") (get "dataset.name"))
size | Size | filesize | (sum (get "dataset.files[:].size"))
tags | Tags | pill[] | (tags )
added | Added | datetime | (get "dataset.time_added")
start_time | Start time | datetime | (get "bagmeta.start_time")
end_time | End time | datetime | (get "bagmeta.end_time")
duration | Duration | timedelta | (get "bagmeta.duration")
listing_sort = start_time | descending
listing_summary =
# id | Title | formatter | extractor
datasets | datasets | int | (len (rows ))
size | size | filesize | (sum (rows "size" 0))
duration | duration | timedelta | (sum (rows "duration" 0))
detail_summary_widgets =
summary_keyval
bagmeta_table
detail_sections =
connections_section
images_section
video_section
gnss_section
trajectory_section
System-wide configuration¶
/etc/marv/marv.conf
[marv]
collections = bags
# keep db/db.sqlite as the suffix!
dburi = sqlite:////var/local/lib/marv/db/db.sqlite
# store could also be somewhere else
store = /var/local/lib/marv/store
...
Multiple collections¶
[marv]
collections = bags bags2 videos
[collection bags]
scanner = marv_robotics.bag:scan
...
[collection bags2]
scanner = marv_robotics.bag:scan
...
[collection videos]
scanner = my_own_scanner:scan
...