[transfix]

The live ports now get their city from the document. docs/live.ari names the Austin city in a data: block, the host loads it once, and the demos read that same load instead of reading the bundle from disk. This is phase D2 of libcvc's docs/roadmap/ARIADNE_DATA_ROADMAP.md.

data:
  city:
    uri: cvcpkg://cy-pca/scene-austin-south-small
    path: share/cvc-scenes/austin_south
    as: city_bundle
scene:
  nodes:
    - node: city
      source: { data: city }

How the city loads

• Where it comes from: the host downloads the package from cvcpkg.org once, checks it against the registry's sha256, and keeps it in a local cache. It then unpacks it into the state tree and decodes it.
• What draws it: the document's city node draws the terrain, with the package's aerial image draped over it, and the buildings.
• What the demo reads: the same objects, through DemoHost.city: its terrain sampler, bounds, occupancy grids and SDF. So the bundle is read once, and never as files.

The changes

grl_snam.ariadne._host

• load_document lets the data store reach the registry (CVCPKG_URL's origin, else https://cvcpkg.org). With --bundle DIR or GRL_SNAM_SCENE_BUNDLE, it points data.city at that local bundle instead, and nothing is downloaded.
• document_city turns what loaded into a City. When the package cannot load (offline, no cache), the installed bundle stands in.
• city_file gives a path-based reader one file of the package; the Humvee uses it.
• DemoHost.city is new.

grl_snam.demos._common

• City has sample, bounds and occupancy. open_city(host, lab) returns the host's city when it has one.
• Otherwise it draws the installed bundle into the lab as before, now loading it once for every occupancy grid instead of once per grid.
• world_occupancy is shared with bundle_occupancy.

austin_freedrive / austin_learned / austin_patrol take their sampler, bounds, occupancy and SDF from open_city. Under VolRover3 and --standalone they behave as before.

live

• New --bundle option.
• A headless run is refused before the document loads, so it never starts a download.
• austin-planner never loads the city.
• The Humvee comes from the city's package when it carries one (the small package does).

Needs

transfix/libcvc#998 (Ariadne data) and transfix/libcvc#985 (the Python host). Until a pycvc release carries both, the port tests keep skipping in CI as they do now.

• With an older pycvc that has #985 but not #998, DemoHost.city returns None and the demos load the installed bundle as before.
• The document's data: block and its city node are then ignored, with a warning.

Tested

Run on Windows against a local libcvc build with #998 and #985 merged together (head 9c7cf70a, local only).

• Port tests: tests/test_ariadne_ports.py 12 passed, 2 skipped (no installed bundle on this box, and the GL-only checks).
• Full suite: 768 passed. The 6 failures also fail without this change:
  • five were imageio missing from this box's Python, and pass once it is installed;
  • the direction-table test is fixed in test(material): the direction table matches libm to within its last place, on any libm #152.
• Live run: live austin-freedrive --offscreen --frames 300 --png ..., with only the weights on disk (GRL_SNAM_CHECKPOINT) and no scene bundle.
  • The city came from the cvcpkg package: terrain with the aerial image, the buildings, and the Humvee from the same package.
  • The navigator ran on that world and reached 87% progress.
  • The aerial image is soft up close: the small package's image is 1024 px over 3 km. The full scene-austin-south package is sharper, at 117 MB downloaded once.