PyPI - bluer-ugv - Versions diffs - 7.165.1__py3-none-any.whl → 7.176.1__py3-none-any.whl - Mend

bluer-ugv 7.165.1py3-none-any.whl → 7.176.1py3-none-any.whl

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (11) hide show

bluer_ugv/__init__.py CHANGED Viewed

@@ -4,7 +4,7 @@ ICON = "🐬"
 DESCRIPTION = f"{ICON} AI x UGV."
-VERSION = "7.165.1"
+VERSION = "7.176.1"
 REPO_NAME = "bluer-ugv"

bluer_ugv/config.env CHANGED Viewed

@@ -4,6 +4,7 @@ BLUER_UGV_CAMERA_TRAINING_PERIOD=3.0
 BLUER_UGV_CAMERA_ACTION_PERIOD=0.5
 BLUER_UGV_SWALLOW_STEERING_SETPOINT=50
+BLUER_UGV_SWALLOW_STEERING_YOLO_EXPIRY=0.1
 BLUER_UGV_MOUSEPAD_ENABLED=0

bluer_ugv/env.py CHANGED Viewed

@@ -23,6 +23,11 @@ BLUER_UGV_SWALLOW_STEERING_SETPOINT = get_env(
     50,
 )
+BLUER_UGV_SWALLOW_STEERING_YOLO_EXPIRY = get_env(
+    "BLUER_UGV_SWALLOW_STEERING_YOLO_EXPIRY",
+    0.1,
+)
 BLUER_UGV_MOUSEPAD_ENABLED = get_env(
     "BLUER_UGV_MOUSEPAD_ENABLED",
     0,

bluer_ugv/swallow/session/classical/camera/yolo.py CHANGED Viewed

@@ -48,15 +48,18 @@ class ClassicalYoloCamera(ClassicalCamera):
         assert super().initialize()
-        assert storage.download(
+        if not storage.download(
             env.BLUER_UGV_SWALLOW_YOLO_MODEL,
             policy=DownloadPolicy.DOESNT_EXIST,
-        )
+        ):
+            logger.error("cannot download the model.")
         success, self.predictor = YoloPredictor.load(
             object_name=env.BLUER_UGV_SWALLOW_YOLO_MODEL,
             image_size=BLUER_SBC_CAMERA_WIDTH,
         )
-        assert success
+        if not success:
+            logger.error("cannot create the predictor.")
         self.running = True
         self.thread = threading.Thread(target=self.loop, daemon=True)
@@ -78,9 +81,10 @@ class ClassicalYoloCamera(ClassicalCamera):
         super().cleanup()
-        assert self.dataset.save(
+        if not self.dataset.save(
             verbose=True,
-        )
+        ):
+            logger.error("cannot save the dataset.")
         if self.dataset.empty:
             return
@@ -156,12 +160,14 @@ class ClassicalYoloCamera(ClassicalCamera):
                 what="steering",
                 value=env.BLUER_UGV_SWALLOW_STEERING_SETPOINT,
                 log=True,
+                steering_expires_in=env.BLUER_UGV_SWALLOW_STEERING_YOLO_EXPIRY,
             )
         else:
             self.setpoint.put(
                 what="steering",
                 value=-env.BLUER_UGV_SWALLOW_STEERING_SETPOINT,
                 log=True,
+                steering_expires_in=env.BLUER_UGV_SWALLOW_STEERING_YOLO_EXPIRY,
             )
         return True

bluer_ugv/swallow/session/classical/keyboard.py CHANGED Viewed

@@ -100,11 +100,7 @@ class ClassicalKeyboard:
                 value=-env.BLUER_UGV_SWALLOW_STEERING_SETPOINT,
             )
         else:
-            self.setpoint.put(
-                what="steering",
-                value=0,
-                log=False,
-            )
+            self.setpoint.check_steering_expiry()
         # debug mode
         if keyboard.is_pressed("b"):

bluer_ugv/swallow/session/classical/setpoint/classes.py CHANGED Viewed

@@ -1,5 +1,8 @@
 import threading
 from typing import Union, Dict
+import time
+from bluer_options import string
 from bluer_ugv.swallow.session.classical.leds import ClassicalLeds
 from bluer_ugv.swallow.session.classical.setpoint.steering import (
@@ -15,6 +18,9 @@ class ClassicalSetPoint:
     ):
         self.speed = 0
         self.steering = 0
+        self.steering_expiry = time.time()
         self.started = False
         self.leds = leds
@@ -51,17 +57,49 @@ class ClassicalSetPoint:
             logger.error(f"{self.__class__.__name__}.get: {what} not found.")
             return 0
+    def check_steering_expiry(
+        self,
+        log: bool = True,
+    ):
+        with self._lock:
+            if self.steering == 0:
+                return
+            if self.steering_expiry > time.time():
+                if log:
+                    logger.info(
+                        "setpoint will expire in {}.".format(
+                            string.pretty_duration(
+                                self.steering_expiry - time.time(),
+                                largest=True,
+                                short=True,
+                                include_ms=True,
+                            )
+                        )
+                    )
+                return
+        if log:
+            logger.info("setpoint expired.")
+        self.put(
+            what="steering",
+            value=0,
+        )
     def put(
         self,
         value: Union[int, bool, Dict[str, Union[int, bool]]],
         what: str = "all",
-        log: bool = False,
+        log: bool = True,
+        steering_expires_in: float = 0,
     ):
         with self._lock:
             if what == "all":
                 self.speed = min(100, max(-100, int(value["speed"])))
                 self.started = bool(value["started"])
                 self.steering = min(100, max(-100, int(value["steering"])))
+                self.steering_expiry = time.time() + steering_expires_in
                 return
             if what == "speed":
@@ -88,11 +126,18 @@ class ClassicalSetPoint:
             if what == "steering":
                 self.steering = min(100, max(-100, int(value)))
+                self.steering_expiry = time.time() + steering_expires_in
                 if log:
                     logger.info(
-                        "{}.put: steering={}".format(
+                        "{}.put: steering={}, expires in {}".format(
                             self.__class__.__name__,
                             self.steering,
+                            string.pretty_duration(
+                                steering_expires_in,
+                                largest=True,
+                                short=True,
+                                include_ms=True,
+                            ),
                         )
                     )
                 return

{bluer_ugv-7.165.1.dist-info → bluer_ugv-7.176.1.dist-info}/METADATA RENAMED Viewed

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: bluer_ugv
-Version: 7.165.1
+Version: 7.176.1
 Summary: 🐬 AI x UGV.
 Home-page: https://github.com/kamangir/bluer-ugv
 Author: Arash Abadpour (Kamangir)
@@ -64,7 +64,7 @@ pip install bluer_ugv
 [![pylint](https://github.com/kamangir/bluer-ugv/actions/workflows/pylint.yml/badge.svg)](https://github.com/kamangir/bluer-ugv/actions/workflows/pylint.yml) [![pytest](https://github.com/kamangir/bluer-ugv/actions/workflows/pytest.yml/badge.svg)](https://github.com/kamangir/bluer-ugv/actions/workflows/pytest.yml) [![bashtest](https://github.com/kamangir/bluer-ugv/actions/workflows/bashtest.yml/badge.svg)](https://github.com/kamangir/bluer-ugv/actions/workflows/bashtest.yml) [![PyPI version](https://img.shields.io/pypi/v/bluer-ugv.svg)](https://pypi.org/project/bluer-ugv/) [![PyPI - Downloads](https://img.shields.io/pypi/dd/bluer-ugv)](https://pypistats.org/packages/bluer-ugv)
-built by 🌀 [`bluer README`](https://github.com/kamangir/bluer-objects/tree/main/bluer_objects/README), based on 🐬 [`bluer_ugv-7.165.1`](https://github.com/kamangir/bluer-ugv).
+built by 🌀 [`bluer README`](https://github.com/kamangir/bluer-objects/tree/main/bluer_objects/README), based on 🐬 [`bluer_ugv-7.176.1`](https://github.com/kamangir/bluer-ugv).
 built by 🌀 [`blueness-3.118.1`](https://github.com/kamangir/blueness).

{bluer_ugv-7.165.1.dist-info → bluer_ugv-7.176.1.dist-info}/RECORD RENAMED Viewed

@@ -1,7 +1,7 @@
-bluer_ugv/__init__.py,sha256=JJ0tVY2eOpqi0O3BbaKQN2lpYy4YaN-H_pd9Ip_wbFY,288
+bluer_ugv/__init__.py,sha256=UYHIIcOS1Uq3mpqjQWxqfdx8ZkqOmxUKGvltpQKatp0,288
 bluer_ugv/__main__.py,sha256=77TquqyMca7qHk0XtCixGVyzfW3_9ywnl5oXEPERlls,374
-bluer_ugv/config.env,sha256=hVPPKSdHWtbjLPWUKaMdFfuBgc8I2ThXgt8OOMhPNrQ,906
-bluer_ugv/env.py,sha256=gROxchvg4M-VpH8T_zIaVjV4xzoTzO77lVZXO_5YjzA,1649
+bluer_ugv/config.env,sha256=psiLmasSe300nOPkLqMurFalZTvNE43zAsBQLEEDp-k,949
+bluer_ugv/env.py,sha256=asv-2OByZzf1c4ta3CHMZQDEcY8cd2WDUOa-_OCNYvU,1757
 bluer_ugv/host.py,sha256=DpdJCvBpUfP9LkZgcH4BcdLGD-WZUvbTsjvMfPtS8uY,292
 bluer_ugv/logger.py,sha256=faY6GL6xfZAzlZ1aJ-MEHuPRJZNx8PYS4jMyY3xuxMw,98
 bluer_ugv/sample.env,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -113,7 +113,7 @@ bluer_ugv/swallow/session/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJW
 bluer_ugv/swallow/session/__main__.py,sha256=QFOnflCI6tB_qoG0S4Dpy-L0pW20tFffPPOb96LtypM,636
 bluer_ugv/swallow/session/functions.py,sha256=Jfv7Ab6TEhZMtVv348imNg7JVgPNezFcuovq5r65rAo,666
 bluer_ugv/swallow/session/classical/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-bluer_ugv/swallow/session/classical/keyboard.py,sha256=qC5GCV3sik3edcId88kTRpt4EAiTxnLTW03pZCdTxP0,4497
+bluer_ugv/swallow/session/classical/keyboard.py,sha256=FdgC2pZWJnLdoAwBppplSaDx4YjlVxiL9Cb9XpsTOuU,4417
 bluer_ugv/swallow/session/classical/leds.py,sha256=ElhE08rm-KLbQ59lJzStLWeNsfoO7tV2fPBMBXCKX_E,2241
 bluer_ugv/swallow/session/classical/mode.py,sha256=6rFe1IIpfijuI7Xd-wcGKhYQ7EdQxG4mYGVliTjS118,117
 bluer_ugv/swallow/session/classical/mousepad.py,sha256=LI7yvmtrZZaGUgPGpxNU7zcPkW8D5ykHlY_O-4H2STs,1871
@@ -123,7 +123,7 @@ bluer_ugv/swallow/session/classical/camera/__init__.py,sha256=KOehn6qHKj3EMbV5uG
 bluer_ugv/swallow/session/classical/camera/generic.py,sha256=ARcuj0Fm76pxu2bmiV2d89ZNNWBPaARn5-oxa_QcT3I,1193
 bluer_ugv/swallow/session/classical/camera/navigation.py,sha256=xSB-ExYjco5Hkpo_dgCLkD1c66il-KMamfsL_E9qXBA,6782
 bluer_ugv/swallow/session/classical/camera/tracking.py,sha256=PLwwH7MK8RudeDNYtzkxnPH9CTJAB6kDE4YI8g6aTzs,3643
-bluer_ugv/swallow/session/classical/camera/yolo.py,sha256=se26LWRlG25k_ZCmfoC9pbSPtwxzYpwJnIYvPMIIE2g,5882
+bluer_ugv/swallow/session/classical/camera/yolo.py,sha256=DNsJ84m3ULBHu6dBXYuPDpmtSBHjQWXpkdxrgsn7m58,6211
 bluer_ugv/swallow/session/classical/motor/__init__.py,sha256=Ja9pVS6h5wnZiDvJ2IaibLcleQl3inIF_YRJg9VGKlw,323
 bluer_ugv/swallow/session/classical/motor/generic.py,sha256=VzCEqkuil-7ncyv2TxI7NMofIiLhuZGl61Ck3Yog55s,2860
 bluer_ugv/swallow/session/classical/motor/left.py,sha256=eKyEI8CqQiUTTmpNlJrXro90x2_la5KejVLgj_pXkQM,537
@@ -131,7 +131,7 @@ bluer_ugv/swallow/session/classical/motor/rear.py,sha256=mIBpUxBeiw1me5WY3jbtMya
 bluer_ugv/swallow/session/classical/motor/right.py,sha256=3BwCXA6VxxyRBG3rsnRXGviS5gIda14UCqaELGMOJNk,539
 bluer_ugv/swallow/session/classical/motor/steering.py,sha256=-_-6C9cGYFgt_WH3hwTSV8jL5I_qkxc2O45Ck8SlFCo,545
 bluer_ugv/swallow/session/classical/setpoint/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-bluer_ugv/swallow/session/classical/setpoint/classes.py,sha256=X3v_kLyrtjdTRXUCSmf4vJhUHrfFGqhFqA9WZ3y0an0,3654
+bluer_ugv/swallow/session/classical/setpoint/classes.py,sha256=a2ACbE4oEdguuOjtrP2bIyuEpl97TK_JCTGir05KZkg,5054
 bluer_ugv/swallow/session/classical/setpoint/steering.py,sha256=yuhW3u9YgZ756h4wyMWJYW9914d8oYRKLga67rTW-Tw,288
 bluer_ugv/swallow/session/classical/ultrasonic_sensor/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 bluer_ugv/swallow/session/classical/ultrasonic_sensor/__main__.py,sha256=SHCwEk_K9L0BG1X7W1JnnhTnQBGJ--TiN-QuH2Je28E,1732
@@ -143,8 +143,8 @@ bluer_ugv/swallow/session/classical/ultrasonic_sensor/pack.py,sha256=vMvmay2Gxg8
 bluer_ugv/swallow/session/classical/ultrasonic_sensor/review.py,sha256=_iQmec2VSq-ORkTVpXSNJg08hrSz2M1O8LzNZEtoT9U,959
 bluer_ugv/swallow/session/classical/ultrasonic_sensor/sensor.py,sha256=En-J8BRTiR8k9p2CBbW0cOUuw8nctD5DOXDm5uhCNO4,3987
 bluer_ugv/swallow/session/classical/ultrasonic_sensor/testing.py,sha256=RIMHXmLXe1zXLvCNU163ymLI8XM6te9LXuCMnLuulbA,1515
-bluer_ugv-7.165.1.dist-info/licenses/LICENSE,sha256=ogEPNDSH0_dhiv_lT3ifVIdgIzHAqNA_SemnxUfPBJk,7048
-bluer_ugv-7.165.1.dist-info/METADATA,sha256=dkZvtx7qSjx5t5lxjnjpKwTEhGseJEGKT02SMDkRZ8Q,5596
-bluer_ugv-7.165.1.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
-bluer_ugv-7.165.1.dist-info/top_level.txt,sha256=_MlDhFvIPpher9Zs7xyJTHgO2xJJTbfR1dzncz3LQnk,10
-bluer_ugv-7.165.1.dist-info/RECORD,,
+bluer_ugv-7.176.1.dist-info/licenses/LICENSE,sha256=ogEPNDSH0_dhiv_lT3ifVIdgIzHAqNA_SemnxUfPBJk,7048
+bluer_ugv-7.176.1.dist-info/METADATA,sha256=k1g8sLsODlC3dkN5AtFq7EmfbgxfQ0ePnafD2Zrxtp8,5596
+bluer_ugv-7.176.1.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+bluer_ugv-7.176.1.dist-info/top_level.txt,sha256=_MlDhFvIPpher9Zs7xyJTHgO2xJJTbfR1dzncz3LQnk,10
+bluer_ugv-7.176.1.dist-info/RECORD,,

{bluer_ugv-7.165.1.dist-info → bluer_ugv-7.176.1.dist-info}/WHEEL RENAMED Viewed

File without changes

{bluer_ugv-7.165.1.dist-info → bluer_ugv-7.176.1.dist-info}/licenses/LICENSE RENAMED Viewed

File without changes

{bluer_ugv-7.165.1.dist-info → bluer_ugv-7.176.1.dist-info}/top_level.txt RENAMED Viewed

File without changes

bluer-ugv 7.165.1__py3-none-any.whl → 7.176.1__py3-none-any.whl

bluer-ugv 7.165.1py3-none-any.whl → 7.176.1py3-none-any.whl