bluer-ugv 7.165.1__py3-none-any.whl → 7.196.1__py3-none-any.whl

bluer_ugv/.abcli/swallow/env/set.sh

@@ -5,6 +5,8 @@ function bluer_ugv_swallow_env_set() {
 
     if [[ "$var_name" == "steering" ]]; then
         var_name=BLUER_SBC_SWALLOW_HAS_STEERING
+    elif [[ "$var_name" == "full_keyboard" ]]; then
+        var_name=BLUER_SBC_SWALLOW_HAS_FULL_KEYBOARD
     else
         bluer_ai_log_error "$var_name: var not found."
         return 1

bluer_ugv/.abcli/swallow/keyboard/test.sh

@@ -0,0 +1,9 @@
+#! /usr/bin/env bash
+
+function bluer_ugv_swallow_keyboard_test() {
+    bluer_ai_eval ,$1 \
+        sudo -E $(which python3) \
+        -m bluer_ugv.swallow.session.classical.keyboard \
+        test \
+        "${@:2}"
+}

bluer_ugv/.abcli/swallow/keyboard.sh

@@ -0,0 +1,17 @@
+#! /usr/bin/env bash
+
+function bluer_ugv_swallow_keyboard() {
+    local task=$1
+
+    local function_name=bluer_ugv_swallow_keyboard_$task
+    if [[ $(type -t $function_name) == "function" ]]; then
+        $function_name "${@:2}"
+        return
+    fi
+
+    sudo -E $(which python3) \
+        -m bluer_ugv.swallow.session.classical.keyboard \
+        "$@"
+}
+
+bluer_ai_source_caller_suffix_path /keyboard

bluer_ugv/.abcli/tests/help.sh

@@ -13,12 +13,16 @@ function test_bluer_ugv_help() {
         "@swallow dataset list" \
         "@swallow dataset upload" \
         \
+        "@swallow debug" \
+        \
         "@swallow env" \
         "@swallow env cp" \
         "@swallow env list" \
         "@swallow env set" \
         \
-        "@swallow debug" \
+        "@swallow keyboard" \
+        "@swallow keyboard test" \
+        \
         "@swallow select_target" \
         \
         "@swallow ultrasonic" \

bluer_ugv/README/swallow/digital/design/__init__.py

@@ -8,6 +8,7 @@ from bluer_ugv.README.swallow.consts import (
 )
 from bluer_ugv.designs.swallow.parts import dict_of_parts
 from bluer_ugv.README.swallow.digital.design import mechanical, ultrasonic_sensor
+from bluer_ugv.swallow.session.classical.keyboard.keys import ControlKeys
 
 
 docs = (
@@ -20,11 +21,16 @@ docs = (
         },
         {
             "path": "../docs/swallow/digital/design/operation.md",
+            "cols": 2,
             "items": ImageItems(
                 {
-                    f"{swallow_assets2}/20251005_113232.jpg": "",
+                    f"{swallow_assets2}/20251019_121811.jpg": "",
+                    f"{swallow_assets2}/20251019_121842.jpg": "",
                 }
             ),
+            "macros": {
+                "keys:::": ControlKeys.as_table(),
+            },
         },
         {
             "path": "../docs/swallow/digital/design/parts.md",

bluer_ugv/__init__.py

@@ -4,7 +4,7 @@ ICON = "🐬"
 
 DESCRIPTION = f"{ICON} AI x UGV."
 
-VERSION = "7.165.1"
+VERSION = "7.196.1"
 
 REPO_NAME = "bluer-ugv"
 

bluer_ugv/config.env

@@ -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

@@ -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/help/swallow/__init__.py

@@ -1,6 +1,7 @@
 from bluer_ugv.help.swallow.dataset import help_functions as help_dataset
 from bluer_ugv.help.swallow.debug import help_debug
 from bluer_ugv.help.swallow.env import help_functions as help_env
+from bluer_ugv.help.swallow.keyboard import help_functions as help_keyboard
 from bluer_ugv.help.swallow.select_target import help_select_target
 from bluer_ugv.help.swallow.ultrasonic_sensor import (
     help_functions as help_ultrasonic_sensor,
@@ -10,6 +11,7 @@ help_functions = {
     "dataset": help_dataset,
     "debug": help_debug,
     "env": help_env,
+    "keyboard": help_keyboard,
     "select_target": help_select_target,
     "ultrasonic": help_ultrasonic_sensor,
 }

bluer_ugv/help/swallow/env.py

@@ -43,11 +43,12 @@ def help_set(
             "@swallow",
             "env",
             "set",
-            "steering",
+            "full_keyboard | steering",
             "0 | 1",
         ],
         "set env.",
         {
+            "full_keyboard: BLUER_SBC_SWALLOW_HAS_FULL_KEYBOARD": "",
             "steering: BLUER_SBC_SWALLOW_HAS_STEERING": "",
         },
         mono=mono,

bluer_ugv/help/swallow/keyboard.py

@@ -0,0 +1,33 @@
+from typing import List
+
+from bluer_options.terminal import show_usage, xtra
+
+from bluer_ugv import env
+
+
+def help_test(
+    tokens: List[str],
+    mono: bool,
+) -> str:
+    options = xtra("dryrun", mono=mono)
+
+    args = [
+        "[--keys 1234567890-+/.]",
+    ]
+
+    return show_usage(
+        [
+            "@swallow",
+            "keyboard",
+            "test",
+            f"[{options}]",
+        ]
+        + args,
+        "test keyboard.",
+        mono=mono,
+    )
+
+
+help_functions = {
+    "test": help_test,
+}

bluer_ugv/swallow/session/classical/camera/generic.py

@@ -4,7 +4,7 @@ from bluer_algo.socket.classes import SocketComm, DEV_HOST
 from bluer_sbc.imager.camera import instance as camera
 from bluer_sbc.env import BLUER_SBC_ENV
 
-from bluer_ugv.swallow.session.classical.keyboard import ClassicalKeyboard
+from bluer_ugv.swallow.session.classical.keyboard.classes import ClassicalKeyboard
 from bluer_ugv.swallow.session.classical.leds import ClassicalLeds
 from bluer_ugv.swallow.session.classical.setpoint.classes import ClassicalSetPoint
 from bluer_ugv.logger import logger

bluer_ugv/swallow/session/classical/camera/navigation.py

@@ -13,7 +13,7 @@ from bluer_algo.image_classifier.model.predictor import ImageClassifierPredictor
 
 from bluer_ugv import env
 from bluer_ugv.swallow.session.classical.camera.generic import ClassicalCamera
-from bluer_ugv.swallow.session.classical.keyboard import ClassicalKeyboard
+from bluer_ugv.swallow.session.classical.keyboard.classes import ClassicalKeyboard
 from bluer_ugv.swallow.session.classical.leds import ClassicalLeds
 from bluer_ugv.swallow.session.classical.setpoint.classes import ClassicalSetPoint
 from bluer_ugv.swallow.session.classical.mode import OperationMode

bluer_ugv/swallow/session/classical/camera/tracking.py

@@ -10,7 +10,7 @@ from bluer_sbc.imager.camera import instance as camera
 from bluer_ugv import env
 from bluer_ugv.swallow.session.classical.camera.generic import ClassicalCamera
 from bluer_ugv.swallow.session.classical.camera.generic import ClassicalCamera
-from bluer_ugv.swallow.session.classical.keyboard import ClassicalKeyboard
+from bluer_ugv.swallow.session.classical.keyboard.classes import ClassicalKeyboard
 from bluer_ugv.swallow.session.classical.leds import ClassicalLeds
 from bluer_ugv.swallow.session.classical.setpoint.classes import ClassicalSetPoint
 from bluer_ugv.swallow.session.classical.mode import OperationMode

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

@@ -13,7 +13,7 @@ from bluer_algo.yolo.model.predictor import YoloPredictor
 
 from bluer_ugv import env
 from bluer_ugv.swallow.session.classical.camera.generic import ClassicalCamera
-from bluer_ugv.swallow.session.classical.keyboard import ClassicalKeyboard
+from bluer_ugv.swallow.session.classical.keyboard.classes import ClassicalKeyboard
 from bluer_ugv.swallow.session.classical.leds import ClassicalLeds
 from bluer_ugv.swallow.session.classical.setpoint.classes import ClassicalSetPoint
 from bluer_ugv.swallow.session.classical.mode import OperationMode
@@ -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/__main__.py

@@ -0,0 +1,31 @@
+import argparse
+
+from blueness import module
+from blueness.argparse.generic import sys_exit
+
+from bluer_ugv import NAME
+from bluer_ugv.swallow.session.classical.keyboard.testing import test
+from bluer_ugv.logger import logger
+
+NAME = module.name(__file__, NAME)
+
+parser = argparse.ArgumentParser(NAME)
+parser.add_argument(
+    "task",
+    type=str,
+    help="test",
+)
+parser.add_argument(
+    "--keys",
+    type=str,
+    default=" ",
+)
+args = parser.parse_args()
+
+success = False
+if args.task == "test":
+    success = test(args.keys)
+else:
+    success = None
+
+sys_exit(logger, NAME, args.task, success)

bluer_ugv/swallow/session/classical/{keyboard.py → keyboard/classes.py}

@@ -5,19 +5,13 @@ from typing import Any, Dict
 from bluer_sbc.session.functions import reply_to_bash
 from bluer_algo.socket.classes import DEV_HOST
 
-from bluer_ugv.swallow.session.classical.setpoint.classes import ClassicalSetPoint
-from bluer_ugv.swallow.session.classical.mode import OperationMode
+from bluer_ugv.swallow.session.classical.keyboard.keys import ControlKeys
 from bluer_ugv.swallow.session.classical.leds import ClassicalLeds
+from bluer_ugv.swallow.session.classical.mode import OperationMode
+from bluer_ugv.swallow.session.classical.setpoint.classes import ClassicalSetPoint
 from bluer_ugv import env
 from bluer_ugv.logger import logger
 
-bash_keys = {
-    "i": "exit",
-    "o": "shutdown",
-    "p": "reboot",
-    "u": "update",
-}
-
 
 class ClassicalKeyboard:
     def __init__(
@@ -25,14 +19,9 @@ class ClassicalKeyboard:
         leds: ClassicalLeds,
         setpoint: ClassicalSetPoint,
     ):
-        logger.info(
-            "{}: {}".format(
-                self.__class__.__name__,
-                ", ".join(
-                    [f"{key}:{action}" for key, action in bash_keys.items()],
-                ),
-            )
-        )
+        logger.info(self.__class__.__name__)
+
+        self.keys = ControlKeys()
 
         self.leds = leds
 
@@ -62,20 +51,20 @@ class ClassicalKeyboard:
 
         # bash keys
         if self.special_key:
-            for key, event in bash_keys.items():
+            for key, event in self.keys.special_keys.items():
                 if keyboard.is_pressed(key):
                     reply_to_bash(event)
                     return False
 
         # other keys
         for key, func in {
-            " ": self.setpoint.stop,
+            self.keys.get("stop"): self.setpoint.stop,
             "x": self.setpoint.start,
-            "s": lambda: self.setpoint.put(
+            self.keys.get("speed backward"): lambda: self.setpoint.put(
                 what="speed",
                 value=self.setpoint.get(what="speed") - 10,
             ),
-            "w": lambda: self.setpoint.put(
+            self.keys.get("speed forward"): lambda: self.setpoint.put(
                 what="speed",
                 value=self.setpoint.get(what="speed") + 10,
             ),
@@ -85,14 +74,14 @@ class ClassicalKeyboard:
                 func()
 
         # steering
-        if keyboard.is_pressed("a"):
+        if keyboard.is_pressed(self.keys.get("steer left")):
             self.special_key = False
             self.last_key = "a"
             self.setpoint.put(
                 what="steering",
                 value=env.BLUER_UGV_SWALLOW_STEERING_SETPOINT,
             )
-        elif keyboard.is_pressed("d"):
+        elif keyboard.is_pressed(self.keys.get("steer right")):
             self.special_key = False
             self.last_key = "d"
             self.setpoint.put(
@@ -100,19 +89,15 @@ 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"):
+        if keyboard.is_pressed(self.keys.get("debug on")):
             self.special_key = False
             self.set("debug_mode", True)
             logger.info(f'debug enabled, run "@swallow debug" on {DEV_HOST}.')
 
-        if keyboard.is_pressed("v"):
+        if keyboard.is_pressed(self.keys.get("debug off")):
             self.special_key = False
             self.set("debug_mode", False)
             logger.info("debug disabled.")
@@ -120,33 +105,33 @@ class ClassicalKeyboard:
         # mode
         mode = self.get("mode", OperationMode.NONE)
         updated_mode = mode
-        if keyboard.is_pressed("y"):
+        if keyboard.is_pressed(self.keys.get("mode = none")):
             updated_mode = OperationMode.NONE
 
-        if keyboard.is_pressed("t"):
-            updated_mode = OperationMode.TRAINING
-
-        if keyboard.is_pressed("g"):
+        if keyboard.is_pressed(self.keys.get("mode = action")):
             updated_mode = OperationMode.ACTION
 
+        if keyboard.is_pressed(self.keys.get("mode = training")):
+            updated_mode = OperationMode.TRAINING
+
         if mode != updated_mode:
             self.set("mode", updated_mode)
             logger.info("mode: {}.".format(updated_mode.name.lower()))
             self.special_key = False
 
         # ultrasound
-        if keyboard.is_pressed("n"):
+        if keyboard.is_pressed(self.keys.get("ultrasonic off")):
             self.set("ultrasound_enabled", False)
-            logger.info("ultrasound: disabled")
+            logger.info("ultrasound: off")
             self.special_key = False
 
-        if keyboard.is_pressed("m"):
+        if keyboard.is_pressed(self.keys.get("ultrasonic on")):
             self.set("ultrasound_enabled", True)
-            logger.info("ultrasound: enabled")
+            logger.info("ultrasound: on")
             self.special_key = False
 
         # special key
-        if keyboard.is_pressed("z") and not self.special_key:
+        if keyboard.is_pressed(self.keys.get("special key")) and not self.special_key:
             self.special_key = True
             logger.info("🪄 special key enabled.")
 

bluer_ugv/swallow/session/classical/keyboard/keys.py

@@ -0,0 +1,81 @@
+from typing import Dict, Tuple
+
+from bluer_sbc.env import BLUER_SBC_SWALLOW_HAS_FULL_KEYBOARD
+
+from bluer_ugv.logger import logger
+
+
+class ControlKeys:
+    def __init__(
+        self,
+        is_numpad: bool = BLUER_SBC_SWALLOW_HAS_FULL_KEYBOARD == 0,
+    ):
+        self.is_numpad = is_numpad
+        logger.info(
+            "{}: {}".format(
+                self.__class__.__name__,
+                "numpad" if self.is_numpad else "full",
+            )
+        )
+
+        self._keys: Dict[str, Tuple[str, str]] = {
+            "ultrasonic off": ("n", "-"),
+            "ultrasonic on": ("m", "+"),
+            "debug off": ("v", "9"),
+            "debug on": ("b", "7"),
+            "mode = none": ("y", "5"),
+            "mode = action": ("g", "1"),
+            "mode = training": ("t", "3"),
+            "special key": ("z", "."),
+            "speed backward": ("s", "2"),
+            "speed forward": ("w", "8"),
+            "steer left": ("a", "4"),
+            "steer right": ("d", "6"),
+            "stop": (" ", "0"),
+        }
+
+    @staticmethod
+    def as_table():
+        keys = ControlKeys()
+        table = keys._keys.copy()  # pylint: disable=protected-access
+
+        for is_numpad in [False, True]:
+            keys.is_numpad = is_numpad
+
+            special_keys = keys.special_keys
+            for key, event in special_keys.items():
+                if event not in table:
+                    table[event] = ["", ""]
+
+                table[event][int(is_numpad)] = f"*{key}"
+
+        return [
+            "| event | full keyboard | numpad |",
+            "|-|-|-|",
+        ] + sorted(
+            [
+                " | ".join(["", event] + list(keys) + [""])
+                for event, keys in table.items()
+            ]
+        )
+
+    def get(self, event: str) -> str:
+        return self._keys[event][int(self.is_numpad)]
+
+    @property
+    def special_keys(self) -> Dict[str, str]:
+        return (
+            {
+                "7": "exit",
+                "9": "shutdown",
+                "5": "reboot",
+                "1": "update",
+            }
+            if self.is_numpad
+            else {
+                "i": "exit",
+                "o": "shutdown",
+                "p": "reboot",
+                "u": "update",
+            }
+        )

bluer_ugv/swallow/session/classical/keyboard/testing.py

@@ -0,0 +1,22 @@
+import keyboard
+
+from blueness import module
+
+from bluer_ugv import NAME
+from bluer_ugv.logger import logger
+
+NAME = module.name(__file__, NAME)
+
+
+def test(list_of_keys: str = "") -> bool:
+    logger.info("{}.testing({}): ^C to stop".format(NAME, list_of_keys))
+
+    try:
+        while True:
+            for key in list_of_keys:
+                if keyboard.is_pressed(key):
+                    logger.info(f"{key} is pressed.")
+    except KeyboardInterrupt:
+        logger.info("^C detected.")
+
+    return True

bluer_ugv/swallow/session/classical/session.py

@@ -13,7 +13,7 @@ from bluer_ugv.swallow.session.classical.camera import (
     ClassicalYoloCamera,
 )
 from bluer_ugv.swallow.session.classical.push_button import ClassicalPushButton
-from bluer_ugv.swallow.session.classical.keyboard import ClassicalKeyboard
+from bluer_ugv.swallow.session.classical.keyboard.classes import ClassicalKeyboard
 from bluer_ugv.swallow.session.classical.leds import ClassicalLeds
 from bluer_ugv.swallow.session.classical.mousepad import ClassicalMousePad
 from bluer_ugv.swallow.session.classical.motor import (

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

@@ -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/swallow/session/classical/ultrasonic_sensor/classes.py

@@ -13,7 +13,7 @@ from bluer_ugv.swallow.session.classical.ultrasonic_sensor.detection import (
 from bluer_ugv.swallow.session.classical.ultrasonic_sensor.log import (
     UltrasonicSensorDetectionLog,
 )
-from bluer_ugv.swallow.session.classical.keyboard import ClassicalKeyboard
+from bluer_ugv.swallow.session.classical.keyboard.classes import ClassicalKeyboard
 from bluer_ugv.swallow.session.classical.setpoint.classes import ClassicalSetPoint
 from bluer_ugv.logger import logger
 

{bluer_ugv-7.165.1.dist-info → bluer_ugv-7.196.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: bluer_ugv
-Version: 7.165.1
+Version: 7.196.1
 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-7.196.1`](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-7.196.1.dist-info}/RECORD

@@ -1,7 +1,7 @@
-bluer_ugv/__init__.py,sha256=JJ0tVY2eOpqi0O3BbaKQN2lpYy4YaN-H_pd9Ip_wbFY,288
+bluer_ugv/__init__.py,sha256=dlZ6KdgmjA40cFkgY0OcNNt-vfLvgx9fTB-WGQtQ2RI,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
@@ -15,6 +15,7 @@ bluer_ugv/.abcli/swallow.sh,sha256=hfgFLNtqePdH5kDuNJoIvOfyKpef26Qq3pXhgsSaLAs,3
 bluer_ugv/.abcli/swallow/dataset.sh,sha256=w-uuMLZEkfDbseLlCZu4xsg0veznj6ATU88Lzclh3xo,342
 bluer_ugv/.abcli/swallow/debug.sh,sha256=JVjExhotePW3gZG2MUS6IzbXVQwMAefKYJiSP88wqlk,559
 bluer_ugv/.abcli/swallow/env.sh,sha256=5rKCdZhrQa_9Lr96j1h7XrWBcf0YEeV3w3o0vLWGd0M,360
+bluer_ugv/.abcli/swallow/keyboard.sh,sha256=RYR5vgV0C1SATqekQ_F6Lr6Ums0IAkH9THX2ZPcitoY,402
 bluer_ugv/.abcli/swallow/select_target.sh,sha256=fwHmKbVcn_OEW4q-cjNc8Eyi6hOi1pMAb6x5tW8_lb0,183
 bluer_ugv/.abcli/swallow/session.sh,sha256=mMSq2kl8q1v-6QRgz5iK9oJid0VC2AGjwK1dZCMUtLo,885
 bluer_ugv/.abcli/swallow/ultrasonic.sh,sha256=GqnVn4u-FFC8SVsCYHiwABBDkgALe4mgRMloitlfeP8,380
@@ -25,11 +26,12 @@ bluer_ugv/.abcli/swallow/dataset/list.sh,sha256=-hqgmThG2JfheFSYIe6Z3UH05X5hrSuI
 bluer_ugv/.abcli/swallow/dataset/upload.sh,sha256=KM33QM4rIQpltbd_V49wPWear9Wi8cJNo0bBBeCEENU,577
 bluer_ugv/.abcli/swallow/env/cp.sh,sha256=vWBlG9n4Q6m_lBWcot9nyN6kc7-uil5skCjfJWHCfrY,168
 bluer_ugv/.abcli/swallow/env/list.sh,sha256=pT-hRS0ZfmogAfAMfm-hh0raGoUAnl66U5VuqgyeIwE,173
-bluer_ugv/.abcli/swallow/env/set.sh,sha256=_FWlraNupKcOcmcyuJHFjsyUViS6L0NXV-aDtEMrF-I,450
+bluer_ugv/.abcli/swallow/env/set.sh,sha256=TfRGz5mZ1ezGaJVZWPNf4yCpC2xOEk-Im5uKVvnLR00,555
+bluer_ugv/.abcli/swallow/keyboard/test.sh,sha256=B04AO-Er3_utzULPziyKD0aybuN2bry7h9wrQBEJ0tA,218
 bluer_ugv/.abcli/swallow/ultrasonic/review.sh,sha256=XoKwUliTcH-yTHrIo1cc9RSxL3tYQsBfWf1XOJ6YtOI,717
 bluer_ugv/.abcli/swallow/ultrasonic/test.sh,sha256=WRq4jnm2lv6q7fAw-_6Xg7DD8kgki48t8ilwXA-SsBM,582
 bluer_ugv/.abcli/tests/README.sh,sha256=w1xjPWgCfWbLtON_LEn2cvSmPLulzm7kTBPEC3LJixs,142
-bluer_ugv/.abcli/tests/help.sh,sha256=Jz5S7PPedcA6mUvLMlZ6kiXDshWt0TkQuaMx8XUW9UQ,1108
+bluer_ugv/.abcli/tests/help.sh,sha256=WOPID4QyuS57vpl5uEyYwytOF_pnMsbm4YgcZUcuvu8,1193
 bluer_ugv/.abcli/tests/swallow_dataset_combine.sh,sha256=tXjZj5iOOmCz3ito9lBDYjaAvR2odNzs2LRXsrM6d6c,291
 bluer_ugv/.abcli/tests/swallow_dataset_combine_explicit.sh,sha256=Ff4V7fi-h1myRT9ajjaKXesNrpaxLZMGDidBT8G31Kw,360
 bluer_ugv/.abcli/tests/swallow_dataset_combine_sequence.sh,sha256=N3Iq-zJV2OfEoft44D1BBLOlrkAbUDN_Rp_sAmjCEVk,311
@@ -75,7 +77,7 @@ bluer_ugv/README/swallow/digital/__init__.py,sha256=kyb46k4FsGZKgWW2QRM33pLUQl5t
 bluer_ugv/README/swallow/digital/algo/__init__.py,sha256=iHwEi_kwQUk0E3YtGKDrjTKV-PDRuDpAo69IMCE8uZ4,711
 bluer_ugv/README/swallow/digital/algo/navigation.py,sha256=Hg_tkGYnE8qbM37Go4KlAaO-sNAtOBmaNZlPda45BCc,1780
 bluer_ugv/README/swallow/digital/algo/yolo.py,sha256=NlDISZ9LOUmMAzdEYzVYOrIwbDGdM8euMURlBOGACUk,930
-bluer_ugv/README/swallow/digital/design/__init__.py,sha256=jc18icYAdDUdyAgfGVpziVCXTMbd_VjGX1cGhDyyKr0,2071
+bluer_ugv/README/swallow/digital/design/__init__.py,sha256=RwH9vIDnocrKVt5WaBZq3Nxh2DygOLWelOsrvyEl1Aw,2324
 bluer_ugv/README/swallow/digital/design/mechanical.py,sha256=OwgMrFIpRA-RR9CwurXaif09GCd6_i3zGuAfkH0jtsM,983
 bluer_ugv/README/swallow/digital/design/ultrasonic_sensor.py,sha256=VefIdTUXnsxVj3rmjsguV7N2BD9tPRiiaHjjRl84QUM,1517
 bluer_ugv/designs/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -96,10 +98,11 @@ bluer_ugv/help/__init__.py,sha256=ajz1GSNU9xYVrFEDSz6Xwg7amWQ_yvW75tQa1ZvRIWc,3
 bluer_ugv/help/__main__.py,sha256=ww3p0cIRZm-SDODZ_fYAzPV_-nucxtidjK1IP2idW8g,229
 bluer_ugv/help/functions.py,sha256=_JcncL82A-6m9P9J6MX6Z_FtZ09k6HWuirozKl48xXY,367
 bluer_ugv/help/git.py,sha256=4CcaA8lHoplrrFgF5lolwVT79SLr3gE2iqXpAIfzH64,319
-bluer_ugv/help/swallow/__init__.py,sha256=lCi1OPBV-ZiTGhOiTW7E4x-LuokoV5lvR9qGHsXkuSI,543
+bluer_ugv/help/swallow/__init__.py,sha256=LZRT9EhacDqXqTKgygmJ-LraGwqciP3Ahp3P4p5o7R8,650
 bluer_ugv/help/swallow/dataset.py,sha256=59D5XLQG1PRWfPwfM73Jz1-f0qh_cO0q18qLtsxXtj0,2495
 bluer_ugv/help/swallow/debug.py,sha256=70krqg-YtjxPjPwWnx4J1Fxlvw46hHyAYq7pA7yPt50,481
-bluer_ugv/help/swallow/env.py,sha256=kkpzILdOQxnfWlGMcHMUAfeijDR20dR_WrI9CSCk9co,1010
+bluer_ugv/help/swallow/env.py,sha256=PUrh0CD-UPqpJQjzonndji9yZs8nRfYCa26M3MnctRM,1096
+bluer_ugv/help/swallow/keyboard.py,sha256=YNkGWvE7tN3agCaL2R30FSIF2zw6oXa5ZJdnTJQA3Hk,518
 bluer_ugv/help/swallow/select_target.py,sha256=s1-v2IyT6thAncIzo4wKnU8hFJ-rDyi-IDzx2kMaJrs,390
 bluer_ugv/help/swallow/ultrasonic_sensor.py,sha256=rhxHQWDU7orCvqC_TeJWMCJFrm4qyJyHdiUIUIpZmhU,1223
 bluer_ugv/swallow/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -113,17 +116,21 @@ 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/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
 bluer_ugv/swallow/session/classical/push_button.py,sha256=s8sPart_dECjLK-gfsJi0UorRYcFYf3ofLqjmG8PoA8,2397
-bluer_ugv/swallow/session/classical/session.py,sha256=pl-IWDywqPQgmsLhHSa24BkuAQ2mg82VqqbkxrDMP5M,5176
+bluer_ugv/swallow/session/classical/session.py,sha256=mkWG1FfbU_lVAAf0MQRdOboMkg_jCozU_21BVex0Q2c,5184
 bluer_ugv/swallow/session/classical/camera/__init__.py,sha256=KOehn6qHKj3EMbV5uGXKIfN_v4D5-E2xH9aCWqbNlAI,375
-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/generic.py,sha256=9xTXisNYoiNVtT0-2wW9DvD6viIPpRR7rIyAwnbyvWs,1201
+bluer_ugv/swallow/session/classical/camera/navigation.py,sha256=HoeTlifGEfnedb6o8P-O0TcP1bNDRJ0M7vWupQh1pL4,6790
+bluer_ugv/swallow/session/classical/camera/tracking.py,sha256=fXDCA7UCQT0I6_djk16AgRdulySVEjJSKOgD8bDpQng,3651
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+bluer_ugv/swallow/session/classical/keyboard/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+bluer_ugv/swallow/session/classical/keyboard/__main__.py,sha256=tdX-a8MC9ix6aQ9isZXfnIqa9SuiYGr73Yy05RwvdCs,603
+bluer_ugv/swallow/session/classical/keyboard/classes.py,sha256=8_uLhtbgLcFge1pfenzwunJjLqBK_z6-j6lf4ztIE5A,4570
+bluer_ugv/swallow/session/classical/keyboard/keys.py,sha256=p1VkrQs_oq4NkZfmNM4HMlf4FcDz8k7eQneJIvaM7_c,2272
+bluer_ugv/swallow/session/classical/keyboard/testing.py,sha256=GFh-6-HkT1sYlGt-Y2traBFD8lle3C-HcvVrdzsITEo,511
 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
@@ -131,11 +138,11 @@ 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
-bluer_ugv/swallow/session/classical/ultrasonic_sensor/classes.py,sha256=i7EfePznQqVjCM7P7vUtXKOj-bXQclTvv0iB4hURw7M,4078
+bluer_ugv/swallow/session/classical/ultrasonic_sensor/classes.py,sha256=MIwfvni7DVLo3whxHnfnKiftbcksLhsoQI61wCH_hoU,4086
 bluer_ugv/swallow/session/classical/ultrasonic_sensor/consts.py,sha256=eP5Kb6aGqOAcOBBlhGvSWbUL_hKJZ8w5ggwkndzKBqo,227
 bluer_ugv/swallow/session/classical/ultrasonic_sensor/detection.py,sha256=v_yCBzg4uvnra4Yy_M3Ngaab80PBEbkp2SHfaWfXgb8,3720
 bluer_ugv/swallow/session/classical/ultrasonic_sensor/log.py,sha256=Ks_VqD6tV0Yw0lcSETOFcMwQaUedwLBwLlSblIrVs24,10202
@@ -143,8 +150,8 @@ bluer_ugv/swallow/session/classical/ultrasonic_sensor/pack.py,sha256=vMvmay2Gxg8
 bluer_ugv/swallow/session/classical/ultrasonic_sensor/review.py,sha256=_iQmec2VSq-ORkTVpXSNJg08hrSz2M1O8LzNZEtoT9U,959
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 bluer_ugv/swallow/session/classical/ultrasonic_sensor/testing.py,sha256=RIMHXmLXe1zXLvCNU163ymLI8XM6te9LXuCMnLuulbA,1515
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