bluer-ugv 7.165.1__tar.gz → 7.176.1__tar.gz

{bluer_ugv-7.165.1/bluer_ugv.egg-info → bluer_ugv-7.176.1}/PKG-INFO

@@ -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 → bluer_ugv-7.176.1}/README.md

@@ -35,5 +35,5 @@ 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).
 

{bluer_ugv-7.165.1 → bluer_ugv-7.176.1}/bluer_ugv/__init__.py

@@ -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-7.165.1 → bluer_ugv-7.176.1}/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-7.165.1 → bluer_ugv-7.176.1}/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-7.165.1 → bluer_ugv-7.176.1}/bluer_ugv/swallow/session/classical/camera/yolo.py

@@ -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-7.165.1 → bluer_ugv-7.176.1}/bluer_ugv/swallow/session/classical/keyboard.py

@@ -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-7.165.1 → bluer_ugv-7.176.1}/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-7.165.1 → bluer_ugv-7.176.1/bluer_ugv.egg-info}/PKG-INFO

@@ -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).