bluer-ugv 7.200.1__tar.gz → 7.207.1__tar.gz

{bluer_ugv-7.200.1/bluer_ugv.egg-info → bluer_ugv-7.207.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: bluer_ugv
-Version: 7.200.1
+Version: 7.207.1
 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-7.200.1`](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-7.207.1`](https://github.com/kamangir/bluer-ugv).
 
 
 built by 🌀 [`blueness-3.118.1`](https://github.com/kamangir/blueness).

{bluer_ugv-7.200.1 → bluer_ugv-7.207.1}/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-7.200.1`](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-7.207.1`](https://github.com/kamangir/bluer-ugv).
 

{bluer_ugv-7.200.1 → bluer_ugv-7.207.1}/bluer_ugv/__init__.py

@@ -4,7 +4,7 @@ ICON = "🐬"
 
 DESCRIPTION = f"{ICON} AI x UGV."
 
-VERSION = "7.200.1"
+VERSION = "7.207.1"
 
 REPO_NAME = "bluer-ugv"
 

{bluer_ugv-7.200.1 → bluer_ugv-7.207.1}/bluer_ugv/swallow/debug.py

@@ -1,14 +1,15 @@
 from blueness import module
 import numpy as np
 import cv2
-from typing import List
+from typing import List, Dict
 
 from bluer_options import string
 from bluer_objects import file
 from bluer_objects import objects
+from bluer_objects.logger.stitch import stitch_images
 from bluer_objects.graphics.gif import generate_animated_gif
-from bluer_algo.socket.classes import SocketComm
-from bluer_algo.tracker.classes.target import Target
+from bluer_algo.socket.connection import SocketConnection
+from bluer_algo.socket.message import SocketMessage
 
 from bluer_ugv import NAME
 from bluer_ugv.logger import logger
@@ -31,14 +32,17 @@ def debug(
         )
     )
 
-    socket = SocketComm.listen_on()
+    socket = SocketConnection.listen_on()
 
     title = "debug..."
 
     cv2.namedWindow(title)
     logger.info("Ctrl+C to exit...")
 
-    image = np.zeros((480, 640, 3), np.uint8)
+    blank_image = np.zeros((480, 640, 3), np.uint8)
+
+    image = blank_image.copy()
+    dict_of_images: Dict[str, np.ndarray] = {}
 
     list_of_images: List[str] = []
     try:
@@ -46,10 +50,24 @@ def debug(
             cv2.imshow(title, np.flip(image, axis=2))
             cv2.waitKey(1)
 
-            success, image = socket.receive_data(np.ndarray)
+            success, message = socket.receive_data(SocketMessage)
             if not success:
                 break
 
+            assert isinstance(message, SocketMessage)
+
+            logger.info(f"message from {message.hostname}.")
+
+            if "image" not in message.payload:
+                logger.warning("no image.")
+                continue
+
+            dict_of_images[message.hostname] = message.payload["image"]
+
+            image = stitch_images(
+                [image for _, image in sorted(dict_of_images.items())]
+            )
+
             if save_images:
                 filename = objects.path_of(
                     filename="{}.png".format(string.timestamp()),

{bluer_ugv-7.200.1 → bluer_ugv-7.207.1}/bluer_ugv/swallow/session/classical/camera/generic.py

@@ -1,6 +1,6 @@
 from typing import Any
 
-from bluer_algo.socket.classes import SocketComm, DEV_HOST
+from bluer_algo.socket.connection import SocketConnection, DEV_HOST
 from bluer_sbc.imager.camera import instance as camera
 from bluer_sbc.env import BLUER_SBC_ENV
 
@@ -33,7 +33,7 @@ class ClassicalCamera:
         camera.close(log=True)
 
     def send_debug_data(self, data: Any) -> bool:
-        socket = SocketComm.connect_to(DEV_HOST)
+        socket = SocketConnection.connect_to(DEV_HOST)
         return socket.send_data(data)
 
     # multi-threaded support

{bluer_ugv-7.200.1 → bluer_ugv-7.207.1}/bluer_ugv/swallow/session/classical/camera/yolo.py

@@ -10,6 +10,7 @@ from bluer_sbc.imager.camera import instance as camera
 from bluer_sbc.env import BLUER_SBC_CAMERA_WIDTH
 from bluer_algo.yolo.dataset.classes import YoloDataset
 from bluer_algo.yolo.model.predictor import YoloPredictor
+from bluer_algo.socket.message import SocketMessage
 
 from bluer_ugv import env
 from bluer_ugv.swallow.session.classical.camera.generic import ClassicalCamera
@@ -145,7 +146,13 @@ class ClassicalYoloCamera(ClassicalCamera):
             return success
 
         if debug_mode:
-            if not self.send_debug_data(metadata["annotated_image"]):
+            if not self.send_debug_data(
+                SocketMessage(
+                    {
+                        "image": metadata["annotated_image"],
+                    }
+                )
+            ):
                 logger.warning("failed to send debug data.")
 
         if not metadata["detections"]:

{bluer_ugv-7.200.1 → bluer_ugv-7.207.1}/bluer_ugv/swallow/session/classical/keyboard/classes.py

@@ -3,7 +3,7 @@ import threading
 from typing import Any, Dict
 
 from bluer_sbc.session.functions import reply_to_bash
-from bluer_algo.socket.classes import DEV_HOST
+from bluer_algo.socket.connection import DEV_HOST
 
 from bluer_ugv.swallow.session.classical.keyboard.keys import ControlKeys
 from bluer_ugv.swallow.session.classical.leds import ClassicalLeds

{bluer_ugv-7.200.1 → bluer_ugv-7.207.1}/bluer_ugv/swallow/session/classical/keyboard/keys.py

@@ -9,14 +9,17 @@ class ControlKeys:
     def __init__(
         self,
         is_numpad: bool = BLUER_SBC_SWALLOW_HAS_FULL_KEYBOARD == 0,
+        log: bool = True,
     ):
         self.is_numpad = is_numpad
-        logger.info(
-            "{}: {}".format(
-                self.__class__.__name__,
-                "numpad" if self.is_numpad else "full",
+
+        if log:
+            logger.info(
+                "{}: {}".format(
+                    self.__class__.__name__,
+                    "numpad" if self.is_numpad else "full",
+                )
             )
-        )
 
         self._keys: Dict[str, Tuple[str, str]] = {
             "ultrasonic off": ("n", "-"),
@@ -36,7 +39,7 @@ class ControlKeys:
 
     @staticmethod
     def as_table():
-        keys = ControlKeys()
+        keys = ControlKeys(log=False)
         table = keys._keys.copy()  # pylint: disable=protected-access
 
         for is_numpad in [False, True]:

{bluer_ugv-7.200.1 → bluer_ugv-7.207.1}/bluer_ugv/swallow/targeting.py

@@ -2,7 +2,7 @@ from blueness import module
 import numpy as np
 
 from bluer_options.terminal import hr
-from bluer_algo.socket.classes import SocketComm
+from bluer_algo.socket.connection import SocketConnection
 from bluer_algo.tracker.classes.target import Target
 
 from bluer_ugv import NAME
@@ -26,7 +26,7 @@ def select_target(
 
     try:
         while loop:
-            socket = SocketComm.listen_on()
+            socket = SocketConnection.listen_on()
             success, image = socket.receive_data(np.ndarray)
             if not success:
                 return success
@@ -38,7 +38,7 @@ def select_target(
             if not success:
                 return success
 
-            socket = SocketComm.connect_to(host)
+            socket = SocketConnection.connect_to(host)
             if not socket.send_data(track_window):
                 return False
 

{bluer_ugv-7.200.1 → bluer_ugv-7.207.1/bluer_ugv.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: bluer_ugv
-Version: 7.200.1
+Version: 7.207.1
 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-7.200.1`](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-7.207.1`](https://github.com/kamangir/bluer-ugv).
 
 
 built by 🌀 [`blueness-3.118.1`](https://github.com/kamangir/blueness).