bluer-ugv 7.353.1__py3-none-any.whl → 7.421.1__py3-none-any.whl

bluer_ugv/swallow/session/classical/screen/video/player.py

@@ -0,0 +1,117 @@
+from typing import List, Optional
+import subprocess
+import shlex
+import time
+
+from bluer_options.logger import crash_report
+from bluer_options.logger.config import log_list
+from bluer_objects import file
+
+from bluer_ugv.swallow.session.classical.screen.video.engine import VideoEngine
+from bluer_ugv.logger import logger
+
+
+class VideoPlayer:
+    def __init__(
+        self,
+        dryrun: bool = False,
+        engine: VideoEngine = VideoEngine.VLC,
+    ):
+        self.process: Optional[subprocess.Popen] = None
+        self.current_file: Optional[str] = None
+
+        self.paused = False
+        self.dryrun = dryrun
+        assert isinstance(engine, VideoEngine)
+        self.engine: VideoEngine = engine
+
+        logger.info(
+            "{} created on {}{}.".format(
+                self.__class__.__name__,
+                self.engine.name.lower(),
+                " [dryrun]" if dryrun else "",
+            )
+        )
+
+    def pause(self) -> bool:
+        if not self.dryrun:
+            if self.process and self.process.poll() is None:
+                if not self.engine.pause(self.process):
+                    return False
+
+        logger.info(
+            "{}.{}".format(
+                self.__class__.__name__,
+                "resume" if self.paused else "pause",
+            )
+        )
+        self.paused = not self.paused
+
+        return True
+
+    def play(
+        self,
+        filename: str,
+        loop: bool = False,
+        audio: bool = False,
+        fullscreen: bool = True,
+        verbose: bool = True,
+    ) -> bool:
+        if not file.exists(filename):
+            logger.error(f"file not found: {filename}")
+            return False
+
+        self.stop()
+
+        command = self.engine.play_command(
+            filename=filename,
+            fullscreen=fullscreen,
+            loop=loop,
+            audio=audio,
+        )
+        logger.info(f"running on {self.engine.name.lower()}: {command}")
+
+        if not self.dryrun:
+            try:
+                # pylint: disable=consider-using-with
+                self.process = subprocess.Popen(
+                    shlex.split(command),
+                    stdin=subprocess.PIPE if self.engine == VideoEngine.MPV else None,
+                    stdout=None if verbose else subprocess.DEVNULL,
+                    stderr=None if verbose else subprocess.DEVNULL,
+                )
+
+                logger.info(
+                    f"pid={self.process.pid}, "
+                    f"stdin={self.process.stdin}, returncode={self.process.returncode}"
+                )
+
+            except Exception as e:
+                crash_report(f"failed to run: {e}")
+                self.process = None
+                return False
+
+            if not self.process:
+                logger.error("process is None.")
+                return False
+
+        self.current_file = filename
+
+        logger.info(
+            "{}.play({}{})".format(
+                self.__class__.__name__,
+                "loop: " if loop else "",
+                filename,
+            )
+        )
+
+        return True
+
+    def stop(self) -> bool:
+        if not self.dryrun and self.process and self.process.poll() is None:
+            if not self.engine.stop(self.process):
+                return False
+
+        self.process = None
+        logger.info(f"{self.__class__.__name__}.stop")
+        return True

bluer_ugv/swallow/session/classical/screen/video/playlist.py

@@ -0,0 +1,116 @@
+from typing import Dict, List
+
+from bluer_options.logger.config import log_dict, log_list
+from bluer_objects.metadata import get_from_object
+from bluer_objects import storage, objects
+from bluer_objects.storage.policies import DownloadPolicy
+
+from bluer_ugv.logger import logger
+
+
+class PlayList:
+    def __init__(
+        self,
+        object_name: str,
+        download: bool = True,
+    ):
+        self.index: int = -1
+
+        self.object_name = object_name
+        self.download = download
+
+        if self.download:
+            storage.download(
+                self.object_name,
+                filename="metadata.yaml",
+            )
+
+        self.messages: Dict[str, str] = get_from_object(
+            self.object_name,
+            "messages",
+            default={},
+        )
+        log_dict(
+            logger,
+            "loaded",
+            self.messages,
+            "message(s)",
+            max_count=-1,
+            max_length=-1,
+        )
+
+        self.playlist: List[Dict[str, str]] = get_from_object(
+            self.object_name,
+            "playlist",
+            default=[],
+        )
+        log_list(
+            logger,
+            "loaded",
+            self.playlist,
+            "playlist item(s)",
+            max_count=-1,
+            max_length=-1,
+        )
+
+        logger.info(
+            "{} created from {}.".format(
+                self.__class__.__name__,
+                self.object_name,
+            )
+        )
+
+    def get(
+        self,
+        keyword: int | str = "loading",
+        what: str = "filename",
+    ) -> str:
+        filename = f"{keyword.__class__.__name__}-not-supported"
+
+        if isinstance(keyword, int):
+            filename = "bad-index-{}-from-{}".format(
+                keyword,
+                len(self.playlist),
+            )
+
+            if 0 <= keyword < len(self.playlist):
+                filename = self.playlist[keyword].get(
+                    what,
+                    f"{what}-not-found",
+                )
+
+        if isinstance(keyword, str):
+            filename = f"{keyword}-not-found"
+
+            if keyword.isnumeric():
+                return self.get(int(keyword), what=what)
+
+            if keyword in self.messages:
+                filename = self.messages[keyword].get(
+                    what,
+                    f"{what}-not-found",
+                )
+
+        if self.download:
+            storage.download(
+                self.object_name,
+                filename=filename,
+                policy=DownloadPolicy.DOESNT_EXIST,
+            )
+
+        return objects.path_of(
+            filename=filename,
+            object_name=self.object_name,
+        )
+
+    def next(self):
+        self.index += 1
+        if self.index >= len(self.playlist):
+            self.index = 0
+
+        logger.info(
+            "{}: video #{}".format(
+                self.__class__.__name__,
+                self.index,
+            )
+        )

bluer_ugv/swallow/session/classical/session.py

@@ -24,7 +24,7 @@ from bluer_ugv.swallow.session.classical.motor import (
 )
 from bluer_ugv.swallow.session.classical.setpoint.classes import ClassicalSetPoint
 from bluer_ugv.swallow.session.classical.position import ClassicalPosition
-from bluer_ugv.swallow.session.classical.screen import ClassicalScreen
+from bluer_ugv.swallow.session.classical.screen.classes import ClassicalScreen
 from bluer_ugv.swallow.session.classical.ultrasonic_sensor.classes import (
     ClassicalUltrasonicSensor,
 )
@@ -114,6 +114,8 @@ class ClassicalSession:
             object_name=self.object_name,
         )
 
+        self.screen = ClassicalScreen()
+
         logger.info(
             "{}: created for {}".format(
                 self.__class__.__name__,
@@ -127,12 +129,10 @@ class ClassicalSession:
         self.ultrasonic_sensor.stop()
         self.camera.stop()
 
-        for thing in [
-            self.motor1,
-            self.motor2,
-            self.camera,
-        ]:
-            thing.cleanup()
+        self.motor1.cleanup()
+        self.motor2.cleanup()
+
+        self.camera.cleanup()
 
         GPIO.cleanup()
 
@@ -156,12 +156,15 @@ class ClassicalSession:
             loop_frequency,
         )
 
+        self.screen.cleanup()
+
         logger.info(f"{self.__class__.__name__}.cleanup")
 
     def initialize(self) -> bool:
         return all(
             thing.initialize()
             for thing in [
+                self.screen,
                 self.push_button,
                 self.leds,
                 self.motor1,
@@ -183,6 +186,7 @@ class ClassicalSession:
             self.motor1,
             self.motor2,
             self.leds,
+            self.screen,
         ]:
             self.timing.start(thing.__class__.__name__)
 

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

@@ -10,6 +10,9 @@ from bluer_ugv.swallow.session.classical.ultrasonic_sensor.pack import (
 from bluer_ugv.swallow.session.classical.ultrasonic_sensor.detection import (
     DetectionState,
 )
+from bluer_ugv.swallow.session.classical.ultrasonic_sensor.detection_list import (
+    DetectionList,
+)
 from bluer_ugv.swallow.session.classical.ultrasonic_sensor.log import (
     UltrasonicSensorDetectionLog,
 )
@@ -42,6 +45,8 @@ class ClassicalUltrasonicSensor:
         self.setpoint = setpoint
         self.keyboard = keyboard
 
+        self.detection_list = DetectionList()
+
         self.pack = None
         self.log = None
         self.running = False
@@ -85,30 +90,22 @@ class ClassicalUltrasonicSensor:
                 time.sleep(0.01)
                 continue
 
-            success, detections = self.pack.detect(
-                log=env.BLUER_UGV_ULTRASONIC_SENSOR_LOG == 1
+            success, self.detection_list = self.pack.detect(
+                log=env.BLUER_UGV_ULTRASONIC_SENSOR_LOG == 1,
             )
             if not success:
                 raise NameError("failed to detect ultrasonic sensor.")
 
             if self.log is not None:
-                self.log.append(detections)
+                self.log.append(self.detection_list)
 
             log_detections: bool = False
             speed = self.setpoint.get(what="speed")
-            if any(
-                detection.state == DetectionState.DANGER for detection in detections
-            ):
+            if self.detection_list.state == DetectionState.DANGER:
                 self.setpoint.stop()
                 log_detections = True
                 logger.info("⛔️ danger detected, stopping.")
-            elif (
-                any(
-                    detection.state == DetectionState.WARNING
-                    for detection in detections
-                )
-                and speed > 0
-            ):
+            elif self.detection_list.state == DetectionState.WARNING and speed > 0:
                 self.setpoint.put(
                     what="speed",
                     value=speed // 2,
@@ -123,8 +120,6 @@ class ClassicalUltrasonicSensor:
                 logger.info(
                     "{}: {}".format(
                         self.__class__.__name__,
-                        ", ".join(
-                            [detection.as_str(short=True) for detection in detections]
-                        ),
+                        ", ".join(self.detection_list.as_str(short=True)),
                     )
                 )

bluer_ugv/swallow/session/classical/ultrasonic_sensor/detection_list.py

@@ -0,0 +1,45 @@
+from typing import List, Iterable, Iterator
+from bluer_ugv.swallow.session.classical.ultrasonic_sensor.detection import (
+    Detection,
+    DetectionState,
+)
+
+
+class DetectionList:
+    def __init__(
+        self,
+        list_of_detections: Iterable[Detection] | None = None,
+    ):
+        self._content: List[Detection] = (
+            list(list_of_detections) if list_of_detections else []
+        )
+
+    def __iter__(self) -> Iterator[Detection]:
+        return iter(self._content)
+
+    def __len__(self) -> int:
+        return len(self._content)
+
+    def __getitem__(self, index: int) -> Detection:
+        return self._content[index]
+
+    def append(self, detection: Detection) -> None:
+        self._content.append(detection)
+
+    def as_str(
+        self,
+        short: bool = False,
+    ) -> List[str]:
+        return [detection.as_str(short=short) for detection in self._content]
+
+    @property
+    def state(self) -> DetectionState:
+        if any(detection.state == DetectionState.DANGER for detection in self._content):
+            return DetectionState.DANGER
+
+        if any(
+            detection.state == DetectionState.WARNING for detection in self._content
+        ):
+            return DetectionState.WARNING
+
+        return DetectionState.CLEAR

bluer_ugv/swallow/session/classical/ultrasonic_sensor/log.py

@@ -1,4 +1,7 @@
 from typing import List
+import matplotlib
+
+matplotlib.use("Agg")
 import matplotlib.pyplot as plt
 from tqdm import tqdm
 import numpy as np
@@ -12,16 +15,19 @@ from bluer_objects.graphics.signature import add_signature
 
 from bluer_ugv import env
 from bluer_ugv.swallow.session.classical.ultrasonic_sensor.detection import Detection
+from bluer_ugv.swallow.session.classical.ultrasonic_sensor.detection_list import (
+    DetectionList,
+)
 from bluer_ugv.host import signature
 from bluer_ugv.logger import logger
 
 
 class UltrasonicSensorDetectionLog:
     def __init__(self):
-        self.log: List[List[Detection]] = []
+        self.log: List[DetectionList] = []
 
-    def append(self, detection: List[Detection]):
-        self.log.append(detection)
+    def append(self, detection_list: DetectionList):
+        self.log.append(detection_list)
 
     def export(
         self,
@@ -72,12 +78,12 @@ class UltrasonicSensorDetectionLog:
                 )
 
             plt.plot(
-                [func(list_of_detections[0]) for list_of_detections in self.log],
+                [func(detection_list[0]) for detection_list in self.log],
                 color="green",
                 label="left sensor",
             )
             plt.plot(
-                [func(list_of_detections[1]) for list_of_detections in self.log],
+                [func(detection_list[1]) for detection_list in self.log],
                 color="blue",
                 label="right sensor",
             )
@@ -150,8 +156,8 @@ class UltrasonicSensorDetectionLog:
     ) -> bool:
         image = np.zeros((len(self.log[0]), len(self.log), 3), dtype=np.uint8)
 
-        for detection_index, list_of_detections in enumerate(self.log):
-            for sensor_index, detection in enumerate(list_of_detections):
+        for detection_index, detection_list in enumerate(self.log):
+            for sensor_index, detection in enumerate(detection_list):
                 assert isinstance(detection, Detection)
 
                 for channel in range(3):
@@ -213,12 +219,12 @@ class UltrasonicSensorDetectionLog:
         if not path.create(temp_folder):
             return False
 
-        for index, detections in tqdm(enumerate(self.log)):
+        for index, detection_list in tqdm(enumerate(self.log)):
             if frame_count != -1 and len(image_list) >= frame_count:
                 rm_blank_count += 1
                 break
 
-            if rm_blank and all(detection.is_blank for detection in detections):
+            if rm_blank and all(detection.is_blank for detection in detection_list):
                 continue
 
             filename = objects.path_of(
@@ -230,12 +236,12 @@ class UltrasonicSensorDetectionLog:
                 [
                     detection.as_image(
                         height=height,
-                        width=int(width / len(detections)),
+                        width=int(width / len(detection_list)),
                         max_m=max_m,
-                        line_width=int(line_width / len(detections)),
+                        line_width=int(line_width / len(detection_list)),
                         sign=False,
                     )
-                    for detection in detections
+                    for detection in detection_list
                 ],
                 axis=1,
             )
@@ -254,14 +260,14 @@ class UltrasonicSensorDetectionLog:
                                 env.BLUER_UGV_ULTRASONIC_SENSOR_DANGER_THRESHOLD
                             ),
                         ]
-                        + [detection.as_str(short=True) for detection in detections]
+                        + detection_list.as_str(short=True)
                         + objects.signature(
                             "frame #{:04d}/{}".format(
                                 index,
                                 len(self.log),
                             ),
                             object_name,
-                        )
+                        ),
                     )
                 ],
                 footer=[" | ".join(signature())],
@@ -316,8 +322,8 @@ class UltrasonicSensorDetectionLog:
             ),
             {
                 "detections": [
-                    [detection.as_dict() for detection in list_of_detections]
-                    for list_of_detections in self.log
+                    [detection.as_dict() for detection in detection_list]
+                    for detection_list in self.log
                 ]
             },
             log=log,

bluer_ugv/swallow/session/classical/ultrasonic_sensor/pack.py

@@ -4,7 +4,9 @@ from bluer_ugv import env
 from bluer_ugv.swallow.session.classical.ultrasonic_sensor.sensor import (
     lUltrasonicSensor,
 )
-from bluer_ugv.swallow.session.classical.ultrasonic_sensor.detection import Detection
+from bluer_ugv.swallow.session.classical.ultrasonic_sensor.detection_list import (
+    DetectionList,
+)
 from bluer_ugv.logger import logger
 
 
@@ -30,7 +32,7 @@ class UltrasonicSensorPack:
     def detect(
         self,
         log: bool = True,
-    ) -> Tuple[bool, List[Detection]]:
+    ) -> Tuple[bool, DetectionList]:
         success_left, detection_left = self.left.detect(log=False)
         success_right, detection_right = self.right.detect(log=False)
 
@@ -45,6 +47,16 @@ class UltrasonicSensorPack:
             )
 
         return (
-            success_left and success_right,
-            [detection_left, detection_right],
+            all(
+                [
+                    success_left,
+                    success_right,
+                ]
+            ),
+            DetectionList(
+                [
+                    detection_left,
+                    detection_right,
+                ],
+            ),
         )

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

@@ -32,12 +32,12 @@ def test(
     success = True
     try:
         while True:
-            success, detection = ultrasonic_sensor_pack.detect(log=log)
+            success, detection_list = ultrasonic_sensor_pack.detect(log=log)
             if not success:
                 break
 
             if export:
-                detection_log.append(detection)
+                detection_log.append(detection_list)
     except KeyboardInterrupt:
         logger.info("^C detected.")
     finally:

{bluer_ugv-7.353.1.dist-info → bluer_ugv-7.421.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: bluer_ugv
-Version: 7.353.1
+Version: 7.421.1
 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-7.353.1`](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-7.421.1`](https://github.com/kamangir/bluer-ugv).
 
 
 built by 🌀 [`blueness-3.118.1`](https://github.com/kamangir/blueness).