bluer-ugv 7.359.1__py3-none-any.whl → 7.421.1__py3-none-any.whl

bluer_ugv/.abcli/swallow/dataset.sh

@@ -9,7 +9,7 @@ function bluer_ugv_swallow_dataset() {
         return
     fi
 
-    python3 - bluer_ugv.swallow.dataset "$@"
+    python3 -m bluer_ugv.swallow.dataset "$@"
 }
 
 bluer_ai_source_caller_suffix_path /dataset

bluer_ugv/.abcli/swallow/video/play.sh

@@ -0,0 +1,7 @@
+#! /usr/bin/env bash
+
+function bluer_ugv_swallow_video_play() {
+    python3 -m bluer_ugv.swallow.session.classical.screen.video \
+        play \
+        "$@"
+}

bluer_ugv/.abcli/swallow/video/playlist/cat.sh

@@ -0,0 +1,14 @@
+#! /usr/bin/env bash
+
+function bluer_ugv_swallow_video_playlist_cat() {
+    local options=$1
+    local do_download=$(bluer_ai_option_int "$options" download 0)
+
+    [[ "$do_download" == 1 ]] &&
+        bluer_ugv_swallow_video_playlist_download \
+            filename=void \
+            $RANGIN_VIDEO_LIST_OBJECT
+
+    bluer_ai_cat \
+        $ABCLI_OBJECT_ROOT/$RANGIN_VIDEO_LIST_OBJECT/metadata.yaml
+}

bluer_ugv/.abcli/swallow/video/playlist/download.sh

@@ -0,0 +1,18 @@
+#! /usr/bin/env bash
+
+function bluer_ugv_swallow_video_playlist_download() {
+    local options=${1:-policy=doesnt_exist}
+
+    [[ "$abcli_is_rpi" == true ]] &&
+        sudo chown pi:pi \
+            $ABCLI_OBJECT_ROOT/$RANGIN_VIDEO_LIST_OBJECT
+
+    bluer_objects_download \
+        filename=metadata.yaml \
+        $RANGIN_VIDEO_LIST_OBJECT
+    [[ $? -ne 0 ]] && return 1
+
+    bluer_objects_download \
+        ,$options \
+        $RANGIN_VIDEO_LIST_OBJECT
+}

bluer_ugv/.abcli/swallow/video/playlist/edit.sh

@@ -0,0 +1,14 @@
+#! /usr/bin/env bash
+
+function bluer_ugv_swallow_video_playlist_edit() {
+    local options=$1
+    local do_download=$(bluer_ai_option_int "$options" download 0)
+
+    [[ "$do_download" == 1 ]] &&
+        bluer_ugv_swallow_video_playlist_download \
+            filename=void \
+            $RANGIN_VIDEO_LIST_OBJECT
+
+    bluer_ai_code \
+        $ABCLI_OBJECT_ROOT/$RANGIN_VIDEO_LIST_OBJECT/metadata.yaml
+}

bluer_ugv/.abcli/swallow/video/playlist/upload.sh

@@ -0,0 +1,9 @@
+#! /usr/bin/env bash
+
+function bluer_ugv_swallow_video_playlist_upload() {
+    local options=${1:-filename=metadata.yaml}
+
+    bluer_objects_upload \
+        ,$options \
+        $RANGIN_VIDEO_LIST_OBJECT
+}

bluer_ugv/.abcli/swallow/video/playlist.sh

@@ -0,0 +1,15 @@
+#! /usr/bin/env bash
+
+function bluer_ugv_swallow_video_playlist() {
+    local task=$1
+
+    local function_name=bluer_ugv_swallow_video_playlist_$task
+    if [[ $(type -t $function_name) == "function" ]]; then
+        $function_name "${@:2}"
+        return
+    fi
+
+    python3 -m bluer_ugv.swallow.session.classical.screen.video "$@"
+}
+
+bluer_ai_source_caller_suffix_path /playlist

bluer_ugv/.abcli/swallow/video.sh

@@ -0,0 +1,15 @@
+#! /usr/bin/env bash
+
+function bluer_ugv_swallow_video() {
+    local task=$1
+
+    local function_name=bluer_ugv_swallow_video_$task
+    if [[ $(type -t $function_name) == "function" ]]; then
+        $function_name "${@:2}"
+        return
+    fi
+
+    python3 -m bluer_ugv.swallow.session.classical.screen.video "$@"
+}
+
+bluer_ai_source_caller_suffix_path /video

bluer_ugv/.abcli/swallow.sh

@@ -9,7 +9,7 @@ function bluer_ugv_swallow() {
         return
     fi
 
-    python3 - bluer_ugv.swallow "$@"
+    python3 -m bluer_ugv.swallow "$@"
 }
 
 bluer_ai_source_caller_suffix_path /swallow

bluer_ugv/.abcli/tests/help.sh

@@ -29,6 +29,14 @@ function test_bluer_ugv_help() {
         "@swallow ultrasonic review" \
         "@swallow ultrasonic test" \
         \
+        "@swallow video" \
+        "@swallow video play" \
+        "@swallow video playlist" \
+        "@swallow video playlist cat" \
+        "@swallow video playlist download" \
+        "@swallow video playlist edit" \
+        "@swallow video playlist upload" \
+        \
         "@ugv" \
         \
         "@ugv git" \

bluer_ugv/.abcli/tests/swallow_video_play.sh

@@ -0,0 +1,11 @@
+#! /usr/bin/env bash
+
+function test_swallow_video_play() {
+    local options=$1
+
+    bluer_ai_eval ,$options \
+        bluer_ugv \
+        swallow \
+        video \
+        play
+}

bluer_ugv/.abcli/tests/swallow_video_playlist.sh

@@ -0,0 +1,45 @@
+#! /usr/bin/env bash
+
+function test_swallow_video_playlist_cat() {
+    local options=$1
+
+    bluer_ai_eval ,$options \
+        bluer_ugv \
+        swallow \
+        video \
+        playlist \
+        cat
+}
+
+function test_swallow_video_playlist_download_upload() {
+    local options=$1
+
+    bluer_ai_eval ,$options \
+        bluer_ugv \
+        swallow \
+        video \
+        playlist \
+        download \
+        policy=doesnt_exist
+    [[ $? -ne 0 ]] && return 1
+
+    bluer_ai_eval ,$options \
+        bluer_ugv \
+        swallow \
+        video \
+        playlist \
+        upload \
+        filename=metadata.yaml
+}
+
+function test_swallow_video_playlist_edit() {
+    local options=$1
+
+    bluer_ai_eval ,$options \
+        bluer_ugv \
+        swallow \
+        video \
+        playlist \
+        edit \
+        download
+}

bluer_ugv/__init__.py

@@ -4,7 +4,7 @@ ICON = "🐬"
 
 DESCRIPTION = f"{ICON} AI x UGV."
 
-VERSION = "7.359.1"
+VERSION = "7.421.1"
 
 REPO_NAME = "bluer-ugv"
 

bluer_ugv/config.env

@@ -27,4 +27,6 @@ BLUER_UGV_ULTRASONIC_SENSOR_MAX_M=0.8
 
 BLUER_UGV_ULTRASONIC_SENSOR_KEEP_LOG=1
 
-BLUER_UGV_ULTRASONIC_SENSOR_LOG=0
+BLUER_UGV_ULTRASONIC_SENSOR_LOG=0
+
+RANGIN_VIDEO_LIST_OBJECT=rangin-video-list-1

bluer_ugv/env.py

@@ -81,3 +81,5 @@ BLUER_UGV_ULTRASONIC_SENSOR_LOG = get_env(
     "BLUER_UGV_ULTRASONIC_SENSOR_LOG",
     1,
 )
+
+RANGIN_VIDEO_LIST_OBJECT = get_env("RANGIN_VIDEO_LIST_OBJECT")

bluer_ugv/help/swallow/__init__.py

@@ -6,6 +6,7 @@ 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,
 )
+from bluer_ugv.help.swallow.video.functions import help_functions as help_video
 
 help_functions = {
     "dataset": help_dataset,
@@ -14,4 +15,5 @@ help_functions = {
     "keyboard": help_keyboard,
     "select_target": help_select_target,
     "ultrasonic": help_ultrasonic_sensor,
+    "video": help_video,
 }

bluer_ugv/help/swallow/video/functions.py

@@ -0,0 +1,41 @@
+from typing import List
+
+from bluer_options.terminal import show_usage, xtra
+
+from bluer_ugv import env
+from bluer_ugv.help.swallow.video.playlist import help_functions as help_playlist
+from bluer_ugv.swallow.session.classical.screen.video.engine import VideoEngine
+
+
+def help_play(
+    tokens: List[str],
+    mono: bool,
+) -> str:
+    args = [
+        "[--dryrun 1]",
+        "[--download 0]",
+        "[--engine {}]".format(
+            " | ".join(sorted([engine.name.lower() for engine in VideoEngine]))
+        ),
+        "[--loop 0]",
+        f"[--object_name <{env.RANGIN_VIDEO_LIST_OBJECT}>]",
+        "[--timeout <-1 | 10>]",
+        "[--video <loading|1>]",
+    ]
+
+    return show_usage(
+        [
+            "@swallow",
+            "video",
+            "play",
+        ]
+        + args,
+        "play <object-name>/<video>.",
+        mono=mono,
+    )
+
+
+help_functions = {
+    "play": help_play,
+    "playlist": help_playlist,
+}

bluer_ugv/help/swallow/video/playlist.py

@@ -0,0 +1,89 @@
+from typing import List
+
+from bluer_options.terminal import show_usage, xtra
+from bluer_objects.help.download import options as download_options
+from bluer_objects.help.upload import options as upload_options
+
+
+def help_cat(
+    tokens: List[str],
+    mono: bool,
+) -> str:
+    options = xtra("download", mono=mono)
+
+    return show_usage(
+        [
+            "@swallow",
+            "video",
+            "playlist",
+            "cat",
+            f"[{options}]",
+        ],
+        "cat swallow playlist.",
+        mono=mono,
+    )
+
+
+def help_download(
+    tokens: List[str],
+    mono: bool,
+) -> str:
+    options = download_options(mono=mono)
+
+    return show_usage(
+        [
+            "@swallow",
+            "video",
+            "playlist",
+            "download",
+            f"[{options}]",
+        ],
+        "download swallow playlist.",
+        mono=mono,
+    )
+
+
+def help_edit(
+    tokens: List[str],
+    mono: bool,
+) -> str:
+    options = xtra("download", mono=mono)
+
+    return show_usage(
+        [
+            "@swallow",
+            "video",
+            "playlist",
+            "edit",
+            f"[{options}]",
+        ],
+        "edit swallow playlist.",
+        mono=mono,
+    )
+
+
+def help_upload(
+    tokens: List[str],
+    mono: bool,
+) -> str:
+    options = upload_options(mono=mono)
+
+    return show_usage(
+        [
+            "@swallow",
+            "video",
+            "playlist",
+            "upload",
+            f"[{options}]",
+        ],
+        "upload swallow playlist.",
+        mono=mono,
+    )
+
+
+help_functions = {
+    "cat": help_cat,
+    "download": help_download,
+    "edit": help_edit,
+    "upload": help_upload,
+}

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

@@ -0,0 +1,42 @@
+from bluer_options.host.functions import is_headless
+
+from bluer_ugv import env
+from bluer_ugv.swallow.session.classical.screen.video.player import VideoPlayer
+from bluer_ugv.swallow.session.classical.screen.video.playlist import PlayList
+from bluer_ugv.logger import logger
+
+
+class ClassicalScreen:
+    def __init__(self):
+        self.video_player = None if is_headless() else VideoPlayer()
+
+        self.playlist = PlayList(env.RANGIN_VIDEO_LIST_OBJECT)
+
+        logger.info(f"{self.__class__.__name__} created.")
+
+    def cleanup(self):
+        logger.info(f"{self.__class__.__name__}.cleanup")
+        self.video_player.stop()
+
+    def initialize(self) -> bool:
+        if self.video_player is None:
+            return True
+
+        return self.video_player.play(
+            self.playlist.get("loading"),
+            loop=True,
+        )
+
+    def update(self) -> bool:
+        if self.video_player is None:
+            return True
+
+        if self.video_player.process:
+            return True
+
+        self.playlist.next()
+
+        return self.video_player.play(
+            self.playlist.get(self.playlist.index),
+            loop=False,
+        )

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

@@ -0,0 +1,99 @@
+import argparse
+import time
+
+from blueness import module
+from blueness.argparse.generic import sys_exit
+from bluer_options.host import is_rpi, is_headless
+from bluer_options import string
+
+from bluer_ugv import NAME, env
+from bluer_ugv.swallow.session.classical.screen.video.playlist import PlayList
+from bluer_ugv.swallow.session.classical.screen.video.player import VideoPlayer
+from bluer_ugv.swallow.session.classical.screen.video.engine import VideoEngine
+from bluer_ugv.logger import logger
+
+NAME = module.name(__file__, NAME)
+
+parser = argparse.ArgumentParser(NAME)
+parser.add_argument(
+    "task",
+    type=str,
+    help="play",
+)
+parser.add_argument(
+    "--download",
+    type=int,
+    default=1,
+    help="0|1",
+)
+parser.add_argument(
+    "--dryrun",
+    type=int,
+    default=int(not is_rpi() or is_headless()),
+    help="0|1",
+)
+parser.add_argument(
+    "--engine",
+    type=str,
+    default=VideoEngine.VLC.name.lower(),
+    help=" | ".join(sorted([engine.name.lower() for engine in VideoEngine])),
+)
+parser.add_argument(
+    "--loop",
+    type=int,
+    default=1,
+    help="0|1",
+)
+parser.add_argument(
+    "--object_name",
+    type=str,
+    default=env.RANGIN_VIDEO_LIST_OBJECT,
+)
+parser.add_argument(
+    "--timeout",
+    type=int,
+    default=-1,
+    help="in seconds, -1: never",
+)
+parser.add_argument(
+    "--video",
+    type=str,
+    default="loading",
+)
+args = parser.parse_args()
+
+
+success = False
+if args.task == "play":
+    playlist = PlayList(
+        args.object_name,
+        download=args.download == 1,
+    )
+
+    video_player = VideoPlayer(
+        args.dryrun == 1,
+        engine=VideoEngine[args.engine.upper()],
+    )
+
+    success = video_player.play(
+        filename=playlist.get(args.video),
+        loop=args.loop == 1,
+    )
+
+    if success and args.timeout > 0:
+        logger.info(
+            "waiting for {}".format(
+                string.pretty_duration(
+                    args.timeout,
+                )
+            )
+        )
+        time.sleep(args.timeout)
+        success = video_player.stop()
+
+        logger.info('💡 type in "reset" if the prompt is invisible.')
+
+else:
+    success = None
+
+sys_exit(logger, NAME, args.task, success)

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

@@ -0,0 +1,125 @@
+import shlex
+from enum import Enum, auto
+import subprocess
+import time
+import socket
+
+from bluer_objects.graphics.screen import get_size
+from bluer_ugv.logger import logger
+
+
+class VideoEngine(Enum):
+    MPV = auto()
+    VLC = auto()
+
+    def pause(self, process: subprocess.Popen):
+        # MPV: use stdin
+        if self == VideoEngine.MPV:
+            try:
+                if not process.stdin:
+                    logger.error("mpv pause failed: no stdin")
+                    return False
+                process.stdin.write(b"p")
+                process.stdin.flush()
+            except Exception as e:
+                logger.error(f"mpv pause exception: {e}")
+                return False
+            return True
+
+        # VLC: use RC TCP
+        if self == VideoEngine.VLC:
+            try:
+                s = socket.create_connection(("127.0.0.1", 41940), 0.5)
+                s.sendall(b"pause\n")
+                s.close()
+                return True
+            except Exception as e:
+                logger.error(f"vlc pause failed: {e}")
+                return False
+
+        logger.error(f"{self}: unknown video engine.")
+        return False
+
+    def play_command(
+        self,
+        filename: str,
+        fullscreen: bool = True,
+        loop: bool = False,
+        audio: bool = False,
+    ) -> str:
+        screen_height, screen_width = get_size()
+        logger.info("screen size: {}x{}".format(screen_height, screen_width))
+
+        if self == VideoEngine.MPV:
+            logger.info('press "q" to quit mpv.')
+
+            return " ".join(
+                [
+                    "mpv",
+                    "--no-border",
+                    "--background=black",  # FIXED
+                    "--keepaspect=yes",
+                    "--no-keepaspect-window",
+                    "--geometry=0:0",
+                    (f"--autofit={screen_width}x{screen_height}" if fullscreen else ""),
+                    "--loop" if loop else "",
+                    "--no-audio" if not audio else "",
+                    shlex.quote(filename),
+                ]
+            )
+
+        if self == VideoEngine.VLC:
+            logger.info('press "Enter" to quit vlc.')
+
+            return " ".join(
+                [
+                    "sudo -u pi",
+                    "cvlc",
+                    "--fullscreen",
+                    "--no-video-title-show",
+                    "--video-on-top",
+                    "--no-osd",
+                    "--loop" if loop else "",
+                    "--no-audio" if not audio else "",
+                    "--extraintf",
+                    "rc",
+                    "--rc-host=127.0.0.1:41940",
+                    shlex.quote(filename),
+                ]
+            )
+
+        return "this-should-not-happen"
+
+    def stop(
+        self,
+        process: subprocess.Popen,
+    ) -> bool:
+        if self == VideoEngine.MPV:
+            try:
+                if process.stdin:
+                    process.stdin.write(b"q")
+                    process.stdin.flush()
+            except Exception as e:
+                logger.error(f"mpv quit failed: {e}")
+                return False
+
+        if self == VideoEngine.VLC:
+            try:
+                s = socket.create_connection(("127.0.0.1", 41940), 0.5)
+                s.sendall(b"quit\n")
+                s.close()
+                logger.info("vlc: sent 'quit' via TCP RC.")
+            except Exception as e:
+                logger.error(f"vlc rc quit failed: {e}")
+                return False
+
+        time.sleep(0.3)
+
+        try:
+            if process.poll() is None:
+                process.kill()
+        except Exception as e:
+            logger.warning(f"process.kill failed: {e}")
+            return False
+
+        return True

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/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

{bluer_ugv-7.359.1.dist-info → bluer_ugv-7.421.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: bluer_ugv
-Version: 7.359.1
+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-7.359.1`](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).

{bluer_ugv-7.359.1.dist-info → bluer_ugv-7.421.1.dist-info}/RECORD

@@ -1,7 +1,7 @@
-bluer_ugv/__init__.py,sha256=F_pqhqD98ev09BusRGLjekDPEOidSapK8Zmms3eqy94,288
+bluer_ugv/__init__.py,sha256=DIp2tWw0bFz4fuPJU_T0okkuaLLLBoXArIvt-F3_gSY,288
 bluer_ugv/__main__.py,sha256=77TquqyMca7qHk0XtCixGVyzfW3_9ywnl5oXEPERlls,374
-bluer_ugv/config.env,sha256=RjdP3rLG6pqIrilFsCbYpg8ieTDhzMfBrqvQkJYZ1Sk,949
-bluer_ugv/env.py,sha256=asv-2OByZzf1c4ta3CHMZQDEcY8cd2WDUOa-_OCNYvU,1757
+bluer_ugv/config.env,sha256=DvOq_s3WEo2qC0PF9jcrx_6NM17zggxBapxgCEg5nZ0,995
+bluer_ugv/env.py,sha256=wep0iD09RRfpIb-ZGlP9kt8UATVLAjM9WytMGB8IyMo,1821
 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
@@ -11,14 +11,15 @@ bluer_ugv/.abcli/actions.sh,sha256=SqOmx12IOMopT2PgiHgAu5BwLgIi92I98LZ64dZSsXw,2
 bluer_ugv/.abcli/aka.sh,sha256=RHDU_JbEEL2B0vvvRJ3NVSsRSEjSu09jNY85n7DLe-k,21
 bluer_ugv/.abcli/alias.sh,sha256=WgSjjtC6rCqs7kChT-89dILSmp4f79R9iY3wYkRPSkY,77
 bluer_ugv/.abcli/bluer_UGV.sh,sha256=d1R6TQgIQugKeUK3RZbxgm-6d9QqkJwwoPCQKOC8Xb0,250
-bluer_ugv/.abcli/swallow.sh,sha256=hfgFLNtqePdH5kDuNJoIvOfyKpef26Qq3pXhgsSaLAs,318
-bluer_ugv/.abcli/swallow/dataset.sh,sha256=w-uuMLZEkfDbseLlCZu4xsg0veznj6ATU88Lzclh3xo,342
+bluer_ugv/.abcli/swallow.sh,sha256=b3LpA-OSCa7ykRtLnWDQYrqmOvMfoP15al90krLmb2I,319
+bluer_ugv/.abcli/swallow/dataset.sh,sha256=rHRTCShdP3Uls5ZmTKhRzQHX6a5bZvi8Cj1QDpO4tH4,343
 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=sgshMG8KOeSePa9CELbf9eRD5lCXUXCU-oqASx0NAQ4,1558
 bluer_ugv/.abcli/swallow/ultrasonic.sh,sha256=GqnVn4u-FFC8SVsCYHiwABBDkgALe4mgRMloitlfeP8,380
+bluer_ugv/.abcli/swallow/video.sh,sha256=gEFF3YfKWFkfg8gYkwynQW8U_89YP6z0giZfDEYjsPY,360
 bluer_ugv/.abcli/swallow/dataset/combine.sh,sha256=OYS-9ONRhXuP41Z0z1A5-ay6bqLLSsLmVOUZNvwRnrk,965
 bluer_ugv/.abcli/swallow/dataset/download.sh,sha256=4Br0hYqENIEYm15yTJGJeHFNfVNFozQf1qg6US8KYlY,587
 bluer_ugv/.abcli/swallow/dataset/edit.sh,sha256=ujhKhv3XIpkqcahnp01JkL4WXaOgRp9gNu7eZpZSYaA,595
@@ -30,14 +31,22 @@ bluer_ugv/.abcli/swallow/env/set.sh,sha256=hMl5qO_nsV_C3Yvn4KDpw2lY7QD8aESzPsIH0
 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/swallow/video/play.sh,sha256=Y4HN9hNbqPYKhm2jWUAXFl3tJg-B3nvftH9fkGr0TS8,160
+bluer_ugv/.abcli/swallow/video/playlist.sh,sha256=ZL1qO1zKm7zO-PVdl2F67lIPpy_W4I_q_SFmAU_Egjc,381
+bluer_ugv/.abcli/swallow/video/playlist/cat.sh,sha256=JiYq9R3lmw5pxVYvnA79LheiHuP1edQQu_AxlFdq7wk,401
+bluer_ugv/.abcli/swallow/video/playlist/download.sh,sha256=_HsWoW3rtLWMZpAxd2iemgTsYYiy3GPHvC5LHSu-vdw,457
+bluer_ugv/.abcli/swallow/video/playlist/edit.sh,sha256=_l-XpJOybxIkfcE797DBXwlcBcWSZqzTwIEGxk14-BY,403
+bluer_ugv/.abcli/swallow/video/playlist/upload.sh,sha256=8yGQtenNTNPQvifffED0FCP4Rjz0jHHvaDdcTv-vn9M,206
 bluer_ugv/.abcli/tests/README.sh,sha256=w1xjPWgCfWbLtON_LEn2cvSmPLulzm7kTBPEC3LJixs,142
-bluer_ugv/.abcli/tests/help.sh,sha256=WOPID4QyuS57vpl5uEyYwytOF_pnMsbm4YgcZUcuvu8,1193
+bluer_ugv/.abcli/tests/help.sh,sha256=A8xHFj01T1y1iQ8HvwKbuEacvaC4Xo9uIr_cX9qocfY,1467
 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
 bluer_ugv/.abcli/tests/swallow_dataset_download_upload.sh,sha256=IPWm1El6fyQl66AgwF2v-j2ALW9cfmAfsPRg5Xygk2U,354
 bluer_ugv/.abcli/tests/swallow_dataset_edit.sh,sha256=01wLHLd35pPTUmMxFT_ugkwLOAFAYF_3CJijq5RLxBY,221
 bluer_ugv/.abcli/tests/swallow_dataset_list.sh,sha256=DPjikrMLMl0oJTHBV4EyYmkMZnMjEmwosJRocLIJGz0,256
+bluer_ugv/.abcli/tests/swallow_video_play.sh,sha256=38AHfA0zw4NYrAYFi2ypVk4eZ65k91DnlyQ4vWp1jOs,180
+bluer_ugv/.abcli/tests/swallow_video_playlist.sh,sha256=SRJOtziqmh7Gnuaq1BQyyyqPoZDVq5-sy0tgWYnnfII,827
 bluer_ugv/.abcli/tests/ultrasonic_sensor_review.sh,sha256=4LxfOGRAUJsZ5dnxrkwXCjWmkgQWSeqck-UYyza3aw8,243
 bluer_ugv/.abcli/tests/version.sh,sha256=7nVT4lERxIe-GkuDn86nfur9E_WGbvWtet_AJtr2S48,147
 bluer_ugv/.abcli/ugv/git.sh,sha256=U5p_5qrNwLw8O7HfHu7QZgLblbDc6Z6lIumgKwu3mzY,299
@@ -128,13 +137,16 @@ 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=LZRT9EhacDqXqTKgygmJ-LraGwqciP3Ahp3P4p5o7R8,650
+bluer_ugv/help/swallow/__init__.py,sha256=t65DuR-96-29wNylRysfId86OLNxsW4AM2YnN4V4DbM,755
 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=AwNGF7ZcwQz7-Q8uKaLuajyIMXpi9yGMS27Xq0-QvUs,1325
 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/help/swallow/video/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+bluer_ugv/help/swallow/video/functions.py,sha256=Ek0wrBUCNXSbBGIgMwD-8GUuULvSzL4zDv4lD8SGe6I,939
+bluer_ugv/help/swallow/video/playlist.py,sha256=Wg09FONWjuKOFYxDD7Ni3OjrSf8cnadscth0xU1NjfI,1663
 bluer_ugv/swallow/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 bluer_ugv/swallow/__main__.py,sha256=eQPKYwnIG5Brr39-mhyuLSW5ghj91FAhqwrO4kLLKi0,1199
 bluer_ugv/swallow/debug.py,sha256=0M-XjKqTnm-sNGaHWeuaM6tlkSSEQNqaLpmozNHALw0,2497
@@ -151,8 +163,7 @@ bluer_ugv/swallow/session/classical/mode.py,sha256=6rFe1IIpfijuI7Xd-wcGKhYQ7EdQx
 bluer_ugv/swallow/session/classical/mousepad.py,sha256=LI7yvmtrZZaGUgPGpxNU7zcPkW8D5ykHlY_O-4H2STs,1871
 bluer_ugv/swallow/session/classical/position.py,sha256=gNeNzNpUG8zkDrcwibxaYStPNKUN1_DV5RjHu_pHMIg,913
 bluer_ugv/swallow/session/classical/push_button.py,sha256=s8sPart_dECjLK-gfsJi0UorRYcFYf3ofLqjmG8PoA8,2397
-bluer_ugv/swallow/session/classical/screen.py,sha256=XzExo4l_FpQg151NsaL_KfXx_V0slY9aRCF7kXJnf5g,244
-bluer_ugv/swallow/session/classical/session.py,sha256=lHchI7OB9S65K5QGvqPYfFu90q3SN8eNlXZiXSdcvVI,5444
+bluer_ugv/swallow/session/classical/session.py,sha256=n3Q9G3Qdbw8Cb12yaEj5HLfuyJm70kZi_DVJqxItD8E,5532
 bluer_ugv/swallow/session/classical/camera/__init__.py,sha256=KOehn6qHKj3EMbV5uGXKIfN_v4D5-E2xH9aCWqbNlAI,375
 bluer_ugv/swallow/session/classical/camera/generic.py,sha256=xmztClNYkosYo2TcIS2Ax4Bessc8lx4hlt9LnMcobfU,1216
 bluer_ugv/swallow/session/classical/camera/navigation.py,sha256=HoeTlifGEfnedb6o8P-O0TcP1bNDRJ0M7vWupQh1pL4,6790
@@ -169,6 +180,13 @@ bluer_ugv/swallow/session/classical/motor/left.py,sha256=eKyEI8CqQiUTTmpNlJrXro9
 bluer_ugv/swallow/session/classical/motor/rear.py,sha256=mIBpUxBeiw1me5WY3jbtMyaG8SzyCA1_SzUu6ywdy50,539
 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/screen/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+bluer_ugv/swallow/session/classical/screen/classes.py,sha256=5lS7vtDk2YeEPEd6ywowgiPgE2iYz9WIWoyBsCcUbGM,1156
+bluer_ugv/swallow/session/classical/screen/video/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+bluer_ugv/swallow/session/classical/screen/video/__main__.py,sha256=2uyKoxnZ9LwYWlEP_KDEyvIrwRL31SjK7I-xvM-eZpI,2190
+bluer_ugv/swallow/session/classical/screen/video/engine.py,sha256=-P_VSdqBjP2KBooMzcc-izWP-GMfl4q07t4Fyc6CQH4,3752
+bluer_ugv/swallow/session/classical/screen/video/player.py,sha256=XLXYVHqseZKKD-CmyW2NXzuGarf91BJGSNP7t1nMJzM,3353
+bluer_ugv/swallow/session/classical/screen/video/playlist.py,sha256=OAqPz_eOlBdWKlYDmqtD3FaO9duAbA94kr02jSbSFIo,2934
 bluer_ugv/swallow/session/classical/setpoint/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 bluer_ugv/swallow/session/classical/setpoint/classes.py,sha256=a2ACbE4oEdguuOjtrP2bIyuEpl97TK_JCTGir05KZkg,5054
 bluer_ugv/swallow/session/classical/setpoint/steering.py,sha256=yuhW3u9YgZ756h4wyMWJYW9914d8oYRKLga67rTW-Tw,288
@@ -178,13 +196,13 @@ bluer_ugv/swallow/session/classical/ultrasonic_sensor/classes.py,sha256=glWK3p5l
 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/detection_list.py,sha256=V4ChFybBrWdrjEGZyQ8z4dXEpzpYzJXdOGf-omvES8I,1268
-bluer_ugv/swallow/session/classical/ultrasonic_sensor/log.py,sha256=pitEgK3Fh7EYpotoq_Ek35w_xuBnunhozUSUSahmONU,10276
+bluer_ugv/swallow/session/classical/ultrasonic_sensor/log.py,sha256=jqDVuYjWzyK-5n71fNmMCxURst0CyrhzjnLhEsWtnps,10317
 bluer_ugv/swallow/session/classical/ultrasonic_sensor/pack.py,sha256=bVcG8V0P6SlJz18za6OvVEPrkdsiR_78CGiAxrpcPQ4,1575
 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=yj2MY_Jo1FzeXnR_JoFAXsb9eHEVhicDiHEsUa8z03U,1525
-bluer_ugv-7.359.1.dist-info/licenses/LICENSE,sha256=ogEPNDSH0_dhiv_lT3ifVIdgIzHAqNA_SemnxUfPBJk,7048
-bluer_ugv-7.359.1.dist-info/METADATA,sha256=inKzOSENCNzh94pLL44tfprSakkIWG5DGP6Fk2T29ho,5573
-bluer_ugv-7.359.1.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
-bluer_ugv-7.359.1.dist-info/top_level.txt,sha256=_MlDhFvIPpher9Zs7xyJTHgO2xJJTbfR1dzncz3LQnk,10
-bluer_ugv-7.359.1.dist-info/RECORD,,
+bluer_ugv-7.421.1.dist-info/licenses/LICENSE,sha256=ogEPNDSH0_dhiv_lT3ifVIdgIzHAqNA_SemnxUfPBJk,7048
+bluer_ugv-7.421.1.dist-info/METADATA,sha256=b7ArtoEVxiPg1HUjUiM_x6lYaWtqzQOa8ZCmI7Bw4ac,5573
+bluer_ugv-7.421.1.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+bluer_ugv-7.421.1.dist-info/top_level.txt,sha256=_MlDhFvIPpher9Zs7xyJTHgO2xJJTbfR1dzncz3LQnk,10
+bluer_ugv-7.421.1.dist-info/RECORD,,

bluer_ugv/swallow/session/classical/screen.py

@@ -1,11 +0,0 @@
-from bluer_options.host.functions import is_headless
-
-from bluer_ugv.logger import logger
-
-
-class ClassicalScreen:
-    def __init__(self):
-        if is_headless():
-            return
-
-        logger.info(f"{self.__class__.__name__} created.")