bluer-ugv 7.579.1__py3-none-any.whl → 7.607.1__py3-none-any.whl

bluer_ugv/.abcli/swallow/git/rm_keys.sh

@@ -9,21 +9,19 @@ function bluer_ugv_swallow_git_rm_keys() {
         return 1
     fi
 
-    bluer_ai_eval dryrun=$do_dryrun \
-        sudo rm -v ~/.ssh/$BLUER_AI_GIT_SSH_KEY_NAME
+    sudo rm -v ~/.ssh/$BLUER_AI_GIT_SSH_KEY_NAME
 
-    bluer_ai_eval dryrun=$do_dryrun \
-        sudo rm -v ~/.ssh/$BLUER_AI_GIT_SSH_KEY_NAME.pub
+    sudo rm -v ~/.ssh/$BLUER_AI_GIT_SSH_KEY_NAME.pub
 
-    local repo
-    for repo in $(bluer_ai_plugins list_of_external --delim space --log 0 --repo_names 1); do
-        bluer_ai_eval dryrun=$do_dryrun \
-            bluer_ai_git_set_remote \
+    local repo_name
+    for repo_name in bluer-ai $(bluer_ai_plugins list_of_external \
+        --delim space \
+        --log 0 \
+        --repo_names 1); do
+        bluer_ai_git \
             $repo_name \
+            set_remote \
             dryrun=$do_dryrun,https
         [[ $? -ne 0 ]] && return 1
-
-        git pull
-        [[ $? -ne 0 ]] && return 1
     done
 }

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

@@ -2,27 +2,16 @@ from bluer_objects.README.items import ImageItems
 
 from bluer_ugv.README.consts import algo_docs
 from bluer_ugv.README.swallow.consts import swallow_assets2
-from bluer_ugv.README.swallow.digital.algo import navigation, yolo
+from bluer_ugv.README.swallow.digital.algo import driving, navigation, tracking, yolo
 
 docs = (
     [
         {
             "path": "../docs/swallow/digital/algo",
         },
-        {
-            "path": "../docs/swallow/digital/algo/driving.md",
-        },
     ]
+    + driving.docs
     + navigation.docs
-    + [
-        {
-            "path": "../docs/swallow/digital/algo/tracking",
-            "items": ImageItems(
-                {
-                    f"{swallow_assets2}/target-selection.png": f"{algo_docs}/socket.md",
-                }
-            ),
-        }
-    ]
+    + tracking.docs
     + yolo.docs
 )

bluer_ugv/README/swallow/digital/algo/driving.py

@@ -0,0 +1,5 @@
+docs = [
+    {
+        "path": "../docs/swallow/digital/algo/driving.md",
+    },
+]

bluer_ugv/README/swallow/digital/algo/tracking.py

@@ -0,0 +1,41 @@
+from bluer_objects.README.items import ImageItems
+from bluer_objects.README.consts import assets
+from bluer_objects.README.consts import assets_url
+
+from bluer_ugv.README.consts import algo_docs
+from bluer_ugv.README.swallow.consts import swallow_assets2
+
+tracker_assets2 = assets_url(
+    "tracker",
+    volume=2,
+)
+
+docs = [
+    {
+        "path": "../docs/swallow/digital/algo/tracking",
+    },
+    {
+        "path": "../docs/swallow/digital/algo/tracking/validations",
+    },
+    {
+        "path": "../docs/swallow/digital/algo/tracking/validations/one.md",
+        "items": ImageItems(
+            {
+                f"{swallow_assets2}/target-selection.png": f"{algo_docs}/socket.md",
+            }
+        ),
+    },
+    {
+        "path": "../docs/swallow/digital/algo/tracking/validations/two.md",
+        "items": ImageItems(
+            {
+                f"{tracker_assets2}/validations/two/socket-3.png": f"{algo_docs}/socket.md",
+                "{}/{}/{}.gif".format(
+                    assets,
+                    "swallow-debug-2025-12-11-17-23-59-6bhm5n",
+                    "swallow-debug-2025-12-11-17-23-59-6bhm5n",
+                ): "",
+            }
+        ),
+    },
+]

bluer_ugv/__init__.py

@@ -4,7 +4,7 @@ ICON = "🐬"
 
 DESCRIPTION = f"{ICON} AI x UGV."
 
-VERSION = "7.579.1"
+VERSION = "7.607.1"
 
 REPO_NAME = "bluer-ugv"
 

bluer_ugv/swallow/__main__.py

@@ -4,8 +4,8 @@ from blueness import module
 from blueness.argparse.generic import sys_exit
 
 from bluer_ugv import NAME
-from bluer_ugv.swallow.targeting import select_target
-from bluer_ugv.swallow.debug import debug
+from bluer_ugv.swallow.targeting import select_target, DEFAULT_TARGETING_PORT
+from bluer_ugv.swallow.debug import debug, DEFAULT_DEBUG_PORT
 from bluer_ugv.logger import logger
 
 NAME = module.name(__file__, NAME)
@@ -42,6 +42,11 @@ parser.add_argument(
     default=1,
     help="0 | 1",
 )
+parser.add_argument(
+    "--port",
+    type=int,
+    default=-1,
+)
 args = parser.parse_args()
 
 success = False
@@ -50,11 +55,13 @@ if args.task == "debug":
         object_name=args.object_name,
         generate_gif=args.generate_gif == 1,
         save_images=args.save_images == 1,
+        port=DEFAULT_DEBUG_PORT if args.port == -1 else args.port,
     )
 elif args.task == "select_target":
     success = select_target(
         host=args.host,
         loop=args.loop == 1,
+        port=DEFAULT_TARGETING_PORT if args.port == -1 else args.port,
     )
 else:
     success = None

bluer_ugv/swallow/debug.py

@@ -8,7 +8,7 @@ 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.connection import SocketConnection
+from bluer_algo.socket.connection import SocketConnection, DEFAULT_PORT
 from bluer_algo.socket.message import SocketMessage
 
 from bluer_ugv import NAME
@@ -17,24 +17,28 @@ from bluer_ugv.logger import logger
 
 NAME = module.name(__file__, NAME)
 
+DEFAULT_DEBUG_PORT = DEFAULT_PORT
+
 
 def debug(
     object_name: str,
     generate_gif: bool = True,
     save_images: bool = True,
+    port: int = DEFAULT_DEBUG_PORT,
 ) -> bool:
     logger.info(
-        "{}.debug -{}{}> {}".format(
+        "{}.debug -{}{}{}> {}".format(
             NAME,
+            f"port={port}-",
             "images-" if save_images else "",
             "gif-" if generate_gif else "",
             object_name,
         )
     )
 
-    socket = SocketConnection.listen_on()
+    socket = SocketConnection.listen_on(port=port)
 
-    title = "debug..."
+    title = f"debug: port={port} -> {object_name} ..."
 
     cv2.namedWindow(title)
     logger.info("Ctrl+C to exit...")

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

@@ -1,6 +1,6 @@
 from typing import Any
 
-from bluer_algo.socket.connection import SocketConnection, DEV_HOST
+from bluer_algo.socket.connection import SocketConnection, DEV_HOST, DEFAULT_PORT
 from bluer_sbc.imager.camera import instance as camera
 
 from bluer_ugv.swallow.session.classical.keyboard.classes import ClassicalKeyboard
@@ -29,8 +29,15 @@ class ClassicalCamera:
     def cleanup(self):
         camera.close(log=True)
 
-    def send_debug_data(self, data: Any) -> bool:
-        socket = SocketConnection.connect_to(DEV_HOST)
+    def send_debug_data(
+        self,
+        data: Any,
+        port: int = DEFAULT_PORT,
+    ) -> bool:
+        socket = SocketConnection.connect_to(
+            target_host=DEV_HOST,
+            port=port,
+        )
         return socket.send_data(data)
 
     # multi-threaded support

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

@@ -2,9 +2,9 @@ from typing import Tuple
 import numpy as np
 
 from bluer_options.timer import Timer
-from bluer_options import string
 from bluer_algo.tracker.classes.target import Target
 from bluer_algo.tracker.classes.camshift import CamShiftTracker
+from bluer_algo.socket.message import SocketMessage
 from bluer_sbc.imager.camera import instance as camera
 
 from bluer_ugv import env
@@ -14,6 +14,7 @@ from bluer_ugv.swallow.session.classical.keyboard.classes import ClassicalKeyboa
 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
+from bluer_ugv.swallow.targeting import DEFAULT_TARGETING_PORT
 from bluer_ugv.logger import logger
 
 
@@ -56,6 +57,7 @@ class ClassicalTrackingCamera(ClassicalCamera):
         success, self.track_window = Target.select(
             np.flip(image, axis=2),
             local=False,
+            port=DEFAULT_TARGETING_PORT,
         )
         self.leds.set_all(False)
         if not success:
@@ -100,10 +102,23 @@ class ClassicalTrackingCamera(ClassicalCamera):
         if not success:
             return success
 
-        _, self.track_window, _ = self.tracker.track(
+        debug_mode = self.keyboard.get("debug_mode", False)
+        _, self.track_window, output_image = self.tracker.track(
             frame=image,
             track_window=self.track_window,
+            log=debug_mode,
         )
+        logger.info(f"🎯 {self.track_window}")
+
+        if debug_mode:
+            if not self.send_debug_data(
+                SocketMessage(
+                    {
+                        "image": output_image,
+                    }
+                )
+            ):
+                logger.warning("failed to send debug data.")
 
         x, _, w, _ = self.track_window
         if x + w // 2 > image.shape[1] * 2 / 3:
@@ -122,5 +137,5 @@ class ClassicalTrackingCamera(ClassicalCamera):
         return True
 
     def update_training(self) -> bool:
-        self.keyboardset("mode", OperationMode.NONE)
+        self.keyboard.set("mode", OperationMode.NONE)
         return self.select_target()

bluer_ugv/swallow/targeting.py

@@ -11,34 +11,41 @@ from bluer_ugv.logger import logger
 
 NAME = module.name(__file__, NAME)
 
+DEFAULT_TARGETING_PORT = 8002
+
 
 def select_target(
     host: str,
     loop: bool = True,
+    port: int = DEFAULT_TARGETING_PORT,
 ) -> bool:
     logger.info(
-        "{}.select_target on {}{}".format(
+        "{}.select_target on {} port={}{}".format(
             NAME,
             host,
+            port,
             " on a loop." if loop else "",
         )
     )
 
     try:
         while loop:
-            socket = SocketConnection.listen_on()
+            socket = SocketConnection.listen_on(port=port)
             success, image = socket.receive_data(np.ndarray)
             if not success:
                 return success
 
             success, track_window = Target.select(
                 image,
-                title=f"select target on {host} ...",
+                title=f"select the target for {host} port={port}...",
             )
             if not success:
                 return success
 
-            socket = SocketConnection.connect_to(host)
+            socket = SocketConnection.connect_to(
+                host,
+                port=port,
+            )
             if not socket.send_data(track_window):
                 return False
 

{bluer_ugv-7.579.1.dist-info → bluer_ugv-7.607.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: bluer_ugv
-Version: 7.579.1
+Version: 7.607.1
 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-7.579.1`](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-7.607.1`](https://github.com/kamangir/bluer-ugv).
 
 
 built by 🌀 [`blueness-3.118.1`](https://github.com/kamangir/blueness).

{bluer_ugv-7.579.1.dist-info → bluer_ugv-7.607.1.dist-info}/RECORD

@@ -1,4 +1,4 @@
-bluer_ugv/__init__.py,sha256=IjnGz63rGllhJHF0bWUoVkYlxkUbvCM9Ym6rIVm2m6g,288
+bluer_ugv/__init__.py,sha256=1Aqi5v2UFFgvlOXOP6a1ycYk-u9v3bIcNZ854A9zGE0,288
 bluer_ugv/__main__.py,sha256=77TquqyMca7qHk0XtCixGVyzfW3_9ywnl5oXEPERlls,374
 bluer_ugv/config.env,sha256=I718Cfy1GaGqVI80vb7iYsoJ0P7SKLW8USaBYb2sub4,1055
 bluer_ugv/env.py,sha256=oEJiyKf1cCJ9kgZqgwnWemT0U_cO2RmCN3MRSS2vitY,1875
@@ -29,7 +29,7 @@ bluer_ugv/.abcli/swallow/dataset/upload.sh,sha256=KM33QM4rIQpltbd_V49wPWear9Wi8c
 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=ed6NCkhYK9LNhSYU_iJUNYXuyQFzmH9mydQ5agihhvA,817
-bluer_ugv/.abcli/swallow/git/rm_keys.sh,sha256=sNKh2wqSwcYve8hVJ2wTIDz5SeMOXgfKySn7DHdV1o4,804
+bluer_ugv/.abcli/swallow/git/rm_keys.sh,sha256=jc2Pz4lsgcGvpPZ8bZB16Iz-2oVUBiJsXhj9NptaNvo,684
 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
@@ -95,8 +95,10 @@ bluer_ugv/README/swallow/analog.py,sha256=NmFEukeKepYRtIc0UT_F96uRKKukFM585UA6ml
 bluer_ugv/README/swallow/consts.py,sha256=VKu8qhDqLiGICErKpW-FMUtHGDM0P28teR8eKM8gFc4,376
 bluer_ugv/README/swallow/items.py,sha256=rNuxpfs300AABgKUc_lF7sbB6EjBd-ijkISlg6LDD9w,1527
 bluer_ugv/README/swallow/digital/__init__.py,sha256=KTM0h2x5fzGeBSPOdD-Cp1PnP3eff703S5Yx5d34awc,262
-bluer_ugv/README/swallow/digital/algo/__init__.py,sha256=iHwEi_kwQUk0E3YtGKDrjTKV-PDRuDpAo69IMCE8uZ4,711
+bluer_ugv/README/swallow/digital/algo/__init__.py,sha256=uj-B69s-EP4NcmY3W_HK8MBtWPCQchlI_KxUtp6NZLE,417
+bluer_ugv/README/swallow/digital/algo/driving.py,sha256=kr-uGXePnizPAb6ceajC9ToZHsh1iwGBMGw0hzgZIJI,83
 bluer_ugv/README/swallow/digital/algo/navigation.py,sha256=Hg_tkGYnE8qbM37Go4KlAaO-sNAtOBmaNZlPda45BCc,1780
+bluer_ugv/README/swallow/digital/algo/tracking.py,sha256=0VmaqWWXQs8PzLL0tIAAkqNVPkVyZIAD9IbpKOCVmuY,1191
 bluer_ugv/README/swallow/digital/algo/yolo.py,sha256=NlDISZ9LOUmMAzdEYzVYOrIwbDGdM8euMURlBOGACUk,930
 bluer_ugv/README/swallow/digital/design/__init__.py,sha256=VP_oK0MQ5yPl_FfbY9mLWNTvdi1amsau5Jkjse6a_Es,1991
 bluer_ugv/README/swallow/digital/design/mechanical.py,sha256=OwgMrFIpRA-RR9CwurXaif09GCd6_i3zGuAfkH0jtsM,983
@@ -157,9 +159,9 @@ bluer_ugv/help/swallow/video/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NM
 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
-bluer_ugv/swallow/targeting.py,sha256=UTT88rZ4TRuxymNpk7DdjolQqLeYrzAnmcvaYlTg4nk,1306
+bluer_ugv/swallow/__main__.py,sha256=uvdolPN8Vl8Mow75JZ7VUwgYGhKaN7ewIZ34z-INLjk,1448
+bluer_ugv/swallow/debug.py,sha256=lyf6RqTAbBgN1Ob35g2iLQeGoTD_U5T2vIejJqiGY7E,2654
+bluer_ugv/swallow/targeting.py,sha256=upxGlNVm5uf2jGT_N_SerIWc2olgRtzglaW6IQYtHzM,1486
 bluer_ugv/swallow/dataset/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 bluer_ugv/swallow/dataset/__main__.py,sha256=X_dDss9zJgSmNQg0EtXbxenVdXkN-dZg3XVaVentOL0,1584
 bluer_ugv/swallow/dataset/combination.py,sha256=FcfTpR-xwPR7Tcu_5lwBL1dkjZ3IBw72sDv1XlLpca0,3902
@@ -174,9 +176,9 @@ bluer_ugv/swallow/session/classical/position.py,sha256=gNeNzNpUG8zkDrcwibxaYStPN
 bluer_ugv/swallow/session/classical/push_button.py,sha256=s8sPart_dECjLK-gfsJi0UorRYcFYf3ofLqjmG8PoA8,2397
 bluer_ugv/swallow/session/classical/session.py,sha256=zdP5pUy6u35BBptkQM8kn1w1P-bduFWQNiSju3ftlaM,5858
 bluer_ugv/swallow/session/classical/camera/__init__.py,sha256=2GchuT19_Ns0uYRS5aUMz4pBwbK3y5XoFxoAlAnJKh8,464
-bluer_ugv/swallow/session/classical/camera/generic.py,sha256=V_PdQkVfs7kJvjzjD7xVV8Zommx8eVBVGIfvL1vl86M,1091
+bluer_ugv/swallow/session/classical/camera/generic.py,sha256=tW7bQMzmBi9MV28cTlKlDhFdtnB-9mkpBzjaWzEJNec,1220
 bluer_ugv/swallow/session/classical/camera/navigation.py,sha256=HoeTlifGEfnedb6o8P-O0TcP1bNDRJ0M7vWupQh1pL4,6790
-bluer_ugv/swallow/session/classical/camera/tracking.py,sha256=fXDCA7UCQT0I6_djk16AgRdulySVEjJSKOgD8bDpQng,3651
+bluer_ugv/swallow/session/classical/camera/tracking.py,sha256=Iy-IiyzWeDWPYerhnQIZ-o2NwL2tmdvieR0PXY0nT-A,4204
 bluer_ugv/swallow/session/classical/camera/void.py,sha256=IJkJQgTgVucTYagFIwKEchNf3Vcjl99EdCdSdvKaeJo,216
 bluer_ugv/swallow/session/classical/camera/yolo.py,sha256=i-lEsLpqlmm1v3sa5azQYk7LCgU9Me5y28-LSPurc7g,6412
 bluer_ugv/swallow/session/classical/keyboard/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -211,8 +213,8 @@ bluer_ugv/swallow/session/classical/ultrasonic_sensor/pack.py,sha256=bVcG8V0P6Sl
 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-7.579.1.dist-info/licenses/LICENSE,sha256=ogEPNDSH0_dhiv_lT3ifVIdgIzHAqNA_SemnxUfPBJk,7048
-bluer_ugv-7.579.1.dist-info/METADATA,sha256=X7mtVQw0KI8-iC4fNgC6oxjxzdMuY2nPEwRxgpssghw,5579
-bluer_ugv-7.579.1.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
-bluer_ugv-7.579.1.dist-info/top_level.txt,sha256=_MlDhFvIPpher9Zs7xyJTHgO2xJJTbfR1dzncz3LQnk,10
-bluer_ugv-7.579.1.dist-info/RECORD,,
+bluer_ugv-7.607.1.dist-info/licenses/LICENSE,sha256=ogEPNDSH0_dhiv_lT3ifVIdgIzHAqNA_SemnxUfPBJk,7048
+bluer_ugv-7.607.1.dist-info/METADATA,sha256=PI1d_BksrrVTGGjZfptKjg0jWGUQU3_M6EuyFFsKkik,5579
+bluer_ugv-7.607.1.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+bluer_ugv-7.607.1.dist-info/top_level.txt,sha256=_MlDhFvIPpher9Zs7xyJTHgO2xJJTbfR1dzncz3LQnk,10
+bluer_ugv-7.607.1.dist-info/RECORD,,