bluer-ugv 7.579.1__tar.gz → 7.616.1__tar.gz

{bluer_ugv-7.579.1/bluer_ugv.egg-info → bluer_ugv-7.616.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: bluer_ugv
-Version: 7.579.1
+Version: 7.616.1
 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-7.616.1`](https://github.com/kamangir/bluer-ugv).
 
 
 built by 🌀 [`blueness-3.118.1`](https://github.com/kamangir/blueness).

{bluer_ugv-7.579.1 → bluer_ugv-7.616.1}/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-7.579.1`](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-7.616.1`](https://github.com/kamangir/bluer-ugv).
 

bluer_ugv-7.616.1/bluer_ugv/.abcli/swallow/git/rm_keys.sh

@@ -0,0 +1,27 @@
+#! /usr/bin/git bash
+
+function bluer_ugv_swallow_git_rm_keys() {
+    local options=$1
+    local do_dryrun=$(bluer_ai_option_int "$options" dryrun 1)
+
+    if [[ "$abcli_is_rpi" == false ]]; then
+        bluer_ai_log_error "only works on rpi."
+        return 1
+    fi
+
+    sudo rm -v ~/.ssh/$BLUER_AI_GIT_SSH_KEY_NAME
+
+    sudo rm -v ~/.ssh/$BLUER_AI_GIT_SSH_KEY_NAME.pub
+
+    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
+    done
+}

bluer_ugv-7.616.1/bluer_ugv/README/swallow/digital/algo/__init__.py

@@ -0,0 +1,17 @@
+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 driving, navigation, tracking, yolo
+
+docs = (
+    [
+        {
+            "path": "../docs/swallow/digital/algo",
+        },
+    ]
+    + driving.docs
+    + navigation.docs
+    + tracking.docs
+    + yolo.docs
+)

bluer_ugv-7.616.1/bluer_ugv/README/swallow/digital/algo/driving.py

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

bluer_ugv-7.616.1/bluer_ugv/README/swallow/digital/algo/tracking.py

@@ -0,0 +1,53 @@
+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",
+                ): "",
+            }
+        ),
+    },
+    {
+        "path": "../docs/swallow/digital/algo/tracking/validations/three.md",
+        "items": ImageItems(
+            {
+                "{}/{}/{}.gif".format(
+                    assets,
+                    "swallow-debug-2025-12-12-14-46-34-m8ahlp",
+                    "swallow-debug-2025-12-12-14-46-34-m8ahlp",
+                ): "",
+            }
+        ),
+    },
+]

{bluer_ugv-7.579.1 → bluer_ugv-7.616.1}/bluer_ugv/__init__.py

@@ -4,7 +4,7 @@ ICON = "🐬"
 
 DESCRIPTION = f"{ICON} AI x UGV."
 
-VERSION = "7.579.1"
+VERSION = "7.616.1"
 
 REPO_NAME = "bluer-ugv"
 

{bluer_ugv-7.579.1 → bluer_ugv-7.616.1}/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-7.579.1 → bluer_ugv-7.616.1}/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-7.579.1 → bluer_ugv-7.616.1}/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-7.579.1 → bluer_ugv-7.616.1}/bluer_ugv/swallow/session/classical/camera/tracking.py

@@ -2,9 +2,10 @@ from typing import Tuple
 import numpy as np
 
 from bluer_options.timer import Timer
-from bluer_options import string
+from bluer_algo.env import BLUER_ALGO_TRACKER_DEFAULT_ALGO
 from bluer_algo.tracker.classes.target import Target
-from bluer_algo.tracker.classes.camshift import CamShiftTracker
+from bluer_algo.tracker.factory import get_tracker_class
+from bluer_algo.socket.message import SocketMessage
 from bluer_sbc.imager.camera import instance as camera
 
 from bluer_ugv import env
@@ -14,6 +15,7 @@ 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
 
 
@@ -35,7 +37,7 @@ class ClassicalTrackingCamera(ClassicalCamera):
             log=True,
         )
 
-        self.tracker = CamShiftTracker()
+        self.tracker = get_tracker_class(BLUER_ALGO_TRACKER_DEFAULT_ALGO)[1]()
 
     def initialize(self) -> bool:
         if not super().initialize():
@@ -56,6 +58,7 @@ 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 +103,28 @@ 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.")
+
+        if not self.tracker.tracking:
+            logger.warning("🎯 lost target")
+            self.leds.flash_all()
+            return True
 
         x, _, w, _ = self.track_window
         if x + w // 2 > image.shape[1] * 2 / 3:
@@ -122,5 +143,5 @@ 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-7.579.1 → bluer_ugv-7.616.1}/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 → bluer_ugv-7.616.1/bluer_ugv.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: bluer_ugv
-Version: 7.579.1
+Version: 7.616.1
 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-7.616.1`](https://github.com/kamangir/bluer-ugv).
 
 
 built by 🌀 [`blueness-3.118.1`](https://github.com/kamangir/blueness).

{bluer_ugv-7.579.1 → bluer_ugv-7.616.1}/bluer_ugv.egg-info/SOURCES.txt

@@ -108,7 +108,9 @@ bluer_ugv/README/swallow/consts.py
 bluer_ugv/README/swallow/items.py
 bluer_ugv/README/swallow/digital/__init__.py
 bluer_ugv/README/swallow/digital/algo/__init__.py
+bluer_ugv/README/swallow/digital/algo/driving.py
 bluer_ugv/README/swallow/digital/algo/navigation.py
+bluer_ugv/README/swallow/digital/algo/tracking.py
 bluer_ugv/README/swallow/digital/algo/yolo.py
 bluer_ugv/README/swallow/digital/design/__init__.py
 bluer_ugv/README/swallow/digital/design/mechanical.py

bluer_ugv-7.579.1/bluer_ugv/.abcli/swallow/git/rm_keys.sh

@@ -1,29 +0,0 @@
-#! /usr/bin/git bash
-
-function bluer_ugv_swallow_git_rm_keys() {
-    local options=$1
-    local do_dryrun=$(bluer_ai_option_int "$options" dryrun 1)
-
-    if [[ "$abcli_is_rpi" == false ]]; then
-        bluer_ai_log_error "only works on rpi."
-        return 1
-    fi
-
-    bluer_ai_eval dryrun=$do_dryrun \
-        sudo rm -v ~/.ssh/$BLUER_AI_GIT_SSH_KEY_NAME
-
-    bluer_ai_eval dryrun=$do_dryrun \
-        sudo rm -v ~/.ssh/$BLUER_AI_GIT_SSH_KEY_NAME.pub
-
-    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 \
-            $repo_name \
-            dryrun=$do_dryrun,https
-        [[ $? -ne 0 ]] && return 1
-
-        git pull
-        [[ $? -ne 0 ]] && return 1
-    done
-}

bluer_ugv-7.579.1/bluer_ugv/README/swallow/digital/algo/__init__.py

@@ -1,28 +0,0 @@
-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
-
-docs = (
-    [
-        {
-            "path": "../docs/swallow/digital/algo",
-        },
-        {
-            "path": "../docs/swallow/digital/algo/driving.md",
-        },
-    ]
-    + navigation.docs
-    + [
-        {
-            "path": "../docs/swallow/digital/algo/tracking",
-            "items": ImageItems(
-                {
-                    f"{swallow_assets2}/target-selection.png": f"{algo_docs}/socket.md",
-                }
-            ),
-        }
-    ]
-    + yolo.docs
-)