bluer-ugv 7.790.1__tar.gz → 7.821.1__tar.gz

{bluer_ugv-7.790.1/bluer_ugv.egg-info → bluer_ugv-7.821.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: bluer_ugv
-Version: 7.790.1
+Version: 7.821.1
 Summary: 🐬 AI x UGV.
 Home-page: https://github.com/kamangir/bluer-ugv
 Author: Arash Abadpour (Kamangir)
@@ -53,9 +53,8 @@ pip install bluer_ugv
 
 ## aliases
 
-[@rangin](https://github.com/kamangir/bluer-ugv/blob/main/bluer_ugv/docs/aliases/rangin.md), 
-[@swallow](https://github.com/kamangir/bluer-ugv/blob/main/bluer_ugv/docs/aliases/swallow.md), 
-[@ugv](https://github.com/kamangir/bluer-ugv/blob/main/bluer_ugv/docs/aliases/ugv.md).
+[@swallow](https://github.com/kamangir/bluer-ugv/blob/main/bluer_ugv/docs/aliases/swallow.md) 
+[@ugv](https://github.com/kamangir/bluer-ugv/blob/main/bluer_ugv/docs/aliases/ugv.md) 
 
 ---
 
@@ -66,7 +65,7 @@ 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-7.790.1`](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-7.821.1`](https://github.com/kamangir/bluer-ugv).
 
 
 built by 🌀 [`blueness-3.118.1`](https://github.com/kamangir/blueness).

{bluer_ugv-7.790.1 → bluer_ugv-7.821.1}/README.md

@@ -23,9 +23,8 @@ pip install bluer_ugv
 
 ## aliases
 
-[@rangin](./bluer_ugv/docs/aliases/rangin.md), 
-[@swallow](./bluer_ugv/docs/aliases/swallow.md), 
-[@ugv](./bluer_ugv/docs/aliases/ugv.md).
+[@swallow](./bluer_ugv/docs/aliases/swallow.md) 
+[@ugv](./bluer_ugv/docs/aliases/ugv.md) 
 
 ---
 
@@ -36,5 +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-7.790.1`](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-7.821.1`](https://github.com/kamangir/bluer-ugv).
 

{bluer_ugv-7.790.1 → bluer_ugv-7.821.1}/bluer_ugv/.abcli/alias.sh

@@ -1,7 +1,5 @@
 #! /usr/bin/env bash
 
-alias @rangin=bluer_ugv_rangin
-
 alias @swallow=bluer_ugv_swallow
 
 alias @ugv=bluer_ugv

bluer_ugv-7.821.1/bluer_ugv/.abcli/swallow/ethernet/test.sh

@@ -0,0 +1,12 @@
+#! /usr/bin/env bash
+
+function bluer_ugv_swallow_ethernet_test() {
+    local options=$1
+
+    bluer_ai_eval ,$options \
+        sudo -E \
+        $(which python3) \
+        -m bluer_ugv.swallow.session.classical.ethernet \
+        test \
+        "${@:2}"
+}

bluer_ugv-7.821.1/bluer_ugv/.abcli/swallow/ethernet.sh

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

{bluer_ugv-7.790.1 → bluer_ugv-7.821.1}/bluer_ugv/.abcli/tests/help.sh

@@ -20,6 +20,8 @@ function test_bluer_ugv_help() {
         "@swallow env list" \
         "@swallow env set" \
         \
+        "@swallow ethernet" \
+        \
         "@swallow git" \
         "@swallow git rm_keys" \
         \

bluer_ugv-7.821.1/bluer_ugv/README/aliases.py

@@ -0,0 +1,23 @@
+from bluer_objects.README.alias import list_of_aliases
+
+from bluer_ugv import NAME
+
+docs = [
+    {
+        "path": "../docs/aliases",
+        "macros": {
+            "aliases:::": list_of_aliases(
+                NAME,
+                itemized=True,
+            ),
+        },
+    }
+] + [
+    {
+        "path": f"../docs/aliases/{alias_name}.md",
+    }
+    for alias_name in list_of_aliases(
+        NAME,
+        as_markdown=False,
+    )
+]

{bluer_ugv-7.790.1 → bluer_ugv-7.821.1}/bluer_ugv/README/docs.py

@@ -4,7 +4,7 @@ from bluer_ugv.README.fire import docs as fire_docs
 from bluer_ugv.README.rangin import docs as rangin_docs
 from bluer_ugv.README.ravin import docs as ravin_docs
 from bluer_ugv.README import (
-    alias,
+    aliases,
     beast,
     root,
     releases,
@@ -16,7 +16,7 @@ from bluer_ugv.README.validations import docs as validations
 
 docs = (
     root.docs
-    + alias.docs
+    + aliases.docs
     + arzhang_docs.docs
     + beast.docs
     + eagle_docs.docs

{bluer_ugv-7.790.1 → bluer_ugv-7.821.1}/bluer_ugv/README/root.py

@@ -1,3 +1,6 @@
+from bluer_objects.README.alias import list_of_aliases
+
+from bluer_ugv import NAME
 from bluer_ugv.README.items import items
 from bluer_ugv.README.shortcuts import items as shortcuts_items
 
@@ -8,6 +11,7 @@ docs = [
         "items": items,
         "macros": {
             "shortcuts:::": shortcuts_items,
+            "aliases:::": list_of_aliases(NAME),
         },
     },
     {

{bluer_ugv-7.790.1 → bluer_ugv-7.821.1}/bluer_ugv/README/swallow/digital/design/__init__.py

@@ -5,6 +5,7 @@ from bluer_ugv.README.swallow.consts import (
     swallow_electrical_designs,
 )
 from bluer_ugv.README.swallow.digital.design import (
+    ethernet,
     mechanical,
     parts,
     ultrasonic_sensor,
@@ -61,6 +62,7 @@ docs = (
             ),
         },
     ]
+    + ethernet.docs
     + mechanical.docs
     + parts.docs
     + ultrasonic_sensor.docs

bluer_ugv-7.821.1/bluer_ugv/README/swallow/digital/design/ethernet.py

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

{bluer_ugv-7.790.1 → bluer_ugv-7.821.1}/bluer_ugv/README/ugvs/__main__.py

@@ -23,12 +23,6 @@ parser.add_argument(
     "--what",
     type=str,
 )
-parser.add_argument(
-    "--include_comments",
-    type=int,
-    default=0,
-    help="0 | 1",
-)
 args = parser.parse_args()
 
 success = False
@@ -38,7 +32,6 @@ if args.task == "get":
         get(
             ugv_name=args.ugv_name,
             what=args.what,
-            include_comments=args.include_comments == 1,
         )
     )
 else:

{bluer_ugv-7.790.1 → bluer_ugv-7.821.1}/bluer_ugv/README/ugvs/db.py

@@ -19,7 +19,7 @@ dict_of_ugvs = {
         "tagline": "the first one.",
         "class": "swallow",
         "computers": {
-            "front": "swallow2 (`swallow` was used for Ubuntu experiments)",
+            "front": "swallow2",  #  `swallow` was used for Ubuntu experiments
         },
     },
     "arzhang": {

bluer_ugv-7.821.1/bluer_ugv/README/ugvs/ethernet.py

@@ -0,0 +1,55 @@
+from typing import Tuple
+
+from bluer_ugv.README.ugvs.db import dict_of_ugvs
+from bluer_ugv.logger import logger
+
+
+def find_server(
+    hostname: str,
+) -> Tuple[
+    bool,  # success
+    bool,  # is_server
+    str,  # "0.0.0.0" if is_server else f"{server_name}.local"
+]:
+    for ugv_name, info in dict_of_ugvs.items():
+        found: bool = False
+        dict_of_computers = info.get("computers", {})
+        assert isinstance(dict_of_computers, dict)
+
+        for location, hostname_ in dict_of_computers.items():
+            if hostname != hostname_:
+                continue
+
+            logger.info(f"{hostname} == {ugv_name}.{location}")
+            found = True
+
+            if location == "front":
+                return True, True, "0.0.0.0"
+
+        if not found:
+            continue
+
+        list_of_server_names = [
+            hostname_
+            for location, hostname_ in dict_of_computers.items()
+            if location == "front"
+        ]
+        if not list_of_server_names:
+            logger.error(f"no server (.front) onboard {ugv_name}.")
+            return False, False, ""
+
+        if len(list_of_server_names) > 1:
+            logger.warning(
+                "{} servers (.front) onboard {}".format(
+                    len(list_of_server_names),
+                    ugv_name,
+                )
+            )
+
+        server_name = list_of_server_names[0]
+        logger.info(f"{hostname}: server_name={server_name}")
+
+        return True, False, f"{server_name}.local"
+
+    logger.error(f"cannot find hostname: {hostname}.")
+    return False, False, ""

{bluer_ugv-7.790.1 → bluer_ugv-7.821.1}/bluer_ugv/README/ugvs/get.py

@@ -4,7 +4,6 @@ from bluer_ugv.README.ugvs.db import dict_of_ugvs
 def get(
     ugv_name: str,
     what: str,
-    include_comments: bool = False,
 ) -> str:
     list_of_what = what.split(".")
     info = dict_of_ugvs.get(ugv_name, {})
@@ -17,7 +16,4 @@ def get(
     if not info:
         info = "not-found"
 
-    if not include_comments and info:
-        info = info.split(" ")[0]
-
     return str(info)

{bluer_ugv-7.790.1 → bluer_ugv-7.821.1}/bluer_ugv/__init__.py

@@ -4,7 +4,7 @@ ICON = "🐬"
 
 DESCRIPTION = f"{ICON} AI x UGV."
 
-VERSION = "7.790.1"
+VERSION = "7.821.1"
 
 REPO_NAME = "bluer-ugv"
 

{bluer_ugv-7.790.1 → bluer_ugv-7.821.1}/bluer_ugv/config.env

@@ -36,4 +36,8 @@ BLUER_UGV_RELEASE_2=release-two-2025-12-01-12-50-03-1hyrts
 BLUER_UGV_AUDIO_LANGUAGE=fa
 BLUER_UGV_AUDIO_CHANNELS=1
 BLUER_UGV_AUDIO_RATE=48000
-BLUER_UGV_AUDIO_LENGTH=30
+BLUER_UGV_AUDIO_LENGTH=30
+
+BLUER_UGV_ETHERNET_PORT=5050
+
+BLUER_UGV_SWALLOW_YOLO_SPEED_SETPOINT=20

{bluer_ugv-7.790.1 → bluer_ugv-7.821.1}/bluer_ugv/env.py

@@ -40,6 +40,11 @@ BLUER_UGV_SWALLOW_STEERING_YOLO_EXPIRY = get_env(
     0.1,
 )
 
+BLUER_UGV_SWALLOW_YOLO_SPEED_SETPOINT = get_env(
+    "BLUER_UGV_SWALLOW_YOLO_SPEED_SETPOINT",
+    20,
+)
+
 BLUER_UGV_SWALLOW_YOLO_DATASET_LIST = get_env(
     "BLUER_UGV_SWALLOW_YOLO_DATASET_LIST",
 )
@@ -105,3 +110,5 @@ BLUER_UGV_AUDIO_LENGTH = get_env(
     "BLUER_UGV_AUDIO_LENGTH",
     30,
 )
+
+BLUER_UGV_ETHERNET_PORT = get_env("BLUER_UGV_ETHERNET_PORT", 5050)

{bluer_ugv-7.790.1 → bluer_ugv-7.821.1}/bluer_ugv/help/get.py

@@ -7,18 +7,13 @@ def help_get(
     tokens: List[str],
     mono: bool,
 ) -> str:
-    args = [
-        "[--include_comments 1]",
-    ]
-
     return show_usage(
         [
             "@ugv",
             "get",
             "<ugv-name>",
             "computers.back | computers.front | computers.top | <what>",
-        ]
-        + args,
+        ],
         "get ugv info.",
         mono=mono,
     )

{bluer_ugv-7.790.1 → bluer_ugv-7.821.1}/bluer_ugv/help/swallow/__init__.py

@@ -1,6 +1,7 @@
 from bluer_ugv.help.swallow.dataset import help_functions as help_dataset
 from bluer_ugv.help.swallow.debug import help_debug
 from bluer_ugv.help.swallow.env import help_functions as help_env
+from bluer_ugv.help.swallow.ethernet import help_functions as help_ethernet
 from bluer_ugv.help.swallow.git import help_functions as help_git
 from bluer_ugv.help.swallow.keyboard import help_functions as help_keyboard
 from bluer_ugv.help.swallow.select_target import help_select_target
@@ -13,6 +14,7 @@ help_functions = {
     "dataset": help_dataset,
     "debug": help_debug,
     "env": help_env,
+    "ethernet": help_ethernet,
     "git": help_git,
     "keyboard": help_keyboard,
     "select_target": help_select_target,

bluer_ugv-7.821.1/bluer_ugv/help/swallow/ethernet.py

@@ -0,0 +1,34 @@
+from typing import List
+
+from bluer_options.terminal import show_usage, xtra
+
+from bluer_ugv import env
+
+
+def help_test(
+    tokens: List[str],
+    mono: bool,
+) -> str:
+    options = xtra("dryrun", mono=mono)
+
+    args = [
+        "[--is_server 0 | 1]",
+        "[--server_name 0.0.0.0 | <server_name>.local]",
+    ]
+
+    return show_usage(
+        [
+            "@swallow",
+            "ethernet",
+            "test",
+            f"[{options}]",
+        ]
+        + args,
+        "test ethernet.",
+        mono=mono,
+    )
+
+
+help_functions = {
+    "test": help_test,
+}

{bluer_ugv-7.790.1 → bluer_ugv-7.821.1}/bluer_ugv/swallow/session/classical/camera/yolo.py

@@ -156,6 +156,7 @@ class ClassicalYoloCamera(ClassicalCamera):
                 logger.warning("failed to send debug data.")
 
         if not metadata["detections"]:
+            self.setpoint.stop()
             logger.info("no detections.")
             return True
 
@@ -177,6 +178,12 @@ class ClassicalYoloCamera(ClassicalCamera):
                 steering_expires_in=env.BLUER_UGV_SWALLOW_STEERING_YOLO_EXPIRY,
             )
 
+        self.setpoint.put(
+            what="speed",
+            value=env.BLUER_UGV_SWALLOW_YOLO_SPEED_SETPOINT,
+            log=True,
+        )
+
         return True
 
     def loop_training(self) -> bool:

bluer_ugv-7.821.1/bluer_ugv/swallow/session/classical/ethernet/__main__.py

@@ -0,0 +1,42 @@
+import argparse
+
+from blueness import module
+from blueness.argparse.generic import sys_exit
+
+from bluer_ugv import env
+from bluer_ugv import NAME
+from bluer_ugv.swallow.session.classical.ethernet.testing import test
+from bluer_ugv.logger import logger
+
+NAME = module.name(__file__, NAME)
+
+parser = argparse.ArgumentParser(NAME)
+parser.add_argument(
+    "task",
+    type=str,
+    help="test",
+)
+parser.add_argument(
+    "--is_server",
+    type=int,
+    default=1,
+    help="0 | 1",
+)
+parser.add_argument(
+    "--server_name",
+    type=str,
+    default="0.0.0.0",
+    help="0.0.0.0 | <server_name>.local",
+)
+args = parser.parse_args()
+
+success = False
+if args.task == "test":
+    success = test(
+        server_name=args.server_name,
+        is_server=args.is_server == 1,
+    )
+else:
+    success = None
+
+sys_exit(logger, NAME, args.task, success)

bluer_ugv-7.821.1/bluer_ugv/swallow/session/classical/ethernet/classes.py

@@ -0,0 +1,52 @@
+import threading
+
+from bluer_options.env import abcli_hostname
+
+from bluer_ugv import env
+from bluer_ugv.swallow.session.classical.ethernet.client import EthernetClient
+from bluer_ugv.README.ugvs.ethernet import find_server
+from bluer_ugv.logger import logger
+
+
+class ClassicalEthernet:
+    def __init__(
+        self,
+    ):
+        self.enabled: bool = True
+
+        logger.info(f"creating {self.__class__.__name__}...")
+
+        self.running = False
+
+        self.enabled, is_server, server_name = find_server(hostname=abcli_hostname)
+        if not self.enabled:
+            return
+
+        self.client = EthernetClient(
+            host=server_name,
+            port=env.BLUER_UGV_ETHERNET_PORT,
+            is_server=is_server,
+        )
+
+        self.running = True
+        self.thread = threading.Thread(target=self.loop, daemon=True)
+        self.thread.start()
+
+    def stop(self):
+        if not self.enabled:
+            return
+
+        self.running = False
+        self.thread.join()
+
+        self.client.close()
+        logger.info(f"{self.__class__.__name__}.stopped.")
+
+    def loop(self):
+        logger.info(f"{self.__class__.__name__}.loop started.")
+
+        while self.running:
+            self.client.process()
+
+    def update(self):
+        return not self.client.stop_received