bluer-ugv 7.824.1__py3-none-any.whl → 7.835.1__py3-none-any.whl

bluer_ugv/README/ugvs/location.py

@@ -0,0 +1,22 @@
+from typing import Tuple
+
+from bluer_ugv.README.ugvs.db import dict_of_ugvs
+from bluer_ugv.logger import logger
+
+
+def get_location(
+    hostname: str,
+    log: bool = True,
+) -> Tuple[bool, str]:
+    for info in dict_of_ugvs.values():
+        dict_of_computers = info.get("computers", {})
+        assert isinstance(dict_of_computers, dict)
+
+        for location, hostname_ in dict_of_computers.items():
+            if hostname == hostname_:
+                if log:
+                    logger.info(f"{hostname}.location={location}")
+                return True, location
+
+    logger.error(f"{hostname}.location not found.")
+    return False, ""

bluer_ugv/__init__.py

@@ -4,7 +4,7 @@ ICON = "🐬"
 
 DESCRIPTION = f"{ICON} AI x UGV."
 
-VERSION = "7.824.1"
+VERSION = "7.835.1"
 
 REPO_NAME = "bluer-ugv"
 

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

@@ -47,6 +47,3 @@ class ClassicalEthernet:
 
         while self.running:
             self.client.process()
-
-    def update(self):
-        return not self.client.stop_received

bluer_ugv/swallow/session/classical/ethernet/client.py

@@ -6,8 +6,6 @@ import struct
 import threading
 import time
 
-from bluer_sbc.session.functions import reply_to_bash
-
 from bluer_ugv.logger import logger
 from bluer_ugv.swallow.session.classical.ethernet.command import EthernetCommand
 from bluer_ugv.logger import logger
@@ -21,14 +19,13 @@ class EthernetClient:
         is_server: bool = False,
         reconnect_sec: float = 1.0,
     ):
-        self.stop_received: bool = False
-
         self.host = host
         self.port = port
         self.is_server = is_server
         self.reconnect_sec = reconnect_sec
 
         self._send_queue: SimpleQueue[EthernetCommand] = SimpleQueue()
+        self._receive_queue: SimpleQueue[EthernetCommand] = SimpleQueue()
 
         self._lock = threading.Lock()
         self._sock: Optional[socket.socket] = None
@@ -250,10 +247,7 @@ class EthernetClient:
                 )
             )
 
-            if command.action == "keyboard":
-                reply_to_bash(command.data.get("event", "unknown"))
-                self.stop_received = True
-                logger.info("stop received.")
+            self._receive_queue.put(command)
 
         # 2) drain outbound queue
         self._drain_send_queue()

bluer_ugv/swallow/session/classical/motor/__init__.py

@@ -2,3 +2,4 @@ from bluer_ugv.swallow.session.classical.motor.left import ClassicalLeftMotor
 from bluer_ugv.swallow.session.classical.motor.right import ClassicalRightMotor
 from bluer_ugv.swallow.session.classical.motor.rear import ClassicalRearMotors
 from bluer_ugv.swallow.session.classical.motor.steering import ClassicalSteeringMotor
+from bluer_ugv.swallow.session.classical.motor.void import ClassicalVoidMotor

bluer_ugv/swallow/session/classical/motor/void.py

@@ -0,0 +1,20 @@
+from bluer_ugv.swallow.session.classical.leds import ClassicalLeds
+from bluer_ugv.swallow.session.classical.setpoint.classes import ClassicalSetPoint
+
+
+class ClassicalVoidMotor:
+    def __init__(
+        self,
+        setpoint: ClassicalSetPoint,
+        leds: ClassicalLeds,
+    ):
+        pass
+
+    def cleanup(self):
+        pass
+
+    def initialize(self) -> bool:
+        return True
+
+    def update(self) -> bool:
+        return True

bluer_ugv/swallow/session/classical/session.py

@@ -1,11 +1,15 @@
 from RPi import GPIO  # type: ignore
+from queue import Empty
 
 from bluer_options import string
+from bluer_options.env import abcli_hostname
 from bluer_options.timing.classes import Timing
 from bluer_objects.env import abcli_object_name
 from bluer_objects.metadata import post_to_object
 from bluer_sbc.env import BLUER_SBC_CAMERA_KIND, BLUER_SBC_SWALLOW_HAS_STEERING
+from bluer_sbc.session.functions import reply_to_bash
 
+from bluer_ugv.README.ugvs.location import get_location
 from bluer_ugv.swallow.session.classical.ethernet.classes import ClassicalEthernet
 from bluer_ugv.swallow.session.classical.camera import (
     ClassicalCamera,
@@ -23,8 +27,12 @@ from bluer_ugv.swallow.session.classical.motor import (
     ClassicalRightMotor,
     ClassicalRearMotors,
     ClassicalSteeringMotor,
+    ClassicalVoidMotor,
 )
 from bluer_ugv.swallow.session.classical.setpoint.classes import ClassicalSetPoint
+from bluer_ugv.swallow.session.classical.setpoint.ethernet import (
+    ClassicalEthernetSetPoint,
+)
 from bluer_ugv.swallow.session.classical.position import ClassicalPosition
 from bluer_ugv.swallow.session.classical.screen.classes import ClassicalScreen
 from bluer_ugv.swallow.session.classical.ultrasonic_sensor.classes import (
@@ -42,6 +50,8 @@ class ClassicalSession:
     ):
         self.object_name = object_name
 
+        _, self.location = get_location(abcli_hostname)
+
         GPIO.setmode(GPIO.BCM)
 
         self.ethernet = ClassicalEthernet()
@@ -52,7 +62,10 @@ class ClassicalSession:
             leds=self.leds,
         )
 
-        self.setpoint = ClassicalSetPoint(
+        self.setpoint = (
+            ClassicalSetPoint if self.location == "front" else ClassicalEthernetSetPoint
+        )(
+            ethernet=self.ethernet,
             leds=self.leds,
         )
 
@@ -81,27 +94,34 @@ class ClassicalSession:
         logger.info("has_steering: {}".format(self.has_steering))
 
         self.motor1 = (
-            ClassicalSteeringMotor if self.has_steering else ClassicalRightMotor
+            ClassicalVoidMotor
+            if self.location != "front"
+            else ClassicalSteeringMotor if self.has_steering else ClassicalRightMotor
         )(
             setpoint=self.setpoint,
             leds=self.leds,
         )
 
         self.motor2 = (
-            ClassicalRearMotors if self.has_steering else ClassicalLeftMotor
+            ClassicalVoidMotor
+            if self.location != "front"
+            else ClassicalRearMotors if self.has_steering else ClassicalLeftMotor
         )(
             setpoint=self.setpoint,
             leds=self.leds,
         )
 
-        self.position = ClassicalPosition(object_name)
-
-        logger.info(
-            "wheel arrangement: {} + {}".format(
-                self.motor1.role,
-                self.motor2.role,
+        if self.location == "front":
+            logger.info(
+                "wheel arrangement: {} + {}".format(
+                    self.motor1.role,
+                    self.motor2.role,
+                )
             )
-        )
+        else:
+            logger.info("no wheels.")
+
+        self.position = ClassicalPosition(object_name)
 
         camera_class = (
             ClassicalVoidCamera
@@ -199,7 +219,6 @@ class ClassicalSession:
         self.timing.start("session.update")
 
         for thing in [
-            self.ethernet,
             self.keyboard,
             self.push_button,
             self.camera,
@@ -218,4 +237,30 @@ class ClassicalSession:
             self.timing.stop(thing.__class__.__name__)
 
         self.timing.stop("session.update")
+        if self.location != "front":
+            return True
+
+        while True:
+            try:
+                command = (
+                    self.ethernet.client._receive_queue.get_nowait()
+                )  # pylint: disable=protected-access
+            except Empty:
+                break
+
+            if command.action == "keyboard":
+                reply_to_bash(command.data.get("event", "unknown"))
+                logger.info("stop received.")
+                return False
+
+            if command.action == "setpoint.put":
+                self.setpoint.put(
+                    value=command.data.get("value", 0),
+                    what=command.data.get("what", "void"),
+                    log=True,
+                    steering_expires_in=command.data.get("steering_expires_in", 0),
+                )
+            else:
+                logger.warning(f"unknown command: {command.as_str()}")
+
         return True

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

@@ -2,9 +2,11 @@ import threading
 from typing import Union, Dict
 import time
 
+
 from bluer_options import string
 
 from bluer_ugv.swallow.session.classical.leds import ClassicalLeds
+from bluer_ugv.swallow.session.classical.ethernet.classes import ClassicalEthernet
 from bluer_ugv.swallow.session.classical.setpoint.steering import (
     generate_left_and_right,
 )
@@ -14,6 +16,7 @@ from bluer_ugv.logger import logger
 class ClassicalSetPoint:
     def __init__(
         self,
+        ethernet: ClassicalEthernet,
         leds: ClassicalLeds,
     ):
         self.speed = 0
@@ -23,10 +26,13 @@ class ClassicalSetPoint:
 
         self.started = False
 
+        self.ethernet = ethernet
         self.leds = leds
 
         self._lock = threading.Lock()
 
+        logger.info(f"{self.__class__.__name__} created.")
+
     def get(
         self,
         what: str = "all",

bluer_ugv/swallow/session/classical/setpoint/ethernet.py

@@ -0,0 +1,31 @@
+from typing import Union, Dict
+
+from bluer_ugv.swallow.session.classical.ethernet.command import EthernetCommand
+from bluer_ugv.swallow.session.classical.setpoint.classes import ClassicalSetPoint
+
+
+class ClassicalEthernetSetPoint(ClassicalSetPoint):
+    def put(
+        self,
+        value: Union[int, bool, Dict[str, Union[int, bool]]],
+        what: str = "all",
+        log: bool = True,
+        steering_expires_in: float = 0,
+    ):
+        super().put(
+            value=value,
+            what=what,
+            log=log,
+            steering_expires_in=steering_expires_in,
+        )
+
+        self.ethernet.client.send(
+            EthernetCommand(
+                action="setpoint.put",
+                data={
+                    "value": value,
+                    "what": what,
+                    "steering_expires_in": steering_expires_in,
+                },
+            )
+        )

{bluer_ugv-7.824.1.dist-info → bluer_ugv-7.835.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: bluer_ugv
-Version: 7.824.1
+Version: 7.835.1
 Summary: 🐬 AI x UGV.
 Home-page: https://github.com/kamangir/bluer-ugv
 Author: Arash Abadpour (Kamangir)
@@ -65,7 +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-7.824.1`](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-7.835.1`](https://github.com/kamangir/bluer-ugv).
 
 
 built by 🌀 [`blueness-3.118.1`](https://github.com/kamangir/blueness).

{bluer_ugv-7.824.1.dist-info → bluer_ugv-7.835.1.dist-info}/RECORD

@@ -1,4 +1,4 @@
-bluer_ugv/__init__.py,sha256=neFQJReXJeVsk-81qoLMoqCJjTsV4jsHRQnLb0k5pzw,288
+bluer_ugv/__init__.py,sha256=bbufNjLuKygZJkxyR29xYLqO41w4UQS64R69WIP6D8U,288
 bluer_ugv/__main__.py,sha256=77TquqyMca7qHk0XtCixGVyzfW3_9ywnl5oXEPERlls,374
 bluer_ugv/config.env,sha256=29E09ffL9mJQr3J9J_Xi5KoIiOxqDF1akquddhz4zrE,1237
 bluer_ugv/env.py,sha256=dxTqlES0xLLooYDWcJDM7oOEJsOBE9LScHNtVjInvWQ,2366
@@ -131,6 +131,7 @@ bluer_ugv/README/ugvs/db.py,sha256=z-w4RhSZjrC_mgzRStN2K2amGnrfJWWSajJ6q65WZQE,4
 bluer_ugv/README/ugvs/docs.py,sha256=q0I1ZPUJITg0G7dW5Lv8dnNm0JEL4rdMkcaD4qU3XRk,3420
 bluer_ugv/README/ugvs/ethernet.py,sha256=6MGGWW-RWbx8-59EJKrA0Ncmje72-lYC4PUawrRdAkI,1584
 bluer_ugv/README/ugvs/get.py,sha256=WMeSYKFA-XKY_rYL2zGo4TiN503Kg_w-CyLeD5NyFZM,378
+bluer_ugv/README/ugvs/location.py,sha256=KHeFBO8dlGNxBC32ox69234TRgju9UAwIeD-nEa6lMM,644
 bluer_ugv/README/ugvs/comparison/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 bluer_ugv/README/ugvs/comparison/build.py,sha256=Dj86jYV0gGHZQrTRH0wZ_Q8eh3yREBx5bgQ1Sw2bahA,4634
 bluer_ugv/README/ugvs/comparison/features/DYI.py,sha256=ED5Tlc4KcEFpLPHjwfSNGE47guKCeBG7Q84TS0BPJgE,187
@@ -202,7 +203,7 @@ 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/session.py,sha256=tF0yj3KlJb_aeUjLAS_taVmzQu6ILqjYfOSP7mfHXKQ,6257
+bluer_ugv/swallow/session/classical/session.py,sha256=7HJIzfVgynh7aC2WKwuEqxULOSbL77Xj_8623xeLoHk,7884
 bluer_ugv/swallow/session/classical/camera/__init__.py,sha256=2GchuT19_Ns0uYRS5aUMz4pBwbK3y5XoFxoAlAnJKh8,464
 bluer_ugv/swallow/session/classical/camera/generic.py,sha256=tW7bQMzmBi9MV28cTlKlDhFdtnB-9mkpBzjaWzEJNec,1220
 bluer_ugv/swallow/session/classical/camera/navigation.py,sha256=HoeTlifGEfnedb6o8P-O0TcP1bNDRJ0M7vWupQh1pL4,6790
@@ -211,8 +212,8 @@ bluer_ugv/swallow/session/classical/camera/void.py,sha256=IJkJQgTgVucTYagFIwKEch
 bluer_ugv/swallow/session/classical/camera/yolo.py,sha256=vStqH-cQbi0Rij1OqETv60QfMgSHz_9X9DaqKDPHNcI,6592
 bluer_ugv/swallow/session/classical/ethernet/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 bluer_ugv/swallow/session/classical/ethernet/__main__.py,sha256=7xSxV1qaxgOehQZn_lgVxemM43ZlJjKBmqPC-cQuXD4,846
-bluer_ugv/swallow/session/classical/ethernet/classes.py,sha256=v8u41aFlzbq6_SHpxCxRY6eBzwmTsTxQiNuXtTRz4oQ,1301
-bluer_ugv/swallow/session/classical/ethernet/client.py,sha256=jVf-JBrKt_r1k_GxhNOCYL-BjFVHASpKghLWglMQWBI,8593
+bluer_ugv/swallow/session/classical/ethernet/classes.py,sha256=gUIBvZYiyH9bYvStsTCVsaiEMKsMxqknBxdPZ5Yeo8s,1233
+bluer_ugv/swallow/session/classical/ethernet/client.py,sha256=G01PouwWLvd3-np1PQkFMfljoKOe8ZKbLk79or_KVQM,8414
 bluer_ugv/swallow/session/classical/ethernet/command.py,sha256=ppS4Tkks4yLNsycAKdmZX6EfUEMThaJ2Il42dwdF__c,597
 bluer_ugv/swallow/session/classical/ethernet/testing.py,sha256=SvLp12FqcJeph6z6jP1OR5h6cugcptTyP9t2AVHGTEs,1149
 bluer_ugv/swallow/session/classical/keyboard/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -220,12 +221,13 @@ bluer_ugv/swallow/session/classical/keyboard/__main__.py,sha256=tdX-a8MC9ix6aQ9i
 bluer_ugv/swallow/session/classical/keyboard/classes.py,sha256=l9kfV3sqBjlHNjoBsXDL0cOwHeNVD42KMzasoBUYd7w,5415
 bluer_ugv/swallow/session/classical/keyboard/keys.py,sha256=Z27XTC2agwC_uYmzBgRKP3hNy58KWnWUxHXeOChuooc,2348
 bluer_ugv/swallow/session/classical/keyboard/testing.py,sha256=GFh-6-HkT1sYlGt-Y2traBFD8lle3C-HcvVrdzsITEo,511
-bluer_ugv/swallow/session/classical/motor/__init__.py,sha256=Ja9pVS6h5wnZiDvJ2IaibLcleQl3inIF_YRJg9VGKlw,323
+bluer_ugv/swallow/session/classical/motor/__init__.py,sha256=l7mSv4I1kLMGapINKX1va-OeYpqPAD_qRLNn9GbklcA,401
 bluer_ugv/swallow/session/classical/motor/generic.py,sha256=VzCEqkuil-7ncyv2TxI7NMofIiLhuZGl61Ck3Yog55s,2860
 bluer_ugv/swallow/session/classical/motor/left.py,sha256=eKyEI8CqQiUTTmpNlJrXro90x2_la5KejVLgj_pXkQM,537
 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/motor/void.py,sha256=rJ3wsSd7EcF4_fX1hVHsiCLDWHrIYwwCvCGzN5LPGvc,439
 bluer_ugv/swallow/session/classical/screen/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 bluer_ugv/swallow/session/classical/screen/classes.py,sha256=EzMJOcI5b153pHYAzTeNKU82CHc9AKyNS5ZfudoBvTo,1311
 bluer_ugv/swallow/session/classical/screen/video/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -234,7 +236,8 @@ bluer_ugv/swallow/session/classical/screen/video/engine.py,sha256=XDKGcR2SQyFM5F
 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/classes.py,sha256=3Hpub9s5t1GN25eGhSINuIlCrT-C3sRmZu8FxiAsTes,5268
+bluer_ugv/swallow/session/classical/setpoint/ethernet.py,sha256=F-O62lHzZYBWywzk9z2ZC8YqvSDfVKvabRrv-ZDnuVI,896
 bluer_ugv/swallow/session/classical/setpoint/steering.py,sha256=yuhW3u9YgZ756h4wyMWJYW9914d8oYRKLga67rTW-Tw,288
 bluer_ugv/swallow/session/classical/ultrasonic_sensor/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 bluer_ugv/swallow/session/classical/ultrasonic_sensor/__main__.py,sha256=SHCwEk_K9L0BG1X7W1JnnhTnQBGJ--TiN-QuH2Je28E,1732
@@ -247,8 +250,8 @@ 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-7.824.1.dist-info/licenses/LICENSE,sha256=ogEPNDSH0_dhiv_lT3ifVIdgIzHAqNA_SemnxUfPBJk,7048
-bluer_ugv-7.824.1.dist-info/METADATA,sha256=ROcyERcqAkfCYA-ZSLFUr5J_zG0dPK6kBhLqA-Fw-rs,5612
-bluer_ugv-7.824.1.dist-info/WHEEL,sha256=wUyA8OaulRlbfwMtmQsvNngGrxQHAvkKcvRmdizlJi0,92
-bluer_ugv-7.824.1.dist-info/top_level.txt,sha256=_MlDhFvIPpher9Zs7xyJTHgO2xJJTbfR1dzncz3LQnk,10
-bluer_ugv-7.824.1.dist-info/RECORD,,
+bluer_ugv-7.835.1.dist-info/licenses/LICENSE,sha256=ogEPNDSH0_dhiv_lT3ifVIdgIzHAqNA_SemnxUfPBJk,7048
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+bluer_ugv-7.835.1.dist-info/WHEEL,sha256=wUyA8OaulRlbfwMtmQsvNngGrxQHAvkKcvRmdizlJi0,92
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