bluer-ugv 7.824.1__tar.gz → 7.835.1__tar.gz

{bluer_ugv-7.824.1/bluer_ugv.egg-info → bluer_ugv-7.835.1}/PKG-INFO

@@ -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 → bluer_ugv-7.835.1}/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-7.824.1`](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).
 

bluer_ugv-7.835.1/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-7.824.1 → bluer_ugv-7.835.1}/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-7.824.1 → bluer_ugv-7.835.1}/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-7.824.1 → bluer_ugv-7.835.1}/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-7.824.1 → bluer_ugv-7.835.1}/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-7.835.1/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-7.824.1 → bluer_ugv-7.835.1}/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-7.824.1 → bluer_ugv-7.835.1}/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-7.835.1/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 → bluer_ugv-7.835.1/bluer_ugv.egg-info}/PKG-INFO

@@ -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 → bluer_ugv-7.835.1}/bluer_ugv.egg-info/SOURCES.txt

@@ -143,6 +143,7 @@ bluer_ugv/README/ugvs/db.py
 bluer_ugv/README/ugvs/docs.py
 bluer_ugv/README/ugvs/ethernet.py
 bluer_ugv/README/ugvs/get.py
+bluer_ugv/README/ugvs/location.py
 bluer_ugv/README/ugvs/comparison/__init__.py
 bluer_ugv/README/ugvs/comparison/build.py
 bluer_ugv/README/ugvs/comparison/features/DYI.py
@@ -238,6 +239,7 @@ bluer_ugv/swallow/session/classical/motor/left.py
 bluer_ugv/swallow/session/classical/motor/rear.py
 bluer_ugv/swallow/session/classical/motor/right.py
 bluer_ugv/swallow/session/classical/motor/steering.py
+bluer_ugv/swallow/session/classical/motor/void.py
 bluer_ugv/swallow/session/classical/screen/__init__.py
 bluer_ugv/swallow/session/classical/screen/classes.py
 bluer_ugv/swallow/session/classical/screen/video/__init__.py
@@ -247,6 +249,7 @@ bluer_ugv/swallow/session/classical/screen/video/player.py
 bluer_ugv/swallow/session/classical/screen/video/playlist.py
 bluer_ugv/swallow/session/classical/setpoint/__init__.py
 bluer_ugv/swallow/session/classical/setpoint/classes.py
+bluer_ugv/swallow/session/classical/setpoint/ethernet.py
 bluer_ugv/swallow/session/classical/setpoint/steering.py
 bluer_ugv/swallow/session/classical/ultrasonic_sensor/__init__.py
 bluer_ugv/swallow/session/classical/ultrasonic_sensor/__main__.py