bluer-ugv 7.838.1__tar.gz → 7.866.1__tar.gz

{bluer_ugv-7.838.1/bluer_ugv.egg-info → bluer_ugv-7.866.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: bluer_ugv
-Version: 7.838.1
+Version: 7.866.1
 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-7.838.1`](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-7.866.1`](https://github.com/kamangir/bluer-ugv).
 
 
 built by 🌀 [`blueness-3.118.1`](https://github.com/kamangir/blueness).

{bluer_ugv-7.838.1 → bluer_ugv-7.866.1}/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-7.838.1`](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-7.866.1`](https://github.com/kamangir/bluer-ugv).
 

{bluer_ugv-7.838.1 → bluer_ugv-7.866.1}/bluer_ugv/README/rangin/docs.py

@@ -1,5 +1,6 @@
 from bluer_ugv.README.rangin import (
     mechanical,
+    operation,
     parts,
     power,
     root,
@@ -10,6 +11,7 @@ from bluer_ugv.README.rangin import (
 
 docs = (
     mechanical.docs
+    + operation.docs
     + parts.docs
     + power.docs
     + root.docs

bluer_ugv-7.866.1/bluer_ugv/README/rangin/operation.py

@@ -0,0 +1,5 @@
+docs = [
+    {
+        "path": "../docs/rangin/operation.md",
+    },
+]

{bluer_ugv-7.838.1 → bluer_ugv-7.866.1}/bluer_ugv/README/ugvs/location.py

@@ -14,6 +14,7 @@ def get_location(
 
         for location, hostname_ in dict_of_computers.items():
             if hostname == hostname_:
+
                 if log:
                     logger.info(f"{hostname}.location={location}")
                 return True, location

{bluer_ugv-7.838.1 → bluer_ugv-7.866.1}/bluer_ugv/__init__.py

@@ -4,7 +4,7 @@ ICON = "🐬"
 
 DESCRIPTION = f"{ICON} AI x UGV."
 
-VERSION = "7.838.1"
+VERSION = "7.866.1"
 
 REPO_NAME = "bluer-ugv"
 

{bluer_ugv-7.838.1 → bluer_ugv-7.866.1}/bluer_ugv/config.env

@@ -4,6 +4,9 @@ BLUER_UGV_CAMERA_TRAINING_PERIOD=3.0
 BLUER_UGV_CAMERA_ACTION_PERIOD=0.5
 
 BLUER_UGV_SWALLOW_STEERING_SETPOINT=50
+
+BLUER_UGV_SWALLOW_STEERING_EXPIRY=0.05
+BLUER_UGV_SWALLOW_STEERING_EXPIRY_ETHERNET=0.1
 BLUER_UGV_SWALLOW_STEERING_YOLO_EXPIRY=0.1
 
 BLUER_UGV_MOUSEPAD_ENABLED=0

{bluer_ugv-7.838.1 → bluer_ugv-7.866.1}/bluer_ugv/env.py

@@ -35,11 +35,21 @@ BLUER_UGV_SWALLOW_STEERING_SETPOINT = get_env(
     50,
 )
 
-BLUER_UGV_SWALLOW_STEERING_YOLO_EXPIRY = get_env(
-    "BLUER_UGV_SWALLOW_STEERING_YOLO_EXPIRY",
+BLUER_UGV_SWALLOW_STEERING_EXPIRY = get_env(
+    "BLUER_UGV_SWALLOW_STEERING_EXPIRY",
+    0.05,
+)
+
+BLUER_UGV_SWALLOW_STEERING_EXPIRY_YOLO = get_env(
+    "BLUER_UGV_SWALLOW_STEERING_EXPIRY_YOLO",
     0.1,
 )
 
+BLUER_UGV_SWALLOW_STEERING_EXPIRY_ETHERNET = get_env(
+    "BLUER_UGV_SWALLOW_STEERING_EXPIRY_ETHERNET",
+    0.3,
+)
+
 BLUER_UGV_SWALLOW_YOLO_SPEED_SETPOINT = get_env(
     "BLUER_UGV_SWALLOW_YOLO_SPEED_SETPOINT",
     20,

{bluer_ugv-7.838.1 → bluer_ugv-7.866.1}/bluer_ugv/swallow/session/classical/camera/yolo.py

@@ -168,14 +168,14 @@ class ClassicalYoloCamera(ClassicalCamera):
                 what="steering",
                 value=env.BLUER_UGV_SWALLOW_STEERING_SETPOINT,
                 log=True,
-                steering_expires_in=env.BLUER_UGV_SWALLOW_STEERING_YOLO_EXPIRY,
+                steering_expires_in=env.BLUER_UGV_SWALLOW_STEERING_EXPIRY_YOLO,
             )
         else:
             self.setpoint.put(
                 what="steering",
                 value=-env.BLUER_UGV_SWALLOW_STEERING_SETPOINT,
                 log=True,
-                steering_expires_in=env.BLUER_UGV_SWALLOW_STEERING_YOLO_EXPIRY,
+                steering_expires_in=env.BLUER_UGV_SWALLOW_STEERING_EXPIRY_YOLO,
             )
 
         self.setpoint.put(

{bluer_ugv-7.838.1 → bluer_ugv-7.866.1}/bluer_ugv/swallow/session/classical/keyboard/classes.py

@@ -44,6 +44,8 @@ class ClassicalKeyboard:
             "ultrasound_enabled": True,
         }
 
+        self.is_used_for_steering: bool = False
+
     def get(self, what: str, default: Any) -> Any:
         with self._lock:
             return self.config.get(what, default)
@@ -59,7 +61,9 @@ class ClassicalKeyboard:
         if self.special_key:
             for key, event in self.keys.special_keys.items():
                 if keyboard.is_pressed(key):
-                    if self.ethernet.enabled and self.ethernet.client.is_server:
+                    logger.info(f'*"{key}" is pressed.')
+
+                    if self.ethernet.enabled:
                         self.ethernet.client.send(
                             EthernetCommand(
                                 action="keyboard",
@@ -89,26 +93,34 @@ class ClassicalKeyboard:
             ),
         }.items():
             if keyboard.is_pressed(key):
+                logger.info(f'"{key}" is pressed.')
                 self.special_key = False
                 func()
 
         # steering
         if keyboard.is_pressed(self.keys.get("steer left")):
+            logger.info('"steer left" is pressed.')
             self.special_key = False
             self.last_key = "a"
             self.setpoint.put(
                 what="steering",
                 value=env.BLUER_UGV_SWALLOW_STEERING_SETPOINT,
             )
+
+            self.is_used_for_steering = True
         elif keyboard.is_pressed(self.keys.get("steer right")):
+            logger.info('"steer right" is pressed.')
             self.special_key = False
             self.last_key = "d"
             self.setpoint.put(
                 what="steering",
                 value=-env.BLUER_UGV_SWALLOW_STEERING_SETPOINT,
             )
-        else:
-            self.setpoint.check_steering_expiry()
+
+            self.is_used_for_steering = True
+        elif self.is_used_for_steering:
+            if self.setpoint.check_steering_expiry():
+                self.is_used_for_steering = False
 
         # debug mode
         if keyboard.is_pressed(self.keys.get("debug on")):

{bluer_ugv-7.838.1 → bluer_ugv-7.866.1}/bluer_ugv/swallow/session/classical/session.py

@@ -118,8 +118,6 @@ class ClassicalSession:
                     self.motor2.role,
                 )
             )
-        else:
-            logger.info("no wheels.")
 
         self.position = ClassicalPosition(object_name)
 
@@ -215,31 +213,7 @@ class ClassicalSession:
             ]
         )
 
-    def update(self) -> bool:
-        self.timing.start("session.update")
-
-        for thing in [
-            self.keyboard,
-            self.push_button,
-            self.camera,
-            self.position,
-            self.setpoint,
-            self.motor1,
-            self.motor2,
-            self.leds,
-            self.screen,
-        ]:
-            self.timing.start(thing.__class__.__name__)
-
-            if not thing.update():
-                return False
-
-            self.timing.stop(thing.__class__.__name__)
-
-        self.timing.stop("session.update")
-        if self.location != "front":
-            return True
-
+    def process_ethernet_messages(self) -> bool:
         while True:
             try:
                 # pylint: disable=protected-access
@@ -263,3 +237,28 @@ class ClassicalSession:
                 logger.warning(f"unknown command: {command.as_str()}")
 
         return True
+
+    def update(self) -> bool:
+        self.timing.start("session.update")
+
+        for thing in [
+            self.keyboard,
+            self.push_button,
+            self.camera,
+            self.position,
+            self.setpoint,
+            self.motor1,
+            self.motor2,
+            self.leds,
+            self.screen,
+        ]:
+            self.timing.start(thing.__class__.__name__)
+
+            if not thing.update():
+                return False
+
+            self.timing.stop(thing.__class__.__name__)
+
+        self.timing.stop("session.update")
+
+        return self.process_ethernet_messages()

{bluer_ugv-7.838.1 → bluer_ugv-7.866.1}/bluer_ugv/swallow/session/classical/setpoint/classes.py

@@ -5,6 +5,7 @@ import time
 
 from bluer_options import string
 
+from bluer_ugv import env
 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 (
@@ -66,10 +67,10 @@ class ClassicalSetPoint:
     def check_steering_expiry(
         self,
         log: bool = True,
-    ):
+    ) -> bool:
         with self._lock:
             if self.steering == 0:
-                return
+                return False
 
             if self.steering_expiry > time.time():
                 if log:
@@ -83,7 +84,7 @@ class ClassicalSetPoint:
                             )
                         )
                     )
-                return
+                return False
 
         if log:
             logger.info("setpoint expired.")
@@ -93,12 +94,14 @@ class ClassicalSetPoint:
             value=0,
         )
 
+        return True
+
     def put(
         self,
         value: Union[int, bool, Dict[str, Union[int, bool]]],
         what: str = "all",
         log: bool = True,
-        steering_expires_in: float = 0,
+        steering_expires_in: float = env.BLUER_UGV_SWALLOW_STEERING_EXPIRY,
     ):
         with self._lock:
             if what == "all":

{bluer_ugv-7.838.1 → bluer_ugv-7.866.1}/bluer_ugv/swallow/session/classical/setpoint/ethernet.py

@@ -1,5 +1,6 @@
 from typing import Union, Dict
 
+from bluer_ugv import env
 from bluer_ugv.swallow.session.classical.ethernet.command import EthernetCommand
 from bluer_ugv.swallow.session.classical.setpoint.classes import ClassicalSetPoint
 
@@ -10,7 +11,7 @@ class ClassicalEthernetSetPoint(ClassicalSetPoint):
         value: Union[int, bool, Dict[str, Union[int, bool]]],
         what: str = "all",
         log: bool = True,
-        steering_expires_in: float = 0,
+        steering_expires_in: float = env.BLUER_UGV_SWALLOW_STEERING_EXPIRY_ETHERNET,
     ):
         super().put(
             value=value,

{bluer_ugv-7.838.1 → bluer_ugv-7.866.1/bluer_ugv.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: bluer_ugv
-Version: 7.838.1
+Version: 7.866.1
 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-7.838.1`](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-7.866.1`](https://github.com/kamangir/bluer-ugv).
 
 
 built by 🌀 [`blueness-3.118.1`](https://github.com/kamangir/blueness).

{bluer_ugv-7.838.1 → bluer_ugv-7.866.1}/bluer_ugv.egg-info/SOURCES.txt

@@ -114,6 +114,7 @@ bluer_ugv/README/rangin/consts.py
 bluer_ugv/README/rangin/docs.py
 bluer_ugv/README/rangin/items.py
 bluer_ugv/README/rangin/mechanical.py
+bluer_ugv/README/rangin/operation.py
 bluer_ugv/README/rangin/parts.py
 bluer_ugv/README/rangin/power.py
 bluer_ugv/README/rangin/root.py