lookout-config 1.0.2__py3-none-any.whl

lookout_config/__init__.py

@@ -0,0 +1,96 @@
+# IMPORTANT
+# After changing this file, run `python3 -m lookout_config.generate_schemas`
+# To re-generate the json schemas
+import yaml
+import os
+from dataclasses import dataclass, field
+from enum import Enum
+from dacite import from_dict, Config
+from typing import Optional, Any, List, Annotated
+from dc_schema import SchemaAnnotation
+from dataclasses import asdict
+from pathlib import Path
+from greenstream_config.types import CameraOverride
+
+
+LOOKOUT_CONFIG_FILE_NAME = "lookout.yml"
+LOOKOUT_SCHEMA_URL = "https://greenroom-robotics.github.io/lookout/schemas/lookout.schema.json"
+
+
+def join_lines(*lines: str) -> str:
+    return "\n".join(lines)
+
+
+class Mode(str, Enum):
+    SIMULATOR = "simulator"
+    HARDWARE = "hardware"
+    STUBS = "stubs"
+    ROSBAG = "rosbag"
+
+
+class LogLevel(str, Enum):
+    INFO = "info"
+    DEBUG = "debug"
+
+
+class Network(str, Enum):
+    SHARED = "shared"
+    HOST = "host"
+
+
+@dataclass
+class LookoutConfig:
+    ros_domain_id: int = 0
+    namespace_vessel: str = "vessel"
+    gama_vessel: bool = False
+    mode: Mode = Mode.STUBS
+    log_level: LogLevel = LogLevel.INFO
+    camera_overrides: Optional[List[Optional[CameraOverride]]] = None
+    network: Network = Network.HOST
+    gpu: bool = False
+
+
+def find_config() -> Path:
+    """Returns the path to the .config/greenroom directory"""
+    return Path.home().joinpath(".config/greenroom")
+
+
+def dacite_to_dict(obj: Any):
+    def dict_factory(data: Any):
+        def convert_value(obj: Any):
+            if isinstance(obj, Enum):
+                return obj.value
+            return obj
+
+        return {k: convert_value(v) for k, v in data}
+
+    return asdict(obj, dict_factory=dict_factory)
+
+
+def get_path():
+    return find_config() / LOOKOUT_CONFIG_FILE_NAME
+
+
+def parse(config: dict[str, Any]) -> LookoutConfig:
+    return from_dict(
+        LookoutConfig,
+        config,
+        config=Config(cast=[LogLevel, Mode, Network]),
+    )
+
+
+def read() -> LookoutConfig:
+    path = get_path()
+    with open(path) as stream:
+        return parse(yaml.safe_load(stream))
+
+
+def write(config: LookoutConfig):
+    path = get_path()
+    # Make the parent dir if it doesn't exist
+    os.makedirs(path.parent, exist_ok=True)
+    with open(path, "w") as stream:
+        print(f"Writing: {path}")
+        headers = f"# yaml-language-server: $schema={LOOKOUT_SCHEMA_URL}"
+        data = "\n".join([headers, yaml.dump(dacite_to_dict(config))])
+        stream.write(data)

lookout_config/generate_cameras.py

@@ -0,0 +1,190 @@
+from typing import List
+from greenstream_config import Camera, Offsets
+from lookout_config import Mode
+from math import radians
+
+
+def generate_cameras_armidale(mode: Mode, namespace: str):
+    # !! IMPORTANT !!
+    # Changes here should probably be made in gama also
+
+    k_intrinsic = [1097.44852, 0.0, 992.544475, 0.0, 1101.33980, 552.247413, 0.0, 0.0, 1.0]
+    # Distortion parameters are broken in foxglove :(
+    # distortion_parameters = [
+    #     -0.388772321,
+    #     0.194568646,
+    #     -0.000662550588,
+    #     0.000224063281,
+    #     -0.0503775800,
+    # ]
+
+    cameras: List[Camera] = [
+        Camera(
+            name="port",
+            type="color",
+            order=0,
+            elements=[
+                "rtspsrc location=rtsp://admin:@192.168.2.21:554/live/0/MAIN latency=10",
+                "rtph264depay",
+                "h264parse",
+                "avdec_h264",
+                "videoconvert",
+            ],
+            pixel_height=1080,
+            pixel_width=1920,
+            sensor_height_mm=2.21,
+            sensor_width_mm=3.92,
+            fov=125.0,
+            camera_frame_topic="perception/frames/port_color",
+            camera_info_topic="sensors/cameras/port_color/camera_info",
+            camera_info_ext_topic="sensors/cameras/port_color/camera_info_ext",
+            k_intrinsic=k_intrinsic,
+            # distortion_parameters=distortion_parameters,
+            offsets=Offsets(
+                roll=0.0,
+                pitch=radians(20.0),
+                yaw=radians(45.0),
+                forward=2.275,
+                left=2.850,
+                up=-0.155,
+            ),
+        ),
+        Camera(
+            name="bow",
+            type="color",
+            order=1,
+            elements=[
+                "rtspsrc location=rtsp://admin:@192.168.2.22:554/live/0/MAIN latency=10",
+                "rtph264depay",
+                "h264parse",
+                "avdec_h264",
+                "videoconvert",
+            ],
+            pixel_height=1080,
+            pixel_width=1920,
+            sensor_height_mm=2.21,
+            sensor_width_mm=3.92,
+            fov=125.0,
+            camera_frame_topic="perception/frames/bow_color",
+            camera_info_topic="sensors/cameras/bow_color/camera_info",
+            camera_info_ext_topic="sensors/cameras/bow_color/camera_info_ext",
+            k_intrinsic=k_intrinsic,
+            # distortion_parameters=distortion_parameters,
+            offsets=Offsets(
+                roll=radians(2.0),
+                pitch=radians(6.0),
+                yaw=0.0,
+                forward=3.190,
+                left=0.015,
+                up=-0.205,
+            ),
+        ),
+        Camera(
+            name="stbd",
+            type="color",
+            order=2,
+            elements=[
+                "rtspsrc location=rtsp://admin:@192.168.2.23:554/live/0/MAIN latency=10",
+                "rtph264depay",
+                "h264parse",
+                "avdec_h264",
+                "videoconvert",
+            ],
+            pixel_height=1080,
+            pixel_width=1920,
+            sensor_height_mm=2.21,
+            sensor_width_mm=3.92,
+            fov=125.0,
+            camera_frame_topic="perception/frames/stbd_color",
+            camera_info_topic="sensors/cameras/stbd_color/camera_info",
+            camera_info_ext_topic="sensors/cameras/stbd_color/camera_info_ext",
+            k_intrinsic=k_intrinsic,
+            # distortion_parameters=distortion_parameters,
+            offsets=Offsets(
+                roll=0.0,
+                pitch=radians(20.0),
+                yaw=radians(-45.0),
+                forward=2.275,
+                left=-2.850,
+                up=-0.155,
+            ),
+        ),
+        Camera(
+            name="stern_port",
+            type="color",
+            order=3,
+            elements=[
+                "rtspsrc location=rtsp://admin:@192.168.2.24:554/live/0/MAIN latency=10",
+                "rtph264depay",
+                "h264parse",
+                "avdec_h264",
+                "videoconvert",
+            ],
+            pixel_height=1080,
+            pixel_width=1920,
+            sensor_height_mm=2.21,
+            sensor_width_mm=3.92,
+            fov=125.0,
+            camera_frame_topic="perception/frames/stern_port_color",
+            camera_info_topic="sensors/cameras/stern_port_color/camera_info",
+            camera_info_ext_topic="sensors/cameras/stern_port_color/camera_info_ext",
+            k_intrinsic=k_intrinsic,
+            # distortion_parameters=distortion_parameters,
+            offsets=Offsets(
+                roll=0.0,
+                pitch=radians(20.0),
+                yaw=radians(135.0),
+                forward=-4.980,
+                left=2.850,
+                up=-0.155,
+            ),
+        ),
+        Camera(
+            name="stern_stbd",
+            type="color",
+            order=4,
+            elements=[
+                "rtspsrc location=rtsp://admin:@192.168.2.25:554/live/0/MAIN latency=10",
+                "rtph264depay",
+                "h264parse",
+                "avdec_h264",
+                "videoconvert",
+            ],
+            pixel_height=1080,
+            pixel_width=1920,
+            sensor_height_mm=2.21,
+            sensor_width_mm=3.92,
+            fov=125.0,
+            camera_frame_topic="perception/frames/stern_stbd_color",
+            camera_info_topic="sensors/cameras/stern_stbd_color/camera_info",
+            camera_info_ext_topic="sensors/cameras/stern_stbd_color/camera_info_ext",
+            k_intrinsic=k_intrinsic,
+            # distortion_parameters=distortion_parameters,
+            offsets=Offsets(
+                roll=0.0,
+                pitch=radians(20.0),
+                yaw=radians(-135.0),
+                forward=-4.980,
+                left=-2.850,
+                up=-0.155,
+            ),
+        ),
+    ]
+
+    if mode == Mode.STUBS:
+        for camera in cameras:
+            camera.elements = [
+                "videotestsrc pattern=ball",
+                "video/x-raw, format=RGB,width=1920,height=1080",
+            ]
+    elif mode == Mode.SIMULATOR or mode == Mode.ROSBAG:
+        for camera in cameras:
+            camera.elements = [
+                f"rosimagesrc ros-topic=sensors/cameras/{camera.name}_{camera.type}/image_raw ros-name='gst_rosimagesrc_{camera.name}_{camera.type}' ros-namespace='{namespace}'"
+            ]
+
+    return cameras
+
+
+def generate_cameras(mode: Mode, namespace: str):
+    return generate_cameras_armidale(mode, namespace)

lookout_config/generate_schemas.py

@@ -0,0 +1,16 @@
+import os
+from pathlib import Path
+import json
+from dc_schema import get_schema
+from lookout_config import LookoutConfig
+
+
+def generate_schemas():
+    """Generates the schemas for the config files"""
+    SCHEMAS_PATH = Path(os.path.dirname(__file__)) / "schemas"
+    with open(SCHEMAS_PATH / "lookout.schema.json", "w") as f:
+        json.dump(get_schema(LookoutConfig), f, indent=2)
+
+
+if __name__ == "__main__":
+    generate_schemas()

lookout_config/generate_urdf.py

@@ -0,0 +1,84 @@
+from typing import List
+from lookout_config import LookoutConfig
+from greenstream_config import Camera, Offsets, get_cameras_urdf
+from gr_urchin import URDF, Joint, Material, Link, xyz_rpy_to_matrix, Visual, Mesh, Geometry
+from math import radians
+
+
+def generate_urdf(
+    config: LookoutConfig,
+    cameras: List[Camera],
+    ins_offset: Offsets,
+    mesh_path: str,
+    waterline=0.0,  # meters between the waterline and the base_link
+    add_optical_frame: bool = True,
+):
+
+    file_path = f"/tmp/vessel_{config.mode.value}.urdf"
+
+    # generate links and joints for all vessel cameras
+    camera_links, camera_joints = get_cameras_urdf(
+        cameras, config.camera_overrides if config.camera_overrides else [None], add_optical_frame
+    )
+
+    urdf = URDF(
+        name="origins",
+        materials=[
+            Material(name="grey", color=[0.75, 0.75, 0.75, 1]),
+            Material(name="blue", color=[0, 0, 1, 1]),
+        ],
+        links=[
+            Link(name="ins_link", inertial=None, visuals=None, collisions=None),
+            Link(name="waterline_link", inertial=None, visuals=None, collisions=None),
+            Link(
+                name="base_link",
+                inertial=None,
+                visuals=[
+                    Visual(
+                        name="visual",
+                        geometry=Geometry(
+                            mesh=Mesh(filename=mesh_path, combine=False, lazy_filename=mesh_path)
+                        ),
+                        origin=xyz_rpy_to_matrix([0, 0, 0, radians(-90), 0, 0]),
+                        material=Material(name="grey"),
+                    )
+                ],
+                collisions=None,
+            ),
+            *camera_links,
+        ],
+        joints=[
+            Joint(
+                name="base_to_ins",
+                parent="base_link",
+                child="ins_link",
+                joint_type="fixed",
+                origin=xyz_rpy_to_matrix(
+                    [
+                        ins_offset.forward,
+                        ins_offset.left,
+                        ins_offset.up,
+                        ins_offset.roll,
+                        ins_offset.pitch,
+                        ins_offset.yaw,
+                    ]
+                ),
+            ),
+            Joint(
+                name="base_to_waterline",
+                parent="base_link",
+                child="waterline_link",
+                joint_type="fixed",
+                origin=xyz_rpy_to_matrix([0, 0, -waterline, 0, 0, 0]),
+            ),
+            *camera_joints,
+        ],
+    )
+
+    urdf.save(file_path)
+
+    # stringify urdf response for robot description
+    with open(file_path) as infp:
+        robot_description = infp.read()
+
+    return robot_description

lookout_config/schemas/lookout.schema.json

@@ -0,0 +1,139 @@
+{
+  "$schema": "https://json-schema.org/draft/2020-12/schema",
+  "type": "object",
+  "title": "LookoutConfig",
+  "properties": {
+    "ros_domain_id": {
+      "type": "integer",
+      "default": 0
+    },
+    "namespace_vessel": {
+      "type": "string",
+      "default": "vessel"
+    },
+    "gama_vessel": {
+      "type": "boolean",
+      "default": false
+    },
+    "mode": {
+      "allOf": [
+        {
+          "$ref": "#/$defs/Mode"
+        }
+      ],
+      "default": "stubs"
+    },
+    "log_level": {
+      "allOf": [
+        {
+          "$ref": "#/$defs/LogLevel"
+        }
+      ],
+      "default": "info"
+    },
+    "greenstream": {
+      "allOf": [
+        {
+          "$ref": "#/$defs/Greenstream"
+        }
+      ]
+    },
+    "network": {
+      "allOf": [
+        {
+          "$ref": "#/$defs/Network"
+        }
+      ],
+      "default": "host"
+    }
+  },
+  "$defs": {
+    "Mode": {
+      "title": "Mode",
+      "enum": [
+        "simulator",
+        "hardware",
+        "stubs"
+      ]
+    },
+    "LogLevel": {
+      "title": "LogLevel",
+      "enum": [
+        "info",
+        "debug"
+      ]
+    },
+    "Pipeline": {
+      "type": "object",
+      "title": "Pipeline",
+      "properties": {
+        "name": {
+          "type": "string"
+        },
+        "order": {
+          "anyOf": [
+            {
+              "type": "integer"
+            },
+            {
+              "type": "null"
+            }
+          ]
+        },
+        "elements": {
+          "type": "array",
+          "items": {
+            "type": "string"
+          }
+        }
+      },
+      "required": [
+        "name",
+        "order",
+        "elements"
+      ]
+    },
+    "Greenstream": {
+      "type": "object",
+      "title": "Greenstream",
+      "properties": {
+        "pipeline_overrides": {
+          "anyOf": [
+            {
+              "type": "array",
+              "items": {
+                "anyOf": [
+                  {
+                    "allOf": [
+                      {
+                        "$ref": "#/$defs/Pipeline"
+                      }
+                    ]
+                  },
+                  {
+                    "type": "null"
+                  }
+                ]
+              }
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "description": "A list of greenstream pipelines.\nThese will only take affect if the the mode is 'hardware'\n\nSet these to 'null' to ignore the override.",
+          "examples": [
+            "- null\n- name: bow\n  elements:\n  - v4l2src\n  - video/x-raw, format=RGB,width=1280,height=720"
+          ]
+        }
+      }
+    },
+    "Network": {
+      "title": "Network",
+      "enum": [
+        "shared",
+        "host"
+      ]
+    }
+  }
+}

lookout_config/test/lookout_config_test.py

@@ -0,0 +1,3 @@
+def test_lookout_config():
+    # TODO: Add tests
+    assert True is True

lookout_config-1.0.2.dist-info/METADATA

@@ -0,0 +1,62 @@
+Metadata-Version: 2.1
+Name: lookout_config
+Version: 1.0.2
+Summary: A library for reading / writing Lookout config files
+Home-page: https://github.com/Greenroom-Robotics/lookout
+Author: Greenroom Robotics
+Author-email: team@greenroomrobotics.com
+Maintainer: David Revay
+Maintainer-email: david.revay@greenroomrobotics.com
+License: Copyright (C) 2023, Greenroom Robotics
+Keywords: colcon
+Classifier: Development Status :: 3 - Alpha
+Classifier: Environment :: Plugins
+Classifier: Intended Audience :: Developers
+Classifier: Programming Language :: Python
+Classifier: Topic :: Software Development :: Build Tools
+Description-Content-Type: text/markdown
+Requires-Dist: setuptools
+Requires-Dist: dacite
+Requires-Dist: PyYAML
+Requires-Dist: dc-schema
+Requires-Dist: greenstream-config ==2.13.2
+Requires-Dist: gr-urchin
+
+# Lookout Config
+
+Lookout Config is used to load config stored inside the `~/.config/greenroom` folder.
+
+## Install
+
+* `pip install -e ./libs/lookout_config`
+* or...
+* `pip install lookout_config` (Public on [PyPi](https://pypi.org/project/lookout-config/))
+
+## Usage
+
+### Reading config
+
+```python
+from lookout_config import read
+
+config = read()
+```
+
+### Writing config
+
+```python
+from lookout_config import write, LookoutConfig
+
+config = LookoutConfig()
+
+write(config)
+
+```
+
+### Generating schemas
+
+After changing the dataclasses, you can generate the schemas with:
+
+```bash
+python3 -m lookout_config.generate_schemas
+```

lookout_config-1.0.2.dist-info/RECORD

@@ -0,0 +1,11 @@
+lookout_config/__init__.py,sha256=UtYJZvu6j8Zkm5GGTS10E33hZbE-NCG5ACtexvGoQRE,2438
+lookout_config/generate_cameras.py,sha256=XUvKlirk7rYlMOHm8V3QcmGRYccgN1tLXII2NIO6B70,6529
+lookout_config/generate_schemas.py,sha256=NvE79GwkazdMBAdz-tWu7hB6lBmALaMnq2pvGB9garM,436
+lookout_config/generate_urdf.py,sha256=wMZ15pSwORgEguMHApKSTIYMEQAv5geY4LM5wf8_z8A,2762
+lookout_config/schemas/lookout.schema.json,sha256=HwgQWsrKwiJF8HeTm0JPIGoIMrsWKbmYtp8aO_1QccI,2769
+lookout_config/test/lookout_config_test.py,sha256=TdOzIEWnyrckhmK7OtShtoWwSAP8QDCiKalNhvScd2U,73
+lookout_config-1.0.2.dist-info/METADATA,sha256=DcKy92LLcV8D02Lhjhc2ngiTNEQlYWM1EFCDAbz05wg,1438
+lookout_config-1.0.2.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
+lookout_config-1.0.2.dist-info/top_level.txt,sha256=IiZRgJhNrNL87uLMQm9lQRrMCqJnTOl7aYlA7zRSYyg,15
+lookout_config-1.0.2.dist-info/zip-safe,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
+lookout_config-1.0.2.dist-info/RECORD,,

lookout_config-1.0.2.dist-info/WHEEL

@@ -0,0 +1,5 @@
+Wheel-Version: 1.0
+Generator: bdist_wheel (0.43.0)
+Root-Is-Purelib: true
+Tag: py3-none-any
+

lookout_config-1.0.2.dist-info/top_level.txt

@@ -0,0 +1 @@
+lookout_config

lookout_config-1.0.2.dist-info/zip-safe

@@ -0,0 +1 @@
+