lookout-config 1.18.5__py3-none-any.whl → 1.20.0__py3-none-any.whl

lookout_config/launch_parameters.py

@@ -7,6 +7,377 @@ from typing import List, Optional
 from pydantic import BaseModel, Field
 
 
+class BowStbd(BaseModel):
+    contains: Optional[List[str]] = Field(None, description="")
+    path: Optional[str] = Field(None, description="")
+    type: Optional[str] = Field(None, description="")
+
+
+class Analyzers(BaseModel):
+    bow_stbd: Optional[BowStbd] = None
+
+
+class Cameras(BaseModel):
+    analyzers: Optional[Analyzers] = None
+    path: Optional[str] = Field(None, description="")
+    type: Optional[str] = Field(None, description="")
+
+
+class ObjectAlerts(BaseModel):
+    find_and_remove_prefix: Optional[List[str]] = Field(None, description="")
+    path: Optional[str] = Field(None, description="")
+    type: Optional[str] = Field(None, description="")
+
+
+class ObjectTracker(BaseModel):
+    find_and_remove_prefix: Optional[List[str]] = Field(None, description="")
+    path: Optional[str] = Field(None, description="")
+    type: Optional[str] = Field(None, description="")
+
+
+class RoiDetector(BaseModel):
+    find_and_remove_prefix: Optional[List[str]] = Field(None, description="")
+    path: Optional[str] = Field(None, description="")
+    type: Optional[str] = Field(None, description="")
+
+
+class RoiTracker(BaseModel):
+    find_and_remove_prefix: Optional[List[str]] = Field(None, description="")
+    path: Optional[str] = Field(None, description="")
+    type: Optional[str] = Field(None, description="")
+
+
+class VesselComputer1(BaseModel):
+    path: Optional[str] = Field(None, description="")
+    startswith: Optional[List[str]] = Field(None, description="")
+    timeout: Optional[float] = Field(None, description="")
+    type: Optional[str] = Field(None, description="")
+
+
+class Analyzers1(BaseModel):
+    vessel_computer: Optional[VesselComputer1] = None
+
+
+class VesselComputer(BaseModel):
+    analyzers: Optional[Analyzers1] = None
+    path: Optional[str] = Field(None, description="")
+    type: Optional[str] = Field(None, description="")
+
+
+class DiagnosticAggregatorParameters(BaseModel):
+    cameras: Optional[Cameras] = None
+    object_alerts: Optional[ObjectAlerts] = None
+    object_tracker: Optional[ObjectTracker] = None
+    path: Optional[str] = Field(None, description="")
+    publish_values: Optional[bool] = Field(None, description="")
+    roi_detector: Optional[RoiDetector] = None
+    roi_tracker: Optional[RoiTracker] = None
+    vessel_computer: Optional[VesselComputer] = None
+
+
+class DiagnosticUpdater(BaseModel):
+    period: Optional[float] = Field(None, description="")
+    use_fqn: Optional[bool] = Field(None, description="")
+
+
+class RoiTrackerParameters(BaseModel):
+    detection_threshold: Optional[float] = Field(
+        None, description="Detections above this threshold will be tracked"
+    )
+    iou_threshold: Optional[float] = Field(
+        None,
+        description="IoU threshold for association of dets with propagated track boxes",
+    )
+    max_age: Optional[int] = Field(
+        None,
+        description="The maximum number of consecutive misses before the track state is deleted",
+    )
+    min_hits: Optional[int] = Field(None, description="Min number of detections to create track")
+    classification_history_window: Optional[int] = Field(
+        None,
+        description="Numbers of frames to keep classification history (used for class/probability temporal smoothing)",
+    )
+    reset_on_old_time: Optional[bool] = Field(
+        None, description="Reset the tracker if an old timestamp is received"
+    )
+    roi_topics: Optional[List[str]] = Field(
+        None, description="List of topics to subscribe to for ROIs"
+    )
+    roi_track_topics: Optional[List[str]] = Field(
+        None, description="List of topics to publish tracked ROIs"
+    )
+    diagnostic_updater: Optional[DiagnosticUpdater] = None
+
+
+class DataRecorderParameters(BaseModel):
+    bag_directory: Optional[str] = Field(None, description="")
+    diagnostic_updater: Optional[DiagnosticUpdater] = None
+    storage_id: Optional[str] = Field(None, description="")
+    storage_preset_profile: Optional[str] = Field(None, description="")
+    topic_exclude_regexs: Optional[List[str]] = Field(None, description="")
+    topic_include_regexs: Optional[List[str]] = Field(None, description="")
+    trigger_topic_active: Optional[bool] = Field(None, description="")
+
+
+class CoreUsageAverageERROR(BaseModel):
+    max: Optional[float] = Field(None, description="")
+    min: Optional[float] = Field(None, description="")
+
+
+class CoreUsageAverageWARN(BaseModel):
+    max: Optional[float] = Field(None, description="")
+    min: Optional[float] = Field(None, description="")
+
+
+class CPU(BaseModel):
+    Core_Usage_Average_ERROR: Optional[CoreUsageAverageERROR] = Field(
+        None, alias="Core Usage Average ERROR"
+    )
+    Core_Usage_Average_WARN: Optional[CoreUsageAverageWARN] = Field(
+        None, alias="Core Usage Average WARN"
+    )
+
+
+class FieldUsedPercentERROR(BaseModel):
+    max: Optional[float] = Field(None, description="")
+    min: Optional[float] = Field(None, description="")
+
+
+class FieldUsedPercentWARN(BaseModel):
+    max: Optional[float] = Field(None, description="")
+    min: Optional[float] = Field(None, description="")
+
+
+class Disk(BaseModel):
+    field__Used_Percent_ERROR: Optional[FieldUsedPercentERROR] = Field(
+        None, alias="/ Used Percent ERROR"
+    )
+    field__Used_Percent_WARN: Optional[FieldUsedPercentWARN] = Field(
+        None, alias="/ Used Percent WARN"
+    )
+
+
+class UsagePercentERROR(BaseModel):
+    max: Optional[float] = Field(None, description="")
+    min: Optional[float] = Field(None, description="")
+
+
+class UsagePercentWARN(BaseModel):
+    max: Optional[float] = Field(None, description="")
+    min: Optional[float] = Field(None, description="")
+
+
+class RAM(BaseModel):
+    Usage_Percent_ERROR: Optional[UsagePercentERROR] = Field(None, alias="Usage Percent ERROR")
+    Usage_Percent_WARN: Optional[UsagePercentWARN] = Field(None, alias="Usage Percent WARN")
+
+
+class DiagnosticUpdater2(BaseModel):
+    CPU: Optional[CPU] = None
+    Disk: Optional[Disk] = None
+    RAM: Optional[RAM] = None
+    period: Optional[float] = Field(None, description="")
+    use_fqn: Optional[bool] = Field(None, description="")
+
+
+class SystemResourceMonitorParameters(BaseModel):
+    calculation_rate: Optional[float] = Field(None, description="")
+    diagnostic_updater: Optional[DiagnosticUpdater2] = None
+    diagnostics: Optional[bool] = Field(None, description="")
+    diagnostics_log: Optional[bool] = Field(None, description="")
+    disk_directories: Optional[List[str]] = Field(None, description="")
+    publish: Optional[bool] = Field(None, description="")
+    publish_individual_cores: Optional[bool] = Field(None, description="")
+    publish_rate: Optional[float] = Field(None, description="")
+
+
+class GeolocationParameters(BaseModel):
+    publish_horizon_rate: Optional[float] = Field(None, description="")
+    use_geopose: Optional[bool] = Field(None, description="")
+    max_time_diff: Optional[float] = Field(None, description="")
+    frame_id_base_link: Optional[str] = Field(None, description="")
+    horizon_padding: Optional[int] = Field(None, description="")
+    use_geopose_altitude: Optional[bool] = Field(None, description="")
+    camera_info_topics: Optional[List[str]] = Field(
+        None, description="List of camera info topics to use for geolocation"
+    )
+    horizon_marker_topics: Optional[List[str]] = Field(
+        None, description="List of horizon marker topics to use for geolocation"
+    )
+
+
+class NodeConfigurationModel(BaseModel):
+    node_name_regex: str = Field(..., title="Node Name Regex")
+    parameter_name_regexes: List[str] = Field(..., title="Parameter Name Regexes")
+    dedicated_file_path: Optional[str] = Field("", title="Dedicated File Path")
+
+
+class ParameterPersistenceParameters(BaseModel):
+    params_path: Optional[str] = Field(
+        None, description="Path to the file where the parameters are stored"
+    )
+    file_header: Optional[str] = Field(
+        None, description="A message to add to the top of the params file"
+    )
+    path_within_file: Optional[str] = Field(
+        None, description="Path within the file to store the parameters"
+    )
+    persistent_parameters: Optional[List[NodeConfigurationModel]] = Field(
+        None, description="Regex describing which parameters should persist"
+    )
+    ignore_namespace: Optional[str] = Field(
+        None,
+        description="Which (if any) part of the node namespace to ignore. Treated as regex.",
+    )
+
+
+class DiagnosticUpdater3(BaseModel):
+    period: Optional[float] = Field(None, description="")
+    use_fqn: Optional[bool] = Field(None, description="")
+
+
+class DetectorOnnxParameters(BaseModel):
+    enabled: Optional[bool] = Field(None, description="Should the detector be enabled")
+    use_nms: Optional[bool] = Field(None, description="Use NMS to suppress overlapping boxes")
+    rate: Optional[float] = Field(None, description="Rate of detection (per second)")
+    image_buffer_size: Optional[int] = Field(
+        None, description="Number of images to store in buffer for batch inference"
+    )
+    onnx_batch_size: Optional[int] = Field(
+        None, description="Only for .onnx models. Batch size for inference"
+    )
+    threshold: Optional[float] = Field(
+        None, description="Only publish rois above this objectness threshold"
+    )
+    nms_iou_threshold: Optional[float] = Field(
+        None,
+        description="Keeps the highest-scoring ROI where overlaps (IoU >= threshold) occur. Threshold=1 allows all overlaps; 0 suppresses any overlap. Used when use_nms=True",
+    )
+    model_path: Optional[str] = Field(None, description="Path to the onnx or trt engine model")
+    best_effort: Optional[bool] = Field(
+        None, description="REQUIRES RESTART. Enable BEST_EFFORT reliability for frame subscriber"
+    )
+    ignore_regions: Optional[str] = Field(
+        None, description="REQUIRES RESTART. Region of image for detector to ignore"
+    )
+    camera_frame_topics: Optional[List[str]] = Field(
+        None, description="REQUIRES RESTART. Topics to subscribe to for camera frames"
+    )
+    roi_topics: Optional[List[str]] = Field(
+        None, description="REQUIRES RESTART. Topics to publish ROIs to"
+    )
+    class_names: Optional[List[str]] = Field(
+        None,
+        description="REQUIRES RESTART. Only needed if using TensorRT. Class names to be listed in the order they were trained on",
+    )
+    diagnostic_updater: Optional[DiagnosticUpdater3] = None
+
+
+class VesselOffsetsParameters(BaseModel):
+    frame_prefix: Optional[str] = Field(None, description="")
+    ignore_timestamp: Optional[bool] = Field(None, description="")
+    publish_frequency: Optional[float] = Field(None, description="")
+    robot_description: Optional[str] = Field(None, description="")
+
+
+class Ais(BaseModel):
+    heading_format: Optional[str] = Field(
+        None, description="Heading format for AIS messages. 'radians' or 'degrees'"
+    )
+
+
+class ObjectTrackerParameters(BaseModel):
+    ownship_name: Optional[str] = Field(None, description="")
+    ownship_mmsi: Optional[str] = Field(None, description="The MMSI of the ego vessel to ignore")
+    sources_fused: Optional[List[str]] = Field(None, description="")
+    sources_enabled: Optional[List[str]] = Field(None, description="")
+    required_times_seen_arpa: Optional[int] = Field(None, description="")
+    sources_back_projected: Optional[List[str]] = Field(
+        None, description="Project various sensor sources e.g. ais, arpa into the image"
+    )
+    use_geopose: Optional[bool] = Field(None, description="")
+    use_geopose_altitude: Optional[bool] = Field(None, description="")
+    max_time_diff: Optional[float] = Field(None, description="")
+    frame_id_base_link: Optional[str] = Field(None, description="")
+    horizon_padding: Optional[int] = Field(None, description="")
+    bearing_angle_tolerance: Optional[float] = Field(
+        None,
+        description="The maximum difference in bearing (degrees) between the object and the track for the object to be associated with the track.",
+    )
+    range_angle_tolerance: Optional[float] = Field(
+        None,
+        description="The maximum difference in range (m) between the object and the track for the object to be associated with the track.",
+    )
+    range_sensor_height: Optional[float] = Field(
+        None, description="The height of the range sensor (m)"
+    )
+    max_age_til_stale_rois: Optional[float] = Field(None, description="Age til stale (seconds)")
+    max_age_til_stale_arpa: Optional[float] = Field(None, description="Age til stale (seconds)")
+    max_age_til_stale_ais: Optional[float] = Field(None, description="Age til stale (seconds)")
+    max_age_til_stale_objects: Optional[float] = Field(None, description="Age til stale (seconds)")
+    roi_pf_sensitivity: Optional[float] = Field(None, description="Particle filter sensitivity")
+    roi_pf_dist_percentile: Optional[int] = Field(
+        None,
+        description="Particle filter distance percentile (to mean) for confident particles",
+    )
+    roi_pf_min_measurements: Optional[int] = Field(
+        None, description="Particle filter min number of measurements"
+    )
+    roi_pf_polygon_max_history: Optional[int] = Field(
+        None, description="Particle filter polygon max history"
+    )
+    roi_pf_polygon_max_update_hz: Optional[int] = Field(
+        None, description="Particle filter polygon max update hz"
+    )
+    roi_pf_measurement_pixel_error: Optional[float] = Field(
+        None, description="Particle filter pixel error (noise) for measurement update"
+    )
+    roi_pf_max_hist_mean_seconds: Optional[float] = Field(
+        None,
+        description="Particle filter maximum temporal filtering window for cloud means",
+    )
+    roi_pf_cloud_exp_decay_rate: Optional[float] = Field(
+        None,
+        description="Particle filter decay rate for particle cloud when no measurements",
+    )
+    publish_rate: Optional[float] = Field(None, description="Publish rate (Hz)")
+    publish_particles: Optional[bool] = Field(
+        None, description="Publish particles to a pointcloud topic"
+    )
+    camera_info_topics: Optional[List[str]] = Field(
+        None, description="List of camera info topics to use for geolocation"
+    )
+    roi_track_topics: Optional[List[str]] = Field(None, description="List of roi_track topics")
+    ais: Optional[Ais] = None
+    exclusion_zone_radius: Optional[float] = Field(
+        None,
+        description="Objects that are within this zone when first detected are ignored.",
+    )
+    diagnostic_updater: Optional[DiagnosticUpdater3] = None
+
+
+class ObjectHistoryParameters(BaseModel):
+    filter: Optional[str] = Field(None, description="")
+    alerts: Optional[List[str]] = Field(None, description="")
+    object_stale_timeout: Optional[float] = Field(
+        None, description="How long to wait before removing object from history"
+    )
+    notifications_use_sim_time: Optional[bool] = Field(
+        None, description="Whether to use the sim time for alerts"
+    )
+    diagnostic_updater: Optional[DiagnosticUpdater3] = None
+
+
+class LookoutGreenstreamBringupParameters(BaseModel):
+    launch_package: Optional[str] = Field(None, description="")
+    launch_executable: Optional[str] = Field(None, description="")
+
+
+class LookoutConfigManagerParameters(BaseModel):
+    launch_package: Optional[str] = Field(None, description="")
+    launch_executable: Optional[str] = Field(None, description="")
+
+
 class WebBridgeParameters(BaseModel):
     address: Optional[str] = Field(
         None, description="The host address to bind the WebSocket server to"
@@ -15,6 +386,14 @@ class WebBridgeParameters(BaseModel):
         None,
         description="List of regular expressions (ECMAScript) of whitelisted parameter names.",
     )
+    best_effort_qos_send_buffer_limit: Optional[int] = Field(
+        None,
+        description="Connection send buffer limit in bytes for 'best_effort' messages",
+    )
+    best_effort_qos_topic_whitelist: Optional[List[str]] = Field(
+        None,
+        description="List of regular expressions (ECMAScript) for topics that should be forced to use 'best_effort' QoS. Unmatched topics will use 'reliable' QoS if ALL publishers are 'reliable', 'best_effort' if any publishers are 'best_effort'.",
+    )
     capabilities: Optional[List[str]] = Field(None, description="Server capabilities")
     certfile: Optional[str] = Field(None, description="Path to the certificate to use for TLS")
     client_topic_whitelist: Optional[List[str]] = Field(
@@ -59,11 +438,225 @@ class WebBridgeParameters(BaseModel):
     )
 
 
-class LookoutGreenstreamBringupParameters(BaseModel):
-    launch_package: Optional[str] = Field(None, description="")
-    launch_executable: Optional[str] = Field(None, description="")
+class Camera(BaseModel):
+    name: Optional[str] = Field(None, description="The name of the camera")
+    order: Optional[int] = Field(None, description="The order of the camera")
+    type: Optional[str] = Field(None, description="The camera type")
+
+
+class Crop(BaseModel):
+    top: Optional[int] = Field(
+        None, description="Number of pixels to crop from the top of the video stream"
+    )
+    left: Optional[int] = Field(
+        None, description="Number of pixels to crop from the left of the video stream"
+    )
+    bottom: Optional[int] = Field(
+        None, description="Number of pixels to crop from the bottom of the video stream"
+    )
+    right: Optional[int] = Field(
+        None, description="Number of pixels to crop from the right of the video stream"
+    )
+
+
+class Rtsp(BaseModel):
+    username: Optional[str] = Field(None, description="RTSP Camera username")
+    password: Optional[str] = Field(None, description="RTSP Camera password")
+    ip_address: Optional[str] = Field(None, description="RTSP Camera IP address")
+    port: Optional[int] = Field(None, description="RTSP Camera port")
+    stream: Optional[str] = Field(None, description="RTSP Camera stream")
+
+
+class Test(BaseModel):
+    pattern: Optional[str] = Field(None, description="Test pattern for videotestsrc")
+
+
+class Pipeline(BaseModel):
+    name: Optional[str] = Field(
+        None, description="Node name of main stream for this pipeline to stream from"
+    )
+
+
+class V4l2(BaseModel):
+    device: Optional[str] = Field(None, description="V4L2 device path")
+
+
+class Genicam(BaseModel):
+    camera_name: Optional[str] = Field(None, description="GenICam camera name")
+    auto_exposure: Optional[bool] = Field(None, description="Enable camera auto exposure")
+    auto_gain: Optional[bool] = Field(None, description="Enable camera auto gain")
+
+
+class RosDds(BaseModel):
+    topic: Optional[str] = Field(None, description="Incoming topic for camera stream")
+
+
+class Custom(BaseModel):
+    pipeline: Optional[str] = Field(None, description="Custom camera pipeline")
+
+
+class Webrtc(BaseModel):
+    peer_id: Optional[str] = Field(None, description="Peer ID for WebRTC source")
+
+
+class SignallingServer(BaseModel):
+    host: Optional[str] = Field(None, description="Signalling server host IP")
+    port: Optional[int] = Field(None, description="Signalling server port")
+
+
+class Ue(BaseModel):
+    signalling_server: Optional[SignallingServer] = None
+    streamer_id: Optional[str] = Field(None, description="Camera ID for the UE Streamer")
+
+
+class Source(BaseModel):
+    type: Optional[str] = Field(None, description="The type of stream source")
+    framerate: Optional[int] = Field(
+        None, description="Framerate for video stream to scale to (FPS)"
+    )
+    pixel_height: Optional[int] = Field(
+        None, description="Pixel height of scaled video resolution"
+    )
+    pixel_width: Optional[int] = Field(None, description="Pixel width of scaled video resolution")
+    format: Optional[str] = Field(None, description="Format of video stream")
+    crop: Optional[Crop] = None
+    rtsp: Optional[Rtsp] = None
+    test: Optional[Test] = None
+    pipeline: Optional[Pipeline] = None
+    v4l2: Optional[V4l2] = None
+    genicam: Optional[Genicam] = None
+    ros_dds: Optional[RosDds] = None
+    custom: Optional[Custom] = None
+    webrtc: Optional[Webrtc] = None
+    ue: Optional[Ue] = None
+
+
+class Undistort(BaseModel):
+    enabled: Optional[bool] = Field(None, description="Enable image undistortion")
+    k_intrinsic: Optional[List[float]] = Field(None, description="Camera intrinsic matrix")
+    distortion_parameters: Optional[List[float]] = Field(
+        None, description="Camera distortion parameters"
+    )
+
+
+class SignallingServer1(BaseModel):
+    protocol: Optional[str] = Field(None, description="Signalling server protocol. 'ws' or 'wss'")
+    host: Optional[str] = Field(None, description="Signalling server host IP")
+    port: Optional[int] = Field(None, description="Signalling server port")
+
+
+class VeryLow(BaseModel):
+    min_bitrate: Optional[int] = Field(None, description="Very Low Quality min bitrate (bits/s)")
+    max_bitrate: Optional[int] = Field(None, description="Very Low Quality max bitrate (bits/s)")
+
+
+class Low(BaseModel):
+    min_bitrate: Optional[int] = Field(None, description="Low Quality min bitrate (bits/s)")
+    max_bitrate: Optional[int] = Field(None, description="Low Quality max bitrate (bits/s)")
+
+
+class Medium(BaseModel):
+    min_bitrate: Optional[int] = Field(None, description="Medium Quality min bitrate (bits/s)")
+    max_bitrate: Optional[int] = Field(None, description="Medium Quality max bitrate (bits/s)")
+
+
+class High(BaseModel):
+    min_bitrate: Optional[int] = Field(None, description="High Quality min bitrate (bits/s)")
+    max_bitrate: Optional[int] = Field(None, description="High Quality max bitrate (bits/s)")
+
+
+class VeryHigh(BaseModel):
+    min_bitrate: Optional[int] = Field(None, description="Very High Quality min bitrate (bits/s)")
+    max_bitrate: Optional[int] = Field(None, description="Very High Quality max bitrate (bits/s)")
+
+
+class Quality(BaseModel):
+    level: Optional[str] = Field(None, description="Quality level for WebRTC publishing")
+    very_low: Optional[VeryLow] = None
+    low: Optional[Low] = None
+    medium: Optional[Medium] = None
+    high: Optional[High] = None
+    very_high: Optional[VeryHigh] = None
+
+
+class Webrtc1(BaseModel):
+    enabled: Optional[bool] = Field(None, description="Enable WebRTC publishing")
+    signalling_server: Optional[SignallingServer1] = None
+    congestion_control: Optional[str] = Field(None, description="WebRTC congestion control mode")
+    quality: Optional[Quality] = None
+
+
+class Topic(BaseModel):
+    enabled: Optional[bool] = Field(None, description="Enable image topic publishing")
+    name: Optional[str] = Field(None, description="Name of image topic")
+    throttle_time: Optional[float] = Field(
+        None,
+        description="Time kept between rendered buffers for the ROS topic in seconds",
+    )
+    frame_id: Optional[str] = Field(None, description="Camera frame ID of image stream")
+
+
+class Publish(BaseModel):
+    webrtc: Optional[Webrtc1] = None
+    topic: Optional[Topic] = None
+
+
+class PipelineBowStbdColorParameters(BaseModel):
+    namespace_vessel_application: Optional[str] = Field(
+        None,
+        description="The namespace of the vessel and application, separated by '/'",
+    )
+    recreate_pipeline_on_eos: Optional[bool] = Field(
+        None, description="Enable pipeline recreation on EOS"
+    )
+    latency_tracer: Optional[bool] = Field(None, description="Enable latency tracer")
+    debug_plugins: Optional[List[str]] = Field(
+        None, description="List of plugins to enable debug logging for"
+    )
+    camera: Optional[Camera] = None
+    source: Optional[Source] = None
+    undistort: Optional[Undistort] = None
+    publish: Optional[Publish] = None
+    diagnostic_updater: Optional[DiagnosticUpdater3] = None
+
+
+class GstRosimagesinkBowStbdColorParameters(BaseModel):
+    pass
+
+
+class InfoBowStbdColorParameters(BaseModel):
+    frame_id: Optional[str] = Field(None, description="Frame id / Camera id")
+    model: Optional[str] = Field(None, description="Camera model")
+    type: Optional[str] = Field(None, description="Camera type")
+    pixel_width: Optional[int] = Field(None, description="Pixel width (pixels)")
+    pixel_height: Optional[int] = Field(None, description="Pixel height (pixels)")
+    distortion_model: Optional[str] = Field(None, description="Distortion model type")
+    distortion_params: Optional[List[float]] = Field(None, description="Distortion parameters")
+    k_intrinsic: Optional[List[float]] = Field(None, description="Intrinsic matrix")
+    distortion_kmat_alpha: Optional[float] = Field(
+        None,
+        description="Free scaling parameter for undistorted image between 0 (all pixels are valid), and 1 (all source pixels are retained i.e. max distortion FOV)",
+    )
+    publish_camera_info: Optional[bool] = Field(
+        None,
+        description="If false, will subscribe to an existing camera info topic instead for camera_info_distorted",
+    )
 
 
 class LaunchParameters(BaseModel):
-    web_bridge: Optional[WebBridgeParameters] = None
+    diagnostic_aggregator: Optional[DiagnosticAggregatorParameters] = None
+    roi_tracker: Optional[RoiTrackerParameters] = None
+    data_recorder: Optional[DataRecorderParameters] = None
+    system_resource_monitor: Optional[SystemResourceMonitorParameters] = None
+    geolocation: Optional[GeolocationParameters] = None
+    parameter_persistence: Optional[ParameterPersistenceParameters] = None
+    detector_onnx: Optional[DetectorOnnxParameters] = None
+    vessel_offsets: Optional[VesselOffsetsParameters] = None
+    object_tracker: Optional[ObjectTrackerParameters] = None
+    object_history: Optional[ObjectHistoryParameters] = None
     lookout_greenstream_bringup: Optional[LookoutGreenstreamBringupParameters] = None
+    lookout_config_manager: Optional[LookoutConfigManagerParameters] = None
+    web_bridge: Optional[WebBridgeParameters] = None
+    pipeline_bow_stbd_color: Optional[PipelineBowStbdColorParameters] = None
+    gst_rosimagesink_bow_stbd_color: Optional[GstRosimagesinkBowStbdColorParameters] = None
+    info_bow_stbd_color: Optional[InfoBowStbdColorParameters] = None

lookout_config/schemas/lookout.schema.json

@@ -1,6 +1,6 @@
 {
   "$defs": {
-    "CameraExtended": {
+    "Camera": {
       "properties": {
         "name": {
           "title": "Name",
@@ -44,7 +44,94 @@
         "name",
         "order"
       ],
-      "title": "CameraExtended",
+      "title": "Camera",
+      "type": "object"
+    },
+    "DiscoveryFastDDS": {
+      "properties": {
+        "type": {
+          "const": "fastdds",
+          "default": "fastdds",
+          "enum": [
+            "fastdds"
+          ],
+          "title": "Type",
+          "type": "string"
+        },
+        "with_discovery_server": {
+          "default": true,
+          "description": "Run the discovery server. It will bind to 0.0.0.0:11811",
+          "title": "With Discovery Server",
+          "type": "boolean"
+        },
+        "discovery_server_ip": {
+          "default": "0.0.0.0",
+          "description": "IP/host/interface of the discovery server. Assumes port of 11811",
+          "title": "Discovery Server Ip",
+          "type": "string"
+        },
+        "own_ip": {
+          "default": "0.0.0.0",
+          "description": "IP/host/interface address of the primary network interface. This is where DDS traffic will route to.",
+          "title": "Own Ip",
+          "type": "string"
+        }
+      },
+      "title": "DiscoveryFastDDS",
+      "type": "object"
+    },
+    "DiscoverySimple": {
+      "properties": {
+        "type": {
+          "const": "simple",
+          "default": "simple",
+          "enum": [
+            "simple"
+          ],
+          "title": "Type",
+          "type": "string"
+        },
+        "ros_domain_id": {
+          "default": 0,
+          "description": "ROS domain ID",
+          "title": "Ros Domain Id",
+          "type": "integer"
+        },
+        "own_ip": {
+          "default": "0.0.0.0",
+          "description": "IP/host/interface address of the primary network interface. This is where DDS traffic will route to.",
+          "title": "Own Ip",
+          "type": "string"
+        }
+      },
+      "title": "DiscoverySimple",
+      "type": "object"
+    },
+    "DiscoveryZenoh": {
+      "properties": {
+        "type": {
+          "const": "zenoh",
+          "default": "zenoh",
+          "enum": [
+            "zenoh"
+          ],
+          "title": "Type",
+          "type": "string"
+        },
+        "with_discovery_server": {
+          "default": true,
+          "description": "Run the zenoh router",
+          "title": "With Discovery Server",
+          "type": "boolean"
+        },
+        "discovery_server_ip": {
+          "default": "0.0.0.0",
+          "description": "IP/host/interface of the discovery server.",
+          "title": "Discovery Server Ip",
+          "type": "string"
+        }
+      },
+      "title": "DiscoveryZenoh",
       "type": "object"
     },
     "GeolocationMode": {
@@ -250,40 +337,6 @@
       "title": "PTZOffsets",
       "type": "object"
     },
-    "Point": {
-      "properties": {
-        "x": {
-          "title": "X",
-          "type": "integer"
-        },
-        "y": {
-          "title": "Y",
-          "type": "integer"
-        }
-      },
-      "required": [
-        "x",
-        "y"
-      ],
-      "title": "Point",
-      "type": "object"
-    },
-    "Polygon": {
-      "properties": {
-        "points": {
-          "items": {
-            "$ref": "#/$defs/Point"
-          },
-          "title": "Points",
-          "type": "array"
-        }
-      },
-      "required": [
-        "points"
-      ],
-      "title": "Polygon",
-      "type": "object"
-    },
     "PositioningSystem": {
       "enum": [
         "none",
@@ -320,12 +373,6 @@
     }
   },
   "properties": {
-    "ros_domain_id": {
-      "default": 0,
-      "description": "ROS domain ID for the vessel. This only applies if 'simple_discovery' is true.",
-      "title": "Ros Domain Id",
-      "type": "integer"
-    },
     "namespace_vessel": {
       "default": "vessel_1",
       "title": "Namespace Vessel",
@@ -337,34 +384,22 @@
       "type": "boolean"
     },
     "mode": {
-      "allOf": [
-        {
-          "$ref": "#/$defs/Mode"
-        }
-      ],
+      "$ref": "#/$defs/Mode",
       "default": "hardware"
     },
     "log_level": {
-      "allOf": [
-        {
-          "$ref": "#/$defs/LogLevel"
-        }
-      ],
+      "$ref": "#/$defs/LogLevel",
       "default": "info"
     },
     "cameras": {
       "items": {
-        "$ref": "#/$defs/CameraExtended"
+        "$ref": "#/$defs/Camera"
       },
       "title": "Cameras",
       "type": "array"
     },
     "network": {
-      "allOf": [
-        {
-          "$ref": "#/$defs/Network"
-        }
-      ],
+      "$ref": "#/$defs/Network",
       "default": "host"
     },
     "gpu": {
@@ -373,27 +408,15 @@
       "type": "boolean"
     },
     "geolocation_mode": {
-      "allOf": [
-        {
-          "$ref": "#/$defs/GeolocationMode"
-        }
-      ],
+      "$ref": "#/$defs/GeolocationMode",
       "default": "none"
     },
     "positioning_system": {
-      "allOf": [
-        {
-          "$ref": "#/$defs/PositioningSystem"
-        }
-      ],
+      "$ref": "#/$defs/PositioningSystem",
       "default": "none"
     },
     "offsets": {
-      "allOf": [
-        {
-          "$ref": "#/$defs/VesselOffsets"
-        }
-      ],
+      "$ref": "#/$defs/VesselOffsets",
       "default": {
         "name": "mars.stl",
         "baselink_to_ins": {
@@ -427,34 +450,37 @@
       "title": "Log Directory",
       "type": "string"
     },
+    "model_directory": {
+      "default": "~/greenroom/lookout/models",
+      "title": "Model Directory",
+      "type": "string"
+    },
     "recording_directory": {
       "default": "~/greenroom/lookout/recordings",
       "title": "Recording Directory",
       "type": "string"
     },
-    "with_discovery_server": {
-      "default": true,
-      "description": "Run the discovery server. It will bind to 0.0.0.0:11811",
-      "title": "With Discovery Server",
-      "type": "boolean"
-    },
-    "simple_discovery": {
-      "default": false,
-      "description": "Use simple discovery. This should NOT be used in production due to performance issues.",
-      "title": "Simple Discovery",
-      "type": "boolean"
-    },
-    "discovery_server_ip": {
-      "default": "0.0.0.0",
-      "description": "IP/host/interface of the discovery server. Assumes port of 11811",
-      "title": "Discovery Server Ip",
-      "type": "string"
-    },
-    "own_ip": {
-      "default": "0.0.0.0",
-      "description": "IP/host/interface address of the primary network interface. This is where DDS traffic will route to.",
-      "title": "Own Ip",
-      "type": "string"
+    "discovery": {
+      "discriminator": {
+        "mapping": {
+          "fastdds": "#/$defs/DiscoveryFastDDS",
+          "simple": "#/$defs/DiscoverySimple",
+          "zenoh": "#/$defs/DiscoveryZenoh"
+        },
+        "propertyName": "type"
+      },
+      "oneOf": [
+        {
+          "$ref": "#/$defs/DiscoveryZenoh"
+        },
+        {
+          "$ref": "#/$defs/DiscoveryFastDDS"
+        },
+        {
+          "$ref": "#/$defs/DiscoverySimple"
+        }
+      ],
+      "title": "Discovery"
     }
   },
   "title": "LookoutConfig",

lookout_config/types.py

@@ -2,9 +2,9 @@
 # * lookout_interfaces/msg/Config.msg
 # * lookout_config_manager/mappers.py
 
-from typing import Optional, Any
+from typing import Any, Literal, Union
 from enum import Enum
-from pydantic import BaseModel, field_validator, ConfigDict
+from pydantic import BaseModel, ConfigDict
 from pydantic.fields import Field
 
 from greenstream_config.types import Camera, Offsets
@@ -79,6 +79,45 @@ class VesselOffsets(BaseModel):
     baselink_to_waterline: Offsets
 
 
+class DiscoverySimple(BaseModel):
+    type: Literal["simple"] = "simple"
+    ros_domain_id: int = Field(
+        default=0,
+        description="ROS domain ID",
+    )
+    own_ip: str = Field(
+        default="0.0.0.0",
+        description="IP/host/interface address of the primary network interface. This is where DDS traffic will route to.",
+    )
+
+
+class DiscoveryFastDDS(BaseModel):
+    type: Literal["fastdds"] = "fastdds"
+    with_discovery_server: bool = Field(
+        default=True, description="Run the discovery server. It will bind to 0.0.0.0:11811"
+    )
+    discovery_server_ip: str = Field(
+        default="0.0.0.0",
+        description="IP/host/interface of the discovery server. Assumes port of 11811",
+    )
+    own_ip: str = Field(
+        default="0.0.0.0",
+        description="IP/host/interface address of the primary network interface. This is where DDS traffic will route to.",
+    )
+
+
+class DiscoveryZenoh(BaseModel):
+    type: Literal["zenoh"] = "zenoh"
+    with_discovery_server: bool = Field(default=True, description="Run the zenoh router")
+    discovery_server_ip: str = Field(
+        default="0.0.0.0",
+        description="IP/host/interface of the discovery server.",
+    )
+
+
+Discovery = Union[DiscoveryZenoh, DiscoveryFastDDS, DiscoverySimple]
+
+
 class LookoutConfig(BaseModel):
     # So enum values are written and read to the yml correctly
     model_config = ConfigDict(
@@ -91,10 +130,6 @@ class LookoutConfig(BaseModel):
             PositioningSystem: lambda v: v.value,
         },
     )
-    ros_domain_id: int = Field(
-        default=0,
-        description="ROS domain ID for the vessel. This only applies if 'simple_discovery' is true.",
-    )
     namespace_vessel: str = "vessel_1"
     gama_vessel: bool = False
     mode: Mode = Mode.HARDWARE
@@ -114,19 +149,9 @@ class LookoutConfig(BaseModel):
     components: Any = Field(default_factory=dict)
     prod: bool = True
     log_directory: str = "~/greenroom/lookout/logs"
+    model_directory: str = "~/greenroom/lookout/models"
     recording_directory: str = "~/greenroom/lookout/recordings"
-    with_discovery_server: bool = Field(
-        default=True, description="Run the discovery server. It will bind to 0.0.0.0:11811"
-    )
-    simple_discovery: bool = Field(
-        default=False,
-        description="Use simple discovery. This should NOT be used in production due to performance issues.",
-    )
-    discovery_server_ip: str = Field(
-        default="0.0.0.0",
-        description="IP/host/interface of the discovery server. Assumes port of 11811",
-    )
-    own_ip: str = Field(
-        default="0.0.0.0",
-        description="IP/host/interface address of the primary network interface. This is where DDS traffic will route to.",
+    discovery: Discovery = Field(
+        default_factory=DiscoverySimple,
+        discriminator="type",
     )

{lookout_config-1.18.5.dist-info → lookout_config-1.20.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: lookout_config
-Version: 1.18.5
+Version: 1.20.0
 Summary: A library for reading / writing Lookout config files
 Home-page: https://github.com/Greenroom-Robotics/lookout
 Author: Greenroom Robotics
@@ -19,7 +19,7 @@ Requires-Dist: setuptools
 Requires-Dist: dacite
 Requires-Dist: PyYAML
 Requires-Dist: dc-schema
-Requires-Dist: greenstream-config==3.17.2
+Requires-Dist: greenstream-config==3.18.2
 Requires-Dist: gr-urchin
 
 # Lookout Config

lookout_config-1.20.0.dist-info/RECORD

@@ -0,0 +1,13 @@
+lookout_config/__init__.py,sha256=NKLSlCn7mb8HRbkOB6i6EBpvROLGRlZRcnHc5nm1zTk,1722
+lookout_config/generate_schemas.py,sha256=yFNvrZ6gie1tnTM_1TO8_wBa0lFHJAABSI3ZAZqw_Wg,457
+lookout_config/generate_urdf.py,sha256=O5n0hNsRJwTgQnWdPZIg_LgpxlDQOzWv5IccjT7yDS4,2719
+lookout_config/helpers.py,sha256=3GkGRPDzQ67I5srwcWoI8PI1dgrWvTsUwA8-yRUttLM,603
+lookout_config/launch_parameters.py,sha256=6QiUA_nAIN_k4kSOnrKx9xsRjOhXZPoQJOqMAIgERtU,27847
+lookout_config/types.py,sha256=XV6kf0FpX5Onl1OYPSDZmeSKMiBfMxed5uZTsa1OpzI,4322
+lookout_config/schemas/lookout.schema.json,sha256=YitPtERzDcgr-suhPXX0Tj2dK98Vsuz5_aNTHf4HNec,10634
+lookout_config/test/lookout_config_test.py,sha256=TdOzIEWnyrckhmK7OtShtoWwSAP8QDCiKalNhvScd2U,73
+lookout_config-1.20.0.dist-info/METADATA,sha256=WrQXFyRfx5MrWU-xknTpx1nMdMTgbdaYnJmRmHPBGxc,1442
+lookout_config-1.20.0.dist-info/WHEEL,sha256=beeZ86-EfXScwlR_HKu4SllMC9wUEj_8Z_4FJ3egI2w,91
+lookout_config-1.20.0.dist-info/top_level.txt,sha256=IiZRgJhNrNL87uLMQm9lQRrMCqJnTOl7aYlA7zRSYyg,15
+lookout_config-1.20.0.dist-info/zip-safe,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
+lookout_config-1.20.0.dist-info/RECORD,,

{lookout_config-1.18.5.dist-info → lookout_config-1.20.0.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (75.8.1)
+Generator: setuptools (76.1.0)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

lookout_config-1.18.5.dist-info/RECORD

@@ -1,13 +0,0 @@
-lookout_config/__init__.py,sha256=NKLSlCn7mb8HRbkOB6i6EBpvROLGRlZRcnHc5nm1zTk,1722
-lookout_config/generate_schemas.py,sha256=yFNvrZ6gie1tnTM_1TO8_wBa0lFHJAABSI3ZAZqw_Wg,457
-lookout_config/generate_urdf.py,sha256=O5n0hNsRJwTgQnWdPZIg_LgpxlDQOzWv5IccjT7yDS4,2719
-lookout_config/helpers.py,sha256=3GkGRPDzQ67I5srwcWoI8PI1dgrWvTsUwA8-yRUttLM,603
-lookout_config/launch_parameters.py,sha256=wvLXQMPi7D3ExesyvSNLPYEb2WChj9YTslnvQYPsXbk,3033
-lookout_config/types.py,sha256=9Osic4J0go-uRKM6walZUEcPGz_7inxhanFUXIPAloo,3701
-lookout_config/schemas/lookout.schema.json,sha256=qP2kfLxBfAZTmITQ6f3kcOF3-9PxEeFRcTKXBFfDUVQ,9510
-lookout_config/test/lookout_config_test.py,sha256=TdOzIEWnyrckhmK7OtShtoWwSAP8QDCiKalNhvScd2U,73
-lookout_config-1.18.5.dist-info/METADATA,sha256=ww6Qs_hM8-o_52IrCp2M6QkFt36pTvN-eS0kGeoeqzg,1442
-lookout_config-1.18.5.dist-info/WHEEL,sha256=nn6H5-ilmfVryoAQl3ZQ2l8SH5imPWFpm1A5FgEuFV4,91
-lookout_config-1.18.5.dist-info/top_level.txt,sha256=IiZRgJhNrNL87uLMQm9lQRrMCqJnTOl7aYlA7zRSYyg,15
-lookout_config-1.18.5.dist-info/zip-safe,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
-lookout_config-1.18.5.dist-info/RECORD,,