lookout-config 1.2.2__tar.gz → 1.3.1__tar.gz

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Files changed (19) hide show
  1. {lookout_config-1.2.2 → lookout_config-1.3.1}/PKG-INFO +2 -2
  2. lookout_config-1.3.1/lookout_config/__init__.py +43 -0
  3. {lookout_config-1.2.2 → lookout_config-1.3.1}/lookout_config/generate_schemas.py +2 -2
  4. {lookout_config-1.2.2 → lookout_config-1.3.1}/lookout_config/generate_urdf.py +16 -10
  5. lookout_config-1.3.1/lookout_config/schemas/lookout.schema.json +581 -0
  6. lookout_config-1.3.1/lookout_config/types.py +99 -0
  7. {lookout_config-1.2.2 → lookout_config-1.3.1}/lookout_config.egg-info/PKG-INFO +2 -2
  8. {lookout_config-1.2.2 → lookout_config-1.3.1}/lookout_config.egg-info/SOURCES.txt +1 -1
  9. {lookout_config-1.2.2 → lookout_config-1.3.1}/lookout_config.egg-info/requires.txt +1 -1
  10. {lookout_config-1.2.2 → lookout_config-1.3.1}/setup.cfg +2 -2
  11. lookout_config-1.2.2/lookout_config/__init__.py +0 -96
  12. lookout_config-1.2.2/lookout_config/generate_cameras.py +0 -190
  13. lookout_config-1.2.2/lookout_config/schemas/lookout.schema.json +0 -139
  14. {lookout_config-1.2.2 → lookout_config-1.3.1}/README.md +0 -0
  15. {lookout_config-1.2.2 → lookout_config-1.3.1}/lookout_config/test/lookout_config_test.py +0 -0
  16. {lookout_config-1.2.2 → lookout_config-1.3.1}/lookout_config.egg-info/dependency_links.txt +0 -0
  17. {lookout_config-1.2.2 → lookout_config-1.3.1}/lookout_config.egg-info/top_level.txt +0 -0
  18. {lookout_config-1.2.2 → lookout_config-1.3.1}/lookout_config.egg-info/zip-safe +0 -0
  19. {lookout_config-1.2.2 → lookout_config-1.3.1}/setup.py +0 -0
{lookout_config-1.2.2 → lookout_config-1.3.1}/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.1
2
2
  Name: lookout_config
3
- Version: 1.2.2
3
+ Version: 1.3.1
4
4
  Summary: A library for reading / writing Lookout config files
5
5
  Home-page: https://github.com/Greenroom-Robotics/lookout
6
6
  Author: Greenroom Robotics
@@ -19,7 +19,7 @@ Requires-Dist: setuptools
19
19
  Requires-Dist: dacite
20
20
  Requires-Dist: PyYAML
21
21
  Requires-Dist: dc-schema
22
- Requires-Dist: greenstream-config==2.13.3
22
+ Requires-Dist: greenstream-config==3.5.3
23
23
  Requires-Dist: gr-urchin
24
24
 
25
25
  # Lookout Config
lookout_config-1.3.1/lookout_config/__init__.py ADDED
@@ -0,0 +1,43 @@
1
+ # IMPORTANT
2
+ # After changing this file, run `python3 -m lookout_config.generate_schemas`
3
+ # To re-generate the json schemas
4
+ import yaml
5
+ import os
6
+ from typing import Any
7
+ from pathlib import Path
8
+
9
+ from lookout_config.types import LookoutConfig
10
+
11
+
12
+ LOOKOUT_CONFIG_FILE_NAME = "lookout.yml"
13
+ LOOKOUT_SCHEMA_URL = "https://greenroom-robotics.github.io/lookout/schemas/lookout.schema.json"
14
+
15
+
16
+ def find_config() -> Path:
17
+ """Returns the path to the .config/greenroom directory"""
18
+ return Path.home().joinpath(".config/greenroom")
19
+
20
+
21
+ def get_path():
22
+ return find_config() / LOOKOUT_CONFIG_FILE_NAME
23
+
24
+
25
+ def parse(config: dict[str, Any]) -> LookoutConfig:
26
+ return LookoutConfig(**config)
27
+
28
+
29
+ def read() -> LookoutConfig:
30
+ path = get_path()
31
+ with open(path) as stream:
32
+ return parse(yaml.safe_load(stream))
33
+
34
+
35
+ def write(config: LookoutConfig):
36
+ path = get_path()
37
+ # Make the parent dir if it doesn't exist
38
+ os.makedirs(path.parent, exist_ok=True)
39
+ with open(path, "w") as stream:
40
+ print(f"Writing: {path}")
41
+ headers = f"# yaml-language-server: $schema={LOOKOUT_SCHEMA_URL}"
42
+ data = "\n".join([headers, yaml.dump(config.model_dump(mode="json"))])
43
+ stream.write(data)
{lookout_config-1.2.2 → lookout_config-1.3.1}/lookout_config/generate_schemas.py RENAMED
@@ -1,7 +1,6 @@
1
1
  import os
2
2
  from pathlib import Path
3
3
  import json
4
- from dc_schema import get_schema
5
4
  from lookout_config import LookoutConfig
6
5
 
7
6
 
@@ -9,7 +8,8 @@ def generate_schemas():
9
8
  """Generates the schemas for the config files"""
10
9
  SCHEMAS_PATH = Path(os.path.dirname(__file__)) / "schemas"
11
10
  with open(SCHEMAS_PATH / "lookout.schema.json", "w") as f:
12
- json.dump(get_schema(LookoutConfig), f, indent=2)
11
+ main_model_schema = LookoutConfig.model_json_schema()
12
+ json.dump(main_model_schema, f, indent=2)
13
13
 
14
14
 
15
15
  if __name__ == "__main__":
{lookout_config-1.2.2 → lookout_config-1.3.1}/lookout_config/generate_urdf.py RENAMED
@@ -18,8 +18,9 @@ def generate_urdf(
18
18
 
19
19
  # generate links and joints for all vessel cameras
20
20
  camera_links, camera_joints = get_cameras_urdf(
21
- cameras, config.camera_overrides if config.camera_overrides else [None], add_optical_frame
21
+ cameras, [None], add_optical_frame, namespace=config.namespace_vessel
22
22
  )
23
+ namespace_prefix = f"{config.namespace_vessel}_" if config.namespace_vessel != "" else ""
23
24
 
24
25
  urdf = URDF(
25
26
  name="origins",
@@ -28,10 +29,15 @@ def generate_urdf(
28
29
  Material(name="blue", color=[0, 0, 1, 1]),
29
30
  ],
30
31
  links=[
31
- Link(name="ins_link", inertial=None, visuals=None, collisions=None),
32
- Link(name="waterline_link", inertial=None, visuals=None, collisions=None),
32
+ Link(name=f"{namespace_prefix}ins_link", inertial=None, visuals=None, collisions=None),
33
33
  Link(
34
- name="base_link",
34
+ name=f"{namespace_prefix}waterline_link",
35
+ inertial=None,
36
+ visuals=None,
37
+ collisions=None,
38
+ ),
39
+ Link(
40
+ name=f"{namespace_prefix}base_link",
35
41
  inertial=None,
36
42
  visuals=[
37
43
  Visual(
@@ -49,9 +55,9 @@ def generate_urdf(
49
55
  ],
50
56
  joints=[
51
57
  Joint(
52
- name="base_to_ins",
53
- parent="base_link",
54
- child="ins_link",
58
+ name=f"{namespace_prefix}base_to_ins",
59
+ parent=f"{namespace_prefix}base_link",
60
+ child=f"{namespace_prefix}ins_link",
55
61
  joint_type="fixed",
56
62
  origin=xyz_rpy_to_matrix(
57
63
  [
@@ -65,9 +71,9 @@ def generate_urdf(
65
71
  ),
66
72
  ),
67
73
  Joint(
68
- name="base_to_waterline",
69
- parent="base_link",
70
- child="waterline_link",
74
+ name=f"{namespace_prefix}base_to_{namespace_prefix}waterline",
75
+ parent=f"{namespace_prefix}base_link",
76
+ child=f"{namespace_prefix}waterline_link",
71
77
  joint_type="fixed",
72
78
  origin=xyz_rpy_to_matrix([0, 0, -waterline, 0, 0, 0]),
73
79
  ),
lookout_config-1.3.1/lookout_config/schemas/lookout.schema.json ADDED
@@ -0,0 +1,581 @@
1
+ {
2
+ "$defs": {
3
+ "CameraExtended": {
4
+ "properties": {
5
+ "name": {
6
+ "title": "Name",
7
+ "type": "string"
8
+ },
9
+ "order": {
10
+ "title": "Order",
11
+ "type": "integer"
12
+ },
13
+ "elements": {
14
+ "items": {
15
+ "type": "string"
16
+ },
17
+ "title": "Elements",
18
+ "type": "array"
19
+ },
20
+ "pixel_width": {
21
+ "title": "Pixel Width",
22
+ "type": "integer"
23
+ },
24
+ "pixel_height": {
25
+ "title": "Pixel Height",
26
+ "type": "integer"
27
+ },
28
+ "camera_frame_topic": {
29
+ "anyOf": [
30
+ {
31
+ "type": "string"
32
+ },
33
+ {
34
+ "type": "null"
35
+ }
36
+ ],
37
+ "title": "Camera Frame Topic"
38
+ },
39
+ "camera_info_topic": {
40
+ "anyOf": [
41
+ {
42
+ "type": "string"
43
+ },
44
+ {
45
+ "type": "null"
46
+ }
47
+ ],
48
+ "title": "Camera Info Topic"
49
+ },
50
+ "k_intrinsic": {
51
+ "anyOf": [
52
+ {
53
+ "items": {
54
+ "type": "number"
55
+ },
56
+ "type": "array"
57
+ },
58
+ {
59
+ "type": "null"
60
+ }
61
+ ],
62
+ "title": "K Intrinsic"
63
+ },
64
+ "distortion_parameters": {
65
+ "anyOf": [
66
+ {
67
+ "items": {
68
+ "type": "number"
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+ },
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+ "type": "array"
71
+ },
72
+ {
73
+ "type": "null"
74
+ }
75
+ ],
76
+ "title": "Distortion Parameters"
77
+ },
78
+ "distortion_model": {
79
+ "default": "plumb_bob",
80
+ "title": "Distortion Model",
81
+ "type": "string"
82
+ },
83
+ "publish_camera_info": {
84
+ "default": true,
85
+ "title": "Publish Camera Info",
86
+ "type": "boolean"
87
+ },
88
+ "distortion_kmat_alpha": {
89
+ "default": 0.5,
90
+ "title": "Distortion Kmat Alpha",
91
+ "type": "number"
92
+ },
93
+ "offsets": {
94
+ "anyOf": [
95
+ {
96
+ "$ref": "#/$defs/Offsets"
97
+ },
98
+ {
99
+ "type": "null"
100
+ }
101
+ ],
102
+ "default": null
103
+ },
104
+ "type": {
105
+ "default": "color",
106
+ "title": "Type",
107
+ "type": "string"
108
+ },
109
+ "ros_throttle_time": {
110
+ "default": 1e-07,
111
+ "title": "Ros Throttle Time",
112
+ "type": "number"
113
+ },
114
+ "undistort_image": {
115
+ "default": false,
116
+ "title": "Undistort Image",
117
+ "type": "boolean"
118
+ },
119
+ "ptz": {
120
+ "anyOf": [
121
+ {
122
+ "$ref": "#/$defs/PTZOnvif"
123
+ },
124
+ {
125
+ "type": "null"
126
+ }
127
+ ],
128
+ "default": null
129
+ },
130
+ "ignore_regions": {
131
+ "items": {
132
+ "$ref": "#/$defs/Polygon"
133
+ },
134
+ "title": "Ignore Regions",
135
+ "type": "array"
136
+ }
137
+ },
138
+ "required": [
139
+ "name",
140
+ "order",
141
+ "elements",
142
+ "pixel_width",
143
+ "pixel_height",
144
+ "camera_frame_topic",
145
+ "camera_info_topic"
146
+ ],
147
+ "title": "CameraExtended",
148
+ "type": "object"
149
+ },
150
+ "GeolocationMode": {
151
+ "enum": [
152
+ "none",
153
+ "relative_bearing",
154
+ "absolute_bearing",
155
+ "range_bearing"
156
+ ],
157
+ "title": "GeolocationMode",
158
+ "type": "string"
159
+ },
160
+ "LogLevel": {
161
+ "enum": [
162
+ "info",
163
+ "debug"
164
+ ],
165
+ "title": "LogLevel",
166
+ "type": "string"
167
+ },
168
+ "Mode": {
169
+ "enum": [
170
+ "simulator",
171
+ "hardware",
172
+ "stubs",
173
+ "rosbag"
174
+ ],
175
+ "title": "Mode",
176
+ "type": "string"
177
+ },
178
+ "Network": {
179
+ "enum": [
180
+ "shared",
181
+ "host"
182
+ ],
183
+ "title": "Network",
184
+ "type": "string"
185
+ },
186
+ "Offsets": {
187
+ "properties": {
188
+ "roll": {
189
+ "anyOf": [
190
+ {
191
+ "type": "number"
192
+ },
193
+ {
194
+ "type": "null"
195
+ }
196
+ ],
197
+ "default": null,
198
+ "title": "Roll"
199
+ },
200
+ "pitch": {
201
+ "anyOf": [
202
+ {
203
+ "type": "number"
204
+ },
205
+ {
206
+ "type": "null"
207
+ }
208
+ ],
209
+ "default": null,
210
+ "title": "Pitch"
211
+ },
212
+ "yaw": {
213
+ "anyOf": [
214
+ {
215
+ "type": "number"
216
+ },
217
+ {
218
+ "type": "null"
219
+ }
220
+ ],
221
+ "default": null,
222
+ "title": "Yaw"
223
+ },
224
+ "forward": {
225
+ "anyOf": [
226
+ {
227
+ "type": "number"
228
+ },
229
+ {
230
+ "type": "null"
231
+ }
232
+ ],
233
+ "default": null,
234
+ "title": "Forward"
235
+ },
236
+ "left": {
237
+ "anyOf": [
238
+ {
239
+ "type": "number"
240
+ },
241
+ {
242
+ "type": "null"
243
+ }
244
+ ],
245
+ "default": null,
246
+ "title": "Left"
247
+ },
248
+ "up": {
249
+ "anyOf": [
250
+ {
251
+ "type": "number"
252
+ },
253
+ {
254
+ "type": "null"
255
+ }
256
+ ],
257
+ "default": null,
258
+ "title": "Up"
259
+ }
260
+ },
261
+ "title": "Offsets",
262
+ "type": "object"
263
+ },
264
+ "PTZComponent": {
265
+ "properties": {
266
+ "move_type": {
267
+ "enum": [
268
+ "pan",
269
+ "tilt",
270
+ "zoom"
271
+ ],
272
+ "title": "Move Type",
273
+ "type": "string"
274
+ },
275
+ "home": {
276
+ "title": "Home",
277
+ "type": "number"
278
+ },
279
+ "joint_offsets": {
280
+ "anyOf": [
281
+ {
282
+ "$ref": "#/$defs/Offsets"
283
+ },
284
+ {
285
+ "type": "null"
286
+ }
287
+ ],
288
+ "default": null
289
+ },
290
+ "joint_limits": {
291
+ "anyOf": [
292
+ {
293
+ "$ref": "#/$defs/PTZLimits"
294
+ },
295
+ {
296
+ "type": "null"
297
+ }
298
+ ],
299
+ "default": null
300
+ },
301
+ "joystick_axis_index": {
302
+ "anyOf": [
303
+ {
304
+ "type": "integer"
305
+ },
306
+ {
307
+ "type": "null"
308
+ }
309
+ ],
310
+ "default": null,
311
+ "title": "Joystick Axis Index"
312
+ },
313
+ "reverse_joystick_input": {
314
+ "default": false,
315
+ "title": "Reverse Joystick Input",
316
+ "type": "boolean"
317
+ }
318
+ },
319
+ "required": [
320
+ "move_type",
321
+ "home"
322
+ ],
323
+ "title": "PTZComponent",
324
+ "type": "object"
325
+ },
326
+ "PTZControlSettings": {
327
+ "properties": {
328
+ "absolute_move_tolerance": {
329
+ "anyOf": [
330
+ {
331
+ "type": "number"
332
+ },
333
+ {
334
+ "type": "null"
335
+ }
336
+ ],
337
+ "default": 0.0175,
338
+ "title": "Absolute Move Tolerance"
339
+ },
340
+ "query_timeout": {
341
+ "anyOf": [
342
+ {
343
+ "type": "integer"
344
+ },
345
+ {
346
+ "type": "null"
347
+ }
348
+ ],
349
+ "default": 2,
350
+ "title": "Query Timeout"
351
+ },
352
+ "check_camera_rate": {
353
+ "anyOf": [
354
+ {
355
+ "type": "number"
356
+ },
357
+ {
358
+ "type": "null"
359
+ }
360
+ ],
361
+ "default": 1.0,
362
+ "title": "Check Camera Rate"
363
+ },
364
+ "publish_rate": {
365
+ "anyOf": [
366
+ {
367
+ "type": "number"
368
+ },
369
+ {
370
+ "type": "null"
371
+ }
372
+ ],
373
+ "default": 10.0,
374
+ "title": "Publish Rate"
375
+ },
376
+ "wsdl_dir": {
377
+ "anyOf": [
378
+ {
379
+ "type": "string"
380
+ },
381
+ {
382
+ "type": "null"
383
+ }
384
+ ],
385
+ "default": "/home/ros/.local/lib/python3.12/site-packages/wsdl",
386
+ "title": "Wsdl Dir"
387
+ },
388
+ "continuous_state_publishing": {
389
+ "anyOf": [
390
+ {
391
+ "type": "boolean"
392
+ },
393
+ {
394
+ "type": "null"
395
+ }
396
+ ],
397
+ "default": true,
398
+ "title": "Continuous State Publishing"
399
+ },
400
+ "frd_to_flu_transform": {
401
+ "default": true,
402
+ "title": "Frd To Flu Transform",
403
+ "type": "boolean"
404
+ }
405
+ },
406
+ "title": "PTZControlSettings",
407
+ "type": "object"
408
+ },
409
+ "PTZLimits": {
410
+ "properties": {
411
+ "min": {
412
+ "title": "Min",
413
+ "type": "number"
414
+ },
415
+ "max": {
416
+ "title": "Max",
417
+ "type": "number"
418
+ }
419
+ },
420
+ "required": [
421
+ "min",
422
+ "max"
423
+ ],
424
+ "title": "PTZLimits",
425
+ "type": "object"
426
+ },
427
+ "PTZOnvif": {
428
+ "properties": {
429
+ "ip_address": {
430
+ "title": "Ip Address",
431
+ "type": "string"
432
+ },
433
+ "port": {
434
+ "title": "Port",
435
+ "type": "integer"
436
+ },
437
+ "username": {
438
+ "title": "Username",
439
+ "type": "string"
440
+ },
441
+ "password": {
442
+ "title": "Password",
443
+ "type": "string"
444
+ },
445
+ "joystick_topic": {
446
+ "anyOf": [
447
+ {
448
+ "type": "string"
449
+ },
450
+ {
451
+ "type": "null"
452
+ }
453
+ ],
454
+ "title": "Joystick Topic"
455
+ },
456
+ "ptz_components": {
457
+ "items": {
458
+ "$ref": "#/$defs/PTZComponent"
459
+ },
460
+ "title": "Ptz Components",
461
+ "type": "array"
462
+ },
463
+ "settings": {
464
+ "$ref": "#/$defs/PTZControlSettings",
465
+ "default": {
466
+ "absolute_move_tolerance": 0.0175,
467
+ "query_timeout": 2,
468
+ "check_camera_rate": 1.0,
469
+ "publish_rate": 10.0,
470
+ "wsdl_dir": "/home/ros/.local/lib/python3.12/site-packages/wsdl",
471
+ "continuous_state_publishing": true,
472
+ "frd_to_flu_transform": true
473
+ }
474
+ }
475
+ },
476
+ "required": [
477
+ "ip_address",
478
+ "port",
479
+ "username",
480
+ "password",
481
+ "joystick_topic",
482
+ "ptz_components"
483
+ ],
484
+ "title": "PTZOnvif",
485
+ "type": "object"
486
+ },
487
+ "Point": {
488
+ "properties": {
489
+ "x": {
490
+ "title": "X",
491
+ "type": "integer"
492
+ },
493
+ "y": {
494
+ "title": "Y",
495
+ "type": "integer"
496
+ }
497
+ },
498
+ "required": [
499
+ "x",
500
+ "y"
501
+ ],
502
+ "title": "Point",
503
+ "type": "object"
504
+ },
505
+ "Polygon": {
506
+ "properties": {
507
+ "points": {
508
+ "items": {
509
+ "$ref": "#/$defs/Point"
510
+ },
511
+ "title": "Points",
512
+ "type": "array"
513
+ }
514
+ },
515
+ "required": [
516
+ "points"
517
+ ],
518
+ "title": "Polygon",
519
+ "type": "object"
520
+ }
521
+ },
522
+ "properties": {
523
+ "ros_domain_id": {
524
+ "default": 0,
525
+ "title": "Ros Domain Id",
526
+ "type": "integer"
527
+ },
528
+ "static_peers": {
529
+ "items": {
530
+ "type": "string"
531
+ },
532
+ "title": "Static Peers",
533
+ "type": "array"
534
+ },
535
+ "namespace_vessel": {
536
+ "default": "vessel",
537
+ "title": "Namespace Vessel",
538
+ "type": "string"
539
+ },
540
+ "gama_vessel": {
541
+ "default": false,
542
+ "title": "Gama Vessel",
543
+ "type": "boolean"
544
+ },
545
+ "mode": {
546
+ "$ref": "#/$defs/Mode",
547
+ "default": "stubs"
548
+ },
549
+ "log_level": {
550
+ "$ref": "#/$defs/LogLevel",
551
+ "default": "info"
552
+ },
553
+ "cameras": {
554
+ "items": {
555
+ "$ref": "#/$defs/CameraExtended"
556
+ },
557
+ "title": "Cameras",
558
+ "type": "array"
559
+ },
560
+ "network": {
561
+ "$ref": "#/$defs/Network",
562
+ "default": "host"
563
+ },
564
+ "gpu": {
565
+ "default": false,
566
+ "title": "Gpu",
567
+ "type": "boolean"
568
+ },
569
+ "geolocation_mode": {
570
+ "$ref": "#/$defs/GeolocationMode",
571
+ "default": "none"
572
+ },
573
+ "prod": {
574
+ "default": true,
575
+ "title": "Prod",
576
+ "type": "boolean"
577
+ }
578
+ },
579
+ "title": "LookoutConfig",
580
+ "type": "object"
581
+ }
lookout_config-1.3.1/lookout_config/types.py ADDED
@@ -0,0 +1,99 @@
1
+ # Updates here should also be made to:
2
+ # * lookout_interfaces/msg/Config.msg
3
+ # * lookout_config_manager/mappers.py
4
+
5
+ from enum import Enum
6
+ from pydantic import BaseModel, field_validator, ConfigDict
7
+ from pydantic.fields import Field
8
+
9
+ from greenstream_config.types import Camera
10
+
11
+
12
+ class Mode(str, Enum):
13
+ SIMULATOR = "simulator"
14
+ HARDWARE = "hardware"
15
+ STUBS = "stubs"
16
+ ROSBAG = "rosbag"
17
+
18
+ def __str__(self):
19
+ return self.value
20
+
21
+
22
+ class LogLevel(str, Enum):
23
+ INFO = "info"
24
+ DEBUG = "debug"
25
+
26
+ def __str__(self):
27
+ return self.value
28
+
29
+
30
+ class Network(str, Enum):
31
+ SHARED = "shared"
32
+ HOST = "host"
33
+
34
+ def __str__(self):
35
+ return self.value
36
+
37
+
38
+ class GeolocationMode(str, Enum):
39
+ NONE = "none"
40
+ RELATIVE_BEARING = "relative_bearing"
41
+ ABSOLUTE_BEARING = "absolute_bearing"
42
+ RANGE_BEARING = "range_bearing"
43
+
44
+ def __str__(self):
45
+ return self.value
46
+
47
+
48
+ class Point(BaseModel):
49
+ x: int
50
+ y: int
51
+
52
+ def __eq__(self, other):
53
+ if isinstance(other, Point):
54
+ return self.x == other.x and self.y == other.y
55
+ return False
56
+
57
+
58
+ class Polygon(BaseModel):
59
+ points: list[Point]
60
+
61
+
62
+ class CameraExtended(Camera):
63
+ ignore_regions: list[Polygon] = Field(default_factory=list)
64
+
65
+ @field_validator("ignore_regions")
66
+ def check_polygon(cls, ignore_regions):
67
+ if ignore_regions:
68
+ for polygon in ignore_regions:
69
+ if len(polygon.points) < 4: # 3 points for a triangle, 1 to close the polygon
70
+ raise ValueError("Polygon must have at least 3 sides (4 points)")
71
+ if polygon.points[0] != polygon.points[-1]:
72
+ raise ValueError("Polygon must close. Must have same start and end point")
73
+ return ignore_regions
74
+
75
+
76
+ class LookoutConfig(BaseModel):
77
+ # So enum values are written and read to the yml correctly
78
+ model_config = ConfigDict(
79
+ use_enum_values=False,
80
+ json_encoders={
81
+ Mode: lambda v: v.value,
82
+ LogLevel: lambda v: v.value,
83
+ Network: lambda v: v.value,
84
+ GeolocationMode: lambda v: v.value,
85
+ },
86
+ )
87
+ ros_domain_id: int = 0
88
+ static_peers: list[str] = Field(default_factory=list)
89
+ namespace_vessel: str = "vessel_1"
90
+ gama_vessel: bool = False
91
+ mode: Mode = Mode.HARDWARE
92
+ log_level: LogLevel = LogLevel.INFO
93
+ cameras: list[CameraExtended] = Field(default_factory=list)
94
+ network: Network = Network.HOST
95
+ gpu: bool = True
96
+ geolocation_mode: GeolocationMode = GeolocationMode.NONE
97
+ prod: bool = True
98
+ log_directory: str = "~/greenroom/lookout/logs"
99
+ recording_directory: str = "~/greenroom/lookout/recordings"
{lookout_config-1.2.2 → lookout_config-1.3.1}/lookout_config.egg-info/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.1
2
2
  Name: lookout_config
3
- Version: 1.2.2
3
+ Version: 1.3.1
4
4
  Summary: A library for reading / writing Lookout config files
5
5
  Home-page: https://github.com/Greenroom-Robotics/lookout
6
6
  Author: Greenroom Robotics
@@ -19,7 +19,7 @@ Requires-Dist: setuptools
19
19
  Requires-Dist: dacite
20
20
  Requires-Dist: PyYAML
21
21
  Requires-Dist: dc-schema
22
- Requires-Dist: greenstream-config==2.13.3
22
+ Requires-Dist: greenstream-config==3.5.3
23
23
  Requires-Dist: gr-urchin
24
24
 
25
25
  # Lookout Config
{lookout_config-1.2.2 → lookout_config-1.3.1}/lookout_config.egg-info/SOURCES.txt RENAMED
@@ -2,9 +2,9 @@ README.md
2
2
  setup.cfg
3
3
  setup.py
4
4
  lookout_config/__init__.py
5
- lookout_config/generate_cameras.py
6
5
  lookout_config/generate_schemas.py
7
6
  lookout_config/generate_urdf.py
7
+ lookout_config/types.py
8
8
  lookout_config.egg-info/PKG-INFO
9
9
  lookout_config.egg-info/SOURCES.txt
10
10
  lookout_config.egg-info/dependency_links.txt
{lookout_config-1.2.2 → lookout_config-1.3.1}/lookout_config.egg-info/requires.txt RENAMED
@@ -2,5 +2,5 @@ setuptools
2
2
  dacite
3
3
  PyYAML
4
4
  dc-schema
5
- greenstream-config==2.13.3
5
+ greenstream-config==3.5.3
6
6
  gr-urchin
{lookout_config-1.2.2 → lookout_config-1.3.1}/setup.cfg RENAMED
@@ -1,6 +1,6 @@
1
1
  [metadata]
2
2
  name = lookout_config
3
- version = 1.2.2
3
+ version = 1.3.1
4
4
  url = https://github.com/Greenroom-Robotics/lookout
5
5
  author = Greenroom Robotics
6
6
  author_email = team@greenroomrobotics.com
@@ -26,7 +26,7 @@ install_requires =
26
26
  dacite
27
27
  PyYAML
28
28
  dc-schema
29
- greenstream-config==2.13.3
29
+ greenstream-config==3.5.3
30
30
  gr-urchin
31
31
  zip_safe = true
32
32
 
lookout_config-1.2.2/lookout_config/__init__.py DELETED
@@ -1,96 +0,0 @@
1
- # IMPORTANT
2
- # After changing this file, run `python3 -m lookout_config.generate_schemas`
3
- # To re-generate the json schemas
4
- import yaml
5
- import os
6
- from dataclasses import dataclass, field
7
- from enum import Enum
8
- from dacite import from_dict, Config
9
- from typing import Optional, Any, List, Annotated
10
- from dc_schema import SchemaAnnotation
11
- from dataclasses import asdict
12
- from pathlib import Path
13
- from greenstream_config.types import CameraOverride
14
-
15
-
16
- LOOKOUT_CONFIG_FILE_NAME = "lookout.yml"
17
- LOOKOUT_SCHEMA_URL = "https://greenroom-robotics.github.io/lookout/schemas/lookout.schema.json"
18
-
19
-
20
- def join_lines(*lines: str) -> str:
21
- return "\n".join(lines)
22
-
23
-
24
- class Mode(str, Enum):
25
- SIMULATOR = "simulator"
26
- HARDWARE = "hardware"
27
- STUBS = "stubs"
28
- ROSBAG = "rosbag"
29
-
30
-
31
- class LogLevel(str, Enum):
32
- INFO = "info"
33
- DEBUG = "debug"
34
-
35
-
36
- class Network(str, Enum):
37
- SHARED = "shared"
38
- HOST = "host"
39
-
40
-
41
- @dataclass
42
- class LookoutConfig:
43
- ros_domain_id: int = 0
44
- namespace_vessel: str = "vessel"
45
- gama_vessel: bool = False
46
- mode: Mode = Mode.STUBS
47
- log_level: LogLevel = LogLevel.INFO
48
- camera_overrides: Optional[List[Optional[CameraOverride]]] = None
49
- network: Network = Network.HOST
50
- gpu: bool = False
51
-
52
-
53
- def find_config() -> Path:
54
- """Returns the path to the .config/greenroom directory"""
55
- return Path.home().joinpath(".config/greenroom")
56
-
57
-
58
- def dacite_to_dict(obj: Any):
59
- def dict_factory(data: Any):
60
- def convert_value(obj: Any):
61
- if isinstance(obj, Enum):
62
- return obj.value
63
- return obj
64
-
65
- return {k: convert_value(v) for k, v in data}
66
-
67
- return asdict(obj, dict_factory=dict_factory)
68
-
69
-
70
- def get_path():
71
- return find_config() / LOOKOUT_CONFIG_FILE_NAME
72
-
73
-
74
- def parse(config: dict[str, Any]) -> LookoutConfig:
75
- return from_dict(
76
- LookoutConfig,
77
- config,
78
- config=Config(cast=[LogLevel, Mode, Network]),
79
- )
80
-
81
-
82
- def read() -> LookoutConfig:
83
- path = get_path()
84
- with open(path) as stream:
85
- return parse(yaml.safe_load(stream))
86
-
87
-
88
- def write(config: LookoutConfig):
89
- path = get_path()
90
- # Make the parent dir if it doesn't exist
91
- os.makedirs(path.parent, exist_ok=True)
92
- with open(path, "w") as stream:
93
- print(f"Writing: {path}")
94
- headers = f"# yaml-language-server: $schema={LOOKOUT_SCHEMA_URL}"
95
- data = "\n".join([headers, yaml.dump(dacite_to_dict(config))])
96
- stream.write(data)
lookout_config-1.2.2/lookout_config/generate_cameras.py DELETED
@@ -1,190 +0,0 @@
1
- from typing import List
2
- from greenstream_config import Camera, Offsets
3
- from lookout_config import Mode
4
- from math import radians
5
-
6
-
7
- def generate_cameras_armidale(mode: Mode, namespace: str):
8
- # !! IMPORTANT !!
9
- # Changes here should probably be made in gama also
10
-
11
- k_intrinsic = [1097.44852, 0.0, 992.544475, 0.0, 1101.33980, 552.247413, 0.0, 0.0, 1.0]
12
- # Distortion parameters are broken in foxglove :(
13
- # distortion_parameters = [
14
- # -0.388772321,
15
- # 0.194568646,
16
- # -0.000662550588,
17
- # 0.000224063281,
18
- # -0.0503775800,
19
- # ]
20
-
21
- cameras: List[Camera] = [
22
- Camera(
23
- name="port",
24
- type="color",
25
- order=0,
26
- elements=[
27
- "rtspsrc location=rtsp://admin:@192.168.2.21:554/live/0/MAIN latency=10",
28
- "rtph264depay",
29
- "h264parse",
30
- "avdec_h264",
31
- "videoconvert",
32
- ],
33
- pixel_height=1080,
34
- pixel_width=1920,
35
- sensor_height_mm=2.21,
36
- sensor_width_mm=3.92,
37
- fov=125.0,
38
- camera_frame_topic="perception/frames/port_color",
39
- camera_info_topic="sensors/cameras/port_color/camera_info",
40
- camera_info_ext_topic="sensors/cameras/port_color/camera_info_ext",
41
- k_intrinsic=k_intrinsic,
42
- # distortion_parameters=distortion_parameters,
43
- offsets=Offsets(
44
- roll=0.0,
45
- pitch=radians(20.0),
46
- yaw=radians(45.0),
47
- forward=2.275,
48
- left=2.850,
49
- up=-0.155,
50
- ),
51
- ),
52
- Camera(
53
- name="bow",
54
- type="color",
55
- order=1,
56
- elements=[
57
- "rtspsrc location=rtsp://admin:@192.168.2.22:554/live/0/MAIN latency=10",
58
- "rtph264depay",
59
- "h264parse",
60
- "avdec_h264",
61
- "videoconvert",
62
- ],
63
- pixel_height=1080,
64
- pixel_width=1920,
65
- sensor_height_mm=2.21,
66
- sensor_width_mm=3.92,
67
- fov=125.0,
68
- camera_frame_topic="perception/frames/bow_color",
69
- camera_info_topic="sensors/cameras/bow_color/camera_info",
70
- camera_info_ext_topic="sensors/cameras/bow_color/camera_info_ext",
71
- k_intrinsic=k_intrinsic,
72
- # distortion_parameters=distortion_parameters,
73
- offsets=Offsets(
74
- roll=radians(2.0),
75
- pitch=radians(5.85),
76
- yaw=0.0,
77
- forward=3.190,
78
- left=0.015,
79
- up=-0.205,
80
- ),
81
- ),
82
- Camera(
83
- name="stbd",
84
- type="color",
85
- order=2,
86
- elements=[
87
- "rtspsrc location=rtsp://admin:@192.168.2.23:554/live/0/MAIN latency=10",
88
- "rtph264depay",
89
- "h264parse",
90
- "avdec_h264",
91
- "videoconvert",
92
- ],
93
- pixel_height=1080,
94
- pixel_width=1920,
95
- sensor_height_mm=2.21,
96
- sensor_width_mm=3.92,
97
- fov=125.0,
98
- camera_frame_topic="perception/frames/stbd_color",
99
- camera_info_topic="sensors/cameras/stbd_color/camera_info",
100
- camera_info_ext_topic="sensors/cameras/stbd_color/camera_info_ext",
101
- k_intrinsic=k_intrinsic,
102
- # distortion_parameters=distortion_parameters,
103
- offsets=Offsets(
104
- roll=0.0,
105
- pitch=radians(20.0),
106
- yaw=radians(-45.0),
107
- forward=2.275,
108
- left=-2.850,
109
- up=-0.155,
110
- ),
111
- ),
112
- Camera(
113
- name="stern_port",
114
- type="color",
115
- order=3,
116
- elements=[
117
- "rtspsrc location=rtsp://admin:@192.168.2.24:554/live/0/MAIN latency=10",
118
- "rtph264depay",
119
- "h264parse",
120
- "avdec_h264",
121
- "videoconvert",
122
- ],
123
- pixel_height=1080,
124
- pixel_width=1920,
125
- sensor_height_mm=2.21,
126
- sensor_width_mm=3.92,
127
- fov=125.0,
128
- camera_frame_topic="perception/frames/stern_port_color",
129
- camera_info_topic="sensors/cameras/stern_port_color/camera_info",
130
- camera_info_ext_topic="sensors/cameras/stern_port_color/camera_info_ext",
131
- k_intrinsic=k_intrinsic,
132
- # distortion_parameters=distortion_parameters,
133
- offsets=Offsets(
134
- roll=0.0,
135
- pitch=radians(20.0),
136
- yaw=radians(135.0),
137
- forward=-4.980,
138
- left=2.850,
139
- up=-0.155,
140
- ),
141
- ),
142
- Camera(
143
- name="stern_stbd",
144
- type="color",
145
- order=4,
146
- elements=[
147
- "rtspsrc location=rtsp://admin:@192.168.2.25:554/live/0/MAIN latency=10",
148
- "rtph264depay",
149
- "h264parse",
150
- "avdec_h264",
151
- "videoconvert",
152
- ],
153
- pixel_height=1080,
154
- pixel_width=1920,
155
- sensor_height_mm=2.21,
156
- sensor_width_mm=3.92,
157
- fov=125.0,
158
- camera_frame_topic="perception/frames/stern_stbd_color",
159
- camera_info_topic="sensors/cameras/stern_stbd_color/camera_info",
160
- camera_info_ext_topic="sensors/cameras/stern_stbd_color/camera_info_ext",
161
- k_intrinsic=k_intrinsic,
162
- # distortion_parameters=distortion_parameters,
163
- offsets=Offsets(
164
- roll=0.0,
165
- pitch=radians(20.0),
166
- yaw=radians(-135.0),
167
- forward=-4.980,
168
- left=-2.850,
169
- up=-0.155,
170
- ),
171
- ),
172
- ]
173
-
174
- if mode == Mode.STUBS:
175
- for camera in cameras:
176
- camera.elements = [
177
- "videotestsrc pattern=ball",
178
- "video/x-raw, format=RGB,width=1920,height=1080",
179
- ]
180
- elif mode == Mode.SIMULATOR or mode == Mode.ROSBAG:
181
- for camera in cameras:
182
- camera.elements = [
183
- f"rosimagesrc ros-topic=sensors/cameras/{camera.name}_{camera.type}/image_raw ros-name='gst_rosimagesrc_{camera.name}_{camera.type}' ros-namespace='{namespace}'"
184
- ]
185
-
186
- return cameras
187
-
188
-
189
- def generate_cameras(mode: Mode, namespace: str):
190
- return generate_cameras_armidale(mode, namespace)
lookout_config-1.2.2/lookout_config/schemas/lookout.schema.json DELETED
@@ -1,139 +0,0 @@
1
- {
2
- "$schema": "https://json-schema.org/draft/2020-12/schema",
3
- "type": "object",
4
- "title": "LookoutConfig",
5
- "properties": {
6
- "ros_domain_id": {
7
- "type": "integer",
8
- "default": 0
9
- },
10
- "namespace_vessel": {
11
- "type": "string",
12
- "default": "vessel"
13
- },
14
- "gama_vessel": {
15
- "type": "boolean",
16
- "default": false
17
- },
18
- "mode": {
19
- "allOf": [
20
- {
21
- "$ref": "#/$defs/Mode"
22
- }
23
- ],
24
- "default": "stubs"
25
- },
26
- "log_level": {
27
- "allOf": [
28
- {
29
- "$ref": "#/$defs/LogLevel"
30
- }
31
- ],
32
- "default": "info"
33
- },
34
- "greenstream": {
35
- "allOf": [
36
- {
37
- "$ref": "#/$defs/Greenstream"
38
- }
39
- ]
40
- },
41
- "network": {
42
- "allOf": [
43
- {
44
- "$ref": "#/$defs/Network"
45
- }
46
- ],
47
- "default": "host"
48
- }
49
- },
50
- "$defs": {
51
- "Mode": {
52
- "title": "Mode",
53
- "enum": [
54
- "simulator",
55
- "hardware",
56
- "stubs"
57
- ]
58
- },
59
- "LogLevel": {
60
- "title": "LogLevel",
61
- "enum": [
62
- "info",
63
- "debug"
64
- ]
65
- },
66
- "Pipeline": {
67
- "type": "object",
68
- "title": "Pipeline",
69
- "properties": {
70
- "name": {
71
- "type": "string"
72
- },
73
- "order": {
74
- "anyOf": [
75
- {
76
- "type": "integer"
77
- },
78
- {
79
- "type": "null"
80
- }
81
- ]
82
- },
83
- "elements": {
84
- "type": "array",
85
- "items": {
86
- "type": "string"
87
- }
88
- }
89
- },
90
- "required": [
91
- "name",
92
- "order",
93
- "elements"
94
- ]
95
- },
96
- "Greenstream": {
97
- "type": "object",
98
- "title": "Greenstream",
99
- "properties": {
100
- "pipeline_overrides": {
101
- "anyOf": [
102
- {
103
- "type": "array",
104
- "items": {
105
- "anyOf": [
106
- {
107
- "allOf": [
108
- {
109
- "$ref": "#/$defs/Pipeline"
110
- }
111
- ]
112
- },
113
- {
114
- "type": "null"
115
- }
116
- ]
117
- }
118
- },
119
- {
120
- "type": "null"
121
- }
122
- ],
123
- "default": null,
124
- "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.",
125
- "examples": [
126
- "- null\n- name: bow\n elements:\n - v4l2src\n - video/x-raw, format=RGB,width=1280,height=720"
127
- ]
128
- }
129
- }
130
- },
131
- "Network": {
132
- "title": "Network",
133
- "enum": [
134
- "shared",
135
- "host"
136
- ]
137
- }
138
- }
139
- }
{lookout_config-1.2.2 → lookout_config-1.3.1}/README.md RENAMED
File without changes
{lookout_config-1.2.2 → lookout_config-1.3.1}/setup.py RENAMED
File without changes