lookout-config 1.22.0__py3-none-any.whl → 1.24.0__py3-none-any.whl

lookout_config/launch_parameters.py

@@ -2,19 +2,319 @@
 
 from __future__ import annotations
 
-from typing import List, Optional
+from enum import Enum
+from typing import Any, List, Optional
 
 from pydantic import BaseModel, Field
 
 
-class BowStbd(BaseModel):
+class WebBridgeParameters(BaseModel):
+    address: Optional[str] = Field(
+        None, description="The host address to bind the WebSocket server to"
+    )
+    asset_uri_allowlist: Optional[List[str]] = Field(
+        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(
+        None,
+        description="List of regular expressions (ECMAScript) of whitelisted parameter names.",
+    )
+    disable_load_message: Optional[bool] = Field(
+        None,
+        description="Do not publish as loaned message when publishing a client message",
+    )
+    include_hidden: Optional[bool] = Field(None, description="Include hidden topics and services")
+    keyfile: Optional[str] = Field(None, description="Path to the private key to use for TLS")
+    max_qos_depth: Optional[int] = Field(
+        None, description="Maximum depth used for the QoS profile of subscriptions."
+    )
+    min_qos_depth: Optional[int] = Field(
+        None, description="Minimum depth used for the QoS profile of subscriptions."
+    )
+    param_whitelist: Optional[List[str]] = Field(
+        None,
+        description="List of regular expressions (ECMAScript) of whitelisted parameter names.",
+    )
+    port: Optional[int] = Field(None, description="The TCP port to bind the WebSocket server to")
+    send_buffer_limit: Optional[int] = Field(
+        None,
+        description="Connection send buffer limit in bytes. Messages will be dropped when a connection's send buffer reaches this limit to avoid a queue of outdated messages building up.",
+    )
+    service_whitelist: Optional[List[str]] = Field(
+        None,
+        description="List of regular expressions (ECMAScript) of whitelisted service names.",
+    )
+    tls: Optional[bool] = Field(
+        None, description="Use Transport Layer Security for encrypted communication"
+    )
+    topic_whitelist: Optional[List[str]] = Field(
+        None,
+        description="List of regular expressions (ECMAScript) of whitelisted topic names.",
+    )
+    use_compression: Optional[bool] = Field(
+        None,
+        description="Use websocket compression (permessage-deflate). Suited for connections with smaller bandwidth, at the cost of additional CPU load.",
+    )
+
+
+class Track(BaseModel):
+    stale_timeout: Optional[float] = Field(
+        None,
+        description="Time in seconds before a track is considered stale and removed",
+    )
+    spawn_radius: Optional[float] = Field(
+        None, description="Radius in meters around the vessel to spawn tracks"
+    )
+    sources_enabled: Optional[List[str]] = Field(
+        None, description="The sources of tracks that will spawn vessels in MIS-SIM"
+    )
+
+
+class OceanDrift(BaseModel):
+    speed: Optional[float] = Field(None, description="in m/s")
+    direction: Optional[float] = Field(None, description="degrees clockwise from north")
+    period: Optional[float] = Field(None, description="in seconds")
+    period_amplitude: Optional[float] = Field(None, description="in m/s")
+
+
+class VesselManagerParameters(BaseModel):
+    enabled: Optional[bool] = Field(
+        None, description="Whether to enable the vessel manager or not"
+    )
+    vessels: Optional[str] = Field(None, description="List of vessels")
+    hifi_mode: Optional[bool] = Field(
+        None, description="Should we use the low-fidelity topic suffix"
+    )
+    objects_publish_rate: Optional[float] = Field(
+        None, description="Rate at which to publish objects in Hz"
+    )
+    track: Optional[Track] = None
+    ocean_drift: Optional[OceanDrift] = None
+
+
+class DiagnosticUpdater(BaseModel):
+    period: Optional[float] = Field(None, description="")
+    use_fqn: Optional[bool] = Field(None, description="")
+
+
+class Storage(BaseModel):
+    directory: Optional[str] = Field(None, description="Directory containing recording bag files.")
+
+
+class UploadQueue(BaseModel):
+    size: Optional[int] = Field(None, description="Max number of items in the upload queue.")
+
+
+class Config(BaseModel):
+    access_key_id: Optional[str] = Field(None, description="AWS access key ID")
+    secret_access_key: Optional[str] = Field(None, description="AWS secret access key")
+    region: Optional[str] = Field(None, description="AWS region")
+    endpoint: Optional[str] = Field(None, description="AWS S3 endpoint URL")
+
+
+class AwsS3(BaseModel):
+    config: Optional[Config] = Field(
+        None,
+        description="JSON schema used to configure and authenticate the remote destination.",
+    )
+
+
+class Config1(BaseModel):
+    sas_url: Optional[str] = Field(None, description="Access URL including SAS token")
+
+
+class AzureBlob(BaseModel):
+    config: Optional[Config1] = Field(
+        None,
+        description="JSON schema used to configure and authenticate the remote destination.",
+    )
+
+
+class Config2(BaseModel):
+    account: Optional[str] = Field(None, description="OneDrive account name")
+    client_id: Optional[str] = Field(None, description="Client ID for OneDrive")
+    client_secret: Optional[str] = Field(None, description="Client secret for OneDrive")
+    tenant: Optional[str] = Field(None, description="Tenant ID for OneDrive")
+
+
+class MicrosoftOnedrive(BaseModel):
+    config: Optional[Config2] = Field(
+        None,
+        description="JSON schema used to configure and authenticate the remote destination.",
+    )
+
+
+class Config3(BaseModel):
+    host: Optional[str] = Field(None, description="SFTP host")
+    user: Optional[str] = Field(None, description="Host username")
+    pass_: Optional[str] = Field(None, alias="pass", description="Host password")
+
+
+class Sftp(BaseModel):
+    config: Optional[Config3] = Field(
+        None,
+        description="JSON schema used to configure and authenticate the remote destination.",
+    )
+
+
+class UploadDestination(BaseModel):
+    name: Optional[str] = Field(None, description="Identifying name of the upload destination.")
+    type: Optional[Any] = Field(None, description="Type of upload destination")
+    upload_path: Optional[str] = Field(
+        None, description="Path at the destination to upload files to."
+    )
+    aws_s3: Optional[AwsS3] = None
+    azure_blob: Optional[AzureBlob] = None
+    microsoft_onedrive: Optional[MicrosoftOnedrive] = None
+    sftp: Optional[Sftp] = None
+
+
+class DataHubParameters(BaseModel):
+    port: Optional[int] = Field(None, description="Port for the HTTP server.")
+    storage: Optional[Storage] = None
+    upload_queue: Optional[UploadQueue] = None
+    upload_destination: Optional[UploadDestination] = None
+    diagnostic_updater: Optional[DiagnosticUpdater] = None
+
+
+class Buffer(BaseModel):
+    enabled: Optional[bool] = Field(
+        None,
+        description="Enables a recording buffer to capture historical data prior to recording requests.",
+    )
+    size: Optional[int] = Field(None, description="Size (in bytes) of the recording buffer.")
+
+
+class ResourceMonitor(BaseModel):
+    warning_threshold: Optional[float] = Field(
+        None, description="Storage usage threshold which triggers warning."
+    )
+    critical_threshold: Optional[float] = Field(
+        None, description="Storage usage threshold which triggers error."
+    )
+
+
+class StateTimer(BaseModel):
+    publish_period: Optional[int] = Field(
+        None, description="Period (ms) to publish recording state updates."
+    )
+
+
+class Storage1(BaseModel):
+    directory: Optional[str] = Field(None, description="Directory where recordings will be saved.")
+    plugin_name: Optional[Any] = Field(None, description="Storage plugin to use.")
+    plugin_profile: Optional[Any] = Field(
+        None,
+        description="Storage plugin preset profile to use to determine write speed and compression ratio. Only used for mcap storage plugin.",
+    )
+
+
+class Topics(BaseModel):
+    exclude_regexs: Optional[List[str]] = Field(
+        None,
+        description="An array of regex patterns to use for topic EXCLUSION from the recording.",
+    )
+    include_regexs: Optional[List[str]] = Field(
+        None,
+        description="An array of regex patterns to use for topic INCLUSION in the recording.",
+    )
+
+
+class TriggerTopic(BaseModel):
+    enabled: Optional[bool] = Field(
+        None,
+        description="Enables a trigger topic that can be used to start/stop recordings (example_interfaces/Bool).",
+    )
+
+
+class DataRecorderParameters(BaseModel):
+    buffer: Optional[Buffer] = None
+    diagnostic_updater: Optional[DiagnosticUpdater] = None
+    resource_monitor: Optional[ResourceMonitor] = None
+    state_timer: Optional[StateTimer] = None
+    storage: Optional[Storage1] = None
+    topics: Optional[Topics] = None
+    trigger_topic: Optional[TriggerTopic] = None
+
+
+class StateTimer1(BaseModel):
+    publish_period: Optional[int] = Field(
+        None, description="Period (ms) to publish playback state updates."
+    )
+
+
+class Storage2(BaseModel):
+    directory: Optional[str] = Field(None, description="Directory to play recordings from.")
+    plugin_name: Optional[Any] = Field(None, description="Storage plugin to use.")
+
+
+class DataPlayerParameters(BaseModel):
+    diagnostic_updater: Optional[DiagnosticUpdater] = None
+    state_timer: Optional[StateTimer1] = None
+    storage: Optional[Storage2] = None
+
+
+class SimulatedClockParameters(BaseModel):
+    enabled: Optional[bool] = Field(
+        None, description="Whether to enable the simulated clock or not"
+    )
+    sim_speed: Optional[float] = Field(None, description="Speed at which to run the simulation")
+    publish_rate: Optional[float] = Field(
+        None, description="Rate at which to publish the clock at?"
+    )
+
+
+class HifiVesselManagerParameters(BaseModel):
+    replay_mode: Optional[bool] = Field(None, description="Is the node in replay mode?")
+
+
+class ScenarioRunnerParameters(BaseModel):
+    scenarios: Optional[List[str]] = Field(None, description="List of scenarios")
+
+
+class NodeConfigurationModel(BaseModel):
+    node_name_regex: str = Field(..., title="Node Name Regex")
+    parameter_name_regexes: List[str] = Field(..., title="Parameter Name Regexes")
+
+
+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 Bow(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
+    bow: Optional[Bow] = None
 
 
 class Cameras(BaseModel):
@@ -23,13 +323,7 @@ class Cameras(BaseModel):
     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):
+class Recorder(BaseModel):
     find_and_remove_prefix: Optional[List[str]] = Field(None, description="")
     path: Optional[str] = Field(None, description="")
     type: Optional[str] = Field(None, description="")
@@ -66,31 +360,28 @@ class VesselComputer(BaseModel):
 
 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="")
+    recorder: Optional[Recorder] = None
     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",
+        None, description="Iou association threshold for dets to tracks"
     )
+    secondary_assoc_threshold: Optional[float] = Field(
+        None, description="Secondary association threshold for dets to tracks"
+    )
+    secondary_assoc_method: Optional[str] = Field(None, description="Secondary association method")
     max_age: Optional[int] = Field(
         None,
-        description="The maximum number of consecutive misses before the track state is deleted",
+        description="Maximum number of consecutive misses before the track is deleted",
     )
     min_hits: Optional[int] = Field(None, description="Min number of detections to create track")
     classification_history_window: Optional[int] = Field(
@@ -101,24 +392,14 @@ class RoiTrackerParameters(BaseModel):
         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"
+        None, description="REQUIRES RESTART. List of topics to subscribe to for ROIs"
     )
     roi_track_topics: Optional[List[str]] = Field(
-        None, description="List of topics to publish tracked ROIs"
+        None, description="REQUIRES RESTART. 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="")
@@ -172,7 +453,7 @@ class RAM(BaseModel):
     Usage_Percent_WARN: Optional[UsagePercentWARN] = Field(None, alias="Usage Percent WARN")
 
 
-class DiagnosticUpdater2(BaseModel):
+class DiagnosticUpdater4(BaseModel):
     CPU: Optional[CPU] = None
     Disk: Optional[Disk] = None
     RAM: Optional[RAM] = None
@@ -182,7 +463,7 @@ class DiagnosticUpdater2(BaseModel):
 
 class SystemResourceMonitorParameters(BaseModel):
     calculation_rate: Optional[float] = Field(None, description="")
-    diagnostic_updater: Optional[DiagnosticUpdater2] = None
+    diagnostic_updater: Optional[DiagnosticUpdater4] = None
     diagnostics: Optional[bool] = Field(None, description="")
     diagnostics_log: Optional[bool] = Field(None, description="")
     disk_directories: Optional[List[str]] = Field(None, description="")
@@ -206,238 +487,8 @@ class GeolocationParameters(BaseModel):
     )
 
 
-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="REQUIRES RESTART. Batch inference callback rate"
-    )
-    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"
-    )
-    asset_uri_allowlist: Optional[List[str]] = Field(
-        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(
-        None,
-        description="List of regular expressions (ECMAScript) of whitelisted parameter names.",
-    )
-    disable_load_message: Optional[bool] = Field(
-        None,
-        description="Do not publish as loaned message when publishing a client message",
-    )
-    include_hidden: Optional[bool] = Field(None, description="Include hidden topics and services")
-    keyfile: Optional[str] = Field(None, description="Path to the private key to use for TLS")
-    max_qos_depth: Optional[int] = Field(
-        None, description="Maximum depth used for the QoS profile of subscriptions."
-    )
-    min_qos_depth: Optional[int] = Field(
-        None, description="Minimum depth used for the QoS profile of subscriptions."
-    )
-    param_whitelist: Optional[List[str]] = Field(
-        None,
-        description="List of regular expressions (ECMAScript) of whitelisted parameter names.",
-    )
-    port: Optional[int] = Field(None, description="The TCP port to bind the WebSocket server to")
-    send_buffer_limit: Optional[int] = Field(
-        None,
-        description="Connection send buffer limit in bytes. Messages will be dropped when a connection's send buffer reaches this limit to avoid a queue of outdated messages building up.",
-    )
-    service_whitelist: Optional[List[str]] = Field(
-        None,
-        description="List of regular expressions (ECMAScript) of whitelisted service names.",
-    )
-    tls: Optional[bool] = Field(
-        None, description="Use Transport Layer Security for encrypted communication"
-    )
-    topic_whitelist: Optional[List[str]] = Field(
-        None,
-        description="List of regular expressions (ECMAScript) of whitelisted topic names.",
-    )
-    use_compression: Optional[bool] = Field(
-        None,
-        description="Use websocket compression (permessage-deflate). Suited for connections with smaller bandwidth, at the cost of additional CPU load.",
-    )
+class StubRoiPublisherParameters(BaseModel):
+    rate: Optional[float] = Field(None, description="Rate of detection (per second)")
 
 
 class Camera(BaseModel):
@@ -467,6 +518,10 @@ class Rtsp(BaseModel):
     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")
+    reference_meta_timestamp: Optional[bool] = Field(
+        None,
+        description="Enable reference meta timestamp for RTSP stream so that topic is published with the camera timestamp",
+    )
 
 
 class Test(BaseModel):
@@ -603,7 +658,12 @@ class Publish(BaseModel):
     topic: Optional[Topic] = None
 
 
-class PipelineBowStbdColorParameters(BaseModel):
+class DiagnosticUpdater5(BaseModel):
+    period: Optional[float] = Field(None, description="")
+    use_fqn: Optional[bool] = Field(None, description="")
+
+
+class PipelineBowColorParameters(BaseModel):
     namespace_vessel_application: Optional[str] = Field(
         None,
         description="The namespace of the vessel and application, separated by '/'",
@@ -619,46 +679,39 @@ class PipelineBowStbdColorParameters(BaseModel):
     source: Optional[Source] = None
     undistort: Optional[Undistort] = None
     publish: Optional[Publish] = None
-    diagnostic_updater: Optional[DiagnosticUpdater3] = None
+    diagnostic_updater: Optional[DiagnosticUpdater5] = None
 
 
-class GstRosimagesinkBowStbdColorParameters(BaseModel):
+class GstRosimagesinkBowColorParameters(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 LookoutConfigManagerParameters(BaseModel):
+    launch_package: Optional[str] = Field(None, description="")
+    launch_executable: Optional[str] = Field(None, description="")
+
+
+class LookoutGreenstreamBringupParameters(BaseModel):
+    launch_package: Optional[str] = Field(None, description="")
+    launch_executable: Optional[str] = Field(None, description="")
 
 
 class LaunchParameters(BaseModel):
+    web_bridge: Optional[WebBridgeParameters] = None
+    vessel_manager: Optional[VesselManagerParameters] = None
+    data_player: Optional[DataPlayerParameters] = None
+    data_recorder: Optional[DataRecorderParameters] = None
+    data_hub: Optional[DataHubParameters] = None
+    simulated_clock: Optional[SimulatedClockParameters] = None
+    hifi_vessel_manager: Optional[HifiVesselManagerParameters] = None
+    scenario_runner: Optional[ScenarioRunnerParameters] = None
+    parameter_persistence: Optional[ParameterPersistenceParameters] = 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
+    stub_roi_publisher: Optional[StubRoiPublisherParameters] = None
+    pipeline_bow_color: Optional[PipelineBowColorParameters] = None
+    gst_rosimagesink_bow_color: Optional[GstRosimagesinkBowColorParameters] = 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_greenstream_bringup: Optional[LookoutGreenstreamBringupParameters] = None

lookout_config/schemas/lookout.schema.json

@@ -15,6 +15,11 @@
           "title": "Type",
           "type": "string"
         },
+        "publish_camera_info": {
+          "default": true,
+          "title": "Publish Camera Info",
+          "type": "boolean"
+        },
         "ptz": {
           "default": false,
           "title": "Ptz",
@@ -52,9 +57,6 @@
         "type": {
           "const": "fastdds",
           "default": "fastdds",
-          "enum": [
-            "fastdds"
-          ],
           "title": "Type",
           "type": "string"
         },
@@ -85,9 +87,6 @@
         "type": {
           "const": "simple",
           "default": "simple",
-          "enum": [
-            "simple"
-          ],
           "title": "Type",
           "type": "string"
         },
@@ -112,9 +111,6 @@
         "type": {
           "const": "zenoh",
           "default": "zenoh",
-          "enum": [
-            "zenoh"
-          ],
           "title": "Type",
           "type": "string"
         },

{lookout_config-1.22.0.dist-info → lookout_config-1.24.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: lookout_config
-Version: 1.22.0
+Version: 1.24.0
 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==3.20.0
+Requires-Dist: greenstream-config==3.22.0
 Requires-Dist: gr-urchin
 
 # Lookout Config

{lookout_config-1.22.0.dist-info → lookout_config-1.24.0.dist-info}/RECORD

@@ -2,12 +2,12 @@ lookout_config/__init__.py,sha256=NKLSlCn7mb8HRbkOB6i6EBpvROLGRlZRcnHc5nm1zTk,17
 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=xipX8OIV3Vm9jtz2EXk0Zsj-_R6EqenqyM0ogpBwmtk,27878
+lookout_config/launch_parameters.py,sha256=t1A7J2icXkYs3KeRQQd-O8S6Bxol25oGi5KxS7ldqS0,27499
 lookout_config/types.py,sha256=HMrHST658SpGVKrocsCe66E6x0aaYkBiYzTD-quY-Ys,4323
-lookout_config/schemas/lookout.schema.json,sha256=2j5Ace_niCr2k23DDWr8AOBlbuPZF6Gb8eBElAQvfYE,10636
+lookout_config/schemas/lookout.schema.json,sha256=NIekpXaauGsFJthrDfLkQzXCrQrVYmRRAynLlzYuym4,10615
 lookout_config/test/lookout_config_test.py,sha256=TdOzIEWnyrckhmK7OtShtoWwSAP8QDCiKalNhvScd2U,73
-lookout_config-1.22.0.dist-info/METADATA,sha256=ENksX-krq1Cefj5h08ayvdgu2NgKbVbgi_03RELHaCs,1442
-lookout_config-1.22.0.dist-info/WHEEL,sha256=beeZ86-EfXScwlR_HKu4SllMC9wUEj_8Z_4FJ3egI2w,91
-lookout_config-1.22.0.dist-info/top_level.txt,sha256=IiZRgJhNrNL87uLMQm9lQRrMCqJnTOl7aYlA7zRSYyg,15
-lookout_config-1.22.0.dist-info/zip-safe,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
-lookout_config-1.22.0.dist-info/RECORD,,
+lookout_config-1.24.0.dist-info/METADATA,sha256=W6oZ0bptKa4J5ptET2FmNsqCRqYbp00-A7CmAddvBNY,1442
+lookout_config-1.24.0.dist-info/WHEEL,sha256=beeZ86-EfXScwlR_HKu4SllMC9wUEj_8Z_4FJ3egI2w,91
+lookout_config-1.24.0.dist-info/top_level.txt,sha256=IiZRgJhNrNL87uLMQm9lQRrMCqJnTOl7aYlA7zRSYyg,15
+lookout_config-1.24.0.dist-info/zip-safe,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
+lookout_config-1.24.0.dist-info/RECORD,,