lookout-config 1.3.6__py3-none-any.whl → 1.5.0__py3-none-any.whl

lookout_config/__init__.py

@@ -15,7 +15,9 @@ from lookout_config.types import (
     Point,
     Polygon,
     CameraExtended,
+    PositioningSystem,
 )
+from lookout_config.helpers import YamlDumper
 
 
 LOOKOUT_CONFIG_FILE_NAME = "lookout.yml"
@@ -32,7 +34,7 @@ def get_path():
 
 
 def parse(config: dict[str, Any]) -> LookoutConfig:
-    return LookoutConfig(**config)
+    return LookoutConfig(**config or {})
 
 
 def read() -> LookoutConfig:
@@ -45,10 +47,11 @@ def write(config: LookoutConfig):
     path = get_path()
     # Make the parent dir if it doesn't exist
     os.makedirs(path.parent, exist_ok=True)
+    json_string = config.model_dump(mode="json")
     with open(path, "w") as stream:
         print(f"Writing: {path}")
         headers = f"# yaml-language-server: $schema={LOOKOUT_SCHEMA_URL}"
-        data = "\n".join([headers, yaml.dump(config.model_dump(mode="json"))])
+        data = "\n".join([headers, yaml.dump(json_string, Dumper=YamlDumper, sort_keys=True)])
         stream.write(data)
 
 
@@ -67,4 +70,5 @@ __all__ = [
     "Point",
     "Polygon",
     "CameraExtended",
+    "PositioningSystem",
 ]

lookout_config/generate_urdf.py

@@ -1,44 +1,58 @@
-from typing import List
 from lookout_config import LookoutConfig
-from greenstream_config import Camera, Offsets, get_cameras_urdf
-from gr_urchin import URDF, Joint, Material, Link, xyz_rpy_to_matrix, Visual, Mesh, Geometry
+from greenstream_config import Offsets, get_cameras_urdf
+from gr_urchin import URDF, Joint, Material, Link, xyz_rpy_to_matrix, Visual, Mesh, Geometry, Box
 from math import radians
 
 
+def joint_from_offsets(offsets: Offsets, parent: str, child: str) -> Joint:
+    return Joint(
+        name=f"{parent}_to_{child}",
+        parent=parent,
+        child=child,
+        joint_type="fixed",
+        origin=xyz_rpy_to_matrix(
+            [
+                offsets.forward or 0.0,
+                offsets.left or 0.0,
+                offsets.up or 0.0,
+                offsets.roll or 0.0,
+                offsets.pitch or 0.0,
+                offsets.yaw or 0.0,
+            ]
+        ),
+    )
+
+
 def generate_urdf(
     config: LookoutConfig,
-    cameras: List[Camera],
-    ins_offset: Offsets,
-    mesh_path: str,
-    waterline=0.0,  # meters between the waterline and the base_link
     add_optical_frame: bool = True,
 ):
-
+    mesh_path = f"package://lookout_bringup/meshes/{config.offsets.name}"
     file_path = f"/tmp/vessel_{config.mode.value}.urdf"
-
-    # generate links and joints for all vessel cameras
-    camera_links, camera_joints = get_cameras_urdf(
-        cameras, [None], add_optical_frame, namespace=config.namespace_vessel
-    )
-    namespace_prefix = f"{config.namespace_vessel}_" if config.namespace_vessel != "" else ""
+    camera_links, camera_joints = get_cameras_urdf(config.cameras, [], add_optical_frame)  # type: ignore
 
     urdf = URDF(
         name="origins",
         materials=[
-            Material(name="grey", color=[0.75, 0.75, 0.75, 1]),
-            Material(name="blue", color=[0, 0, 1, 1]),
+            Material(name="grey", color=[0.75, 0.75, 0.75, 0.6]),
+            Material(name="blue", color=[0, 0.12, 0.25, 0.9]),
         ],
         links=[
-            Link(name=f"{namespace_prefix}ins_link", inertial=None, visuals=None, collisions=None),
+            Link(name="ins", inertial=None, visuals=None, collisions=None),
             Link(
-                name=f"{namespace_prefix}waterline_link",
+                name="waterline",
+                visuals=[
+                    Visual(
+                        name="waterline",
+                        geometry=Geometry(box=Box([10.0, 10.0, 0.01])),
+                        material=Material(name="blue"),
+                    )
+                ],
                 inertial=None,
-                visuals=None,
                 collisions=None,
             ),
             Link(
-                name=f"{namespace_prefix}base_link",
-                inertial=None,
+                name="base_link",
                 visuals=[
                     Visual(
                         name="visual",
@@ -47,43 +61,22 @@ def generate_urdf(
                         ),
                         origin=xyz_rpy_to_matrix([0, 0, 0, radians(-90), 0, 0]),
                         material=Material(name="grey"),
-                    )
+                    ),
                 ],
+                inertial=None,
                 collisions=None,
             ),
             *camera_links,
         ],
         joints=[
-            Joint(
-                name=f"{namespace_prefix}base_to_ins",
-                parent=f"{namespace_prefix}base_link",
-                child=f"{namespace_prefix}ins_link",
-                joint_type="fixed",
-                origin=xyz_rpy_to_matrix(
-                    [
-                        ins_offset.forward,
-                        ins_offset.left,
-                        ins_offset.up,
-                        ins_offset.roll,
-                        ins_offset.pitch,
-                        ins_offset.yaw,
-                    ]
-                ),
-            ),
-            Joint(
-                name=f"{namespace_prefix}base_to_{namespace_prefix}waterline",
-                parent=f"{namespace_prefix}base_link",
-                child=f"{namespace_prefix}waterline_link",
-                joint_type="fixed",
-                origin=xyz_rpy_to_matrix([0, 0, -waterline, 0, 0, 0]),
-            ),
+            joint_from_offsets(config.offsets.baselink_to_ins, "base_link", "ins"),
+            joint_from_offsets(config.offsets.baselink_to_waterline, "base_link", "waterline"),
             *camera_joints,
         ],
     )
 
     urdf.save(file_path)
 
-    # stringify urdf response for robot description
     with open(file_path) as infp:
         robot_description = infp.read()
 

lookout_config/helpers.py

@@ -0,0 +1,18 @@
+import yaml
+
+
+class YamlDumper(yaml.Dumper):
+    """
+    A YAML dumpler that show lists on the same line if they do not contain dicts or list
+    """
+
+    def represent_sequence(self, tag, sequence, flow_style=None):
+        if isinstance(sequence, list) and all(
+            [not isinstance(item, (dict, list)) for item in sequence]
+        ):
+            flow_style = True
+        return super().represent_sequence(tag, sequence, flow_style)
+
+    def represent_mapping(self, tag, mapping, flow_style=None):
+        flow_style = False
+        return super().represent_mapping(tag, mapping, flow_style)

lookout_config/launch_parameters.py

@@ -0,0 +1,9 @@
+# Generated by 'python3 -m parameter_persistence.generate_models'
+
+from __future__ import annotations
+
+from pydantic import BaseModel
+
+
+class LaunchParameters(BaseModel):
+    pass

lookout_config/schemas/lookout.schema.json

@@ -442,17 +442,6 @@
           "title": "Password",
           "type": "string"
         },
-        "joystick_topic": {
-          "anyOf": [
-            {
-              "type": "string"
-            },
-            {
-              "type": "null"
-            }
-          ],
-          "title": "Joystick Topic"
-        },
         "ptz_components": {
           "items": {
             "$ref": "#/$defs/PTZComponent"
@@ -478,7 +467,6 @@
         "port",
         "username",
         "password",
-        "joystick_topic",
         "ptz_components"
       ],
       "title": "PTZOnvif",
@@ -517,6 +505,19 @@
       ],
       "title": "Polygon",
       "type": "object"
+    },
+    "PositioningSystem": {
+      "enum": [
+        "none",
+        "septentrio_ins",
+        "advanced_navigation_ins",
+        "nmea_2000_sat_compass",
+        "nmea_2000_compass",
+        "nmea_0183_sat_compass",
+        "nmea_0183_compass"
+      ],
+      "title": "PositioningSystem",
+      "type": "string"
     }
   },
   "properties": {
@@ -533,7 +534,7 @@
       "type": "array"
     },
     "namespace_vessel": {
-      "default": "vessel",
+      "default": "vessel_1",
       "title": "Namespace Vessel",
       "type": "string"
     },
@@ -544,7 +545,7 @@
     },
     "mode": {
       "$ref": "#/$defs/Mode",
-      "default": "stubs"
+      "default": "hardware"
     },
     "log_level": {
       "$ref": "#/$defs/LogLevel",
@@ -562,7 +563,7 @@
       "default": "host"
     },
     "gpu": {
-      "default": false,
+      "default": true,
       "title": "Gpu",
       "type": "boolean"
     },
@@ -570,10 +571,27 @@
       "$ref": "#/$defs/GeolocationMode",
       "default": "none"
     },
+    "positioning_system": {
+      "$ref": "#/$defs/PositioningSystem",
+      "default": "none"
+    },
+    "components": {
+      "title": "Components"
+    },
     "prod": {
       "default": true,
       "title": "Prod",
       "type": "boolean"
+    },
+    "log_directory": {
+      "default": "~/greenroom/lookout/logs",
+      "title": "Log Directory",
+      "type": "string"
+    },
+    "recording_directory": {
+      "default": "~/greenroom/lookout/recordings",
+      "title": "Recording Directory",
+      "type": "string"
     }
   },
   "title": "LookoutConfig",

lookout_config/types.py

@@ -2,11 +2,12 @@
 # * lookout_interfaces/msg/Config.msg
 # * lookout_config_manager/mappers.py
 
+from typing import Optional, Any
 from enum import Enum
 from pydantic import BaseModel, field_validator, ConfigDict
 from pydantic.fields import Field
 
-from greenstream_config.types import Camera
+from greenstream_config.types import Camera, Offsets
 
 
 class Mode(str, Enum):
@@ -19,6 +20,19 @@ class Mode(str, Enum):
         return self.value
 
 
+class PositioningSystem(str, Enum):
+    NONE = "none"
+    SEPTENTRIO_INS = "septentrio_ins"
+    ADNAV_INS = "advanced_navigation_ins"
+    NMEA_2000_SAT_COMPASS = "nmea_2000_sat_compass"
+    NMEA_2000_COMPASS = "nmea_2000_compass"
+    NMEA_0183_SAT_COMPASS = "nmea_0183_sat_compass"
+    NMEA_0183_COMPASS = "nmea_0183_compass"
+
+    def __str__(self):
+        return self.value
+
+
 class LogLevel(str, Enum):
     INFO = "info"
     DEBUG = "debug"
@@ -73,6 +87,12 @@ class CameraExtended(Camera):
         return ignore_regions
 
 
+class VesselOffsets(BaseModel):
+    name: str
+    baselink_to_ins: Offsets
+    baselink_to_waterline: Offsets
+
+
 class LookoutConfig(BaseModel):
     # So enum values are written and read to the yml correctly
     model_config = ConfigDict(
@@ -82,6 +102,7 @@ class LookoutConfig(BaseModel):
             LogLevel: lambda v: v.value,
             Network: lambda v: v.value,
             GeolocationMode: lambda v: v.value,
+            PositioningSystem: lambda v: v.value,
         },
     )
     ros_domain_id: int = 0
@@ -94,6 +115,15 @@ class LookoutConfig(BaseModel):
     network: Network = Network.HOST
     gpu: bool = True
     geolocation_mode: GeolocationMode = GeolocationMode.NONE
+    positioning_system: PositioningSystem = PositioningSystem.NONE
+    offsets: VesselOffsets = VesselOffsets(
+        name="mars.stl",
+        baselink_to_ins=Offsets(forward=1.4160, left=0.153, up=0.184),
+        baselink_to_waterline=Offsets(
+            up=0.3,
+        ),
+    )
+    components: Any = Field(default_factory=dict)
     prod: bool = True
     log_directory: str = "~/greenroom/lookout/logs"
     recording_directory: str = "~/greenroom/lookout/recordings"

{lookout_config-1.3.6.dist-info → lookout_config-1.5.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: lookout_config
-Version: 1.3.6
+Version: 1.5.0
 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==3.5.3
+Requires-Dist: greenstream-config==3.6.2
 Requires-Dist: gr-urchin
 
 # Lookout Config

lookout_config-1.5.0.dist-info/RECORD

@@ -0,0 +1,13 @@
+lookout_config/__init__.py,sha256=3D-vqwfTPSuvLVBo4wiYQglpPUm4Fj6Y5MYGIS-e0fI,1738
+lookout_config/generate_schemas.py,sha256=yFNvrZ6gie1tnTM_1TO8_wBa0lFHJAABSI3ZAZqw_Wg,457
+lookout_config/generate_urdf.py,sha256=Emve-fVAjCT89Lz2wyyat5t3Yjxa-SdWPgnT9Pu4KPs,2723
+lookout_config/helpers.py,sha256=3GkGRPDzQ67I5srwcWoI8PI1dgrWvTsUwA8-yRUttLM,603
+lookout_config/launch_parameters.py,sha256=1q49Abigr6WQ3MCJtRcS-h5wQLFNW0yx-zHXOkjn3QM,180
+lookout_config/types.py,sha256=RUc34rXcYp3262n9FZIBjSxft5-688A8ArDJwrqzVIU,3596
+lookout_config/schemas/lookout.schema.json,sha256=wg7hK6vFLk90w4B5cCtOwYYfKMNcggli0S3c1P-vTDs,12750
+lookout_config/test/lookout_config_test.py,sha256=TdOzIEWnyrckhmK7OtShtoWwSAP8QDCiKalNhvScd2U,73
+lookout_config-1.5.0.dist-info/METADATA,sha256=GNSI8f2OpVkYqHENIOOTH7gUwhPpFNqWt6bkbyDFdFA,1436
+lookout_config-1.5.0.dist-info/WHEEL,sha256=P9jw-gEje8ByB7_hXoICnHtVCrEwMQh-630tKvQWehc,91
+lookout_config-1.5.0.dist-info/top_level.txt,sha256=IiZRgJhNrNL87uLMQm9lQRrMCqJnTOl7aYlA7zRSYyg,15
+lookout_config-1.5.0.dist-info/zip-safe,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
+lookout_config-1.5.0.dist-info/RECORD,,

{lookout_config-1.3.6.dist-info → lookout_config-1.5.0.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (75.2.0)
+Generator: setuptools (75.3.0)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

lookout_config-1.3.6.dist-info/RECORD

@@ -1,11 +0,0 @@
-lookout_config/__init__.py,sha256=uI1hfXYaCT5lddPGVoIhcKAB523XQodgk-Y2_nVCLcc,1573
-lookout_config/generate_schemas.py,sha256=yFNvrZ6gie1tnTM_1TO8_wBa0lFHJAABSI3ZAZqw_Wg,457
-lookout_config/generate_urdf.py,sha256=_LaBPlp6BDFP68DMxF-VQS1SDt4iX1pmb0kITQM-I9E,3103
-lookout_config/types.py,sha256=FfRVOsXpgX0yufAAS9VQtPdC4fVQ6sRXAUFYUp_Kbhc,2681
-lookout_config/schemas/lookout.schema.json,sha256=GSQSlV5TlCznq3uANgdd4a7ogG5cOjOMY0YmuwKuuOI,12245
-lookout_config/test/lookout_config_test.py,sha256=TdOzIEWnyrckhmK7OtShtoWwSAP8QDCiKalNhvScd2U,73
-lookout_config-1.3.6.dist-info/METADATA,sha256=hB0Hc8iDhqcjlDIP9kYtU-hL1rSoPYsRSYzLoQSGXGw,1436
-lookout_config-1.3.6.dist-info/WHEEL,sha256=OVMc5UfuAQiSplgO0_WdW7vXVGAt9Hdd6qtN4HotdyA,91
-lookout_config-1.3.6.dist-info/top_level.txt,sha256=IiZRgJhNrNL87uLMQm9lQRrMCqJnTOl7aYlA7zRSYyg,15
-lookout_config-1.3.6.dist-info/zip-safe,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
-lookout_config-1.3.6.dist-info/RECORD,,