Added arg to set Flask port in launch script. Changed default port to 5001

ros2_ws/hand_controller/hand_controller/common.py

@@ -0,0 +1,86 @@
+"""Common utilities and constants for VAI demo"""
+
+import subprocess
+
+GRAPH_SAMPLE_WINDOW_SIZE_s = 31
+HW_SAMPLING_PERIOD_ms = 250
+GRAPH_DRAW_PERIOD_ms = 30
+AUTOMATIC_DEMO_SWITCH_s = 60
+QUIT_CLEANUP_DELAY_ms = 1000
+
+GRAPH_SAMPLE_SIZE = int(GRAPH_SAMPLE_WINDOW_SIZE_s * 1000 / GRAPH_DRAW_PERIOD_ms)
+
+TIME_KEY = "time"
+CPU_UTIL_KEY = "cpu %"
+MEM_UTIL_KEY = "lpddr5 %"
+GPU_UTIL_KEY = "gpu %"
+DSP_UTIL_KEY = "dsp %"
+CPU_THERMAL_KEY = "cpu temp (°c)"
+MEM_THERMAL_KEY = "lpddr5 temp (°c)"
+GPU_THERMAL_KEY = "gpu temp (°c)"
+
+# Triadic colors, indexed on Tria pink
+TRIA_PINK_RGBH = (0xFE, 0x00, 0xA2)
+TRIA_BLUE_RGBH = (0x00, 0xA2, 0xFE)
+TRIA_YELLOW_RGBH = (0xFE, 0xDB, 0x00)
+TRIA_GREEN_RGBH = (0x22, 0xB1, 0x4C)
+
+APP_NAME = f"GTK GUI Node"
+
+TRIA = r"""
+████████╗██████╗ ██╗ █████╗ 
+╚══██╔══╝██╔══██╗██║██╔══██╗
+   ██║   ██████╔╝██║███████║
+   ██║   ██╔══██╗██║██╔══██║
+   ██║   ██║  ██║██║██║  ██║
+   ╚═╝   ╚═╝  ╚═╝╚═╝╚═╝  ╚═╝
+"""
+
+
+def lerp(a, b, t):
+    """Linear interpolation between two values"""
+    return a + t * (b - a)
+
+
+def inverse_lerp(a, b, v):
+    """Inverse linear interpolation between two values"""
+    return (v - a) / (b - a) if a != b else 0.0
+
+
+def get_ema(x_cur, x_last, alpha=0.75):
+    """
+    Exponential moving average
+
+    Args:
+        x_cur: Current value
+        x_last: Last value
+        alpha: Smoothing factor
+
+    Note:
+        alpha is a misnomer. alpha = 1.0 is equivalent to no smoothing
+
+    Ref:
+        https://en.wikipedia.org/wiki/Exponential_smoothing
+
+    """
+    return alpha * x_cur + (1 - alpha) * x_last
+
+
+def app_version():
+    """Get the latest tag or commit hash if possible, unknown otherwise"""
+
+    try:
+        version = subprocess.check_output(
+            ["git", "describe", "--tags", "--always"], text=True
+        ).strip()
+        date = subprocess.check_output(
+            ["git", "log", "-1", "--format=%cd", "--date=short"], text=True
+        ).strip()
+
+        return f"{version} {date}"
+    except subprocess.CalledProcessError:
+        # Handle errors, such as not being in a Git repository
+        return "unknown"
+
+
+APP_HEADER = f"{APP_NAME} v({app_version()})"