Add reusable libraries from 2025 codebase

.gitignore

@@ -202,4 +202,7 @@ src/backend/generated/
 target/
 *.pyc
 
-src/main/deploy/config
+src/main/deploy/config
+
+*.db
+.coverage

Makefile

@@ -14,12 +14,13 @@ THRIFT_GEN_DIR = $(GEN_DIR)/thrift
 THRIFT_TS_SCHEMA_GEN_DIR = $(THRIFT_GEN_DIR)/ts_schema
 PROTO_PY_GEN_DIR = $(PROTO_GEN_DIR)/python
 
-prep-project:
-	if [ ! -d ".venv" ]; then \
-		python3 -m venv .venv; \
-	fi
-
+initialize:
+	python3 -m venv .venv
 	.venv/bin/pip install -r requirements.txt
+	make test
+
+test:
+	PYTHONPATH=src pytest
 
 generate-proto-python:
 	mkdir -p $(PROTO_PY_GEN_DIR)

build.gradle

@@ -220,20 +220,6 @@ def applyBackend(expectedNumOfPis) {
   }
 }
 
-def installPythonDependencies() {
-  project.exec {
-    commandLine "make", "prep-project"
-  }
-}
-
-tasks.register("installPythonDependencies") {
-    group = "build"
-    description = "Install Python dependencies"
-    doLast {
-        installPythonDependencies()
-    }
-}
-
 buildDynamically("./config.ini")
 
 tasks.register("applyBackend") {
@@ -252,7 +238,6 @@ tasks.register("generateConfig") {
     }
 }
 
-tasks.build.dependsOn(tasks.installPythonDependencies)
 tasks.build.dependsOn(tasks.generateConfig)
 tasks.build.dependsOn(tasks.generateProto)
 

docs/HowToInitialize.md

@@ -150,13 +150,6 @@ make --version
 
 # Setting Up Workspace
 
-## Clone the repository
-
-```bash
-git clone https://github.com/PinewoodRobotics/command-robot-base.git
-cd command-robot-base
-```
-
 ## Initialize the submodules
 
 ```bash

pytest.ini

@@ -0,0 +1,10 @@
+[pytest]
+pythonpath = src
+testpaths = src/backend/python
+addopts =
+    --cov=backend.python.april
+    --cov=backend.python.pos_extrapolator
+    --cov=backend.python.common
+    --cov-report=term-missing
+norecursedirs =
+    lib/

requirements.txt

@@ -24,4 +24,7 @@ zeroconf
 thrift
 opencv-python
 requests
-ultralytics
+ultralytics
+
+# dev deps
+pytest-cov

src/backend/deployment/util.py

@@ -138,10 +138,12 @@ def _deploy_backend_to_pi(
         "-p",
         pi.password,
         "ssh",
+        "-o",
+        "StrictHostKeyChecking=no",
         "-p",
         str(getattr(pi, "port", 22)),
         f"ubuntu@{pi.address}",
-        f"sudo mkdir -p {remote_target_dir}",
+        f"mkdir -p {remote_target_dir}",
     ]
 
     mkdir_proc = subprocess.run(mkdir_cmd)
@@ -248,10 +250,6 @@ def _deploy_compilable(pi: _RaspberryPi, modules: list[_Module]):
     from backend.deployment.compilation.cpp.cpp import CPlusPlus
     from backend.deployment.compilation.rust.rust import Rust
 
-    if os.path.exists(LOCAL_BINARIES_PATH):
-        shutil.rmtree(LOCAL_BINARIES_PATH)
-    os.makedirs(LOCAL_BINARIES_PATH, exist_ok=True)
-
     if SHOULD_REBUILD_BINARIES:
         for module in modules:
             if not isinstance(module, _CompilableModule):
@@ -350,7 +348,7 @@ class RustModule(_CompilableModule, _RunnableModule):
 
         def get_run_command(self) -> str:
             extra_run_args = self.get_extra_run_args()
-            return f"{LOCAL_BINARIES_PATH}/{get_self_ldd_version()}/{get_self_architecture()}/{self.runnable_name} {extra_run_args}".strip()
+            return f"{LOCAL_BINARIES_PATH}/{get_self_ldd_version()}/{get_self_architecture()}/rust/{self.runnable_name}/{self.runnable_name} {extra_run_args}".strip()
 
     @dataclass
     class ProtobufModule(_CompilableModule):
@@ -403,6 +401,10 @@ def with_preset_pi_addresses(
     def with_automatic_discovery(
         modules: list[_Module], backend_local_path: str = "src/backend/"
     ):
+        if os.path.exists(LOCAL_BINARIES_PATH):
+            shutil.rmtree(LOCAL_BINARIES_PATH)
+        os.makedirs(LOCAL_BINARIES_PATH, exist_ok=True)
+
         raspberrypis = _RaspberryPi.discover_all()
         DeploymentOptions.with_preset_pi_addresses(
             raspberrypis, modules, backend_local_path

src/backend/python/common/__tests__/test_system.py

@@ -1,5 +1 @@
 from backend.python.common.util.system import get_local_hostname
-
-
-def test_get_local_hostname():
-    assert get_local_hostname() == "Deniss-MacBook-Pro.local"

src/backend/python/common/camera/abstract_camera.py

@@ -48,12 +48,6 @@ def __init__(
         exposure_time: float = -1,
         brightness: int | None = None,
     ) -> None:
-        if isinstance(camera_port, str):
-            try:
-                camera_port: int = int(camera_port)
-            except ValueError:
-                pass
-
         self.port: int | str = camera_port
         self.camera_name: str = camera_name
         self.width: int = width

src/backend/python/common/camera/image_utils.py

@@ -1,15 +1,17 @@
 import time
 from logging import info
+from typing import cast
 
 import cv2
+from cv2.typing import MatLike
 import numpy as np
 
-from backend.python.common.debug.logger import stats_for_nerds
 from backend.generated.proto.python.sensor.camera_sensor_pb2 import (
     ImageCompression,
     ImageData,
     ImageFormat,
 )
+from backend.python.common.debug.logger import stats_for_nerds
 
 
 def from_proto_format(format: ImageFormat) -> int:
@@ -58,10 +60,15 @@ def compress_image(
 def decode_image(proto_image: ImageData) -> np.ndarray:
     channels = from_proto_format_to_n_channels(proto_image.format)
     if proto_image.compression == ImageCompression.JPEG:
-        return cv2.imdecode(
-            np.frombuffer(proto_image.image, dtype=np.uint8),
+        decoded = cv2.imdecode(
+            cast(MatLike, np.frombuffer(proto_image.image, dtype=np.uint8)),
             from_proto_format(proto_image.format),
         )
+        if decoded is None:
+            raise ValueError(
+                f"Failed to decode JPEG image (format={proto_image.format}, bytes={len(proto_image.image)})"
+            )
+        return cast(np.ndarray, decoded)
     else:
         return np.frombuffer(proto_image.image, dtype=np.uint8).reshape(
             (proto_image.height, proto_image.width, channels)

src/backend/python/common/debug/logger.py

@@ -87,28 +87,6 @@ def wrapper(*args, **kwargs):
     return decorator
 
 
-def stats_for_nerds_akit(send_stats: bool = True, print_stats: bool = True):
-    def decorator(func):
-        @wraps(func)
-        def wrapper(*args, **kwargs):
-            start_time = time.time()
-            result = func(*args, **kwargs)
-            end_time = time.time()
-            if send_stats:
-                log_to_akit(func.__name__, [(end_time - start_time) * 1000])
-
-            if print_stats:
-                info(
-                    f"Function {func.__name__} took {(end_time - start_time) * 1000}ms to run."
-                )
-
-            return result
-
-        return wrapper
-
-    return decorator
-
-
 def init_logging(
     prefix: str,
     log_level: LogLevel,

src/config/april_tags_detection/index.ts

@@ -17,14 +17,10 @@ export const april_tag_detection_config: AprilDetectionConfig = {
   send_stats: true,
   stats_topic: "apriltag/stats",
   pi_name_to_special_detector_config: {
-    // this section is for special detectors. This means that if you want to use a non-standard detector, say GPU based
-    // that only works on a specific Pi, you can add it here with the Pi name as the key.
-    /*
     jetson1: {
       type: SpecialDetectorType.GPU_CUDA,
       py_lib_searchpath:
         "/opt/blitz/B.L.I.T.Z/build/release/2.35/aarch64/cpp/cuda-tags-lib/",
     },
-    */
   },
 };

src/config/cameras/front_left.ts

@@ -0,0 +1,35 @@
+import {
+  CameraParameters,
+  CameraType,
+} from "generated/thrift/gen-nodejs/camera_types";
+import { MatrixUtil, VectorUtil } from "../util/math";
+
+const front_left: CameraParameters = {
+  pi_to_run_on: "tynan",
+  name: "front_left",
+  camera_path: "/dev/usb_cam4",
+  flags: 0,
+  width: 800,
+  height: 600,
+  max_fps: 100,
+  camera_matrix: MatrixUtil.buildMatrix([
+    [685.088010528533, 0.0, 400.456913426101],
+    [0.0, 685.286311116306, 283.611674040712],
+    [0.0, 0.0, 1.0],
+  ]),
+  dist_coeff: VectorUtil.fromArray([
+    0.0370949377097917, 0.041319913100527, -0.00128168607814328,
+    -0.00128042296949747, -0.298591139932664,
+  ]),
+  exposure_time: 10,
+  camera_type: CameraType.OV2311,
+  video_options: {
+    send_feed: true,
+    compression_quality: 50,
+    publication_topic: "cameras/front_left",
+    do_compression: true,
+    overlay_tags: true,
+  },
+};
+
+export default front_left;

src/config/cameras/front_right.ts

@@ -0,0 +1,34 @@
+import {
+  CameraParameters,
+  CameraType,
+} from "generated/thrift/gen-nodejs/camera_types";
+import { MatrixUtil, VectorUtil } from "../util/math";
+
+const front_right: CameraParameters = {
+  pi_to_run_on: "tynan",
+  name: "front_right",
+  camera_path: "/dev/usb_cam2",
+  flags: 0,
+  width: 800,
+  height: 600,
+  max_fps: 100,
+  camera_matrix: MatrixUtil.buildMatrix([
+    [685.1818937239501, 0.0, 414.2897986078692],
+    [0.0, 685.3366953090806, 307.27153822775506],
+    [0.0, 0.0, 1.0],
+  ]),
+  dist_coeff: VectorUtil.fromArray([
+    0.03841168751857183, -0.03836398867353221, 0.00011911539228647425,
+    -0.00047135490659979865, -0.011145047269650642,
+  ]),
+  exposure_time: 10,
+  camera_type: CameraType.OV2311,
+  video_options: {
+    send_feed: false,
+    do_compression: true,
+    overlay_tags: false,
+    compression_quality: 30,
+  },
+};
+
+export default front_right;

src/config/cameras/jetson_cam.ts

@@ -0,0 +1,35 @@
+import {
+  CameraParameters,
+  CameraType,
+} from "generated/thrift/gen-nodejs/camera_types";
+import { MatrixUtil, VectorUtil } from "../util/math";
+
+const jetson_cam: CameraParameters = {
+  pi_to_run_on: "jetson1",
+  name: "jetson_cam",
+  camera_path: "/dev/video0",
+  flags: 0,
+  width: 640,
+  height: 480,
+  max_fps: 60,
+  camera_matrix: MatrixUtil.buildMatrix([
+    [685.088010528533, 0.0, 400.456913426101],
+    [0.0, 685.286311116306, 283.611674040712],
+    [0.0, 0.0, 1.0],
+  ]),
+  dist_coeff: VectorUtil.fromArray([
+    0.0370949377097917, 0.041319913100527, -0.00128168607814328,
+    -0.00128042296949747, -0.298591139932664,
+  ]),
+  exposure_time: 10,
+  camera_type: 0 as CameraType,
+  video_options: {
+    send_feed: true,
+    publication_topic: "camera/jetson/video",
+    compression_quality: 90,
+    do_compression: false,
+    overlay_tags: false,
+  },
+};
+
+export default jetson_cam;

src/config/cameras/logitech_cam.ts

@@ -5,9 +5,9 @@ import {
 import { MatrixUtil, VectorUtil } from "../util/math";
 
 const logitech_cam: CameraParameters = {
-  pi_to_run_on: "jetson1",
+  pi_to_run_on: "nathan-hale",
   name: "front_left",
-  camera_path: "/dev/video0",
+  camera_path: "/dev/usb_cam2",
   flags: 0,
   width: 640,
   height: 480,
@@ -21,14 +21,14 @@ const logitech_cam: CameraParameters = {
     -0.44180630590282977, 0.23535469092748917, -0.0020750769021071484,
     -7.455571357241929e-5, -0.08061071367847858,
   ]),
-  exposure_time: 150,
+  exposure_time: 400,
   camera_type: CameraType.ULTRAWIDE_100,
-  brightness: 200,
+  brightness: 50,
   video_options: {
-    send_feed: false,
-    overlay_tags: true,
+    send_feed: true,
+    overlay_tags: false,
     publication_topic: "camera/logitech/video",
-    compression_quality: 30,
+    compression_quality: 90,
     do_compression: true,
   },
 };