Fixes to vision and piServo

config/vision.yml

@@ -2,7 +2,7 @@ vision:
   enabled: true
   path: 'modules.vision.imx500.vision.Vision'
   config:
-    preview: False
+    preview: false
   dependencies:
     unix:
       - imx500-all

modules/actuators/piservo.py

@@ -36,7 +36,7 @@ def __init__(self, **kwargs):
         self.move(self.start)
 
     def setup_messaging(self):
-        self.subscribe('piservo:move', self.move)
+        self.subscribe('piservo/move', self.move)
 
     def move(self, angle):
         if self.servo is None:

modules/vision/imx500/vision.py

@@ -14,7 +14,7 @@
 from modules.base_module import BaseModule
 
 
-class Detection(BaseModule):
+class Detection:
     def __init__(self, imx500, picam2, selfref, coords, category, conf, metadata):
         """Create a Detection object, recording the bounding box, category and confidence."""
         self.category = category
@@ -57,7 +57,7 @@ def json_out(self):
             'distance_y': self.distance_y
         }
 
-class Vision:
+class Vision(BaseModule):
     def __init__(self, **kwargs):
         """
         Vision class
@@ -152,6 +152,7 @@ def setup_messaging(self):
 
     def scan(self):
         self.last_results = self.parse_detections(self.picam2.capture_metadata())
+        # self.log(f"Vision detections: {self.last_results}")
         this_capture = []
         for i in self.last_results:
             this_capture = [obj.json_out() for obj in self.last_results]