Merge branch 'main' into fawwaz/precision-hover

Author: kaiden-keane

.gitmodules

@@ -1,9 +1,3 @@
-[submodule "third_party/yolov5"]
-	path = third_party/yolov5
-	url = https://github.com/ultralytics/yolov5
-[submodule "dep/labeller"]
-	path = dep/labeller
-	url = git@github.com:uaarg/labeller.git
 [submodule "src/modules/mavctl"]
 	path = src/modules/mavctl
 	url = git@github.com:uaarg/mavctl-python.git

dep/labeller

@@ -29,3 +29,4 @@ typing_extensions==4.9.0
 yapf==0.40.1
 zipp==3.17.0
 ultralytics==8.3.128
+websockets==15.0.1

landing_nano.pt

@@ -0,0 +1,38 @@
+from src.modules.emu import Emu
+import time
+import json
+
+emu = Emu("res")
+
+# def onConnect():
+#     loadCurrent = {
+#         "type": "load",
+#         "uavStatus": {
+#             "connection": "no",
+#             "mode": "test",
+#             "imageCount": "2",
+#             "timeSinceMessage": "3"
+#         },
+#         "imageName": "res/sample1.jpg"
+#     }
+#     emu.send_msg(json.dumps(loadCurrent))
+
+
+# emu.set_on_connect(onConnect)
+emu.start_comms()
+time.sleep(2)
+
+# test different logs
+for i in range(6):
+    print(f"sending log {i}")
+    if i % 3 == 0: severity = "normal"
+    elif i % 3 == 1: severity = "warning"
+    else: severity = "error"
+    emu.send_log(f"log text {i}", severity)
+    time.sleep(1)
+
+while True:
+    print("sending image")
+    emu.send_log("sending image")
+    emu.send_image("test-image.jpeg")
+    time.sleep(2)

requirements.txt

@@ -0,0 +1,65 @@
+from PIL import Image
+from src.modules.emu import Emu
+import time
+import json
+import threading
+
+from src.modules.imaging.camera import DepthCapture, OakdCamera
+
+emu = Emu("tmp")
+i = 0
+
+def print_conn():
+    print("connecton made")
+
+emu.set_on_connect(print_conn)
+latest_capture: DepthCapture | None = None
+
+emu.start_comms()
+time.sleep(2)
+
+camera = OakdCamera()
+
+camera_thread = threading.Thread(target=camera.start(), daemon=True)
+camera_thread.start()
+
+def send_img(message):
+    global latest_capture, i
+
+    msg = json.loads(message)
+
+    if msg["type"] == "image" and msg["message"] == "capture":
+        print("sending image")
+        latest_capture = camera.capture_with_depth()
+        im = Image.fromarray(latest_capture.rgb)
+
+        im.save(f"./tmp/{i}.jpeg")
+        emu.send_image(f"{i}.jpeg")
+
+        i += 1
+
+def measure(message):
+    global latest_capture
+
+    msg = json.loads(message)
+
+    if msg["type"] == "getDistance":
+        print("getting distance")
+        points = msg["message"]
+
+        p1 = points["p1"]
+        p2 = points["p2"]
+
+        if latest_capture is not None:
+            distance = latest_capture.distance_between_points(p1["x"], p1["y"], p2["x"], p2["y"])
+            send = {
+                "type": "distance", 
+                "message": distance
+            }
+            emu.send_msg(json.dumps(send))
+            print(f"distance sent: {send}")
+
+
+emu.subscribe(send_img)
+emu.subscribe(measure)
+time.sleep(500)