kazu

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Installation

This project uses pdm to manage dependencies, so you can use pdm to install it.

# upgrade pip using tuna mirror
python -m pip --upgrade install pip -i https://pypi.tuna.tsinghua.edu.cn/simple

# config pip mirror, change it to tuna mirror
python -m pip config set global.index-url https://pypi.tuna.tsinghua.edu.cn/simple

# install pdm
python -m pip install pdm

# config pdm mirror, change it to tuna mirror either
pdm config pypi.url https://pypi.tuna.tsinghua.edu.cn/simple

# clone the project repo to local
git clone https://github.com/Kazu-Kusa/kazu --depth=1

# change directory to the cloned repo in the local
cd ./kazu

# run pdm to install the project
pdm install

Configure KAZU

AppConfig

Configure the app config file using the kazu config command.

for example:

kazu config debug.log_level DEBUG

If the Key-value pair is not specified, kazu config will display the current value in the config file.

kazu config

You should see the details of config in console

[motion]
motor_fr  = [ 1, 1,]
motor_fl  = [ 2, 1,]
motor_rr  = [ 3, 1,]
motor_rl  = [ 4, 1,]
port  = "/dev/ttyUSB0"

[vision]
team_color  = "blue"
resolution_multiplier  = 1.0
use_camera  = true
camera_device_id  = 0

[debug]
log_level  = "INFO"
use_siglight  = true

[sensor]
gyro_fsr  = 1000
accel_fsr  = 8
adc_min_sample_interval  = 5
edge_fl_index  = 0
edge_fr_index  = 1
edge_rl_index  = 2
edge_rr_index  = 3
left_adc_index  = 4
right_adc_index  = 5
front_adc_index  = 6
rb_adc_index  = 7
gray_adc_index  = 8
gray_io_left_index  = 0
gray_io_right_index  = 1
fl_io_index  = 2
fr_io_index  = 3
rl_io_index  = 4
rr_io_index  = 5
reboot_button_index  = 7

In addition, you can change the appconfig values in the config file by directly editing it. The path of the App-config file is at <USERHOME>/.kazu/config.toml, also, if you are can change the directory in which app config file is stored by changing environment variable KAZU_APP_CONFIG_PATH

RunConfig

For runtime configuration, currently only supports direct editing the config file, RunConfig will not read any config file and will use built-in default run config while the user neither specify --run-config-path under related subcommands(e.g. run, viz, trac) nor set the environment variable KAZU_RUN_CONFIG_PATH.

To get the template config file, you do as below, after which you should get a toml file like this, or zh_CN ver.

# export run config to ./run_config.toml 
kazu config -r ./run_config.toml

Use your favourite text editor to open ./run_config.toml, you should see the default run config.

You can make some tweak by reading the comment over each config item. After that you can feed the run config to the kazu as below.

#run with ./run_config.toml
kazu run -r ./run_config.toml

#generate puml using ./run_config.toml
kazu viz -r ./run_config.toml 

TODO

• divide stage cases into 3 categories: on stage, off stage, and unclear
• add back stage success checker