vehicle_common.mode_loader#

Classes#

`ParamsBase`	Wrapper around BaseModel that every Mode's Params Type should inherit from
`RegisteredMode`	!!! abstract "Usage Documentation"
`ModeRegistry`	!!! abstract "Usage Documentation"

Functions#

`names`(types)
`register_mode`(id, targets[, params_cls, ...])	Class decorator that registers a Mode in the Mode Registry.

Module Contents#

class ParamsBase(/, **data: Any)#

Bases: pydantic.BaseModel

Wrapper around BaseModel that every Mode’s Params Type should inherit from

class RegisteredMode(/, **data: Any)#

Bases: pydantic.BaseModel

!!! abstract “Usage Documentation”: [Models](../concepts/models.md)

A base class for creating Pydantic models.

__class_vars__#: The names of the class variables defined on the model.

__private_attributes__#: Metadata about the private attributes of the model.

__signature__#: The synthesized __init__ [Signature][inspect.Signature] of the model.

__pydantic_complete__#: Whether model building is completed, or if there are still undefined fields.

__pydantic_core_schema__#: The core schema of the model.

__pydantic_custom_init__#: Whether the model has a custom __init__ function.

__pydantic_decorators__#: Metadata containing the decorators defined on the model. This replaces Model.__validators__ and Model.__root_validators__ from Pydantic V1.

__pydantic_generic_metadata__#: A dictionary containing metadata about generic Pydantic models. The origin and args items map to the [__origin__][genericalias.__origin__] and [__args__][genericalias.__args__] attributes of [generic aliases][types-genericalias], and the parameter item maps to the __parameter__ attribute of generic classes.

__pydantic_parent_namespace__#: Parent namespace of the model, used for automatic rebuilding of models.

__pydantic_post_init__#: The name of the post-init method for the model, if defined.

__pydantic_root_model__#: Whether the model is a [RootModel][pydantic.root_model.RootModel].

__pydantic_serializer__#: The pydantic-core SchemaSerializer used to dump instances of the model.

__pydantic_validator__#: The pydantic-core SchemaValidator used to validate instances of the model.

__pydantic_fields__#: A dictionary of field names and their corresponding [FieldInfo][pydantic.fields.FieldInfo] objects.

__pydantic_computed_fields__#: A dictionary of computed field names and their corresponding [ComputedFieldInfo][pydantic.fields.ComputedFieldInfo] objects.

__pydantic_extra__#: A dictionary containing extra values, if [extra][pydantic.config.ConfigDict.extra] is set to ‘allow’.

__pydantic_fields_set__#: The names of fields explicitly set during instantiation.

__pydantic_private__#: Values of private attributes set on the model instance.

model_config#: Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

id: str#

mode_cls: type[vehicle_common.mode.Mode]#

params_cls: type[ParamsBase]#

targets: list[type[vehicle_common.vehicle.Vehicle]] = []#

required_vision_nodes: list[type[vehicle_common.base.VisionNode]] = []#

peer_vehicle_names: list[str] = []#

requires_camera: bool = False#

transition_labels: list[str] = []#

serialize_mode_cls(value: type[vehicle_common.mode.Mode]) → str#

serialize_params_cls(value: type[ParamsBase]) → str#

serialize_targets(value: list[type[vehicle_common.vehicle.Vehicle]]) → list[str]#

serialize_vision_nodes(value: list[type[vehicle_common.base.VisionNode]]) → list[str]#

classmethod deserialize_mode_cls(path) → type[vehicle_common.mode.Mode]#

classmethod deserialize_params_cls(path) → type[ParamsBase]#

classmethod deserialize_targets(paths) → list[type[vehicle_common.vehicle.Vehicle]]#

classmethod deserialize_vision_nodes(paths) → list[type[vehicle_common.base.VisionNode]]#

__str__() → str#

names(types)#

class ModeRegistry(/, **data: Any)#

Bases: pydantic.BaseModel

!!! abstract “Usage Documentation”: [Models](../concepts/models.md)

A base class for creating Pydantic models.

__class_vars__#: The names of the class variables defined on the model.

__private_attributes__#: Metadata about the private attributes of the model.

__signature__#: The synthesized __init__ [Signature][inspect.Signature] of the model.

__pydantic_complete__#: Whether model building is completed, or if there are still undefined fields.

__pydantic_core_schema__#: The core schema of the model.

__pydantic_custom_init__#: Whether the model has a custom __init__ function.

__pydantic_decorators__#: Metadata containing the decorators defined on the model. This replaces Model.__validators__ and Model.__root_validators__ from Pydantic V1.

__pydantic_generic_metadata__#: A dictionary containing metadata about generic Pydantic models. The origin and args items map to the [__origin__][genericalias.__origin__] and [__args__][genericalias.__args__] attributes of [generic aliases][types-genericalias], and the parameter item maps to the __parameter__ attribute of generic classes.

__pydantic_parent_namespace__#: Parent namespace of the model, used for automatic rebuilding of models.

__pydantic_post_init__#: The name of the post-init method for the model, if defined.

__pydantic_root_model__#: Whether the model is a [RootModel][pydantic.root_model.RootModel].

__pydantic_serializer__#: The pydantic-core SchemaSerializer used to dump instances of the model.

__pydantic_validator__#: The pydantic-core SchemaValidator used to validate instances of the model.

__pydantic_fields__#: A dictionary of field names and their corresponding [FieldInfo][pydantic.fields.FieldInfo] objects.

__pydantic_computed_fields__#: A dictionary of computed field names and their corresponding [ComputedFieldInfo][pydantic.fields.ComputedFieldInfo] objects.

__pydantic_extra__#: A dictionary containing extra values, if [extra][pydantic.config.ConfigDict.extra] is set to ‘allow’.

__pydantic_fields_set__#: The names of fields explicitly set during instantiation.

__pydantic_private__#: Values of private attributes set on the model instance.

modes: dict[str, RegisteredMode]#

_pending: ClassVar[list[RegisteredMode]] = []#

_instance: ClassVar[ModeRegistry | None] = None#

classmethod get() → ModeRegistry#

get_registered_mode(id: str) → RegisteredMode#

write_json(path: pathlib.Path) → None#

discover_modes(modules: list[str] = ['uav.modes', 'payload.modes'])#

Import every submodule under the given packages to trigger mode registration.

Recursively imports the passed in modules. Importing a file with @register_mode(…)-decorated classes populates them into the _pending list, which this then commits into self.modes.

Parameters:: modules – Dotted package paths to walk and import submodules from. Defaults to the UAV and payload mode packages.

register_mode(id: str, targets: list[type[vehicle_common.vehicle.Vehicle]], params_cls: type[ParamsBase] = ParamsBase, required_vision_nodes: list[type[vehicle_common.base.VisionNode]] = [], peer_vehicle_names: list[str] = [], requires_camera: bool = False, transition_labels: list[str] = [])#

Class decorator that registers a Mode in the Mode Registry. Class decorators can only run once, so the registered mode is put into a global pending list in ModeRegistry. A ModeRegistry instance only picks it up once its own discover_modes() runs.

Parameters:

id – used as main key to store and retrieve RegisteredMode objects
targets – Vehicle types this mode is valid for
required_vision_nodes – Vision node types that must be running for this mode to be usable.
peer_vehicle_names – Names of peer vehicles this mode depends on
requires_camera – Whether this mode requires a camera to operate.
transition_labels – Labels describing valid transitions into/out of this mode, used by whatever drives mode switching.

Returns:

A decorator that registers the given Mode subclass and returns it unchanged.