Added constants, states and dataclasses for movement. Added control mechanisms (both manual and programmable). Added part of the streaming saver.

Updated ruff with more linting and fewer exceptions. Updated Requirements to match the used packages.

Author: brittleru

.gitignore

@@ -1,3 +1,250 @@
-.ruff_cache
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# User-specific stuff
+.idea/**/workspace.xml
+.idea/**/tasks.xml
+.idea/**/usage.statistics.xml
+.idea/**/dictionaries
+.idea/**/shelf
+
+# AWS User-specific
+.idea/**/aws.xml
+
+# Generated files
+.idea/**/contentModel.xml
+
+# Sensitive or high-churn files
+.idea/**/dataSources/
+.idea/**/dataSources.ids
+.idea/**/dataSources.local.xml
+.idea/**/sqlDataSources.xml
+.idea/**/dynamic.xml
+.idea/**/uiDesigner.xml
+.idea/**/dbnavigator.xml
+
+# Gradle
+.idea/**/gradle.xml
+.idea/**/libraries
+
+# Gradle and Maven with auto-import
+# When using Gradle or Maven with auto-import, you should exclude module files,
+# since they will be recreated, and may cause churn.  Uncomment if using
+# auto-import.
+.idea/artifacts
+.idea/compiler.xml
+.idea/jarRepositories.xml
+.idea/modules.xml
+.idea/*.iml
+.idea/modules
+*.iml
+*.ipr
+
+# CMake
+cmake-build-*/
+
+# Mongo Explorer plugin
+.idea/**/mongoSettings.xml
+
+# File-based project format
+*.iws
+
+# IntelliJ
+out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Cursive Clojure plugin
+.idea/replstate.xml
+
+# SonarLint plugin
+.idea/sonarlint/
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+
+# Editor-based Rest Client
+.idea/httpRequests
+
+# Android studio 3.1+ serialized cache file
+.idea/caches/build_file_checksums.ser
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+.DS_Store
+.idea
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer model-logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
 .venv
-__pycache__
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+gpu-env/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# Git Files
+*.patch
+
+# Python generated files and user files
+*.h5
+*.MP4
+*.mp4
+*.ckpt
+*.pt
+*.pth
+*.stats
+logs/
+results/
+.ruff_cache

main/config/drone.py

@@ -0,0 +1,52 @@
+from dataclasses import dataclass, field
+from enum import Enum
+
+
+class DroneIp(str, Enum):
+    SIMULATED = "10.202.0.1"
+    CABLE = "192.168.53.1"
+    WIRELESS = "192.168.42.1"
+
+    def __str__(self) -> str:
+        return self.value
+
+
+class GimbalType(str, Enum):
+    REF_ABSOLUTE = "absolute"
+    REF_RELATIVE = "relative"
+    MODE_POSITION = "position"
+    MODE_VELOCITY = "velocity"
+
+    def __str__(self) -> str:
+        return self.value
+
+
+@dataclass(frozen=True)
+class DroneSpeed:
+    """
+    Configuration class for drone piloting commands.
+
+    All values for x, y, z and z_rot must be positive and less than or equal to 100, where:
+        - x (roll): represents translation left (negative) and right (positive) on X axis .
+        - y (pitch): represents translation forwards (positive) and backwards (negative) on Y axis.
+        - z (yaw):  represents translation upwards (positive) and backwards (negative) on Z axis.
+        - z_rot (gaz): represents rotation around Z axis (rotation on Yaw), left (negative) and right (positive).
+
+    The sign of the values for x, y, and z and z_rot are the responsibility of the user of this class.
+
+    Time step dt (piloting_time) is in seconds and must be a positive float.
+    """
+    x: int = field(default=20, metadata={"range": (0, 100)})
+    y: int = field(default=20, metadata={"range": (0, 100)})
+    z: int = field(default=20, metadata={"range": (0, 100)})
+    z_rot: int = field(default=20, metadata={"range": (0, 100)})
+    dt: float = field(default=0.1)
+
+    def __post_init__(self):
+        dt_value = getattr(self, "dt")
+        if dt_value < 0:
+            raise ValueError(f"Time step must be positive, got \"{dt_value}\" instead")
+        for attr in ("x", "y", "z", "z_rot"):
+            value = getattr(self, attr)
+            if not (0 <= value <= 100): # noqa: PLR2004
+                raise ValueError(f"{attr} must be between [0, 100], got \"{value}\" instead")

main/config/logger.py

@@ -0,0 +1,56 @@
+import logging
+import sys
+from logging.handlers import RotatingFileHandler
+from pathlib import Path
+from typing import Final
+
+
+class LoggerSetup:
+    LEVEL_WIDTH: Final[int] = 8
+
+    @staticmethod
+    def setup_logger(
+            logger_name: str,
+            log_file: str | Path | None = None,
+            level: int = logging.DEBUG,
+            console_level: int = logging.INFO,
+            file_level: int = logging.DEBUG
+    ) -> logging.Logger:
+        """
+        Set up a logger with both console and file handlers.
+
+        @param logger_name: Name of the logger.
+        @param log_file: Optional path to log file. If None, only console logging is set.
+        @param level: Overall logging level.
+        @param console_level: Logging level for console output.
+        @param file_level: Logging level for file output.
+        @return: Configured logger instance.
+        """
+        logger = logging.getLogger(logger_name)
+        logger.setLevel(level)
+        logger.handlers.clear()
+
+        console_formatter = logging.Formatter(
+            f'%(asctime)s - [%(levelname)-{LoggerSetup.LEVEL_WIDTH:d}s] - %(name)s - '
+            f'[%(filename)s:%(lineno)d] - %(message)s'
+        )
+        file_formatter = logging.Formatter(
+            f'%(asctime)s - [%(levelname)-{LoggerSetup.LEVEL_WIDTH:d}s] - %(name)s - [%(filename)s:%(lineno)d] - '
+            f'[Thread: %(threadName)s | PID: %(process)d] - %(message)s'
+        )
+
+        console_handler = logging.StreamHandler(sys.stdout)
+        console_handler.setLevel(console_level)
+        console_handler.setFormatter(console_formatter)
+        logger.addHandler(console_handler)
+
+        if log_file:
+            log_path = Path(log_file)
+            log_path.parent.mkdir(parents=True, exist_ok=True)
+
+            file_handler = RotatingFileHandler(log_file, maxBytes=5 * 1024 * 1024, backupCount=5)
+            file_handler.setLevel(file_level)
+            file_handler.setFormatter(file_formatter)
+            logger.addHandler(file_handler)
+
+        return logger