Support Saving Long-term Memory (#463)

* Added LTM utils. (#462)

* Added config `use_ltm`. (#462)

* Migrated `distance_between()` to `leads.data`. (#462)

* Supported odometer under GPS-only mode. (#462)

* Merged submodules.

README.md

@@ -607,6 +607,7 @@ Note that a purely empty file could cause an error.
 | `comm_stream_port`     | `bool`  | Port on which the streaming system runs on                                            | Main, Remote | `16901`       |
 | `data_dir`             | `str`   | Directory for the data recording system                                               | Main, Remote | `"data"`      |
 | `save_data`            | `bool`  | `True`: save data; `False`: discard data                                              | Remote       | `False`       |
+| `use_ltm`              | `bool`  | `True`: use long-term memory; `False`: short-term memory only                         | Main         | `False`       |
 
 For device-related implicit configurations, please see the [devices module](leads_vec/devices.py).
 

leads/__init__.py

@@ -5,6 +5,7 @@
 from leads.event import *
 from leads.leads import *
 from leads.logger import Level, L
+from leads.ltm import *
 from leads.plugin import *
 from leads.registry import *
 from leads.sft import SFT, mark_device, read_device_marker

leads/_ltm/core

@@ -0,0 +1 @@
+{}

leads/data.py

@@ -2,7 +2,7 @@
 from time import time as _time
 from typing import override as _override, Any as _Any
 
-from numpy import radians as _radians, degrees as _degrees, cos as _cos
+from numpy import radians as _radians, degrees as _degrees, cos as _cos, sqrt as _sqrt
 
 
 class Serializable(object):
@@ -161,6 +161,18 @@ def meters2dlon(meters: float, lat: float) -> float:
     return _degrees(meters / 6378137 / _cos(_radians(lat)))
 
 
+def distance_between(lat_0: float, lon_0: float, lat: float, lon: float) -> float:
+    """
+    Calculate the distance between two locations on the Earth.
+    :param lat_0: the latitude of the first location
+    :param lon_0: the longitude of the first location
+    :param lat: the latitude of the second location
+    :param lon: the longitude of the second location
+    :return:
+    """
+    return _sqrt(dlon2meters(lon - lon_0, .5 * (lat_0 + lat)) ** 2 + dlat2meters(lat - lat_0) ** 2)
+
+
 def format_duration(duration: float) -> str:
     """
     Wrap the duration into a formatted string.

leads/data_persistence/analyzer/inference.py

@@ -1,8 +1,9 @@
 from abc import ABCMeta as _ABCMeta, abstractmethod as _abstractmethod
 from typing import Any as _Any, override as _override, Generator as _Generator, Literal as _Literal
 
+from leads.data import distance_between
 from leads.data_persistence.analyzer.utils import time_invalid, speed_invalid, acceleration_invalid, \
-    mileage_invalid, latitude_invalid, longitude_invalid, distance_between
+    mileage_invalid, latitude_invalid, longitude_invalid
 from leads.data_persistence.core import CSVDataset, DEFAULT_HEADER, VISUAL_HEADER_ONLY
 
 
@@ -239,6 +240,7 @@ class VisualDataRealignmentByLatency(Inference):
     Offset the delay introduced by camera recording and video encoding so that the sensor data and the picture of the
     same frame match.
     """
+
     def __init__(self, *channels: _Literal["front", "left", "right", "rear"]) -> None:
         super().__init__((0, 1), VISUAL_HEADER_ONLY)
         self._channels: tuple[_Literal["front", "left", "right", "rear"], ...] = channels if channels else (

leads/data_persistence/analyzer/utils.py

@@ -1,8 +1,5 @@
 from typing import Any as _Any
 
-from leads.data import dlat2meters, dlon2meters
-from .._computational import sqrt as _sqrt
-
 
 def time_invalid(o: _Any) -> bool:
     return not isinstance(o, int)
@@ -30,15 +27,3 @@ def longitude_invalid(o: _Any) -> bool:
 
 def latency_invalid(o: _Any) -> bool:
     return not isinstance(o, int | float)
-
-
-def distance_between(lat_0: float, lon_0: float, lat: float, lon: float) -> float:
-    """
-    Calculate the distance between two locations on the Earth.
-    :param lat_0: the latitude of the first location
-    :param lon_0: the longitude of the first location
-    :param lat: the latitude of the second location
-    :param lon: the longitude of the second location
-    :return:
-    """
-    return _sqrt(dlon2meters(lon - lon_0, .5 * (lat_0 + lat)) ** 2 + dlat2meters(lat - lat_0) ** 2)

leads/ltm.py

@@ -0,0 +1,32 @@
+from json import loads as _loads, dumps as _dumps
+from os.path import abspath as _abspath
+
+from leads.types import SupportedConfigValue as _SupportedConfigValue
+
+_ltm: dict[str, _SupportedConfigValue] = {}
+
+
+def _load_ltm() -> None:
+    global _ltm
+    with open(f"{_abspath(__file__)[:-6]}_ltm/core", "r") as f:
+        ltm_content = f.read()
+        if not (ltm_content.startswith("{") and ltm_content.endswith("}")):
+            ltm_content = "{}"
+        _ltm = _loads(ltm_content)
+
+
+def _sync_ltm() -> None:
+    with open(f"{_abspath(__file__)[:-6]}_ltm/core", "w") as f:
+        f.write(_dumps(_ltm))
+
+
+def ltm_get(key: str) -> _SupportedConfigValue:
+    return _ltm[key]
+
+
+def ltm_set(key: str, value: _SupportedConfigValue) -> None:
+    _ltm[key] = value
+    _sync_ltm()
+
+
+_load_ltm()

leads_vec/config.py

@@ -9,4 +9,5 @@ def __init__(self, base: dict[str, _Any]) -> None:
         self.comm_stream: bool = False
         self.comm_stream_port: int = 16901
         self.data_dir: str = "data"
+        self.use_ltm: bool = False
         super().__init__(base)

leads_vec/devices.py

@@ -4,7 +4,8 @@
     Controller, CENTER_REAR_WHEEL_SPEED_SENSOR, require_config, mark_device, ODOMETER, GPS_RECEIVER, \
     ConcurrentOdometer, LEFT_INDICATOR, RIGHT_INDICATOR, VOLTAGE_SENSOR, DataContainer, has_device, \
     FRONT_VIEW_CAMERA, LEFT_VIEW_CAMERA, RIGHT_VIEW_CAMERA, REAR_VIEW_CAMERA, VisualDataContainer, BRAKE_INDICATOR, \
-    SFT, read_device_marker, has_controller, POWER_CONTROLLER, WHEEL_SPEED_CONTROLLER, ACCELEROMETER, require_context
+    SFT, read_device_marker, has_controller, POWER_CONTROLLER, WHEEL_SPEED_CONTROLLER, ACCELEROMETER, require_context, \
+    ltm_get, ltm_set, distance_between
 from leads_arduino import ArduinoMicro, WheelSpeedSensor, VoltageSensor, Accelerometer, Acceleration
 from leads_comm_serial import SOBD
 from leads_gpio import NMEAGPSReceiver, LEDGroup, LED, LEDGroupCommand, LEDCommand, Entire, Transition, Button, \
@@ -54,16 +55,19 @@ def initialize(self, *parent_tags: str) -> None:
     @override
     def read(self) -> DataContainer:
         general = {
-            "mileage": self.device(ODOMETER).read(),
             "gps_valid": (gps := self.device(GPS_RECEIVER).read())[0],
             "gps_ground_speed": gps[1],
             "latitude": gps[2],
             "longitude": gps[3],
             **self.device(POWER_CONTROLLER).read()
         }
         wsc = self.device(WHEEL_SPEED_CONTROLLER).read()
+        odometer = self.device(ODOMETER)
         if GPS_ONLY:
             wsc["speed"] = gps[1]
+            prev = require_context().data()
+            odometer.write(odometer.read() + distance_between(prev.latitude, prev.longitude, gps[2], gps[3]))
+        general["mileage"] = odometer.read()
         visual = {}
         if has_device(FRONT_VIEW_CAMERA):
             cam = get_camera(FRONT_VIEW_CAMERA, Base64Camera)
@@ -138,10 +142,17 @@ class AverageOdometer(ConcurrentOdometer):
     def initialize(self, *parent_tags: str) -> None:
         mark_device(self, "WSC")
         super().initialize(*parent_tags)
+        if config.use_ltm:
+            self.write(ltm_get("mileage"))
+
+    @override
+    def write(self, payload: float) -> None:
+        super().write(payload)
+        ltm_set("mileage", payload)
 
     @override
     def read(self) -> float:
-        return super().read() / 3
+        return super().read() if GPS_ONLY else super().read() / 3
 
 
 @device(*(((LEFT_FRONT_WHEEL_SPEED_SENSOR, RIGHT_FRONT_WHEEL_SPEED_SENSOR, CENTER_REAR_WHEEL_SPEED_SENSOR),