mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 09:51:13 +00:00
Oleksandr Bezdieniezhnykh
48 lines
1.6 KiB
Python
48 lines
1.6 KiB
Python
"""Loader for installed BASALT-compatible VIO runtime packages."""
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from collections.abc import Mapping
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from importlib import import_module
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from typing import Any
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from vio_adapter.interfaces import NativeVioRunner, VioBackendError
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from vio_adapter.types import VioBackendEstimate
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class BasaltNativeRunner:
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"""Adapts an installed BASALT binding to the VIO runner protocol."""
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def __init__(
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self,
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module_name: str = "basalt_vio",
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factory_name: str = "create_runner",
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config: Mapping[str, object] | None = None,
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) -> None:
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self._module_name = module_name
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self._factory_name = factory_name
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self._config = dict(config or {})
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self._runner: NativeVioRunner | None = None
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def initialize(self) -> None:
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try:
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module = import_module(self._module_name)
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factory = getattr(module, self._factory_name)
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runner = factory(**self._config)
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except Exception as exc:
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raise VioBackendError(
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f"unable to load BASALT runtime {self._module_name}:{self._factory_name}"
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) from exc
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if not isinstance(runner, NativeVioRunner):
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raise VioBackendError(
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f"BASALT runtime {self._module_name}:{self._factory_name} "
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"does not implement NativeVioRunner"
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)
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self._runner = runner
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self._runner.initialize()
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def estimate(self, frame: Any, telemetry_window: tuple[Any, ...]) -> VioBackendEstimate:
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if self._runner is None:
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raise VioBackendError("BASALT runtime is not initialized")
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return self._runner.estimate(frame, telemetry_window)
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