mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 11:41:13 +00:00
Oleksandr Bezdieniezhnykh
48 lines
1.6 KiB
Python
48 lines
1.6 KiB
Python
"""Loader for installed BASALT-compatible VIO runtime packages."""
|
|
|
|
from collections.abc import Mapping
|
|
from importlib import import_module
|
|
from typing import Any
|
|
|
|
from vio_adapter.interfaces import NativeVioRunner, VioBackendError
|
|
from vio_adapter.types import VioBackendEstimate
|
|
|
|
|
|
class BasaltNativeRunner:
|
|
"""Adapts an installed BASALT binding to the VIO runner protocol."""
|
|
|
|
def __init__(
|
|
self,
|
|
module_name: str = "basalt_vio",
|
|
factory_name: str = "create_runner",
|
|
config: Mapping[str, object] | None = None,
|
|
) -> None:
|
|
self._module_name = module_name
|
|
self._factory_name = factory_name
|
|
self._config = dict(config or {})
|
|
self._runner: NativeVioRunner | None = None
|
|
|
|
def initialize(self) -> None:
|
|
try:
|
|
module = import_module(self._module_name)
|
|
factory = getattr(module, self._factory_name)
|
|
runner = factory(**self._config)
|
|
except Exception as exc:
|
|
raise VioBackendError(
|
|
f"unable to load BASALT runtime {self._module_name}:{self._factory_name}"
|
|
) from exc
|
|
|
|
if not isinstance(runner, NativeVioRunner):
|
|
raise VioBackendError(
|
|
f"BASALT runtime {self._module_name}:{self._factory_name} "
|
|
"does not implement NativeVioRunner"
|
|
)
|
|
|
|
self._runner = runner
|
|
self._runner.initialize()
|
|
|
|
def estimate(self, frame: Any, telemetry_window: tuple[Any, ...]) -> VioBackendEstimate:
|
|
if self._runner is None:
|
|
raise VioBackendError("BASALT runtime is not initialized")
|
|
return self._runner.estimate(frame, telemetry_window)
|