Move Config to spark_config (#27)

* Move Config to spark_config

* Install Spark-Config in CI

* Try to install spark_config with pip

* cleanup

.github/workflows/ci-action.yml

@@ -27,7 +27,8 @@ jobs:
       - name: Pre-commit
         run: pip install pre-commit && cd ${{ github.workspace }}/ouroboros_repo && pre-commit run --all-files
       - name: Dependencies
-        run: sudo apt install libeigen3-dev pkg-config
+        run: |
+            sudo apt install -y libeigen3-dev pkg-config git
       - name: Install Ouroboros
         run: cd ${{ github.workspace }}/ouroboros_repo && pwd && pip install .
       - name: Run test script

examples/config_example.py

@@ -3,7 +3,7 @@
 from dataclasses import dataclass
 from typing import Any
 
-from ouroboros.config import Config, config_field, register_config
+from spark_config import Config, config_field, register_config
 
 
 class ExampleTopLevel:

examples/vlc_server_driver_example.py

@@ -5,10 +5,11 @@
 
 import matplotlib.pyplot as plt
 import numpy as np
+import spark_config as sc
+from spark_config import Config, config_field
 from spark_dataset_interfaces.rosbag_dataloader import RosbagDataLoader
 
 import ouroboros as ob
-from ouroboros.config import Config, config_field
 from ouroboros.utils.plotting_utils import plt_fast_pause
 
 # Must be False in i3 if you want to save consistent-sized overhead plots for animation
@@ -91,7 +92,7 @@ def plot_lc_gt_pose(lc, image_to_pose):
     )
 
 
-plugins = ob.discover_plugins()
+plugins = sc.discover_plugins()
 print("Discovered Plugins: ")
 print(plugins)
 

extra/ouroboros_ros/src/ouroboros_ros/vlc_server_ros.py

@@ -7,6 +7,7 @@
 import message_filters
 import numpy as np
 import rospy
+import spark_config as sc
 import tf2_ros
 from pose_graph_tools_msgs.msg import PoseGraph
 from sensor_msgs.msg import CameraInfo, Image
@@ -81,7 +82,7 @@ def __init__(self):
         self.lc_send_delay_s = rospy.get_param("~lc_send_delay_s")
         self.robot_id = rospy.get_param("~robot_id")
 
-        plugins = ob.discover_plugins()
+        plugins = sc.discover_plugins()
         print("Found plugins: ", plugins)
         config_path = rospy.get_param("~config_path")
         server_config = ob.VlcServerConfig.load(config_path)

extra/ouroboros_ros/src/ouroboros_ros/vlc_server_ros_display.py

@@ -6,9 +6,9 @@
 import rospy
 from cv_bridge import CvBridge, CvBridgeError
 from sensor_msgs.msg import Image
+from spark_config import Config, register_config
 
 import ouroboros as ob
-from ouroboros.config import Config, register_config
 
 
 class VlcServerRosDisplay:

setup.py

@@ -111,6 +111,7 @@ def _get_eigen_flags():
         "pyyaml",
         "pytest",
         "scipy>=1.4.0",
+        "spark_config @ git+https://github.com/MIT-SPARK/Spark-Config@main",
     ],
     ext_modules=ext_modules,
     cmdclass={"build_ext": build_ext},

src/ouroboros/__init__.py

@@ -1,8 +1,3 @@
-import importlib
-import logging
-import pkgutil
-
-from ouroboros.config import *
 from ouroboros.pose_recovery import *
 from ouroboros.vlc_db import (
     KeypointSizeException,
@@ -19,25 +14,3 @@
     pose_from_quat_trans,
 )
 from ouroboros.vlc_server.vlc_server import VlcServer, VlcServerConfig
-
-
-def discover_plugins():
-    def _try_load(name):
-        try:
-            return importlib.import_module(name)
-        except ImportError as e:
-            logging.getLogger("ouroboros").warning(
-                f"Unable to load plugin '{name}': {e}"
-            )
-            return None
-
-    discovered_plugins = {
-        name: _try_load(name)
-        for finder, name, ispkg in pkgutil.iter_modules()
-        if name.startswith("ouroboros_")
-    }
-    discovered_plugins = {k: v for k, v in discovered_plugins.items() if v is not None}
-    return discovered_plugins
-
-
-# TOOD(nathan) register discovered