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0651b21 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 | """Base sensor abstract class.
The ``gymnasium`` dependency is lazy-imported so the camera server can
run without it.
"""
from abc import abstractmethod
from typing import Any
class Sensor:
"""Base class for camera / sensor implementations.
Concrete drivers (OAK, RealSense, ZED, USB, …) inherit from this and
implement at least :meth:`read` and :meth:`serialize`.
"""
def read(self, **kwargs) -> Any:
"""Read the current sensor value (e.g. a dict of images)."""
def observation_space(self):
"""Return a ``gymnasium.Space`` describing the observation.
Only used during init to report camera capabilities to the
composed-camera orchestrator; not required for data collection.
"""
@abstractmethod
def serialize(self, data: dict[str, Any]) -> dict[str, Any]:
"""Serialize the sensor reading for ZMQ transmission."""
def close(self):
"""Release hardware resources."""
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