init to commit it

Software/raspberry_pi/config/hardware.yaml

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+wiper_servo:
+  pin: 17
+  min_pulse: 0.000544
+  max_pulse: 0.0024
+

Software/raspberry_pi/crawler.service

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+[Unit]
+Description=Crawler service overseer, manages running main crawler software
+After=multi-user.target
+
+[Service]
+Type=simple
+Restart=always
+ExecStart=/usr/bin/python /srv/crawler/crawler.py
+
+[Install]
+WantedBy=multi-user.target

Software/raspberry_pi/requirements.txt

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+PySSTV
+picamera

Software/raspberry_pi/sstv.py

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+from shutil import copyfile
+from PIL import Image, ImageFont, ImageDraw
+from pysstv import color
+
+import logging as log
+
+try:
+    from picamera import PiCamera
+except ModuleNotFoundError:
+    log.info("Running in simulator mode")
+
+
+def take_photo():
+    # This def is meant to take a photograph from the robot, 
+    # it should include all steps and error checking to raise the mast
+    # Take the photo, and put the mast down.
+
+    # Copy in the test pattern png (if photo process errors out, this will be used instead)
+    log.debug('Copying test pattern.')
+    copyfile('photos/TEST_PATTERN.jpg', 'working/working.jpg')
+
+    # Software to take the photo should be here
+    #copyfile('photos/camera_latest.jpg', 'working/working.jpg')
+    log.debug('Initalizing camera.')
+    try:
+        camera = PiCamera()
+        log.info('Saving photo.')
+        camera.capture('working/working.jpg')
+    except NameError:
+        log.info("Running in simulator mode, not replacing test pattern")
+
+def mark_photo():
+    log.info('Opening photo for viewing.')
+    raw_img = Image.open("working/working.jpg") # Open the current working image
+    log.info('Resizing image.')
+    img = raw_img.resize((320, 240), Image.ANTIALIAS) # resize it for the radio
+
+    log.info('Drawing on image.')
+    if False:
+        TINT_COLOR = (255, 255, 255) # White text bg
+        TEXT_COLOR = (0,0,0)
+    else:
+        TINT_COLOR = (0, 0, 0) # Black text bg
+        TEXT_COLOR = (255,255,255)
+    TRANSPARENCY = .25  # Degree of transparency, 0-100%
+    OPACITY = int(255 * TRANSPARENCY)
+    overlay = Image.new('RGBA', img.size, TINT_COLOR+(0,))
+
+    draw = ImageDraw.Draw(overlay)
+    #bigfont = ImageFont.truetype(r'C:\Users\System-Pc\Desktop\arial.ttf', 20) 
+    #smallfont = ImageFont.truetype(r'C:\Users\System-Pc\Desktop\arial.ttf', 17) 
+    
+    draw.rectangle(((0, 0), (90, 20)), fill=TINT_COLOR+(OPACITY,))
+    #draw.text((0, 0),"KW1FOX",TEXT_COLOR,font=bigfont) # Draw KW1FOX in the top left
+
+    draw.rectangle(((0, 40), (83, 80)), fill=TINT_COLOR+(OPACITY,))
+    #draw.text((0, 40),"day: 25.2",TEXT_COLOR,font=smallfont)
+    #draw.text((0, 60),"Volt: 13.8",TEXT_COLOR,font=smallfont)
+    #draw.text((0, 80),"Miles: 1.02",TEXT_COLOR,font=smallfont)
+
+    log.info('Converting image color.')
+    img = img.convert("RGBA")
+    img = Image.alpha_composite(img, overlay)
+    img = img.convert("RGB")
+    img.save('working/working.jpg') # Save the working image
+    return img
+
+if __name__ == "__main__":
+    log.basicConfig(level=log.DEBUG)
+
+    # Take photograph. 
+    log.info('Taking Photograph')
+    take_photo() # Saves a photograph to the working/working.jpg location
+    log.info('Done taking photo.')
+
+    # Draw neccicary text on photo
+    log.info('Drawing on photo.')
+    radio_photo = mark_photo() # draws text on working/working.jpg and returns a PIL image
+    log.info('Done drawing on photo.')
+
+    log.info('Creating slowscan.')
+    slowscan = color.Robot36(radio_photo, 48000, 16) # Image, rate, bits
+    #slowscan = color.MartinM1(radio_photo, 48000, 16) # Image, rate, bits
+    log.info('Saving out slowscan.')
+    slowscan.write_wav('working/working.wav')
+
+    #sstv('working/working.png', 'working/radio.wav', mode='Robot36')

Software/raspberry_pi/tests/discordbot.py

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+from discord_webhook import DiscordWebhook
+from picamera import PiCamera
+from time import sleep
+from gps import *
+from smbus import SMBus
+import time
+
+addr = 0x4 # bus address
+bus = SMBus(1) # indicates /dev/ic2-1
+
+numb = 1
+
+def writeData(value):
+    byteValue = StringToBytes(value)    
+    bus.write_i2c_block_data(addr,0x00,byteValue) #first byte is 0=command byte.. just is.
+    return -1
+
+
+def StringToBytes(val):
+        retVal = []
+        for c in val:
+                retVal.append(ord(c))
+        return retVal
+
+try:
+    for _x in range (0, 2):
+            for i in range(78, 130):
+                    writeData("WIPE-" + str(i))
+                    time.sleep(0.02)
+            for i in range(130, 78, -1):
+                    writeData("WIPE-" + str(i))
+                    time.sleep(0.02)
+except OSError:
+    print("Could not speak to ardujmemo")
+
+def get_uptime():
+    with open('/proc/uptime', 'r') as f:
+        uptime_seconds = float(f.readline().split()[0])
+
+    return uptime_seconds
+
+def getPositionData(gps):
+    location = [None]
+    while(location[0] == None):
+        print("Trying again")
+        nx = gpsd.next()
+        # For a list of all supported classes and fields refer to:
+        # https://gpsd.gitlab.io/gpsd/gpsd_json.html
+        if nx['class'] == 'TPV':
+            latitude = getattr(nx,'lat', "Unknown")
+            longitude = getattr(nx,'lon', "Unknown")
+            #print "Your position: lon = " + str(longitude) + ", lat = " + str(latitude)
+            location = [latitude, longitude]
+    return location
+
+gpsd = gps(mode=WATCH_ENABLE|WATCH_NEWSTYLE)
+
+loc = getPositionData(gpsd)
+
+webhookURL = "https://discord.com/api/webhooks/856609966404534272/TR9tnLq2sIGZoOeADNswmGRNlzBcqM5aKihfU6snVTP9WhSSoVVvi7nT6i-ZfZS7Hcqm"
+
+print(loc[0])
+print(loc[1])
+webhook = DiscordWebhook(url=webhookURL, content="Uptime: " + str( round( ((get_uptime() / 60) / 60 ), 2 )) + " hours. Lat is " + str(loc[0]) + ", long is " + str(loc[1]))
+
+camera = PiCamera()
+sleep(3) # let iso settle out
+camera.capture('still.jpg')
+
+with open("still.jpg", "rb") as f:
+	webhook.add_file(file=f.read(), filename='still.jpg')
+response = webhook.execute() # Hit send
+

Software/raspberry_pi/tests/servo_test.py

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+import RPi.GPIO as GPIO
+import time
+
+servoPIN = 17
+GPIO.setmode(GPIO.BCM)
+GPIO.setup(servoPIN, GPIO.OUT)
+
+p = GPIO.PWM(servoPIN, 50) # GPIO 17 for PWM with 50Hz
+p.start(2.5) # Initialization
+try:
+  while True:
+    p.ChangeDutyCycle(10)
+    time.sleep(2)
+    p.ChangeDutyCycle(2.5)
+    time.sleep(2)
+except KeyboardInterrupt:
+  p.stop()
+  GPIO.cleanup()
+

Software/raspberry_pi/tests/stack_overflow.py

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+import smbus
+import time
+import struct
+
+# for RPI version 1, use bus = smbus.SMBus(0)
+bus = smbus.SMBus(1)
+
+# This is the address we setup in the Arduino Program
+address = 0x04
+
+try:
+    for _x in range (0, 2):
+            for i in range(78, 130):
+                    bus.write_i2c_block_data(address, 0, [1, i])
+                    time.sleep(0.02)
+            for i in range(130, 78, -1):
+                    bus.write_i2c_block_data(address, 0, [1, i])
+                    time.sleep(0.02)
+except OSError:
+    print("Could not speak to ardujmemo")

Software/raspberry_pi/tests/test_i2c.py

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+#  Raspberry Pi Master for Arduino Slave
+#  i2c_master_pi.py
+#  Connects to Arduino via I2C
+  
+#  DroneBot Workshop 2019
+#  https://dronebotworkshop.com
+
+from smbus import SMBus
+import time
+
+addr = 0x8 # bus address
+bus = SMBus(1) # indicates /dev/ic2-1
+
+numb = 1
+
+print ("Enter num")
+
+for _x in range (0, 4):
+	for i in range(76, 130):
+		bus.write_byte(addr, i)
+		time.sleep(0.02)
+	for i in range(130, 76, -1):
+                bus.write_byte(addr, i)
+                time.sleep(0.02)
+
+#while numb == 1:
+#
+#	ledstate = input(">>>>   ")
+#
+#	if ledstate == "1":
+#		bus.write_byte(addr, 0x1) # switch it on
+#	elif ledstate == "0":
+#		bus.write_byte(addr, 0x0) # switch it on
+#	else:
+#		numb = 0

Software/raspberry_pi/tests/test_tx.py

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+import RPi.GPIO as GPIO # Import Raspberry Pi GPIO library
+from time import sleep # Import the sleep function from the time module
+
+GPIO.setwarnings(False) # Ignore warning for now
+GPIO.setmode(GPIO.BOARD) # Use physical pin numbering
+GPIO.setup(12, GPIO.OUT, initial=GPIO.LOW) # Set pin 8 to be an output pin and set initial value to low (off)
+
+while True: # Run forever
+ GPIO.output(12, GPIO.HIGH) # Turn on
+ sleep(1) # Sleep for 1 second
+ GPIO.output(12, GPIO.LOW) # Turn off
+ sleep(1) # Sleep for 1 second