Fix a bug where arduino would crash on incorrectly sized i2c payload

README.md

@@ -0,0 +1,7 @@
+# To install on robot
+
+```
+git clone <url>
+cd lewis-crawler/crawler_software/raspberry_pi
+make install?
+```

companion_software/BasicBot.py

@@ -1,23 +0,0 @@
-from discord_webhook import DiscordWebhook
-from picamera import PiCamera
-from time import sleep
-
-
-def get_uptime():
-    with open('/proc/uptime', 'r') as f:
-        uptime_seconds = float(f.readline().split()[0])
-
-    return uptime_seconds
-
-webhookURL = "https://discord.com/api/webhooks/856609966404534272/TR9tnLq2sIGZoOeADNswmGRNlzBcqM5aKihfU6snVTP9WhSSoVVvi7nT6i-ZfZS7Hcqm"
-
-webhook = DiscordWebhook(url=webhookURL, content="Uptime: " + str( round( ((get_uptime() / 60) / 60 ), 2 )) + " hours")
-
-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
-

crawler_software/arduino/crawler_slave/Makefile

@@ -1,38 +0,0 @@
-# A makefile for building the robot's slave software
-# Uses arduino-cli
-#
-# Kitsune Scientific 2021
-
-# What board to build for and its core
-CORE     ?= arduino:avr
-FQBN     ?= arduino:avr:nano
-
-# What port to build on
-ifndef SERIAL_DEV
-  ifneq (,$(wildcard /dev/ttyUSB0))
-    SERIAL_DEV = /dev/ttyUSB0
-  else ifneq (,$(wildcard /dev/ttyACM0))
-    SERIAL_DEV = /dev/ttyACM0
-  else
-    SERIAL_DEV = unknown
-  endif
-endif
-
-all: requirements build upload
-
-build: crawler_slave.ino
-	arduino-cli core install $(CORE)
-
-	arduino-cli compile -b $(FQBN) crawler_slave
-
-upload:
-	echo "Would install to $(SERIAL_DEV)"
-
-requirements:
-	@if [ -e requirements.txt ]; \
-	then while read -r i ; do echo ; \
-		echo "---> Installing " '"'$$i'"' ; \
-		arduino-cli lib install "$$i" ; \
-	done < requirements.txt ; \
-	else echo "---> MISSING requirements.txt file"; \
-	fi

crawler_software/arduino/crawler_slave/crawler_slave.ino

@@ -10,16 +10,28 @@
 // This servo is used to wipe and clean the camera lens
 Servo windowWiperServo;
 
+// Variables populated over i2c from master
+int id;
+int val;
+
 void setup() {
+  // For debugging
+  //Serial.begin(115200);
+  
   // Attach the wiper servo to pin 9
   windowWiperServo.attach(9);
 
   // This is the address the pi will speak to us at
-  Wire.begin(0x8);
+  Wire.begin(0x4);
   
   // Call receiveEvent when data received                
   Wire.onReceive(receiveEvent);
-  
+
+  // Setup LED
+  pinMode(LED_BUILTIN, OUTPUT);
+  digitalWrite(LED_BUILTIN, LOW);
+
+  //Serial.println("Started");
 }
 
 // Just loop to keep the running code alive, and wait for events to happen.
@@ -28,9 +40,24 @@ void loop() {
 }
 
 // This method runs when we receive a message
-void receiveEvent(int howMany) {
+void receiveEvent(int n) {
-  while (Wire.available()) { // loop through all but the last
+  Wire.read(); // Remove smbus trash
-    int pos = Wire.read(); // receive byte as a int
+  if (true) { // Dont do anything if this is not true
-    windowWiperServo.write(pos);
+    id  = Wire.read(); // ID of the servo/device to access
+    val = Wire.read(); // Value to assign
+
+    //Serial.println(id);
+    //Serial.println(val);
+  
+    switch(id) {
+      case 1:
+        windowWiperServo.write(val);
+        break;
+    }
+  }
+
+  // Prevents a bug where if bytes are left in buffer, arduino crashes.
+  while (Wire.available()) {
+    Wire.read();
   }
 }

crawler_software/arduino/crawler_slave/requirements.txt

@@ -1 +0,0 @@
-Servo

crawler_software/raspberry_pi/crawler.service

@@ -0,0 +1,11 @@
+[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

crawler_software/raspberry_pi/requirements.txt

@@ -1,2 +1,2 @@
 PySSTV
-picamera
+picamera

crawler_software/raspberry_pi/tests/discordbot.py

@@ -5,18 +5,30 @@ from gps import *
 from smbus import SMBus
 import time
 
-addr = 0x8 # bus address
+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(70, 130):
+            for i in range(78, 130):
-                    bus.write_byte(addr, i)
+                    writeData("WIPE-" + str(i))
                     time.sleep(0.02)
-            for i in range(130, 70, -1):
+            for i in range(130, 78, -1):
-                    bus.write_byte(addr, i)
+                    writeData("WIPE-" + str(i))
                     time.sleep(0.02)
 except OSError:
     print("Could not speak to ardujmemo")

crawler_software/raspberry_pi/tests/stack_overflow.py

@@ -0,0 +1,20 @@
+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")