Add some notes

.gitignore

@@ -1,7 +1,14 @@
 # Python
 __pycache__
+Pipfile
+Pipfile.lock
 
 # CAD
 *.stl
 *.FCStd1
 
+# Artifacts
+*.png
+*.jpg
+*.wav
+*.pdf

README.md

@@ -0,0 +1,19 @@
+# To install on robot
+
+```
+git clone https://kitsunehosting.net/gitea/Kenwood/lewis-crawler /srv/crawler
+cd /srv/crawler/crawler_software/raspberry_pi
+make install
+```
+
+# Updating
+
+```
+cd /srv/crawler
+git pull
+```
+
+
+# Notes
+
+[Uart Stuff](https://www.reddit.com/r/raspberry_pi/comments/833qux/binary_file_tranfer_via_uart/)

companion_software/BasicBot.py

@@ -0,0 +1,23 @@
+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

@@ -0,0 +1,38 @@
+# 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:cpu=atmega328old
+
+# 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: requirements crawler_slave.ino
+	arduino-cli core install $(CORE)
+
+	arduino-cli compile -b $(FQBN) crawler_slave
+
+upload: requirements crawler_slave.ino
+	arduino-cli upload -b $(FQBN) crawler_slave -p $(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

@@ -0,0 +1,65 @@
+/* Crawler Slave
+ *  
+ *  This code runs on the crawler i2c network
+ *  and provides a cleaner, less CPU intensive control over PWM devices.
+ */
+
+#include <Wire.h>
+#include <Servo.h>
+
+// 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(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.
+void loop() {
+  delay(50);
+}
+
+// This method runs when we receive a message
+void receiveEvent(int n) {
+  Wire.read(); // Remove smbus trash
+  if (true) { // Dont do anything if this is not true
+    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); // Set a val
+        delay(5); // pause for a moment
+        windowWiperServo.detach(); // Detach (stop moving) the servo
+        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

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

crawler_software/raspberry_pi/Makefile

@@ -0,0 +1,18 @@
+# A makefile for installing the robot's python
+# software and setting it up.
+#
+# Requires sudo
+#
+# Kitsune Scientific 2021
+
+all: install
+
+upload: crawler.service
+	sudo cp crawler.service /etc/systemd/system/crawler.service
+
+	sudo systemctl daemon-reload
+
+	sudo systemctl enable crawler.service
+	sudo systemctl start crawler.service
+
+	sudo systemctl status crawler

crawler_software/raspberry_pi/config/hardware.yaml

@@ -0,0 +1,5 @@
+wiper_servo:
+  pin: 17
+  min_pulse: 0.000544
+  max_pulse: 0.0024
+

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

@@ -0,0 +1,2 @@
+PySSTV
+picamera

crawler_software/raspberry_pi/sstv.py

@@ -1,9 +1,15 @@
 from shutil import copyfile
 from PIL import Image, ImageFont, ImageDraw
 from pysstv import color
-from picamera import PiCamera
+
 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
@@ -16,9 +22,12 @@ def take_photo():
     # 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.')

crawler_software/raspberry_pi/tests/color_compression/compress.py

@@ -0,0 +1,16 @@
+from PIL import Image
+import base64
+
+im = Image.open('still.jpg')
+
+# using Image.ADAPTIVE to avoid dithering
+for i in range(8, 0, -1):
+    out = im.convert('P', palette=Image.ADAPTIVE, colors=i)
+
+    out.save(f'out_{i}_bits.png')
+    
+    with open(f'out_{i}_bits.png', 'rb') as image_file:
+        encoded_string = base64.a85encode(image_file.read())
+
+    with open(f'out_{i}_bits.txt', 'w') as f:
+        f.write(encoded_string.decode('UTF-8'))

crawler_software/raspberry_pi/tests/color_compression/out_1_bits.txt

@@ -0,0 +1 @@
+M,6r;%14!\!!!!.8Ou6I!!!)I!!!&X#Qk&,!4s2MScA`m!)Q?g7AGd(zzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzz!.5pZZiC(+%V8a6Akbu".KBGK#QOi)zdSl>0!!-\'6pXdsSF+-I!<<*"_P$QtD$r"izzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzz!!!"D(e?.W!V_LqE<#t=!(fUS7'8jaJc

crawler_software/raspberry_pi/tests/discordbot.py

@@ -0,0 +1,73 @@
+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
+

crawler_software/raspberry_pi/tests/otp/otp_test.py

@@ -0,0 +1,25 @@
+from random import randrange
+import time, pyotp, datetime
+
+hotp = pyotp.HOTP(pyotp.random_base32())
+
+success = 0
+num_tries = 20
+
+for i in range(0,num_tries):
+    epoch = int(time.time())
+    code = hotp.at(epoch)
+    print('------------------------')
+    print(f'Made a code {code} at {epoch}, sending a simualted instruction')
+
+    waittime = randrange(5)
+    print(f'Instuction will take {waittime} seconds to receive or be recieved')
+    time.sleep(waittime)
+
+    if hotp.verify(code, epoch):
+        print(f'code:{code} verified')
+        success += 1
+    else:
+        print(f'code:{code} expired')
+
+print(f'Succeded {success} out of {num_tries} tries')

crawler_software/raspberry_pi/tests/servo_test.py

@@ -0,0 +1,19 @@
+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()
+

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")

crawler_software/raspberry_pi/tests/test_i2c.py

@@ -0,0 +1,35 @@
+#  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

crawler_software/raspberry_pi/tests/test_tx.py

@@ -0,0 +1,12 @@
+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

requirements.txt

@@ -1,2 +0,0 @@
-PySSTV
-picamera