superpipe being weird

Reviewed-on: https://kitsunehosting.net/gitea/Kenwood/lewis-crawler/pulls/4

.gitignore

@@ -5,3 +5,8 @@ __pycache__
 *.stl
 *.FCStd1
 
+# Artifacts
+*.png
+*.jpg
+*.wav
+*.pdf

README.md

@@ -0,0 +1,15 @@
+# To install on robot
+
+```
+git clone <url>
+cd lewis-crawler/crawler_software/raspberry_pi
+make install?
+```
+
+# Getting started with the CAD
+
+```
+git clone https://kitsunehosting.net/gitea/Kenwood/lewis-crawler
+git checkout crawler-cad
+```
+find cad under `lewis-crawler/crawler-cad`

companion_software/Pipfile

@@ -0,0 +1,12 @@
+[[source]]
+url = "https://pypi.org/simple"
+verify_ssl = true
+name = "pypi"
+
+[packages]
+Pillow = "*"
+
+[dev-packages]
+
+[requires]
+python_version = "3.9"

companion_software/Pipfile.lock

@@ -0,0 +1,68 @@
+{
+    "_meta": {
+        "hash": {
+            "sha256": "a2ebd6d3c633cc5dec90d7752d4757fc614d58ce4dc35d0d5796ce6b9148c5f4"
+        },
+        "pipfile-spec": 6,
+        "requires": {
+            "python_version": "3.9"
+        },
+        "sources": [
+            {
+                "name": "pypi",
+                "url": "https://pypi.org/simple",
+                "verify_ssl": true
+            }
+        ]
+    },
+    "default": {
+        "pillow": {
+            "hashes": [
+                "sha256:066f3999cb3b070a95c3652712cffa1a748cd02d60ad7b4e485c3748a04d9d76",
+                "sha256:0a0956fdc5defc34462bb1c765ee88d933239f9a94bc37d132004775241a7585",
+                "sha256:0b052a619a8bfcf26bd8b3f48f45283f9e977890263e4571f2393ed8898d331b",
+                "sha256:1394a6ad5abc838c5cd8a92c5a07535648cdf6d09e8e2d6df916dfa9ea86ead8",
+                "sha256:1bc723b434fbc4ab50bb68e11e93ce5fb69866ad621e3c2c9bdb0cd70e345f55",
+                "sha256:244cf3b97802c34c41905d22810846802a3329ddcb93ccc432870243211c79fc",
+                "sha256:25a49dc2e2f74e65efaa32b153527fc5ac98508d502fa46e74fa4fd678ed6645",
+                "sha256:2e4440b8f00f504ee4b53fe30f4e381aae30b0568193be305256b1462216feff",
+                "sha256:3862b7256046fcd950618ed22d1d60b842e3a40a48236a5498746f21189afbbc",
+                "sha256:3eb1ce5f65908556c2d8685a8f0a6e989d887ec4057326f6c22b24e8a172c66b",
+                "sha256:3f97cfb1e5a392d75dd8b9fd274d205404729923840ca94ca45a0af57e13dbe6",
+                "sha256:493cb4e415f44cd601fcec11c99836f707bb714ab03f5ed46ac25713baf0ff20",
+                "sha256:4acc0985ddf39d1bc969a9220b51d94ed51695d455c228d8ac29fcdb25810e6e",
+                "sha256:5503c86916d27c2e101b7f71c2ae2cddba01a2cf55b8395b0255fd33fa4d1f1a",
+                "sha256:5b7bb9de00197fb4261825c15551adf7605cf14a80badf1761d61e59da347779",
+                "sha256:5e9ac5f66616b87d4da618a20ab0a38324dbe88d8a39b55be8964eb520021e02",
+                "sha256:620582db2a85b2df5f8a82ddeb52116560d7e5e6b055095f04ad828d1b0baa39",
+                "sha256:62cc1afda735a8d109007164714e73771b499768b9bb5afcbbee9d0ff374b43f",
+                "sha256:70ad9e5c6cb9b8487280a02c0ad8a51581dcbbe8484ce058477692a27c151c0a",
+                "sha256:72b9e656e340447f827885b8d7a15fc8c4e68d410dc2297ef6787eec0f0ea409",
+                "sha256:72cbcfd54df6caf85cc35264c77ede902452d6df41166010262374155947460c",
+                "sha256:792e5c12376594bfcb986ebf3855aa4b7c225754e9a9521298e460e92fb4a488",
+                "sha256:7b7017b61bbcdd7f6363aeceb881e23c46583739cb69a3ab39cb384f6ec82e5b",
+                "sha256:81f8d5c81e483a9442d72d182e1fb6dcb9723f289a57e8030811bac9ea3fef8d",
+                "sha256:82aafa8d5eb68c8463b6e9baeb4f19043bb31fefc03eb7b216b51e6a9981ae09",
+                "sha256:84c471a734240653a0ec91dec0996696eea227eafe72a33bd06c92697728046b",
+                "sha256:8c803ac3c28bbc53763e6825746f05cc407b20e4a69d0122e526a582e3b5e153",
+                "sha256:93ce9e955cc95959df98505e4608ad98281fff037350d8c2671c9aa86bcf10a9",
+                "sha256:9a3e5ddc44c14042f0844b8cf7d2cd455f6cc80fd7f5eefbe657292cf601d9ad",
+                "sha256:a4901622493f88b1a29bd30ec1a2f683782e57c3c16a2dbc7f2595ba01f639df",
+                "sha256:a5a4532a12314149d8b4e4ad8ff09dde7427731fcfa5917ff16d0291f13609df",
+                "sha256:b8831cb7332eda5dc89b21a7bce7ef6ad305548820595033a4b03cf3091235ed",
+                "sha256:b8e2f83c56e141920c39464b852de3719dfbfb6e3c99a2d8da0edf4fb33176ed",
+                "sha256:c70e94281588ef053ae8998039610dbd71bc509e4acbc77ab59d7d2937b10698",
+                "sha256:c8a17b5d948f4ceeceb66384727dde11b240736fddeda54ca740b9b8b1556b29",
+                "sha256:d82cdb63100ef5eedb8391732375e6d05993b765f72cb34311fab92103314649",
+                "sha256:d89363f02658e253dbd171f7c3716a5d340a24ee82d38aab9183f7fdf0cdca49",
+                "sha256:d99ec152570e4196772e7a8e4ba5320d2d27bf22fdf11743dd882936ed64305b",
+                "sha256:ddc4d832a0f0b4c52fff973a0d44b6c99839a9d016fe4e6a1cb8f3eea96479c2",
+                "sha256:e3dacecfbeec9a33e932f00c6cd7996e62f53ad46fbe677577394aaa90ee419a",
+                "sha256:eb9fc393f3c61f9054e1ed26e6fe912c7321af2f41ff49d3f83d05bacf22cc78"
+            ],
+            "index": "pypi",
+            "version": "==8.4.0"
+        }
+    },
+    "develop": {}
+}

companion_software/requirements.txt

@@ -0,0 +1 @@
+Pillow

companion_software/superpipe.py

@@ -0,0 +1,31 @@
+import time
+import subprocess
+
+from PIL import Image, ImageDraw, ImageFont
+
+
+fnt = ImageFont.truetype('/usr/share/fonts/noto/NotoSans-Regular.ttf', 40)
+
+my_ffmpeg_process = subprocess.Popen("ffmpeg -y -i pipe: -r 30 -pix_fmt yuv420p video.webm".split(), stdin=subprocess.PIPE)
+
+for i in range(100):
+    img = Image.new('RGB', (1280, 720), color=(73, 109, 137))
+
+    d = ImageDraw.Draw(img)
+    d.text((10, 10), str(i), font=fnt, fill=(255, 255, 0))
+
+    img.save(my_ffmpeg_process.stdin, format='png')
+
+    print(i)
+
+for i in range(100):
+    img = Image.new('RGB', (1280, 720), color=(73, 109, 137))
+
+    d = ImageDraw.Draw(img)
+    d.text((10, 10), str("Done with python!"), font=fnt, fill=(255, 255, 0))
+
+    img.save(my_ffmpeg_process.stdin, format='png')
+
+    print(i)
+
+    #time.sleep(1)

crawler_software/arduino/crawler_slave/Makefile

@@ -0,0 +1,70 @@
+### DISCLAIMER
+### This is an example Makefile and it MUST be configured to suit your needs.
+### For detailed explanations about all the available options,
+### please refer to https://github.com/sudar/Arduino-Makefile/blob/master/arduino-mk-vars.md
+
+### PROJECT_DIR
+### This is the path to where you have created/cloned your project
+PROJECT_DIR       = $(shell dirname $(shell pwd))
+
+### ARDMK_DIR
+### Path to the Arduino-Makefile directory.
+ARDMK_DIR         = $(PROJECT_DIR)/Arduino-Makefile
+
+### ARDUINO_DIR
+### Path to the Arduino application and resources directory.
+ARDUINO_DIR       = /usr/share/arduino
+
+### USER_LIB_PATH
+### Path to where the your project's libraries are stored.
+USER_LIB_PATH     :=  $(realpath $(PROJECT_DIR)/lib)
+
+### BOARD_TAG & BOARD_SUB
+### For Arduino IDE 1.0.x
+### Only BOARD_TAG is needed. It must be set to the board you are currently using. (i.e uno, mega2560, etc.)
+# BOARD_TAG         = mega2560
+### For Arduino IDE 1.6.x
+### Both BOARD_TAG and BOARD_SUB are needed. They must be set to the board you are currently using. (i.e BOARD_TAG = uno, mega, etc. & BOARD_SUB = atmega2560, etc.)
+### Note: for the Arduino Uno, only BOARD_TAG is mandatory and BOARD_SUB can be equal to anything
+BOARD_TAG         = mega
+BOARD_SUB         = atmega2560
+
+### MONITOR_PORT
+### The port your board is connected to. Using an '*' tries all the ports and finds the right one. Choose one of the two.
+MONITOR_PORT      = /dev/ttyUSB*
+# MONITOR_PORT      = /dev/ttyACM*
+
+### MONITOR_BAUDRATE
+### It must be set to Serial baudrate value you are using.
+MONITOR_BAUDRATE  = 115200
+
+### AVR_TOOLS_DIR
+### Path to the AVR tools directory such as avr-gcc, avr-g++, etc.
+AVR_TOOLS_DIR     = /usr
+
+### AVRDUDE
+### Path to avrdude directory.
+AVRDUDE           = /usr/bin/avrdude
+
+### CFLAGS_STD
+CFLAGS_STD        = -std=gnu11
+
+### CXXFLAGS_STD
+### You can choose wich ever you like
+# CXXFLAGS_STD      = -std=gnu++11
+CXXFLAGS_STD      = -std=gnu++17
+
+
+### CPPFLAGS
+### Flags you might want to set for debugging purpose. Comment to stop.
+CXXFLAGS         += -pedantic -Wall -Wextra
+LDFLAGS          += -fdiagnostics-color
+
+### OBJDIR
+### Don't touch this!
+### This is were you put the binaries you just compile using 'make'
+CURRENT_DIR       = $(shell basename $(CURDIR))
+OBJDIR            = $(PROJECT_DIR)/build/$(CURRENT_DIR)/$(BOARD_TAG)
+
+### path to Arduino.mk, inside the ARDMK_DIR, don't touch.
+include $(ARDMK_DIR)/Arduino.mk

crawler_software/arduino/crawler_slave/crawler_slave.ino

@@ -0,0 +1,63 @@
+/* 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);
+        break;
+    }
+  }
+
+  // Prevents a bug where if bytes are left in buffer, arduino crashes.
+  while (Wire.available()) {
+    Wire.read();
+  }
+}

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.')
-    camera = PiCamera()
-    log.info('Saving photo.')
-    camera.capture('working/working.jpg')
+    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/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/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