Add png

Reviewed-on: https://kitsunehosting.net/gitea/Kenwood/lewis-crawler/pulls/8

.gitignore

@@ -5,3 +5,11 @@ __pycache__
 *.stl
 *.FCStd1
 
+# Artifacts
+*.png
+*.jpg
+*.wav
+*.pdf
+
+# Dev
+.vscode

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`

Simulation/Lewis_Crawler/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<model>
+    <name>Lewis_Crawler</name>
+    <version>1.0</version>
+    <sdf version="1.7">model.sdf</sdf>
+    <author>
+        <name>Joe Sedutto</name>
+        <email>kenwood364@gmail.com</email>
+    </author>
+    <description></description>
+</model>

Simulation/Lewis_Crawler/model.sdf

@@ -0,0 +1,109 @@
+<?xml version='1.0'?>
+<sdf version='1.7'>
+  <model name='Lewis_Crawler'>
+
+    <link name='chassis'>
+
+      <pose>-0.1524 -0.1 0.0508 0 0 0</pose>
+
+      <visual name='visual'>
+        <pose>0 0 0 0 0 0</pose>
+
+        <geometry>
+          <mesh>
+            <uri>/home/joe/git/lewis-crawler/Simulation/Meshes/LCFrame.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+
+        <material>
+          <lighting>1</lighting>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <shader type='pixel' />
+        </material>
+
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose>0 0 0 0 -0 0</pose>
+
+        <geometry>
+          <mesh>
+            <uri>/home/joe/git/lewis-crawler/Simulation/Meshes/LCFrame.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+
+      </collision>
+
+    </link>
+
+    <link name="port_wheel">
+      <pose>0.1524 0 0.1016 0 1.5707 0</pose>
+      <collision name="collision">
+        <geometry>
+          <cylinder>
+            <radius>.1</radius>
+            <length>.05</length>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <cylinder>
+            <radius>.1</radius>
+            <length>.05</length>
+          </cylinder>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="starboard_wheel">
+      <pose>-0.1524 0 0.1016 0 1.5707 0</pose>
+      <collision name="collision">
+        <geometry>
+          <cylinder>
+            <radius>.1</radius>
+            <length>.05</length>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <cylinder>
+            <radius>.1</radius>
+            <length>.05</length>
+          </cylinder>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint type="port_wheel" name="port_wheel_axle">
+      <pose>0 0 -0.03 0 0 0</pose>
+      <child>left_wheel</child>
+      <parent>chassis</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
+
+    <joint type="starboard_wheel" name="starboard_wheel_axle">
+      <pose>0 0 0.03 0 0 0</pose>
+      <child>right_wheel</child>
+      <parent>chassis</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
+
+    <static>0</static>
+    <allow_auto_disable>1</allow_auto_disable>
+  </model>
+</sdf>

Simulation/Meshes/LCFrame.dae

@@ -0,0 +1,106 @@
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor/>
+    <created>2022-03-11T12:26:21.628371</created>
+    <modified>2022-03-11T12:26:21.628375</modified>
+    <unit name="meter" meter="1.0"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="effect_Body" name="effect_Body">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color>0.0 0.0 0.0 1.0</color>
+            </emission>
+            <ambient>
+              <color>0.0 0.0 0.0 1.0</color>
+            </ambient>
+            <diffuse>
+              <color>0.800000011920929 0.800000011920929 0.800000011920929 1.0</color>
+            </diffuse>
+            <specular>
+              <color>1 1 1 1.0</color>
+            </specular>
+            <shininess>
+              <float>0.0</float>
+            </shininess>
+            <reflective>
+              <color>0.0 0.0 0.0 1.0</color>
+            </reflective>
+            <reflectivity>
+              <float>0.0</float>
+            </reflectivity>
+            <transparent>
+              <color>0.0 0.0 0.0 1.0</color>
+            </transparent>
+            <transparency>
+              <float>1.0</float>
+            </transparency>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>0</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_geometries>
+    <geometry id="geometry0" name="Body">
+      <mesh>
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+          <technique_common>
+            <accessor count="91" source="#cubeverts-array0-array" stride="3">
+              <param type="float" name="X"/>
+              <param type="float" name="Y"/>
+              <param type="float" name="Z"/>
+            </accessor>
+          </technique_common>
+        </source>
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+          <technique_common>
+            <accessor count="198" source="#cubenormals-array0-array" stride="3">
+              <param type="float" name="X"/>
+              <param type="float" name="Y"/>
+              <param type="float" name="Z"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="cubeverts-array0-vertices">
+          <input semantic="POSITION" source="#cubeverts-array0"/>
+        </vertices>
+        <triangles count="198" material="ref_Body">
+          <input offset="0" semantic="VERTEX" source="#cubeverts-array0-vertices"/>
+          <input offset="1" semantic="NORMAL" source="#cubenormals-array0"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_materials>
+    <material id="mat_Body" name="Body">
+      <instance_effect url="#effect_Body"/>
+    </material>
+  </library_materials>
+  <library_visual_scenes>
+    <visual_scene id="myscene">
+      <node id="node0" name="node0">
+        <instance_geometry url="#geometry0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="ref_Body" target="#mat_Body"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myscene"/>
+  </scene>
+</COLLADA>

Software/houston/Makefile

@@ -0,0 +1,8 @@
+# Joe wrote this
+
+install:
+	sudo cp qsstv.service /etc/systemd/system/qsstv.service
+	sudo cp robotstreamer.service /etc/systemd/system/robotstreamer.service
+	sudo systemctl daemon-reload
+	sudo systemctl enable qsstv.service
+	sudo systemctl enable robotstreamer.service

Software/houston/Pipfile

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

Software/houston/Pipfile.lock

@@ -0,0 +1,78 @@
+{
+    "_meta": {
+        "hash": {
+            "sha256": "d38f5cc73695023ab5e5dc66a552a8d0bb9d3842a276ca547364ce1d6baaf5b9"
+        },
+        "pipfile-spec": 6,
+        "requires": {},
+        "sources": [
+            {
+                "name": "pypi",
+                "url": "https://pypi.org/simple",
+                "verify_ssl": true
+            }
+        ]
+    },
+    "default": {
+        "pillow": {
+            "hashes": [
+                "sha256:01ce45deec9df310cbbee11104bae1a2a43308dd9c317f99235b6d3080ddd66e",
+                "sha256:0c51cb9edac8a5abd069fd0758ac0a8bfe52c261ee0e330f363548aca6893595",
+                "sha256:17869489de2fce6c36690a0c721bd3db176194af5f39249c1ac56d0bb0fcc512",
+                "sha256:21dee8466b42912335151d24c1665fcf44dc2ee47e021d233a40c3ca5adae59c",
+                "sha256:25023a6209a4d7c42154073144608c9a71d3512b648a2f5d4465182cb93d3477",
+                "sha256:255c9d69754a4c90b0ee484967fc8818c7ff8311c6dddcc43a4340e10cd1636a",
+                "sha256:35be4a9f65441d9982240e6966c1eaa1c654c4e5e931eaf580130409e31804d4",
+                "sha256:3f42364485bfdab19c1373b5cd62f7c5ab7cc052e19644862ec8f15bb8af289e",
+                "sha256:3fddcdb619ba04491e8f771636583a7cc5a5051cd193ff1aa1ee8616d2a692c5",
+                "sha256:463acf531f5d0925ca55904fa668bb3461c3ef6bc779e1d6d8a488092bdee378",
+                "sha256:4fe29a070de394e449fd88ebe1624d1e2d7ddeed4c12e0b31624561b58948d9a",
+                "sha256:55dd1cf09a1fd7c7b78425967aacae9b0d70125f7d3ab973fadc7b5abc3de652",
+                "sha256:5a3ecc026ea0e14d0ad7cd990ea7f48bfcb3eb4271034657dc9d06933c6629a7",
+                "sha256:5cfca31ab4c13552a0f354c87fbd7f162a4fafd25e6b521bba93a57fe6a3700a",
+                "sha256:66822d01e82506a19407d1afc104c3fcea3b81d5eb11485e593ad6b8492f995a",
+                "sha256:69e5ddc609230d4408277af135c5b5c8fe7a54b2bdb8ad7c5100b86b3aab04c6",
+                "sha256:6b6d4050b208c8ff886fd3db6690bf04f9a48749d78b41b7a5bf24c236ab0165",
+                "sha256:7a053bd4d65a3294b153bdd7724dce864a1d548416a5ef61f6d03bf149205160",
+                "sha256:82283af99c1c3a5ba1da44c67296d5aad19f11c535b551a5ae55328a317ce331",
+                "sha256:8782189c796eff29dbb37dd87afa4ad4d40fc90b2742704f94812851b725964b",
+                "sha256:8d79c6f468215d1a8415aa53d9868a6b40c4682165b8cb62a221b1baa47db458",
+                "sha256:97bda660702a856c2c9e12ec26fc6d187631ddfd896ff685814ab21ef0597033",
+                "sha256:a325ac71914c5c043fa50441b36606e64a10cd262de12f7a179620f579752ff8",
+                "sha256:a336a4f74baf67e26f3acc4d61c913e378e931817cd1e2ef4dfb79d3e051b481",
+                "sha256:a598d8830f6ef5501002ae85c7dbfcd9c27cc4efc02a1989369303ba85573e58",
+                "sha256:a5eaf3b42df2bcda61c53a742ee2c6e63f777d0e085bbc6b2ab7ed57deb13db7",
+                "sha256:aea7ce61328e15943d7b9eaca87e81f7c62ff90f669116f857262e9da4057ba3",
+                "sha256:af79d3fde1fc2e33561166d62e3b63f0cc3e47b5a3a2e5fea40d4917754734ea",
+                "sha256:c24f718f9dd73bb2b31a6201e6db5ea4a61fdd1d1c200f43ee585fc6dcd21b34",
+                "sha256:c5b0ff59785d93b3437c3703e3c64c178aabada51dea2a7f2c5eccf1bcf565a3",
+                "sha256:c7110ec1701b0bf8df569a7592a196c9d07c764a0a74f65471ea56816f10e2c8",
+                "sha256:c870193cce4b76713a2b29be5d8327c8ccbe0d4a49bc22968aa1e680930f5581",
+                "sha256:c9efef876c21788366ea1f50ecb39d5d6f65febe25ad1d4c0b8dff98843ac244",
+                "sha256:de344bcf6e2463bb25179d74d6e7989e375f906bcec8cb86edb8b12acbc7dfef",
+                "sha256:eb1b89b11256b5b6cad5e7593f9061ac4624f7651f7a8eb4dfa37caa1dfaa4d0",
+                "sha256:ed742214068efa95e9844c2d9129e209ed63f61baa4d54dbf4cf8b5e2d30ccf2",
+                "sha256:f401ed2bbb155e1ade150ccc63db1a4f6c1909d3d378f7d1235a44e90d75fb97",
+                "sha256:fb89397013cf302f282f0fc998bb7abf11d49dcff72c8ecb320f76ea6e2c5717"
+            ],
+            "index": "pypi",
+            "version": "==9.1.0"
+        },
+        "six": {
+            "hashes": [
+                "sha256:1e61c37477a1626458e36f7b1d82aa5c9b094fa4802892072e49de9c60c4c926",
+                "sha256:8abb2f1d86890a2dfb989f9a77cfcfd3e47c2a354b01111771326f8aa26e0254"
+            ],
+            "version": "==1.16.0"
+        },
+        "xlib": {
+            "hashes": [
+                "sha256:60b7cd5d90f5d5922d9ce27b61589c07d970796558d417461db7b66e366bc401",
+                "sha256:8eee67dad83ef4b82bbbfa85d51eeb20c79d12b119fe25aa1d27bd602ff82212"
+            ],
+            "index": "pypi",
+            "version": "==0.21"
+        }
+    },
+    "develop": {}
+}

Software/houston/RobotStreamer.py

@@ -0,0 +1,148 @@
+import time
+import subprocess as sp
+
+from Xlib import display, X
+from PIL import Image, ImageFont, ImageDraw
+
+
+class Streamer:
+    def __init__(self):
+        self.x1, self.y1 = 580, 620
+
+        # Create display
+        self.dsp = display.Display(":0")
+
+        # This is the root of the screen
+        self.root = self.dsp.screen().root
+
+        # ffmpeg command
+
+        # ffmpeg  --stream_loop -1 -re -i ~/INPUT_FILE -vcodec libx264 -profile:v main -preset:v medium -r 20 -g 60 -keyint_min 60 -sc_threshold 0 -b:v 2500k -maxrate 2500k -bufsize 2500k  -sws_flags lanczos+accurate_rnd -acodec aac -b:a 96k -ar 48000 -ac 2 -f flv rtmp://rtmp.robotstreamer.com/live/123?key=123"
+        cmd_out = [
+            "ffmpeg",
+            "-f",
+            "image2pipe",
+            "-vcodec",
+            "png",
+            "-r",
+            "5",  # FPS
+            "-i",
+            "-",  # Indicated input comes from pipe
+            "-vcodec",
+            "libx264",
+            "-profile:v",
+            "main",
+            "-pix_fmt",
+            "yuv420p",
+            "-preset:v",
+            "medium",
+            "-r",
+            "30",
+            "-g",
+            "60",
+            "-keyint_min",
+            "60",
+            "-sc_threshold",
+            "0",
+            "-b:v",
+            "2500k",
+            "-maxrate",
+            "1500k",
+            "-bufsize",
+            "1500k",
+            "-sws_flags",
+            "lanczos+accurate_rnd",
+            "-acodec",
+            "aac",
+            "-b:a",
+            "96k",
+            "-r",
+            "6",
+            "-ar",
+            "48000",
+            "-ac",
+            "2",
+            "-f",
+            "flv",
+            "rtmp://rtmp.robotstreamer.com/live/topkek",
+        ]
+
+        # This is the ffmpeg pipe streamer!
+        self.pipe = sp.Popen(cmd_out, stdin=sp.PIPE)
+
+        # Graphics and resources
+        self.font = ImageFont.truetype(r"../../Resources/RadioFont.ttf", 20)
+
+    def getFrame(self):
+        """
+        Returns a single cropped sstv video frame
+        """
+
+        raw = self.root.get_image(0, 0, self.x1, self.y1, X.ZPixmap, 0xFFFFFFFF)
+        image = Image.frombytes("RGB", (self.x1, self.y1), raw.data, "raw", "BGRX")
+
+        image = image.crop((0, 182, self.x1, self.y1))
+
+        return image
+
+    def drawGraphics(self, image: Image):
+        """
+        Draws graphics and sprites over
+        a frame
+        """
+
+        frame = Image.new(mode="RGB", size=(1280, 720))
+
+        # Scale and paste
+        image = image.resize((960, 720), Image.ANTIALIAS)
+        frame.paste(image)
+
+        # Populate text, normally this should poll or use shared vars!
+        info = f"""
+KW1FOX-1
+Online!
+Volt: N/A
+Last comm: {int(time.time())}
+
+KW1FOX-2
+Offline.
+Volt: N/A
+Last comm: N/A
+
+KW1FOX-3
+Offline.
+Volt: N/A
+Last comm: N/A
+
+Currently Showing:
+KW1FOX-1
+NOCOM
+NOMETA
+"""
+
+        # Draw text
+        draw = ImageDraw.Draw(frame)
+        draw.text((960 + 10, 10), info, font=self.font, align="left")
+
+        return frame
+
+    def stream(self):
+        """
+        Actually streams!
+        """
+
+        while True:
+            self.drawGraphics(self.getFrame()).save(self.pipe.stdin, "PNG")
+
+    def __del__(self):
+        self.dsp.close()
+
+        self.pipe.stdin.close()
+        self.pipe.wait()
+
+
+if __name__ == "__main__":
+    myStreamer = Streamer()
+
+    # myStreamer.drawGraphics(Image.open("../../Resources/KW1FOX-1_320x240.png")).show()
+    myStreamer.stream()

Software/houston/notes.md

@@ -0,0 +1,13 @@
+# Notes
+
+Taking some inspiration from this repo: https://github.com/xssfox/sstv-skimmer/blob/main/Dockerfile
+
+## Installing qsstv and pulseaudio on server
+
+Requires `houston` user
+
+as well as qsstv (obvio)
+
+and i should prolly install `pulseaudio` as well
+
+Also, i edited the xorg.conf so it never times out.

Software/houston/qsstv.service

@@ -0,0 +1,8 @@
+[Unit]
+Description=Runs a qsstv instance as houston with houston's config
+
+[Service]
+ExecStart=sudo su -l houston -c "/opt/radio/lewis-crawler/Software/houston/sstv.sh"
+
+[Install]
+WantedBy=multi-user.target

Software/houston/qsstv_9.0.conf

@@ -0,0 +1,199 @@
+[CW]
+cwWPM=12
+cwtext=
+cwtone=800
+
+[DIRECTORIES]
+audioPath=/home/parallels/qsstv/audio/
+docURL=http://users.telenet.be/on4qz/qsstv/manual
+rxDRMImagesPath=/tmp/rx_images
+rxSSTVImagesPath=/tmp/rx_images
+saveTXimages=false
+templatesPath=/home/parallels/qsstv/templates/
+txDRMImagesPath=/home/parallels/qsstv/tx_drm/
+txSSTVImagesPath=/home/parallels/qsstv/tx_sstv/
+txStockImagesPath=/home/parallels/qsstv/tx_stock/
+
+[DRMPROFILE]
+drmPF1Bandwidth=0
+drmPF1Interleave=0
+drmPF1Mode=0
+drmPF1Name=Profile 1
+drmPF1Protection=0
+drmPF1QAM=0
+drmPF1ReedSolomon=0
+drmPF2Bandwidth=0
+drmPF2Interleave=0
+drmPF2Mode=0
+drmPF2Name=Profile 2
+drmPF2Protection=0
+drmPF2QAM=0
+drmPF2ReedSolomon=0
+drmPF3Bandwidth=0
+drmPF3Interleave=0
+drmPF3Mode=0
+drmPF3Name=Profile 3
+drmPF3Protection=0
+drmPF3QAM=0
+drmPF3ReedSolomon=0
+
+[FREQSELECT]
+additionalCommand=
+additionalCommandHex=false
+frequencyList=@Invalid()
+modeList=@Invalid()
+passBandList=@Invalid()
+sbModeList=@Invalid()
+
+[FTPCONFIG]
+addExtension=false
+enableFTP=false
+ftpDefaultImageFormat=png
+ftpLogin=
+ftpNumImages=30
+ftpPassword=
+ftpPort=21
+ftpRemoteDRMDirectory=
+ftpRemoteHost=
+ftpRemoteSSTVDirectory=
+ftpSaveFormat=0
+
+[GUI]
+backGroundColor=@Variant(\0\0\0\x43\x1\xff\xff\0\0VV\xe6\xe6\0\0)
+confirmClose=true
+confirmDeletion=true
+galleryColumns=4
+galleryRows=4
+imageBackGroundColor=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\x80\x80\x80\x80\0\0)
+imageStretch=true
+lowRes=false
+slowCPU=false
+
+[HYBRID]
+enableHybridNotify=true
+enableHybridRx=true
+hybridFtpHybridFilesDirectory=HybridFiles1
+hybridFtpLogin=
+hybridFtpPassword=
+hybridFtpPort=21
+hybridFtpRemoteDirectory=
+hybridFtpRemoteHost=
+hybridNotifyDir=RxOkNotifications1
+onlineStatusDir=OnlineCallsigns1
+
+[MAIN]
+transmissionModeIndex=0
+windowHeight=768
+windowWidth=1024
+windowX=0
+windowY=0
+
+[PERSONAL]
+callsign=NOCALL
+firstname=NOFIRSTNAME
+lastname=NONAME
+locator=NOLOCATOR
+onlinestatusenabled=true
+onlinestatustext=
+qth=NOWHERE
+
+[REPEATER]
+repeaterAcknowledge=
+repeaterEnabled=false
+repeaterIdleTemplate=
+repeaterIdleTxMode=0
+repeaterImage1=
+repeaterImage2=
+repeaterImage3=
+repeaterImage4=
+repeaterImageInterval=10
+repeaterImageSize=10
+repeaterTemplate=
+repeaterTxDelay=5
+repeaterTxMode=0
+
+[RX]
+autoSave=true
+autoSlantAdjust=true
+defaultImageFormat=png
+minCompletion=50
+sensitivity=2
+sstvModeIndexRx=10
+
+[SOUND]
+alsaSelected=false
+inputAudioDevice=default -- Playback/recording through the PulseAudio sound server
+outputAudioDevice=default -- Playback/recording through the PulseAudio sound server
+pttToneOtherChannel=false
+pulseSelected=true
+recordingSize=100
+rxclock=48000
+soundRoutingInput=0
+soundRoutingOutput=0
+swapChannel=false
+txclock=48000
+
+[SPECTRUM]
+avg=0.9
+maxdb=-25
+range=35
+
+[TX]
+compressedSize=5000
+drmBandWith=0
+drmInterLeaver=0
+drmProtection=0
+drmQAM=0
+drmReedSolomon=0
+drmRobMode=0
+sstvModeIndexTx=0
+templateIndex=-1
+useCW=false
+useHybrid=false
+useTemplate=false
+useVOX=false
+
+[WATERFALL]
+bsrWF=BSR
+endBinWF=END BIN
+endPicWF=END PIC
+endRepeaterWF=END RPT
+fixWF=FIX
+sampleString=Sample Text
+startBinWF=START BIN
+startPicWF=START PIC
+startRepeaterWF=START RPT
+wfBold=false
+wfFont=Aharoni CLM
+wfFontSize=12
+
+[Waterfall]
+text1=rest
+text2=
+text3=
+text4=
+
+[logging]
+deduplicate=true
+maskBA="@Variant(\0\0\0\r\0\0\0,\0\0\0\0\0\0)"
+
+[radio1]
+XMLRPCPort=7362
+activeDTR=false
+activeRTS=true
+baudrate=9600
+civAddress=
+databits=8
+enableCAT=false
+enableSerialPTT=false
+enableXMLRPC=false
+handshake=None
+nactiveDTR=false
+nactiveRTS=false
+parity=None
+pttSerialPort=/dev/ttyS0
+pttType=1
+radioModel="29001 ADAT www.adat.ch,ADT-200A"
+serialPort=/dev/ttyS0
+stopbits=1
+txOnDelay=0

Software/houston/robotstreamer.service

@@ -0,0 +1,9 @@
+[Unit]
+Description=Runs the robotstreamer stream
+
+[Service]
+ExecStart=sudo su -l houston -c "/opt/radio/lewis-crawler/Software/houston/stream.sh"
+Restart=on-failure
+
+[Install]
+WantedBy=multi-user.target

Software/houston/sstv.sh

@@ -0,0 +1,12 @@
+#!/bin/bash
+
+# Runs all the required fluff for spawning qsstv with notifing and stuff.
+
+# Make tempdirs
+mkdir -p /tmp/sstv_images
+
+# Copy config file
+cp /opt/radio/lewis-crawler/Software/houston/qsstv_9.0.conf ~/.config/ON4QZ/qsstv_9.0.conf
+
+# Spawn qsstv
+xinit -geometry =1280x960+0+0 -fn 8x13 -j -fg white -bg black qsstv -- -nocursor

Software/houston/stream.sh

@@ -0,0 +1,5 @@
+#!/bin/bash
+
+# Runs the robotstream
+cd /opt/radio/lewis-crawler/Software/houston/ && pipenv run python RobotStreamer.py
+

Software/kw1fox-2/Pipfile

@@ -0,0 +1,15 @@
+[[source]]
+url = "https://pypi.org/simple"
+verify_ssl = true
+name = "pypi"
+
+[packages]
+pysstv = "*"
+pillow = "*"
+pyaudio = "*"
+pi-ina219 = "*"
+
+[dev-packages]
+
+[requires]
+python_version = "3.10"

Software/kw1fox-2/Pipfile.lock

@@ -0,0 +1,121 @@
+{
+    "_meta": {
+        "hash": {
+            "sha256": "377233137977bb1db670b363317a6a2619ddd8544f91531a5224826022fa3e23"
+        },
+        "pipfile-spec": 6,
+        "requires": {
+            "python_version": "3.10"
+        },
+        "sources": [
+            {
+                "name": "pypi",
+                "url": "https://pypi.org/simple",
+                "verify_ssl": true
+            }
+        ]
+    },
+    "default": {
+        "adafruit-gpio": {
+            "hashes": [
+                "sha256:d6465b92c866c51ca8f3bc1e8f2ec36f5ccdb46d0fd54101c1109756d4a2dcd0"
+            ],
+            "version": "==1.0.3"
+        },
+        "adafruit-pureio": {
+            "hashes": [
+                "sha256:2caf22fb07c7f771d83267f331a76cde314723f884a9570ea6f768730c87a879"
+            ],
+            "markers": "python_full_version >= '3.5.0'",
+            "version": "==1.1.9"
+        },
+        "mock": {
+            "hashes": [
+                "sha256:122fcb64ee37cfad5b3f48d7a7d51875d7031aaf3d8be7c42e2bee25044eee62",
+                "sha256:7d3fbbde18228f4ff2f1f119a45cdffa458b4c0dee32eb4d2bb2f82554bac7bc"
+            ],
+            "markers": "python_version >= '3.6'",
+            "version": "==4.0.3"
+        },
+        "pi-ina219": {
+            "hashes": [
+                "sha256:29524cc308c56a5c483f551187923d3e167f2d39a29dc64c731ba7a8e04d022b"
+            ],
+            "index": "pypi",
+            "version": "==1.4.0"
+        },
+        "pillow": {
+            "hashes": [
+                "sha256:01ce45deec9df310cbbee11104bae1a2a43308dd9c317f99235b6d3080ddd66e",
+                "sha256:0c51cb9edac8a5abd069fd0758ac0a8bfe52c261ee0e330f363548aca6893595",
+                "sha256:17869489de2fce6c36690a0c721bd3db176194af5f39249c1ac56d0bb0fcc512",
+                "sha256:21dee8466b42912335151d24c1665fcf44dc2ee47e021d233a40c3ca5adae59c",
+                "sha256:25023a6209a4d7c42154073144608c9a71d3512b648a2f5d4465182cb93d3477",
+                "sha256:255c9d69754a4c90b0ee484967fc8818c7ff8311c6dddcc43a4340e10cd1636a",
+                "sha256:35be4a9f65441d9982240e6966c1eaa1c654c4e5e931eaf580130409e31804d4",
+                "sha256:3f42364485bfdab19c1373b5cd62f7c5ab7cc052e19644862ec8f15bb8af289e",
+                "sha256:3fddcdb619ba04491e8f771636583a7cc5a5051cd193ff1aa1ee8616d2a692c5",
+                "sha256:463acf531f5d0925ca55904fa668bb3461c3ef6bc779e1d6d8a488092bdee378",
+                "sha256:4fe29a070de394e449fd88ebe1624d1e2d7ddeed4c12e0b31624561b58948d9a",
+                "sha256:55dd1cf09a1fd7c7b78425967aacae9b0d70125f7d3ab973fadc7b5abc3de652",
+                "sha256:5a3ecc026ea0e14d0ad7cd990ea7f48bfcb3eb4271034657dc9d06933c6629a7",
+                "sha256:5cfca31ab4c13552a0f354c87fbd7f162a4fafd25e6b521bba93a57fe6a3700a",
+                "sha256:66822d01e82506a19407d1afc104c3fcea3b81d5eb11485e593ad6b8492f995a",
+                "sha256:69e5ddc609230d4408277af135c5b5c8fe7a54b2bdb8ad7c5100b86b3aab04c6",
+                "sha256:6b6d4050b208c8ff886fd3db6690bf04f9a48749d78b41b7a5bf24c236ab0165",
+                "sha256:7a053bd4d65a3294b153bdd7724dce864a1d548416a5ef61f6d03bf149205160",
+                "sha256:82283af99c1c3a5ba1da44c67296d5aad19f11c535b551a5ae55328a317ce331",
+                "sha256:8782189c796eff29dbb37dd87afa4ad4d40fc90b2742704f94812851b725964b",
+                "sha256:8d79c6f468215d1a8415aa53d9868a6b40c4682165b8cb62a221b1baa47db458",
+                "sha256:97bda660702a856c2c9e12ec26fc6d187631ddfd896ff685814ab21ef0597033",
+                "sha256:a325ac71914c5c043fa50441b36606e64a10cd262de12f7a179620f579752ff8",
+                "sha256:a336a4f74baf67e26f3acc4d61c913e378e931817cd1e2ef4dfb79d3e051b481",
+                "sha256:a598d8830f6ef5501002ae85c7dbfcd9c27cc4efc02a1989369303ba85573e58",
+                "sha256:a5eaf3b42df2bcda61c53a742ee2c6e63f777d0e085bbc6b2ab7ed57deb13db7",
+                "sha256:aea7ce61328e15943d7b9eaca87e81f7c62ff90f669116f857262e9da4057ba3",
+                "sha256:af79d3fde1fc2e33561166d62e3b63f0cc3e47b5a3a2e5fea40d4917754734ea",
+                "sha256:c24f718f9dd73bb2b31a6201e6db5ea4a61fdd1d1c200f43ee585fc6dcd21b34",
+                "sha256:c5b0ff59785d93b3437c3703e3c64c178aabada51dea2a7f2c5eccf1bcf565a3",
+                "sha256:c7110ec1701b0bf8df569a7592a196c9d07c764a0a74f65471ea56816f10e2c8",
+                "sha256:c870193cce4b76713a2b29be5d8327c8ccbe0d4a49bc22968aa1e680930f5581",
+                "sha256:c9efef876c21788366ea1f50ecb39d5d6f65febe25ad1d4c0b8dff98843ac244",
+                "sha256:de344bcf6e2463bb25179d74d6e7989e375f906bcec8cb86edb8b12acbc7dfef",
+                "sha256:eb1b89b11256b5b6cad5e7593f9061ac4624f7651f7a8eb4dfa37caa1dfaa4d0",
+                "sha256:ed742214068efa95e9844c2d9129e209ed63f61baa4d54dbf4cf8b5e2d30ccf2",
+                "sha256:f401ed2bbb155e1ade150ccc63db1a4f6c1909d3d378f7d1235a44e90d75fb97",
+                "sha256:fb89397013cf302f282f0fc998bb7abf11d49dcff72c8ecb320f76ea6e2c5717"
+            ],
+            "index": "pypi",
+            "version": "==9.1.0"
+        },
+        "pyaudio": {
+            "hashes": [
+                "sha256:0d92f6a294565260a282f7c9a0b0d309fc8cc988b5ee5b50645634ab9e2da7f7",
+                "sha256:259bb9c1363be895b4f9a97e320a6017dd06bc540728c1a04eb4a7b6fe75035b",
+                "sha256:2a19bdb8ec1445b4f3e4b7b109e0e4cec1fd1f1ce588592aeb6db0b58d4fb3b0",
+                "sha256:51b558d1b28c68437b53218279110db44f69f3f5dd3d81859f569a4a96962bdc",
+                "sha256:589bfad2c615dd4b5d3757e763019c42ab82f06fba5cae64ec02fd7f5ae407ed",
+                "sha256:8f89075b4844ea94dde0c951c2937581c989fabd4df09bfd3f075035f50955df",
+                "sha256:93bfde30e0b64e63a46f2fd77e85c41fd51182a4a3413d9edfaf9ffaa26efb74",
+                "sha256:cf1543ba50bd44ac0d0ab5c035bb9c3127eb76047ff12235149d9adf86f532b6",
+                "sha256:f78d543a98b730e64621ebf7f3e2868a79ade0a373882ef51c0293455ffa8e6e"
+            ],
+            "index": "pypi",
+            "version": "==0.2.11"
+        },
+        "pysstv": {
+            "hashes": [
+                "sha256:a0306ff80bb25f28c4455c9dd75dd8cebbb3fa7d77b87af18e6cf2b86ade6b47"
+            ],
+            "index": "pypi",
+            "version": "==0.5.4"
+        },
+        "spidev": {
+            "hashes": [
+                "sha256:8a7f5c289f161ea2ac4697fa8a10918232c990678dd0053084b3c43b1363910d"
+            ],
+            "version": "==3.5"
+        }
+    },
+    "develop": {}
+}

Software/kw1fox-2/README.md

@@ -0,0 +1,3 @@
+# KW1FOX-2 Software
+
+This is the software for KW1FOX-2, the APRS/SSTV relay station.

Software/kw1fox-2/kw1fox-2.py

@@ -0,0 +1,29 @@
+from PIL import Image
+
+from pysstv.color import Robot36
+
+from tools.pyaudio import PyAudioSSTV
+
+
+class kw1fox2:
+    def __init__(self, sim=False):
+        # Lets us automate more testing locally by having a program-wide sim mode.
+        self.sim = sim
+
+        img = Image.open("../../Resources/KW1FOX-1_320x240.png")
+        self.sstv = Robot36(img, 44100, 16)
+        self.sstv.vox_enabled = True
+
+        self.sstv.write_wav("Mysstv.wav")
+
+    def run(self):
+        PyAudioSSTV(self.sstv).execute()
+
+    def take_snapshot(self):
+        if not self.sim:
+            raise NotImplementedError
+
+
+if __name__ == "__main__":
+    station = kw1fox2()
+    station.run()

Software/kw1fox-2/tools/pyaudio.py

@@ -0,0 +1,43 @@
+#!/usr/bin/env python
+
+"""
+Example code from here: https://github.com/dnet/pySSTV/blob/master/pysstv/examples/pyaudio_sstv.py
+"""
+
+
+from __future__ import division
+from pysstv.sstv import SSTV
+from time import sleep
+from itertools import islice
+import struct, pyaudio
+
+
+class PyAudioSSTV(object):
+    def __init__(self, sstv):
+        self.pa = pyaudio.PyAudio()
+        self.sstv = sstv
+        self.fmt = "<" + SSTV.BITS_TO_STRUCT[sstv.bits]
+
+    def __del__(self):
+        self.pa.terminate()
+
+    def execute(self):
+        self.sampler = self.sstv.gen_samples()
+        stream = self.pa.open(
+            format=self.pa.get_format_from_width(self.sstv.bits // 8),
+            channels=1,
+            rate=self.sstv.samples_per_sec,
+            output=True,
+            stream_callback=self.callback,
+        )
+        stream.start_stream()
+        while stream.is_active():
+            sleep(0.5)
+        stream.stop_stream()
+        stream.close()
+
+    def callback(self, in_data, frame_count, time_info, status):
+        frames = "".join(
+            struct.pack(self.fmt, b) for b in islice(self.sampler, frame_count)
+        )
+        return frames, pyaudio.paContinue

requirements.txt

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

sstv.py

@@ -1,78 +0,0 @@
-from shutil import copyfile
-from PIL import Image, ImageFont, ImageDraw
-from pysstv import color
-from picamera import PiCamera
-import logging as log
-
-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.')
-    camera = PiCamera()
-    log.info('Saving photo.')
-    camera.capture('working/working.jpg')
-
-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')