Update requirements and makefile to build crawler companion software

README.md

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

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
+
+# 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

@@ -10,28 +10,16 @@
 // 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);
+  Wire.begin(0x8);
   
   // 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.
@@ -40,24 +28,9 @@ void loop() {
 }
 
 // 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();
+void receiveEvent(int howMany) {
+  while (Wire.available()) { // loop through all but the last
+    int pos = Wire.read(); // receive byte as a int
+    windowWiperServo.write(pos);
   }
 }

crawler_software/arduino/crawler_slave/requirements.txt

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

crawler_software/raspberry_pi/crawler.service

@@ -1,11 +0,0 @@
-[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/tests/discordbot.py

@@ -5,30 +5,18 @@ from gps import *
 from smbus import SMBus
 import time
 
-addr = 0x4 # bus address
+addr = 0x8 # 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))
+            for i in range(70, 130):
+                    bus.write_byte(addr, i)
                     time.sleep(0.02)
-            for i in range(130, 78, -1):
-                    writeData("WIPE-" + str(i))
+            for i in range(130, 70, -1):
+                    bus.write_byte(addr, i)
                     time.sleep(0.02)
 except OSError:
     print("Could not speak to ardujmemo")

crawler_software/raspberry_pi/tests/stack_overflow.py

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