Create bottom layer for station2 stack

README.md

@@ -1,19 +1,7 @@
 # To install on robot
 
 ```
-git clone https://kitsunehosting.net/gitea/Kenwood/lewis-crawler /srv/crawler
-cd /srv/crawler/crawler_software/raspberry_pi
-make install
+git clone <url>
+cd lewis-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

@@ -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
-

companion_software/README.md

@@ -0,0 +1,22 @@
+Setting up getty override
+=========================
+
+```console
+systemctl edit getty@tty1.service
+```
+
+add
+
+```
+[Service]
+ExecStart=
+ExecStart=-/opt/lewis-crawler/companion_software/dashboard/entrypoint.sh
+StandardInput=tty
+StandardOutput=tty
+```
+
+then
+
+```
+systemctl daemon-reload; systemctl restart getty@tty1.service
+```

companion_software/entrypoint.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+cd /opt/lewis-crawler/companion_software
+
+git pull
+
+pipenv install -r requirements.txt
+
+pipenv run python -m houston -v

companion_software/houston/__main__.py

@@ -0,0 +1,43 @@
+# Lewis Crawler
+# 2021 - 2022
+# Kitsune Scientific
+
+import logging
+import argparse
+import verboselogs
+import coloredlogs
+
+from houston.houston import Houston
+
+
+# Get debug args
+parser = argparse.ArgumentParser()
+parser.add_argument(
+    '-d', '--debug',
+    help="Print lots of debugging statements",
+    action="store_const", dest="loglevel", const='DEBUG',
+    default='WARNING',
+)
+parser.add_argument(
+    '-v', '--verbose',
+    help="Be verbose",
+    action="store_const", dest="loglevel", const='INFO',
+)
+args = parser.parse_args()    
+
+# Install verbose logs
+verboselogs.install()
+
+# Create a logger object.
+logger = logging.getLogger('Houston_Log')
+
+# Install colored logs
+coloredlogs.install(level=args.loglevel,
+                    logger=logger,
+                    fmt='%(asctime)s,%(msecs)03d %(hostname)s %(levelname)s %(message)s')  # noqa: E501
+
+logger.info('Lewis Companion Software Started.')
+
+if __name__ == '__main__':
+    app = Houston(logger)
+    app.run()

companion_software/houston/houston.py

@@ -0,0 +1,30 @@
+# Lewis Crawler
+# 2021 - 2022
+# Kitsune Scientific
+
+import time
+
+from houston.robotstreamer.streamer import RobotStreamer
+
+
+class Houston:
+    def __init__(self, logger):
+        # Setup logger
+        self.log = logger
+
+        # Setup robotstreamer
+        self.rs = RobotStreamer(self.log)
+
+        # We're ready to go!
+        self.log.success('Ready to robot!')
+
+    def run(self):
+        self.rs.run()
+
+        # Junk~
+        while True:
+            try:
+                self.log.debug('Nothing to do.')
+                time.sleep(1)
+            except KeyboardInterrupt:
+                break

companion_software/houston/robotstreamer/__init__.py

@@ -0,0 +1,3 @@
+# Lewis Crawler
+# 2021 - 2022
+# Kitsune Scientific

companion_software/houston/robotstreamer/streamer.py

@@ -0,0 +1,30 @@
+# Lewis Crawler
+# 2021 - 2022
+# Kitsune Scientific
+
+import ffmpeg
+
+
+class RobotStreamer:
+    def __init__(self, logger):
+        self.log = logger
+
+    def run(self):
+        self.log.debug('Running RobotStreamer')
+
+        stream = ffmpeg.input(
+            'houston/robotstreamer/resources/Test-Pattern.jpg',
+            f='image2',
+            loop='1',
+            framerate=25,
+            video_size='1280x720')
+
+        stream = ffmpeg.output(
+            stream,
+            'http://robotstreamer.com/<secret>/1280/720',
+            f='mpegts',
+            bf=0,
+            muxdelay=0.001,
+            codec='mpeg1video')
+
+        ffmpeg.run(stream)

companion_software/images/main.py

@@ -0,0 +1,79 @@
+import time
+
+from PIL import Image, ImageDraw, ImageFont
+
+
+def testScreen(
+    x=1280, y=720,
+    image=None,
+    stripeList=["lightgrey",
+                "yellow",
+                "cyan",
+                "lightgreen",
+                "magenta",
+                "red",
+                "blue"]):
+
+    if image is None:
+        image = Image.new("RGB", (x, y))
+
+    draw = ImageDraw.Draw(image)
+
+    for i, stripe in enumerate(stripeList):
+        draw.rectangle((
+            (x/len(stripeList)) * i, 0,
+            (x/len(stripeList)) * (i + 1), x),
+            fill=stripe)
+
+    draw.rectangle((
+        0, y - (y/3),
+        x, y),
+        fill="black")
+
+    for i, stripe in enumerate(stripeList):
+        if i % 2 != 0:
+            _fill = "black"
+        else:
+            _fill = stripeList[len(stripeList) - i - 1]
+
+        draw.rectangle((
+            (x/len(stripeList)) * i, y - (y/3.1),
+            (x/len(stripeList)) * (i + 1), y - (y/4.9)),
+            fill=_fill)
+
+        draw.rectangle((
+            (x/(len(stripeList)/4)), y - (y/5.3),
+            (0), y),
+            fill="darkblue")
+
+        draw.rectangle((
+            (x/(len(stripeList)/2)), y - (y/5.3),
+            (x/(len(stripeList)/1)), y),
+            fill="white")
+
+    return image
+
+
+def drawText(image):
+    # get a font
+    fnt = ImageFont.truetype("FreeMono.ttf", 50)
+    # get a drawing context
+    d = ImageDraw.Draw(image)
+
+    # draw multiline text
+    d.multiline_text((10, 10), str(time.time()), font=fnt, fill=(0, 0, 0))
+
+    return image
+
+
+if __name__ == '__main__':
+    blank_screen = testScreen()
+
+    while True:
+        annotated_image = drawText(blank_screen.copy())
+
+        annotated_image.save('Test-Pattern.png')
+
+        time.sleep(2)
+
+    # testScreen().save('Test-Pattern.png')

companion_software/images/stream.sh

@@ -0,0 +1 @@
+ffmpeg -re -f image2 -loop 1 -framerate 25 -video_size 1280x720 -r 25 -i Test-Pattern.png -c:v libx264 -b:v 1M -g 50 -bf 0 -muxdelay 0.001 -f flv "rtmp://rtmp.robotstreamer.com/live/4619?key=jEquBubjizYDMQNe8nKjLdu88iqFpNe3sVQmGRJ2tzbxd4QJrkSSEZBQhi9UTL3k"

companion_software/requirements.txt

@@ -0,0 +1,3 @@
+coloredlogs
+verboselogs
+ffmpeg-python

crawler_software/arduino/crawler_slave/Makefile

@@ -1,38 +1,70 @@
-# A makefile for building the robot's slave software
-# Uses arduino-cli
-#
-# Kitsune Scientific 2021
+### 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
 
-# What board to build for and its core
-CORE     ?= arduino:avr
-FQBN     ?= arduino:avr:nano:cpu=atmega328old
+### PROJECT_DIR
+### This is the path to where you have created/cloned your project
+PROJECT_DIR       = $(shell dirname $(shell pwd))
 
-# 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
+### ARDMK_DIR
+### Path to the Arduino-Makefile directory.
+ARDMK_DIR         = $(PROJECT_DIR)/Arduino-Makefile
 
-all: requirements build upload
+### ARDUINO_DIR
+### Path to the Arduino application and resources directory.
+ARDUINO_DIR       = /usr/share/arduino
 
-build: requirements crawler_slave.ino
-	arduino-cli core install $(CORE)
+### USER_LIB_PATH
+### Path to where the your project's libraries are stored.
+USER_LIB_PATH     :=  $(realpath $(PROJECT_DIR)/lib)
 
-	arduino-cli compile -b $(FQBN) crawler_slave
+### 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
 
-upload: requirements crawler_slave.ino
-	arduino-cli upload -b $(FQBN) crawler_slave -p $(SERIAL_DEV)
+### 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*
 
-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
+### 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

@@ -51,9 +51,7 @@ void receiveEvent(int n) {
   
     switch(id) {
       case 1:
-        windowWiperServo.write(val); // Set a val
-        delay(5); // pause for a moment
-        windowWiperServo.detach(); // Detach (stop moving) the servo
+        windowWiperServo.write(val);
         break;
     }
   }

crawler_software/arduino/crawler_slave/requirements.txt

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

crawler_software/raspberry_pi/Makefile

@@ -1,18 +0,0 @@
-# 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/tests/color_compression/compress.py

@@ -1,16 +0,0 @@
-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

@@ -1 +0,0 @@
-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/otp/Pipfile

@@ -0,0 +1,14 @@
+[[source]]
+url = "https://pypi.org/simple"
+verify_ssl = true
+name = "pypi"
+
+[packages]
+picamera = "*"
+PySSTV = "*"
+pyotp = "*"
+
+[dev-packages]
+
+[requires]
+python_version = "3.9"

crawler_software/raspberry_pi/tests/otp/Pipfile.lock

@@ -0,0 +1,88 @@
+{
+    "_meta": {
+        "hash": {
+            "sha256": "bd19925493e125dc5aa15b339778c61c21e0f1a5574097d1721abf99245fa605"
+        },
+        "pipfile-spec": 6,
+        "requires": {
+            "python_version": "3.9"
+        },
+        "sources": [
+            {
+                "name": "pypi",
+                "url": "https://pypi.org/simple",
+                "verify_ssl": true
+            }
+        ]
+    },
+    "default": {
+        "picamera": {
+            "hashes": [
+                "sha256:890815aa01e4d855a6a95dd3ad0953b872a6b954982106407df0c5a31a163e50"
+            ],
+            "index": "pypi",
+            "version": "==1.13"
+        },
+        "pillow": {
+            "hashes": [
+                "sha256:0b2efa07f69dc395d95bb9ef3299f4ca29bcb2157dc615bae0b42c3c20668ffc",
+                "sha256:114f816e4f73f9ec06997b2fde81a92cbf0777c9e8f462005550eed6bae57e63",
+                "sha256:147bd9e71fb9dcf08357b4d530b5167941e222a6fd21f869c7911bac40b9994d",
+                "sha256:15a2808e269a1cf2131930183dcc0419bc77bb73eb54285dde2706ac9939fa8e",
+                "sha256:196560dba4da7a72c5e7085fccc5938ab4075fd37fe8b5468869724109812edd",
+                "sha256:1c03e24be975e2afe70dfc5da6f187eea0b49a68bb2b69db0f30a61b7031cee4",
+                "sha256:1fd5066cd343b5db88c048d971994e56b296868766e461b82fa4e22498f34d77",
+                "sha256:29c9569049d04aaacd690573a0398dbd8e0bf0255684fee512b413c2142ab723",
+                "sha256:2b6dfa068a8b6137da34a4936f5a816aba0ecc967af2feeb32c4393ddd671cba",
+                "sha256:2cac53839bfc5cece8fdbe7f084d5e3ee61e1303cccc86511d351adcb9e2c792",
+                "sha256:2ee77c14a0299d0541d26f3d8500bb57e081233e3fa915fa35abd02c51fa7fae",
+                "sha256:37730f6e68bdc6a3f02d2079c34c532330d206429f3cee651aab6b66839a9f0e",
+                "sha256:3f08bd8d785204149b5b33e3b5f0ebbfe2190ea58d1a051c578e29e39bfd2367",
+                "sha256:479ab11cbd69612acefa8286481f65c5dece2002ffaa4f9db62682379ca3bb77",
+                "sha256:4bc3c7ef940eeb200ca65bd83005eb3aae8083d47e8fcbf5f0943baa50726856",
+                "sha256:660a87085925c61a0dcc80efb967512ac34dbb256ff7dd2b9b4ee8dbdab58cf4",
+                "sha256:67b3666b544b953a2777cb3f5a922e991be73ab32635666ee72e05876b8a92de",
+                "sha256:70af7d222df0ff81a2da601fab42decb009dc721545ed78549cb96e3a1c5f0c8",
+                "sha256:75e09042a3b39e0ea61ce37e941221313d51a9c26b8e54e12b3ececccb71718a",
+                "sha256:8960a8a9f4598974e4c2aeb1bff9bdd5db03ee65fd1fce8adf3223721aa2a636",
+                "sha256:9364c81b252d8348e9cc0cb63e856b8f7c1b340caba6ee7a7a65c968312f7dab",
+                "sha256:969cc558cca859cadf24f890fc009e1bce7d7d0386ba7c0478641a60199adf79",
+                "sha256:9a211b663cf2314edbdb4cf897beeb5c9ee3810d1d53f0e423f06d6ebbf9cd5d",
+                "sha256:a17ca41f45cf78c2216ebfab03add7cc350c305c38ff34ef4eef66b7d76c5229",
+                "sha256:a2f381932dca2cf775811a008aa3027671ace723b7a38838045b1aee8669fdcf",
+                "sha256:a4eef1ff2d62676deabf076f963eda4da34b51bc0517c70239fafed1d5b51500",
+                "sha256:c088a000dfdd88c184cc7271bfac8c5b82d9efa8637cd2b68183771e3cf56f04",
+                "sha256:c0e0550a404c69aab1e04ae89cca3e2a042b56ab043f7f729d984bf73ed2a093",
+                "sha256:c11003197f908878164f0e6da15fce22373ac3fc320cda8c9d16e6bba105b844",
+                "sha256:c2a5ff58751670292b406b9f06e07ed1446a4b13ffced6b6cab75b857485cbc8",
+                "sha256:c35d09db702f4185ba22bb33ef1751ad49c266534339a5cebeb5159d364f6f82",
+                "sha256:c379425c2707078dfb6bfad2430728831d399dc95a7deeb92015eb4c92345eaf",
+                "sha256:cc866706d56bd3a7dbf8bac8660c6f6462f2f2b8a49add2ba617bc0c54473d83",
+                "sha256:d0da39795049a9afcaadec532e7b669b5ebbb2a9134576ebcc15dd5bdae33cc0",
+                "sha256:f156d6ecfc747ee111c167f8faf5f4953761b5e66e91a4e6767e548d0f80129c",
+                "sha256:f4ebde71785f8bceb39dcd1e7f06bcc5d5c3cf48b9f69ab52636309387b097c8",
+                "sha256:fc214a6b75d2e0ea7745488da7da3c381f41790812988c7a92345978414fad37",
+                "sha256:fd7eef578f5b2200d066db1b50c4aa66410786201669fb76d5238b007918fb24",
+                "sha256:ff04c373477723430dce2e9d024c708a047d44cf17166bf16e604b379bf0ca14"
+            ],
+            "markers": "python_version >= '3.6'",
+            "version": "==8.3.1"
+        },
+        "pyotp": {
+            "hashes": [
+                "sha256:9d144de0f8a601d6869abe1409f4a3f75f097c37b50a36a3bf165810a6e23f28",
+                "sha256:d28ddfd40e0c1b6a6b9da961c7d47a10261fb58f378cb00f05ce88b26df9c432"
+            ],
+            "index": "pypi",
+            "version": "==2.6.0"
+        },
+        "pysstv": {
+            "hashes": [
+                "sha256:91f85096591606e774811de8940aef57f30e10cbf81387064f8a686cff0ac3fa"
+            ],
+            "index": "pypi",
+            "version": "==0.5.2"
+        }
+    },
+    "develop": {}
+}

crawler_software/raspberry_pi/tests/otp/otp_test.py

@@ -1,25 +0,0 @@
-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')