Basically a stash...

.gitignore

@@ -1,5 +1,7 @@
 # Python
 __pycache__
+Pipfile
+Pipfile.lock
 
 # CAD
 *.stl

README.md

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

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/resources/script.sh

@@ -0,0 +1 @@
+ffmpeg -f image2 -loop 1 -framerate 25 -video_size 1280x720 -r 25 -i Test-Pattern.jpg -vcodec libx264 -profile:v main -preset:v medium -r 30 -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 -maxrate 55k "rtmp://rtmp.robotstreamer.com/live/4619?key=jEquBubjizYDMQNe8nKjLdu88iqFpNe3sVQmGRJ2tzbxd4QJrkSSEZBQhi9UTL3k"

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/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/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/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/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/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