Merge in crawler software into develop, re-structruing some of the git layout.

.gitignore

@@ -9,4 +9,3 @@ __pycache__
 *.png
 *.jpg
 *.wav
-*.pdf

README.md

@@ -1,15 +0,0 @@
-# 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/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
+

companion_software/Pipfile

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

companion_software/Pipfile.lock

@@ -1,68 +0,0 @@
-{
-    "_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

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

companion_software/superpipe.py

@@ -1,31 +0,0 @@
-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

@@ -1,70 +0,0 @@
-### 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

@@ -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/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/requirements.txt

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

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")