Add some notes

.gitignore

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

README.md

@@ -1,15 +1,19 @@
 # To install on robot
 
 ```
-git clone <url>
-cd lewis-crawler/crawler_software/raspberry_pi
-make install?
+git clone https://kitsunehosting.net/gitea/Kenwood/lewis-crawler /srv/crawler
+cd /srv/crawler/crawler_software/raspberry_pi
+make install
 ```
 
-# Getting started with the CAD
+# Updating
 
 ```
-git clone https://kitsunehosting.net/gitea/Kenwood/lewis-crawler
-git checkout crawler-cad
+cd /srv/crawler
+git pull
 ```
-find cad under `lewis-crawler/crawler-cad`
+
+
+# Notes
+
+[Uart Stuff](https://www.reddit.com/r/raspberry_pi/comments/833qux/binary_file_tranfer_via_uart/)

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 +1,38 @@
-### 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
+# A makefile for building the robot's slave software
+# Uses arduino-cli
+#
+# Kitsune Scientific 2021
 
-### PROJECT_DIR
-### This is the path to where you have created/cloned your project
-PROJECT_DIR       = $(shell dirname $(shell pwd))
+# What board to build for and its core
+CORE     ?= arduino:avr
+FQBN     ?= arduino:avr:nano:cpu=atmega328old
 
-### ARDMK_DIR
-### Path to the Arduino-Makefile directory.
-ARDMK_DIR         = $(PROJECT_DIR)/Arduino-Makefile
+# What port to build on
+ifndef SERIAL_DEV
+  ifneq (,$(wildcard /dev/ttyUSB0))
+    SERIAL_DEV = /dev/ttyUSB0
+  else ifneq (,$(wildcard /dev/ttyACM0))
+    SERIAL_DEV = /dev/ttyACM0
+  else
+    SERIAL_DEV = unknown
+  endif
+endif
 
-### ARDUINO_DIR
-### Path to the Arduino application and resources directory.
-ARDUINO_DIR       = /usr/share/arduino
+all: requirements build upload
 
-### USER_LIB_PATH
-### Path to where the your project's libraries are stored.
-USER_LIB_PATH     :=  $(realpath $(PROJECT_DIR)/lib)
+build: requirements crawler_slave.ino
+	arduino-cli core install $(CORE)
 
-### 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
+	arduino-cli compile -b $(FQBN) crawler_slave
 
-### 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*
+upload: requirements crawler_slave.ino
+	arduino-cli upload -b $(FQBN) crawler_slave -p $(SERIAL_DEV)
 
-### 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
+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

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

crawler_software/arduino/crawler_slave/requirements.txt

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

crawler_software/raspberry_pi/Makefile

@@ -0,0 +1,18 @@
+# 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

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

@@ -0,0 +1 @@
+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/otp_test.py

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