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station2-c
| Author | SHA1 | Date |
|---|---|---|
 Kenwood
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Kenwood
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@ -1,5 +1,7 @@
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|||
# Python
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||||
__pycache__
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||||
Pipfile
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||||
Pipfile.lock
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||||
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||||
# CAD
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||||
*.stl
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||||
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|
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|||
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Before Width: | Height: | Size: 313 KiB |
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@ -5,11 +5,3 @@ git clone <url>
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cd lewis-crawler/crawler_software/raspberry_pi
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make install?
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||||
```
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||||
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# Getting started with the CAD
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```
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git clone https://kitsunehosting.net/gitea/Kenwood/lewis-crawler
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git checkout crawler-cad
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```
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find cad under `lewis-crawler/crawler-cad`
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@ -1,11 +0,0 @@
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<?xml version="1.0"?>
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||||
<model>
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||||
<name>Lewis_Crawler</name>
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<version>1.0</version>
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||||
<sdf version="1.7">model.sdf</sdf>
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<author>
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<name>Joe Sedutto</name>
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<email>kenwood364@gmail.com</email>
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</author>
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<description></description>
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||||
</model>
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@ -1,109 +0,0 @@
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<?xml version='1.0'?>
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<sdf version='1.7'>
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||||
<model name='Lewis_Crawler'>
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||||
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||||
<link name='chassis'>
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||||
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||||
<pose>-0.1524 -0.1 0.0508 0 0 0</pose>
|
||||
|
||||
<visual name='visual'>
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||||
<pose>0 0 0 0 0 0</pose>
|
||||
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>/home/joe/git/lewis-crawler/Simulation/Meshes/LCFrame.dae</uri>
|
||||
<scale>1 1 1</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
|
||||
<material>
|
||||
<lighting>1</lighting>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
<shader type='pixel' />
|
||||
</material>
|
||||
|
||||
<transparency>0</transparency>
|
||||
<cast_shadows>1</cast_shadows>
|
||||
</visual>
|
||||
|
||||
<collision name='collision'>
|
||||
<laser_retro>0</laser_retro>
|
||||
<max_contacts>10</max_contacts>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>/home/joe/git/lewis-crawler/Simulation/Meshes/LCFrame.dae</uri>
|
||||
<scale>1 1 1</scale>
|
||||
</mesh>
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||||
</geometry>
|
||||
|
||||
</collision>
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||||
|
||||
</link>
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||||
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||||
<link name="port_wheel">
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||||
<pose>0.1524 0 0.1016 0 1.5707 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>.1</radius>
|
||||
<length>.05</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>.1</radius>
|
||||
<length>.05</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="starboard_wheel">
|
||||
<pose>-0.1524 0 0.1016 0 1.5707 0</pose>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>.1</radius>
|
||||
<length>.05</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>.1</radius>
|
||||
<length>.05</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint type="port_wheel" name="port_wheel_axle">
|
||||
<pose>0 0 -0.03 0 0 0</pose>
|
||||
<child>left_wheel</child>
|
||||
<parent>chassis</parent>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint type="starboard_wheel" name="starboard_wheel_axle">
|
||||
<pose>0 0 0.03 0 0 0</pose>
|
||||
<child>right_wheel</child>
|
||||
<parent>chassis</parent>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<static>0</static>
|
||||
<allow_auto_disable>1</allow_auto_disable>
|
||||
</model>
|
||||
</sdf>
|
||||
|
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@ -1,106 +0,0 @@
|
|||
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
|
||||
<asset>
|
||||
<contributor/>
|
||||
<created>2022-03-11T12:26:21.628371</created>
|
||||
<modified>2022-03-11T12:26:21.628375</modified>
|
||||
<unit name="meter" meter="1.0"/>
|
||||
<up_axis>Z_UP</up_axis>
|
||||
</asset>
|
||||
<library_effects>
|
||||
<effect id="effect_Body" name="effect_Body">
|
||||
<profile_COMMON>
|
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<technique sid="common">
|
||||
<phong>
|
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<emission>
|
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<color>0.0 0.0 0.0 1.0</color>
|
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</emission>
|
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<ambient>
|
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<color>0.0 0.0 0.0 1.0</color>
|
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</ambient>
|
||||
<diffuse>
|
||||
<color>0.800000011920929 0.800000011920929 0.800000011920929 1.0</color>
|
||||
</diffuse>
|
||||
<specular>
|
||||
<color>1 1 1 1.0</color>
|
||||
</specular>
|
||||
<shininess>
|
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<float>0.0</float>
|
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</shininess>
|
||||
<reflective>
|
||||
<color>0.0 0.0 0.0 1.0</color>
|
||||
</reflective>
|
||||
<reflectivity>
|
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<float>0.0</float>
|
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</reflectivity>
|
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<transparent>
|
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<color>0.0 0.0 0.0 1.0</color>
|
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</transparent>
|
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<transparency>
|
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<float>1.0</float>
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</transparency>
|
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</phong>
|
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</technique>
|
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<extra>
|
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<technique profile="GOOGLEEARTH">
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<double_sided>0</double_sided>
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</technique>
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</extra>
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</profile_COMMON>
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||||
<instance_material symbol="ref_Body" target="#mat_Body"/>
|
||||
</technique_common>
|
||||
</bind_material>
|
||||
</instance_geometry>
|
||||
</node>
|
||||
</visual_scene>
|
||||
</library_visual_scenes>
|
||||
<scene>
|
||||
<instance_visual_scene url="#myscene"/>
|
||||
</scene>
|
||||
</COLLADA>
|
||||
Binary file not shown.
|
|
@ -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
|
||||
```
|
||||
|
|
@ -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
|
||||
|
|
@ -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()
|
||||
|
|
@ -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
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
# Lewis Crawler
|
||||
# 2021 - 2022
|
||||
# Kitsune Scientific
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 59 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 59 KiB |
|
|
@ -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"
|
||||
|
|
@ -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)
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 17 KiB |
|
|
@ -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')
|
||||
|
|
@ -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"
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
coloredlogs
|
||||
verboselogs
|
||||
ffmpeg-python
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 13 KiB |
|
|
@ -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"
|
||||
|
|
@ -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": {}
|
||||
}
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 4.7 KiB |
Loading…
Reference in New Issue