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

.gitignore

@@ -1,7 +1,5 @@
 # Python
 __pycache__
-Pipfile
-Pipfile.lock
 
 # CAD
 *.stl
@@ -11,4 +9,3 @@ Pipfile.lock
 *.png
 *.jpg
 *.wav
-*.pdf

README.md

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

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/README.md

@@ -1,22 +0,0 @@
-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

@@ -1,9 +0,0 @@
-#!/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

@@ -1,43 +0,0 @@
-# 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

@@ -1,30 +0,0 @@
-# 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

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

companion_software/houston/robotstreamer/resources/script.sh

@@ -1 +0,0 @@
-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

@@ -1,30 +0,0 @@
-# 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

@@ -1,79 +0,0 @@
-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

@@ -1 +0,0 @@
-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

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

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) {
+void receiveEvent(int howMany) {
-  Wire.read(); // Remove smbus trash
+  while (Wire.available()) { // loop through all but the last
-  if (true) { // Dont do anything if this is not true
+    int pos = Wire.read(); // receive byte as a int
-    id  = Wire.read(); // ID of the servo/device to access
+    windowWiperServo.write(pos);
-    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

@@ -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/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):
+            for i in range(70, 130):
-                    writeData("WIPE-" + str(i))
+                    bus.write_byte(addr, i)
                     time.sleep(0.02)
-            for i in range(130, 78, -1):
+            for i in range(130, 70, -1):
-                    writeData("WIPE-" + str(i))
+                    bus.write_byte(addr, i)
                     time.sleep(0.02)
 except OSError:
     print("Could not speak to ardujmemo")

crawler_software/raspberry_pi/tests/otp/Pipfile

@@ -1,14 +0,0 @@
-[[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

@@ -1,88 +0,0 @@
-{
-    "_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

@@ -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")