kopia lustrzana https://github.com/projecthorus/wenet
Numerous updates. New tx_picam script, GPS support.
Mark Jessop
rodzic
c029889ccf
commit
93111d9372
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@ -110,7 +110,7 @@ Three windows should appear:
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- The FSK Demodulator Modem Statistics window, and
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- The SSDV Viewer GUI
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You can kill all the RX processed by running the 'Kill RX' shortcut on the desktop.
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You can kill all the RX processes by running the 'Kill RX' shortcut on the desktop.
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If you have a recorded sample, you can replay it by doing:
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17
README.md
17
README.md
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@ -1,11 +1,12 @@
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# Wenet - The Swift One
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Modulator and glue code for the 115kbps SSDV experiment.
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The transmit side is designed to run on a Raspberry Pi, and the UART (/dev/ttyAMA0) is used to modulate a RFM22B in direct-asynchronous mode. I expect other transmitters could probably be used (i.e. NTX2's or similar) at lower bandwidths.
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The transmit side is designed to run on a Raspberry Pi, and the UART (/dev/ttyAMA0) is used to modulate a RFM98W (yes, a LoRa module) in direct-asynchronous mode. I expect other transmitters could probably be used (i.e. NTX2's or similar) at lower bandwidths.
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## Flight History
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* v0.1 - First test flight on Horus 37, no FEC. Read more about that here: http://rfhead.net/?p=637
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* v0.2 - Second test flight on Horus 39, with LDPC FEC enabled. Read more here: http://www.rowetel.com/?p=5344
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* v0.3 - Third test flight - sometime in Jan 2017.
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The above image was captured on Horus 38, and downlinked via Wenet.
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@ -22,10 +23,11 @@ The above image was captured on Horus 38, and downlinked via Wenet.
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* PyQtGraph & PyQt4 (for FSK Modem Stats and SSDV GUI: `pip install pyqtgraph`)
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## Main Programs
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* `rx_ssdv.py` - Reads in received packets (256 byte SSDV frames) via stdin, and decodes them to JPEGs. Also informs other processes (via UDP broadcast) of new data.
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* `rx_gui.py` - Displays last received image, as commanded by rx_ssdv.py via UDP.
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* `init_rfm22b.py` - Set RFM22B (attached via SPI to the RPi) into Direct-Asynchronous mode.
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* `tx_picam.py` - Captures pictures using the PiCam, and transmits them.
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* `rx/rx_ssdv.py` - Reads in received packets (256 byte SSDV frames) via stdin, and decodes them to JPEGs. Also informs other processes (via UDP broadcast) of new ssdv and telemetry data.
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* `rx/rx_gui.py` - Displays last received image, as commanded by rx_ssdv.py via UDP.
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* `tx/init_rfm22b.py` - Set RFM22B (attached via SPI to the RPi) into Direct-Asynchronous mode.
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* `tx/init_rfm98w.py` - Set RFM98W (attached via SPI to the RPi) into Direct-Asynchronous mode.
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* `tx_picam_gps.py` - Captures pictures using the PiCam, overlays GPS data and transmits them.
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## Testing Scripts
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* Run `python compress_test_images.py` from within ./test_images/ to produce the set of test ssdv-compressed files.
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@ -42,10 +44,11 @@ The above image was captured on Horus 38, and downlinked via Wenet.
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## Sending/Receiving Images
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### TX Side
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* The LDPC encoder library needs ldpc_enc.c compiled to a shared library. Run: `gcc -fPIC -shared -o ldpc_enc.so ldpc_enc.c` to do this.
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* Run either `python tx_picam.py` (might need sudo to access camera & SPI) or `python tx_test_images.py` on the transmitter Raspberry Pi. There's also a start_tx.sh bash script which also sets up a RFM22B. I run this bash script from /etc/rc.local so it starts on boot.
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* Run either `python WenetPiCam.py (might need sudo to access camera & SPI) or `python tx_test_images.py` on the transmitter Raspberry Pi. There's also a start_tx.sh bash script which also sets up a RFM22B or RFM98W. I run this bash script from /etc/rc.local so it starts on boot.
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#### IMPORTANT NOTES
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* While the transit code requests an output baud rate of 115200 baud from the RPi's UART, the acheived baud rate (due to clock divisors) is actually 115386.843 baud (measured using a frequency counter). All of the resampling within the receive chain had to be adjusted accordingly, which means CPU-intensive fractional decimators.
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* While the transit code requests an output baud rate of 115200 baud from the RPi's UART, the acheived baud rate (due to clock divisors) on a RPi A+ is actually 115386.843 baud (measured using a frequency counter). All of the resampling within the receive chain had to be adjusted accordingly, which means CPU-intensive fractional decimators.
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* Baud rates on other RPi models may be different - best to measure and check!
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* Apparently the newer Raspberry Pi's (or possibly just a newer version of Raspbian) use the alternate UART hardware by default, which has a smaller transmit buffer. This may result in gaps between bytes, which will likely throw the rx timing estimation off.
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### RX Side
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10
start_tx.sh
10
start_tx.sh
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@ -15,9 +15,13 @@ TXFREQ=441.200
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cd ~/wenet/tx/
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#Uncomment to initialise a RFM22B
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python init_rfm22b.py $TXFREQ
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#python init_rfm22b.py $TXFREQ
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# Uncomment for use with a RFM98W
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#python init_rfm98w.py $TXFREQ
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python init_rfm98w.py $TXFREQ
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# Start the main TX Script.
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python tx_picam.py $MYCALL &
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# Note, this assumes there is a uBlox GPS available at /dev/ttyACM0
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python tx_picam_gps.py $MYCALL &
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# If you don't want any GPS overlays, you can comment the above line and run:
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# python WenetPiCam.py $MYCALL &
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@ -132,7 +132,6 @@ class PacketTX(object):
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if self.telemetry_queue.qsize()>0:
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packet = self.telemetry_queue.get_nowait()
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self.s.write(packet)
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print("Sent Telemetry Packet.")
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elif self.ssdv_queue.qsize()>0:
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packet = self.ssdv_queue.get_nowait()
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self.s.write(packet)
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@ -7,6 +7,7 @@
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# WARNING: GPhoto is *really* slow at taking pictures.
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# Suggest not using the multiple-image mode.
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#
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#
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from time import sleep
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from threading import Thread
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@ -10,6 +10,7 @@ from threading import Thread
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import glob
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import os
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import datetime
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import traceback
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class WenetPiCam(object):
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@ -75,7 +76,7 @@ class WenetPiCam(object):
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def debug_message(self, message):
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""" Write a debug message.
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If debug_ptr was set to a function during init, this will
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write pass the message to that function, else it will just print it.
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pass the message to that function, else it will just print it.
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This is used mainly to get updates on image capture into the Wenet downlink.
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"""
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@ -199,6 +200,7 @@ class WenetPiCam(object):
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self.debug_message("Running Image Post-Processing")
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post_process_ptr(capture_filename)
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except:
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traceback.print_exc()
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self.debug_message("Image Post-Processing Failed.")
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# SSDV'ify the image.
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Plik binarny nie jest wyświetlany.
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Po Szerokość: | Wysokość: | Rozmiar: 30 KiB |
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@ -13,6 +13,7 @@ import ctypes
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from numpy.ctypeslib import ndpointer
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import numpy as np
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import time
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import sys
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# Attempt to load in ldpc_enc.so on startup.
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@ -29,6 +30,7 @@ try:
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except OSError as e:
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print("WARNING: Could not find ldpc_enc.so! Have you compiled ldpc_enc.c? \n gcc -fPIC -shared -o ldpc_enc.so ldpc_enc.c")
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sys.exit(1)
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#
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# LDPC Encoder.
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@ -1,73 +0,0 @@
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#!/usr/bin/env python
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#
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# PiCam Transmitter Script
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# Capture images from the PiCam, and transmit them.
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#
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# Mark Jessop <vk5qi@rfhead.net>
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#
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import PacketTX, sys, os, datetime
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from PacketTX import write_debug_message
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from wenet_util import *
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try:
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callsign = sys.argv[1]
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if len(callsign)>6:
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callsign = callsign[:6]
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except:
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print("Usage: python tx_picam.py CALLSIGN ")
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sys.exit(1)
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print("Using callsign: %s" % callsign)
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tx_baud_rate = 115200 # Actually 115387, due to divider error.
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fec = True
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debug_output = False # If True, packet bits are saved to debug.bin as one char per bit.
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def transmit_file(filename, tx_object):
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file_size = os.path.getsize(filename)
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if file_size % 256 > 0:
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tx.set_idle_message("File size not a multiple of 256 bytes!")
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return
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print("Transmitting %d Packets." % (file_size/256))
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f = open(filename,'rb')
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for x in range(file_size/256):
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data = f.read(256)
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tx_object.tx_packet(data)
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f.close()
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print("Waiting for tx queue to empty...")
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tx_object.wait()
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tx = PacketTX.PacketTX(debug=debug_output, callsign=callsign, fec=fec, serial_baud = tx_baud_rate)
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tx.start_tx()
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image_id = 0
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try:
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while True:
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# Capture image using PiCam
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print("Capturing Image...")
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capture_time = datetime.datetime.utcnow().strftime("%Y%m%d-%H%M%SZ")
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capture_multiple(filename="./tx_images/%s.jpg"%capture_time, debug_ptr = tx.set_idle_message)
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#os.system("raspistill -t 100 -o ./tx_images/%s.jpg -vf -hf -w 1024 -h 768" % capture_time)
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# Resize using convert
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tx.set_idle_message("Converting Image to SSDV...")
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#os.system("convert temp.jpg -resize %s\! temp.jpg" % tx_resolution)
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# SSDV'ify the image.
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os.system("ssdv -e -n -q 6 -c %s -i %d ./tx_images/%s.jpg temp.ssdv" % (callsign,image_id,capture_time))
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# Transmit image
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print("Transmitting...")
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transmit_file("temp.ssdv",tx)
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# Increment Counter
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image_id = (image_id+1)%256
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except KeyboardInterrupt:
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print("Closing")
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tx.close()
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@ -0,0 +1,140 @@
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#!/usr/bin/env python
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#
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# PiCam Transmitter Script - with GPS Data and Logo Overlay.
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# Capture images from the PiCam, and transmit them.
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#
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# Mark Jessop <vk5qi@rfhead.net>
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#
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import PacketTX
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import WenetPiCam
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import ublox
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import argparse
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import time
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import os
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parser = argparse.ArgumentParser()
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parser.add_argument("callsign", default="N0CALL", help="Payload Callsign")
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parser.add_argument("--gps", default="/dev/ttyACM0", help="uBlox GPS Serial port. Defaults to /dev/ttyACM0")
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parser.add_argument("--logo", default="none", help="Optional logo to overlay on image.")
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parser.add_argument("--txport", default="/dev/ttyAMA0", type=str, help="Transmitter serial port. Defaults to /dev/ttyAMA0")
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parser.add_argument("--baudrate", default=115200, type=int, help="Transmitter baud rate. Defaults to 115200 baud.")
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args = parser.parse_args()
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callsign = args.callsign
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# Truncate callsign if it's too long.
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if len(callsign) > 6:
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callsign = callsign[:6]
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print("Using Callsign: %s" % callsign)
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# Start up Wenet TX.
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tx = PacketTX.PacketTX(serial_port=args.txport, serial_baud=args.baudrate, callsign=callsign)
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tx.start_tx()
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# Sleep for a second to let the transmitter fire up.
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time.sleep(1)
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# Initialise a couple of global variables.
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max_altitude = 0
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# Try and start up the GPS rx thread.
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try:
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gps = ublox.UBloxGPS(port=args.gps,
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dynamic_model = ublox.DYNAMIC_MODEL_AIRBORNE1G,
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update_rate_ms = 500,
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debug_ptr = tx.transmit_text_message)
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except Exception as e:
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tx.transmit_text_message("ERROR: Could not Open GPS - %s" % str(e), repeats=5)
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gps = None
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def poll_gps():
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global gps, max_altitude
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if gps != None:
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gps_state = gps.read_state()
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if gps_state['altitude'] > max_altitude:
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max_altitude = gps_state['altitude']
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# Define our post-processing callback function, which gets called by WenetPiCam
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# after an image has been captured.
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def post_process_image(filename):
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""" Post-process the image, adding on Logo overlay and GPS data if requested. """
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global gps, max_altitude, args, tx
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# Try and grab current GPS data snapshot
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if gps != None:
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gps_state = gps.read_state()
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# Send GPS telemetry packet here.
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# Construct string which we will add onto the image.
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if gps_state['numSV'] < 3:
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# If we don't have enough sats for a lock, don't display any data.
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# TODO: Use the GPS fix status values here instead.
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gps_string = "No GPS Lock"
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else:
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gps_string = "Lat: %.5f Lon: %.5f Alt: %dm (%dm) Speed: H %03.1f kph V %02.1f m/s" % (gps_state['latitude'],
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gps_state['longitude'],
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int(gps_state['altitude']),
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int(max_altitude),
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gps_state['ground_speed'],
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gps_state['ascent_rate'])
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else:
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gps_string = "No GPS"
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# Build up our imagemagick 'convert' command line
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overlay_str = "convert %s -gamma 0.8 -font Helvetica -pointsize 30 -gravity North " % filename
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overlay_str += "-strokewidth 2 -stroke '#000C' -annotate +0+5 \"%s\" " % gps_string
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overlay_str += "-stroke none -fill white -annotate +0+5 \"%s\" " % gps_string
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# Add on logo overlay argument if we have been given one.
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if args.logo != "none":
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overlay_str += "%s -gravity SouthEast -composite " % args.logo
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overlay_str += filename
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tx.transmit_text_message("Adding overlays to image.")
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os.system(overlay_str)
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return
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# Finally, initialise the PiCam capture object.
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picam = WenetPiCam.WenetPiCam(resolution=(1920,1088), callsign=callsign, debug_ptr=tx.transmit_text_message, vertical_flip=True, horizontal_flip=True)
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# .. and start it capturing continuously.
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picam.run(destination_directory="./tx_images/",
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tx = tx,
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post_process_ptr = post_process_image
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)
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# Main 'loop'.
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try:
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while True:
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poll_gps() # Keep polling the GPS so we keep track of our maximum altitude.
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time.sleep(1)
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except KeyboardInterrupt:
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print("Closing")
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picam.stop()
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tx.close()
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gps.close()
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45
tx/ublox.py
45
tx/ublox.py
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@ -3,6 +3,7 @@
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UBlox binary protocol handling
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Copyright Andrew Tridgell, October 2012
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https://github.com/tridge/pyUblox
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Released under GNU GPL version 3 or later
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Added UBloxGPS abstraction layer class for use with Wenet TX system.
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@ -902,15 +903,16 @@ class UBloxGPS(object):
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# Basic Position Information
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'latitude': 0.0,
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'longitude': 0.0,
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'altitude': 0.0,
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'ground_speed': 0.0,
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'heading': 0.0,
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'altitude': 0.0, # Altitude in metres.
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'ground_speed': 0.0, # Ground speed in KPH
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'ascent_rate': 0.0, # Descent rate in m/s
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'heading': 0.0, # Heading in degrees True.
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# GPS State
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'gpsFix': 0,
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'numSV': 0,
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'iTOW': 0,
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'dynamic_model': 0
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'gpsFix': 0,
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'numSV': 0, # Number of satellites in use.
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'iTOW': 0, # Time-of-Week of last fix.
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'dynamic_model': 0 # Current dynamic model in use.
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}
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state_writelock = False
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state_readlock = False
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@ -959,7 +961,7 @@ class UBloxGPS(object):
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def debug_message(self, message):
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""" Write a debug message.
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If debug_ptr was set to a function during init, this will
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write pass the message to that function, else it will just print it.
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pass the message to that function, else it will just print it.
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This is used mainly to get updates on image capture into the Wenet downlink.
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"""
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@ -999,17 +1001,27 @@ class UBloxGPS(object):
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and update our internal state table.
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"""
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while self.rx_running:
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msg = self.gps.receive_message()
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if msg is None:
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try:
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msg = self.gps.receive_message()
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msg_name = msg.name()
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except Exception as e:
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self.debug_message("WARNING: GPS Failure. Attempting to reconnect.")
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self.write_state('numSV',0)
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# Attempt to re-open GPS.
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self.gps.close()
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self.gps = UBlox(self.port, self.baudrate, self.timeout)
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self.setup_ublox()
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self.debug_message("WARNING: Reconnected to GPS unit")
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continue
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time.sleep(5)
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try:
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self.gps.close()
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except:
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pass
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try:
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self.gps = UBlox(self.port, self.baudrate, self.timeout)
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self.setup_ublox()
|
||||
self.debug_message("WARNING: GPS Re-connected.")
|
||||
except:
|
||||
continue
|
||||
|
||||
# If we have received a message we care about, unpack it and update our state dict.
|
||||
if msg.name() == "NAV_SOL":
|
||||
msg.unpack()
|
||||
self.write_state('numSV', msg.numSV)
|
||||
|
|
@ -1026,6 +1038,7 @@ class UBloxGPS(object):
|
|||
msg.unpack()
|
||||
self.write_state('ground_speed', msg.gSpeed*0.036) # Convert to kph
|
||||
self.write_state('heading', msg.heading*1.0e-5)
|
||||
self.write_state('ascent_rate', msg.velD/100.0)
|
||||
|
||||
elif msg.name() == "CFG_NAV5":
|
||||
msg.unpack()
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue