Start on 2018 version of SHSSP code.

tx/shssp2018.py

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+#!/usr/bin/env python
+#
+#	SHSSP Payload Main Loop - 2018 Version
+#	
+#	Requires:
+#		- PiCamera
+#		- uBlox GPS Unit, available at /dev/ublox
+#		- Bosch BNO055 Absolute Orientation Sensor, available at /dev/bno
+#		- Wenet TX Shield, available on /dev/ttyAMA0
+#
+#	Mark Jessop <vk5qi@rfhead.net>
+#
+
+import PacketTX
+import WenetPiCam
+import ublox
+import json
+import argparse
+import time
+import traceback
+import datetime
+import os
+from BNO055 import WenetBNO055
+from threading import Thread
+
+# Payload Callsigns
+global_callsign = "SHSSP1"
+
+# Image capture directory
+image_dir = "./tx_images/"
+
+# Log files.
+text_telemetry_log = "ssp1_text.log"
+bno_log = "ssp1_bno.log"
+gps_log = "ssp1_gps.log"
+
+# Start up Wenet TX Object.
+tx = PacketTX.PacketTX(serial_port='/dev/ttyAMA0', serial_baud=115200, callsign=global_callsign)
+tx.start_tx()
+
+# Sleep for a second to let the transmitter fire up.
+time.sleep(1)
+
+
+# Initiaise BNO055.
+# This will loop until it has connected to a BNO055.
+bno = WenetBNO055(port='/dev/bno',
+	update_rate_hz = 5, 
+	debug_ptr = tx.transmit_text_message, 
+	log_file=bno_log)
+
+# Global variable to record if the GPS is giving valid time data.
+# As the GPS can go back to a fix state of 0, yet still give valid time data (for our purposes anyway),
+# We latch this variable to True as soon as we see any valid fix state.
+gps_time_fix = False
+
+def handle_gps_data(gps_data):
+	""" Handle GPS data passed to us from a UBloxGPS instance """
+	global tx, bno, gps_time_fix
+
+	# Latch gps_time_fix if Fix is OK.
+	if gps_data['gpsFix'] > 0:
+		gps_time_fix = True
+
+	# Grab a snapshot of orientation data.
+	orientation_data = bno.read_state()
+
+	# Immediately generate and transmit a GPS packet.
+	tx.transmit_gps_telemetry(gps_data)
+
+	# Now transmit an orientation telemetry packet.
+	tx.transmit_orientation_telemetry(gps_data['week'], gps_data['iTOW'], gps_data['leapS'], orientation_data)
+
+
+# Try and start up the GPS rx thread.
+# Note: The UBloxGPS constructor will continuously loop until it finds a GPS unit to connect to.
+try:
+	gps = ublox.UBloxGPS(port='/dev/ublox', 
+		dynamic_model = ublox.DYNAMIC_MODEL_AIRBORNE1G, 
+		update_rate_ms = 1000,
+		debug_ptr = tx.transmit_text_message,
+		callback = handle_gps_data,
+		log_file = gps_log
+		)
+except Exception as e:
+	tx.transmit_text_message("ERROR: Could not Open GPS - %s" % str(e), repeats=5)
+	gps = None
+
+# Initialise the Camera Objects.
+
+# Initialise PiCam, using default capture and transmit resolution.
+picam = WenetPiCam.WenetPiCam(callsign=global_callsign, 
+	num_images=1, 	# Only capture one image at a time.
+	debug_ptr=tx.transmit_text_message, 
+	vertical_flip=False, 
+	horizontal_flip=False)
+
+# SSDV Image ID.
+image_id = 0
+
+
+# Main 'loop'.
+try:
+	while True:
+		# Grab current timestamp for image filenames.
+		gps_data = gps.read_state()
+		if gps_time_fix:
+			# The timestamp supplied within the gps data dictionary isn't suitable for use as a filename.
+			# Do the conversion from week/iTOW/leapS to UTC time manually, and produce a suitable timestamp.
+			epoch = datetime.datetime.strptime("1980-01-06 00:00:00","%Y-%m-%d %H:%M:%S")
+			elapsed = datetime.timedelta(days=(gps_data['week']*7),seconds=(gps_data['iTOW']+gps_data['leapS']))
+			timestamp = epoch + elapsed
+			capture_time = timestamp.strftime("%Y%m%d-%H%M%SZ")
+		else:
+			# If we don't have valid GPS time, use system time. 
+			capture_time = datetime.datetime.utcnow().strftime("%Y%m%d-%H%M%SZ")
+
+		# Generate output filenames.
+		vis_capture_filename = image_dir + "/%s_%d_visible.jpg" % (capture_time,image_id)
+		metadata_filename = image_dir + "/%s_%d_metadata.json" % (capture_time, image_id)
+
+		# Capture an instantaneous snapshot of GPS and Orientation data.
+		gps_data = gps.read_state()
+		orientation_data = bno.read_state()
+
+		# Capture picam image.
+		picam_capture_success = picam.capture(vis_capture_filename)
+
+		# Transmit a summary of what images we were able to capture.
+		tx.transmit_text_message("Image %d Captured at %s (%s)" % (
+			image_id, 
+			capture_time,
+			"GPS" if gps_time_fix else "System")
+		)
+
+		# If we have images, convert to SSDV.
+		if picam_capture_success:
+			picam_ssdv_filename = picam.ssdvify(vis_capture_filename, image_id = image_id)
+
+
+		# Wait until the transmit queue is empty before pushing in packets.
+		tx.transmit_text_message("Waiting for SSDV TX queue to empty.")
+		while tx.image_queue_empty() == False:
+			time.sleep(0.1) # Sleep for a short amount of time.
+
+		if picam_capture_success:
+			# Get file size in packets.
+			file_size = os.path.getsize(picam_ssdv_filename)/256
+
+			tx.transmit_text_message("Transmitting %d NIR SSDV Packets." % file_size)
+
+			tx.queue_image_file(picam_ssdv_filename)
+
+		# Transmit Image telemetry packet
+		tx.transmit_image_telemetry(gps_data, orientation_data, image_id, callsign=global_callsign)
+
+		# Dump all the image metadata to a json blob, and write to a file.
+		metadata = {'gps': gps_data, 'orientation': orientation_data, 'image_id': image_id}
+		f = open(metadata_filename,'w')
+		f.write(json.dumps(metadata))
+		f.close()
+
+		# Increment image ID and loop!
+		image_id = (image_id + 1) % 256
+
+
+# Catch CTRL-C, and exit cleanly.
+# Only really used during debugging.
+except KeyboardInterrupt:
+	print("Closing")
+	bno.close()
+	gps.close()
+	picam.stop()
+	tx.close()
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