kopia lustrzana https://github.com/projecthorus/wenet
223 wiersze
6.5 KiB
Python
223 wiersze
6.5 KiB
Python
#!/usr/bin/env python
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#
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# Wenet - SHSSP Payload Main Loop - 2018 Version
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#
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# Copyright (C) 2018 Mark Jessop <vk5qi@rfhead.net>
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# Released under GNU GPL v3 or later
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#
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# Requires:
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# - PiCamera
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# - uBlox GPS Unit, available at /dev/ublox
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# - Bosch BNO055 Absolute Orientation Sensor, available at /dev/bno
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# - Wenet TX Shield, available on /dev/ttyAMA0
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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 json
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import argparse
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import time
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import traceback
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import datetime
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import os
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from BNO055 import WenetBNO055
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from threading import Thread
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# Payload Callsigns
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global_callsign = "SHSSP1"
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# Image capture directory
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image_dir = "./tx_images/"
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# Log files.
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text_telemetry_log = "ssp1_text.log"
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imu_log = "ssp1_imu.log"
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gps_log = "ssp1_gps.log"
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# Start up Wenet TX Object.
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tx = PacketTX.PacketTX(serial_port='/dev/ttyAMA0',
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serial_baud=115200,
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callsign=global_callsign,
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log_file=text_telemetry_log)
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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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# Initiaise BNO055.
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# This will loop until it has connected to a BNO055.
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bno = WenetBNO055(port='/dev/bno',
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update_rate_hz = 5, # Note that this parameter is un-used now.
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callback_decimation = 1, # Save IMU data to disk at full rate (~ 10 Hz for just euler/quaternion data)
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debug_ptr = tx.transmit_text_message,
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log_file=imu_log,
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raw_sensor_data = False)
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# Global variable to record if the GPS is giving valid time data.
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# As the GPS can go back to a fix state of 0, yet still give valid time data (for our purposes anyway),
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# We latch this variable to True as soon as we see any valid fix state.
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gps_time_fix = False
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# Global variable to tell if we've set the system time to GPS.
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# We need to set the system time at least once manually (using timedatectl), before NTPD can take over.
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system_time_set = False
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def handle_gps_data(gps_data):
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""" Handle GPS data passed to us from a UBloxGPS instance """
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global tx, bno, gps_time_fix, system_time_set
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# Latch gps_time_fix if Fix is OK.
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if gps_data['gpsFix'] > 0:
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gps_time_fix = True
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# Grab a snapshot of orientation data.
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orientation_data = bno.read_state()
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# If we have GPS lock, set the system clock to it. (Only do this once.)
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if (gps_data['gpsFix'] == 3) and not system_time_set:
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dt = gps_data['datetime']
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try:
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new_time = dt.strftime('%Y-%m-%d %H:%M:%S')
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ret_code = os.system("timedatectl set-time \"%s\"" % new_time)
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if ret_code == 0:
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tx.transmit_text_message("GPS Debug: System clock set to GPS time %s" % new_time)
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else:
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tx.transmit_text_message("GPS Debug: Attempt to set system clock failed!")
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system_time_set = True
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except:
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tx.transmit_text_message("GPS Debug: Attempt to set system clock failed!")
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# Immediately generate and transmit a GPS packet.
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tx.transmit_gps_telemetry(gps_data)
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# Now transmit an orientation telemetry packet.
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tx.transmit_orientation_telemetry(gps_data['week'], gps_data['iTOW'], gps_data['leapS'], orientation_data)
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# Try and start up the GPS rx thread.
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# Note: The UBloxGPS constructor will continuously loop until it finds a GPS unit to connect to.
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try:
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gps = ublox.UBloxGPS(port='/dev/ublox',
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dynamic_model = ublox.DYNAMIC_MODEL_AIRBORNE1G,
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update_rate_ms = 1000,
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debug_ptr = tx.transmit_text_message,
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callback = handle_gps_data,
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log_file = gps_log,
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ntpd_update = True
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)
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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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# Initialise the Camera Objects.
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# Initialise PiCam, using default capture and transmit resolution.
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picam = WenetPiCam.WenetPiCam(callsign=global_callsign,
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src_resolution=(3280,2464),
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tx_resolution=(1488,1120),
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num_images=1, # Only capture one image at a time.
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debug_ptr=tx.transmit_text_message,
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vertical_flip=True,
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horizontal_flip=True)
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# SSDV Image ID.
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image_id = 0
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# Main 'loop'.
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try:
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while True:
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# Grab current timestamp for image filenames.
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gps_data = gps.read_state()
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if gps_time_fix:
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# The timestamp supplied within the gps data dictionary isn't suitable for use as a filename.
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# Do the conversion from week/iTOW/leapS to UTC time manually, and produce a suitable timestamp.
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epoch = datetime.datetime.strptime("1980-01-06 00:00:00","%Y-%m-%d %H:%M:%S")
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elapsed = datetime.timedelta(days=(gps_data['week']*7),seconds=(gps_data['iTOW']))
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timestamp = epoch + elapsed - datetime.timedelta(seconds=gps_data['leapS'])
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capture_time = timestamp.strftime("%Y%m%d-%H%M%SZ")
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else:
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# If we don't have valid GPS time, use system time.
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capture_time = datetime.datetime.utcnow().strftime("%Y%m%d-%H%M%SZ")
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# Generate output filenames.
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vis_capture_filename = image_dir + "/%s_%d_visible.jpg" % (capture_time,image_id)
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metadata_filename = image_dir + "/%s_%d_metadata.json" % (capture_time, image_id)
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# Capture an instantaneous snapshot of GPS and Orientation data.
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gps_data = gps.read_state()
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orientation_data = bno.read_state()
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# Capture picam image.
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picam_capture_success = picam.capture(vis_capture_filename)
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# Transmit a summary of what images we were able to capture.
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tx.transmit_text_message("Image %d Captured at %s (%s)" % (
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image_id,
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capture_time,
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"GPS" if gps_time_fix else "System")
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)
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# If we have images, convert to SSDV.
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if picam_capture_success:
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picam_ssdv_filename = picam.ssdvify(vis_capture_filename, image_id = image_id)
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if picam_ssdv_filename == "FAIL":
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tx.transmit_text_message("Error capturing image, continuing.")
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continue
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# Wait until the transmit queue is empty before pushing in packets.
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tx.transmit_text_message("Waiting for SSDV TX queue to empty.")
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while tx.image_queue_empty() == False:
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time.sleep(0.1) # Sleep for a short amount of time.
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if picam_capture_success:
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# Get file size in packets.
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file_size = os.path.getsize(picam_ssdv_filename)/256
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tx.transmit_text_message("Transmitting %d SSDV Packets." % file_size)
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tx.queue_image_file(picam_ssdv_filename)
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# Transmit Image telemetry packet
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tx.transmit_image_telemetry(gps_data, orientation_data, image_id, callsign=global_callsign)
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# Dump all the image metadata to a json blob, and write to a file.
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gps_data.pop('datetime') # Pop out the datetime object, as it isn't serialisable. We still have the timestamp entry...
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metadata = {'gps': gps_data, 'orientation': orientation_data, 'image_id': image_id}
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f = open(metadata_filename,'w')
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f.write(json.dumps(metadata))
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f.close()
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# Increment image ID and loop!
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image_id = (image_id + 1) % 256
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# Catch CTRL-C, and exit cleanly.
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# Only really used during debugging.
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except KeyboardInterrupt:
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print("Closing")
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bno.close()
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gps.close()
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picam.stop()
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tx.close()
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