prepare v4.1 (#163)

- tf 2.7
- fix 4.1 bugs
- Update wifi.py => changed approach: the daemons (hostapd, dhcpcd, wpa_supplicant) are started by systemd, wify.py is used to change config and verify connectivity in client mode.
- add CONTRIBUTING.md (#162)

Co-authored-by: previ <roberto.previtera@gmail.com>
Co-authored-by: Antonio Vivace <avivace4@gmail.com>

Author: previ

CONTRIBUTING.md

@@ -23,7 +23,7 @@
 bot_config = Config.get()
 bot = CoderBot.get_instance(
     motor_trim_factor=float(bot_config.get("move_motor_trim", 1.0)),
-    encoder=bool(bot_config.get("encoder"))
+    hw_version=bot_config.get("hw_version")
 )
 
 def get_serial():

api.py

@@ -49,7 +49,6 @@ class Camera(object):
     # pylint: disable=too-many-public-methods
 
     _instance = None
-    _img_template = image.Image.load("static/media/coderdojo-logo.png")
 
     @classmethod
     def get_instance(cls):
@@ -252,18 +251,6 @@ def find_line(self):
         self.set_image_cv(img)
         return coords
 
-    def find_signal(self):
-        angle = None
-        ts = time.time()
-        img = self.get_image()
-        signals = img.find_template(self._img_template)
-
-        logging.info("signal: %s", str(time.time() - ts))
-        if signals:
-            angle = signals[0].angle
-
-        return angle
-
     def find_face(self):
         face_x = face_y = face_size = None
         img = self.get_image()

camera.py

@@ -1 +1,46 @@
-{"move_power_angle_3": "60", "cnn_default_model": "generic_fast_low", "prog_maxblocks": "-1", "camera_jpeg_quality": "5", "show_page_control": "true", "camera_framerate": "30", "prog_scrollbars": "true", "move_fw_speed": "100", "prog_level": "adv", "move_motor_trim": "1", "move_motor_mode": "dc", "cv_image_factor": "2", "move_power_angle_1": "45", "camera_path_object_size_min": "4000", "button_func": "none", "camera_color_object_size_min": "4000", "camera_jpeg_bitrate": "1000000", "move_fw_elapse": "1", "show_control_move_commands": "true", "camera_color_object_size_max": "160000", "show_page_prefs": "true", "camera_exposure_mode": "auto", "ctrl_tr_elapse": "-1", "show_page_program": "true", "move_tr_elapse": "0.5", "camera_path_object_size_max": "160000", "sound_shutter": "$shutter.wav", "ctrl_fw_elapse": "-1", "sound_stop": "$shutdown.wav", "ctrl_tr_speed": "80", "ctrl_fw_speed": "100", "move_tr_speed": "85", "move_power_angle_2": "60", "ctrl_hud_image": "", "load_at_start": "", "sound_start": "$startup.wav", "encoder": "True", "audio_volume_level": "100", "wifi_mode": "ap", "wifi_ssid": "coderbot", "wifi_psk": "coderbot", "packages_installed": ""}
+{
+  "move_power_angle_3":"60",
+  "cnn_default_model":"generic_fast_low",
+  "prog_maxblocks":"-1",
+  "camera_jpeg_quality":"5",
+  "show_page_control":"true",
+  "camera_framerate":"30",
+  "prog_scrollbars":"true",
+  "move_fw_speed":"100",
+  "prog_level":"adv",
+  "move_motor_trim":"1",
+  "move_motor_mode":"dc",
+  "cv_image_factor":"2",
+  "move_power_angle_1":"45",
+  "camera_path_object_size_min":"4000",
+  "button_func":"none",
+  "camera_color_object_size_min":"4000",
+  "camera_jpeg_bitrate":"1000000",
+  "move_fw_elapse":"1",
+  "show_control_move_commands":"true",
+  "camera_color_object_size_max":"160000",
+  "show_page_prefs":"true",
+  "camera_exposure_mode":"auto",
+  "ctrl_tr_elapse":"-1",
+  "show_page_program":"true",
+  "move_tr_elapse":"0.5",
+  "camera_path_object_size_max":"160000",
+  "sound_shutter":"$shutter.wav",
+  "ctrl_fw_elapse":"-1",
+  "sound_stop":"$shutdown.wav",
+  "ctrl_tr_speed":"80",
+  "ctrl_fw_speed":"100",
+  "move_tr_speed":"85",
+  "move_power_angle_2":"60",
+  "ctrl_hud_image":"",
+  "load_at_start":"",
+  "sound_start":"$startup.wav",
+  "hw_version":"5",
+  "audio_volume_level":"100",
+  "wifi_mode":"ap",
+  "wifi_ssid":"coderbot_CHANGEMEATFIRSTRUN",
+  "wifi_psk":"coderbot",
+  "packages_installed":"",
+  "admin_password":"",
+  "hardware_version":"5"
+}

coderbot.cfg

@@ -54,6 +54,8 @@ class GPIO_CODERBOT_V_4():
     PIN_ENCODER_RIGHT_A = 15
     PIN_ENCODER_RIGHT_B = 12
 
+    HAS_ENCODER = False
+
 class GPIO_CODERBOT_V_5():
     # motors
     PIN_MOTOR_ENABLE = None #22
@@ -82,29 +84,36 @@ class GPIO_CODERBOT_V_5():
     PIN_ENCODER_RIGHT_A = 24 #15
     PIN_ENCODER_RIGHT_B = 25 #12
 
+    HAS_ENCODER = True
+
 # PWM
 PWM_FREQUENCY = 100 #Hz
 PWM_RANGE = 100 #0-100
 
+HW_VERSIONS = {
+  "4": GPIO_CODERBOT_V_4(),
+  "5": GPIO_CODERBOT_V_5()
+}
+
 class CoderBot(object):
 
     # pylint: disable=too-many-instance-attributes
 
-    def __init__(self, motor_trim_factor=1.0, encoder=True):
+    def __init__(self, motor_trim_factor=1.0, hw_version="5"):
         try:
             self._mpu = mpu.AccelGyroMag()
             logging.info("MPU available")
         except:
             logging.info("MPU not available")
 
-        self.GPIOS = GPIO_CODERBOT_V_5()
+        self.GPIOS = HW_VERSIONS.get(hw_version, GPIO_CODERBOT_V_5())
         self._pin_out = [self.GPIOS.PIN_LEFT_FORWARD, self.GPIOS.PIN_RIGHT_FORWARD, self.GPIOS.PIN_LEFT_BACKWARD, self.GPIOS.PIN_RIGHT_BACKWARD, self.GPIOS.PIN_SERVO_1, self.GPIOS.PIN_SERVO_2]
         self.pi = pigpio.pi('localhost')
         self.pi.set_mode(self.GPIOS.PIN_PUSHBUTTON, pigpio.INPUT)
         self._cb = dict()
         self._cb_last_tick = dict()
         self._cb_elapse = dict()
-        self._encoder = encoder
+        self._encoder = self.GPIOS.HAS_ENCODER
         self._motor_trim_factor = motor_trim_factor
         self._twin_motors_enc = WheelsAxel(
             self.pi,
@@ -143,9 +152,9 @@ def exit(self):
             s.cancel()
 
     @classmethod
-    def get_instance(cls, motor_trim_factor=1.0, encoder=True, servo=False):
+    def get_instance(cls, motor_trim_factor=1.0, hw_version="5", servo=False):
         if not cls.the_bot:
-            cls.the_bot = CoderBot(motor_trim_factor=motor_trim_factor, encoder=encoder)
+            cls.the_bot = CoderBot(motor_trim_factor=motor_trim_factor, hw_version=hw_version)
         return cls.the_bot
 
     def move(self, speed=100, elapse=0, distance=0):

coderbot.py

@@ -1,38 +1,46 @@
 {
-    "move_power_angle_3": "60",
-    "cnn_default_model": "fruit_025_128_1",
-    "prog_maxblocks": "-1",
-    "camera_jpeg_quality": "5",
-    "show_page_control": "true",
-    "camera_framerate": "30",
-    "prog_scrollbars": "true",
-    "move_fw_speed": "100",
-    "prog_level": "adv",
-    "move_motor_trim": "1",
-    "move_motor_mode": "dc",
-    "cv_image_factor": "2",
-    "move_power_angle_1": "45",
-    "camera_path_object_size_min": "4000",
-    "button_func": "none",
-    "camera_color_object_size_min": "4000",
-    "camera_jpeg_bitrate": "1000000",
-    "move_fw_elapse": "1",
-    "show_control_move_commands": "true",
-    "camera_color_object_size_max": "160000",
-    "show_page_prefs": "true",
-    "camera_exposure_mode": "auto",
-    "ctrl_tr_elapse": "-1",
-    "show_page_program": "true",
-    "move_tr_elapse": "0.5",
-    "camera_path_object_size_max": "160000",
-    "sound_shutter": "$shutter.mp3",
-    "ctrl_fw_elapse": "-1",
-    "sound_stop": "$shutdown.mp3",
-    "ctrl_tr_speed": "80",
-    "ctrl_fw_speed": "100",
-    "move_tr_speed": "85",
-    "move_power_angle_2": "60",
-    "ctrl_hud_image": "",
-    "load_at_start": "",
-    "sound_start": "$startup.mp3"
+  "move_power_angle_3":"60",
+  "cnn_default_model":"generic_fast_low",
+  "prog_maxblocks":"-1",
+  "camera_jpeg_quality":"5",
+  "show_page_control":"true",
+  "camera_framerate":"30",
+  "prog_scrollbars":"true",
+  "move_fw_speed":"100",
+  "prog_level":"adv",
+  "move_motor_trim":"1",
+  "move_motor_mode":"dc",
+  "cv_image_factor":"2",
+  "move_power_angle_1":"45",
+  "camera_path_object_size_min":"4000",
+  "button_func":"none",
+  "camera_color_object_size_min":"4000",
+  "camera_jpeg_bitrate":"1000000",
+  "move_fw_elapse":"1",
+  "show_control_move_commands":"true",
+  "camera_color_object_size_max":"160000",
+  "show_page_prefs":"true",
+  "camera_exposure_mode":"auto",
+  "ctrl_tr_elapse":"-1",
+  "show_page_program":"true",
+  "move_tr_elapse":"0.5",
+  "camera_path_object_size_max":"160000",
+  "sound_shutter":"$shutter.wav",
+  "ctrl_fw_elapse":"-1",
+  "sound_stop":"$shutdown.wav",
+  "ctrl_tr_speed":"80",
+  "ctrl_fw_speed":"100",
+  "move_tr_speed":"85",
+  "move_power_angle_2":"60",
+  "ctrl_hud_image":"",
+  "load_at_start":"",
+  "sound_start":"$startup.wav",
+  "hw_version":"5",
+  "audio_volume_level":"100",
+  "wifi_mode":"ap",
+  "wifi_ssid":"coderbot_CHANGEMEATFIRSTRUN",
+  "wifi_psk":"coderbot",
+  "packages_installed":"",
+  "admin_password":"",
+  "hardware_version": "5"  
 }

data/activities.json

@@ -460,15 +460,24 @@ def remove_doreset_file():
     except OSError:
         pass
 
+def align_wifi_config():
+    if app.bot_config["wifi_ssid"] == "coderbot_CHANGEMEATFIRSTRUN":
+        out = os.popen("sudo ./wifi.py getcfg --ssid").read()
+        if "coderbot_" in out:
+            app.bot_config["wifi_ssid"] = out.split()[0]
+            Config.write(app.bot_config)
+            app.bot_config = Config.get()
+
 # Finally, get the server running
 def run_server():
     bot = None
     cam = None
     try:
         try:
             app.bot_config = Config.read()
+            align_wifi_config()
             bot = CoderBot.get_instance(motor_trim_factor=float(app.bot_config.get('move_motor_trim', 1.0)),
-                                        encoder=bool(app.bot_config.get('encoder')))
+                                        hw_version=app.bot_config.get('hardware_version'))
             audio = Audio.get_instance()
             audio.say(app.bot_config.get("sound_start"))
 

data/defaults/config.json

@@ -572,27 +572,6 @@ Blockly.Python['coderbot_adv_findLine'] = function(block) {
   return [code, Blockly.Python.ORDER_ATOMIC];
 };
 
-Blockly.Blocks['coderbot_adv_findSignal'] = {
-  /**
-   * Block for findSignal function.
-   * @this Blockly.Block
-   */
-  init: function() {
-    this.setHelpUrl(Blockly.Msg.LOGIC_BOOLEAN_HELPURL);
-    this.setColour(250);
-    this.appendDummyInput()
-        .appendField(Blockly.Msg.CODERBOT_SENSOR_FINDSIGNAL);
-    this.setOutput(true, 'Number');
-    this.setTooltip(Blockly.Msg.LOGIC_BOOLEAN_TOOLTIP);
-  }
-};
-
-Blockly.Python['coderbot_adv_findSignal'] = function(block) {
-  // Boolean values true and false.
-  var code = 'get_cam().find_signal()';
-  return [code, Blockly.Python.ORDER_ATOMIC];
-};
-
 Blockly.Blocks['coderbot_adv_findFace'] = {
   /**
    * Block for findSignal function.