Restructured repo, modified venv

Factory_Automation/Common/bluetoothStatusEnum.py

+from enum import Enum
+
+class BluetoothStatusEnum(Enum):
+    Disconnected = 1
+    Connected = 2
+    Failed_To_Connect = 3
+    
\ No newline at end of file

Factory_Automation/Common/droneStatusEnum.py

+from enum import Enum
+class DroneStatusEnum(Enum):
+    Uninitialized = 1
+    Location_Unknown_Idle = 2
+    Location_Known_Idle = 3
+    Moving = 4
+    Stopped = 5
+    
\ No newline at end of file

Factory_Automation/Mothership/baseGrid.py → Factory_Automation/Mothership/Application/Core/baseGrid.py

@@ -16,7 +16,7 @@ def main():
 
     grid_array = np.array(grid_matrix)
 
-    np.save('Application/Core/grid.npy', grid_array)
+    np.save('Mothership/Application/Core/grid.npy', grid_array)
 
 if __name__ == "__main__":
     main()
\ No newline at end of file

Factory_Automation/Mothership/Application/Core/bleClientPi.py

+from bluedot.btcomm import BluetoothServer
+from time import sleep
+from signal import pause
+from droneStatusEnum import DroneStatusEnum
+from bluetoothStatusEnum import BluetoothStatusEnum
+class BLEClientPi:
+    _instance = None
+    def __new__(cls):
+        if cls._instance is None:
+            cls._instance = super(BLEServicePi, cls).__new__(cls)
+            cls._instance.coordinate_queue = None
+            cls._instance.command_queue = None
+            cls._instance.drone_status = DroneStatusEnum.Uninitialized
+            cls._instance.bluetooth_status = BluetoothStatusEnum.Disconnected
+            cls._instance.bluetoothClient = None 
+            return cls._instance
+
+    def data_received(data):
+        print("recv - {}".format(data))
+
+    def connect():
+        try:
+            cls.bluetoothClient = BluetoothClient("pi4", data_received)
+            cls.bluetoothClient.send("Connectedddd")
+        finally:
+            cls.bluetoothClient.disconnect()
+
+
+
+    
+    

Factory_Automation/Mothership/Application/Core/bluetoothStatusEnum.py

+from enum import Enum
+
+class BluetoothStatusEnum(Enum):
+    Disconnected = 1
+    Connected = 2
+    Failed_To_Connect = 3
+    
\ No newline at end of file

Factory_Automation/Mothership/Application/Core/droneStatusEnum.py

+from enum import Enum
+class DroneStatusEnum(Enum):
+    Uninitialized = 1
+    Location_Unknown_Idle = 2
+    Location_Known_Idle = 3
+    Moving = 4
+    Stopped = 5
+    
\ No newline at end of file

Factory_Automation/Mothership/Application/Core/droneTracker.py

@@ -19,8 +19,8 @@ class DroneTracker:
         cls.difference_image = None
         cls.base_image = None
         with PiCamera() as camera:
-            camera.capture('base_image.jpg')
-            cls.base_image = cv2.imread('base_image.jpg', cv2.IMREAD_GRAYSCALE)
+            camera.capture('Mothership/Images/base_image.jpg')
+            cls.base_image = cv2.imread('Mothership/Images/base_image.jpg', cv2.IMREAD_GRAYSCALE)
     
     def get_grid_feed(cls):
         if cls.base_image is None:
@@ -32,8 +32,8 @@ class DroneTracker:
 
     def detect_drone(cls):
         with PiCamera() as camera:
-            camera.capture("captured_image.jpg")
-            cls.captured_image = cv2.imread("captured_image.jpg", cv2.IMREAD_GRAYSCALE)
+            camera.capture("Mothership/Images/captured_image.jpg")
+            cls.captured_image = cv2.imread("Mothership/Images/captured_image.jpg", cv2.IMREAD_GRAYSCALE)
         
         # Detect the drone by determing difference from base image
         difference_image = cv2.absdiff(cls.base_image, cls.captured_image)
@@ -73,8 +73,8 @@ class DroneTracker:
             drone_y = int(y_avg / (cls.base_image.shape[1]/ grid_y_dim))
 
             cls.difference_image = difference_image
-            cv2.imwrite("difference_image.jpg",difference_image)
-            cv2.imwrite("segmentation.jpg",thresholded_image)
+            cv2.imwrite("Mothership/Images/difference_image.jpg",difference_image)
+            cv2.imwrite("Mothership/Images/segmentation.jpg",thresholded_image)
             return (drone_x, drone_y)
         else:
             print("Unable to detect drone")
\ No newline at end of file

Factory_Automation/Mothership/Application/Core/lab.py

-import argparse
-import serial
-import sys
-import time
-
-# TODO: Make sure teensy_port matches the port for Teensy
-# given in the Arduino IDE, and bt_port matches the output
-# of the Bluetooth manager when opening a serial connection
-# to the HC-05
-teensy_port = '/dev/ttyACM0'  # Teensy Serial port
-bt_port = '/dev/rfcomm0'    # HC-05 port
-bt_baud = 38400
-
-
-def fft_bin_to_motor():
-    ''' Control servo motors via bluetooth based on FFT of signal
-        fed into the Teensy '''
-    serbt = serial.Serial(bt_port, bt_baud)
-
-    # initialize Serial port for Teensy connection
-    ser = serial.Serial()
-    ser.port = teensy_port  # Teensy Serial port
-    ser.baudrate = 9600
-    ser.timeout = None  # specify timeout when using readline()
-    ser.open()
-    if ser.is_open:
-        print('Serial port now open. Configuration:\n')
-        print(ser, '\n')  # print serial parameters
-    while True:
-        # Acquire and parse data from Serial port
-        try:
-            line = ser.readline()  # ascii
-        except serial.SerialException:
-            ser = serial.Serial()
-            ser.port = teensy_port  # Teensy Serial port
-            ser.baudrate = 9600
-            ser.timeout = None  # specify timeout when using readline()
-            try:
-                ser.open()
-            except serial.SerialException:
-                continue
-            if ser.is_open:
-                continue
-
-        # split incoming CSV by commas and store in a list
-        line_as_list = line.strip().split(b' ')
-        map_object = map(float, line_as_list)
-        list_of_int = list(map_object)
-        # print(list_of_int)
-
-        # find FFT bin with max coefficient, skip if its 0
-        max_bin = list_of_int.index(max(list_of_int))
-        if max_bin == 0:
-            continue
-        print(max_bin)  # uncomment to see the index
-
-        # TODO: Write 'L' to move the left servo, and 'R' to move the right servo.
-        # Create your own logic that will move one of the servos at a time
-        # based on the maximum FFT bin form the Teensy
-
-        # if ?????:
-        #     command = 'L'
-        # elif ?????:
-        #     command = 'R'
-        
-        serbt.write(command.encode('utf-8'))  # write to the HC-05
-        print(command)
-
-
-def latency():
-    ''' Measure the latency in a round-trip bluetooth packet
-        to the HC-05 unit '''
-    ser = serial.Serial(bt_port, bt_baud)
-
-    print('Sending data...')
-    temp = ""
-    start = False
-    start_time = time.time()
-    ser.write('From RasPi'.encode('ascii'))
-
-    # Define start_char and end_char
-    start_char = 60
-    end_char = 62
-
-    while (True):
-        if (ser.inWaiting() > 0):
-            # Grab single character and find its ASCII code
-            character = ser.read()
-            latency = time.time() - start_time
-            asciiOrd = ord(character)
-
-            if (asciiOrd == start_char and start is True):
-                temp = ""  # start over
-            elif (asciiOrd == start_char and start is False):
-                start = True
-            elif (asciiOrd != start_char and asciiOrd != end_char and start is True):
-                temp += character.decode('ascii')
-            elif (asciiOrd == end_char and start is True):
-                # Print our message + latency
-                if len(temp) > 0:
-                    try:
-                        print('Receiving new reading:', temp, '\n')
-                        # Acknowledge receipt of data
-                        print(latency)
-                        break
-                    except Exception as e:
-                        print(e)
-                start = False
-                temp = ""
-
-
-def rate():
-    ''' Measure data rate of bluetooth connection to HC-05 '''
-    ser = serial.Serial(bt_port, bt_baud)
-
-    print('Sending data...')
-    # Sleep for a second for a chance to connect
-    time.sleep(1)
-
-    for i in range(100):
-        ser.write((str(i) + '\n').encode('ascii'))
-    print('End')
-
-
-def size():
-    ''' Output size of message sent in 'rate' '''
-    s = ""
-    for i in range(100):
-        s += str(i) + '\n'
-    print(sys.getsizeof(s), "bytes")
-
-
-def main():
-    global bt_baud, bt_port, teensy_port
-    parser = argparse.ArgumentParser(description='EECS 452 Bluetooth Driver')
-    parser.add_argument('function', metavar='function', type=str,
-                        choices=['bt_fft', 'latency', 'rate', 'size'],
-                        help='The name of the function to run: "bt_fft", "latency", "rate", or "size"')
-    parser.add_argument('-b', '--bt-baud', type=int, dest='bt_baud', default=bt_baud,
-                        help='Baud Rate for HC-05 Module')
-    parser.add_argument('-p', '--bt-port', type=str, dest='bt_port', default=bt_port,
-                        help='/dev/<port> for HC-05 Module')
-    parser.add_argument('--teensy-port', type=str, dest='teensy_port', default=teensy_port,
-                        help='/dev/<port> for Teensy')
-    parser.add_argument('-d', '--debug', action='store_true', default=False,
-                        help='Print out serial port information for HC-05 and Teensy')
-    args = parser.parse_args()
-
-    if args.bt_baud is not None:
-        bt_baud = args.bt_baud
-    if args.bt_port is not None:
-        bt_port = args.bt_port
-    if args.teensy_port is not None:
-        teensy_port = args.teensy_port
-
-    if args.debug:
-        print("Debug:")
-        print("bt_baud: ", bt_baud)
-        print("bt_port: ", bt_port)
-        print("teensy_port: ", teensy_port)
-        print()
-
-    if args.function == 'bt_fft':
-        fft_bin_to_motor()
-    elif args.function == 'latency':
-        latency()
-    elif args.function == 'rate':
-        rate()
-    elif args.function == 'size':
-        size()
-
-
-if __name__ == '__main__':
-    main()

Factory_Automation/Mothership/Application/Core/mothership.py

 import numpy as np
-from Common.gridDestinationEnum import GridDestinationEnum
+from Core.gridDestinationEnum import GridDestinationEnum
 import heapq
 import math
 import time
 from Core.pathfinder import Pathfinder, Node
 from Core.bleService import BLEService
 from Core.droneTracker import DroneTracker
+from Core.bleServicePi import BLEServicePi
+
 """ Since Dash doesn't support global variables we'll keep this as a singleton"""
 class Mothership:
     _instance = None
@@ -54,7 +56,9 @@ class Mothership:
             cls.drone_location = (node[0], node[1])
     
     def subscribe_to_drone(cls):
-        cls.ble_service = BLEService("TeensyBLE","E2:16:D3:7E:29:03")
+        # We're not using teensy anymore
+        #cls.ble_service = BLEService("TeensyBLE","E2:16:D3:7E:29:03")
+        cls.ble_service = BLEServicePi()
         cls.ble_service.connect()
         cls.drone_location = (0,0)
 

Factory_Automation/Mothership/Application/app.py

@@ -5,8 +5,9 @@ from dash.dependencies import Input, Output, State
 import os
 
 # Set working directory
-script_dir = os.path.dirname(os.path.realpath(__file__))
-os.chdir(script_dir)
+#script_dir = os.path.dirname(os.path.realpath(__file__))
+#print(script_dir)
+#os.chdir(script_dir)
 
 app = Dash(__name__, use_pages = True, external_stylesheets = [dbc.themes.BOOTSTRAP])
 

Factory_Automation/Mothership/Application/pages/home.py

@@ -5,9 +5,10 @@ from dash.dependencies import Input, Output, State
 import dash_bootstrap_components as dbc
 import plotly.express as px
 import pandas as pandas
-from Common.gridDestinationEnum import GridDestinationEnum
-import plotly.graph_objs as go
 from Core.mothership import Mothership
+from Core.gridDestinationEnum import GridDestinationEnum
+import plotly.graph_objs as go
+
 mothership = Mothership("/")
 """             UI Components             """