bunch of updates trying to get mavlink collection online

.gitignore

@@ -18,3 +18,4 @@ test_data.txt
 **/tmp_*
 *.tmp
 **/*.tmp
+**/mav.*

data_collection_model_and_results/rover/rover_v3.1/README.md

@@ -136,4 +136,6 @@ See [here](https://www.dropbox.com/s/egpfn434aox6vvk/roverv3_3dparts.zip?dl=0)
 
 [Low power disconnect](https://www.dropbox.com/scl/fi/wmjql1251xnxs90oqn2jd/lower_power_disconnect_30A.pdf?rlkey=h3vitle22f5xrkcthws3yf8ft&dl=0)
 
-[Cytron Smart duo 30](https://www.dropbox.com/scl/fi/eeqg87gi8wzy2aa1k1yx3/MDDS30_User_Manual.pdf?rlkey=xe49gu88bpqspxbg2dh6x139w&dl=0)
+[Cytron Smart duo 30](https://www.dropbox.com/scl/fi/eeqg87gi8wzy2aa1k1yx3/MDDS30_User_Manual.pdf?rlkey=xe49gu88bpqspxbg2dh6x139w&dl=0)
+
+[Fans](https://www.dropbox.com/s/b4bna0s1yyfwyqa/cooler_guys_fan.pdf?dl=0)

data_collection_model_and_results/rover/rover_v3.1/setup.sh

@@ -10,7 +10,7 @@ rover_id=$1
 echo ${rover_id} > ~/rover_id
 
 sudo apt-get update
-sudo apt-get install git screen libiio-dev libiio-utils vim -y
+sudo apt-get install git screen libiio-dev libiio-utils vim python3-dev -y
 
 # virtual enviornment setup
 python -m venv ~/spf-virtualenv

requirements.txt

@@ -53,6 +53,7 @@ pytest==7.4.3
 python-dateutil==2.8.2
 PyYAML==6.0.1
 requests==2.31.0
+RPi.GPIO==0.7.1
 scipy==1.11.4
 shapely==2.0.2
 six==1.16.0

spf/data_collector.py

@@ -0,0 +1,124 @@
+import logging
+import sys
+import time
+
+import numpy as np
+
+from spf.sdrpluto.sdr_controller import (
+    EmitterConfig,
+    ReceiverConfig,
+    get_pplus,
+    setup_rx,
+    setup_rxtx,
+)
+from spf.wall_array_v2 import v2_column_names
+
+
+class DataCollector:
+    def __init__(self, yaml_config, filename_npy, tag=""):
+        self.yaml_config = yaml_config
+        self.filename_npy = filename_npy
+        self.record_matrix = None
+
+    def radios_to_online(self):
+        # record matrix
+        column_names = v2_column_names(nthetas=self.yaml_config["n-thetas"])
+        if not self.yaml_config["dry-run"]:
+            self.record_matrix = np.memmap(
+                self.filename_npy,
+                dtype="float32",
+                mode="w+",
+                shape=(
+                    2,  # TODO should be nreceivers
+                    self.yaml_config["n-records-per-receiver"],
+                    len(column_names),
+                ),  # t,tx,ty,rx,ry,rtheta,rspacing /  avg1,avg2 /  sds
+            )
+
+        # lets open all the radios
+        radio_uris = []
+        if self.yaml_config["emitter"]["type"] == "sdr":
+            radio_uris.append(self.yaml_config["emitter"]["receiver-uri"])
+        for receiver in self.yaml_config["receivers"]:
+            radio_uris.append(receiver["receiver-uri"])
+        for radio_uri in radio_uris:
+            get_pplus(uri=radio_uri)
+
+        time.sleep(0.1)
+
+        target_yaml_config = self.yaml_config["emitter"]
+        if target_yaml_config["type"] == "sdr":  # this  wont be the case for mavlink
+            # setup the emitter
+            target_rx_config = ReceiverConfig(
+                lo=target_yaml_config["f-carrier"],
+                rf_bandwidth=target_yaml_config["bandwidth"],
+                sample_rate=target_yaml_config["f-sampling"],
+                gains=[target_yaml_config["rx-gain"], target_yaml_config["rx-gain"]],
+                gain_control_modes=[
+                    target_yaml_config["rx-gain-mode"],
+                    target_yaml_config["rx-gain-mode"],
+                ],
+                enabled_channels=[0, 1],
+                buffer_size=target_yaml_config["buffer-size"],
+                intermediate=target_yaml_config["f-intermediate"],
+                uri=target_yaml_config["receiver-uri"],
+            )
+            target_tx_config = EmitterConfig(
+                lo=target_yaml_config["f-carrier"],
+                rf_bandwidth=target_yaml_config["bandwidth"],
+                sample_rate=target_yaml_config["f-sampling"],
+                intermediate=target_yaml_config["f-intermediate"],
+                gains=[target_yaml_config["tx-gain"], -80],
+                enabled_channels=[0],
+                cyclic=True,
+                uri=target_yaml_config["emitter-uri"],
+                motor_channel=target_yaml_config["motor_channel"],
+            )
+
+            pplus_rx, _ = setup_rxtx(
+                rx_config=target_rx_config, tx_config=target_tx_config, leave_tx_on=True
+            )
+            pplus_rx.close_rx()
+
+        # get radios online
+        receiver_pplus = {}
+        for receiver in self.yaml_config["receivers"]:
+            rx_config = ReceiverConfig(
+                lo=receiver["f-carrier"],
+                rf_bandwidth=receiver["bandwidth"],
+                sample_rate=receiver["f-sampling"],
+                gains=[receiver["rx-gain"], receiver["rx-gain"]],
+                gain_control_modes=[
+                    receiver["rx-gain-mode"],
+                    receiver["rx-gain-mode"],
+                ],
+                enabled_channels=[0, 1],
+                buffer_size=receiver["buffer-size"],
+                intermediate=receiver["f-intermediate"],
+                uri=receiver["receiver-uri"],
+                rx_spacing=receiver["antenna-spacing-m"],
+                rx_theta_in_pis=receiver["theta-in-pis"],
+                motor_channel=receiver["motor_channel"],
+                rx_buffers=receiver["rx-buffers"],
+            )
+            assert "emitter-uri" not in receiver
+            assert (
+                "skip_phase_calibration" not in self.yaml_config
+                or self.yaml_config["skip_phase_calibration"]
+            )
+            # there is no emitter to setup, its already blasting
+            pplus_rx = setup_rx(rx_config=rx_config)
+
+            if pplus_rx is None:
+                logging.info("Failed to bring RXTX online, shuttingdown")
+                sys.exit(1)
+            else:
+                logging.debug("RX online!")
+                receiver_pplus[pplus_rx.uri] = pplus_rx
+                assert pplus_rx.rx_config.rx_pos is not None
+
+    def start(self):
+        pass
+
+    def is_collecting(self):
+        pass

spf/device_mapping

@@ -0,0 +1,2 @@
+1 10
+2 30

spf/ultrasonic_distance/ultrasonic_distance_controller.py → spf/distance_finder/distance_finder_controller.py

@@ -3,10 +3,13 @@
 import threading
 import time
 
-import RPi.GPIO as GPIO
+try:
+    import RPi.GPIO as GPIO
+except ImportError:
+    pass
 
 
-class UtrasonicDistanceController:
+class DistanceFinderController:
     def __init__(self, trigger=2, echo=3):
         # assign pins
         self.trigger = trigger
@@ -18,6 +21,9 @@ def __init__(self, trigger=2, echo=3):
         GPIO.setup(self.trigger, GPIO.OUT)
         GPIO.setup(self.echo, GPIO.IN)
 
+    def run_in_new_thread(self):
+        threading.Thread(target=self.run, daemon=True).start()
+
     def run(self, sample_interval=0.05):
         # start sensor
         GPIO.output(self.trigger, GPIO.LOW)
@@ -51,8 +57,8 @@ def run(self, sample_interval=0.05):
 
     args = parser.parse_args()
 
-    udc = UtrasonicDistanceController(trigger=args.trigger, echo=args.echo)
-    threading.Thread(target=udc.run, daemon=True).start()
+    udc = DistanceFinderController(trigger=args.trigger, echo=args.echo)
+    udc.run_in_new_thread()
     for x in range(15 * 2):
         time.sleep(1.0 / 2)
         print(udc.distance)