Merge pull request #40 from MWLCDev/RFC31_RealyControlGPIO

RFC31_Control Relays through GPIO socket on Nano and Pi
Change folders directory 
Add a python script wrapper to deal with balena CLI
Update docker image for `pi` services

.gitignore

@@ -1,3 +1,12 @@
+# mkdocs documentation
+/site
+
+# folders
+data_root
+docs/
+pi4_runtime/BYODR_utils
+jetson_runtime/BYODR_utils
+
 # Byte-compiled / optimized / DLL files
 __pycache__/
 *.py[cod]
@@ -103,16 +112,9 @@ venv.bak/
 # Rope project settings
 .ropeproject
 
-# mkdocs documentation
-/site
-
 # mypy
 .mypy_cache/
 
-# folders
-data_root
-docs/
-
 # Google protocol buffers
 *.pb
 /.balena/

.vscode/settings.json

@@ -1,6 +1,9 @@
 {
     "cSpell.words": [
-        "teleop"
+      "BYODR",
+      "GPIO",
+      "Jetson",
+      "teleop"
     ],
     "python.analysis.typeCheckingMode": "off",
     "liveServer.settings.port": 5501,

BYODR_utils/JETSON_specific/gpio_relay.py

@@ -0,0 +1,41 @@
+from __future__ import absolute_import
+
+import threading
+
+import Jetson.GPIO as GPIO  # type: ignore
+
+
+class ThreadSafeJetsonGpioRelay(object):
+    """
+    Thread-safe class for managing a GPIO relay on a Jetson Nano.
+    """
+
+    def __init__(self, pin=15):
+        self.pin = pin
+        self.state = False  # False for OFF, True for ON
+        self.lock = threading.Lock()
+        GPIO.setmode(GPIO.BOARD)  # Set the pin numbering system to BOARD
+        GPIO.setup(self.pin, GPIO.OUT, initial=GPIO.LOW)
+
+    def open(self):
+        """Turns the relay ON (sets the GPIO pin LOW)."""
+        with self.lock:
+            GPIO.output(self.pin, GPIO.LOW)
+            self.state = False
+
+    def close(self):
+        """Turns the relay OFF (sets the GPIO pin HIGH)."""
+        with self.lock:
+            GPIO.output(self.pin, GPIO.HIGH)
+            self.state = True
+
+    def toggle(self):
+        """Toggles the relay state."""
+        with self.lock:
+            self.state = not self.state
+            GPIO.output(self.pin, GPIO.LOW if self.state else GPIO.HIGH)
+
+    def states(self):
+        """Returns the current state of the relay."""
+        with self.lock:
+            return self.state

BYODR_utils/JETSON_specific/utilities.py

@@ -0,0 +1,20 @@
+import subprocess
+
+
+class Nano:
+    @staticmethod
+    def get_ip_address():
+        try:
+            ip_addresses = (
+                subprocess.check_output(
+                    "hostname -I | awk '{for (i=1; i<=NF; i++) if ($i ~ /^192\\.168\\./) print $i}'",
+                    shell=True,
+                )
+                .decode()
+                .strip()
+            )
+            # Split in case there are multiple local IP addresses
+            return ip_addresses
+        except subprocess.CalledProcessError as e:
+            print(f"An error occurred: {e}")
+            return None

BYODR_utils/PI_specific/gpio_relay.py

@@ -0,0 +1,48 @@
+from __future__ import absolute_import
+
+import threading
+
+import RPi.GPIO as GPIO  # type: ignore
+
+
+class ThreadSafePi4GpioRelay:
+    """Thread-safe class for managing a GPIO relay on a Raspberry Pi."""
+
+    def __init__(self, pin=15):
+        self.pin = pin
+        self.state = False  # False for OFF, True for ON
+        self.lock = threading.Lock()
+        GPIO.setmode(GPIO.BOARD)  # Set the pin numbering system to BOARD
+        GPIO.setwarnings(False)
+        GPIO.setup(self.pin, GPIO.OUT, initial=GPIO.LOW)
+
+    def open(self):
+        """Turns the relay ON (sets the GPIO pin LOW)."""
+        with self.lock:
+            print("opened the relay")
+            GPIO.output(self.pin, GPIO.LOW)
+            self.state = False
+
+    def close(self):
+        """Turns the relay OFF (sets the GPIO pin HIGH)."""
+        with self.lock:
+            GPIO.output(self.pin, GPIO.HIGH)
+            current_state = GPIO.input(self.pin)
+            print(f"closed the relay, current state: {current_state}")
+            self.state = True
+
+    def toggle(self):
+        """Toggles the relay state."""
+        with self.lock:
+            self.state = not self.state
+            GPIO.output(self.pin, GPIO.LOW if self.state else GPIO.HIGH)
+
+    def get_state(self):
+        """Returns the current state of the relay."""
+        with self.lock:
+            return self.state
+
+    def cleanup(self):
+        """Cleans up the GPIO state."""
+        GPIO.cleanup(self.pin)  # Reset the specific pin before setup
+        GPIO.setup(self.pin, GPIO.OUT, initial=GPIO.LOW)

BYODR_utils/PI_specific/utilities.py

@@ -0,0 +1,20 @@
+import subprocess
+
+
+class RaspberryPi:
+    @staticmethod
+    def get_ip_address():
+        try:
+            ip_addresses = (
+                subprocess.check_output(
+                    "hostname -I | awk '{for (i=1; i<=NF; i++) if ($i ~ /^192\\.168\\./) print $i}'",
+                    shell=True,
+                )
+                .decode()
+                .strip()
+            )
+            # Split in case there are multiple local IP addresses
+            return ip_addresses
+        except subprocess.CalledProcessError as e:
+            print(f"An error occurred: {e}")
+            return None

common/byodr/utils/__init__.py → BYODR_utils/common/__init__.py

@@ -13,7 +13,7 @@
 import numpy as np
 import six
 
-from byodr.utils.option import hash_dict
+from BYODR_utils.common.option import hash_dict
 
 logger = logging.getLogger(__name__)
 

common/byodr/utils/ipc.py → BYODR_utils/common/ipc.py

@@ -13,7 +13,7 @@
 import numpy as np
 import zmq
 
-from byodr.utils import timestamp
+from BYODR_utils.common import timestamp
 
 if sys.version_info > (3,):
     # noinspection PyShadowingBuiltins

common/byodr/utils/navigate.py → BYODR_utils/common/navigate.py

@@ -8,7 +8,8 @@
 import threading
 from abc import ABCMeta, abstractmethod
 
-from byodr.utils import timestamp
+from BYODR_utils.common import timestamp
+
 
 logger = logging.getLogger(__name__)
 

common/byodr/utils/protocol.py → BYODR_utils/common/protocol.py

@@ -1,6 +1,7 @@
 from __future__ import absolute_import
 
-from byodr.utils import timestamp
+from BYODR_utils.common import timestamp
+
 
 
 class MessageStreamProtocol(object):

common/byodr/utils/ssh.py → BYODR_utils/common/ssh.py

@@ -126,21 +126,3 @@ def fetch_ssid(self):
                 time.sleep(1)
         return output
 
-
-class Nano:
-    @staticmethod
-    def get_ip_address():
-        try:
-            ip_addresses = (
-                subprocess.check_output(
-                    "hostname -I | awk '{for (i=1; i<=NF; i++) if ($i ~ /^192\\.168\\./) print $i}'",
-                    shell=True,
-                )
-                .decode()
-                .strip()
-            )
-            # Split in case there are multiple local IP addresses
-            return ip_addresses
-        except subprocess.CalledProcessError as e:
-            print(f"An error occurred: {e}")
-            return None

common/byodr/utils/usbrelay.py → BYODR_utils/common/usbrelay.py

@@ -91,15 +91,17 @@ def is_attached(self):
         return self._device is not None
 
     def open(self, channel=0):
-        assert self.is_attached(), "The device is not attached."
+        # assert self.is_attached(), "The device is not attached."
         self._device.ctrl_transfer(0x21, 0x09, 0x0300, 0x0000, "".join(chr(n) for n in self._device_off[channel]), 1000)
 
     def close(self, channel=0):
-        assert self.is_attached(), "The device is not attached."
+        # assert self.is_attached(), "The device is not attached."
         self._device.ctrl_transfer(0x21, 0x09, 0x0300, 0x0000, "".join(chr(n) for n in self._device_on[channel]), 1000)
 
 
 class TransientMemoryRelay(object):
+    """Fake class, I suppose"""
+
     def __init__(self, num_channels=4):
         self._state = [0] * num_channels
 
@@ -166,11 +168,11 @@ def is_attached(self):
         return self._device is not None
 
     def _query(self, request, value, index, length):
-        assert self.is_attached(), "The device is not attached."
+        # assert self.is_attached(), "The device is not attached."
         return self._device.ctrl_transfer(self.CP210X_REQUEST_TYPE_READ, request, value, index, length)
 
     def _write(self, request, value, index, data):
-        assert self.is_attached(), "The device is not attached."
+        # assert self.is_attached(), "The device is not attached."
         return self._device.ctrl_transfer(self.CP210X_REQUEST_TYPE_WRITE, request, value, index, data)
 
     def _set_gpio(self, index, value):
@@ -231,15 +233,15 @@ def set_pulse_channels(self, channels):
 
     def open(self, channels=None):
         with self._lock:
-            [self._relay.open(ch) for ch in self._arg_(channels)]
+            [self._relay.open() for ch in self._arg_(channels)]
 
     def close(self, channels=None):
         with self._lock:
             for ch in self._arg_(channels):
-                self._relay.close(ch)
+                self._relay.close()
                 if ch in self._pulse_channels:
                     time.sleep(0.100)
-                    self._relay.open(ch)
+                    self._relay.open()
 
     def states(self):
         with self._lock:

README.md

@@ -21,3 +21,8 @@ We went ahead and designed a rover that can be assembled from **generally availa
 * Community driven self-driving models
 * Dockerized
 * Free for personal use
+* Ability to work with modular hardware
+
+## License
+
+This project is licensed under the MIT License. See the [LICENSE](./LICENSE) file for more information.