Covido - The unsocial robot

Video presentation (in portuguese): https://youtu.be/6Qztn1Jd9UQ

Communication MSP with raspberry

UART, 115200, no parity, 1 stopbit

Frame:

Field	Size	Description
N_REQ	2	sequencial ID of the request
PAYLOAD	1	See list of commands below
CHECKSUM	1	8 bits checksum, $!(\sum \text{byte})%256$

List of commands:

• 0x00: read motor state; Expects 2 bytes as answer
• 0x01: read ultrassonic; Expects 2 bytes as answer
• 0x80: go forth; expects ACK/NACK as answer
• 0x81: turn left; expects ACK/NACK as answer
• 0x82: turn right; expects ACK/NACK as answer
• 0x83: stop; expects ACK/NACK as answer
• 0x84: go back; expects ACK/NACK as answer

Enviroment configurations

Local: Conda

• Used for development
• We should create the environment (if it don’t exist yet), activate, run jupyter
• The dependencies should be installed with conda install, if possible

 conda create -n devRaspberryCV \
 python=3.7.6 numpy=1.18.1 opencv=3.4.2 \
 matplotlib=3.1.3 seaborn=0.10.0 \
 pandas=1.0.1 tensorflow=2.1.0 keras=2.3.1 Pillow=7.0.0 \
 jupyter=1.0.0 nb_conda=2.2.1
 conda activate devRaspberryCV

• If you need to install something not available, in conda, use pip3:

 pip3 install -r requirements.txt    

Embedded: venv

• Raspbian 9.11 stretch

• mainly just production

• To activate: source .virtualenvs/cv/bin/activate

• See instalation details in Raspberry - OpenCV

• Requirements

  • raspbian strech lite
  • openCV==3.3.0
  • Python==3.5
  • picamera
  • Numpy==1.18.1

• LCD requirements

  • adafruit-blinka??
  • pip3 install adafruit-circuitpython-charlcd

• Sensor requiremetns

  • enable I2C

  •  sudo apt-get install -y i2c-tools
     pip3 install smbus
    

• Run project

  • python3 main.py

  • or in background, nohup python3 main.py &

Cloud: AWS

• Log in intro instance

• Install git, docker, docker-compose

• The mqtt subscribe script is running outside the container, so you also have to install pip and paho

sudo apt install python3-pip
pip3 install paho-mqtt

• Run forever:

nohup python3 mqtt_sub.py &
cd web_server 
docker-compose build
docker-compose up -d

• Right now it's running on 107.21.56.72