New Frontend

.gitignore

@@ -135,3 +135,4 @@ cross-test
 # Other
 .depend
 *.swp
+BaseStation/Backend/db.sqlite3

BBBSetup/README.md

@@ -2,7 +2,7 @@ This folder contains all of the setup information for the BBB. Device tree overl
 
 # BBB OS Setup
   * Using this [Debian 9.4 image](http://debian.beagleboard.org/images/bone-debian-9.4-iot-armhf-2018-06-17-4gb.img.xz), follow the SD card installation steps at the bottom of this README.
-    * This guide is specific to just this version of Debian, with the 4.14 kernel. There have been big, breaking changes from previous kernel versions. uEnv.txt is differnt. Device overlays are different.
+    * This guide is specific to just this version of Debian, with the 4.14 kernel. There have been big, breaking changes from previous kernel versions. uEnv.txt is different. Device overlays are different.
   * To connect when plugged directly into your personal computer, I like having a static ethernet port. SSHing over USB is slower, and sometimes drops
     * Setup network by editing `/etc/network/interfaces` and adding:
   ```
@@ -67,42 +67,42 @@ uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-14-TI-00A0.dtbo
   * The above was setup following instructions in the reference guide.
 * PRU usage for Optical inputs, device tree overlay setup
   * The main challenge with the PRU is that many of the guides were written several years ago (when the BBB came out) and since there have been updates to the kernel. (now on 4.14)
-  * Use this --> [TI's walk through guide](http://processors.wiki.ti.com/index.php/PRU_Training:_Hands-on_Labs). 
+  * Use this --> [TI's walk through guide](http://processors.wiki.ti.com/index.php/PRU_Training:_Hands-on_Labs).
   * TI's [main page on the PRU-ICSS](http://processors.wiki.ti.com/index.php/PRU-ICSS).
   * This is [pretty good guide too](http://processors.wiki.ti.com/index.php/RPMsg_Quick_Start_Guide#Booting_the_Board_and_Testing_RPMsg)
   * [elinux guide](https://elinux.org/EBC_Exercise_30_PRU_via_remoteproc_and_RPMsg) Look at the BeagleScope example for how someone else has done it.
-  * [Best reference](https://elinux.org/images/d/da/Am335xPruReferenceGuide.pdf) I could find explaining all of the register level details of the PRU. 
+  * [Best reference](https://elinux.org/images/d/da/Am335xPruReferenceGuide.pdf) I could find explaining all of the register level details of the PRU.
   * The PRU Header files necessary for development with their IDE are included in this repo. They were found [here](http://www.ti.com/tool/PROCESSOR-SDK-AM335X). Pretty confusing, but it was in the "PROCESSOR\_SDK\_LINUX\_AM335X", once installed it was in some example files for the PRU.
   * _OLD_ An alternative method for [loading modules](https://groups.google.com/forum/#!topic/beagleboard-gsoc/amMNLt4EoHM), which links to this [gist](https://gist.github.com/alexanderhiam/2c4187c710b2c409d8dde8c4015fe007).
   * _OLD_ [Another developer blog with links](https://ianrrees.github.io/2016/11/20/getting-started-with-beaglebone-pru-programming-the-new-way.html)
   * _OLD_ guide on setting the PRUSS -- Programmable Real-time Unit Sub System. [Derek Molloy's site](http://exploringbeaglebone.com/chapter13/)
 * GPIO output device tree overlay setup
   * [Derek Molloy's site](http://derekmolloy.ie/gpios-on-the-beaglebone-black-using-device-tree-overlays/). Goes through how to install the device tree, and most importently how to initialize the GPIO once it has been setup in the device tree.
-  * Check `/sys/class/gpio/` 
-  * 'export' a GPIO by: `echo <num> /sys/class/gpio/export`, where you replae `<num>` with the appropriate "GPIO No." fouund in the P8 and P9 HeaderTable.pdf 
+  * Check `/sys/class/gpio/`
+  * 'export' a GPIO by: `echo <num> /sys/class/gpio/export`, where you replae `<num>` with the appropriate "GPIO No." fouund in the P8 and P9 HeaderTable.pdf
   * Change to output or input with `echo "out" > /sys/class/gpio/gpio<num>/output`
   * Set pin value with `echo 1 > /sys/class/gpio/gpio<num>/value`, or read the file if an input
-  * [Device-Tree Overlay Generator](http://www.kilobaser.com/blog/2014-07-28-beaglebone-black-devicetreeoverlay-generator). 
+  * [Device-Tree Overlay Generator](http://www.kilobaser.com/blog/2014-07-28-beaglebone-black-devicetreeoverlay-generator).
 * One-Wire communication protocol for DS18B20 temperature sensor device tree overlay
   * [Reference here](http://www.bonebrews.com/temperature-monitoring-with-the-ds18b20-on-a-beaglebone-black/).
   * Check the comments, there are syntax errors. There is a missing `;` on line 37.
   * Run `cat /sys/bus/w1/devices/28-*/w1_slave` to get the temperature, multiplied by 1000.
 * I2C is already enabled by default by the kernel. On I2C2 bus.
 * View all device trees on BBB: `dtc -f -I fs /proc/device-tree | less `
-* [Device-Tree Overlay Generator](http://www.kilobaser.com/blog/2014-07-28-beaglebone-black-devicetreeoverlay-generator). 
+* [Device-Tree Overlay Generator](http://www.kilobaser.com/blog/2014-07-28-beaglebone-black-devicetreeoverlay-generator).
 
 
 # Pin reference
-* The two PDFs in this directory contain detailed information about each header. 
-* CAN Bus 
+* The two PDFs in this directory contain detailed information about each header.
+* CAN Bus
   * P9-24 (CAN RX) and P9-26 (CAN TX).
-* ADC 
+* ADC
   * P9-33 through P9-40
 * PWM
   * P9-14 (EHRPWM1A) or P9-16 (EHRPWM1B)
 * GPIO input for PRU, Optical sensors
   * P8-27 through P8-29, and P8-39 through P8-46
-* GPIO output 
+* GPIO output
   * P8-7 through P8-10
 * DS18B20 temperature sensors
   * P8-11 (and optionally P8-12)
@@ -113,60 +113,58 @@ uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-14-TI-00A0.dtbo
 
 # BBB SD Card installation
 
-This guide covers how to setup a BeagleBone Black Rev.c with all necessary software 
+This guide covers how to setup a BeagleBone Black Rev.c with all necessary software
 
 * Download the appropriate image as specified earlier in this document. Although it is dated, I have found [this](http://derekmolloy.ie/write-a-new-image-to-the-beaglebone-black/) to generally be a good guide, but is slightly outdated (as explained below)
 	* The old guide assumes that the image will automatically begin writing itself to the onboard storage. As described on the [beagleboard.org](https://beagleboard.org/latest-images) site, you will need to modify the `/boot/uEnv.txt` file
 	* The correct modifications are made later in this guide
 
 * Copy the `.img` file on to a microSD card
-	* Windows 
+	* Windows
 		* Extract the `.img` using WinRAR
 		* Copy onto the uSD card using Win32 Disk imager
-	* Linux 
+	* Linux
 		* Extract the `.img` using `xz -d bone-*.img.xz`  
 		* Use `lsblk` to find the name of the microSD card
 		* Make sure the microSD card is unmounted (not ejected)
 		* Copy onto the uSD card using `sudo dd if=./bone-*.img of=/dev/NAME status=progress`
-	* Mac 
-		* Extract the `.img` using `gunzip bone-*.img.xz` 
+	* Mac
+		* Extract the `.img` using `gunzip bone-*.img.xz`
 		* Use `diskutil list` to find the name of the microSD card
 		* Make sure the microSD card is unmounted (not ejected) using `diskutil unmountDisk /dev/disk#`
 		* Copy onto the uSD card using `sudo dd bs=1m if=./bone-*.img of=/dev/rdisk# conv=sync status=progress`. If this fails, try `/dev/disk#` instead of `/dev/rdisk#`
 
 * Insert the microSD card into the BBB, with the power off
 
-* Hold down the boot button (near the SD card), and plug in power. 
-	* I used USB power from my computer, such that I can SSH into the BBB 
+* Hold down the boot button (near the SD card), and plug in power.
+	* I used USB power from my computer, such that I can SSH into the BBB
 
 * Hold the boot button until the LEDs flash
 
-* Wait for the BBB to turn on. It has now booted onto the image on the SD card. 
+* Wait for the BBB to turn on. It has now booted onto the image on the SD card.
 
 * SSH into the BBB (I found the default username/password [here](http://elinux.org/BeagleBoardDebian))
-	* The BBB has default drivers that setup a network connection over USB at IPs `192.168.7.2` and `192.168.6.2`. 
+	* The BBB has default drivers that setup a network connection over USB at IPs `192.168.7.2` and `192.168.6.2`.
 	* Windows
-		* Wait until the BBB file dialog opens, then you will be able to SSH in. 
-		* Use PuTTY or other appropriate terminal: `ssh [email protected]` with the password `temppwd`. 
+		* Wait until the BBB file dialog opens, then you will be able to SSH in.
+		* Use PuTTY or other appropriate terminal: `ssh [email protected]` with the password `temppwd`.
 	* Linux (Ubuntu)
 		* Check network connections with `ifconfig`
 		* Use `ssh [email protected]` with the password `temppwd`
 
 * Once logged in
-	* Edit `/boot/uEnv.txt` use: `sudo vim /boot/uEnv.txt` or `sudo nano /boot/uEnv.txt` 
-	* Go to the bottom of the file, and remove the ‘#’ in front of `cmdline=init=/opt/scripts/tools/eMMC/init-eMMC-flasher-v3.sh` to uncomment it. 
+	* Edit `/boot/uEnv.txt` use: `sudo vim /boot/uEnv.txt` or `sudo nano /boot/uEnv.txt`
+	* Go to the bottom of the file, and remove the ‘#’ in front of `cmdline=init=/opt/scripts/tools/eMMC/init-eMMC-flasher-v3.sh` to uncomment it.
 
 * Reboot the BBB with `sudo shutdown -r now`
 * Begin to hold the boot button
 * Hold the boot button until the BBB powercycles, and the LEDs turn back on (just as above)
-* After a few moments of booting up and LEDs flashing, the installation will start. The LEDs will flash in a Cyclon/ Knight Rider patter. 
+* After a few moments of booting up and LEDs flashing, the installation will start. The LEDs will flash in a Cyclon/ Knight Rider patter.
 * Wait until the LEDs stop flashing,
-* The BBB should power off, but I have found that sometimes it finishes with all LEDs on. 
+* The BBB should power off, but I have found that sometimes it finishes with all LEDs on.
 * Unplug the SD card, otherwise the image will re-install!
 * Power back on the BBB! The newest image should be installed and ready to go
 * SSH as described above
 * Create a new user, named `abc`, with password `hyperloop`. Use: `sudo adduser abc`.
-  * Add the new user to all of the groups that the user `debian` is a part of. This may not be strictly necessary, but I didn't want to spend the time to figure it out. List all the groups (while logged in as `debian`) with `groups`. 
+  * Add the new user to all of the groups that the user `debian` is a part of. This may not be strictly necessary, but I didn't want to spend the time to figure it out. List all the groups (while logged in as `debian`) with `groups`.
   * Add the new user to each group with: `sudo usermod -aG <group_name> <user_name>`. At a minimum, add the user to the `sudo` group.
-
-

BBBSetup/initGPIO

@@ -1,7 +1,17 @@
 #!/bin/bash
+echo 66 > /sys/class/gpio/export
+echo "in" > /sys/class/gpio/gpio66/direction
+echo 26 > /sys/class/gpio/export
+echo "in" > /sys/class/gpio/gpio26/direction
+echo 46 > /sys/class/gpio/export
+echo "in" > /sys/class/gpio/gpio46/direction
+echo 65 > /sys/class/gpio/export
+echo "in" > /sys/class/gpio/gpio65/direction
+echo 61 > /sys/class/gpio/export
+echo "in" > /sys/class/gpio/gpio61/direction
+echo 45 > /sys/class/gpio/export
+echo "out" > /sys/class/gpio/gpio45/direction
 echo 68 > /sys/class/gpio/export
 echo "out" > /sys/class/gpio/gpio68/direction
 echo 69 > /sys/class/gpio/export
-echo "out" > /sys/class/gpio69/direction
-echo 13 > /sys/class/gpio/export
-echo "out" > /sys/class/gpio13/direction
+echo "out" > /sys/class/gpio/gpio69/direction

BBBSetup/initPRU

@@ -19,6 +19,7 @@ echo 'am335x_pru1_fw' > /sys/class/remoteproc/remoteproc2/firmware
 echo 'start' > /sys/class/remoteproc/remoteproc2/state
 pru2Stat=$?
 echo "pru core 1 is now loaded"
+chmod 777 /dev/rpmsg_pru31
 
 if [ $pru1Stat -eq 0 ] && [ $pru2Stat -eq 0 ] 
 then

BaseStation/Backend/podconnect/actions_logic.py

@@ -0,0 +1,137 @@
+from . import tcpserver, udpserver, models
+import json
+from django.http import HttpResponse, HttpRequest, JsonResponse
+
+TCPUp = False
+UDPUp = False
+
+def buttonPressed(request):
+    state_data = models.State.objects.latest("date_time")
+    if request.method == "POST":
+        message = request.body.decode()
+        mess = json.loads(message)
+        if mess["button"] == "ready":
+            if state_data.state == 0:
+                print("Transitioning to Test Outside")
+                tcpserver.addToCommandQueue([1])
+            elif state_data.state == 1:
+                print("Transitioning to Loading")
+                tcpserver.addToCommandQueue([2])
+            elif state_data.state == 2:
+                print("Transitioning to Test Inside")
+                tcpserver.addToCommandQueue([3])
+            elif state_data.state == 3:
+                print("Transitioning to Launch Ready")
+                tcpserver.addToCommandQueue([4])
+            elif state_data.state == 4:
+                print("Transitioning to Ready")
+                tcpserver.addToCommandQueue([5])
+            else:
+                print("State out of left button range")
+        else:
+            print("AGGHHHH STOP FAST")
+            tcpserver.addToCommandQueue([13])
+            udpserver.addToCommandQueue([13])
+    return HttpResponse(state_data.state)
+
+def devCommand(request):
+    if request.method == "POST":
+        message = request.body.decode()
+        mess = json.loads(message)
+        command = int(mess["command"])
+        if command == -1:
+            return HttpResponse()
+        print("Command " + str(command))
+        if command == 0: #   TRANS_SAFE_MODE = 0,
+            tcpserver.addToCommandQueue([0])
+        elif command == 1: #   TRANS_FUNCTIONAL_TEST_OUTSIDE = 1, 
+            tcpserver.addToCommandQueue([1])
+        elif command == 2: #   TRANS_LOADING = 2,
+            tcpserver.addToCommandQueue([2])
+        elif command == 3: #   TRANS_FUNCTIONAL_TEST_INSIDE = 3,
+            tcpserver.addToCommandQueue([3])
+        elif command == 4: #   TRANS_LAUNCH_READY = 4,
+            tcpserver.addToCommandQueue([4])
+        elif command == 5: #   TRANS_FLIGHT_ACCEL = 5,
+            tcpserver.addToCommandQueue([5])
+        elif command == 6: #   ENABLE_MOTOR = 6,
+            tcpserver.addToCommandQueue([6])
+        elif command == 7: #   DISABLE_MOTOR = 7,
+            tcpserver.addToCommandQueue([7])
+        elif command == 8: #   SET_MOTOR_SPEED = 8,
+            value = int(mess["value"])
+            tcpserver.addToCommandQueue([8, value])
+        elif command == 9: #   ENABLE_BRAKE = 9,
+            tcpserver.addToCommandQueue([9])
+        elif command == 10: #   DISABLE_BRAKE = 10,
+            tcpserver.addToCommandQueue([10])
+        elif command == 11: #   TRANS_FLIGHT_COAST = 11,
+            tcpserver.addToCommandQueue([11])
+        elif command == 12: #   TRANS_FLIGHT_BRAKE = 12,
+            tcpserver.addToCommandQueue([12])
+        elif command == 13: #   TRANS_ABORT = 13,
+            tcpserver.addToCommandQueue([13])
+        elif command == 14: #   SET_ADC_ERROR = 14,
+            value = int(mess["value"])
+            tcpserver.addToCommandQueue([14, value])
+        elif command == 15: #   SET_CAN_ERROR = 15,
+            value = int(mess["value"])
+            tcpserver.addToCommandQueue([15, value])
+        elif command == 16: #   SET_I2C_ERROR = 16,
+            value = int(mess["value"])
+            tcpserver.addToCommandQueue([16, value])
+        elif command == 17: #   SET_PRU_ERROR = 17,
+            value = int(mess["value"])
+            tcpserver.addToCommandQueue([17, value])
+        elif command == 18: #   SET_NETWORK_ERROR = 18,
+            value = int(mess["value"])
+            tcpserver.addToCommandQueue([18, value])
+        elif command == 19: #   SET_OTHER_ERROR = 19,
+            value = int(mess["value"])
+            tcpserver.addToCommandQueue([19, value])
+        elif command == 20: #   CLR_ADC_ERROR = 20,
+            tcpserver.addToCommandQueue([20])
+        elif command == 21: #   CLR_CAN_ERROR = 21,
+            tcpserver.addToCommandQueue([21])
+        elif command == 22: #   CLR_I2C_ERROR = 22,
+            tcpserver.addToCommandQueue([22])
+        elif command == 23: #   CLR_PRU_ERROR = 23,
+            tcpserver.addToCommandQueue([23])
+        elif command == 24: #   CLR_NETWORK_ERROR = 24,
+            tcpserver.addToCommandQueue([24])
+        elif command == 25: #   CLR_OTHER_ERROR = 25,
+            tcpserver.addToCommandQueue([25])
+        elif command == 26: #   SET_HV_RELAY_HV_POLE = 26,
+            print(mess)
+            value = int(mess["value"])
+            if value != 0 and value != 1:
+                return HttpResponse("Value out of range")
+            tcpserver.addToCommandQueue([26, value])
+        elif command == 27: #   SET_HV_RELAY_LV_POLE = 27,
+            print(mess)
+            value = int(mess["value"])
+            if value != 0 and value != 1:
+                return HttpResponse("Value out of range")
+            tcpserver.addToCommandQueue([27, value])
+        elif command == 28: #   SET_HV_RELAY_PRE_CHARGE = 28,
+            print(mess)
+            value = int(mess["value"])
+            if value != 0 and value != 1:
+                return HttpResponse("Value out of range")
+            tcpserver.addToCommandQueue([28, value])
+        elif command == 29: #   CALC_ACCEL_ZERO_G = 29,
+            tcpserver.addToCommandQueue([29])
+
+        return HttpResponse()
+    return HttpResponse()
+
+def startupServers(request):
+    global TCPUp, UDPUp
+    if request.method == "POST":
+        if not TCPUp:
+            tcpserver.start()
+            TCPUp = True
+        if not UDPUp:
+            udpserver.start()
+            UDPUp = True
+        return HttpResponse()

BaseStation/Backend/podconnect/data_logic.py

@@ -0,0 +1,44 @@
+from django.shortcuts import render
+from . import models, tcpserver, udpserver, stats_helper
+from django.http import HttpResponse, HttpRequest, JsonResponse
+from django.core.serializers import serialize
+import pickle
+import struct
+
+from threading import Lock
+import json
+
+def state(request):
+    state_data = models.State.objects.latest("date_time")
+    toReturn = state_data.state
+    return HttpResponse(toReturn)
+
+def stats(request):
+    toReturn = stats_helper.getStats()
+    return JsonResponse(toReturn, safe=False)
+
+def battery(request):
+    can_data = models.CANData.objects.latest("date_time")
+    toReturn = {
+        "value": can_data.pack_soc
+    }
+    print(can_data.pack_soc)
+    return JsonResponse(toReturn)
+
+def position(request):
+    motion_data = models.MotionData.objects.latest("date_time")
+    toReturn = {
+        "currentDistance":motion_data.position,
+        "totalDistance":1200
+    }
+    return JsonResponse(toReturn)
+
+def stopPressed(request):
+    if request.method == "POST":
+        print("STOPPING")
+        return HttpResponse()
+
+def readyPressed(request):
+    if request.method == "POST":
+        print("Ready!")
+        return HttpResponse()