Merge branch 'develop/stability-and-improvements' into ody-voice

.github/workflows/build_image.yml

@@ -54,7 +54,7 @@ jobs:
       # It uses the `context` parameter to define the build's context as the set of files located in the specified path. For more information, see "[Usage](https://github.com/docker/build-push-action#usage)" in the README of the `docker/build-push-action` repository.
       # It uses the `tags` and `labels` parameters to tag and label the image with the output from the "meta" step.
       - name: Build and push Docker image
-        uses: docker/build-push-action@v6.8.0
+        uses: docker/build-push-action@v6.9.0
         with:
           context: .
           push: true

Dockerfile

@@ -32,8 +32,7 @@ RUN apt-get update && apt-get install -y \
     graphviz \
     git-lfs \
     util-linux \ 
-    wpasupplicant \
-    python3-ruamel.yaml   
+    wpasupplicant
 
 # add all buildroot files there
 WORKDIR /home/odysseus/build

compose.yml

@@ -3,7 +3,6 @@ services:
         build: .
         image: ghcr.io/northeastern-electric-racing/odysseus:develop-stability-and-improvements
         command: /bin/bash
-        privileged: true
         tty: true
         stdin_open: true
         network_mode: host

docker_scripts/setup_env.sh

@@ -5,7 +5,8 @@ alias load-secrets="source /home/odysseus/scripts/load-secrets.sh"
 
 # for each defconfig make output subdirectory 
 make -C /home/odysseus/build/buildroot O=/home/odysseus/outputs/tpu BR2_EXTERNAL=/home/odysseus/build/odysseus_tree raspberrypi4_64_tpu_defconfig
-make -C /home/odysseus/build/buildroot O=/home/odysseus/outputs/ap BR2_EXTERNAL=/home/odysseus/build/odysseus_tree raspberrypi3_64_ap_defconfig
+make -C /home/odysseus/build/buildroot O=/home/odysseus/outputs/ap-pi3 BR2_EXTERNAL=/home/odysseus/build/odysseus_tree raspberrypi3_64_ap_defconfig
+make -C /home/odysseus/build/buildroot O=/home/odysseus/outputs/ap-pi4 BR2_EXTERNAL=/home/odysseus/build/odysseus_tree raspberrypi4_64_ap_defconfig
 make -C /home/odysseus/build/buildroot O=/home/odysseus/outputs/iroh BR2_EXTERNAL=/home/odysseus/build/odysseus_tree raspberrypi3_64_iroh_defconfig
 
 

odysseus_tree/board/ap/config-pi4.txt

@@ -0,0 +1,41 @@
+# Please note that this is only a sample, we recommend you to change it to fit
+# your needs.
+# You should override this file using BR2_PACKAGE_RPI_FIRMWARE_CONFIG_FILE.
+# See http://buildroot.org/manual.html#rootfs-custom
+# and http://elinux.org/RPiconfig for a description of config.txt syntax
+
+start_file=start4.elf
+fixup_file=fixup4.dat
+
+kernel=Image
+
+# To use an external initramfs file
+#initramfs rootfs.cpio.gz
+
+# Disable overscan assuming the display supports displaying the full resolution
+# If the text shown on the screen disappears off the edge, comment this out
+disable_overscan=1
+
+# How much memory in MB to assign to the GPU on Pi models having
+# 256, 512 or 1024 MB total memory
+gpu_mem_256=100
+gpu_mem_512=100
+gpu_mem_1024=100
+
+# fixes rpi (3B, 3B+, 3A+, 4B and Zero W) ttyAMA0 serial console
+dtoverlay=miniuart-bt
+
+enable_uart=1
+
+# enable autoprobing of Bluetooth driver without need of hciattach/btattach
+#dtparam=krnbt=on
+
+
+# enable 64bits support
+arm_64bit=1 
+
+[newracom]
+dtoverlay=disable-bt
+dtoverlay=disable-wifi
+dtoverlay=newracom_for_5-16_or_later
+dtparam=spi=on

odysseus_tree/configs/raspberrypi3_64_ap_defconfig

@@ -2,12 +2,14 @@ BR2_aarch64=y
 BR2_ARM_FPU_VFPV4=y
 BR2_TOOLCHAIN_EXTERNAL=y
 BR2_CCACHE=y
-BR2_GLOBAL_PATCH_DIR="$(BR2_EXTERNAL_ODY_TREE_PATH)/patches"
+BR2_GLOBAL_PATCH_DIR="$(BR2_EXTERNAL_ODY_TREE_PATH)/patches board/raspberrypi/patches"
 BR2_PER_PACKAGE_DIRECTORIES=y
 BR2_TARGET_GENERIC_HOSTNAME="raspberrypi-ap"
 BR2_ROOTFS_DEVICE_CREATION_DYNAMIC_EUDEV=y
 BR2_TARGET_GENERIC_ROOT_PASSWD="$(ODY_AP_ROOT_PASSWORD)"
 # BR2_TARGET_GENERIC_GETTY is not set
+BR2_TARGET_TZ_INFO=y
+BR2_TARGET_LOCALTIME="America/New_York"
 BR2_ROOTFS_OVERLAY="$(BR2_EXTERNAL_ODY_TREE_PATH)/overlays/rootfs_overlay_common $(BR2_EXTERNAL_ODY_TREE_PATH)/overlays/rootfs_overlay_nrc_common $(BR2_EXTERNAL_ODY_TREE_PATH)/overlays/rootfs_overlay_ap"
 BR2_ROOTFS_POST_BUILD_SCRIPT="$(BR2_EXTERNAL_ODY_TREE_PATH)/post-build-ap.sh $(BR2_EXTERNAL_ODY_TREE_PATH)/post-build-os-release.sh board/raspberrypi3-64/post-build.sh"
 BR2_ROOTFS_POST_IMAGE_SCRIPT="board/raspberrypi3-64/post-image.sh"
@@ -29,7 +31,7 @@ BR2_PACKAGE_E2FSPROGS_RESIZE2FS=y
 BR2_PACKAGE_RPI_FIRMWARE=y
 BR2_PACKAGE_RPI_FIRMWARE_BOOTCODE_BIN=y
 BR2_PACKAGE_RPI_FIRMWARE_VARIANT_PI=y
-BR2_PACKAGE_RPI_FIRMWARE_CONFIG_FILE="$(BR2_EXTERNAL_ODY_TREE_PATH)/board/ap/config.txt"
+BR2_PACKAGE_RPI_FIRMWARE_CONFIG_FILE="$(BR2_EXTERNAL_ODY_TREE_PATH)/board/ap/config-pi3.txt"
 BR2_PACKAGE_RPI_FIRMWARE_CMDLINE_FILE="$(BR2_EXTERNAL_ODY_TREE_PATH)/board/ap/cmdline.txt"
 BR2_PACKAGE_LM_SENSORS=y
 BR2_PACKAGE_RASPI_GPIO=y

odysseus_tree/configs/raspberrypi4_64_ap_defconfig

@@ -0,0 +1,79 @@
+BR2_aarch64=y
+BR2_cortex_a72=y
+BR2_ARM_FPU_VFPV4=y
+BR2_TOOLCHAIN_EXTERNAL=y
+BR2_CCACHE=y
+BR2_GLOBAL_PATCH_DIR="$(BR2_EXTERNAL_ODY_TREE_PATH)/patches board/raspberrypi/patches"
+BR2_PER_PACKAGE_DIRECTORIES=y
+BR2_TARGET_GENERIC_HOSTNAME="raspberrypi-ap"
+BR2_ROOTFS_DEVICE_CREATION_DYNAMIC_EUDEV=y
+BR2_TARGET_GENERIC_ROOT_PASSWD="$(ODY_AP_ROOT_PASSWORD)"
+# BR2_TARGET_GENERIC_GETTY is not set
+BR2_TARGET_TZ_INFO=y
+BR2_TARGET_LOCALTIME="America/New_York"
+BR2_ROOTFS_OVERLAY="$(BR2_EXTERNAL_ODY_TREE_PATH)/overlays/rootfs_overlay_common $(BR2_EXTERNAL_ODY_TREE_PATH)/overlays/rootfs_overlay_nrc_common $(BR2_EXTERNAL_ODY_TREE_PATH)/overlays/rootfs_overlay_ap"
+BR2_ROOTFS_POST_BUILD_SCRIPT="$(BR2_EXTERNAL_ODY_TREE_PATH)/post-build-ap.sh $(BR2_EXTERNAL_ODY_TREE_PATH)/post-build-os-release.sh board/raspberrypi4-64/post-build.sh"
+BR2_ROOTFS_POST_IMAGE_SCRIPT="board/raspberrypi4-64/post-image.sh"
+BR2_ROOTFS_POST_SCRIPT_ARGS="AP"
+BR2_LINUX_KERNEL=y
+BR2_LINUX_KERNEL_CUSTOM_TARBALL=y
+BR2_LINUX_KERNEL_CUSTOM_TARBALL_LOCATION="$(call github,raspberrypi,linux,576cc10e1ed50a9eacffc7a05c796051d7343ea4)/linux-576cc10e1ed50a9eacffc7a05c796051d7343ea4.tar.gz"
+BR2_LINUX_KERNEL_DEFCONFIG="bcm2711"
+BR2_LINUX_KERNEL_DTS_SUPPORT=y
+BR2_LINUX_KERNEL_INTREE_DTS_NAME="broadcom/bcm2711-rpi-4-b broadcom/bcm2711-rpi-400 broadcom/bcm2711-rpi-cm4 broadcom/bcm2711-rpi-cm4s"
+BR2_LINUX_KERNEL_NEEDS_HOST_OPENSSL=y
+BR2_PACKAGE_LINUX_TOOLS_GPIO=y
+BR2_PACKAGE_BUSYBOX_SHOW_OTHERS=y
+BR2_PACKAGE_XZ=y
+BR2_PACKAGE_ZSTD=y
+BR2_PACKAGE_GIT=y
+BR2_PACKAGE_E2FSPROGS=y
+BR2_PACKAGE_E2FSPROGS_RESIZE2FS=y
+BR2_PACKAGE_RPI_FIRMWARE=y
+BR2_PACKAGE_RPI_FIRMWARE_BOOTCODE_BIN=y
+BR2_PACKAGE_RPI_FIRMWARE_VARIANT_PI4=y
+BR2_PACKAGE_RPI_FIRMWARE_CONFIG_FILE="$(BR2_EXTERNAL_ODY_TREE_PATH)/board/ap/config-pi4.txt"
+BR2_PACKAGE_RPI_FIRMWARE_CMDLINE_FILE="$(BR2_EXTERNAL_ODY_TREE_PATH)/board/ap/cmdline.txt"
+BR2_PACKAGE_LM_SENSORS=y
+BR2_PACKAGE_RASPI_GPIO=y
+BR2_PACKAGE_PYTHON3=y
+BR2_PACKAGE_CA_CERTIFICATES=y
+BR2_PACKAGE_OPENSSL=y
+BR2_PACKAGE_LIBQMI=y
+BR2_PACKAGE_LIBCURL=y
+BR2_PACKAGE_BMON=y
+BR2_PACKAGE_CHRONY=y
+BR2_PACKAGE_DHCPCD=y
+BR2_PACKAGE_DROPBEAR=y
+BR2_PACKAGE_GESFTPSERVER=y
+BR2_PACKAGE_HOSTAPD=y
+# BR2_PACKAGE_IFUPDOWN_SCRIPTS is not set
+BR2_PACKAGE_IPERF3=y
+BR2_PACKAGE_IPROUTE2=y
+BR2_PACKAGE_IPUTILS=y
+BR2_PACKAGE_IW=y
+BR2_PACKAGE_UQMI=y
+BR2_PACKAGE_WIRELESS_REGDB=y
+BR2_PACKAGE_DOCKER_CLI=y
+BR2_PACKAGE_DOCKER_COMPOSE=y
+BR2_PACKAGE_DOCKER_ENGINE=y
+BR2_PACKAGE_HTOP=y
+BR2_PACKAGE_KMOD_TOOLS=y
+BR2_PACKAGE_NANO=y
+BR2_TARGET_ROOTFS_EXT2=y
+BR2_TARGET_ROOTFS_EXT2_4=y
+BR2_TARGET_ROOTFS_EXT2_SIZE="2G"
+# BR2_TARGET_ROOTFS_TAR is not set
+BR2_PACKAGE_HOST_DOSFSTOOLS=y
+BR2_PACKAGE_HOST_GENIMAGE=y
+BR2_PACKAGE_HOST_KMOD_XZ=y
+BR2_PACKAGE_HOST_MTOOLS=y
+BR2_PACKAGE_NRC7292=y
+BR2_PACKAGE_NRC7292_CUSTOM_BD_FILE="$(BR2_EXTERNAL_ODY_TREE_PATH)/package/nrc7292/nrc7292_alfa_bd.dat"
+BR2_PACKAGE_NRC_CLI=y
+BR2_PACKAGE_NRC_INIT_EXTRA=y
+BR2_PACKAGE_ALFA_LED=y
+BR2_PACKAGE_ALFA_LED_AP=y
+BR2_PACKAGE_RPI_DTLOADER=y
+BR2_PACKAGE_RPI_DTLOADER_FILES="$(BR2_EXTERNAL_ODY_TREE_PATH)/package/nrc7292/newracom_for_5-16_or_later.dts"
+BR2_PACKAGE_USBIP=y

odysseus_tree/package/calypso/calypso.mk

@@ -1,4 +1,4 @@
-CALYPSO_VERSION = 547a8da764e5e77cd18cf62e996b3edae8076f4f
+CALYPSO_VERSION = ea52c5ff6a04db2719bf8320891b3f021e05de3f
 CALYPSO_SITE_METHOD = git
 CALYPSO_SITE = https://github.com/Northeastern-Electric-Racing/Calypso
 CALYPSO_GIT_SUBMODULES = YES

odysseus_tree/sources/tpu_telemetry/telemetry/poll_data/can.py

@@ -18,8 +18,8 @@ def measurement(self):
             # get rid of empty strings in list
             item = list(filter(None, item))
             # convert percentage to decimal
-            send_data.append(('TPU/Can/BusUtil', [str(float(item[5].strip().strip("%")) / 100)], '%'))
-            send_data.append(('TPU/Can/BitsUsed', [item[2].strip()], 'bits'))
+            send_data.append(('TPU/Can/BusUtil', [float(item[5].strip().strip("%")) / 100], '%'))
+            send_data.append(('TPU/Can/BitsUsed', [float(item[2].strip())], 'bits'))
 
         return send_data
 

odysseus_tree/sources/tpu_telemetry/telemetry/poll_data/environment.py

@@ -24,11 +24,11 @@ def measurement(self):
         data = []
 
         temperature = self.read_sensor_data(TEMP_SENSOR_PATH)
-        if temperature is not None:
+        if float(temperature) is not None:
             data.append(("TPU/Environment/Temperature", [temperature], "Celsius"))
 
         humidity = self.read_sensor_data(HUMIDITY_SENSOR_PATH = '/sys/class/hwmon/hwmon2/humidity1_input')
-        if humidity is not None:
+        if float(humidity) is not None:
             data.append(("TPU/Environment/Humidity", [humidity], "%"))
 
         return data
@@ -41,4 +41,4 @@ def main():
 
 
 if __name__ == "__main__":
-    main()
+    main()

odysseus_tree/sources/tpu_telemetry/telemetry/poll_data/example.py

@@ -6,12 +6,12 @@ def __init__(self):
 
     def measurement(self):
         return [
-            ("TPU/Example/Data1", ["114"], "C"),
-            ("TPU/Example/Data2", ["1431242"], "D"),
-            ("TPU/Example/Data3", ["1431242"], "Q"),
-            ("TPU/Example/Data4", ["112343122"], "X"),
-            ("TPU/Example/Data5", ["112341232"], "M"),
-            ("TPU/Example/Data6", ["1413242"], "W"),
+            ("TPU/Example/Data1", [114], "C"),
+            ("TPU/Example/Data2", [1431242], "D"),
+            ("TPU/Example/Data3", [1431242], "Q"),
+            ("TPU/Example/Data4", [112343122], "X"),
+            ("TPU/Example/Data5", [112341232], "M"),
+            ("TPU/Example/Data6", [1413242], "W"),
         ]
 
 def main():
@@ -20,4 +20,4 @@ def main():
 
 
 if __name__ == "__main__":
-    main()
+    main()

odysseus_tree/sources/tpu_telemetry/telemetry/poll_data/gps_data.py

@@ -12,13 +12,13 @@ def measurement(self):
         send_data = []
         if 0 == self.session.read() and self.session.valid:
             tempMode = self.session.fix.mode
-            send_data.append(("TPU/GPS/Mode", [str(tempMode)], "enum"))
+            send_data.append(("TPU/GPS/Mode", [tempMode], "enum"))
 
             if gps.isfinite(self.session.fix.speed):
-                send_data.append(("TPU/GPS/GroundSpeed", [str(self.session.fix.speed)], "knot"))
+                send_data.append(("TPU/GPS/GroundSpeed", [self.session.fix.speed], "knot"))
 
             if gps.isfinite(self.session.fix.latitude) and gps.isfinite(self.session.fix.longitude) and self.session.fix.latitude != 0 and self.session.fix.longitude != 0:
-                send_data.append(("TPU/GPS/Location", [str(self.session.fix.latitude), str(self.session.fix.longitude)], "coordinate"))
+                send_data.append(("TPU/GPS/Location", [self.session.fix.latitude, self.session.fix.longitude], "coordinate"))
 
         return send_data
 

odysseus_tree/sources/tpu_telemetry/telemetry/poll_data/halow.py

@@ -31,7 +31,7 @@ def measurement(self):
         send_data = []
         for item in items:
             item = item.strip('\'').split(" ")
-            data = [item[0].strip(), item[1].strip()]
+            data = [float(item[0].strip()), float(item[1].strip())]
             send_data.append(('TPU/HaLow/DataRate', data, 'kb/s'))
 
         return send_data
@@ -47,8 +47,8 @@ def measurement(self):
         send_data = []
         for line in out:
             data_line = line.splitlines()[2]
-            parsed_data_ap = data_line.split()[5][:-1].strip()
-            parsed_data_sta = data_line.split()[3][:-1].strip()
+            parsed_data_ap = float(data_line.split()[5][:-1].strip())
+            parsed_data_sta = float(data_line.split()[3][:-1].strip())
             send_data.append(("TPU/HaLow/ApMCS", [parsed_data_ap], "int"))
             send_data.append(("TPU/HaLow/StaMCS", [parsed_data_sta], "int"))
 
@@ -65,7 +65,7 @@ def measurement(self):
         send_data = []
         for line in out:
             split = line.splitlines()[1]
-            data = split.split(":")[1].strip()
+            data = float(split.split(":")[1].strip())
             send_data.append(("TPU/HaLow/RSSI", [data], "int"))
         return send_data
 

odysseus_tree/sources/tpu_telemetry/telemetry/poll_data/on_board.py

@@ -7,15 +7,8 @@ def __init__(self):
 
     def measurement(self):
         temps = psutil.sensors_temperatures(fahrenheit=False)
-        for name, entries in temps.items():
-            for entry in entries:
-                line = "    %-20s %s °C (high = %s °C, critical = %s °C)" % (
-                    entry.label or name,
-                    entry.current,
-                    entry.high,
-                    entry.critical,
-                )
-        return [("TPU/OnBoard/CpuTemp", [str(entry.current)], "celsius")]
+        current = temps["cpu_thermal"][0].current
+        return [("TPU/OnBoard/CpuTemp", [current], "celsius")]
 
 
 class CpuUsageMT(MeasureTask):
@@ -24,7 +17,7 @@ def __init__(self):
 
     def measurement(self):
         cpu_usage = psutil.cpu_percent()
-        return [("TPU/OnBoard/CpuUsage", [str(cpu_usage)], "percent")]
+        return [("TPU/OnBoard/CpuUsage", [cpu_usage], "percent")]
 
 
 
@@ -39,7 +32,7 @@ def __init__(self):
 
     def measurement(self):
         broker_cpu_usage = self.process.cpu_percent()
-        return [("TPU/OnBoard/BrokerCpuUsage", [str(broker_cpu_usage)], "percent")]
+        return [("TPU/OnBoard/BrokerCpuUsage", [broker_cpu_usage], "percent")]
 
 
 class MemAvailMT(MeasureTask):
@@ -49,7 +42,7 @@ def __init__(self):
     def measurement(self):
         mem_info = psutil.virtual_memory()
         mem_available = mem_info.available / (1024 * 1024)
-        return [("TPU/OnBoard/MemAvailable", [str(mem_available)], "MB")]
+        return [("TPU/OnBoard/MemAvailable", [mem_available], "MB")]
 
 
 def main():

odysseus_tree/sources/tpu_telemetry/telemetry/publish.py

@@ -1,6 +1,8 @@
 import asyncio
 import math
 import signal
+import time
+
 
 from telemetry.poll_data import gps_data, halow, on_board, can
 from . import (
@@ -40,14 +42,15 @@ def publish_data(topic, message_data):
 
 async def interval(task: MeasureTask):
     async for result in task.set_interval(STOP):
+        time_us = time.time() * 1000000
         # process each tuple
         for packet in result:
             data = server_data_pb2.ServerData()
             topic, values, data.unit = packet
-
+            data.time_us = int(time_us)
             # process the data values
             for val in values:
-                data.value.append(val)
+                data.values.append(val)
             else:
                 message_data = data.SerializeToString()
                 publish_data(topic, message_data)

odysseus_tree/sources/tpu_telemetry/telemetry/server_data.proto

@@ -1,8 +1,13 @@
 syntax = "proto3";
 
-package serverdata.v1;
+package serverdata.v2;
 
 message ServerData {
-   repeated string value = 1;
+   // ensure old type is reserved
+   reserved 1;
+   reserved "value";
    string unit = 2;
+   // time since unix epoch in MICROSECONDS
+   uint64 time_us = 3;
+   repeated float values = 4;
 }