misc fixes and improvements

- bump calypso
- fix calypso iroh
- fix docker ruamel from #127 embedded
- add qmicli to prep for #155
- add can bus util and remove can data rate

Dockerfile

@@ -32,10 +32,8 @@ RUN apt-get update && apt-get install -y \
     graphviz \
     git-lfs \
     util-linux \ 
-    wpasupplicant
-
-# just for calypso require ruamel.yaml
-RUN apt-get update && apt-get install -y python3-pip && pip install --break-system-packages "ruamel.yaml<0.18.0"
+    wpasupplicant \
+    python3-ruamel.yaml   
 
 # add all buildroot files there
 WORKDIR /home/odysseus/build

odysseus_tree/configs/raspberrypi3_64_ap_defconfig

@@ -34,6 +34,7 @@ BR2_PACKAGE_LM_SENSORS=y
 BR2_PACKAGE_RASPI_GPIO=y
 BR2_PACKAGE_PYTHON3=y
 BR2_PACKAGE_CA_CERTIFICATES=y
+BR2_PACKAGE_LIBQMI=y
 BR2_PACKAGE_BMON=y
 BR2_PACKAGE_DHCPCD=y
 BR2_PACKAGE_DROPBEAR=y
@@ -44,6 +45,7 @@ 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_HTOP=y
 BR2_PACKAGE_KMOD_TOOLS=y

odysseus_tree/overlays/rootfs_overlay_iroh/etc/init.d/S76calypso

@@ -0,0 +1,29 @@
+#!/bin/sh
+
+PIDFILE=/var/run/calypso.pid
+EXECUTABLE=/usr/bin/calypso
+INTERFACE_NAME=can0
+BROKER_IP=192.168.100.1:1883
+
+case "$1" in
+  start)
+    echo "Sleeping, waiting to start"
+    sleep 20s
+    echo "Starting calypso..."
+    # start (S) executable (x) in background (b), make pid file (m) at p
+    start-stop-daemon -S -x "$EXECUTABLE" -b -m -p "$PIDFILE" -- mqtt $BROKER_IP $INTERFACE_NAME skip_can_configure
+    ;;
+  stop)
+    echo "Stopping calypso..."
+    # stop (K) and remove pidfile
+    start-stop-daemon -K -p "$PIDFILE"
+    rm "$PIDFILE"
+    ;;
+  restart|reload)
+    "$0" stop
+    "$0" start
+    ;;
+  *)
+    echo "Usage: {start|stop|restart/reload}"
+    exit 1
+esac

odysseus_tree/package/calypso/calypso.mk

@@ -1,4 +1,4 @@
-CALYPSO_VERSION = 8803595b62c5252da2aed2c433e1db135769e6c4
+CALYPSO_VERSION = 14e484ca7c5d15273a44391f609aaa335094837d
 CALYPSO_SITE_METHOD = git
 CALYPSO_SITE = https://github.com/Northeastern-Electric-Racing/Calypso
 CALYPSO_GIT_SUBMODULES = YES

odysseus_tree/sources/tpu_telemetry/telemetry/__init__.py

@@ -32,6 +32,7 @@ async def set_interval(self, stop: asyncio.Event):
                 measure = self.measurement()
             except Exception as e:
                 print("Exception in ", type(self))
+                print("Exception is: ", e)
                 failure=True
 
 

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

@@ -1,20 +1,25 @@
 from .. import BufferedCommand, MeasureTask
 
 
-# read in 1/10 a second increments
-FETCH_CMD = ["bmon","-o", "format:fmt='$(attr:txrate:bytes) $(attr:rxrate:bytes)\n'", "-p", "can0" ]
+# read using can-utils canbusload, ensure to change bitrate accordingly
+FETCH_CMD = ["canbusload","can0@500000"]
 class CanMT(MeasureTask, BufferedCommand):
     def __init__(self):
          MeasureTask.__init__(self, 1000)
          BufferedCommand.__init__(self, FETCH_CMD)
 
     def measurement(self):
         items = self.read()
+        # filter out only newlines as list members
+        items = filter(lambda x: x != '\n', items)
         send_data = []
         for item in items:
-            item = item.strip('\'').split(" ")
-            data = [item[0].strip(), item[1].strip()]
-            send_data.append(('TPU/Can/DataRate', data, 'kb/s'))
+            item = item.strip('\'').strip().split(" ")
+            # 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'))
 
         return send_data