infinicode 2.8.13 → 2.8.15

package/packages/robopark/vision/install.sh

@@ -0,0 +1,34 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+VENV_DIR="$ROOT_DIR/venv"
+REQ_FILE="$ROOT_DIR/requirements_pi_unified.txt"
+
+if ! command -v python3 >/dev/null 2>&1; then
+  echo "python3 not found"
+  exit 1
+fi
+
+if [ ! -f "$REQ_FILE" ]; then
+  echo "Missing $REQ_FILE"
+  exit 1
+fi
+
+echo "System packages (run once):"
+echo "sudo apt-get update"
+echo "sudo apt-get install -y python3-opencv python3-numpy python3-pil libatlas-base-dev libopenblas-dev libhdf5-dev libhdf5-serial-dev libhdf5-103 libqt5gui5 libqt5widgets5 libqt5test5 portaudio19-dev libsndfile1 alsa-utils bluetooth bluez bluez-tools pulseaudio pulseaudio-module-bluetooth python3-pyaudio"
+echo ""
+
+echo "Creating venv: $VENV_DIR"
+if [ ! -d "$VENV_DIR" ]; then
+  python3 -m venv "$VENV_DIR" --system-site-packages
+fi
+
+source "$VENV_DIR/bin/activate"
+python -m pip install --upgrade pip
+python -m pip install -r "$REQ_FILE"
+
+echo ""
+echo "Done"
+echo "Next: ./run.sh start-term"

package/packages/robopark/vision/motor_server.py

@@ -0,0 +1,304 @@
+from fastapi import FastAPI, HTTPException
+from fastapi.middleware.cors import CORSMiddleware
+from pydantic import BaseModel
+from typing import Optional, List
+import time
+import threading
+import json
+import os
+
+app = FastAPI(title="Motor Control API", version="1.0.0")
+
+# CORS Configuration - Allow all origins for cross-origin requests
+app.add_middleware(
+    CORSMiddleware,
+    allow_origins=["*"],  # Allows all origins
+    allow_credentials=True,
+    allow_methods=["*"],  # Allows all methods (GET, POST, PUT, DELETE, OPTIONS)
+    allow_headers=["*"],  # Allows all headers
+)
+
+# Storage file
+MOTORS_FILE = "motors.json"
+
+# In-memory storage
+motors = {}
+active_motor = None
+remaining_seconds = 0
+last_action = "None"
+motor_thread = None
+stop_flag = False
+
+# Load motors from file on startup
+def load_motors():
+    """Load motors from motors.json file"""
+    global motors
+    try:
+        if os.path.exists(MOTORS_FILE):
+            with open(MOTORS_FILE, 'r') as f:
+                motors = json.load(f)
+            print(f"[LOAD] Loaded {len(motors)} motors from {MOTORS_FILE}")
+            for name, gpio in motors.items():
+                print(f"  - {name}: GPIO {gpio}")
+        else:
+            print(f"[LOAD] No {MOTORS_FILE} found, starting with empty motors")
+    except Exception as e:
+        print(f"[ERROR] Failed to load motors: {e}")
+        motors = {}
+
+def save_motors():
+    """Save motors to motors.json file"""
+    try:
+        with open(MOTORS_FILE, 'w') as f:
+            json.dump(motors, f, indent=2)
+        print(f"[SAVE] Motors saved to {MOTORS_FILE}")
+    except Exception as e:
+        print(f"[ERROR] Failed to save motors: {e}")
+
+# Load motors on startup
+load_motors()
+
+# Request Models
+class MotorConfig(BaseModel):
+    name: str
+    gpio: int
+
+class UpdateMotorConfig(BaseModel):
+    name: str
+    gpio: int
+
+class TriggerMotor(BaseModel):
+    motor_name: str
+    seconds: int = 5
+
+class StopMotors(BaseModel):
+    motor_name: Optional[str] = None
+
+class TestConfig(BaseModel):
+    seconds_on: int = 2
+    seconds_pause: int = 1
+    pins: Optional[List[int]] = None
+
+# Helper Functions
+def run_motor_thread(motor_name: str, duration: int):
+    global active_motor, remaining_seconds, last_action, stop_flag
+
+    active_motor = motor_name
+    remaining_seconds = duration
+    last_action = f"Triggered {motor_name}"
+
+    print(f"[MOTOR] Starting {motor_name} for {duration} seconds")
+
+    # Simulate motor running
+    for i in range(duration):
+        if stop_flag:
+            print(f"[MOTOR] {motor_name} stopped by user")
+            break
+        remaining_seconds = duration - i
+        time.sleep(1)
+
+    active_motor = None
+    remaining_seconds = 0
+    stop_flag = False
+    print(f"[MOTOR] {motor_name} completed")
+
+# API Endpoints
+@app.get("/")
+async def root():
+    return {
+        "message": "Motor Control API",
+        "version": "1.0.0",
+        "endpoints": ["/status", "/test", "/add-motor", "/trigger-motor", "/list-motors", "/stop-motors"]
+    }
+
+@app.get("/status")
+async def get_status():
+    status = "running" if active_motor else "idle"
+    return {
+        "status": status,
+        "active_motor": active_motor,
+        "remaining_seconds": remaining_seconds,
+        "last_action": last_action,
+        "total_motors": len(motors)
+    }
+
+@app.post("/add-motor")
+async def add_motor(config: MotorConfig):
+    if config.name in motors:
+        raise HTTPException(status_code=400, detail=f"Motor '{config.name}' already exists")
+
+    motors[config.name] = {
+        "name": config.name,
+        "gpio": config.gpio
+    }
+    save_motors()
+
+    print(f"[MOTOR] Added motor: {config.name} on GPIO {config.gpio}")
+
+    return {
+        "status": "success",
+        "message": f"Motor '{config.name}' added successfully",
+        "motor": motors[config.name]
+    }
+
+@app.get("/list-motors")
+async def list_motors():
+    motor_list = list(motors.values())
+    return {
+        "status": "success",
+        "count": len(motor_list),
+        "motors": motor_list
+    }
+
+@app.put("/update-motor/{motor_name}")
+async def update_motor(motor_name: str, config: UpdateMotorConfig):
+    if motor_name not in motors:
+        raise HTTPException(status_code=404, detail=f"Motor '{motor_name}' not found")
+
+    if active_motor == motor_name:
+        raise HTTPException(status_code=409, detail=f"Cannot update motor '{motor_name}' while it is running")
+
+    if config.name != motor_name and config.name in motors:
+        raise HTTPException(status_code=400, detail=f"Motor name '{config.name}' already exists")
+
+    if config.name != motor_name:
+        del motors[motor_name]
+
+    motors[config.name] = {
+        "name": config.name,
+        "gpio": config.gpio
+    }
+    save_motors()
+
+    print(f"[MOTOR] Updated motor: {motor_name} -> {config.name} on GPIO {config.gpio}")
+
+    return {
+        "status": "success",
+        "message": f"Motor updated successfully",
+        "motor": motors[config.name]
+    }
+
+@app.delete("/delete-motor/{motor_name}")
+async def delete_motor(motor_name: str):
+    if motor_name not in motors:
+        raise HTTPException(status_code=404, detail=f"Motor '{motor_name}' not found")
+
+    if active_motor == motor_name:
+        raise HTTPException(status_code=409, detail=f"Cannot delete motor '{motor_name}' while it is running")
+
+    deleted_motor = motors.pop(motor_name)
+    save_motors()
+
+    print(f"[MOTOR] Deleted motor: {motor_name}")
+
+    return {
+        "status": "success",
+        "message": f"Motor '{motor_name}' deleted successfully",
+        "motor": deleted_motor
+    }
+
+@app.post("/trigger-motor")
+async def trigger_motor(config: TriggerMotor):
+    global motor_thread, stop_flag
+
+    if config.motor_name not in motors:
+        raise HTTPException(status_code=404, detail=f"Motor '{config.motor_name}' not found")
+
+    if active_motor:
+        raise HTTPException(status_code=409, detail=f"Motor '{active_motor}' is already running")
+
+    stop_flag = False
+    motor_thread = threading.Thread(target=run_motor_thread, args=(config.motor_name, config.seconds))
+    motor_thread.start()
+
+    return {
+        "status": "success",
+        "message": f"Motor '{config.motor_name}' triggered for {config.seconds} seconds",
+        "motor_name": config.motor_name,
+        "duration": config.seconds
+    }
+
+@app.post("/stop-motors")
+async def stop_motors(config: Optional[StopMotors] = None):
+    global stop_flag, last_action
+
+    try:
+        if not active_motor:
+            return {
+                "status": "success",
+                "message": "No motors are currently running"
+            }
+
+        stop_flag = True
+        last_action = f"Stopped {active_motor}"
+
+        # Wait for thread to finish
+        if motor_thread and motor_thread.is_alive():
+            motor_thread.join(timeout=2)
+
+        return {
+            "status": "success",
+            "message": "All motors stopped",
+            "stopped_motor": active_motor
+        }
+    except Exception as e:
+        # Handle GPIO busy or other errors gracefully
+        print(f"[ERROR] Stop motors failed: {e}")
+        stop_flag = True
+        return {
+            "status": "error",
+            "message": f"Error stopping motors: {str(e)}",
+            "detail": str(e)
+        }
+
+@app.post("/test")
+async def run_test(config: TestConfig):
+    global last_action
+
+    if active_motor:
+        raise HTTPException(status_code=409, detail="A motor is already running")
+
+    pins = config.pins if config.pins else list(range(1, 28))
+
+    print(f"[TEST] Running test sequence:")
+    print(f"  - Seconds ON: {config.seconds_on}")
+    print(f"  - Seconds Pause: {config.seconds_pause}")
+    print(f"  - Pins: {pins}")
+
+    last_action = f"Test sequence started"
+
+    # Simulate test sequence
+    def test_sequence():
+        global last_action
+        for pin in pins:
+            last_action = f"test:gpio:{pin}"
+            print(f">>> TESTING GPIO {pin}")
+            time.sleep(config.seconds_on)
+            print(f"[TEST] Pin {pin} OFF, pausing {config.seconds_pause}s")
+            time.sleep(config.seconds_pause)
+        last_action = "Test sequence completed"
+        print("[TEST] Test sequence completed")
+
+    test_thread = threading.Thread(target=test_sequence)
+    test_thread.start()
+
+    return {
+        "status": "success",
+        "message": "Test sequence started",
+        "config": {
+            "seconds_on": config.seconds_on,
+            "seconds_pause": config.seconds_pause,
+            "pins": pins
+        }
+    }
+
+if __name__ == "__main__":
+    import uvicorn
+    print("=" * 60)
+    print("Motor Control API Server")
+    print("=" * 60)
+    print("Starting server on http://0.0.0.0:8001")
+    print("API Documentation: http://localhost:8001/docs")
+    print("ReDoc: http://localhost:8001/redoc")
+    print("=" * 60)
+    uvicorn.run(app, host="0.0.0.0", port=8001)

package/packages/robopark/vision/requirements_pi_unified.txt

@@ -0,0 +1,101 @@
+# Unified Raspberry Pi Requirements for All RoboVision Servers
+# Vision Server + Motor Server + Audio Server
+# Install with: pip install -r requirements_pi_unified.txt
+
+# ============================================================================
+# SYSTEM DEPENDENCIES (Install these first with apt)
+# ============================================================================
+# sudo apt-get update
+# sudo apt-get install -y python3-opencv python3-numpy python3-pil
+# sudo apt-get install -y libatlas-base-dev libopenblas-dev
+# sudo apt-get install -y libhdf5-dev libhdf5-serial-dev libhdf5-103
+# sudo apt-get install -y libqt5gui5 libqt5widgets5 libqt5test5
+# sudo apt-get install -y portaudio19-dev libsndfile1 alsa-utils
+# sudo apt-get install -y bluetooth bluez bluez-tools pulseaudio pulseaudio-module-bluetooth
+# sudo apt-get install -y python3-pyaudio
+
+# ============================================================================
+# WEB FRAMEWORKS
+# ============================================================================
+# Flask - For Vision Server
+Flask==3.0.0
+Flask-CORS==4.0.0
+
+# FastAPI - For Motor Server and Audio Server
+fastapi==0.104.1
+uvicorn[standard]==0.24.0
+python-multipart==0.0.6
+
+# ============================================================================
+# COMPUTER VISION & OBJECT DETECTION
+# ============================================================================
+# Note: Use system python3-opencv instead of pip opencv-python
+# opencv-python - DO NOT INSTALL via pip, use system package
+
+# NumPy - Compatible version for ARM
+numpy==1.24.3
+
+# Image processing
+Pillow==10.1.0
+
+# YOLO Object Detection (optional, for advanced vision features)
+ultralytics==8.0.196
+
+# ============================================================================
+# AUDIO PROCESSING (For Audio Server)
+# ============================================================================
+# Note: python3-pyaudio should be installed via apt (see system dependencies above)
+sounddevice==0.4.6
+soundfile==0.12.1
+
+# ============================================================================
+# AI & CAPTION SERVICES
+# ============================================================================
+# Google Generative AI for image captioning (optional)
+google-generativeai==0.3.1
+
+# ============================================================================
+# MOTOR CONTROL (For Motor Server)
+# ============================================================================
+# GPIO control for Raspberry Pi
+lgpio==0.2.2.0
+
+# Pydantic for data validation
+pydantic==2.5.0
+
+# ============================================================================
+# NETWORKING & HTTP
+# ============================================================================
+# HTTP requests
+requests==2.31.0
+
+# CORS support
+python-multipart==0.0.6
+
+# ============================================================================
+# UTILITIES
+# ============================================================================
+# Python dotenv for environment variables
+python-dotenv==1.0.0
+
+# ============================================================================
+# OPTIONAL DEPENDENCIES
+# ============================================================================
+# Ngrok for tunneling (optional, for remote access)
+# pyngrok==7.0.1
+
+# Pi Camera Module support (optional, only if using Pi Camera Module)
+# picamera2
+
+# ============================================================================
+# NOTES
+# ============================================================================
+# 1. Always install system dependencies FIRST before pip packages
+# 2. Use system python3-opencv instead of pip opencv-python (it's pre-built for ARM)
+# 3. Create venv with --system-site-packages to access system opencv:
+#    python3 -m venv venv --system-site-packages
+# 4. For Bluetooth audio, make sure to pair devices first
+# 5. For GPIO motor control, user must be in 'gpio' group:
+#    sudo usermod -a -G gpio $USER
+# 6. For Bluetooth, user must be in 'bluetooth' group:
+#    sudo usermod -a -G bluetooth $USER

package/packages/robopark/vision/run.sh

@@ -0,0 +1,244 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+STATE_DIR="$ROOT_DIR/.run"
+LOG_DIR="$STATE_DIR/logs"
+VENV_DIR="$ROOT_DIR/venv"
+
+mkdir -p "$LOG_DIR"
+
+if [ -f "$ROOT_DIR/.env" ]; then
+  set -a
+  source "$ROOT_DIR/.env"
+  set +a
+fi
+
+source "$ROOT_DIR/services/services.sh"
+
+require_venv() {
+  if [ ! -f "$VENV_DIR/bin/activate" ]; then
+    echo "Missing venv. Run: ./install.sh"
+    exit 1
+  fi
+}
+
+is_running() {
+  local name="$1"
+  local pid_file="$STATE_DIR/$name.pid"
+  if [ ! -f "$pid_file" ]; then
+    return 1
+  fi
+  local pid
+  pid="$(cat "$pid_file" 2>/dev/null || true)"
+  if [ -z "$pid" ]; then
+    return 1
+  fi
+  kill -0 "$pid" >/dev/null 2>&1
+}
+
+start_one() {
+  local name="$1"
+  local cmd_var="SERVICE_${name}_CMD"
+  local cmd
+  cmd="${!cmd_var}"
+  if [ -z "$cmd" ]; then
+    echo "Unknown service: $name"
+    exit 1
+  fi
+
+  if is_running "$name"; then
+    echo "$name already running"
+    return 0
+  fi
+
+  require_venv
+  source "$VENV_DIR/bin/activate"
+
+  local log_file="$LOG_DIR/$name.log"
+  local pid_file="$STATE_DIR/$name.pid"
+
+  echo "Starting $name"
+  nohup bash -lc "cd \"$ROOT_DIR\" && source \"$VENV_DIR/bin/activate\" && $cmd" >>"$log_file" 2>&1 &
+  echo $! >"$pid_file"
+}
+
+detect_terminal() {
+  if command -v lxterminal >/dev/null 2>&1; then
+    echo "lxterminal"
+    return 0
+  fi
+  if command -v gnome-terminal >/dev/null 2>&1; then
+    echo "gnome-terminal"
+    return 0
+  fi
+  if command -v xterm >/dev/null 2>&1; then
+    echo "xterm"
+    return 0
+  fi
+  return 1
+}
+
+start_one_term() {
+  local name="$1"
+  local cmd_var="SERVICE_${name}_CMD"
+  local cmd
+  cmd="${!cmd_var}"
+  if [ -z "$cmd" ]; then
+    echo "Unknown service: $name"
+    exit 1
+  fi
+
+  if is_running "$name"; then
+    echo "$name already running"
+    return 0
+  fi
+
+  require_venv
+
+  local term
+  term="$(detect_terminal || true)"
+  if [ -z "$term" ]; then
+    echo "No supported terminal found (need lxterminal, gnome-terminal, or xterm)"
+    exit 1
+  fi
+
+  local log_file="$LOG_DIR/$name.log"
+  local pid_file="$STATE_DIR/$name.pid"
+  local title="RoboVision:$name"
+  local run_cmd
+  run_cmd="cd \"$ROOT_DIR\" && source \"$VENV_DIR/bin/activate\" && exec $cmd"
+
+  echo "Starting $name in terminal ($term)"
+
+  if [ "$term" = "lxterminal" ]; then
+    lxterminal --title="$title" --command="bash -lc '$run_cmd'" >>"$log_file" 2>&1 &
+    echo $! >"$pid_file"
+    return 0
+  fi
+
+  if [ "$term" = "gnome-terminal" ]; then
+    gnome-terminal --title="$title" -- bash -lc "$run_cmd" >>"$log_file" 2>&1 &
+    echo $! >"$pid_file"
+    return 0
+  fi
+
+  if [ "$term" = "xterm" ]; then
+    xterm -T "$title" -e bash -lc "$run_cmd" >>"$log_file" 2>&1 &
+    echo $! >"$pid_file"
+    return 0
+  fi
+}
+
+stop_one() {
+  local name="$1"
+  local pid_file="$STATE_DIR/$name.pid"
+
+  if ! is_running "$name"; then
+    rm -f "$pid_file"
+    echo "$name not running"
+    return 0
+  fi
+
+  local pid
+  pid="$(cat "$pid_file")"
+  echo "Stopping $name (pid $pid)"
+  kill "$pid" >/dev/null 2>&1 || true
+
+  local i
+  for i in $(seq 1 30); do
+    if kill -0 "$pid" >/dev/null 2>&1; then
+      sleep 0.2
+    else
+      break
+    fi
+  done
+
+  if kill -0 "$pid" >/dev/null 2>&1; then
+    kill -9 "$pid" >/dev/null 2>&1 || true
+  fi
+
+  rm -f "$pid_file"
+}
+
+status_one() {
+  local name="$1"
+  local port_var="SERVICE_${name}_PORT"
+  local port
+  port="${!port_var}"
+
+  if is_running "$name"; then
+    echo "$name: running (port ${port:-n/a})"
+  else
+    echo "$name: stopped"
+  fi
+}
+
+tail_one() {
+  local name="$1"
+  local log_file="$LOG_DIR/$name.log"
+  if [ ! -f "$log_file" ]; then
+    echo "No log file: $log_file"
+    exit 1
+  fi
+  tail -n 200 -f "$log_file"
+}
+
+usage() {
+  echo "Usage: ./run.sh <start|start-term|stop|restart|status|logs> [service]"
+  echo "Services: ${SERVICES[*]}"
+}
+
+ACTION="${1:-}"
+NAME="${2:-all}"
+
+case "$ACTION" in
+  start)
+    if [ "$NAME" = "all" ]; then
+      for s in "${SERVICES[@]}"; do start_one "$s"; done
+    else
+      start_one "$NAME"
+    fi
+    ;;
+  start-term)
+    if [ "$NAME" = "all" ]; then
+      for s in "${SERVICES[@]}"; do start_one_term "$s"; done
+    else
+      start_one_term "$NAME"
+    fi
+    ;;
+  stop)
+    if [ "$NAME" = "all" ]; then
+      for s in "${SERVICES[@]}"; do stop_one "$s"; done
+    else
+      stop_one "$NAME"
+    fi
+    ;;
+  restart)
+    if [ "$NAME" = "all" ]; then
+      for s in "${SERVICES[@]}"; do stop_one "$s"; done
+      for s in "${SERVICES[@]}"; do start_one "$s"; done
+    else
+      stop_one "$NAME"
+      start_one "$NAME"
+    fi
+    ;;
+  status)
+    if [ "$NAME" = "all" ]; then
+      for s in "${SERVICES[@]}"; do status_one "$s"; done
+    else
+      status_one "$NAME"
+    fi
+    ;;
+  logs)
+    if [ "$NAME" = "all" ]; then
+      echo "Specify a service for logs"
+      exit 1
+    fi
+    tail_one "$NAME"
+    ;;
+  *)
+    usage
+    exit 1
+    ;;
+esac

package/packages/robopark/vision/services/services.sh

@@ -0,0 +1,12 @@
+#!/usr/bin/env bash
+
+SERVICES=("vision" "motor" "audio")
+
+SERVICE_vision_PORT=5000
+SERVICE_vision_CMD="python app_pi_clean.py"
+
+SERVICE_motor_PORT=8001
+SERVICE_motor_CMD="python motor_server.py"
+
+SERVICE_audio_PORT=8000
+SERVICE_audio_CMD="python audio_server_pi.py"