Merge branch 'master' into stable

Author: fnoop

manifests/maverick-modules/base/files/preprelease.sh

@@ -33,6 +33,10 @@ if [ -e /var/swap ]; then
     rm /var/swap
 fi
 
+# Ensure maverick set to stable branch
+echo "MAVERICK_BRANCH=stable" >/srv/maverick/data/config/maverick/maverick-branch.conf
+chown mav:mav /srv/maverick/data/config/maverick/maverick-branch.conf
+
 # Remove initial bootstrap maverick from common locations
 rm -rf /root/maverick
 rm -rf /home/pi/maverick
@@ -65,13 +69,6 @@ rm -rf /srv/maverick/.gitconfig /srv/maverick/.git-credential-cache /srv/maveric
 rm -rf /srv/maverick/.[Xx]*
 rm -rf /srv/maverick/.ros/log/*
 
-# Clean up maverick data
-find /srv/maverick/data/logs -type f -delete
-rm -f /srv/maverick/data/vision_landing/*
-find /srv/maverick/var/log -path /srv/maverick/var/log/build -prune -o -type f -exec rm -f {} \;
-rm -rf /srv/maverick/var/log/ros/fc/* /srv/maverick/var/log/ros/sitl/*
-rm -f /srv/maverick/var/run/*
-
 # Remove maverick config
 find /srv/maverick/data/config -type f -delete
 rm /srv/maverick/software/maverick/conf/localconf.json
@@ -83,4 +80,17 @@ cd /srv/maverick/software/maverick; git checkout conf/localconf.json
 if [ -e /boot/efi ]; then
     mkdir /boot/efi/EFI/BOOT
     cp /boot/efi/EFI/ubuntu/grubx64.efi /boot/efi/EFI/BOOT/bootx64.efi
-fi
+fi
+
+echo "Running maverick to regenerate any removed files"
+maverick configure
+systemctl stop maverick-*
+
+# Clean up maverick data
+find /srv/maverick/data/logs -type f -delete
+find /srv/maverick/data/mavlink -type f -delete
+rm -f /srv/maverick/data/vision_landing/*
+find /srv/maverick/var/log -path /srv/maverick/var/log/build -prune -o -type f -exec rm -f {} \;
+rm -f /srv/maverick/var/log/vision_landing/last.log
+rm -rf /srv/maverick/var/log/ros/fc/* /srv/maverick/var/log/ros/sitl/*
+rm -f /srv/maverick/var/run/*

manifests/maverick-modules/maverick_hardware/manifests/peripheral/seekthermal.pp

@@ -1,16 +1,24 @@
 class maverick_hardware::peripheral::seekthermal (
     $libseek_thermal = true,
-    $libseek_thermal_source = "https://github.com/maartenvds/libseek-thermal.git",
+    $libseek_thermal_source = "https://github.com/fnoop/libseek-thermal.git",
     $libseek_thermal_revision = "master",
     $libseek = false,
+    $seek_id = "0010", # 0010 for Compact, 0011 for Compact Pro
 ) {
 
+    # If Seek Thermal camera isn't detected (ie. plugged in), then use $seek_id
+    if $seekthermal_modelid != "None" {
+        $_seekid = $seekthermal_modelid
+    } else {
+        $_seekid = $seek_id
+    }
+
     # Install udev rule so seek thermal can be used by mav user
     file { "/etc/udev/rules.d/95-seekthermal.rules":
         owner       => "root",
         group       => "root",
         mode        => "644",
-        content     => "SUBSYSTEM==\"usb\", ATTRS{idVendor}==\"289d\", ATTRS{idProduct}==\"${$seekthermal_modelid}\", MODE=\"0664\", OWNER=\"mav\", GROUP=\"mav\"\n",
+        content     => "SUBSYSTEM==\"usb\", ATTRS{idVendor}==\"289d\", ATTRS{idProduct}==\"${$_seekid}\", MODE=\"0664\", OWNER=\"mav\", GROUP=\"mav\"\n",
     }
 
     # Install libseek-thermal
@@ -36,6 +44,7 @@
                 command     => "/usr/bin/make install PREFIX=/srv/maverick/software/libseek-thermal",
                 cwd         => "/srv/maverick/var/build/libseek-thermal",
                 creates     => "/srv/maverick/software/libseek-thermal/lib/libseek.so",
+                before      => Service["maverick-vision_seek"],
             } ->
             file { "/srv/maverick/var/build/.install_flag_libseek-thermal":
                 ensure      => present,

manifests/maverick-modules/maverick_vision/files/vision_seek.sh

@@ -3,9 +3,9 @@
 # Set defaults, can be overriden in /srv/maverick/data/config/vision/vision_seek.conf
 FPS=
 FFC=
-SCALE=
-COLORMAP=
-ROTATE=
+SCALE=1.0
+COLORMAP=-1
+ROTATE=90
 CAMTYPE=seek
 OUTPUT=window
 
@@ -19,7 +19,9 @@ else
     _FPS=""
 fi
 if [ ! -z $FFC ]; then
-    _FFC="-FFC $FFC"
+    _FFC="--FFC=$FFC"
+else
+    _FFC=""
 fi
 if [ ! -z $SCALE ]; then
     _SCALE="--scale=$SCALE"
@@ -42,10 +44,11 @@ else
     _CAMTYPE=""
 fi
 if [ ! -z "$OUTPUT" ]; then
-    _OUTPUT="-o \"$OUTPUT\""
+    _OUTPUT="--output=\"$OUTPUT\""
 else
     _OUTPUT=""
 fi
 
 # Call vision_seek with configured arguments
-/srv/maverick/software/libseek-thermal/bin/seek_viewer $_FPS $_SCALE $_COLORMAP $_ROTATE $_CAMTYPE $FFC -o "$OUTPUT"
+echo /srv/maverick/software/libseek-thermal/bin/seek_viewer $_FPS $_SCALE $_COLORMAP $_ROTATE $_CAMTYPE $_FFC -o "$OUTPUT"
+/srv/maverick/software/libseek-thermal/bin/seek_viewer $_FPS $_SCALE $_COLORMAP $_ROTATE $_CAMTYPE $_FFC -o "$OUTPUT"

manifests/maverick-modules/maverick_vision/templates/vision_seek.conf.erb

@@ -1,26 +1,39 @@
 # Config file for vision_seek
 
-# FPS - Kludge factor for gstreamer filesink interpolation
+# FPS - Kludge factor for gstreamer filesink interpolation.  7 is about right for Pi Zero
 FPS=
 
 # FFC - Flat Field Correction - .png file created by FFC calibration
 FFC=
 
 # Scale output image size by multiple
-SCALE=
+SCALE=1.0
 
 # Apply opencv colormap: http://docs.opencv.org/3.2.0/d3/d50/group__imgproc__colormap.html
-# Note this has to be integer value relating to enum, not the enum itself
-COLORMAP=
+# Note this has to be integer value relating to enum, not the enum itself.
+# -1 means no map applied
+COLORMAP=2
 
 # Rotate output image in degrees, only possible values are 90,180,270
-ROTATE=
+ROTATE=90
 
 # Camtype is seek or seekpro
-CAMTYPE=
+CAMTYPE=seek
 
-# Opencv/Gstreamer output pipeline, eg:
+### Video Output
+#
+# window output opens a local window.  Must be started using vision_seek.sh not by system service, and
+# either from desktop or x-forwarded ssh session.
+# OUTPUT=window
+# 
+# filename output saves a raw video to file. Easiest and best quality.
+OUTPUT=/srv/maverick/data/vision/vision_seek/seek.avi
+#
+# gstreamer output uses a gstreamer pipeline.  Note, it *must* start with appsrc
 # OUTPUT="appsrc ! videoconvert ! video/x-raw,format=NV12 ! vaapih264enc ! mpegtsmux ! filesink location=/srv/maverick/data/vision/vision_seek/vision_seek.avi"
-# OUTPUT="appsrc ! autovideoconvert ! omxh264enc ! h264parse ! rtph264pay config-interval=1 pt=96 ! udpsink host=192.168.1.x port=5000 sync=false"
-# OUTPUT="window"
-OUTPUT=
+#
+# raspberry h264 streaming, client end would be: gst-launch-1.0 -v udpsrc port=5000 buffer-size=0 ! application/x-rtp,encoding-name=H264,payload=96 ! rtph264depay ! h264parse ! decodebin ! autovideosink sync=false
+# OUTPUT="appsrc ! decodebin ! queue ! videoconvert ! omxh264enc ! h264parse ! rtph264pay config-interval=1 pt=96 ! udpsink host=192.168.1.243 port=5000 sync=false"
+#
+# raspberry mjpeg streaming, client end would be: st-launch-1.0 -v udpsrc port=5000 buffer-size=0 ! application/x-rtp,encoding-name=JPEG,payload=26 ! rtpjpegdepay ! decodebin ! autovideosink sync=false
+# OUTPUT="appsrc ! queue ! videoconvert ! video/x-raw,format=I420 ! jpegenc ! rtpjpegpay ! udpsink host=192.168.1.244 port=5000 sync=false"