transmit.py

#!/usr/bin/env python

import RPi.GPIO as GPIO
from RPi.GPIO import output
#import subprocess
import time
from time import sleep
#import os
import sys
from os import system
from os import path
from PIL import Image, ImageDraw, ImageFont, ImageColor
import serial	
import random
import subprocess

def sim_failure_check():
	try:
		global card
		global cam_fail
		global sim_mode
		global sim_config
		cam_fail = False
		file = open("/home/pi/CubeSatSim/failure_mode.txt")
		fail_mode = int(file.read(2))
#		print("Fail_mode: ")
#		print(fail_mode)
		if (fail_mode == 11):
			card = "Device"  # Change audio so no FM audio plays
			print("Failure mode no FM audio")
			sim_mode = True
		elif (fail_mode == 7):
			cam_fail = True
			print("Failure mode camera fail")	
			sim_mode = True
			card = "Headphones"
		elif (fail_mode == -1):
			print("No failure mode")
			card = "Headphones"
			if sim_config:
				sim_mode = True
		else:
			print("Other failure mode")
			card = "Headphones"
			sim_mode = True
	except:
		print("No failure mode")
		card = "Headphones"
		if sim_config:
			sim_mode = True

def battery_saver_check():
	try:
		global txc
		f = open("/home/pi/CubeSatSim/battery_saver", "r")
		f.close()
		txc = False
		print("Safe Mode!")
		print("battery saver activated")
	except:
		print("battery saver not activated")
#		txc = True

def blink(times):
	powerPin = 16
	for i in range(times):
		GPIO.output(powerPin, 0) # blink two times
		sleep(0.1)
		GPIO.output(powerPin, 1)
		sleep(0.1)
		
def increment_mode():
	print("increment mode")
	powerPin = 16
	try:
		file = open("/home/pi/CubeSatSim/.mode")
		mode = file.read(1)
	except:
#		mode = "f"
		if (debug_mode == 1):
			print("Can't open .mode file") # , defaulting to FSK")
	file.close()
	print("Mode is: ")
	print(mode)
	if (mode == 'a'):
		mode = 'f'
		blink(2)
		sleep(2.5)

	elif (mode == 'f'):
		mode = 'b'
		blink(3)
		sleep(2.5)
	
	elif (mode == 'b'):
		mode = 's'
		blink(4)
		sleep(2.5)

	elif (mode == 's'):
		mode = 'm'
		blink(5)
		sleep(2.5)
	else:
		mode = 'a'
		blink(1)
		sleep(2.5)

	try:	
		file = open("/home/pi/CubeSatSim/.mode", "w")
		count_string = str(command_count)
		file.write(mode)
		file.close()
		print(".mode file written")
		
		GPIO.setwarnings(False)
		GPIO.output(txLed, 0)
		GPIO.output(powerPin, 0)
		print("sudo reboot -h now")
		GPIO.setwarnings(False)
		GPIO.setup(powerPin, GPIO.OUT)
		GPIO.output(powerPin, 0);
#		system("reboot -h now")
#		release = True;

		print("Changing mode now")
#		system("/home/pi/CubeSatSim/config -" + mode)
		system("reboot -h now")

		sleep(10);
	except:
		print("can't write to .mode file")
		
def camera_photo():
	global cam_fail
	sim_failure_check()
	system("sudo rm /home/pi/CubeSatSim/camera_out.jpg")
	stored_image = False
	try:
		system("raspistill -o /home/pi/CubeSatSim/camera_out.jpg -w 320 -h 256") #  > /dev/null 2>&1")
		f = open("/home/pi/CubeSatSim/camera_out.jpg")
		f.close()
		print("Photo taken")
		if (cam_fail == True):
			system("cp /home/pi/CubeSatSim/sstv//sstv_image_2_320_x_256.jpeg /home/pi/CubeSatSim/camera_out.jpg")
			print("Using stored image")
			stored_image = True
	except:
		system("cp /home/pi/CubeSatSim/sstv//sstv_image_2_320_x_256.jpeg /home/pi/CubeSatSim/camera_out.jpg")
		print("Using stored image")
		stored_image = True
	if (stored_image == False):	
		file='/home/pi/CubeSatSim/camera_out.jpg'
		font1 = ImageFont.truetype('DejaVuSerif.ttf', 20)
		font2 = ImageFont.truetype('DejaVuSerif-Bold.ttf', 16)
	
		try:
			filep = open("/home/pi/CubeSatSim/telem_string.txt")
			telem_string = filep.readline()
		except:
			telem_string = ""
			if (debug_mode == 1):
				print("Can't read telem_string.txt")		
		print(telem_string)
		
		img = Image.open(file)
		draw = ImageDraw.Draw(img) 
	#					draw.text((10, 10), callsign, font=font2, fill='white')
	#					draw.text((120, 10), telem_string, font=font2, fill='white')					
		draw.text((12, 12), callsign, font=font1, fill='black')
		draw.text((10, 10), callsign, font=font1, fill='white')
		draw.text((112, 12), telem_string, font=font2, fill='black')  # was 122
		draw.text((110, 10), telem_string, font=font2, fill='white')  # was 120
		img.save(file)

print("CubeSatSim v2.2 transmit.py starting...")

pd = 21
ptt = 20
txc_pin = 7
squelch = 6
green = 16
powerPin = 16

command_tx = True

GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(13, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(12, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(27, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(txc_pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(green, GPIO.OUT)
GPIO.output(powerPin, 1)

transmit = False
txLed = 27
txLedOn = 1 
txLedOff = 0
if GPIO.input(12) == False:
	print("LPF present")
	transmit = True
else:
	print("No LPF")


# GPIO.setup(txLed, GPIO.OUT)
# output(txLed, txLedOff)

GPIO.setmode(GPIO.BCM) # Repeat to make LED work on Pi 4
GPIO.setwarnings(False)
GPIO.setup(txLed, GPIO.OUT)

GPIO.setup(pd, GPIO.OUT)
#output(pd, 1)
output(pd, 0)
GPIO.setup(ptt, GPIO.OUT)
output (ptt, 1)

txc = False
if GPIO.input(txc_pin) == False:
	print("TXC is present")
	txc = True;
else:
	print("TXC not present")

# txc = False  # forcing it off
output(txLed, txLedOn)
sleep(1)
output(txLed, txLedOff)

battery_saver_check()	

# print(txLedOn)
print(txLed)
# GPIO.setup(27, GPIO.OUT)
# GPIO.output(27, 0)

debug_mode = 0  # change to 1 to debug transmit

skip = False

if __name__ == "__main__":
	mode = "y"
	if (len(sys.argv)) > 1:
#        	print("There are arguments!")
		if (('d' == sys.argv[1]) or ('-d' in sys.argv[1])):
			debug_mode = 1
		elif (('x' == sys.argv[1]) or ('-x' in sys.argv[1])):	
			mode = "x"
			print("Forcing APRS mode")
		elif (('s' == sys.argv[1]) or ('-s' in sys.argv[1])):
			skip = True
			print("Skipping delay and CW ID")
			
	print(transmit)

	uptime_time = 55  #  55 second boot time if Pi Zero 
	try:
		f = open("/home/pi/CubeSatSim/pi_zero2", "r")
		f.close()
		print("Pi Zero 2 detected!")
		uptime_time = 30  # 30 second boot time if Pi Zero 2
	except:
		print("Pi Zero 2 not detected")

	try:
		system("cat /proc/uptime > /home/pi/CubeSatSim/uptime")
		file = open("/home/pi/CubeSatSim/uptime")
		up = file.read().split(" ")[0]
		print(up)
		uptime = float(up)
		print(uptime)
		if (uptime < uptime_time):
			print("Uptime < threshold seconds")
		else:
			print("Uptime > threshold seconds")
			print("Skip CW ID")
			skip = True
		file.close() 
	except:
		print("Can't open /proc/uptime") 
	print(skip)	

	if ( mode == "y"):
		try:
			file = open("/home/pi/CubeSatSim/.mode")
			mode = file.read(1)
		except:
			mode = "f"
			if (debug_mode == 1):
				print("Can't open .mode file, defaulting to FSK")
	print("Mode is: ")
	print(mode)

	try:
		file = open("/home/pi/CubeSatSim/beacon_off")
		file.close()
		command_tx = False
	except:
		command_tx = True
		if (debug_mode == 1):
			print("Can't open beacon_off file, defaulting to False")
	print("Command_tx: ")
	print(command_tx)
	
	try:
		file = open("/home/pi/CubeSatSim/command_count.txt", "r")
		string = file.read()
		command_count = int(string)
	except:
		command_count = 0
		if (debug_mode == 1):
			print("Can't open command_count file, setting to 0")
		file = open("/home/pi/CubeSatSim/command_count.txt", "w")
		count_string = str(command_count)
		file.write(count_string)
		file.close()
	print("Command_count: ")
	print(command_count)	

	tx_value = '0'
	rx_value = '0'
	sq = '0'
	tx = '434.9000'	
	rx = '435.0000'
	txr = '144.9000'
	sim_mode = False
	sim_config = False
	hab_mode = False
	
	try:
		file = open("/home/pi/CubeSatSim/sim.cfg")
#		callsign = file.readline().split(" ")[0]
		config = file.readline().split()		
		callsign = config[0]
		if len(config) > 4:
			if config[4] == 'y' or config[4] == 'yes':		
				sim_mode = True
				sim_config = True
				print("Simulated telemetry mode is configured")
			else:
#				query = ["timeout", "2", "i2cdetect", "-y", "3"] # Test if Solar board is present
#				try:
#					result = subprocess.run(query, capture_output=True, text=True, check=True)
#					print(f"Command run was: {query}")
#					print("Sucess!")
#					print(f"Output of the command (stdout): {result}")
#				except subprocess.CalledProcessError as e:
#					print(f"Command failed with return code: {e.returncode}")
#					print(f"Command run was: {e.cmd}")
#					print(f"Output of the command (stdout): {e.stdout}")
#					print(f"Error output of the command (stderr): {e.stderr}")

				try:
					if path.isfile("/home/pi/CubeSatSim/sim_mode_auto"):
						print("Simulated telemetry mode automatically turned on!")
						sim_mode = True
						sim_config = True
				except:
					if (debug_mode == 1):
						print("/home/pi/CubeSatSim/sim_mode_auto not found")	
		if len(config) > 5:
			sq = config[5]
			if (mode == 'p') or (mode == 'P'): 
				sq = 0 # turn off squelch for Pacsat
			print(sq)
		if len(config) > 6:
			txf = float(config[6])
			if (mode == 'e'):
				txr = (txf - 290.0) # - 0.1 # Cross Band Repeater mode transmit frequency in 2m band
				tx = "{:.4f}".format(txr)
			else:
				tx = "{:.4f}".format(txf)
			print("Transmit frequency: ",tx)
		if len(config) > 7:
                        rxf = float(config[7])
#                        print(rxf)
#                        print( "{:.4f}".format(rxf))
                        rx = "{:.4f}".format(rxf)
                        print(rx)
		if len(config) > 8:
			if config[8] == 'y' or config[8] == 'yes':		
				hab_mode = True
				print("Balloon (HAB) mode is configured.")				
		if len(config) > 9:
                        rxpl = float(config[9])
 #                       print(rxpl)
 #                       print( "{:.0f}".format(rxpl))
                        rxpl_value = "{:.0f}".format(rxpl)
                        print(rxpl_value)
		if len(config) > 10:
                        txpl = float(config[10])
#                        print(txpl)
#                        print( "{:.0f}".format(txpl))
                        txpl_value = "{:.0f}".format(txpl)
                        print(txpl_value)			
		print(config)
		print
#		print(callsign)
		print(sq)
#		if sq == '8':
#			print("squelch set to 8, no command input!")
#			no_command = True
#		else:
		no_command = False		
		print(no_command)
	except:
		callsign = "AMSAT"
		if (debug_mode == 1):
			print("Can't read callsign from sim.cfg file, defaulting to AMSAT")	
	file.close()

	no_command = True
	try:
		f = open("/home/pi/CubeSatSim/command_control", "r")
		f.close()
		GPIO.setmode(GPIO.BCM)
		GPIO.setwarnings(False)
		GPIO.setup(squelch, GPIO.IN, pull_up_down=GPIO.PUD_UP)  ## pull up in case pin is not connected
		if GPIO.input(squelch) == False:
			print("squelch not set correctly, no command input!")
		else:
			if (mode != 'n') and (mode != 'x'):
				print("command and control is activated")
				no_command = False
				system("sudo systemctl start command")
			else:
				print("Command and control not activated since Transmit Commands mode")		
				txc = True # Transmit commands only works with FM transceiver, so bypass Battery Saver if activated
	except:
		print("command and control not activated")

	
	print(callsign)
	GPIO.setmode(GPIO.BCM)  # added to make Tx LED work on Pi 4
	print(txLed)
	print(txLedOn)
	GPIO.setup(txLed, GPIO.OUT)

	card = "Headphones"  # default using pcm audio output of Pi Zero
#	card = "Device" # using USB sound card for audio output	

	query = ["sudo", "systemctl", "is-active", "gpsd.socket"]
	try:
		result = subprocess.run(query, capture_output=True, text=True, check=True)
		print(f"Command run was: {query}")
		gpsd_status = result.stdout.strip()
		print(f"Output of the command (stdout): {gpsd_status}")
	except subprocess.CalledProcessError as e:
#		print(f"Command failed with return code: {e.returncode}")
		print(f"Command run was: {e.cmd}")
		gpsd_status = e.stdout.strip()
		print(f"Output of the command (stdout): {e.stdout}")
#		print(f"Error output of the command (stderr): {e.stderr}")
  	
	if (mode != 'e'): 
		
		if (gpsd_status == "active"):
			print("Stopping gpsd.socket")
			system("sudo systemctl stop gpsd.socket")
		print("Programming FM module!\n");	
		output(pd, 1)
		output (ptt, 1)
		try:
			ser = serial.Serial("/dev/ttyAMA0", 9600)
			print(ser.portstr)
	#		uhf_string = "AT+DMOSETGROUP=0," + rx +"," + tx + ",0,3,0,0\r\n"
			uhf_string = "AT+DMOSETGROUP=0," + rx + "," + tx + "," + rxpl_value + "," + sq + "," + txpl_value + ",0\r\n"
			print(uhf_string)
			for i in range(6):
	#			ser.write(b"AT+DMOSETGROUP=0,435.0000,434.9000,0,3,0,0\r\n")
				ser.write(uhf_string.encode())
				sleep(0.1)
			ser.close()
			ser = serial.Serial("/dev/ttyAMA0", 115200) # reset back to 115200 for cubesatsim code for payload sensor data
		except:
			print("Error in serial write")
		output(pd, 0)
		if (gpsd_status == "active"):
			print("Restarting gpsd.socket")
			system("sudo systemctl restart gpsd.socket")
			
	sim_failure_check()
	if (hab_mode == True) and (mode == 'a'):
		print("Don't transmit CW ID since APRS HAB mode is active")
	else:	
		if (((mode == 'a') or (mode == 'b') or (mode == 'f') or (mode == 's') or (mode == 'j')) and (command_tx == True) and (skip == False)) or ((mode == 'e') and (command_tx == True)):	#		battery_saver_mode
			GPIO.setmode(GPIO.BCM)  # added to make Tx LED work on Pi Zero 2 and Pi 4		
			GPIO.setup(txLed, GPIO.OUT)	
			output(txLed, txLedOn)
			print("Transmit CW ID")
			status = ""
			if not no_command:
				status = status + " C"
			if sim_mode:
				status = status + " S"
			if (debug_mode == 1):
				system("echo 'hi hi de " + callsign + status + "' > id.txt && gen_packets -M 20 /home/pi/CubeSatSim/id.txt -o /home/pi/CubeSatSim/morse.wav -r 48000 > /dev/null 2>&1 && cat /home/pi/CubeSatSim/morse.wav | csdr convert_i16_f | csdr gain_ff 7000 | csdr convert_f_samplerf 20833 | sudo /home/pi/rpitx/rpitx -i- -m RF -f " + tx + "e3")
			else:
				system("echo 'hi hi de " + callsign + status + "' > id.txt && gen_packets -M 20 /home/pi/CubeSatSim/id.txt -o /home/pi/CubeSatSim/morse.wav -r 48000 > /dev/null 2>&1 && cat /home/pi/CubeSatSim/morse.wav | csdr convert_i16_f | csdr gain_ff 7000 | csdr convert_f_samplerf 20833 | sudo /home/pi/rpitx/rpitx -i- -m RF -f " + tx + "e3 > /dev/null 2>&1")
			output(txLed, txLedOff)
	
			sleep(1)
		else:
			print("Don't transmit CW ID since command_tx is False or APRS mode or change of mode")
	
		
	if (transmit):
#		print 'Length: ', len(sys.argv)
    
#		if (len(sys.argv)) > 1:
#        		print("There are arguments!")
		if (mode == 'a') or (mode == 'x') or (mode == 'n'):
#			command_control_check()	
			output(pd, 1)
			output(ptt, 1)
			if (mode == 'a'):
				print("AFSK")
			else:
#				GPIO.output(powerPin, 0)
				print("Transmit APRS Commands")
				system("sudo systemctl stop command")
#			while True:
#				sleep(0.1)
#			if (mode != 'n'):
#				system("touch /home/pi/CubeSatSim/ready")

			while True:
				try:
					f = open("/home/pi/CubeSatSim/ready")
					f.close()
					if (debug_mode == 1):
						print("Packet ready!")
					system("gen_packets -o /home/pi/CubeSatSim/telem.wav /home/pi/CubeSatSim/t.txt -r 48000 > /dev/null 2>&1")
					system("cat /home/pi/CubeSatSim/t.txt")
					if (command_tx == True):
						GPIO.setmode(GPIO.BCM)  # added to make Tx LED work on Pi Zero 2 and Pi 4		
						GPIO.setup(txLed, GPIO.OUT)	
						output(txLed, txLedOn)
#						output(pd, 1)
#						output (ptt, 0)
#						sleep(.1)
#						
#						battery_saver_check()
						if (txc):
							sim_failure_check()
#							output(pd, 1)
							sleep(0.1) # add delay before transmit
							output (ptt, 0)
							sleep(0.3)   # add even more time at start
							system("aplay -D plughw:CARD=" + card + ",DEV=0 /home/pi/CubeSatSim/telem.wav")							
							sleep(0.2)  # add more time at end
							output (ptt, 1)
#							output(pd, 0)							
						else:
							system("echo 'AMSAT-11>APCSS:010101/hi hi ' >> t.txt")
							if (debug_mode == 1):
								system("gen_packets -o /home/pi/CubeSatSim/telem.wav /home/pi/CubeSatSim/t.txt -r 48000 > /dev/null 2>&1 && cat /home/pi/CubeSatSim/telem.wav | csdr convert_i16_f | csdr gain_ff 7000 | csdr convert_f_samplerf 20833 | sudo /home/pi/rpitx/rpitx -i- -m RF -f " + tx + "e3")
							else:
								system("gen_packets -o /home/pi/CubeSatSim/telem.wav /home/pi/CubeSatSim/t.txt -r 48000 > /dev/null 2>&1 && cat /home/pi/CubeSatSim/telem.wav | csdr convert_i16_f | csdr gain_ff 7000 | csdr convert_f_samplerf 20833 | sudo /home/pi/rpitx/rpitx -i- -m RF -f " + tx + "e3 > /dev/null 2>&1")
					
						sleep(0.1)  
#						output (ptt, 1)
#						output(pd, 0)
						output(txLed, txLedOff)
						system("sudo rm /home/pi/CubeSatSim/ready")
					f.close()
				
					if (debug_mode == 1):
						print("Ready for next packet!")
						
					sleep(0.5)
	
				except:
#					command_control_check()
					sleep(1)
		elif (mode == 'm'):
#			system("touch /home/pi/CubeSatSim/cwready")
			print("CW")
			while True:
#				command_control_check()
				output (pd, 1)
				output (ptt, 1)				
				try:
					f = open("/home/pi/CubeSatSim/cwready")
					f.close()
					system("sudo rm /home/pi/CubeSatSim/cwready")
##					ch = 1
					for chan in range(7):
						command = "gen_packets -M 20 -o /home/pi/CubeSatSim/morse.wav /home/pi/CubeSatSim/cw" + str(chan) + ".txt -r 48000 > /dev/null 2>&1"
						print(command)
						system(command)
##						chan = chan + 1						
						if (command_tx == True):
							GPIO.setmode(GPIO.BCM)  # added to make Tx LED work on Pi Zero 2 and Pi 4		
							GPIO.setup(txLed, GPIO.OUT)	
							output(txLed, txLedOn)					
	
							if (txc):
								sim_failure_check()
#								output (pd, 1)
								sleep(0.3)
								output (ptt, 0)	
								system("aplay -D plughw:CARD=" + card + ",DEV=0 /home/pi/CubeSatSim/morse.wav")
								sleep(0.1)
								output (ptt, 1)
#								output (pd, 0)
							else:
								if (debug_mode == 1):
									system("cat /home/pi/CubeSatSim/morse.wav | csdr convert_i16_f | csdr gain_ff 7000 | csdr convert_f_samplerf 20833 | sudo /home/pi/rpitx/rpitx -i- -m RF -f " + tx + "e3")
								else:
									system("cat /home/pi/CubeSatSim/morse.wav | csdr convert_i16_f | csdr gain_ff 7000 | csdr convert_f_samplerf 20833 | sudo /home/pi/rpitx/rpitx -i- -m RF -f " + tx + "e3 > /dev/null 2>&1")					
							output(txLed, txLedOff)
							
#						command_control_check()
						sleep(2)
					f.close()
					sleep(10)
				except:	
#					command_control_check()
					sleep(1)
		elif (mode == 's'):
			print("SSTV")
#			command_control_check()	
			output (ptt, 1)
			output(pd, 1)			
			try: 
#				from picamera import PiCamera
#					from pysstv.sstv import SSTV
#				camera = PiCamera()
				print("Testing for camera")
				system("raspistill -o /home/pi/CubeSatSim/camera_out.jpg -w 320 -h 256")
				f = open("/home/pi/CubeSatSim/camera_out.jpg")
				f.close()
				print("Camera present")
				camera_present = 1
#				camera.close()
			except:
				print("No camera available")
				print(" -> if camera plugged in, is software enabled?")
				camera_present = 0

#				while 1:
			output(txLed, txLedOff)
#			output (ptt, 1)
#			output(pd, 0)
			if (camera_present == 1):
				try:
					file = open("/home/pi/CubeSatSim/sstv_image_2_320_x_256.jpg")
					print("First SSTV stored image detected")
					system("/home/pi/PiSSTVpp/pisstvpp -r 48000 -p s2 /home/pi/CubeSatSim/sstv_image_2_320_x_256.jpg") 
#					command_control_check()	
					
					if (command_tx == True):
						print ("Sending SSTV image")
						GPIO.setmode(GPIO.BCM)  # added to make Tx LED work on Pi Zero 2 and Pi 4		
						GPIO.setup(txLed, GPIO.OUT)	
						output(txLed, txLedOn)
#						battery_saver_check()

						if (txc):
							sim_failure_check()
#							output(pd, 1)
							output (ptt, 0)
							system("aplay -D plughw:CARD=" + card + ",DEV=0 /home/pi/CubeSatSim/sstv_image_2_320_x_256.jpg.wav")
							output (ptt, 1)
#							output(pd, 0)
						else:	
							if (debug_mode == 1):
								system("cat /home/pi/CubeSatSim/sstv_image_2_320_x_256.jpg.wav | csdr convert_i16_f | csdr gain_ff 14000 | csdr convert_f_samplerf 20833 | sudo rpitx -i- -m RF -f " + tx + "e3")
							else:
								system("cat /home/pi/CubeSatSim/sstv_image_2_320_x_256.jpg.wav | csdr convert_i16_f | csdr gain_ff 14000 | csdr convert_f_samplerf 20833 | sudo rpitx -i- -m RF -f " + tx + "e3 > /dev/null 2>&1")

						output(txLed, txLedOff)

	#					sleep(1)
				except:
					print("image 2 did not load - copy from CubeSatSim/sstv directory")
				while 1:
#					command_control_check()			
					camera_photo()					
					system("/home/pi/PiSSTVpp/pisstvpp -r 48000 -p s2 /home/pi/CubeSatSim/camera_out.jpg") 
					system("sudo rm /home/pi/CubeSatSim/camera_out.jpg > /dev/null 2>&1") 

#					command_control_check()			

					if (command_tx == True):
						print ("Sending SSTV image")
						GPIO.setmode(GPIO.BCM)  # added to make Tx LED work on Pi Zero 2 and Pi 4		
						GPIO.setup(txLed, GPIO.OUT)	
						output(txLed, txLedOn)
#						battery_saver_check()

						if (txc):
#							print(card)
							sim_failure_check()
#							output(pd, 1)
							output (ptt, 0)
							system("aplay -D plughw:CARD=" + card + ",DEV=0 /home/pi/CubeSatSim/camera_out.jpg.wav")	
							output(ptt, 1)
#							output (pd, 0)
						else:	
							if (debug_mode == 1):
								system("cat /home/pi/CubeSatSim/camera_out.jpg.wav | csdr convert_i16_f | csdr gain_ff 14000 | csdr convert_f_samplerf 20833 | sudo rpitx -i- -m RF -f " + tx + "e3")
							else:
								system("cat /home/pi/CubeSatSim/camera_out.jpg.wav | csdr convert_i16_f | csdr gain_ff 14000 | csdr convert_f_samplerf 20833 | sudo rpitx -i- -m RF -f " + tx + "e3 > /dev/null 2>&1")

						output(txLed, txLedOff)
#						output (ptt, 1)
					
#					output(pd, 0)
					system("sudo rm /home/pi/CubeSatSim/camera_out.jpg.wav > /dev/null 2>&1") 
					sleep(10)
			else:
				try:
	#				command_control_check()			
					
					file = open("/home/pi/CubeSatSim/sstv_image_1_320_x_256.jpg")
					print("First SSTV stored image detected")
					system("/home/pi/PiSSTVpp/pisstvpp -r 48000 -p s2 /home/pi/CubeSatSim/sstv_image_1_320_x_256.jpg") 

#					command_control_check()			
					
					if (command_tx == True):

						print ("Sending SSTV image")
						GPIO.setmode(GPIO.BCM)  # added to make Tx LED work on Pi Zero 2 and Pi 4		
						GPIO.setup(txLed, GPIO.OUT)	
						output(txLed, txLedOn)

#						battery_saver_check()

						if (txc):
							sim_failure_check()
#							output(pd, 1)
							output (ptt, 0)
							system("aplay -D plughw:CARD=" + card + ",DEV=0 /home/pi/CubeSatSim/sstv_image_1_320_x_256.jpg.wav")
							output(ptt, 1)
#							output (pd, 0)
						else:	
							if (debug_mode == 1):
								system("cat /home/pi/CubeSatSim/sstv_image_1_320_x_256.jpg.wav | csdr convert_i16_f | csdr gain_ff 14000 | csdr convert_f_samplerf 20833 | sudo rpitx -i- -m RF -f " + tx + "e3")
							else:
								system("cat /home/pi/CubeSatSim/sstv_image_1_320_x_256.jpg.wav | csdr convert_i16_f | csdr gain_ff 14000 | csdr convert_f_samplerf 20833 | sudo rpitx -i- -m RF -f " + tx + "e3 > /dev/null 2>&1")

						output(txLed, txLedOff)
#						output (ptt, 1)
#						output(pd, 0)
					sleep(1)
				except:
					print("image 1 did not load - copy from CubeSatSim/sstv directory")
				try:
#					command_control_check()			
					
					file = open("/home/pi/CubeSatSim/sstv_image_2_320_x_256.jpg")
					print("Second SSTV stored image detected")
					system("/home/pi/PiSSTVpp/pisstvpp -r 48000 -p s2 /home/pi/CubeSatSim/sstv_image_2_320_x_256.jpg")

					while 1:

#						command_control_check()		
	
						if (command_tx == True):
							print ("Sending SSTV image")
							GPIO.setmode(GPIO.BCM)  # added to make Tx LED work on Pi Zero 2 and Pi 4		
							GPIO.setup(txLed, GPIO.OUT)	
							output(txLed, txLedOn)
#							battery_saver_check()

							if (txc):
								sim_failure_check()
#								output(pd, 1)
								output (ptt, 0)
								system("aplay -D plughw:CARD=" + card + ",DEV=0 /home/pi/CubeSatSim/sstv_image_1_320_x_256.jpg.wav")
								output(ptt, 1)
#								output (pd, 0)
							else:
								if (debug_mode == 1):
									system("cat /home/pi/CubeSatSim/sstv_image_2_320_x_256.jpg.wav | csdr convert_i16_f | csdr gain_ff 14000 | csdr convert_f_samplerf 20833 | sudo rpitx -i- -m RF -f " + tx + "e3") 
								else:
									system("cat /home/pi/CubeSatSim/sstv_image_2_320_x_256.jpg.wav | csdr convert_i16_f | csdr gain_ff 14000 | csdr convert_f_samplerf 20833 | sudo rpitx -i- -m RF -f " + tx + "e3 > /dev/null 2>&1")

							output(txLed, txLedOff)
#							output (ptt, 1)
#							output(pd, 0)
						sleep(10)
				except:	
					print("image 2 did not load - copy from CubeSatSim/sstv directory")
					if (txc == False):
						if (command_tx == True):
							system("(while true; do (sleep 10 && cat /home/pi/CubeSatSim/wav/sstv.wav); done) | csdr convert_i16_f | csdr gain_ff 7000 | csdr convert_f_samplerf 20833 | sudo rpitx -i- -m RF -f " + tx + "e3 &")
					while 1:
						if (command_tx == True):
#							command_control_check()	
							
							GPIO.setmode(GPIO.BCM)  # added to make Tx LED work on Pi Zero 2 and Pi 4		
							GPIO.setup(txLed, GPIO.OUT)	
							output(txLed, txLedOn)

#							battery_saver_check()
						
							if (txc):
								sim_failure_check()
#								output(pd, 1)
								output (ptt, 0)		
								system("aplay -D plughw:CARD=" + card + ",DEV=0 /home/pi/CubeSatSim/sstv.wav")
								output(ptt, 1)
#								output (pd, 0)		
							else:
								sleep(60)
							
							output(txLed, txLedOff)
#							output (ptt, 1)
#							output(pd, 0)
						sleep(10)
						
		elif (mode == 'b') or (mode == 'j'):
#			command_control_check()	
			if (mode == 'b'):
				print("BPSK")
			else:
				print("FUNcube")
			print("turn on FM rx")
			output(pd, 1)
			output(ptt, 1)

			GPIO.setmode(GPIO.BCM)  # added to make Tx LED work on Pi 4
			GPIO.setup(txLed, GPIO.OUT)
			
			if (command_tx == True):
#				system("sudo nc -l 8080 | csdr convert_i16_f | csdr fir_interpolate_cc 2 | csdr dsb_fc | csdr bandpass_fir_fft_cc 0.002 0.06 0.01 | csdr fastagc_ff | sudo /home/pi/rpitx/sendiq -i /dev/stdin -s 96000 -f 434.9e6 -t float &")
				system("sudo nc -l 8080 | csdr convert_i16_f | csdr fir_interpolate_cc 2 | csdr dsb_fc | csdr bandpass_fir_fft_cc 0.002 0.06 0.01 | csdr fastagc_ff | sudo /home/pi/rpitx/sendiq -i /dev/stdin -s 96000 -f " + tx + "e6 -t float &")
			print("Turning LED on/off and listening for carrier")
			image_id = random.randint(0, 255)
			print("Initial image_id: " + str(image_id) + "\n")
			while 1:
#				print ("LED on")
				output(txLed, txLedOff)
				sleep(0.4)
#				if (command_tx == False):
#					output(txLed, txLedOn)
#					sleep(0.03)
#					output(txLed, txLedOff)
#				command_control_check()
				
				if (command_tx == True):		
					GPIO.setmode(GPIO.BCM)  # added to make Tx LED work on Pi Zero 2 and Pi 4		
					GPIO.setup(txLed, GPIO.OUT)
					output(txLed, txLedOn)
#					print(txLed)
#					print(txLedOn)

				if (mode == 'b'):
					sleep(4.2)	
				else:  # FUNcube mode image
					for i in range(4):
#						print("Checking image_file.bin")
						try:
							file = open("/home/pi/CubeSatSim/image_file.bin")
							file.close()
	#						image_present = True
							sleep(1.0)
						except:
	#						image_present = False
						
	#					if (image_present == False):
							start = time.perf_counter()
							camera_photo()
							system("/home/pi/ssdv/ssdv -e -n -i " + str(image_id) + " -q 3 -J /home/pi/CubeSatSim/camera_out.jpg /home/pi/CubeSatSim/image_file.bin")
							print("image_id: " + str(image_id) + "\n")
							image_id = ( image_id + 1 ) % 256
							print("new image_id: " + str(image_id) + "\n")
							elapsed_time = time.perf_counter() - start
							print("Elapsed time: ")
							print(elapsed_time)
							if (elapsed_time < 9):
								sleep(9 - time.perf_counter() + start)
	#					else:	
					sleep(0.6)
		elif (mode == 'e'):  # code based on https://zr6aic.blogspot.com/2016/11/creating-2m-fm-repeater-with-raspberry.html
			print("Cross Band Repeater Mode")
#			print("Stopping command and control")
#			system("sudo systemctl stop command")
			print("turn on FM rx")
			output(pd, 1)
			output(ptt, 1)
			GPIO.setmode(GPIO.BCM)  # added to make Tx LED work on Pi 4
			GPIO.setup(txLed, GPIO.OUT)
#			GPIO.setup(powerPin, GPIO.OUT)
			GPIO.setup(squelch, GPIO.IN, pull_up_down=GPIO.PUD_UP)  ## pull up in case pin is not connected	
#			GPIO.output(powerPin, 1)  # was 0
#			txf = float(tx) - 288.9
#			print("Transmit frequency: ",txf)
			if (command_tx != True):
				print("Beacon mode off so no repeater transmission")

			print("Ready to detect carrier")
			while True:
				if (GPIO.input(squelch) == False) and (command_tx == True):
					print("Carrier detected, starting repeater")
					GPIO.setmode(GPIO.BCM)  # added to make Tx LED work on Pi Zero 2 and Pi 4		
					GPIO.setup(txLed, GPIO.OUT)						
					output(txLed, txLedOn)
					system("sudo nc -l 8011 | csdr convert_i16_f | csdr gain_ff 16000 | csdr convert_f_samplerf 20833 | sudo rpitx -i- -m RF -f " + tx + "e3 > /dev/null 2>&1 &")
					sleep(0.5)
					system("sudo arecord -D shared_mic -r48000 -fS16_LE -c1 | nc localhost 8011 &")
					while (GPIO.input(squelch) == False):
						sleep(1)
					print("No carrier detected, stopping repeater")
					output(txLed, txLedOff)
					system("sudo rpitx -i null > /dev/null 2>&1")
					system("sudo killall -9 arecord > /dev/null 2>&1")
					system("sudo killall -9 nc > /dev/null 2>&1")
					system("sudo killall -9 rpitx > /dev/null 2>&1")
					print("Resetting audio")
					system("sudo /etc/init.d/alsa-utils stop")
					system("sudo /etc/init.d/alsa-utils start")
					print("Finished resetting audio")
					print("Ready to detect carrier")
		else:
			print("FSK") 
			print("turn on FM rx")
			output(pd, 1)
			output(ptt, 1)
			
			GPIO.setmode(GPIO.BCM)  # added to make Tx LED work on Pi 4
			GPIO.setup(txLed, GPIO.OUT)
			
			if (command_tx == True):
				system("sudo nc -l 8080 | csdr convert_i16_f | csdr gain_ff 7000 | csdr convert_f_samplerf 20833 | sudo /home/pi/rpitx/rpitx -i- -m RF -f " + tx + "e3 &")
			print("Turning LED on/off and listening for carrier")
			while 1:
				output(txLed, txLedOff)
				sleep(0.4)
#				if (command_tx == False):
#					output(txLed, txLedOn)
#					sleep(0.03)
#					output(txLed, txLedOff)
#				command_control_check()
				if (command_tx == True):		
					GPIO.setmode(GPIO.BCM)  # added to make Tx LED work on Pi Zero 2 and Pi 4		
					GPIO.setup(txLed, GPIO.OUT)					
					output(txLed, txLedOn)
#					print(txLed)
#					print(txLedOn)					
				sleep(4.2)
	else:
		print("No Low Pass Filter so no telemetry transmit.  See http://cubesatsim.org/wiki for instructions on how to build the LPF.")
		while 1:
			sleep(5)