Pi-camera UDP Client + boost MVP

CMakeLists.txt

@@ -72,6 +72,7 @@ include(${DEPS_DIRECTORY}/matplot/matplot.cmake)
 include(${DEPS_DIRECTORY}/protobuf/protobuf.cmake)
 include(${DEPS_DIRECTORY}/loguru/loguru.cmake)
 include(${DEPS_DIRECTORY}/imagemagick/imagemagick.cmake)
+include(${DEPS_DIRECTORY}/boost/boost.cmake)
 # =============================
 
 # =============================

README.md

@@ -123,6 +123,47 @@ The airdrop payloads are currently programmed to connect to a WIFI network with
 this information on boot. To make sure that it is broadcasting correctly, you
 can try and connect to it via your phone or other device.
 
+## Jetson Setup (PiCamera)
+> How to setup networking for a new Jetsoj
+
+### 1. Clean Up Old Connections
+Remove any previous attempts to avoid conflicts.
+```bash
+sudo nmcli con delete "pi-link" 2>/dev/null
+sudo nmcli con delete "Wired connection 1" 2>/dev/null
+sudo nmcli con delete "Wired connection 2" 2>/dev/null
+```
+
+### 2. Create the "MAC-Locked" Connection
+We configure the Jetson to listen for the specific MAC address we set on the Pi (`00:dc:c8:f7:75:14`). This ensures the connection works even if the Jetson names the interface `usb0`, `usb2`, or `eth1`.
+
+```bash
+# Create connection binding to the specific MAC address
+# IP: 192.168.77.1
+sudo nmcli con add type ethernet con-name "pi-static" ifname "*" mac "00:dc:c8:f7:75:14" ip4 192.168.77.1/24
+
+# Set to manual (Static IP)
+sudo nmcli con modify "pi-static" ipv4.method manual
+
+# Bring it up
+sudo nmcli con up "pi-static"
+```
+
+### 3. Verify the Connection
+```bash
+ip addr show pi-static
+```
+
+### 4. Test the Connection
+```bash
+ping 192.168.77.2
+```
+> This should return packets if the connection is set up correctly.
+
+### Pi-Connection Config:
+**Jetson (Server/Receiver):** `192.168.77.1`
+**Raspberry Pi (Client/Sender):** `192.168.77.2`
+
 ## Setup
 
 Now that everything is installed, here is the process to build and run the
@@ -289,6 +330,33 @@ When testing the pipeline, you will likely want to also use the `mock` camera.
         ...
 ```
 which will use `not-stolen-israeli-code` as the mock camera.
+
+---
+
+#### PiCamera
+
+Alternatively, you can use the `PiCamera` camera, which will use the PiCamera
+on the Jetson to capture images. This must done alongside [camera-things](https://github.com/tritonuas/camera-things/).
+
+```json
+    "camera": {
+        ...
+        "type": "PiCamera",
+        ...
+```
+Verify that the camera network is set up correctly by running:
+
+```bash
+ip addr show pi-static
+```
+> should list pi-static as active, if not run `sudo nmcli con up pi-static`
+
+Test the connection by running:
+```bash
+ping 192.168.77.2
+```
+> Make sure the raspy server is running on the pi!
+
 
 ### SITL
 

configs/dev.json

@@ -68,33 +68,9 @@
             "runway": "right",
             "num_targets": 2,
             "connection_timeout": 10
-        },
-        "lucid": {
-            "sensor_shutter_mode": "Rolling",
-
-            "acquisition_frame_rate_enable": true,
-            "target_brightness": 20,
-            "exposure_auto": "Continuous",
-            "exposure_time": 3000,
-            "exposure_auto_damping": 1,
-            "exposure_auto_algorithm": "Median",
-            "exposure_auto_upper_limit": 500,
-            "exposure_auto_lower_limit": 360,
-
-            "stream_auto_negotiate_packet_size": true,
-            "stream_packet_resend_enable": true,
-
-            "device_link_throughput_limit_mode": "On",
-            "device_link_throughput_limit": 125000000,
-
-            "gamma_enable": true,
-            "gamma": 0.5,
-            "gain_auto": "Continuous",
-            "gain_auto_upper_limit": 10,
-            "gain_auto_lower_limit": 1
         }
     },
     "mavlink": {
         "log_params": false
     }
-}
+}

configs/jetson.json

@@ -14,7 +14,7 @@
     },
     "takeoff": {
         "altitude_m": 60.0,
-	"payload_size": 2
+        "payload_size": 2
     },
     "pathing": {
         "laps": 10,
@@ -26,10 +26,10 @@
             "iterations_per_waypoint": 512,
             "rewire_radius": 256.0,
             "optimize": true,
-            "point_fetch_method": "nearest", 
+            "point_fetch_method": "nearest",
             "allowed_to_skip_waypoints": false,
             "generate_deviations": false
-	},
+        },
         "coverage": {
             "altitude_m": 30.0,
             "camera_vision_m": 6.0,
@@ -60,40 +60,16 @@
     },
     "camera": {
         "_comment": "See CameraConfig struct in datatypes.hpp for detailed explanations",
-        "type": "picamera",
+        "type": "PiCamera",
         "save_dir": "/obcpp/images/",
         "save_images_to_file": true,
         "mock": {
             "not_stolen_port": 6060,
             "runway": "right",
             "num_targets": 2
-        },
-        "lucid": {
-            "sensor_shutter_mode": "Rolling",
-
-            "acquisition_frame_rate_enable": true,
-            "target_brightness": 20,
-            "exposure_auto": "Continuous",
-            "exposure_time": 3000,
-            "exposure_auto_damping": 1,
-            "exposure_auto_algorithm": "Median",
-            "exposure_auto_upper_limit": 500,
-            "exposure_auto_lower_limit": 360,
-
-            "stream_auto_negotiate_packet_size": true,
-            "stream_packet_resend_enable": true,
-
-            "device_link_throughput_limit_mode": "On",
-            "device_link_throughput_limit": 125000000,
-
-            "gamma_enable": true,
-            "gamma": 0.5,
-            "gain_auto": "Continuous",
-            "gain_auto_upper_limit": 10,
-            "gain_auto_lower_limit": 1
         }
     },
     "mavlink": {
         "log_params": false
     }
-}
+}

deps/boost/boost.cmake

@@ -0,0 +1,16 @@
+function(target_add_boost target_name)
+    include(FetchContent)
+
+    FetchContent_Declare(boost 
+        URL https://github.com/boostorg/boost/releases/download/boost-1.87.0/boost-1.87.0-b2-nodocs.tar.gz
+        URL_HASH SHA256=d6c69e4459eb5d6ec208250291221e7ff4a2affde9af6e49c9303b89c687461f
+        DOWNLOAD_EXTRACT_TIMESTAMP true
+    )
+    FetchContent_MakeAvailable(boost)
+    # target_link_libraries(${target_name} PRIVATE
+    #     boost
+    # )
+    target_include_directories(${target_name} PUBLIC ${boost_SOURCE_DIR})
+
+
+endfunction()

include/camera/rpi.hpp

@@ -0,0 +1,65 @@
+#ifndef INCLUDE_CAMERA_RPI_HPP_
+#define INCLUDE_CAMERA_RPI_HPP_
+
+#include <string>
+#include <memory>
+#include <optional>
+#include <shared_mutex>
+#include <thread>
+#include <deque>
+#include <vector>
+
+#include <nlohmann/json.hpp>
+#include "camera/interface.hpp"
+#include "network/mavlink.hpp"
+#include "network/udp_client.hpp"
+
+using json = nlohmann::json;
+using namespace std::chrono_literals; // NOLINT
+
+namespace asio = boost::asio;
+
+enum class CameraRequest : std::uint8_t {
+    START = 's',
+    PICTURE = 'I',
+    END = 'e',
+    LOCK = 'l'
+};
+
+class RPICamera : public CameraInterface {
+ private:
+        UDPClient client;
+        asio::io_context io_context_;
+        std::atomic_bool connected;
+
+        /**
+         * Converts the 3-plane raw data to BGR cv::Mat, handling stride/padding
+         */
+        std::optional<cv::Mat> imgConvert(const std::vector<std::vector<uint8_t>>& planes);
+
+        /**
+         * Reads the 3 planes (Y, U, V) from the camera
+         */
+        std::vector<std::vector<uint8_t>> readImage();
+
+ public:
+        explicit RPICamera(CameraConfig config, asio::io_context* io_context_);
+        ~RPICamera();
+
+        void connect() override;
+        bool isConnected() override;
+
+        std::optional<ImageData> getLatestImage() override {return std::nullopt;}
+        std::deque<ImageData> getAllImages() override {return std::deque<ImageData>();}
+
+        std::optional<ImageData> takePicture(const std::chrono::milliseconds& timeout,
+                                             std::shared_ptr<MavlinkClient> mavlinkClient) override;
+
+        void startTakingPictures(const std::chrono::milliseconds& interval,
+                                 std::shared_ptr<MavlinkClient> mavlinkClient) override;
+        void stopTakingPictures() override;
+        void startStreaming() override;
+        void ping();
+};
+
+#endif  // INCLUDE_CAMERA_RPI_HPP_

include/core/mission_state.hpp

@@ -11,6 +11,7 @@
 #include <queue>
 #include <unordered_set>
 #include <vector>
+#include <boost/asio.hpp>
 
 #include "camera/interface.hpp"
 #include "core/mission_parameters.hpp"
@@ -113,6 +114,7 @@ class MissionState {
     OBCConfig config;
 
     std::optional<airdrop_t> next_airdrop_to_drop;
+    boost::asio::io_context raspy_io;
 
  private:
     std::mutex converter_mut;
@@ -139,6 +141,7 @@ class MissionState {
     std::mutex cv_mut;
     // Represents a single detected target used in pipeline
     std::vector<DetectedTarget> cv_detected_targets;
+
     // Gives an index into cv_detected_targets, and specifies that that bottle is matched
     // with the detected_target specified by the index
     std::array<size_t, NUM_AIRDROPS> cv_matches;