diff --git a/.clang-format b/.clang-format new file mode 100644 index 00000000..f8d25a8b --- /dev/null +++ b/.clang-format @@ -0,0 +1,57 @@ +BasedOnStyle: Google +Language: Cpp +Standard: c++20 + +# Indentation +IndentWidth: 4 +TabWidth: 4 +UseTab: Never +NamespaceIndentation: All +IndentCaseLabels: true +IndentPPDirectives: BeforeHash + +# Line length +ColumnLimit: 100 + +# Braces +BreakBeforeBraces: Attach +AllowShortBlocksOnASingleLine: Empty +AllowShortFunctionsOnASingleLine: Inline +AllowShortIfStatementsOnASingleLine: Never +AllowShortLoopsOnASingleLine: false +AllowShortCaseLabelsOnASingleLine: false + +# Alignment +AlignAfterOpenBracket: Align +AlignConsecutiveAssignments: false +AlignConsecutiveDeclarations: false +AlignOperands: Align +AlignTrailingComments: true + +# Includes +SortIncludes: CaseInsensitive +IncludeBlocks: Preserve + +# Spacing +SpaceAfterCStyleCast: false +SpaceAfterTemplateKeyword: true +SpaceBeforeAssignmentOperators: true +SpaceBeforeParens: ControlStatements +SpacesInParentheses: false +SpacesInAngles: Never + +# Penalties +PenaltyBreakComment: 300 +PenaltyBreakFirstLessLess: 120 +PenaltyBreakString: 1000 +PenaltyExcessCharacter: 1000000 + +# Pointer/reference alignment +PointerAlignment: Left +ReferenceAlignment: Left + +# Other +ReflowComments: true +BinPackArguments: true +BinPackParameters: true +AllowAllParametersOfDeclarationOnNextLine: true diff --git a/.editorconfig b/.editorconfig new file mode 100644 index 00000000..25761c43 --- /dev/null +++ b/.editorconfig @@ -0,0 +1,33 @@ +root = true + +[*] +end_of_line = lf +insert_final_newline = true +trim_trailing_whitespace = true +charset = utf-8 + +[*.{js,json,css,html}] +indent_style = space +indent_size = 4 + +[*.{cpp,h,hpp,c}] +indent_style = space +indent_size = 4 + +[*.py] +indent_style = space +indent_size = 4 + +[*.{sh,bash}] +indent_style = space +indent_size = 4 + +[*.{yaml,yml}] +indent_style = space +indent_size = 2 + +[Makefile] +indent_style = tab + +[*.md] +trim_trailing_whitespace = false diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 5114bafe..67dffd9a 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -11,17 +11,9 @@ # Python Web Server /Software/web-server/ @connorgallopo -# Yolo Model + Tooling -/Software/GroundTruthAnnotator/ @connorgallopo +# Image Processing /Software/LMSourceCode/ImageProcessing/ @jamespilgrim @connorgallopo -# Documentation files -/docs/ @jeshernandez @connorgallopo -/docs/hardware/ @markjonharman - -# Installation Scripts -/Dev/ @jeshernandez @connorgallopo - # Hardware /Hardware/ @markjonharman diff --git a/.github/ISSUE_TEMPLATE/bug_report.yml b/.github/ISSUE_TEMPLATE/bug_report.yml index aae94247..d2a37453 100644 --- a/.github/ISSUE_TEMPLATE/bug_report.yml +++ b/.github/ISSUE_TEMPLATE/bug_report.yml @@ -9,7 +9,7 @@ body: ## Thanks for helping improve PiTrac! 🏌️ Before submitting, please: - - Check our [Troubleshooting Guide](https://pitraclm.github.io/PiTrac/troubleshooting/troubleshooting.html) + - Check our [Troubleshooting Guide](https://docs.pitrac.org/reference/troubleshooting/) - Search [existing issues](https://github.com/pitraclm/pitrac/issues) - Join our [Discord](https://discord.gg/vGuyAAxXJH) for community help diff --git a/.github/ISSUE_TEMPLATE/feature_request.yml b/.github/ISSUE_TEMPLATE/feature_request.yml index cbc0cde5..456faa85 100644 --- a/.github/ISSUE_TEMPLATE/feature_request.yml +++ b/.github/ISSUE_TEMPLATE/feature_request.yml @@ -9,7 +9,7 @@ body: ## Feature Request Help us make PiTrac better! Consider: - - Checking our [Roadmap](https://pitraclm.github.io/PiTrac/getting-started/roadmap.html) + - Checking our [Roadmap](https://docs.pitrac.org/reference/roadmap/) - type: dropdown id: feature-area attributes: diff --git a/.github/ISSUE_TEMPLATE/hardware_issue.yml b/.github/ISSUE_TEMPLATE/hardware_issue.yml index ac180236..536fd981 100644 --- a/.github/ISSUE_TEMPLATE/hardware_issue.yml +++ b/.github/ISSUE_TEMPLATE/hardware_issue.yml @@ -9,8 +9,8 @@ body: ## Hardware Issue Report 🔧 For hardware help, also check: - - [Hardware Assembly Guide](https://pitraclm.github.io/PiTrac/hardware/assembly-guide.html) - - [Parts List](https://pitraclm.github.io/PiTrac/hardware/parts-list.html) + - [Hardware Assembly Guide](https://docs.pitrac.org/hardware/v3-enclosure/assembly/) + - [Parts List](https://docs.pitrac.org/hardware/parts-list/) - type: dropdown id: hardware-category diff --git a/.github/workflows/camera-tests.yml b/.github/workflows/camera-tests.yml deleted file mode 100644 index 916fbc8d..00000000 --- a/.github/workflows/camera-tests.yml +++ /dev/null @@ -1,81 +0,0 @@ ---- -name: Camera Tests -on: - push: - branches: - - "**" - paths: - - 'Software/LMSourceCode/ImageProcessing/Camera/**' - - '.github/workflows/camera-tests.yml' - pull_request: - branches: - - "**" - paths: - - 'Software/LMSourceCode/ImageProcessing/Camera/**' - - '.github/workflows/camera-tests.yml' -env: - BOOST_VERSION: 1.84.0 - BOOST_MSVC_VERSION: "14.3" -jobs: - camera-tests: - name: Camera Bounded Context Tests - runs-on: windows-latest - defaults: - run: - working-directory: Software/LMSourceCode/ImageProcessing/Camera - steps: - - - name: Checkout code - uses: actions/checkout@v4 - - - name: Install CMake - uses: jwlawson/actions-setup-cmake@v2 - with: - cmake-version: "3.20" - - - name: Install boost - uses: MarkusJx/install-boost@v2 - id: install-boost - with: - boost_version: ${{ env.BOOST_VERSION }} - boost_install_dir: C:\Dev_Env\ - platform_version: 2019 - toolset: msvc - - - name: Setup MSVC - uses: ilammy/msvc-dev-cmd@v1 - with: - arch: x64 - - - name: Configure CMake - run: > - mkdir build - - cmake . -DCMAKE_BUILD_TYPE=$BUILD_TYPE -B build -DBoost_INCLUDE_DIR=${{steps.install-boost.outputs.BOOST_ROOT}}/include -DBoost_LIBRARY_DIRS=${{steps.install-boost.outputs.BOOST_ROOT}}/lib - env: - BOOST_ROOT: ${{ steps.install-boost.outputs.BOOST_ROOT }} - - - name: Build tests - run: | - cd build - cmake --build . --config Debug - shell: pwsh - - - name: Quick Test Validation - run: | - Write-Host "=== Running Direct Test Executable ===" - ./build/tests/camera_tests.exe - shell: pwsh - - - name: Comprehensive Test Report - run: | - Write-Host "=== Running CTest with Detailed Reporting ===" - cd build/tests - - # Run CTest with XML output (JUnit format) from the tests directory - ctest -C Debug --verbose --output-on-failure --output-junit ./build/tests/test-results.xml - - # Debug: Show what files were created - Write-Host "=== Files in tests directory after CTest ===" - Get-ChildItem | Format-Table Name, Length - shell: pwsh diff --git a/.github/workflows/docs-ci.yml b/.github/workflows/docs-ci.yml deleted file mode 100644 index 8d22e4ac..00000000 --- a/.github/workflows/docs-ci.yml +++ /dev/null @@ -1,42 +0,0 @@ ---- -name: Docs CI (build only) -"on": - pull_request: - paths: - - "docs/**" - -permissions: - contents: read - -concurrency: - group: docs-ci-${{ github.ref }} - cancel-in-progress: true - -jobs: - build: - name: Build Docs (no deploy) - runs-on: ubuntu-latest - defaults: - run: - working-directory: docs - - steps: - - name: Checkout - uses: actions/checkout@v4 - - - name: Setup Ruby - uses: ruby/setup-ruby@v1 - with: - ruby-version: '3.3' # or omit to use docs/.ruby-version - bundler-cache: true - cache-version: 0 - env: - BUNDLE_GEMFILE: ${{ github.workspace }}/docs/Gemfile - - - name: Generate Just the Docs search index - run: bundle exec just-the-docs rake search:init - - - name: Build with Jekyll - env: - JEKYLL_ENV: production - run: bundle exec jekyll build diff --git a/.github/workflows/docs-deploy.yml b/.github/workflows/docs-deploy.yml deleted file mode 100644 index c3e10921..00000000 --- a/.github/workflows/docs-deploy.yml +++ /dev/null @@ -1,76 +0,0 @@ ---- -name: Build & Deploy PiTrac Docs to GitHub Pages -"on": - push: - branches: - - "main" - paths: - - "docs/**" - workflow_dispatch: {} - -permissions: - contents: read - pages: write - id-token: write - -concurrency: - group: pages - cancel-in-progress: true - -jobs: - build: - name: Build Docs - runs-on: ubuntu-latest - defaults: - run: - working-directory: docs - - steps: - - name: Checkout - uses: actions/checkout@v4 - - - name: Setup Ruby - uses: ruby/setup-ruby@v1 - with: - ruby-version: '3.3' # or omit to use docs/.ruby-version - bundler-cache: true - cache-version: 0 - env: - # Ensure bundler resolves against the docs Gemfile - BUNDLE_GEMFILE: ${{ github.workspace }}/docs/Gemfile - - - name: Generate Just the Docs search index - run: bundle exec just-the-docs rake search:init - - - name: Setup Pages - id: pages - uses: actions/configure-pages@v5 - - - name: Build with Jekyll - env: - JEKYLL_ENV: production - run: bundle exec jekyll build --baseurl "${{ steps.pages.outputs.base_path }}" - - - name: Verify build output - run: | - pwd - ls -la _site || true - ls -la docs/_site || true - - - name: Upload artifact - uses: actions/upload-pages-artifact@v3 - with: - path: docs/_site - - deploy: - name: Deploy Docs to Pages - needs: build - runs-on: ubuntu-latest - if: github.event_name == 'push' && github.ref == 'refs/heads/main' - environment: - name: github-pages - url: ${{ steps.deployment.outputs.page_url }} - steps: - - name: Deploy to GitHub Pages - id: deployment - uses: actions/deploy-pages@v4 diff --git a/.github/workflows/image-analysis-tests.yml b/.github/workflows/image-analysis-tests.yml deleted file mode 100644 index 55455d92..00000000 --- a/.github/workflows/image-analysis-tests.yml +++ /dev/null @@ -1,96 +0,0 @@ ---- -name: Image Analysis Tests -on: - push: - branches: - - "**" - paths: - - 'Software/LMSourceCode/ImageProcessing/ImageAnalysis/**' - - '.github/workflows/image-analysis-tests.yml' - pull_request: - branches: - - "**" - paths: - - 'Software/LMSourceCode/ImageProcessing/ImageAnalysis/**' - - '.github/workflows/image-analysis-tests.yml' -env: - BOOST_VERSION: 1.87.0 - BOOST_ROOT: C:\Dev_Env\boost\boost - OPENCV_DIR: C:\tools\opencv -jobs: - camera-tests: - name: Image Analysis Tests - runs-on: windows-latest - defaults: - run: - working-directory: Software/LMSourceCode/ImageProcessing/ImageAnalysis - steps: - - name: Checkout code - uses: actions/checkout@v4 - - - name: Cache OpenCV - uses: actions/cache@v3 - with: - path: ${{ env.OPENCV_DIR }} - key: ${{ runner.os }}-opencv-4.10.0-binaries - restore-keys: | - ${{ runner.os }}-opencv-4.10.0- - - - name: Install CMake - uses: jwlawson/actions-setup-cmake@v2 - with: - cmake-version: "4.0.3" - - - name: Install OpenCV - run: | - if (-not (Test-Path "$env:OPENCV_DIR")) { - Write-Host "Installing OpenCV 4.10.0..." - New-Item -ItemType Directory -Path C:\tools -Force - pushd C:\tools - $url = "https://github.com/opencv/opencv/releases/download/4.10.0/opencv-4.10.0-windows.exe" - Invoke-WebRequest -Uri $url -OutFile "opencv.exe" - Start-Process -FilePath "opencv.exe" -ArgumentList "-o", "$env:OPENCV_DIR", "-y" -Wait - Remove-Item "opencv.exe" - Write-Host "✓ OpenCV installed at $env:OPENCV_DIR" - popd - } else { - Write-Host "✓ OpenCV found in cache" - } - shell: pwsh - - - name: Install boost - uses: MarkusJx/install-boost@v2 - with: - boost_version: ${{ env.BOOST_VERSION }} - boost_install_dir: C:\Dev_Env\ - platform_version: 2022 - toolset: msvc - - - name: Setup MSVC - uses: ilammy/msvc-dev-cmd@v1 - with: - arch: x64 - - - name: Configure CMake - run: | - if (Test-Path build) { Remove-Item build -Recurse -Force } - mkdir build - $OpenCVConfigPath = "$env:OPENCV_DIR\build" - - cmake -B build -DCMAKE_BUILD_TYPE=Release -DOPENCV_DIR="$OpenCVConfigPath" - shell: pwsh - - - name: Build and Test - run: | - pushd build - cmake --build . --config Release - - # Add OpenCV DLLs to PATH for test execution - $opencvBinPath = "$env:OPENCV_DIR\build\x64\vc16\bin" - if (Test-Path $opencvBinPath) { - $env:PATH = "$opencvBinPath;$env:PATH" - } - - ctest -C Release --output-on-failure - popd - shell: pwsh diff --git a/.gitignore b/.gitignore index 0f6068d7..6cf86bb1 100644 --- a/.gitignore +++ b/.gitignore @@ -100,4 +100,7 @@ Dev/scripts/__pycache__ packaging/pitrac # FreeCAD backup files -*.FCBak \ No newline at end of file +*.FCBak + +# Node.js (root-level tooling) +node_modules/ \ No newline at end of file diff --git a/.prettierignore b/.prettierignore new file mode 100644 index 00000000..0bc201d9 --- /dev/null +++ b/.prettierignore @@ -0,0 +1,54 @@ +# Build artifacts +build/ +builddir/ +out/ +dist/ +target/ +node_modules/ + +# C++ (use clang-format instead) +*.cpp +*.h +*.hpp +*.c + +# Shell scripts (use shfmt instead) +*.sh + +# Minified / vendored +*.min.js +*.min.css + +# Binary and ML artifacts +*.pt +*.onnx +*.deb +*.so +*.o + +# Hardware / CAD files +Hardware/ +3D Printed Parts/ +*.kicad_pcb +*.kicad_sch +*.FCBak + + +# Generated coverage +htmlcov/ +.coverage + +# Packaging artifacts +packaging/deps-artifacts/ +packaging/pitrac + +# Python caches +__pycache__/ +*.pyc +*.egg-info/ +.pytest_cache/ + +# Vendor / env +vendor/ +venv/ +.venv/ diff --git a/.prettierrc b/.prettierrc new file mode 100644 index 00000000..5d204970 --- /dev/null +++ b/.prettierrc @@ -0,0 +1,27 @@ +{ + "semi": true, + "singleQuote": true, + "tabWidth": 4, + "useTabs": false, + "trailingComma": "none", + "printWidth": 100, + "bracketSpacing": true, + "arrowParens": "always", + "endOfLine": "lf", + "htmlWhitespaceSensitivity": "css", + "proseWrap": "preserve", + "overrides": [ + { + "files": "*.yaml", + "options": { + "tabWidth": 2 + } + }, + { + "files": "*.yml", + "options": { + "tabWidth": 2 + } + } + ] +} diff --git a/3D Printed Parts/Enclosure Version 2/Tower-Single-Pi-V2-Connector-Board-Variant/README.md b/3D Printed Parts/Enclosure Version 2/Tower-Single-Pi-V2-Connector-Board-Variant/README.md index 0989de1c..d9ae0f87 100755 --- a/3D Printed Parts/Enclosure Version 2/Tower-Single-Pi-V2-Connector-Board-Variant/README.md +++ b/3D Printed Parts/Enclosure Version 2/Tower-Single-Pi-V2-Connector-Board-Variant/README.md @@ -21,7 +21,7 @@ Recommended print settings: 2 perimeter layers, 15% infill, grid or rectilinear Please note that the default version is setup to accept 4 M2.5 and 4 M3 inner-diameter screw-in (or melt-in) inserts in which to screw the Pi and the V2 Connector Board. The specific inserts are M2.5*4*3.5 and M3*4*5 inserts, and the mounting screws are M2.5x6mm and M3x6mm bolts. If you want to instead simply use self-threading screws, change the values in the Monitor Chassis Parameters spreadsheet in rows 104 (GsPi5MountingHoleDiameter) and 110 (GSConnectorBoardMountingHoleDiameter) as per the comments in those rows. -See the [main assembly instructions](https://pitraclm.github.io/PiTrac/hardware/assembly-guide.html). +See the [main assembly instructions](https://docs.pitrac.org/hardware/v3-enclosure/assembly/). Ultimately, the four parts will be glued together with something like thick, slower-drying super-glue such as Starbond Gap Filler Thick High Performance Super Glue and then screwed together with 12 M2 x 6 self-tapping screws for additional strength in the lap joint (if desired). diff --git a/A Note On Images.md b/A Note On Images.md deleted file mode 100644 index d1bae4f8..00000000 --- a/A Note On Images.md +++ /dev/null @@ -1 +0,0 @@ -One note on images in the documentation. We don't currently have a good pipeline to convert the documentation we're writing into markdown (.md) files with embedded images. As a short term work-around for now, we're releasing the documentation in .rtf format--with embedded images--to make it easier for folks to download and view them. We will add images inline into documents as we can. diff --git a/README.md b/README.md index 1f2c77ea..38e17321 100644 --- a/README.md +++ b/README.md @@ -13,7 +13,7 @@ Introducing [PiTrac](https://hackaday.io/project/195042-pitrac-the-diy-golf-laun PiTrac uses low-cost Raspberry Pi(\*) computers and cameras to determine golf ball launch speed, angles and spin in three dimensions. PiTrac interfaces with both GSPro and E6/TruGolf simulators, and its output is also accessible on a stand-alone web-based app. \[We’ve reached out to 2k/TopGolf, but no response yet.\] -PiTrac uses off-the-shelf hardware, and includes a [parts list](https://pitraclm.github.io/PiTrac/hardware/parts-list.html) with links to potential suppliers. The only custom part is a small printed circuit board. The fabrication instructions for that PCB are included in the open-source distribution and it can be manufactured for a few dollars. The two Pi computers and cameras are the most expensive parts, and cost around $250 in total. +PiTrac uses off-the-shelf hardware, and includes a [parts list](https://docs.pitrac.org/hardware/parts-list/) with links to potential suppliers. The only custom part is a small printed circuit board. The fabrication instructions for that PCB are included in the open-source distribution and it can be manufactured for a few dollars. The two Pi computers and cameras are the most expensive parts, and cost around $250 in total. PiTrac is not a commercial product for sale–the full design is being released as open source on GitHub for folks to build themselves. It’s not easy, but if you’re handy with a soldering iron, can figure out how to 3D print the parts, and are willing to burrow into the Linux operating system to compile and install software, you should be able to create your own PiTrac\! @@ -26,10 +26,10 @@ Finally, any help at our [support page](https://ko-fi.com/Pitrac) would be appre (\*) Raspberry Pi is a trademark of Raspberry Pi Ltd. The PiTrac project is not endorsed, sponsored by or associated with Raspberry Pi or Raspberry Pi products or services. -## [Getting Started](https://pitraclm.github.io/PiTrac/build-guide.html) +## [Getting Started](https://docs.pitrac.org/build-guide/) The process of building your own PiTrac DIY Launch Monitor is described here at a high level. There are several more-detailed instruction documents elsewhere in the PiTrac repository that are referred to below for various sub-assemblies and tasks like compiling the code and preparing the build environment. -## [Setup and Configuration](https://pitraclm.github.io/PiTrac/software/pi-setup.html) +## [Setup and Configuration](https://docs.pitrac.org/software/pi-setup/) The instructions which are targeted toward getting setup on a step-by-step basis. These instructions start with a Raspberry Pi with nothing on it, and are meant to describe all the steps to get from that point to a working, compiled version of PiTrac. A single RPi5 is currently our recommended path for everyone, however the path to stereoscopic vision may require two (if/when we head down that path). ## [Join the Discord](https://discord.gg/gMQcBBQYHT) diff --git a/Software/CalibrateCameraDistortions/CAM1_cameraDistortion.txt b/Software/CalibrateCameraDistortions/CAM1_cameraDistortion.txt deleted file mode 100755 index 5905195a..00000000 --- a/Software/CalibrateCameraDistortions/CAM1_cameraDistortion.txt +++ /dev/null @@ -1 +0,0 @@ --5.323350228082535107e-01,3.171607772519656199e-01,7.282375091653870043e-04,7.032344616124524064e-03,-9.732216388053896439e-02 diff --git a/Software/CalibrateCameraDistortions/CAM1_cameraMatrix.txt b/Software/CalibrateCameraDistortions/CAM1_cameraMatrix.txt deleted file mode 100755 index 8aded5a3..00000000 --- a/Software/CalibrateCameraDistortions/CAM1_cameraMatrix.txt +++ /dev/null @@ -1,3 +0,0 @@ -1.748506644661262953e+03,0.000000000000000000e+00,6.325374407393054526e+02 -0.000000000000000000e+00,1.743341748687922745e+03,4.075677927449370941e+02 -0.000000000000000000e+00,0.000000000000000000e+00,1.000000000000000000e+00 diff --git a/Software/CalibrateCameraDistortions/CAM2_cameraDistortion.txt b/Software/CalibrateCameraDistortions/CAM2_cameraDistortion.txt deleted file mode 100755 index a9e106db..00000000 --- a/Software/CalibrateCameraDistortions/CAM2_cameraDistortion.txt +++ /dev/null @@ -1,2 +0,0 @@ --6.948635618535150549e-01,7.029040186611693608e-01,2.925955790297951262e-03, --1.668301926579529105e-03,-6.406782685787516529e-01 diff --git a/Software/CalibrateCameraDistortions/CAM2_cameraMatrix.txt b/Software/CalibrateCameraDistortions/CAM2_cameraMatrix.txt deleted file mode 100755 index 276c42fd..00000000 --- a/Software/CalibrateCameraDistortions/CAM2_cameraMatrix.txt +++ /dev/null @@ -1,3 +0,0 @@ -2.026993214521951359e+03,0.000000000000000000e+00,7.447811698165936605e+02 -0.000000000000000000e+00,2.038030194859141375e+03,5.953631744844495870e+02 -0.000000000000000000e+00,0.000000000000000000e+00,1.000000000000000000e+00 diff --git a/Software/CalibrateCameraDistortions/CameraCalibration.py b/Software/CalibrateCameraDistortions/CameraCalibration.py deleted file mode 100755 index 41765cea..00000000 --- a/Software/CalibrateCameraDistortions/CameraCalibration.py +++ /dev/null @@ -1,123 +0,0 @@ - -import numpy as np -import cv2 as cv -import glob -import pickle - - - -################ FIND CHESSBOARD CORNERS - OBJECT POINTS AND IMAGE POINTS ############################# - -chessboardSize = (9,6) -# frameSize = (2592,1944) -#frameSize = (4056,3040) -frameSize = (1456,1088) - - - -# termination criteria -criteria = (cv.TERM_CRITERIA_EPS + cv.TERM_CRITERIA_MAX_ITER, 30, 0.001) - - -# prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0) -objp = np.zeros((chessboardSize[0] * chessboardSize[1], 3), np.float32) -objp[:,:2] = np.mgrid[0:chessboardSize[0],0:chessboardSize[1]].T.reshape(-1,2) - -size_of_chessboard_squares_mm = 20 -objp = objp * size_of_chessboard_squares_mm - - -# Arrays to store object points and image points from all the images. -objpoints = [] # 3d point in real world space -imgpoints = [] # 2d points in image plane. - - -# Change this as needed to point to the ~20 or so calibration pictures -images = glob.glob('./images/cam1/*.png') - -for image in images: - - print("Processing Image: " + image) - img = cv.imread(image) - gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY) - - # Find the chess board corners - ret, corners = cv.findChessboardCorners(gray, chessboardSize, None) - - # If found, add object points, image points (after refining them) - if ret == True: - - objpoints.append(objp) - corners2 = cv.cornerSubPix(gray, corners, (11,11), (-1,-1), criteria) - imgpoints.append(corners) - - # Draw and display the corners - # cv.drawChessboardCorners(img, chessboardSize, corners2, ret) - # cv.imshow('img', img) - # cv.waitKey(1000) - - -# cv.destroyAllWindows() - - - - -############## CALIBRATION ####################################################### - -ret, cameraMatrix, dist, rvecs, tvecs = cv.calibrateCamera(objpoints, imgpoints, frameSize, None, None) - -# Save the camera calibration result for later use (we won't worry about rvecs / tvecs) -# Most people won't use the .pkl files, just the .txt files -pickle.dump((cameraMatrix, dist), open( "calibration.pkl", "wb" )) -pickle.dump(cameraMatrix, open( "cameraMatrix.pkl", "wb" )) -pickle.dump(dist, open( "dist.pkl", "wb" )) - -np.savetxt('cameraMatrix.txt', cameraMatrix, "%10f"); -np.savetxt('distortion.txt', dist, "%10f"); - -############## UNDISTORTION ##################################################### - -# NOTE - Before running, pick on of the checkerboard images as a test image on which -# to try the undistortion. Put a copy of that file in the filename below -img = cv.imread('./test_image_for_undistortion.png') -h, w = img.shape[:2] -newCameraMatrix, roi = cv.getOptimalNewCameraMatrix(cameraMatrix, dist, (w,h), 1, (w,h)) - - - -# Undistort first with no remapping to see how that looks. -dst = cv.undistort(img, cameraMatrix, dist, None, newCameraMatrix) - -# crop the image -# x, y, w, h = roi -# dst = dst[y:y+h, x:x+w] -cv.imwrite('caliResult1.png', dst) - - - -# Undistort with Remapping -mapx, mapy = cv.initUndistortRectifyMap(cameraMatrix, dist, None, newCameraMatrix, (w,h), 5) -dst = cv.remap(img, mapx, mapy, cv.INTER_LINEAR) - -# crop the image -x, y, w, h = roi -dst = dst[y:y+h, x:x+w] -cv.imwrite('caliResult2.png', dst) - -# TBD - try this again now with commas to minimize the re-editing the user has to do. -file1 = "cameraMatrix.txt" -np.savetxt(file1,cameraMatrix,delimiter=',') -file2 = "cameraDistortion.txt" -np.savetxt(file2,dist,delimiter=',') - - - -# Determine reprojection Error -mean_error = 0 - -for i in range(len(objpoints)): - imgpoints2, _ = cv.projectPoints(objpoints[i], rvecs[i], tvecs[i], cameraMatrix, dist) - error = cv.norm(imgpoints[i], imgpoints2, cv.NORM_L2)/len(imgpoints2) - mean_error += error - -print( "total error: {}".format(mean_error/len(objpoints)) ) diff --git a/Software/CalibrateCameraDistortions/CameraCalibration.pyproj b/Software/CalibrateCameraDistortions/CameraCalibration.pyproj deleted file mode 100755 index 095c4310..00000000 --- a/Software/CalibrateCameraDistortions/CameraCalibration.pyproj +++ /dev/null @@ -1,35 +0,0 @@ - - - Debug - 2.0 - 8a143eac-2fbe-4bed-b0bf-8be63192d2f8 - . - CameraCalibration.py - - - . - . - CameraCalibration - CameraCalibration - - - true - false - - - true - false - - - - - - - - - - - - \ No newline at end of file diff --git a/Software/CalibrateCameraDistortions/CameraCalibration.sln b/Software/CalibrateCameraDistortions/CameraCalibration.sln deleted file mode 100755 index 80ac7580..00000000 --- a/Software/CalibrateCameraDistortions/CameraCalibration.sln +++ /dev/null @@ -1,23 +0,0 @@ - -Microsoft Visual Studio Solution File, Format Version 12.00 -# Visual Studio Version 17 -VisualStudioVersion = 17.4.33403.182 -MinimumVisualStudioVersion = 10.0.40219.1 -Project("{888888A0-9F3D-457C-B088-3A5042F75D52}") = "CameraCalibration", "CameraCalibration.pyproj", "{8A143EAC-2FBE-4BED-B0BF-8BE63192D2F8}" -EndProject -Global - GlobalSection(SolutionConfigurationPlatforms) = preSolution - Debug|Any CPU = Debug|Any CPU - Release|Any CPU = Release|Any CPU - EndGlobalSection - GlobalSection(ProjectConfigurationPlatforms) = postSolution - {8A143EAC-2FBE-4BED-B0BF-8BE63192D2F8}.Debug|Any CPU.ActiveCfg = Debug|Any CPU - {8A143EAC-2FBE-4BED-B0BF-8BE63192D2F8}.Release|Any CPU.ActiveCfg = Release|Any CPU - EndGlobalSection - GlobalSection(SolutionProperties) = preSolution - HideSolutionNode = FALSE - EndGlobalSection - GlobalSection(ExtensibilityGlobals) = postSolution - SolutionGuid = {9FEA2091-3020-46B3-BD8A-980C5440A1E2} - EndGlobalSection -EndGlobal diff --git a/Software/CalibrateCameraDistortions/Thumbs.db b/Software/CalibrateCameraDistortions/Thumbs.db deleted file mode 100755 index 3e4b64a3..00000000 Binary files a/Software/CalibrateCameraDistortions/Thumbs.db and /dev/null differ diff --git a/Software/CalibrateCameraDistortions/caliResult1.png b/Software/CalibrateCameraDistortions/caliResult1.png deleted file mode 100755 index be092a17..00000000 Binary files a/Software/CalibrateCameraDistortions/caliResult1.png and /dev/null differ diff --git a/Software/CalibrateCameraDistortions/caliResult2.png b/Software/CalibrateCameraDistortions/caliResult2.png deleted file mode 100755 index 47b03976..00000000 Binary files a/Software/CalibrateCameraDistortions/caliResult2.png and /dev/null differ diff --git a/Software/CalibrateCameraDistortions/calibration.pkl b/Software/CalibrateCameraDistortions/calibration.pkl deleted file mode 100755 index 7447940c..00000000 Binary files a/Software/CalibrateCameraDistortions/calibration.pkl and /dev/null differ diff --git a/Software/CalibrateCameraDistortions/cameraDistortion.txt b/Software/CalibrateCameraDistortions/cameraDistortion.txt deleted file mode 100755 index 3b540923..00000000 --- a/Software/CalibrateCameraDistortions/cameraDistortion.txt +++ /dev/null @@ -1 +0,0 @@ --5.469873041306134720e-01,4.323292678398480415e-01,-6.606921423690257332e-03,8.144843384932815358e-03,-3.443895940391311083e-01 diff --git a/Software/CalibrateCameraDistortions/cameraMatrix.pkl b/Software/CalibrateCameraDistortions/cameraMatrix.pkl deleted file mode 100755 index e66e2ba8..00000000 Binary files a/Software/CalibrateCameraDistortions/cameraMatrix.pkl and /dev/null differ diff --git a/Software/CalibrateCameraDistortions/cameraMatrix.txt b/Software/CalibrateCameraDistortions/cameraMatrix.txt deleted file mode 100755 index 3097bcfa..00000000 --- a/Software/CalibrateCameraDistortions/cameraMatrix.txt +++ /dev/null @@ -1,3 +0,0 @@ -1.825268110451985876e+03,0.000000000000000000e+00,6.560920394665909043e+02 -0.000000000000000000e+00,1.827901989005196810e+03,5.319678162262430305e+02 -0.000000000000000000e+00,0.000000000000000000e+00,1.000000000000000000e+00 diff --git a/Software/CalibrateCameraDistortions/checkerboard.png b/Software/CalibrateCameraDistortions/checkerboard.png deleted file mode 100755 index 1f9112c3..00000000 Binary files a/Software/CalibrateCameraDistortions/checkerboard.png and /dev/null differ diff --git a/Software/CalibrateCameraDistortions/checkerboard_test_image_for_undistortion.png b/Software/CalibrateCameraDistortions/checkerboard_test_image_for_undistortion.png deleted file mode 100755 index 6dce2a5a..00000000 Binary files a/Software/CalibrateCameraDistortions/checkerboard_test_image_for_undistortion.png and /dev/null differ diff --git a/Software/CalibrateCameraDistortions/dist.pkl b/Software/CalibrateCameraDistortions/dist.pkl deleted file mode 100755 index 1bf7f47c..00000000 Binary files a/Software/CalibrateCameraDistortions/dist.pkl and /dev/null differ diff --git a/Software/CalibrateCameraDistortions/distortion.txt b/Software/CalibrateCameraDistortions/distortion.txt deleted file mode 100755 index 4fec98dd..00000000 --- a/Software/CalibrateCameraDistortions/distortion.txt +++ /dev/null @@ -1 +0,0 @@ - -0.546987 0.432329 -0.006607 0.008145 -0.344390 diff --git a/Software/CalibrateCameraDistortions/generate_charuco_board.py b/Software/CalibrateCameraDistortions/generate_charuco_board.py deleted file mode 100755 index b2b5ddf4..00000000 --- a/Software/CalibrateCameraDistortions/generate_charuco_board.py +++ /dev/null @@ -1,108 +0,0 @@ -#!/usr/bin/env python3 -"""Generate a printable ChArUco calibration board compatible with OpenCV 4.6+.""" - -import cv2 -import numpy as np - - -DPI = 300 -PX_PER_MM = DPI / 25.4 - -A4_WIDTH_MM = 210 -A4_HEIGHT_MM = 297 -A4_WIDTH_PX = round(A4_WIDTH_MM * PX_PER_MM) -A4_HEIGHT_PX = round(A4_HEIGHT_MM * PX_PER_MM) - - -def get_opencv_version(): - version = cv2.__version__ - major, minor, patch = version.split('.')[:3] - return (int(major), int(minor), int(patch.split('-')[0])) - - -def is_new_api(): - return get_opencv_version() >= (4, 7, 0) - - -def generate_charuco_board( - squares_x=8, - squares_y=11, - square_length=0.023, - marker_length=0.017, - output_path="charuco_board_8x11.png", - dict_type=cv2.aruco.DICT_4X4_50 -): - print(f"OpenCV version: {cv2.__version__}") - print(f"Using {'NEW' if is_new_api() else 'OLD'} API") - - if is_new_api(): - aruco_dict = cv2.aruco.getPredefinedDictionary(dict_type) - else: - aruco_dict = cv2.aruco.Dictionary_get(dict_type) - - if is_new_api(): - board = cv2.aruco.CharucoBoard( - (squares_x, squares_y), - square_length, - marker_length, - aruco_dict - ) - else: - board = cv2.aruco.CharucoBoard_create( - squares_x, squares_y, - square_length, marker_length, - aruco_dict - ) - - square_mm = square_length * 1000 - square_px = round(square_mm * PX_PER_MM) - board_width_px = squares_x * square_px - board_height_px = squares_y * square_px - - actual_square_mm = square_px / PX_PER_MM - board_width_mm = squares_x * actual_square_mm - board_height_mm = squares_y * actual_square_mm - - if board_width_px > A4_WIDTH_PX or board_height_px > A4_HEIGHT_PX: - raise ValueError( - f"Board ({board_width_mm:.1f} x {board_height_mm:.1f} mm) " - f"exceeds A4 ({A4_WIDTH_MM} x {A4_HEIGHT_MM} mm). " - f"Reduce square_length or grid dimensions.") - - board_img = board.generateImage((board_width_px, board_height_px), marginSize=0) - - canvas = np.ones((A4_HEIGHT_PX, A4_WIDTH_PX), dtype=np.uint8) * 255 - x_off = (A4_WIDTH_PX - board_width_px) // 2 - y_off = (A4_HEIGHT_PX - board_height_px) // 2 - canvas[y_off:y_off + board_height_px, x_off:x_off + board_width_px] = board_img - - cv2.imwrite(output_path, canvas) - - print(f"\nChArUco board generated successfully!") - print(f"Saved to: {output_path}") - print(f"\nBoard Specifications:") - print(f" Grid: {squares_x} x {squares_y} squares") - print(f" Square size: {actual_square_mm:.2f} mm ({square_px} px at {DPI} DPI)") - print(f" Marker size: {marker_length*1000:.1f} mm") - print(f" Board size: {board_width_mm:.1f} mm x {board_height_mm:.1f} mm") - print(f" Canvas: {A4_WIDTH_PX} x {A4_HEIGHT_PX} px (A4 @ {DPI} DPI)") - print(f" Board offset: ({x_off}, {y_off}) px from top-left") - print(f" Dictionary: DICT_4X4_50") - print(f"\nPrinting Instructions:") - print(f" 1. Print on A4 paper (210 x 297 mm)") - print(f" 2. Use 'Actual Size' or '100%' scale (NO fit-to-page)") - print(f" 3. Use high-quality printer settings") - print(f" 4. Mount on flat, rigid surface (glass or aluminum preferred)") - print(f" 5. VERIFY with a ruler: each square must be {actual_square_mm:.1f} mm") - - return board - - -if __name__ == "__main__": - board = generate_charuco_board( - squares_x=8, - squares_y=11, - square_length=0.023, - marker_length=0.017, - output_path="charuco_board_8x11.png" - ) diff --git a/Software/CalibrateCameraDistortions/get_tuning_file.sh b/Software/CalibrateCameraDistortions/get_tuning_file.sh deleted file mode 100755 index 848fcfbf..00000000 --- a/Software/CalibrateCameraDistortions/get_tuning_file.sh +++ /dev/null @@ -1,17 +0,0 @@ -#!/bin/bash -# -# Determine what the correct img296 tuning file should be on -# this machine. Only returns the _noir version. -# - -model=$(tr -d '\0' < /sys/firmware/devicetree/base/model) - -if [[ "$model" == *"Raspberry Pi 4"* ]]; then - echo "/usr/share/libcamera/ipa/rpi/vc4/imx296.json" -elif [[ "$model" == *"Raspberry Pi 5"* ]]; then - echo "/usr/share/libcamera/ipa/rpi/pisp/imx296.json" -else - echo "This is not a Raspberry Pi 4 or 5, model is: $model" - exit; -fi - diff --git a/Software/CalibrateCameraDistortions/images/ProblemPix/Thumbs.db b/Software/CalibrateCameraDistortions/images/ProblemPix/Thumbs.db deleted file mode 100755 index bd2d15be..00000000 Binary files a/Software/CalibrateCameraDistortions/images/ProblemPix/Thumbs.db and /dev/null differ diff --git a/Software/CalibrateCameraDistortions/images/ProblemPix/gs_calibation_1.png b/Software/CalibrateCameraDistortions/images/ProblemPix/gs_calibation_1.png deleted file mode 100755 index 6dce2a5a..00000000 Binary files a/Software/CalibrateCameraDistortions/images/ProblemPix/gs_calibation_1.png and /dev/null differ diff --git a/Software/CalibrateCameraDistortions/images/ProblemPix/gs_calibation_2.png b/Software/CalibrateCameraDistortions/images/ProblemPix/gs_calibation_2.png deleted file mode 100755 index 01569392..00000000 Binary files a/Software/CalibrateCameraDistortions/images/ProblemPix/gs_calibation_2.png and /dev/null differ diff --git a/Software/CalibrateCameraDistortions/images/ProblemPix/gs_calibation_3.png b/Software/CalibrateCameraDistortions/images/ProblemPix/gs_calibation_3.png deleted file mode 100755 index 28ec627c..00000000 Binary files a/Software/CalibrateCameraDistortions/images/ProblemPix/gs_calibation_3.png and /dev/null differ diff --git a/Software/CalibrateCameraDistortions/images/ProblemPix/gs_calibation_4.png b/Software/CalibrateCameraDistortions/images/ProblemPix/gs_calibation_4.png deleted file mode 100755 index cf6d8780..00000000 Binary files a/Software/CalibrateCameraDistortions/images/ProblemPix/gs_calibation_4.png and /dev/null differ diff --git a/Software/CalibrateCameraDistortions/images/ProblemPix/gs_calibation_5.png b/Software/CalibrateCameraDistortions/images/ProblemPix/gs_calibation_5.png deleted file mode 100755 index fb693f42..00000000 Binary files a/Software/CalibrateCameraDistortions/images/ProblemPix/gs_calibation_5.png and /dev/null differ diff --git a/Software/CalibrateCameraDistortions/images/Thumbs.db b/Software/CalibrateCameraDistortions/images/Thumbs.db deleted file mode 100755 index 264de666..00000000 Binary files a/Software/CalibrateCameraDistortions/images/Thumbs.db and /dev/null differ diff --git a/Software/CalibrateCameraDistortions/images/cam1/Thumbs.db b/Software/CalibrateCameraDistortions/images/cam1/Thumbs.db deleted file mode 100755 index 7f9a50b4..00000000 Binary files a/Software/CalibrateCameraDistortions/images/cam1/Thumbs.db and /dev/null differ diff --git a/Software/CalibrateCameraDistortions/images/cam2/Thumbs.db b/Software/CalibrateCameraDistortions/images/cam2/Thumbs.db deleted file mode 100755 index bf0ce15e..00000000 Binary files a/Software/CalibrateCameraDistortions/images/cam2/Thumbs.db and /dev/null differ diff --git a/Software/CalibrateCameraDistortions/take_calibration_shots.sh b/Software/CalibrateCameraDistortions/take_calibration_shots.sh deleted file mode 100755 index 8d64f9e2..00000000 --- a/Software/CalibrateCameraDistortions/take_calibration_shots.sh +++ /dev/null @@ -1,25 +0,0 @@ -#!/bin/bash -# -# Takes numPics pictures, each about 1 second apart -# Before running, make sure the system is setup to NOT require -# external triggering (particularly for camera 2). -# If running in single-pi mode, the /boot/firmware/config.txt -# file should have the following lines commented out: -# dtoverlay=imx296,cam0 -# dtoverlay=imx296,sync-sink -# -# In addition, if using camera 2, the IR filter must be removed because -# there will be no strobing. -# - -cam_tuning_file=$(./get_tuning_file.sh) - -if [[ $# -lt 3 ]]; then echo Format: "$0" baseFName numPics camera_number\(0 or 1\); exit; fi - echo "====================== WILL START IN 5 SECONDS =======================" -sleep 5 -for((m=1; m<=${2}; ++m)) -do - echo "====================== GET READY FOR ANOTHER PICTURE - No. $m =======================" - sleep 2 - rpicam-still --camera ${3} --timeout 1000 --gain 1.3 --nopreview --verbose 0 --tuning-file=$cam_tuning_file --shutter 11000 --width 1456 --height 1088 --denoise cdn_off -o ${1}${m}.png -done diff --git a/Software/LMSourceCode/ImageProcessing/Camera/CMakeLists.txt b/Software/LMSourceCode/ImageProcessing/Camera/CMakeLists.txt deleted file mode 100644 index 24de4682..00000000 --- a/Software/LMSourceCode/ImageProcessing/Camera/CMakeLists.txt +++ /dev/null @@ -1,29 +0,0 @@ -cmake_minimum_required(VERSION 3.10) - -# Camera Bounded Context -project(camera_context) - -# Set C++ standard -set(CMAKE_CXX_STANDARD 17) -set(CMAKE_CXX_STANDARD_REQUIRED ON) - -# Header-only library for camera abstractions -add_library(camera_abstractions INTERFACE) - -# Include directories for the bounded context -target_include_directories(camera_abstractions INTERFACE - ${CMAKE_CURRENT_SOURCE_DIR} -) - -# Platform-specific compile definitions -if(UNIX) - target_compile_definitions(camera_abstractions INTERFACE CAMERA_UNIX_PLATFORM) -elseif(WIN32) - target_compile_definitions(camera_abstractions INTERFACE CAMERA_WINDOWS_PLATFORM) -endif() - -# Enable testing -option(BUILD_CAMERA_TESTS "Build Camera bounded context unit tests" ON) -if(BUILD_CAMERA_TESTS) - add_subdirectory(tests) -endif() diff --git a/Software/LMSourceCode/ImageProcessing/Camera/MIGRATION_GUIDE.md b/Software/LMSourceCode/ImageProcessing/Camera/MIGRATION_GUIDE.md deleted file mode 100644 index 506ba8cf..00000000 --- a/Software/LMSourceCode/ImageProcessing/Camera/MIGRATION_GUIDE.md +++ /dev/null @@ -1,516 +0,0 @@ -# Camera Bounded Context - Migration Guide - -## Overview -Migrate from monolithic `GolfSimCamera` to a clean Camera bounded context architecture. - -### Current Status -✅ **Foundation exists**: Domain objects, infrastructure abstractions, tests, and build system are ready -🔄 **Next step**: Namespace alignment and legacy integration - -### Key Decision -**Use `golf_sim::camera` namespace** - aligns with existing codebase patterns rather than creating inconsistency. - -## Legacy Codebase Issues - -### Naming Inconsistencies -The legacy code mixes multiple naming conventions, **with patterns related to access levels**: - -**Public vs Private Patterns Discovered:** -- **Public Constants**: Consistently use `kConstantCase` (good pattern) -- **Public Methods**: Mixed `camelCase` (`getNextFrame()`) and `PascalCase` (`GetCalibratedBall()`) -- **Private Methods**: Mostly `camelCase` (`getExpectedBallRadiusPixels()`, `getBallDistance()`) -- **Variables**: `camera_number_` (snake_case_) and `exposureTime` (camelCase) mixed together -- **Namespaces**: Uses `golf_sim::camera::domain` aligned with existing `golf_sim` pattern - -**Root Cause**: The inconsistency appears to follow **intended conventions** where: -- Private methods tend toward `camelCase` -- Public methods mix both conventions inconsistently -- Constants are consistently `kConstantCase` - -### Strategic Decision: Use `golf_sim::camera` -- **Why**: `golf_sim` represents the domain function, not the brand -- **Benefit**: No massive refactoring needed across codebase -- **Consistency**: 99% of existing code already uses `golf_sim` namespace - -## Migration Strategy - -### Phase 0: Foundation Assessment (COMPLETED ✅) -- ✅ **Complete**: Domain value objects exist (`Size`, `Transform`, `PixelFormat`, `ColorSpace`) -- ✅ **Complete**: Infrastructure abstraction layer established -- ✅ **Complete**: Test framework with Boost Test configured -- ✅ **Complete**: CMake build system ready -- ✅ **Complete**: Namespace alignment from `libcamera_domain` to `golf_sim::camera::domain` -- 🔄 **Next**: Integration with legacy `GolfSimCamera` class - -### Phase 1: Namespace Alignment and Integration Preparation (COMPLETED ✅) - -#### Step 1: Update Existing Domain Namespace ✅ -```cpp -// COMPLETED (in domain/camera_domain.hpp) -namespace golf_sim::camera::domain { - struct Size { /*...*/ }; - struct Transform { /*...*/ }; - // ... -} - -// VALIDATION: All tests pass (25 test cases) -namespace golf_sim::camera::domain { - struct Size { /*...*/ }; - struct Transform { /*...*/ }; - // ... -} -``` - -#### Step 2: Extend Domain with Business Logic -Add camera entities and use cases to existing domain: -```cpp -namespace golf_sim::camera::domain { - // Existing value objects... - struct Size { /*...*/ }; - - // NEW: Business entities - class CameraEntity { - // Camera state and behavior - }; - - // NEW: Domain services - class CameraCalibrationService { - // Calibration algorithms - }; -} - -namespace golf_sim::camera::application { - // NEW: Use cases and commands - class CaptureImageUseCase { /*...*/ }; - class CalibrateCommand { /*...*/ }; -} -``` - -#### Step 3: Create Legacy Integration Layer -```cpp -namespace golf_sim::camera::integration { - class LegacyCameraAdapter { - // Bridge to existing GolfSimCamera - }; -} -``` - -### Phase 2: Incremental Migration (RECOMMENDED NEXT STEPS) - -#### Step 1: Update IPC Integration -Replace the camera usage in `gs_ipc_system.cpp`: - -```cpp -// OLD (in gs_ipc_system.cpp) -#include "gs_camera.h" -GolfSimCamera* camera = GetCameraInstance(); -int result = camera->TakeStillPicture(); - -// NEW -#include "ImageProcessing/Camera/integration/CameraContext.h" -auto cameraContext = golf_sim::camera::integration::CameraContext::Create(); -auto adapter = std::make_unique(cameraContext); -int result = adapter->TakeStillPicture(); -``` - -#### Step 2: Update FSM Event Handling -Replace camera calls in `gs_fsm.cpp`: - -```cpp -// OLD -void ProcessCameraEvent(const CameraEvent& event) { - auto camera = GetGolfSimCamera(); - camera->TakeStillPicture(); -} - -// NEW -void ProcessCameraEvent(const CameraEvent& event) { - // Use command pattern - using namespace golf_sim::camera::application; - commands::CaptureImageCommand command( - event.exposureTime, - event.gain, - event.resolution - ); - cameraContext_->ExecuteCommand(command); -} -``` - -#### Step 3: Replace Direct Hardware Calls -Update any direct hardware access: - -```cpp -// OLD (scattered throughout codebase) -#ifdef __unix__ - // Unix-specific camera code -#else - // Windows fallback -#endif - -// NEW (all handled by factory) -auto cameraContext = CameraContext::Create(); // Automatically selects platform -``` - -### Phase 3: Event-Driven Integration - -#### Subscribe to Camera Events -```cpp -// In main application setup -auto eventBus = cameraContext->GetEventBus(); - -// Subscribe to image capture events -eventBus->Subscribe( - [](const auto& event) { - // Process captured image - const auto& result = event.GetResult(); - if (result.IsSuccess()) { - // Send to ball tracking system - ProcessBallImage(result.GetImageData()); - } - } -); - -// Subscribe to error events -eventBus->Subscribe( - [](const auto& event) { - // Log error and notify monitoring system - LogError("Camera error: " + event.GetError()); - NotifyMonitoringSystem(event.GetError()); - } -); -``` - -### Phase 4: Remove Legacy Code - -#### Files to Remove After Migration: -1. Remove conditional compilation from business logic -2. Clean up `gs_camera.cpp/.h` (keep only what's needed for other bounded contexts) -3. Remove platform-specific `#ifdef` blocks -4. Consolidate hardware interfaces - -#### Dependencies to Update: -1. Update CMakeLists.txt to include new Camera module -2. Update include paths -3. Remove deprecated header includes - -## Integration Examples - -### Example 1: Basic Camera Usage -```cpp -#include "ImageProcessing/Camera/integration/CameraContext.h" - -// Create camera context -auto cameraContext = golf_sim::camera::integration::CameraContext::Create(); - -// Configure settings -golf_sim::camera::domain::CameraSettings settings; -settings.exposureTime = 0.001; // 1ms -settings.gain = 2.0; -settings.resolution = {1920, 1080}; -cameraContext->UpdateSettings(settings); - -// Capture image -golf_sim::camera::domain::CaptureSettings captureSettings{ - settings.exposureTime, - settings.gain, - settings.resolution, - golf_sim::camera::domain::TriggerMode::SOFTWARE -}; - -auto result = cameraContext->TakeStillPicture(captureSettings); -if (result.IsSuccess()) { - // Process image data - ProcessImageData(result.GetImageData()); -} -``` - -### Example 2: Event-Driven Processing -```cpp -// Set up event handling -auto eventBus = cameraContext->GetEventBus(); - -// Handle image capture completion -eventBus->Subscribe( - [&ballTracker](const auto& event) { - const auto& result = event.GetResult(); - if (result.IsSuccess()) { - // Forward to ball tracking bounded context - ballTracker.ProcessImage(result.GetImageData()); - } - } -); - -// Handle camera errors -eventBus->Subscribe( - [&logger](const auto& event) { - logger.LogError("Camera failure: " + event.GetError()); - // Trigger recovery procedures - } -); -``` - -### Example 3: Command Pattern Usage -```cpp -using namespace golf_sim::camera::application; - -// Create capture command -commands::CaptureImageCommand captureCmd( - 0.001, // exposure time - 2.0, // gain - {1920, 1080}, // resolution - golf_sim::camera::domain::TriggerMode::EXTERNAL -); - -// Execute command -cameraContext->ExecuteCommand(captureCmd); - -// Create calibration command -commands::CalibrateCommand calibrateCmd( - commands::CalibrateCommand::CalibrationType::FULL -); - -cameraContext->ExecuteCommand(calibrateCmd); -``` - -## Testing Strategy - -### Unit Tests -- Test each bounded context component in isolation -- Mock hardware interfaces for reliable testing -- Test command/query handlers independently - -### Integration Tests -- Test camera context with real hardware -- Test event publishing/subscription -- Test legacy adapter compatibility - -### Migration Tests -- Run existing system alongside new system -- Compare outputs to ensure functional equivalence -- Performance benchmarking - -## Benefits After Migration - -### 1. Platform Independence -- No more `#ifdef __unix__` in business logic -- Clean separation of platform-specific code -- Easier to add new platforms (ARM, different Linux distros, etc.) - -### 2. Testability -- Mock hardware interfaces for unit testing -- Test business logic without hardware dependencies -- Faster test execution - -### 3. Maintainability -- Single Responsibility Principle enforced -- Clear separation of concerns -- Easier to understand and modify - -### 4. Extensibility -- Easy to add new camera features -- Plugin architecture for different camera types -- Event-driven architecture enables loose coupling - -### 5. Performance -- Reduced conditional compilation overhead -- Better compiler optimizations -- More efficient resource usage - -## TODO LIST AND REFACTORING STRATEGY - -### Complexity Identified During Investigation - -#### 1. Namespace Architecture Issues -**Problem**: Should we follow existing `golf_sim` namespace convention or modernize to brand-specific namespaces? - -**Revised Solution Strategy** (Domain-Focused Approach): -- **Embrace `golf_sim::camera` namespace** for new bounded context (domain-aligned, not brand-aligned) -- **Rationale**: - - `golf_sim` represents the **system domain** (golf simulation) not the brand - - Brand names can change (PiTrac today, could be different tomorrow) - - Domain functions are more stable than product branding - - Minimal disruption to existing codebase patterns - - Follows established conventions throughout the codebase -- **Implementation**: All new Camera bounded context code uses `golf_sim::camera` namespace -- **Legacy Integration**: No namespace translation needed - seamless integration - -#### 2. Naming Convention Standards for New Code -**Decision**: Establish consistent naming standards to address legacy inconsistencies - -**Adopted Standards** (based on analysis of legacy codebase patterns): -```cpp -// Classes: PascalCase -class CameraEntity { }; -class CaptureCommand { }; -class HardwareCameraInterface { }; - -// Methods: PascalCase (following existing Format(), Configure() pattern) -class CameraService { -public: - void CaptureImage(); // NOT captureImage() - std::string Format() const; // Consistent with legacy - void Configure(); // Consistent with legacy -}; - -// Member Variables: snake_case_ (following existing member pattern) -class Camera { -private: - double exposure_time_; // Consistent with existing - int camera_number_; // Consistent with existing - std::string device_path_; // Consistent with existing -}; - -// Constants: kConstantCase (following existing kCamera1, kTest pattern) -namespace Constants { - static constexpr double kDefaultExposureTime = 0.001; - static constexpr int kMaxRetryAttempts = 3; - static constexpr std::string_view kDefaultDevice = "/dev/video0"; -} - -// Enums: PascalCase with scoped values -enum class TriggerMode { - Software, // NOT SOFTWARE or kSoftware - Hardware, - External -}; - -// Namespaces: Domain-aligned hierarchical (following existing patterns) -namespace golf_sim::camera::domain { } -namespace golf_sim::camera::application { } -namespace golf_sim::camera::infrastructure { } -``` - -**Integration with Legacy Code**: -```cpp -// Seamless integration - no namespace translation needed -namespace golf_sim::camera { - class CameraService { - // New code uses consistent naming within established namespace - void CaptureImage() { - // Direct integration with legacy code in same namespace - legacy_camera_->takeStillPicture(); // camelCase legacy method - } - - private: - golf_sim::GolfSimCamera* legacy_camera_; // Same namespace - }; -} -``` - -#### 3. Interface Design Philosophy -**Decision Needed**: How to handle domain vs application interfaces -- Option A: Single interface serving both domain and application needs -- Option B: Separate domain and application interfaces with adapters -- **Recommendation**: Option A for simplicity in this context - -#### 4. Error Handling Strategy -**Decision Needed**: How to propagate errors through layers -- Option A: Exceptions throughout -- Option B: Result pattern -- Option C: Error codes and error callbacks -- **Recommendation**: Option A for consistency with existing code - -#### 5. Threading Model -**Critical Performance Requirement**: Spin rate detection is performance-critical -- **Current Performance**: ~2 seconds, optimized for multi-core processing -- **High Impact**: Improving this performance would be very valuable -- **Risk**: Degrading this performance would be undesirable - -**Strategic Threading Approach**: -- **Preserve**: Existing multi-core spin analysis (don't break what works) -- **Enhance**: Add async camera capture to improve overall system responsiveness -- **Avoid**: Any threading changes that could slow down the core spin detection - -**Threading Strategy**: -- **Option A**: Synchronous operations with multi-threaded image processing -- **Option B**: Async capture with parallel spin analysis pipelines -- **Option C**: Full async/await with thread pools for compute-heavy operations -- **Recommendation**: Option B - Preserve multi-core spin processing, add async capture - -### IMMEDIATE NEXT STEPS - -#### Critical: Hardware-Independent Testing Strategy -**Open Source Success Requirement**: Automated testing without external hardware dependencies is **critical** for: -- **PR Validation**: Confidence that pull requests don't break existing functionality -- **Release Quality**: Assurance that code can be safely released to end users -- **Contributor Onboarding**: New developers can run tests without specialized hardware -- **CI/CD Pipeline**: Automated builds and tests in cloud environments - -**Testing Architecture Requirements**: -```cpp -// Hardware abstraction enables testing without cameras -namespace golf_sim::camera::testing { - class MockCameraHardware : public ICameraHardware { - // Simulate camera behavior with deterministic responses - }; - - class ImageSimulator { - // Generate synthetic golf ball images for testing - }; -} -``` - -#### Implementation Priorities - -1. **Start with Hardware Abstraction** - - Create `ICameraHardware` interface first - - Implement mock camera for testing - - Generate synthetic test images - - **Validate**: All tests pass without real hardware - -2. **Minimal Bounded Context Extension** - - Implement ONLY value objects first - - Test compilation and unit tests - - Add ONE interface with stub implementation - - **Validate**: Clean build + passing tests - -3. **Incremental Growth with Test Coverage** - - Add one method at a time - - Write tests BEFORE implementation - - Don't move to next layer until current layer has 100% test coverage - - **Do not change any code not covered by an automated test unless it is changed using a provable refactoring** - - **Validate**: Each increment maintains test suite health - -**Provable Refactoring Resources**: -- **Arlo Belshee's Provable Refactorings**: -https://github.com/digdeeproots/provable-refactorings - -- **Arlo Belshee's Risk Aware Commit Notation**: -[Arlo's Commit Notation](https://github.com/RefactoringCombos/ArlosCommitNotation) - A notation for small commits messages that show the risk involved in each step - -- **Martin Fowler's Refactoring**: [Catalog of Refactorings](https://refactoring.com/catalog/) - Authoritative reference for safe transformations - -- **Michael Feathers' "Working Effectively with Legacy Code"** - [Essential techniques for adding tests to untested code](https://archive.org/details/working-effectively-with-legacy-code) - -#### Success Criteria for Each Phase -- **Phase 1**: All files compile without errors -- **Phase 2**: All unit tests pass -- **Phase 3**: Integration tests pass -- **Phase 4**: One legacy usage successfully replaced - -### RISK MITIGATION - -#### Build Failures -- Make many small and reversible changes -- Test on a clean environment regularly -- Aim to improve the [pipeline](https://github.com/pitraclm/pitrac/blob/a3b3f1baad0ded3066b0c9585ce4879ef6314d18/.github/workflows/camera-tests.yml) test coverage -- Maintain a working baseline with frequent small pull requests and short lived branches - -#### Integration Issues -- Create comprehensive test coverage before migration -- Use feature flags to enable/disable new implementation -- Maintain legacy code until migration complete - -#### Performance Issues -- Benchmark existing performance before migration -- Monitor performance after each migration step -- Have a rollback plan for any performance regressions - ---- - - -## **Next Steps:** -1. Execute Phase 1: Namespace alignment and business logic extension -2. Create integration adapters for legacy `GolfSimCamera` -3. Begin incremental migration of specific usage points -4. Leverage existing test framework for validation diff --git a/Software/LMSourceCode/ImageProcessing/Camera/README.md b/Software/LMSourceCode/ImageProcessing/Camera/README.md deleted file mode 100644 index 29d0f9ea..00000000 --- a/Software/LMSourceCode/ImageProcessing/Camera/README.md +++ /dev/null @@ -1,96 +0,0 @@ -# Camera Bounded Context Tests - Quick Start - -## Prerequisites - -- CMake (3.6 or later) -- C++ compiler (Visual Studio, MinGW, or Clang) -- Boost libraries with unit_test_framework - -## Quick Start - -### Option 1: Simple PowerShell Script (Recommended) -```powershell -# From Camera directory -.\build_tests.ps1 -``` - -### Option 2: Manual CMake -```powershell -# Create and enter build directory -mkdir build -cd build - -# Configure -cmake .. - -# Build -cmake --build . - -# Run tests -.\Debug\camera_tests.exe -# or -.\camera_tests.exe -``` - -### Option 3: Using CTest -```powershell -cd build\tests -ctest -C Debug -V -``` - -## What Gets Tested - -- **Domain Types**: Size, Transform, PixelFormat, ColorSpace -- **Platform Selection**: Automatic platform detection -- **Cross-Platform**: Works on both Windows and Unix -- **Performance**: Basic timing benchmarks -- **Parametric**: Tests with comprehensive data sets - -## Test Output Example -``` -Running 15 test cases... -Setting up domain type test fixture -*** No errors detected -Tearing down domain type test fixture - -=============================================================================== -Test suite "CameraBoundedContextTests" passed with: -15 test cases out of 15 passed -``` - -## Troubleshooting - -### Boost Not Found -If CMake can't find Boost: -```powershell -# Option 1: Set environment variable -$env:BOOST_ROOT = "C:\path\to\boost" -.\build_tests.ps1 - -# Option 2: Specify during configure -mkdir build -cd build -cmake .. -DBOOST_DIR=C:\path\to\boost -cmake --build . -``` - -### Different Compiler -```powershell -# For Visual Studio -cmake .. -G "Visual Studio 16 2019" - -# For MinGW -cmake .. -G "MinGW Makefiles" -``` - -The test framework is completely self-contained and doesn't require the full PiTrac build system! - -## Continuous Integration - -The Camera tests run automatically on GitHub Actions: -- **Triggers**: Push to any branch, Pull Requests -- **Platform**: Windows (Visual Studio 2019) -- **Path Filter**: Only runs when Camera code changes -- **Test Suites**: All 25 test cases across 4 test suites - -View test results in the [Actions tab](../../actions) of the repository. diff --git a/Software/LMSourceCode/ImageProcessing/Camera/build_tests.ps1 b/Software/LMSourceCode/ImageProcessing/Camera/build_tests.ps1 deleted file mode 100644 index de503d87..00000000 --- a/Software/LMSourceCode/ImageProcessing/Camera/build_tests.ps1 +++ /dev/null @@ -1,67 +0,0 @@ -# Simple Camera Test Build Script for Windows -# Builds and runs Camera bounded context tests using CMake and Boost - -Write-Host "Camera Bounded Context Tests" -ForegroundColor Green -Write-Host "============================" -ForegroundColor Green - -$CameraDir = Get-Location -$BuildDir = "$CameraDir\build" - -# Check if we're in the Camera directory -if (!(Test-Path "domain\camera_domain.hpp")) { - Write-Host "Error: Run this script from the Camera directory" -ForegroundColor Red - exit 1 -} - -# Create and clean build directory -if (Test-Path $BuildDir) { - Remove-Item -Recurse -Force $BuildDir -} -New-Item -ItemType Directory -Path $BuildDir | Out-Null - -# Build and test -Push-Location $BuildDir - -Write-Host "Configuring..." -ForegroundColor Cyan -& cmake .. | Out-Null -if ($LASTEXITCODE -ne 0) { - Write-Host "CMake failed. Try: cmake .. -DBOOST_DIR=C:\path\to\boost" -ForegroundColor Red - Pop-Location - exit 1 -} - -Write-Host "Building..." -ForegroundColor Cyan -& cmake --build . | Out-Null -if ($LASTEXITCODE -ne 0) { - Write-Host "Build failed" -ForegroundColor Red - Pop-Location - exit 1 -} - -Write-Host "Running tests..." -ForegroundColor Cyan - -# Find and run the test executable -$testExe = @( - ".\tests\Debug\camera_tests.exe", - ".\tests\camera_tests.exe", - ".\Debug\camera_tests.exe", - ".\camera_tests.exe" -) | Where-Object { Test-Path $_ } | Select-Object -First 1 - -if (!$testExe) { - Write-Host "Test executable not found!" -ForegroundColor Red - Pop-Location - exit 1 -} - -& $testExe -$testResult = $LASTEXITCODE -Pop-Location - -if ($testResult -eq 0) { - Write-Host "✓ All tests passed!" -ForegroundColor Green -} else { - Write-Host "✗ Tests failed" -ForegroundColor Red -} - -exit $testResult diff --git a/Software/LMSourceCode/ImageProcessing/Camera/camera_platform.hpp b/Software/LMSourceCode/ImageProcessing/Camera/camera_platform.hpp deleted file mode 100644 index 67b46666..00000000 --- a/Software/LMSourceCode/ImageProcessing/Camera/camera_platform.hpp +++ /dev/null @@ -1,25 +0,0 @@ -/* - * Camera Platform Selector - * - * This header automatically includes the appropriate camera implementation - * based on the target platform. Use this single include throughout the - * codebase instead of platform-specific headers. - * * Example usage: - * #include "Camera/camera_platform.hpp" - * // Now you can use golf_sim::camera::domain types and platform-specific implementations - */ - -#pragma once - -// Always include the domain interface first -#include "domain/camera_domain.hpp" - -// Include platform-specific implementation -#ifdef __unix__ - #include "infrastructure/unix/libcamera_unix_impl.hpp" -#elif defined(_WIN32) || defined(WIN32) - // Windows implementation will be added here - // #include "infrastructure/windows/libcamera_windows_impl.hpp" -#else - #error "Unsupported platform for camera operations" -#endif diff --git a/Software/LMSourceCode/ImageProcessing/Camera/domain/camera_domain.hpp b/Software/LMSourceCode/ImageProcessing/Camera/domain/camera_domain.hpp deleted file mode 100644 index 3102a5e2..00000000 --- a/Software/LMSourceCode/ImageProcessing/Camera/domain/camera_domain.hpp +++ /dev/null @@ -1,38 +0,0 @@ -/* - * Domain interface for Camera bounded context - * - * This file defines the common interface for camera operations, - * independent of platform implementation. - * - * Step 1 of incremental refactoring: Define domain interface only. - * No existing files are modified in this step. - */ - -#pragma once - -namespace golf_sim::camera::domain { - - // Domain types that abstract platform-specific implementations - // These provide a clean interface for the application layer - - struct Size { - unsigned int width, height; - Size(unsigned int w = 0, unsigned int h = 0) : width(w), height(h) {} - }; - - struct Transform { - int value = 0; - Transform(int v = 0) : value(v) {} - }; - - struct PixelFormat { - unsigned int fourcc = 0; - PixelFormat(unsigned int f = 0) : fourcc(f) {} - }; - - struct ColorSpace { - int value = 0; - ColorSpace(int v = 0) : value(v) {} - }; - -} // namespace golf_sim::camera::domain diff --git a/Software/LMSourceCode/ImageProcessing/Camera/infrastructure/unix/libcamera_unix_impl.hpp b/Software/LMSourceCode/ImageProcessing/Camera/infrastructure/unix/libcamera_unix_impl.hpp deleted file mode 100644 index b527f7de..00000000 --- a/Software/LMSourceCode/ImageProcessing/Camera/infrastructure/unix/libcamera_unix_impl.hpp +++ /dev/null @@ -1,42 +0,0 @@ -/* - * Unix/Linux infrastructure implementation for camera operations - * - * This file provides the actual libcamera implementations for Unix/Linux platforms. - * It bridges between our domain interface and the real libcamera library. - * - * Unix infrastructure layer. - * This will allow Unix builds to continue using real libcamera while we prepare - * for eventual migration to domain interface. - */ - -#pragma once - -#ifdef __unix__ - -// Include actual libcamera headers for Unix/Linux -#include -#include -#include -#include -#include -#include - -// Include our domain interface -#include "../../domain/camera_domain.hpp" - -namespace golf_sim::camera::infrastructure { - - // Unix implementation uses actual libcamera types directly - // This namespace provides the bridge between domain and infrastructure - - // For now, we simply alias the real types - // Later, we can add conversion functions if needed - using CameraSize = libcamera::Size; - using CameraTransform = libcamera::Transform; - using CameraPixelFormat = libcamera::PixelFormat; - using CameraColorSpace = libcamera::ColorSpace; - using CameraControlList = libcamera::ControlList; using CameraRequest = libcamera::Request; - -} // namespace golf_sim::camera::infrastructure - -#endif // __unix__ diff --git a/Software/LMSourceCode/ImageProcessing/Camera/tests/CMakeLists.txt b/Software/LMSourceCode/ImageProcessing/Camera/tests/CMakeLists.txt deleted file mode 100644 index 950edb73..00000000 --- a/Software/LMSourceCode/ImageProcessing/Camera/tests/CMakeLists.txt +++ /dev/null @@ -1,133 +0,0 @@ -# Camera Bounded Context - Unit Tests -# Using Boost Test Framework with xUnit Arrange-Act-Assert pattern - -# Configure Boost detection -set(Boost_USE_STATIC_LIBS OFF) -set(Boost_USE_MULTITHREADED ON) -set(Boost_USE_STATIC_RUNTIME OFF) - -# Debug information -message(STATUS "Looking for Boost Test framework...") -message(STATUS "CMAKE_PREFIX_PATH: ${CMAKE_PREFIX_PATH}") -message(STATUS "Boost_ROOT: ${Boost_ROOT}") -message(STATUS "BOOST_ROOT: $ENV{BOOST_ROOT}") - -# Try different Boost component names based on platform and version -if(WIN32) - # On Windows, try different naming conventions - find_package(Boost QUIET COMPONENTS unit_test_framework) - if(NOT Boost_unit_test_framework_FOUND) - message(STATUS "unit_test_framework not found, trying 'test'") - find_package(Boost QUIET COMPONENTS test) - if(NOT Boost_test_FOUND) - message(STATUS "test not found, trying 'test_exec_monitor'") - find_package(Boost QUIET COMPONENTS test_exec_monitor) - if(NOT Boost_test_exec_monitor_FOUND) - message(STATUS "No test libraries found, falling back to header-only") - # Try header-only approach as fallback - find_package(Boost REQUIRED) - set(BOOST_TEST_HEADER_ONLY TRUE) - endif() - endif() - endif() -else() - # On Unix systems, standard naming should work - find_package(Boost REQUIRED COMPONENTS unit_test_framework) -endif() - -# Debug what we found -message(STATUS "Boost_FOUND: ${Boost_FOUND}") -message(STATUS "Boost_VERSION: ${Boost_VERSION}") -message(STATUS "Boost_INCLUDE_DIRS: ${Boost_INCLUDE_DIRS}") -message(STATUS "Boost_LIBRARIES: ${Boost_LIBRARIES}") -message(STATUS "BOOST_TEST_HEADER_ONLY: ${BOOST_TEST_HEADER_ONLY}") - -# Create the test executable target -add_executable(camera_tests - test_main.cpp - domain/test_camera_domain.cpp - domain/test_advanced_domain.cpp - infrastructure/test_platform_selection.cpp -) - -# Configure linking based on what we found -if(BOOST_TEST_HEADER_ONLY) - # Header-only mode - no linking required - target_compile_definitions(camera_tests - PRIVATE - BOOST_TEST_HEADER_ONLY=1 - ) - target_include_directories(camera_tests - PRIVATE - ${Boost_INCLUDE_DIRS} - ) -else() - # Linked library mode - if(TARGET Boost::unit_test_framework) - target_link_libraries(camera_tests PRIVATE Boost::unit_test_framework) - target_compile_definitions(camera_tests PRIVATE BOOST_TEST_DYN_LINK) - elseif(TARGET Boost::test) - target_link_libraries(camera_tests PRIVATE Boost::test) - target_compile_definitions(camera_tests PRIVATE BOOST_TEST_DYN_LINK) - elseif(TARGET Boost::test_exec_monitor) - target_link_libraries(camera_tests PRIVATE Boost::test_exec_monitor) - target_compile_definitions(camera_tests PRIVATE BOOST_TEST_DYN_LINK) - else() - # Fallback to old-style variables - target_link_libraries(camera_tests PRIVATE ${Boost_LIBRARIES}) - target_include_directories(camera_tests PRIVATE ${Boost_INCLUDE_DIRS}) - target_compile_definitions(camera_tests PRIVATE BOOST_TEST_DYN_LINK) - endif() -endif() - -# Include paths for testing -target_include_directories(camera_tests - PRIVATE - ${CMAKE_CURRENT_SOURCE_DIR}/.. # Camera bounded context root - ${CMAKE_CURRENT_SOURCE_DIR} # Test directory -) - -# Enable testing for this directory -enable_testing() - -# Register the test with CTest -add_test( - NAME camera_unit_tests - COMMAND camera_tests - WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR} -) - -# Set test properties for better output -set_tests_properties(camera_unit_tests - PROPERTIES - TIMEOUT 30 - LABELS "unit;camera" -) - -# Create test groups for selective running -add_test( - NAME camera_domain_tests - COMMAND camera_tests --run_test=DomainTests - WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR} -) - -add_test( - NAME camera_infrastructure_tests - COMMAND camera_tests --run_test=InfrastructureTests - WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR} -) - -# Platform-specific conditional tests -if(UNIX) - add_test( - NAME camera_unix_tests - COMMAND camera_tests --run_test=UnixTests - WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR} - ) -elseif(WIN32) - add_test( - NAME camera_windows_tests - COMMAND camera_tests --run_test=WindowsTests - WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR} - ) -endif() diff --git a/Software/LMSourceCode/ImageProcessing/Camera/tests/domain/test_advanced_domain.cpp b/Software/LMSourceCode/ImageProcessing/Camera/tests/domain/test_advanced_domain.cpp deleted file mode 100644 index 1efb5c08..00000000 --- a/Software/LMSourceCode/ImageProcessing/Camera/tests/domain/test_advanced_domain.cpp +++ /dev/null @@ -1,162 +0,0 @@ -/* - * Advanced Domain Tests - * - * Parametric tests for camera domain types using test utilities. - */ - -#include -#include "test_utilities.hpp" - -BOOST_AUTO_TEST_SUITE(AdvancedDomainTests) - -BOOST_FIXTURE_TEST_CASE(size_parametric_construction_test, camera_test_utils::DomainTypeFixture) { - // Arrange - auto test_sizes = camera_test_utils::CommonTestData::getValidSizes(); - - // Act & Assert - camera_test_utils::runParametricTest(test_sizes, [this](const auto& size_pair) { - // Arrange - unsigned int width = size_pair.first; - unsigned int height = size_pair.second; - - // Act - golf_sim::camera::domain::Size size(width, height); - - // Assert - assertSizeEquals(size, width, height); - }); -} - -BOOST_FIXTURE_TEST_CASE(transform_parametric_construction_test, camera_test_utils::DomainTypeFixture) { - // Arrange - auto test_transforms = camera_test_utils::CommonTestData::getValidTransforms(); - - // Act & Assert - camera_test_utils::runParametricTest(test_transforms, [this](int transform_value) { - // Arrange - // (transform_value provided by parametric test) - - // Act - golf_sim::camera::domain::Transform transform(transform_value); - - // Assert - assertTransformEquals(transform, transform_value); - }); -} - -BOOST_FIXTURE_TEST_CASE(pixel_format_parametric_construction_test, camera_test_utils::DomainTypeFixture) { - // Arrange - auto test_formats = camera_test_utils::CommonTestData::getValidPixelFormats(); - - // Act & Assert - camera_test_utils::runParametricTest(test_formats, [this](unsigned int fourcc_value) { - // Arrange - // (fourcc_value provided by parametric test) - - // Act - golf_sim::camera::domain::PixelFormat format(fourcc_value); - - // Assert - assertPixelFormatEquals(format, fourcc_value); - }); -} - -BOOST_FIXTURE_TEST_CASE(color_space_parametric_construction_test, camera_test_utils::DomainTypeFixture) { - // Arrange - auto test_colorspaces = camera_test_utils::CommonTestData::getValidColorSpaces(); - - // Act & Assert - camera_test_utils::runParametricTest(test_colorspaces, [this](int colorspace_value) { - // Arrange - // (colorspace_value provided by parametric test) - - // Act - golf_sim::camera::domain::ColorSpace colorspace(colorspace_value); - - // Assert - assertColorSpaceEquals(colorspace, colorspace_value); - }); -} - -BOOST_FIXTURE_TEST_CASE(domain_types_performance_test, camera_test_utils::PerformanceFixture) { - // Arrange - const size_t iteration_count = 100000; - std::vector sizes; - std::vector transforms; - sizes.reserve(iteration_count); - transforms.reserve(iteration_count); - - // Act - for (size_t i = 0; i < iteration_count; ++i) { - sizes.emplace_back(1920, 1080); - transforms.emplace_back(90); - } - - // Assert - BOOST_CHECK_EQUAL(sizes.size(), iteration_count); - BOOST_CHECK_EQUAL(transforms.size(), iteration_count); - - // Verify first and last elements - BOOST_CHECK_EQUAL(sizes[0].width, 1920); - BOOST_CHECK_EQUAL(sizes[iteration_count - 1].height, 1080); - BOOST_CHECK_EQUAL(transforms[0].value, 90); - BOOST_CHECK_EQUAL(transforms[iteration_count - 1].value, 90); -} - -BOOST_AUTO_TEST_CASE(domain_types_memory_layout_test) { - // Arrange - // (Testing memory layout and size of domain types) - - // Act & Assert - // Verify that domain types have expected memory characteristics - BOOST_CHECK(sizeof(golf_sim::camera::domain::Size) >= sizeof(unsigned int) * 2); - BOOST_CHECK(sizeof(golf_sim::camera::domain::Transform) >= sizeof(int)); - BOOST_CHECK(sizeof(golf_sim::camera::domain::PixelFormat) >= sizeof(unsigned int)); - BOOST_CHECK(sizeof(golf_sim::camera::domain::ColorSpace) >= sizeof(int)); - - // Verify types are not excessively large (should be simple value types) - BOOST_CHECK(sizeof(golf_sim::camera::domain::Size) <= 16); // Allow some padding - BOOST_CHECK(sizeof(golf_sim::camera::domain::Transform) <= 8); - BOOST_CHECK(sizeof(golf_sim::camera::domain::PixelFormat) <= 8); - BOOST_CHECK(sizeof(golf_sim::camera::domain::ColorSpace) <= 8); -} - -BOOST_AUTO_TEST_CASE(domain_types_assignment_test) { - // Arrange - golf_sim::camera::domain::Size size1(640, 480); - golf_sim::camera::domain::Size size2(1920, 1080); - golf_sim::camera::domain::Transform transform1(0); - golf_sim::camera::domain::Transform transform2(90); - - // Act - size1 = size2; - transform1 = transform2; - - // Assert - BOOST_CHECK_EQUAL(size1.width, size2.width); - BOOST_CHECK_EQUAL(size1.height, size2.height); - BOOST_CHECK_EQUAL(transform1.value, transform2.value); -} - -BOOST_AUTO_TEST_CASE(domain_types_in_arrays_test) { - // Arrange - const size_t array_size = 5; - golf_sim::camera::domain::Size sizes[array_size]; - golf_sim::camera::domain::Transform transforms[array_size]; - - // Act - for (size_t i = 0; i < array_size; ++i) { - sizes[i] = golf_sim::camera::domain::Size(static_cast(i * 100), - static_cast(i * 100)); - transforms[i] = golf_sim::camera::domain::Transform(static_cast(i * 90)); - } - - // Assert - for (size_t i = 0; i < array_size; ++i) { - BOOST_CHECK_EQUAL(sizes[i].width, i * 100); - BOOST_CHECK_EQUAL(sizes[i].height, i * 100); - BOOST_CHECK_EQUAL(transforms[i].value, static_cast(i * 90)); - } -} - -BOOST_AUTO_TEST_SUITE_END() diff --git a/Software/LMSourceCode/ImageProcessing/Camera/tests/domain/test_camera_domain.cpp b/Software/LMSourceCode/ImageProcessing/Camera/tests/domain/test_camera_domain.cpp deleted file mode 100644 index 8d40272a..00000000 --- a/Software/LMSourceCode/ImageProcessing/Camera/tests/domain/test_camera_domain.cpp +++ /dev/null @@ -1,167 +0,0 @@ -/* - * Camera Domain Tests - * - * Unit tests for the camera domain interface. - * Tests the domain types and their behavior without platform dependencies. - */ - -#include -#include "domain/camera_domain.hpp" - -BOOST_AUTO_TEST_SUITE(DomainTests) - -BOOST_AUTO_TEST_CASE(size_default_construction) { - // Arrange - // (No setup needed for default construction) - - // Act - golf_sim::camera::domain::Size size; - - // Assert - BOOST_CHECK_EQUAL(size.width, 0); - BOOST_CHECK_EQUAL(size.height, 0); -} - -BOOST_AUTO_TEST_CASE(size_parameterized_construction) { - // Arrange - const unsigned int expected_width = 1920; - const unsigned int expected_height = 1080; - - // Act - golf_sim::camera::domain::Size size(expected_width, expected_height); - - // Assert - BOOST_CHECK_EQUAL(size.width, expected_width); - BOOST_CHECK_EQUAL(size.height, expected_height); -} - -BOOST_AUTO_TEST_CASE(size_copy_construction) { - // Arrange - golf_sim::camera::domain::Size original(800, 600); - - // Act - golf_sim::camera::domain::Size copy(original); - - // Assert - BOOST_CHECK_EQUAL(copy.width, original.width); - BOOST_CHECK_EQUAL(copy.height, original.height); -} - -BOOST_AUTO_TEST_CASE(transform_default_construction) { - // Arrange - // (No setup needed for default construction) - - // Act - golf_sim::camera::domain::Transform transform; - - // Assert - BOOST_CHECK_EQUAL(transform.value, 0); -} - -BOOST_AUTO_TEST_CASE(transform_parameterized_construction) { - // Arrange - const int expected_value = 90; // Typical rotation value - - // Act - golf_sim::camera::domain::Transform transform(expected_value); - - // Assert - BOOST_CHECK_EQUAL(transform.value, expected_value); -} - -BOOST_AUTO_TEST_CASE(pixel_format_default_construction) { - // Arrange - // (No setup needed for default construction) - - // Act - golf_sim::camera::domain::PixelFormat format; - - // Assert - BOOST_CHECK_EQUAL(format.fourcc, 0); -} - -BOOST_AUTO_TEST_CASE(pixel_format_parameterized_construction) { - // Arrange - const unsigned int expected_fourcc = 0x32315659; // YV12 format - - // Act - golf_sim::camera::domain::PixelFormat format(expected_fourcc); - - // Assert - BOOST_CHECK_EQUAL(format.fourcc, expected_fourcc); -} - -BOOST_AUTO_TEST_CASE(color_space_default_construction) { - // Arrange - // (No setup needed for default construction) - - // Act - golf_sim::camera::domain::ColorSpace colorSpace; - - // Assert - BOOST_CHECK_EQUAL(colorSpace.value, 0); -} - -BOOST_AUTO_TEST_CASE(color_space_parameterized_construction) { - // Arrange - const int expected_value = 1; // Typical color space identifier - - // Act - golf_sim::camera::domain::ColorSpace colorSpace(expected_value); - - // Assert - BOOST_CHECK_EQUAL(colorSpace.value, expected_value); -} - -BOOST_AUTO_TEST_CASE(domain_types_are_value_types) { - // Arrange - golf_sim::camera::domain::Size size1(1920, 1080); - golf_sim::camera::domain::Size size2(1920, 1080); - golf_sim::camera::domain::Transform transform1(90); - golf_sim::camera::domain::Transform transform2(90); - - // Act & Assert - Test that objects with same values behave as value types - BOOST_CHECK_EQUAL(size1.width, size2.width); - BOOST_CHECK_EQUAL(size1.height, size2.height); - BOOST_CHECK_EQUAL(transform1.value, transform2.value); -} - -BOOST_AUTO_TEST_CASE(size_supports_zero_dimensions) { - // Arrange - // (Testing edge case of zero dimensions) - - // Act - golf_sim::camera::domain::Size zero_size(0, 0); - golf_sim::camera::domain::Size zero_width(0, 480); - golf_sim::camera::domain::Size zero_height(640, 0); - - // Assert - BOOST_CHECK_EQUAL(zero_size.width, 0); - BOOST_CHECK_EQUAL(zero_size.height, 0); - BOOST_CHECK_EQUAL(zero_width.width, 0); - BOOST_CHECK_EQUAL(zero_width.height, 480); - BOOST_CHECK_EQUAL(zero_height.width, 640); - BOOST_CHECK_EQUAL(zero_height.height, 0); -} - -BOOST_AUTO_TEST_CASE(types_support_large_values) { - // Arrange - const unsigned int max_dimension = 4294967295U; // Close to UINT_MAX - const int max_transform = 2147483647; // Close to INT_MAX - const unsigned int max_fourcc = 4294967295U; // Close to UINT_MAX - - // Act - golf_sim::camera::domain::Size large_size(max_dimension, max_dimension); - golf_sim::camera::domain::Transform large_transform(max_transform); - golf_sim::camera::domain::PixelFormat large_format(max_fourcc); - golf_sim::camera::domain::ColorSpace large_colorspace(max_transform); - - // Assert - BOOST_CHECK_EQUAL(large_size.width, max_dimension); - BOOST_CHECK_EQUAL(large_size.height, max_dimension); - BOOST_CHECK_EQUAL(large_transform.value, max_transform); - BOOST_CHECK_EQUAL(large_format.fourcc, max_fourcc); - BOOST_CHECK_EQUAL(large_colorspace.value, max_transform); -} - -BOOST_AUTO_TEST_SUITE_END() diff --git a/Software/LMSourceCode/ImageProcessing/Camera/tests/infrastructure/test_platform_selection.cpp b/Software/LMSourceCode/ImageProcessing/Camera/tests/infrastructure/test_platform_selection.cpp deleted file mode 100644 index 1363fcae..00000000 --- a/Software/LMSourceCode/ImageProcessing/Camera/tests/infrastructure/test_platform_selection.cpp +++ /dev/null @@ -1,152 +0,0 @@ -/* - * Platform Selection Tests - * - * Unit tests for the camera platform selection mechanism. - * Tests that the correct platform implementation is selected and basic integration works. - */ - -#include -#include "camera_platform.hpp" -#include - -BOOST_AUTO_TEST_SUITE(InfrastructureTests) - -BOOST_AUTO_TEST_CASE(platform_header_includes_domain) { - // Arrange - // (Testing that including camera_platform.hpp provides domain types) - - // Act - golf_sim::camera::domain::Size size(640, 480); - golf_sim::camera::domain::Transform transform(90); - golf_sim::camera::domain::PixelFormat format(0x32315659); - golf_sim::camera::domain::ColorSpace colorSpace(1); - - // Assert - BOOST_CHECK_EQUAL(size.width, 640); - BOOST_CHECK_EQUAL(size.height, 480); - BOOST_CHECK_EQUAL(transform.value, 90); - BOOST_CHECK_EQUAL(format.fourcc, 0x32315659); - BOOST_CHECK_EQUAL(colorSpace.value, 1); -} - -BOOST_AUTO_TEST_CASE(single_include_provides_complete_interface) { - // Arrange - // (Testing that single include provides all necessary types) - - // Act - Create instances of all domain types - golf_sim::camera::domain::Size test_size; - golf_sim::camera::domain::Transform test_transform; - golf_sim::camera::domain::PixelFormat test_format; - golf_sim::camera::domain::ColorSpace test_colorspace; - - // Assert - Verify types are available and constructible - BOOST_CHECK_NO_THROW(test_size = golf_sim::camera::domain::Size(1280, 720)); - BOOST_CHECK_NO_THROW(test_transform = golf_sim::camera::domain::Transform(180)); - BOOST_CHECK_NO_THROW(test_format = golf_sim::camera::domain::PixelFormat(0x56595559)); - BOOST_CHECK_NO_THROW(test_colorspace = golf_sim::camera::domain::ColorSpace(2)); - - // Verify the values were set correctly - BOOST_CHECK_EQUAL(test_size.width, 1280); - BOOST_CHECK_EQUAL(test_size.height, 720); - BOOST_CHECK_EQUAL(test_transform.value, 180); - BOOST_CHECK_EQUAL(test_format.fourcc, 0x56595559); - BOOST_CHECK_EQUAL(test_colorspace.value, 2); -} - -BOOST_AUTO_TEST_SUITE_END() - -// Platform-specific test suites -#ifdef __unix__ -BOOST_AUTO_TEST_SUITE(UnixTests) - -BOOST_AUTO_TEST_CASE(unix_platform_implementation_available) { - // Arrange - // (Testing Unix platform-specific functionality when available) - - // Act & Assert - // On Unix, we should have access to both domain and infrastructure types - golf_sim::camera::domain::Size domain_size(1920, 1080); - BOOST_CHECK_EQUAL(domain_size.width, 1920); - BOOST_CHECK_EQUAL(domain_size.height, 1080); - - // Note: Additional Unix-specific tests can be added here - // when the Unix infrastructure implementation provides more functionality -} - -BOOST_AUTO_TEST_SUITE_END() - -#elif defined(_WIN32) || defined(WIN32) -BOOST_AUTO_TEST_SUITE(WindowsTests) - -BOOST_AUTO_TEST_CASE(windows_platform_implementation_available) { - // Arrange - // (Testing Windows platform-specific functionality when available) - - // Act & Assert - // On Windows, we should have access to domain types - golf_sim::camera::domain::Size domain_size(1920, 1080); - BOOST_CHECK_EQUAL(domain_size.width, 1920); - BOOST_CHECK_EQUAL(domain_size.height, 1080); - - // Note: Additional Windows-specific tests will be added here - // when the Windows infrastructure implementation is created -} - -BOOST_AUTO_TEST_SUITE_END() - -#endif - -// Integration tests that should work on all platforms -BOOST_AUTO_TEST_SUITE(CrossPlatformTests) - -BOOST_AUTO_TEST_CASE(platform_abstraction_provides_consistent_interface) { - // Arrange - const unsigned int test_width = 800; - const unsigned int test_height = 600; - const int test_transform = 270; - const unsigned int test_fourcc = 0x32315559; // YUV format - const int test_colorspace = 3; - - // Act - golf_sim::camera::domain::Size size(test_width, test_height); - golf_sim::camera::domain::Transform transform(test_transform); - golf_sim::camera::domain::PixelFormat format(test_fourcc); - golf_sim::camera::domain::ColorSpace colorSpace(test_colorspace); - - // Assert - Same interface works regardless of platform - BOOST_CHECK_EQUAL(size.width, test_width); - BOOST_CHECK_EQUAL(size.height, test_height); - BOOST_CHECK_EQUAL(transform.value, test_transform); - BOOST_CHECK_EQUAL(format.fourcc, test_fourcc); - BOOST_CHECK_EQUAL(colorSpace.value, test_colorspace); -} - -BOOST_AUTO_TEST_CASE(domain_types_work_in_collections) { - // Arrange - std::vector sizes; - std::vector transforms; - - // Act - sizes.push_back(golf_sim::camera::domain::Size(640, 480)); - sizes.push_back(golf_sim::camera::domain::Size(1280, 720)); - sizes.push_back(golf_sim::camera::domain::Size(1920, 1080)); - - transforms.push_back(golf_sim::camera::domain::Transform(0)); - transforms.push_back(golf_sim::camera::domain::Transform(90)); - transforms.push_back(golf_sim::camera::domain::Transform(180)); - transforms.push_back(golf_sim::camera::domain::Transform(270)); - - // Assert - BOOST_CHECK_EQUAL(sizes.size(), 3); - BOOST_CHECK_EQUAL(transforms.size(), 4); - - BOOST_CHECK_EQUAL(sizes[0].width, 640); - BOOST_CHECK_EQUAL(sizes[0].height, 480); - BOOST_CHECK_EQUAL(sizes[2].width, 1920); - BOOST_CHECK_EQUAL(sizes[2].height, 1080); - - BOOST_CHECK_EQUAL(transforms[1].value, 90); - BOOST_CHECK_EQUAL(transforms[3].value, 270); -} - -BOOST_AUTO_TEST_SUITE_END() diff --git a/Software/LMSourceCode/ImageProcessing/Camera/tests/test_main.cpp b/Software/LMSourceCode/ImageProcessing/Camera/tests/test_main.cpp deleted file mode 100644 index 55fb2974..00000000 --- a/Software/LMSourceCode/ImageProcessing/Camera/tests/test_main.cpp +++ /dev/null @@ -1,29 +0,0 @@ -/* - * Camera Bounded Context - Test Main Entry Point - * - * Boost Test framework main for Camera bounded context unit tests. - */ - -#define BOOST_TEST_MODULE CameraBoundedContextTests - -// Support both header-only and linked Boost Test modes -#ifdef BOOST_TEST_HEADER_ONLY - #include -#else - #include -#endif - -// Global test setup and teardown can be added here if needed -struct GlobalTestFixture { - GlobalTestFixture() { - // Global test initialization - BOOST_TEST_MESSAGE("Starting Camera Bounded Context Tests"); - } - - ~GlobalTestFixture() { - // Global test cleanup - BOOST_TEST_MESSAGE("Completed Camera Bounded Context Tests"); - } -}; - -BOOST_GLOBAL_FIXTURE(GlobalTestFixture); diff --git a/Software/LMSourceCode/ImageProcessing/Camera/tests/test_utilities.hpp b/Software/LMSourceCode/ImageProcessing/Camera/tests/test_utilities.hpp deleted file mode 100644 index 71a36e47..00000000 --- a/Software/LMSourceCode/ImageProcessing/Camera/tests/test_utilities.hpp +++ /dev/null @@ -1,111 +0,0 @@ -/* - * Test Utilities for Camera Bounded Context - * - * Common utilities and fixtures for Camera unit tests. - * Provides reusable helpers and test data. - */ - -#pragma once - -#include -#include "camera_platform.hpp" -#include -#include -#include -#include - -namespace camera_test_utils { - - // Common test data for camera domain types - struct CommonTestData { - static std::vector> getValidSizes() { - return { - {640, 480}, // VGA - {800, 600}, // SVGA - {1024, 768}, // XGA - {1280, 720}, // HD 720p - {1920, 1080}, // Full HD 1080p - {3840, 2160}, // 4K UHD - {0, 0}, // Edge case: zero size - {1, 1}, // Edge case: minimum size - {4294967295U, 4294967295U} // Edge case: maximum size - }; - } - - static std::vector getValidTransforms() { - return {0, 90, 180, 270, -90, -180, -270, 360, 450}; - } - - static std::vector getValidPixelFormats() { - return { - 0x32315659, // YV12 - 0x32315559, // YUV - 0x56595559, // YUYV - 0x50424752, // RGBP - 0x42475224, // RGB4 - 0, // Edge case: no format - 4294967295U // Edge case: maximum value - }; - } static std::vector getValidColorSpaces() { - return {0, 1, 2, 3, -1, 100, 2147483647, -2147483647-1}; - } - }; - - // Test fixture for domain type testing - struct DomainTypeFixture { - DomainTypeFixture() { - BOOST_TEST_MESSAGE("Setting up domain type test fixture"); - } - - ~DomainTypeFixture() { - BOOST_TEST_MESSAGE("Tearing down domain type test fixture"); - } - - // Helper methods for common assertions - void assertSizeEquals(const golf_sim::camera::domain::Size& actual, - unsigned int expected_width, - unsigned int expected_height) { - BOOST_CHECK_EQUAL(actual.width, expected_width); - BOOST_CHECK_EQUAL(actual.height, expected_height); - } - - void assertTransformEquals(const golf_sim::camera::domain::Transform& actual, - int expected_value) { - BOOST_CHECK_EQUAL(actual.value, expected_value); - } - - void assertPixelFormatEquals(const golf_sim::camera::domain::PixelFormat& actual, - unsigned int expected_fourcc) { - BOOST_CHECK_EQUAL(actual.fourcc, expected_fourcc); - } - - void assertColorSpaceEquals(const golf_sim::camera::domain::ColorSpace& actual, - int expected_value) { - BOOST_CHECK_EQUAL(actual.value, expected_value); - } - }; - - // Parametric test helper for testing multiple values - template - void runParametricTest(const std::vector& testValues, TestFunc testFunction) { - for (const auto& value : testValues) { - testFunction(value); - } - } - - // Performance test helper for measuring basic operations - struct PerformanceFixture { - PerformanceFixture() : start_time(std::chrono::high_resolution_clock::now()) {} - - ~PerformanceFixture() { - auto end_time = std::chrono::high_resolution_clock::now(); - auto duration = std::chrono::duration_cast( - end_time - start_time).count(); - BOOST_TEST_MESSAGE("Test completed in " << duration << " microseconds"); - } - - private: - std::chrono::high_resolution_clock::time_point start_time; - }; - -} // namespace camera_test_utils diff --git a/Software/LMSourceCode/ImageProcessing/CameraTools/discoverPiCamLocation.sh b/Software/LMSourceCode/ImageProcessing/CameraTools/discoverPiCamLocation.sh index eaa1bc07..99f061f8 100755 --- a/Software/LMSourceCode/ImageProcessing/CameraTools/discoverPiCamLocation.sh +++ b/Software/LMSourceCode/ImageProcessing/CameraTools/discoverPiCamLocation.sh @@ -1,16 +1,15 @@ #!/bin/bash rm -f discover_media.txt discover_device.txt discover_result.txt $PITRAC_ROOT/test.txt -for((m=0; m<=5; ++m)) -do +for ((m = 0; m <= 5; ++m)); do rm -f discover_result.txt - media-ctl -d "/dev/media$m" --print-dot | grep imx > discover_media.txt - awk -F"imx296 " '{print $2}' < discover_media.txt | cut -d- -f1 > discover_device.txt - echo -n -e "Camera is at /dev/media$m on device number " > discover_result.txt - cat discover_device.txt >> discover_result.txt - -# If we found a camera, save the results. Don't stop -- there might be more than one camera - if grep imx discover_media.txt > /dev/null ; then cat discover_result.txt >> $PITRAC_ROOT/test.txt ; fi + media-ctl -d "/dev/media$m" --print-dot | grep imx >discover_media.txt + awk -F"imx296 " '{print $2}' discover_device.txt + echo -n -e "Camera is at /dev/media$m on device number " >discover_result.txt + cat discover_device.txt >>discover_result.txt + + # If we found a camera, save the results. Don't stop -- there might be more than one camera + if grep imx discover_media.txt >/dev/null; then cat discover_result.txt >>$PITRAC_ROOT/test.txt; fi done rm -f discover_media.txt discover_device.txt discover_result.txt diff --git a/Software/LMSourceCode/ImageProcessing/CameraTools/get_tuning_file.sh b/Software/LMSourceCode/ImageProcessing/CameraTools/get_tuning_file.sh index 848fcfbf..7ff0908a 100755 --- a/Software/LMSourceCode/ImageProcessing/CameraTools/get_tuning_file.sh +++ b/Software/LMSourceCode/ImageProcessing/CameraTools/get_tuning_file.sh @@ -4,7 +4,7 @@ # this machine. Only returns the _noir version. # -model=$(tr -d '\0' < /sys/firmware/devicetree/base/model) +model=$(tr -d '\0' /dev/null; then echo -e "/dev/media$m\n"; break; fi +if [[ $# -lt 4 ]]; then + echo Format: "$0" width height startX StartY + exit +fi +if [[ $# -gt 4 ]]; then SHTR="--shutter"; else SHTR=""; fi +for ((m = 1; m <= 5; ++m)); do + if media-ctl -d "/dev/media$m" --set-v4l2 "'imx296 10-001a':0 [fmt:SBGGR10_1X10/${1}x$2 crop:($(($3)),$(($4)))/${1}x$2]" >/dev/null; then + echo -e "/dev/media$m\n" + break + fi done -libcamera-hello --list-cameras ;echo +libcamera-hello --list-cameras +echo # rm -f /dev/shm/tst.pts -# libcamera-vid --width "$1" --height "$2" --denoise cdn_off --framerate "$3" --save-pts /dev/shm/tst.pts -t "$4" "$SHTR" "$5" -o /dev/shm/tst.h264 -n ;echo +# libcamera-vid --width "$1" --height "$2" --denoise cdn_off --framerate "$3" --save-pts /dev/shm/tst.pts -t "$4" "$SHTR" "$5" -o /dev/shm/tst.h264 -n ;echo # rm -f tstamps.csv && ptsanalyze /dev/shm/tst.pts diff --git a/Software/LMSourceCode/ImageProcessing/CameraTools/setCameraTriggerExternal.sh b/Software/LMSourceCode/ImageProcessing/CameraTools/setCameraTriggerExternal.sh index cf4ec697..f12f87cc 100755 --- a/Software/LMSourceCode/ImageProcessing/CameraTools/setCameraTriggerExternal.sh +++ b/Software/LMSourceCode/ImageProcessing/CameraTools/setCameraTriggerExternal.sh @@ -1,2 +1,2 @@ #!/bin/sh -echo 1 > /sys/module/imx296/parameters/trigger_mode +echo 1 >/sys/module/imx296/parameters/trigger_mode diff --git a/Software/LMSourceCode/ImageProcessing/CameraTools/setCameraTriggerInternal.sh b/Software/LMSourceCode/ImageProcessing/CameraTools/setCameraTriggerInternal.sh index f4902bd0..bffe6591 100755 --- a/Software/LMSourceCode/ImageProcessing/CameraTools/setCameraTriggerInternal.sh +++ b/Software/LMSourceCode/ImageProcessing/CameraTools/setCameraTriggerInternal.sh @@ -1,2 +1,2 @@ #!/bin/sh -echo 0 > /sys/module/imx296/parameters/trigger_mode +echo 0 >/sys/module/imx296/parameters/trigger_mode diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/CMakeLists.txt b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/CMakeLists.txt deleted file mode 100644 index caa21341..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/CMakeLists.txt +++ /dev/null @@ -1,304 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only -# Copyright (C) 2022-2025, Verdant Consultants, LLC. - -cmake_minimum_required(VERSION 3.16) -project(ImageAnalysis) - -# Handle CMake policy for FindBoost module removal in newer CMake versions -if(POLICY CMP0167) - cmake_policy(SET CMP0167 OLD) # Keep old behavior for compatibility - # TODO: Migrate to new Boost discovery when upgrading CMake -endif() - -# Handle CMake policy for BOOST_ROOT variable -if(POLICY CMP0144) - cmake_policy(SET CMP0144 NEW) -endif() - -# Set C++ standard -set(CMAKE_CXX_STANDARD 17) -set(CMAKE_CXX_STANDARD_REQUIRED ON) - -# Set default build type if not specified -if(NOT CMAKE_BUILD_TYPE) - set(CMAKE_BUILD_TYPE Release CACHE STRING "Build type" FORCE) - message(STATUS "Build type not specified, defaulting to Release") -endif() - -# Find required packages -# Configure OpenCV detection - require explicit OPENCV_DIR -if(NOT DEFINED ENV{OPENCV_DIR} AND NOT DEFINED OPENCV_DIR) - message(FATAL_ERROR - "OPENCV_DIR must be set. Please set environment variable or pass -DOPENCV_DIR= to CMake.\n" - "Example: $env:OPENCV_DIR = \"C:/opencv\" (PowerShell)\n" - "Or: cmake -DOPENCV_DIR=\"C:/opencv\" .." - ) -endif() - -# Use environment variable if set, otherwise use CMake variable -if(DEFINED ENV{OPENCV_DIR} AND NOT DEFINED OPENCV_DIR) - set(OPENCV_DIR $ENV{OPENCV_DIR}) - message(STATUS "Using OPENCV_DIR from environment: ${OPENCV_DIR}") -elseif(DEFINED OPENCV_DIR) - message(STATUS "Using OPENCV_DIR from CMake: ${OPENCV_DIR}") -endif() - -# Validate the path exists -if(NOT EXISTS "${OPENCV_DIR}") - message(FATAL_ERROR "OPENCV_DIR path does not exist: ${OPENCV_DIR}") -endif() - -# Add OpenCV directory to the prefix path so find_package can find it -# The path should point directly to the directory containing OpenCVConfig.cmake -list(APPEND CMAKE_PREFIX_PATH "${OPENCV_DIR}") -message(STATUS "Looking for OpenCVConfig.cmake in: ${OPENCV_DIR}") - -find_package(OpenCV REQUIRED) - -# Configure Boost detection - require explicit BOOST_ROOT -if(NOT DEFINED ENV{BOOST_ROOT} AND NOT DEFINED BOOST_ROOT) - message(FATAL_ERROR - "BOOST_ROOT must be set. Please set environment variable or pass -DBOOST_ROOT= to CMake.\n" - "Example: $env:BOOST_ROOT = \"C:/Dev_Libs/boost\" (PowerShell)\n" - "Or: cmake -DBOOST_ROOT=\"C:/Dev_Libs/boost\" .." - ) -endif() - -# Use environment variable if set, otherwise use CMake variable -if(DEFINED ENV{BOOST_ROOT} AND NOT DEFINED BOOST_ROOT) - set(BOOST_ROOT $ENV{BOOST_ROOT}) - message(STATUS "Using BOOST_ROOT from environment: ${BOOST_ROOT}") -elseif(DEFINED BOOST_ROOT) - message(STATUS "Using BOOST_ROOT from CMake: ${BOOST_ROOT}") -endif() - -# Validate the path exists -if(NOT EXISTS "${BOOST_ROOT}") - message(FATAL_ERROR "BOOST_ROOT path does not exist: ${BOOST_ROOT}") -endif() - -# Configure Boost detection - Traditional FindBoost for compatibility with static libraries -set(Boost_USE_STATIC_LIBS ON) # Use static libraries (consistent across environments) -set(Boost_USE_MULTITHREADED ON) # Enable multithreaded libraries -set(Boost_USE_STATIC_RUNTIME OFF) # Don't use static runtime (avoids conflicts) -set(Boost_NO_BOOST_CMAKE ON) # Use traditional FindBoost module for better static lib support -set(Boost_NO_SYSTEM_PATHS ON) # Only look in specified paths - -# Add Boost library directory to help CMake find the libraries -if(BOOST_ROOT) - list(APPEND CMAKE_PREFIX_PATH "${BOOST_ROOT}") - - # Set additional hints for modern CMake - set(Boost_ROOT "${BOOST_ROOT}") - set(BOOST_LIBRARYDIR "${BOOST_ROOT}/lib64-msvc-14.3") - set(BOOST_INCLUDEDIR "${BOOST_ROOT}/include") - - # Fallback if include is in root directory - if(NOT EXISTS "${BOOST_INCLUDEDIR}") - set(BOOST_INCLUDEDIR "${BOOST_ROOT}") - endif() -endif() - -# Find Boost with unit test framework -find_package(Boost REQUIRED COMPONENTS unit_test_framework) - -# Source files for the bounded context -set(IMAGE_ANALYSIS_SOURCES - infrastructure/opencv_image_analyzer.cpp -) - -set(IMAGE_ANALYSIS_HEADERS - domain/value_objects.hpp - domain/analysis_results.hpp - domain/interfaces.hpp - application/image_analysis_service.hpp - infrastructure/opencv_image_analyzer.hpp - infrastructure/ml_image_analyzer.hpp -) - -# Approval testing framework sources -set(APPROVAL_FRAMEWORK_SOURCES - tests/approval/approval_test_config.cpp - tests/approval/result_formatter.cpp - tests/approval/visualization_service.cpp - tests/approval/comparison_service.cpp - tests/approval/diff_launcher.cpp - tests/approval/approval_test_orchestrator.cpp -) - -set(APPROVAL_FRAMEWORK_HEADERS - tests/approval/approval_test_config.hpp - tests/approval/result_formatter.hpp - tests/approval/visualization_service.hpp - tests/approval/comparison_service.hpp - tests/approval/diff_launcher.hpp - tests/approval/approval_test_orchestrator.hpp -) - -# Create static library for the bounded context -add_library(image_analysis STATIC ${IMAGE_ANALYSIS_SOURCES}) - -# Link libraries using modern CMake targets -target_link_libraries(image_analysis - PUBLIC ${OpenCV_LIBS} # Use OpenCV_LIBS for consistency -) - -# Set include directories for the library -target_include_directories(image_analysis - PUBLIC - ${CMAKE_CURRENT_SOURCE_DIR} - ${CMAKE_CURRENT_SOURCE_DIR}/.. # For access to existing headers - PRIVATE - ${OpenCV_INCLUDE_DIRS} -) - -# Include approval framework headers for tests that need them -target_include_directories(image_analysis - PUBLIC - ${CMAKE_CURRENT_SOURCE_DIR}/tests/approval # For approval testing framework -) - -# Compiler flags -if(MSVC) - target_compile_options(image_analysis PRIVATE - /W4 # High warning level - $<$:/Od /Zi> - $<$:/O2 /DNDEBUG> - ) -else() - target_compile_options(image_analysis PRIVATE - -Wall -Wextra -Wpedantic - $<$:-g -O0> - $<$:-O3 -DNDEBUG> - ) -endif() - -# Function to configure Boost Test linking for a target -function(configure_boost_test_target target_name) - target_link_libraries(${target_name} PRIVATE - Boost::unit_test_framework - image_analysis - ${OpenCV_LIBS} # Use OpenCV_LIBS variable for consistency - ) - # Note: No BOOST_TEST_DYN_LINK definition needed for static linking -endfunction() - -enable_testing() - -# ============================================================================= -# Test Executables and Configuration -# ============================================================================= - -# Domain tests (no external dependencies) -add_executable(test_image_analysis_domain tests/test_image_analysis_domain.cpp) -configure_boost_test_target(test_image_analysis_domain) -add_test(NAME DomainTests COMMAND test_image_analysis_domain) - -# Domain validation tests (input validation and invariant enforcement) -add_executable(test_domain_validation tests/test_domain_validation.cpp) -configure_boost_test_target(test_domain_validation) -add_test(NAME DomainValidationTests COMMAND test_domain_validation) - -# OpenCV integration tests -add_executable(test_opencv_analyzer tests/test_opencv_analyzer.cpp) -configure_boost_test_target(test_opencv_analyzer) -add_test(NAME OpenCVTests COMMAND test_opencv_analyzer) - -# Application service tests (input validation, configuration) -add_executable(test_image_analysis_service tests/test_image_analysis_service.cpp) -configure_boost_test_target(test_image_analysis_service) -add_test(NAME ApplicationServiceTests COMMAND test_image_analysis_service) - -# Approval tests using clean architecture framework -add_executable(test_approval_with_pitrac_images - tests/test_approval_with_pitrac_images.cpp - ${APPROVAL_FRAMEWORK_SOURCES} -) -configure_boost_test_target(test_approval_with_pitrac_images) -add_test(NAME ApprovalTests COMMAND test_approval_with_pitrac_images) - -# Set test properties -set_tests_properties(DomainTests PROPERTIES - TIMEOUT 30 - LABELS "unit;domain" -) - -set_tests_properties(DomainValidationTests PROPERTIES - TIMEOUT 30 - LABELS "unit;domain;validation" -) - -set_tests_properties(OpenCVTests PROPERTIES - TIMEOUT 60 - LABELS "integration;opencv" -) - -set_tests_properties(ApplicationServiceTests PROPERTIES - TIMEOUT 30 - LABELS "unit;application;validation" -) - -set_tests_properties(ApprovalTests PROPERTIES - TIMEOUT 120 - LABELS "approval;pitrac;images;clean-architecture" -) - -# Install rules -install(TARGETS image_analysis - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib - RUNTIME DESTINATION bin -) - -install(FILES ${IMAGE_ANALYSIS_HEADERS} - DESTINATION include/ImageAnalysis -) - -# Install approval testing framework headers (for reuse in other projects) -install(FILES ${APPROVAL_FRAMEWORK_HEADERS} - DESTINATION include/ImageAnalysis/approval -) - -# Development convenience targets -add_custom_target(run_tests - COMMAND ctest --output-on-failure - DEPENDS test_image_analysis_domain test_opencv_analyzer test_image_analysis_service test_approval_with_pitrac_images - WORKING_DIRECTORY ${CMAKE_BINARY_DIR} - COMMENT "Running all image analysis tests" -) - -add_custom_target(run_domain_tests - COMMAND test_image_analysis_domain - DEPENDS test_image_analysis_domain - WORKING_DIRECTORY ${CMAKE_BINARY_DIR} - COMMENT "Running domain tests only" -) - -# TEMPORARILY DISABLED: Domain validation tests convenience target (Boost linking issue) -# add_custom_target(run_domain_validation_tests -# COMMAND test_domain_validation -# DEPENDS test_domain_validation -# WORKING_DIRECTORY ${CMAKE_BINARY_DIR} -# COMMENT "Running domain validation tests only" -# ) - -add_custom_target(run_integration_tests - COMMAND test_opencv_analyzer - DEPENDS test_opencv_analyzer - WORKING_DIRECTORY ${CMAKE_BINARY_DIR} - COMMENT "Running integration tests only" -) - -add_custom_target(run_approval_tests - COMMAND test_approval_with_pitrac_images - DEPENDS test_approval_with_pitrac_images - WORKING_DIRECTORY ${CMAKE_BINARY_DIR} - COMMENT "Running approval tests with clean architecture framework" -) - -# Print configuration summary -message(STATUS "Image Analysis Bounded Context Configuration:") -message(STATUS " OpenCV version: ${OpenCV_VERSION}") -message(STATUS " Build type: ${CMAKE_BUILD_TYPE}") -message(STATUS " C++ standard: ${CMAKE_CXX_STANDARD}") -message(STATUS " Tests enabled: ${Boost_FOUND}") diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/DEMO_SCRIPT.md b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/DEMO_SCRIPT.md deleted file mode 100644 index e7e7dbd8..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/DEMO_SCRIPT.md +++ /dev/null @@ -1,489 +0,0 @@ -# ImageAnalysis Bounded Context - 20 Minute Demo Script - -## Demo Overview -**Audience**: Development team, stakeholders -**Duration**: 20 minutes -**Goal**: Showcase clean DDD architecture, robustness, and migration strategy for golf ball image analysis - ---- - -## 🎯 Demo Flow (20 minutes) - -### **Part 1: Introduction & Problem Statement** (3 minutes) - -#### The Legacy Challenge -> *"We have sophisticated golf ball analysis in `gs_camera.cpp` - 400+ lines of complex physics achieving ±1-2% accuracy. But it's tightly coupled to hardware, platform-specific, and nearly impossible to unit test."* - -**Show the problem:** -```bash -# Navigate to legacy code -cd c:\kata\PiTrac\Software\LMSourceCode\ImageProcessing -code gs_camera.cpp -``` - -**Point out platform portability issues:** - -**Hardware Dependencies:** -- **Line 1-20**: `#include "libcamera_interface.h"` - Linux-only libcamera library -- **Line 1-20**: `#include "pulse_strobe.h"` - GPIO (Gen Purpose IO) hardware for LED strobes -- **Throughout**: Raspberry Pi-specific GPIO pins (`BCM GPIO25`, SPI (serial) interfaces) - -**Platform-Specific Code:** -```bash -# Show the conditional compilation -grep -n "#ifdef __unix__" pulse_strobe.cpp libcamera_interface.h -``` -- **All camera code**: Wrapped in `#ifdef __unix__` - doesn't compile on Windows -- **GPIO libraries**: `lgpio.h`, hardware SPI communication -- **Pi-specific**: RPi4 vs RPi5 chip differences, hardware timing dependencies - -**Testing Impossibilities:** -- **No unit tests**: Everything requires physical camera hardware -- **Hardware coupling**: Cannot mock GPIO, SPI, or camera interfaces -- **Integration-only**: Tests need full Pi setup with strobes and cameras -- **Platform lock-in**: Development must happen on actual Raspberry Pi hardware - -**Maintenance Problems:** -- **Line 768**: `CalculateBallVelocity()` - Ball speed calculations from position deltas -- **Line 785**: `GetTotalDistance()` - 3D distance calculations using Pythagorean theorem -- **Line 1006**: `ComputeXyzDistanceFromOrthoCamPerspective()` - Critical 3D coordinate transformations -- **Line 1284**: `AdjustDistanceForSlowing()` usage - Friction compensation for ball physics -- **Line 2468**: `AdjustDistanceForSlowing()` implementation - Ball deceleration physics - -**Physics Algorithm Migration Status:** - -✅ **Already Has Placeholder Implementation:** -- **Ball detection** - Current `OpenCVImageAnalyzer::AnalyzeTeedBall()` uses basic Hough circles -- **Movement detection** - Current optical flow implementation exists - -❌ **Still Needs Domain Services + Value Objects + OpenCV Implementation:** - -1. **Line 1006: `ComputeXyzDistanceFromOrthoCamPerspective`** (HIGHEST PRIORITY) - - **Domain Service**: `ICoordinateTransformationService` - - **Value Objects**: `WorldPosition`, `CameraCalibration`, `CoordinateTransformResult` - - **OpenCV Implementation**: `OpenCVCoordinateTransformer` with full spherical coordinate math - - **Critical**: Foundation for all other ball positioning calculations - -2. **Line 768: `CalculateBallVelocity`** - - **Domain Service**: `IVelocityCalculationService` - - **Value Objects**: `VelocityVector`, `PositionDelta` - - **OpenCV Implementation**: Time-based position delta calculations - -3. **Line 2468: `AdjustDistanceForSlowing`** - - **Domain Service**: `IBallPhysicsService` - - **Value Objects**: `BallDeceleration`, `FrictionCoefficient` - - **OpenCV Implementation**: Club-specific friction compensation algorithms - -4. **Line 785: `GetTotalDistance`** - - **Simple utility** - Can be a static method in `MathUtils` (no service needed) - -> **Implementation Order**: The 3D coordinate transformation (#1) should be implemented first as it's the foundation that velocity calculations and physics simulations depend on. -- **Monolithic design**: Physics calculations intertwined with GPIO timing -- **No separation**: Business logic cannot be extracted from hardware dependencies - -#### The DDD Solution Preview -> *"We're introducing a bounded context with clean architecture that will allow us to protect the physics sophistication while making it testable and maintainable."* - ---- - -### **Part 2: Clean Architecture Tour** (5 minutes) - -#### Navigate to the New Structure -```bash -cd ImageAnalysis -tree /f -``` - -**Explain the layers:** - -#### **Domain Layer** (Technology-Agnostic Business Rules) -```bash -code domain/value_objects.hpp -``` - -**Key talking points:** -- **Immutable value objects**: `BallPosition`, `ImageBuffer` - no setters, construction validation -- **Rich domain models**: `DistanceFrom()`, `IsValidPosition()` - behavior with data -- **No external dependencies**: Pure C++, no OpenCV/boost in domain - -```cpp -// Show this example in value_objects.hpp -class BallPosition { - // Immutable - no setters - // Rich behavior - DistanceFrom(), IsValidPosition() - // Validation in constructor - prevents invalid states -}; -``` - -#### **Application Layer** (Use Cases & Orchestration) -```bash -code application/image_analysis_service.hpp -``` - -**Key talking points:** -- **Service orchestration**: Coordinates between domain and infrastructure -- **Configuration management**: Handles analyzer selection and parameters -- **Technology abstraction**: Business logic independent of OpenCV/ML frameworks - -#### **Infrastructure Layer** (Implementation Details) -```bash -code infrastructure/opencv_image_analyzer.hpp -``` - -**Key talking points:** -- **Adapter pattern**: Wraps existing `BallImageProc` in clean interface -- **Dependency inversion**: Implements domain interfaces -- **Framework isolation**: OpenCV details contained here - ---- - -### **Part 3: Practical Code Demonstration** (6 minutes) - -#### **Demo 1: Creating and Using the Service** -```bash -# Open the public API -code image_analysis.hpp -``` - -**Show the clean API:** -```cpp -// Simple factory pattern -auto service = CreateAnalysisService("opencv"); - -// Clean domain objects -domain::ImageBuffer image = LoadTestImage(); -auto result = service->AnalyzeTeedBall(image); - -if (result.state == domain::BallState::TEED) { - // Rich result objects with behavior - std::cout << "Ball at: " << result.position->ToString() << std::endl; -} -``` - -#### **Demo 1b: Feature Switch Integration Pattern** -```bash -# Show how this integrates with legacy code -code ../gs_camera.cpp -# Navigate to line 768 (CalculateBallVelocity) -``` - -**Show the integration approach:** -```cpp -// Example integration pattern in gs_camera.cpp -double CalculateBallVelocity(/* existing parameters */) { - if (golf_sim_config.enable_new_image_analysis) { - // Route to new bounded context - auto service = ImageAnalysis::CreateAnalysisService("opencv"); - domain::ImageBuffer imageBuffer = ConvertFromLegacy(image_data); - auto result = service->AnalyzeMovement(imageBuffer); - - if (result.has_velocity) { - return result.velocity->magnitude(); - } - // Fallback to legacy if new system fails - } - - // Original legacy implementation stays completely untouched - return OriginalCalculateBallVelocity(/* existing parameters */); -} -``` - -**Key talking points:** -- **Zero risk**: Legacy code path remains completely unchanged -- **Instant rollback**: Single configuration flag disables new system -- **Graceful degradation**: New system failure automatically falls back to legacy -- **No deployment needed**: Configuration changes take effect immediately - -#### **Demo 2: Domain Logic Robustness** -```bash -# Show domain validation tests -code tests/test_image_analysis_domain.cpp -``` - -**Run the tests live:** -```bash -cd build -cmake --build . --target test_domain_validation -./test_domain_validation -``` - -**Key talking points:** -- **100% pass rate**: All 15 domain validation tests passing -- **Edge case handling**: NaN, infinity, negative values all validated -- **Immutable guarantees**: Construction-time validation prevents invalid states - -#### **Demo 3: Infrastructure Adapter** -```bash -code infrastructure/opencv_image_analyzer.cpp -``` - -**Highlight improvements:** -- **Named constants**: `MOVEMENT_THRESHOLD`, `VELOCITY_SCALING_FACTOR` instead of magic numbers -- **Error handling**: Comprehensive OpenCV exception handling -- **Input validation**: Empty images, parameter range checks -- **Performance**: Memory preallocation, efficient algorithms - ---- - -### **Part 4: Test Framework Robustness** (4 minutes) - -#### **Approval Tests with Real Images** -```bash -# Show the approval test framework -code tests/test_approval_with_pitrac_images.cpp -``` - -**Key talking points:** -- **Real image validation**: Uses actual PiTrac camera images -- **Regression protection**: Any algorithm changes are immediately visible -- **Cross-platform consistency**: Same results on dev box and CI - -#### **Run Tests Locally** -```bash -cd build -cmake --build . --target test_approval -./test_approval -``` - -**Show the output:** -- ✅ **Ball detection consistency**: Same results across runs -- ✅ **Algorithm stability**: No unexpected changes in behavior -- ✅ **Performance metrics**: Execution time tracking - -#### **GitHub Actions Integration** -```bash -# Show the CI configuration (if available) -cat ../.github/workflows/imaganalysis.yml -``` - -**Demonstrate robustness:** -> *"These same tests run in GitHub Actions on every PR. No physical camera required - we use test images and mock calibration data."* - -**Key talking points:** -- **No hardware dependencies**: Tests run in containerized environment -- **Fast feedback**: Developers get immediate validation -- **Regression prevention**: Breaking changes caught before merge - -#### **Live Demo: Proving Test Sensitivity** -> *"Let's prove these tests actually catch changes by intentionally breaking something and watching the approval tests fail."* - -**Step 1: Make a deliberate algorithm change** -```bash -# Open the OpenCV analyzer implementation -code infrastructure/opencv_image_analyzer.cpp -``` - -**Find the ball detection parameters (around line 45-50):** -```cpp -// Current values (show these) -const double MOVEMENT_THRESHOLD = 5.0; -const int MIN_RADIUS = 8; -const int MAX_RADIUS = 25; -``` - -**Change the detection sensitivity:** -```cpp -// Temporarily change MIN_RADIUS to make detection less sensitive -const int MIN_RADIUS = 15; // Changed from 8 to 15 -``` - -**Step 2: Rebuild and run approval tests** -```bash -cd build -cmake --build . --target test_approval -./test_approval -``` - -**Expected output (show this to audience):** -``` -❌ APPROVAL TEST FAILED: Ball detection results changed! -Expected: Ball detected at (145, 230) with radius 12 -Actual: No ball detected (radius 12 < MIN_RADIUS 15) - -Diff saved to: test_results/approval_diff_20250710_143022.txt -``` - -**Step 3: Show the diff file** -```bash -# Display the detailed differences -Get-Content test_results/approval_diff_20250710_143022.txt -``` - -**Step 4: Revert the change and prove tests pass again** -```cpp -// Revert back to original value -const int MIN_RADIUS = 8; // Back to original -``` - -```bash -# Rebuild and test again -cmake --build . --target test_approval -./test_approval -``` - -**Expected output:** -``` -✅ All approval tests passed! -✅ Ball detection: 5/5 images processed correctly -✅ Algorithm behavior unchanged from baseline -``` - -**Key demonstration points:** -- **Immediate feedback**: Change detected within seconds -- **Detailed reporting**: Exact differences shown with context -- **Regression prevention**: Any algorithm modification is immediately visible -- **Confidence in deployment**: If tests pass, behavior is identical to baseline - ---- - -### **Part 5: Migration Strategy & Future Vision** (2 minutes) - -#### **Current State: Placeholder Algorithms** -```bash -# Show current implementation -grep -n "TEMPORAL_SPACING_US" infrastructure/opencv_image_analyzer.cpp -``` - -**Explain the strategy:** -> *"Current algorithms are intentionally simplified placeholders. They validate our architecture while we prepare the physics migration."* - -- **±10-20% accuracy**: Sufficient for architectural validation -- **2D calculations**: Placeholder for 3D world coordinates -- **Fixed timing**: Hardcoded 1ms intervals (temporary) - -#### **Future State: Feature Switch Integration** -```bash -# Show the integration strategy -code gs_camera.cpp -# Look for the integration points around lines 768, 1006, 2468 -``` - -**Feature Switch Architecture:** -```cpp -// Example integration in gs_camera.cpp -if (config.UseNewImageAnalysis()) { - // Route to new bounded context - auto service = ImageAnalysis::CreateAnalysisService("opencv"); - auto result = service->AnalyzeTeedBall(imageBuffer); - return ConvertToLegacyFormat(result); -} else { - // Keep existing legacy implementation untouched - return OriginalCalculateBallVelocity(/* existing parameters */); -} -``` - -**Migration phases:** -1. **Phase 1** (Current): DDD foundation with placeholder algorithms -2. **Phase 2**: Feature switch integration points in `gs_camera.cpp` -3. **Phase 3**: Port sophisticated 3D physics with side-by-side validation -4. **Phase 4**: Gradual switch enablement (per-algorithm feature flags) -5. **Phase 5**: Legacy code removal after confidence period - -**Target outcomes:** -- **±1-2% accuracy**: Match legacy system performance exactly -- **Zero deployment risk**: Instant rollback via configuration -- **Clean architecture**: Maintain testability and maintainability -- **No regression**: Legacy code remains as fallback safety net - ---- - -## 🗨️ Key Talking Points for Q&A - -### **Architecture Benefits** -- **Testability**: 100% of domain logic is unit tested -- **Maintainability**: Clear separation of concerns, easy to modify -- **Extensibility**: Can add ML implementations without changing existing code -- **Performance**: Same underlying algorithms, just better organized - -### **Migration Safety** -- **Feature switch architecture**: Legacy code remains completely untouched -- **Zero-risk rollback**: Instant switch back to working legacy implementation -- **No deployment required**: Toggle switches via configuration without code changes -- **Gradual transition**: Can enable per-feature (ball detection, velocity calculation, etc.) -- **A/B testing capability**: Compare legacy vs new results side-by-side -- **Regression testing**: Approval tests validate exact behavioral equivalence -- **Parallel execution**: Run both systems simultaneously for validation - -### **Platform Portability Issues** -- **Hardware lock-in**: All development requires physical Raspberry Pi with cameras -- **No Windows development**: Cannot compile or test on developer machines -- **GPIO dependencies**: LED strobe timing tied to specific Linux GPIO libraries -- **Integration-only testing**: No unit tests possible due to hardware coupling - -### **Technical Decisions** -- **Why DDD?**: Complex domain logic benefits from explicit modeling -- **Why immutable objects?**: Thread safety, easier reasoning, fewer bugs -- **Why placeholder algorithms?**: Validate architecture before complex physics migration -- **Why approval tests?**: Real-world validation with actual camera images - -### **Common Questions & Answers** - -**Q: "Will this slow down the system?"** -A: No performance impact. Same underlying algorithms, just better organized. Infrastructure benchmarks show <5% overhead. - -**Q: "How do we know the migration won't break anything?"** -A: **Feature switches provide instant rollback safety.** Legacy code stays completely untouched - we simply route requests to the new bounded context when the feature switch is enabled. If anything goes wrong, we flip the switch back to legacy with zero deployment risk. Plus, approval tests validate exact behavioral equivalence between old and new implementations. - -**Q: "Why not just refactor the existing code?"** -A: Legacy code has fundamental platform portability issues. All camera/strobe code is wrapped in `#ifdef __unix__` and requires: -- Linux-only libcamera library -- Raspberry Pi GPIO hardware (lgpio.h) -- Physical SPI interfaces for LED strobes -- Hardware timing dependencies -- Cannot be unit tested on development machines -- DDD approach enables cross-platform development and proper unit testing while preserving the sophisticated physics. - -**Q: "What about the complex physics calculations?"** -A: They'll be preserved exactly - just moved into proper domain services with better structure and full test coverage. - -**Q: "How long until we can deprecate gs_camera.cpp?"** -A: **We never have to.** With feature switches, legacy code becomes our permanent safety net. Phase 2-3 implementation is estimated at 2-3 weeks, but legacy code stays available indefinitely. After 6+ months of confidence with the new system, we can consider cleanup - but there's no pressure since the feature switch architecture maintains both paths safely. - ---- - -## 🎬 Demo Preparation Checklist - -### **Before the Demo:** -- [ ] **Build the project**: Ensure all tests are passing -- [ ] **Prepare test images**: Have sample images ready for live demo -- [ ] **Set up terminal**: Multiple tabs with relevant directories open -- [ ] **IDE setup**: Have key files bookmarked for quick navigation -- [ ] **Backup plan**: Screenshots of test output in case live demo fails - -### **Terminal Setup:** -```bash -# Tab 1: Project root -cd c:\kata\PiTrac\Software\LMSourceCode\ImageProcessing\ImageAnalysis - -# Tab 2: Build directory -cd c:\kata\PiTrac\Software\LMSourceCode\ImageProcessing\ImageAnalysis\build - -# Tab 3: Legacy code for comparison -cd c:\kata\PiTrac\Software\LMSourceCode\ImageProcessing -``` - -### **Key Files to Have Ready:** -1. `domain/value_objects.hpp` - Show immutable design -2. `infrastructure/opencv_image_analyzer.cpp` - Show improvements -3. `tests/test_image_analysis_domain.cpp` - Show test robustness -4. `README.md` - Show migration roadmap -5. `gs_camera.cpp` - Show legacy complexity and feature switch integration points -6. `golf_sim_config.json` - Show feature switch configuration - ---- - -## 🎯 Success Metrics for Demo - -**Technical audience should walk away understanding:** -- How DDD principles improve code quality -- Why the architecture supports future ML implementations -- How approval tests provide regression protection -- The clear migration path that preserves existing functionality - -**Business audience should walk away understanding:** -- No risk to existing functionality -- Improved maintainability and extensibility -- Foundation for future AI/ML enhancements -- Faster development cycles through better testing - ---- diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/README.md b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/README.md deleted file mode 100644 index bb5c3a2a..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/README.md +++ /dev/null @@ -1,263 +0,0 @@ -# Image Analysis Bounded Context - -This bounded context provides clean abstractions for golf ball image analysis capabilities, enabling the system to detect teed balls, movement, ball flight analysis, and ball reset detection. It follows Domain-Driven Design principles with a roadmap for porting over the physics-based speed detection. - -### Requires Camera Calibration Integration - -Once merged - the Camera bounded context can be used to create the calibration parameters. This will enable the 3D coordinate transformations found in gs_camera.cpp - -**Files to modify**: `domain/value_objects.hpp`, `domain/analysis_results.hpp` - -**Next Steps**: See [Implementation Roadmap](#implementation-roadmap) below for the complete TODO action plan. - -## Architecture - ---- - -## Architecture Detail - -### Clean Architecture Implementation - -The implementation follows Clean Architecture principles with layers for abstracting implementation details: - -``` -ImageAnalysis/ -├── domain/ # Business rules and entities (technology-agnostic) -│ ├── value_objects.hpp # BallPosition, ImageBuffer, BallState, CameraCalibrationRef -│ ├── analysis_results.hpp # TeedBallResult, MovementResult, FlightAnalysisResult -│ └── interfaces.hpp # IImageAnalyzer interface -├── application/ # Use cases and application services -│ └── image_analysis_service.hpp # High-level service orchestration -├── infrastructure/ # Implementation details (frameworks, external libraries) -│ ├── opencv_image_analyzer.hpp/cpp # OpenCV/Hough circles implementation -│ └── ml_image_analyzer.hpp # ML/AI framework (YOLO, TensorFlow, etc.) -├── image_analysis.hpp # Public API (main entry point) -└── image_analysis.cpp # API implementation - -External Dependencies: -├── Camera/ # Camera bounded context (separate PR) -│ └── calibration_service.hpp # Provides CameraCalibration objects -``` - -### Current Speed Detection Architecture - -**Current Implementation** (DDD Phase - Placeholder Algorithms): -> **Note**: These are simplified placeholder algorithms designed to validate the approval test framework and clean DDD architecture. They provide example functionality until the existing 3D physics implementation is ported over. - -- **2D pixel-space calculations**: Simple x/y displacement over time (placeholder for 3D world coordinates) -- **Fixed timing**: Hardcoded 1ms intervals (`TEMPORAL_SPACING_US = 1000`) (placeholder for dynamic hardware timing) -- **No camera correction**: Direct pixel-to-meter conversion without perspective adjustment (placeholder for full 3D calibration) -- **Basic physics**: Linear velocity calculation without spin (placeholder) - -**Target Implementation** (After Physics Integration): -- **3D world coordinates**: Uses `gs_camera.cpp` coordinate transformation algorithms -- **Dynamic timing**: Hardware strobe interval synchronization from `GetStrobeInterval()` -- **Camera calibration**: 3D perspective correction using focal length and sensor dimensions -- **Physics**: 3D Euclidean distance with air resistance compensation from gs_camera.cpp -`GolfSimCamera::CalculateBallVelocity()` - -## Usage - -### Basic Usage - -```cpp -#include "ImageAnalysis/image_analysis.hpp" - -using namespace golf_sim::image_analysis; - -// Create a service with OpenCV implementation -auto service = CreateAnalysisService("opencv"); - -// Analyze an image for teed ball -domain::ImageBuffer image = ...; // Your image data -auto result = service->AnalyzeTeedBall(image); - -if (result.state == domain::BallState::TEED) { - std::cout << "Ball detected at (" - << result.position->x_pixels << ", " - << result.position->y_pixels << ")" << std::endl; -} -``` - -### Advanced Configuration - -```cpp -// Create factory and configure manually -auto factory = CreateAnalyzerFactory(); -auto service = std::make_unique(std::move(factory)); - -application::AnalyzerConfig config; -config.type = "opencv"; -config.parameters["min_radius"] = "10"; -config.parameters["max_radius"] = "100"; -config.enable_debug_output = true; - -service->Configure(config); -``` - -### Movement Detection - -```cpp -// Detect ball movement (shot in progress) -std::vector image_sequence = ...; -domain::BallPosition reference_position = ...; - -auto movement_result = service->DetectMovement(image_sequence, reference_position); -if (movement_result.movement_detected) { - std::cout << "Shot detected! Movement confidence: " - << movement_result.movement_confidence << std::endl; -} -``` - -### Current Ball Flight Analysis (2D Approach) - -**Current State**: Basic 2D pixel-space velocity calculation with fixed timing -- Returns velocity vector in m/s with ±10-20% accuracy -- Uses hardcoded temporal spacing assumptions -- No camera perspective correction applied -- Suitable for development and testing phases - -## Available Implementations - -### OpenCV Implementation (`opencv`) -- **Technology**: OpenCV Hough Circle Detection -- **Dependencies**: Existing `BallImageProc` and `GolfSimCamera` classes - -### Example of a theoretical alternative Implementation (`machine learning` ) -- **Technology**: YOLO v5/v8, TensorFlow Lite, PyTorch Mobile -- **Use Cases**: Experimentation, challenging lighting/backgrounds -- **Dependencies**: Model files, ML framework libraries - -## Adding or Testing New Implementations - -If you wanted to add a new analyzer implementation, but still keep existing logic working: -For example using a trained model built from Machine Learning frameworks like TensorFlow: - -1. Create a class implementing `domain::IImageAnalyzer` -2. Place it in `infrastructure/` folder -3. Update the factory in `image_analysis.cpp` -4. Add configuration support in application layer - -Example: - -```cpp -namespace golf_sim::image_analysis::infrastructure { - - class CustomImageAnalyzer : public domain::IImageAnalyzer { - public: - domain::TeedBallResult AnalyzeTeedBall( - const domain::ImageBuffer& image, - const std::optional& expected_position - ) override { - // Your implementation here - } - - // ... implement other methods - }; -} -``` - -## Integration with Existing Code - -This bounded context is designed to integrate with the existing PiTrac system: - -- **OpenCV Implementation**: Wraps existing `BallImageProc` logic -- **Camera Integration**: Compatible with `GolfSimCamera` strobed analysis -- **Result Compatibility**: Can be converted to existing `GolfBall` objects -- **Configuration**: Uses existing JSON configuration patterns - -## Testing - -```cpp -// Unit tests should focus on domain logic -TEST(ImageAnalysisTest, BallPositionCalculation) { - domain::BallPosition pos1(100, 200, 15); - domain::BallPosition pos2(105, 205, 15); - - EXPECT_NEAR(pos1.DistanceFrom(pos2), 7.07, 0.1); -} - -// Integration tests should verify adapter behavior -TEST(OpenCVAnalyzerTest, DetectsTeedBall) { - infrastructure::OpenCVImageAnalyzer analyzer; - domain::ImageBuffer test_image = LoadTestImage("teed_ball.jpg"); - - auto result = analyzer.AnalyzeTeedBall(test_image); - EXPECT_EQ(result.state, domain::BallState::TEED); -} -``` - -## Performance Considerations - -- **Memory Usage**: Minimal overhead beyond underlying implementations -- **Threading**: All implementations are thread-safe for read operations - -## Migration Guide - -### Migration Steps - -**Phase 1: Current Migration (Basic DDD)** -- Replace `BallImageProc` direct usage with DDD service interface -- Maintain existing algorithms during architectural transition -- Clean separation of concerns with immutable value objects - -**Phase 2: Enhanced Migration (3D Physics Integration)** -- Integrate Camera bounded context for calibration parameters -- Port 3D coordinate transformation logic from `gs_camera.cpp` -- Implement physics-based velocity calculations -- Target: Preserve legacy system behavior - -### Migration Timeline - -1. **Immediate** (Current): Create DDD interface with enough logic to get automated tests running in pipelines -2. **Phase 2**: Camera calibration integration after Camera bounded context PR -3. **Phase 3**: Port existing behavior to Bounded Context -4. **Phase 3a** Add Feature switching to divert code to new BC logic in NonProd or for UAT Testing -5. **Phase 3b** Complete migration deprecating `gs_camera.cpp` - ---- - -## Additional Resources - -### Related Documentation -- **Camera Bounded Context**: -[Pull Request](https://github.com/pitraclm/pitrac/pull/87) Provides camera abstractions and calibration data. - -## Camera Bounded Context Integration - -### Architecture Decision: Separation of Concerns - -The Camera bounded context (separate PR) will handle: -- **Camera hardware management** (initialization, configuration) -- **Calibration parameters** (focal length, sensor dimensions, distortion coefficients) -- **Camera-specific operations** (frame capture, timing synchronization) - -ImageAnalysis bounded context will: -- **Consume calibration data** from Camera context via dependency injection -- **Focus on ball detection and tracking** algorithms -- **Perform coordinate transformations** using Camera-provided parameters -- **Calculate velocities and trajectories** in world coordinates - -### Integration Pattern - -**Clean separation between bounded contexts:** -- ImageAnalysis focuses on ball detection and velocity calculation algorithms -- Camera context provides calibration data via dependency injection -- Hardware timing integration through service interfaces -- No duplication of camera management logic across contexts -- No requirement for physical cameras or strobe capture of real ball flight when working on the code - -**Key Benefits:** -1. **Single Responsibility**: Each context handles its domain expertise -2. **Reduced Coupling**: Clean dependency direction (ImageAnalysis → Camera) -3. **Reusability**: Camera calibration shared across multiple contexts -4. **Testability**: Mock camera services for isolated testing - -### Success Criteria - -#### ✅ Phase 1 Complete When: -- [ ] **Behavior maintained** algorithms in the legacy implementation can be duplicated -- [ ] **Automated tests passing** Approval tests and unit tests give developer feedback to protect against regression -- [ ] **Camera BC integrated** into analysis pipeline - no physical camera required in the build agents - ---- diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/REFACTORING_PLAN.md b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/REFACTORING_PLAN.md deleted file mode 100644 index a491970f..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/REFACTORING_PLAN.md +++ /dev/null @@ -1,164 +0,0 @@ -# OpenCV Image Analyzer Refactoring Plan - -## Overview -The `OpenCVImageAnalyzer` class has grown too large and violates the Single Responsibility Principle. The `CalculateOpticalFlow` method is particularly long and complex. This document outlines a comprehensive refactoring plan to improve code organization, maintainability, and testability. - -## Current Issues Identified - -### 🔴 High Priority Issues -- **Large Class**: `OpenCVImageAnalyzer` has too many responsibilities (detection, preprocessing, confidence calculation, optical flow) -- **Long Method**: `CalculateOpticalFlow` is ~80 lines with complex logic and multiple fallback mechanisms -- **Mixed Concerns**: Single class handles image preprocessing, circle detection, confidence calculation, and movement analysis -- **Static Method Opportunities**: Several methods don't use instance variables and can be made static -- **Code Duplication**: Similar error handling patterns repeated across methods - -### 🟡 Medium Priority Issues -- **Magic Numbers**: Some hardcoded values scattered throughout the code -- **Configuration Management**: Hough parameters managed directly as member variables -- **Testing Challenges**: Large class makes unit testing individual components difficult - -## Refactoring Plan - -### Phase 1: Extract Utility Classes ✅ COMPLETED -- [ ] **Create `OpticalFlowCalculator`** - Extract optical flow logic - - [ ] `CalculateFlow()` - Main optical flow calculation - - [ ] `CalculateMovementMagnitude()` - Movement magnitude calculation - - [ ] `CalculateLucasKanadeFlow()` - Lucas-Kanade implementation - - [ ] `CalculateFrameDifferenceFlow()` - Fallback method - - [ ] Add proper error handling and logging - -- [ ] **Create `ImagePreprocessor`** - Extract image preprocessing logic - - [ ] `PreprocessForDetection()` - Main preprocessing pipeline - - [ ] `IsValidBallPosition()` - Position validation - - [ ] `ConvertToGrayscale()` - Color space conversion - - [ ] `ApplyNoiseReduction()` - Gaussian blur application - -- [ ] **Create `HoughCircleDetector`** - Extract circle detection logic - - [ ] `DetectCircles()` - Hough circle detection - - [ ] `SelectBestCandidate()` - Candidate selection logic - - [ ] `ValidateParameters()` - Parameter validation - - [ ] `ConvertCircleToBallPosition()` - Data conversion - -- [ ] **Create `ConfidenceCalculator`** - Extract confidence calculation logic - - [ ] `CalculateConfidence()` - Main confidence calculation - - [ ] `CalculateRadiusConfidence()` - Radius-based confidence - - [ ] `CalculatePositionConfidence()` - Position-based confidence - - [ ] `IsBallWithinBounds()` - Bounds checking - -### Phase 2: Refactor Main Analyzer Class -- [ ] **Create `OpenCVImageAnalyzerRefactored`** - Smaller orchestrator class - - [ ] Replace direct implementation with utility class calls - - [ ] Maintain same public interface for compatibility - - [ ] Simplify configuration management using parameter structs - - [ ] Reduce class size from ~400 lines to ~150 lines - -- [ ] **Update Configuration Management** - - [ ] Replace individual member variables with `HoughParameters` struct - - [ ] Replace individual member variables with `ConfidenceParameters` struct - - [ ] Add `SetConfidenceParameters()` method for advanced configuration - -- [ ] **Simplify Core Methods** - - [ ] `AnalyzeTeedBall()` - Use `DetectBallsInImage()` helper - - [ ] `DetectMovement()` - Use `OpticalFlowCalculator` - - [ ] `AnalyzeBallFlight()` - Use utility classes for detection and confidence - - [ ] `DetectBallReset()` - Simplified using new architecture - -### Phase 3: Update Build System and Tests -- [ ] **Update CMakeLists.txt** - - [ ] Add new utility class source files - - [ ] Ensure proper header dependencies - - [ ] Maintain backward compatibility - -- [ ] **Update Tests** - - [ ] Create unit tests for each utility class - - [ ] Update integration tests to use refactored analyzer - - [ ] Add specific tests for error handling in utility classes - - [ ] Verify all existing tests still pass - -- [ ] **Update Documentation** - - [ ] Update class documentation to reflect new architecture - - [ ] Add utility class documentation - - [ ] Update usage examples if needed - -### Phase 4: Migration and Cleanup -- [ ] **Gradual Migration** - - [ ] Keep original `OpenCVImageAnalyzer` as deprecated - - [ ] Add compatibility layer for existing code - - [ ] Update factory to use refactored version by default - - [ ] Add deprecation warnings to old class - -- [ ] **Validation and Performance Testing** - - [ ] Run full test suite to ensure functionality preserved - - [ ] Performance benchmarks to ensure no regression - - [ ] Memory usage analysis of new architecture - - [ ] Validate error handling improvements - -- [ ] **Final Cleanup** - - [ ] Remove deprecated code after migration period - - [ ] Clean up unused includes and dependencies - - [ ] Final code review and formatting - -## Benefits of Refactoring - -### 🎯 Immediate Benefits -- **Single Responsibility**: Each class has one clear purpose -- **Easier Testing**: Utility classes can be tested independently -- **Better Error Handling**: Centralized error handling in each utility -- **Reduced Complexity**: Main analyzer becomes a simple orchestrator - -### 🚀 Long-term Benefits -- **Maintainability**: Changes to specific algorithms isolated to relevant classes -- **Extensibility**: Easy to add new detection algorithms or preprocessing steps -- **Reusability**: Utility classes can be used by other analyzers (e.g., ML-based) -- **Performance**: Easier to optimize individual components - -## Code Quality Improvements - -### 📏 Metrics Expected -- **Class Size**: Reduce main analyzer from ~400 lines to ~150 lines -- **Method Length**: Largest method reduced from ~80 lines to ~20 lines -- **Cyclomatic Complexity**: Reduce complexity of individual methods -- **Test Coverage**: Increase from integration-only to unit + integration testing - -### 🛡️ Error Handling -- **Centralized Logging**: Each utility class has consistent error logging -- **Robust Fallbacks**: Optical flow calculator has multiple fallback strategies -- **Input Validation**: Parameter validation in each utility class -- **Exception Safety**: Proper exception handling throughout - -## Migration Timeline - -### Week 1: Utility Classes ✅ COMPLETED -- [x] Implement and test all utility classes -- [x] Ensure proper error handling and logging -- [x] Create unit tests for utility classes - -### Week 2: Refactored Analyzer -- [ ] Implement refactored analyzer using utility classes -- [ ] Update build system and dependencies -- [ ] Ensure all existing tests pass - -### Week 3: Documentation and Testing -- [ ] Complete documentation updates -- [ ] Performance validation -- [ ] Integration testing with full system - -### Week 4: Migration and Cleanup -- [ ] Gradual migration of dependent code -- [ ] Final cleanup and code review -- [ ] Remove deprecated code - -## Success Criteria - -- [ ] All existing tests pass without modification -- [ ] No performance regression (< 5% impact) -- [ ] Main analyzer class reduced to < 200 lines -- [ ] Each utility class has > 90% test coverage -- [ ] Code review approval from team -- [ ] Documentation updated and complete - ---- - -**Status**: Phase 1 Complete ✅ -**Next Step**: Begin Phase 2 - Refactor Main Analyzer Class -**Last Updated**: 2025-07-07 diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/application/image_analysis_service.hpp b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/application/image_analysis_service.hpp deleted file mode 100644 index 19852d91..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/application/image_analysis_service.hpp +++ /dev/null @@ -1,167 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -/** - * @file image_analysis_service.hpp - * @brief Application service for image analysis operations - * - * High-level service that orchestrates image analysis operations, - * manages analyzer selection, and handles cross-cutting concerns - * like logging, caching, and error handling. - */ - -#pragma once - -#include "../domain/interfaces.hpp" -#include "../domain/analysis_results.hpp" -#include -#include - -namespace golf_sim::image_analysis::application { - - /** - * @brief Configuration for analyzer selection and behavior - */ - struct AnalyzerConfig { - std::string type = "opencv"; // "opencv", "yolo", "tensorflow_lite", etc. - std::map parameters; - bool enable_debug_output = false; - std::string model_path; // For ML-based analyzers - double confidence_threshold = 0.5; - double nms_threshold = 0.4; // For ML analyzers - int input_width = 640; // For ML analyzers - int input_height = 640; // For ML analyzers - bool gpu_acceleration = false; // For ML analyzers - }; - - /** - * @brief Configuration for the image analysis service - */ - struct ServiceConfig { - std::string default_analyzer_type = "opencv"; - double default_confidence_threshold = 0.5; - bool enable_debug_logging = false; - bool enable_result_caching = true; - bool enable_result_storage = false; - std::string model_path; // For ML-based analyzers - - // Performance settings - bool enable_parallel_processing = true; - int max_worker_threads = 4; - - // Quality settings - bool enable_result_validation = true; - double min_acceptable_confidence = 0.3; - }; /** - * @brief Main application service for image analysis - * - * Provides a high-level interface for image analysis operations - * with configuration management, error handling, and logging. - */ - class ImageAnalysisService { - public: - ImageAnalysisService( - std::unique_ptr factory, - std::unique_ptr config_repo = nullptr, - std::unique_ptr result_repo = nullptr - ); - - ~ImageAnalysisService() = default; - // Configuration management - [[nodiscard]] bool Configure(const AnalyzerConfig& config); - [[nodiscard]] AnalyzerConfig GetCurrentConfig() const { return current_analyzer_config_; } - [[nodiscard]] bool IsConfigured() const { return is_configured_; } - - // Analyzer management - [[nodiscard]] bool SetAnalyzerType(const std::string& analyzer_type); - [[nodiscard]] std::string GetCurrentAnalyzerType() const; - [[nodiscard]] std::vector GetAvailableAnalyzers() const; - [[nodiscard]] std::string GetCurrentAnalyzerInfo() const; - - // Main analysis operations - delegate to configured analyzer - [[nodiscard]] domain::TeedBallResult AnalyzeTeedBall( - const domain::ImageBuffer& image, - const std::optional& expected_position = std::nullopt - ); - - [[nodiscard]] domain::MovementResult DetectMovement( - const std::vector& image_sequence, - const domain::BallPosition& reference_ball_position - ); - - [[nodiscard]] domain::FlightAnalysisResult AnalyzeBallFlight( - const domain::ImageBuffer& strobed_image, - const domain::BallPosition& calibration_reference - ); - - [[nodiscard]] domain::TeedBallResult DetectBallReset( - const domain::ImageBuffer& current_image, - const domain::BallPosition& previous_ball_position - ); - - // Service-level operations - void SetConfidenceThreshold(double threshold); - void SetDebugMode(bool enabled); - void ClearResultCache(); - - // Performance and diagnostics - struct ServiceStats { - size_t total_operations = 0; - size_t successful_operations = 0; - size_t failed_operations = 0; - std::chrono::milliseconds total_processing_time{0}; - std::chrono::milliseconds average_processing_time{0}; }; - - [[nodiscard]] ServiceStats GetServiceStats() const { return stats_; } - void ResetServiceStats();private: - // Dependencies - std::unique_ptr factory_; - std::unique_ptr config_repo_; - std::unique_ptr result_repo_; - - // Current state - std::unique_ptr current_analyzer_; - ServiceConfig service_config_; - AnalyzerConfig current_analyzer_config_; - bool is_configured_ = false; - - // Performance tracking - mutable ServiceStats stats_; - - // Result caching (optional optimization) - struct CacheKey { - size_t image_hash; - std::string operation_type; - std::string analyzer_type; - - bool operator<(const CacheKey& other) const { - return std::tie(image_hash, operation_type, analyzer_type) < - std::tie(other.image_hash, other.operation_type, other.analyzer_type); - } - }; - - mutable std::map result_cache_; // JSON serialized results - // Helper methods - bool InitializeAnalyzer(); - void UpdateStats(bool success, std::chrono::milliseconds processing_time) const; - void LogOperation(const std::string& operation, bool success, - std::chrono::milliseconds processing_time) const; - void StoreResultIfEnabled(const std::string& operation, - const std::string& result_json, - const domain::ImageBuffer& image) const; - - // Input validation methods - void ValidateConfidenceThreshold(double threshold) const; - void ValidateAnalyzerConfig(const AnalyzerConfig& config) const; - void ValidateAnalyzerType(const std::string& analyzer_type) const; - void ValidateServiceConfigured() const; - - // Cache helpers - CacheKey CreateCacheKey(const domain::ImageBuffer& image, - const std::string& operation) const; - size_t HashImage(const domain::ImageBuffer& image) const; - }; - -} // namespace golf_sim::image_analysis::application diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/approve_changes.ps1 b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/approve_changes.ps1 deleted file mode 100644 index 2a38e4af..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/approve_changes.ps1 +++ /dev/null @@ -1,159 +0,0 @@ -# Approval Testing Helper Script -# Helps developers review and approve changes to approval test baselines - -param( - [string]$TestName = "", - [switch]$ListChanges, - [switch]$ApproveAll, - [switch]$ViewImages -) - -Write-Host "Approval Testing Helper" -ForegroundColor Green -Write-Host "=======================" -ForegroundColor Green - -# Look for approval artifacts in multiple possible locations -$PossibleDirs = @( - "build\approval_artifacts", # Run from ImageAnalysis directory (received files) - "tests\approval_artifacts", # Run from ImageAnalysis directory (source files) - "approval_artifacts", # Run from build directory - "..\tests\approval_artifacts" # Run from build directory -) - -$ArtifactsDirToUse = $null -foreach ($dir in $PossibleDirs) { - if (Test-Path $dir) { - $ArtifactsDirToUse = $dir - Write-Host "Using artifacts from: $dir" -ForegroundColor Gray - break - } -} - -if ($null -eq $ArtifactsDirToUse) { - Write-Host "ERROR: Approval artifacts directory not found" -ForegroundColor Red - Write-Host "Looked in: $($PossibleDirs -join ', ')" -ForegroundColor Red - Write-Host "Make sure you're running this from the ImageAnalysis directory or build subdirectory" -ForegroundColor Red - exit 1 -} - -# Find received files (indicating changes/failures) -$receivedFiles = Get-ChildItem "$ArtifactsDirToUse\*.received.*" -ErrorAction SilentlyContinue - -if ($receivedFiles.Count -eq 0) { - Write-Host "✅ No pending approval changes found" -ForegroundColor Green - Write-Host "All tests are passing with current baselines" -ForegroundColor Green - exit 0 -} - -if ($ListChanges) { - Write-Host "📋 Pending approval changes:" -ForegroundColor Yellow - foreach ($file in $receivedFiles) { - $testName = $file.BaseName -replace '\.received$', '' - $fileType = $file.Extension - Write-Host " • $testName ($fileType)" -ForegroundColor Cyan - } - exit 0 -} - -if ($ViewImages) { - Write-Host "🖼️ Opening received images for review..." -ForegroundColor Cyan - $imageFiles = $receivedFiles | Where-Object { $_.Extension -eq ".png" } - foreach ($img in $imageFiles) { - Write-Host "Opening: $($img.Name)" -ForegroundColor Gray - & code $img.FullName - } - exit 0 -} - -if ($ApproveAll) { - Write-Host "⚠️ Approving ALL changes..." -ForegroundColor Yellow - foreach ($file in $receivedFiles) { - # Determine target path: if we're looking at build files, copy to tests directory - if ($ArtifactsDirToUse -like "*build*") { - $targetDir = "tests\approval_artifacts" - $fileName = $file.Name -replace '\.received\.', '.approved.' - $approved = Join-Path $targetDir $fileName - } else { - $approved = $file.FullName -replace '\.received\.', '.approved.' - } - - # Ensure target directory exists - $targetDirPath = Split-Path $approved -Parent - if (!(Test-Path $targetDirPath)) { - New-Item -ItemType Directory -Path $targetDirPath -Force | Out-Null - } - - Copy-Item $file.FullName $approved -Force - Write-Host "✅ Approved: $($file.BaseName) → $approved" -ForegroundColor Green - } - - # Clean up received files - $receivedFiles | Remove-Item -Force - Write-Host "🧹 Cleaned up received files" -ForegroundColor Cyan - Write-Host "✅ All changes approved!" -ForegroundColor Green - exit 0 -} - -if ($TestName) { - # Approve specific test - $testFiles = $receivedFiles | Where-Object { $_.BaseName -like "*$TestName*" } - if ($testFiles.Count -eq 0) { - Write-Host "❌ No received files found for test: $TestName" -ForegroundColor Red - exit 1 - } - - Write-Host "📝 Approving changes for: $TestName" -ForegroundColor Yellow - foreach ($file in $testFiles) { - # Determine target path: if we're looking at build files, copy to tests directory - if ($ArtifactsDirToUse -like "*build*") { - $targetDir = "tests\approval_artifacts" - $fileName = $file.Name -replace '\.received\.', '.approved.' - $approved = Join-Path $targetDir $fileName - } else { - $approved = $file.FullName -replace '\.received\.', '.approved.' - } - - # Ensure target directory exists - $targetDirPath = Split-Path $approved -Parent - if (!(Test-Path $targetDirPath)) { - New-Item -ItemType Directory -Path $targetDirPath -Force | Out-Null - } - - Copy-Item $file.FullName $approved -Force - Remove-Item $file.FullName -Force - Write-Host "✅ Approved: $($file.Name) → $approved" -ForegroundColor Green - } - exit 0 -} - -# Default behavior - show help and pending changes -Write-Host "📋 Found $($receivedFiles.Count) pending approval change(s):" -ForegroundColor Yellow - -$groupedFiles = $receivedFiles | Group-Object { ($_.BaseName -split '\.received')[0] } -foreach ($group in $groupedFiles) { - $testName = $group.Name - $files = $group.Group - Write-Host "" - Write-Host "🔍 Test: $testName" -ForegroundColor Cyan - - foreach ($file in $files) { - $fileType = if ($file.Extension -eq ".txt") { "📄 Text" } else { "🖼️ Image" } - Write-Host " $fileType : $($file.Name)" -ForegroundColor Gray - - # Show diff command for text files - if ($file.Extension -eq ".txt") { - $approved = $file.FullName -replace '\.received\.', '.approved.' - if (Test-Path $approved) { - Write-Host " 📋 Diff : code --diff `"$approved`" `"$($file.FullName)`"" -ForegroundColor DarkGray - } - } - } -} - -Write-Host "" -Write-Host "Usage Examples:" -ForegroundColor Yellow -Write-Host " .\approve_changes.ps1 -ListChanges # List all pending changes" -ForegroundColor Gray -Write-Host " .\approve_changes.ps1 -ViewImages # Open all received images" -ForegroundColor Gray -Write-Host " .\approve_changes.ps1 -TestName 'spin_ball_1' # Approve specific test" -ForegroundColor Gray -Write-Host " .\approve_changes.ps1 -ApproveAll # Approve all changes" -ForegroundColor Gray -Write-Host "" -Write-Host "⚠️ Review changes carefully before approving!" -ForegroundColor Yellow diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/build_tests.ps1 b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/build_tests.ps1 deleted file mode 100644 index cf377f98..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/build_tests.ps1 +++ /dev/null @@ -1,145 +0,0 @@ -# Image Analysis BC - Fast Build & Test Script -# Combines speed of Camera script with flexibility of ImageAnalysis script -# -# Usage: -# .\build_tests.ps1 # Fast build and test -# .\build_tests.ps1 -Verbose # Show detailed output -# .\build_tests.ps1 -SkipTests # Build only -# -# After test failures, use: -# .\approve_changes.ps1 # Review and approve changes - -param( - [switch]$Verbose, - [switch]$SkipTests -) - -Write-Host "Image Analysis BC - Build & Test" -ForegroundColor Green -Write-Host "=================================" -ForegroundColor Green - -$BuildDir = "build" - -# Check and set environment variables for dependencies if not already set -if (-not $env:BOOST_ROOT) { - $DefaultBoostPath = "C:\Dev_Libs\boost" - Write-Host "BOOST_ROOT environment variable not set. Using default: $DefaultBoostPath" -ForegroundColor Yellow - $env:BOOST_ROOT = $DefaultBoostPath -} else { - Write-Host "Using BOOST_ROOT: $env:BOOST_ROOT" -ForegroundColor Green -} - -if (-not $env:OPENCV_DIR) { - $DefaultOpenCVPath = "C:\opencv" - Write-Host "OPENCV_DIR environment variable not set. Using default: $DefaultOpenCVPath" -ForegroundColor Yellow - $env:OPENCV_DIR = $DefaultOpenCVPath -} else { - Write-Host "Using OPENCV_DIR: $env:OPENCV_DIR" -ForegroundColor Green -} - -# Check required files -if (!(Test-Path "domain\value_objects.hpp") -or !(Test-Path "CMakeLists.txt")) { - Write-Host "ERROR: Run this script from the ImageAnalysis directory" -ForegroundColor Red - exit 1 -} - -Write-Host "Found required files" -ForegroundColor Green - -# Always clean build for speed and reliability (like Camera script) -if (Test-Path $BuildDir) { - Write-Host "Cleaning..." -ForegroundColor Yellow - Remove-Item -Recurse -Force $BuildDir -} -New-Item -ItemType Directory -Path $BuildDir | Out-Null - -Push-Location $BuildDir - -# Configure -Write-Host "Configuring..." -ForegroundColor Cyan - -# Check if $env:OPENCV_DIR ends with 'build' - if not, append it -if (-not $env:OPENCV_DIR.EndsWith("build")) { - $OpenCVConfigPath = Join-Path $env:OPENCV_DIR "build" - if (Test-Path "$OpenCVConfigPath") { - Write-Host "Using OpenCV config path: $OpenCVConfigPath" -ForegroundColor Cyan - } else { - Write-Host "Warning: $OpenCVConfigPath not found. Using $env:OPENCV_DIR directly." -ForegroundColor Yellow - $OpenCVConfigPath = $env:OPENCV_DIR - } -} else { - $OpenCVConfigPath = $env:OPENCV_DIR -} - -if ($Verbose) { - & cmake .. -G "Visual Studio 17 2022" -A x64 -DOPENCV_DIR="$OpenCVConfigPath" -} else { - & cmake .. -G "Visual Studio 17 2022" -A x64 -DOPENCV_DIR="$OpenCVConfigPath" | Out-Null -} - -if ($LASTEXITCODE -ne 0) { - Write-Host "ERROR: CMake failed" -ForegroundColor Red - Pop-Location - exit 1 -} - -# Build (always Release for speed) -Write-Host "Building..." -ForegroundColor Cyan - -if ($Verbose) { - & cmake --build . --config Release -} else { - & cmake --build . --config Release | Out-Null -} - -if ($LASTEXITCODE -ne 0) { - Write-Host "ERROR: Build failed" -ForegroundColor Red - Pop-Location - exit 1 -} - -Write-Host "Build successful!" -ForegroundColor Green - -# Run tests unless skipped -if ($SkipTests) { - Write-Host "Skipping tests" -ForegroundColor Yellow -} else { - Write-Host "Running tests..." -ForegroundColor Cyan - - if ($Verbose) { - & ctest -C Release --verbose - } else { - & ctest -C Release - } - - if ($LASTEXITCODE -eq 0) { - Write-Host "All tests passed!" -ForegroundColor Green - Write-Host "Ready for production!" -ForegroundColor Green - } else { - Write-Host "Tests failed" -ForegroundColor Red - Write-Host "Try: .\build_tests.ps1 -Verbose" -ForegroundColor Yellow - Pop-Location - exit 1 - } -} - -Pop-Location - -# Quick artifact summary (simplified) -if (Test-Path "build\Release") { - $exeCount = (Get-ChildItem "build\Release" -Filter "*.exe").Count - $libCount = (Get-ChildItem "build\Release" -Filter "*.lib").Count - Write-Host "Built: $exeCount tests, $libCount libraries" -ForegroundColor Cyan -} - -# Clean up approval testing artifacts -if (Test-Path "tests\approval_artifacts") { - $receivedFiles = Get-ChildItem "tests\approval_artifacts" -Filter "*.received.*" -ErrorAction SilentlyContinue - if ($receivedFiles.Count -gt 0) { - Write-Host "Cleaning up $($receivedFiles.Count) approval test artifacts..." -ForegroundColor Yellow - $receivedFiles | Remove-Item -Force - if ($Verbose) { - Write-Host "Removed: $($receivedFiles.Name -join ', ')" -ForegroundColor Gray - } - } -} - -Write-Host "Done!" -ForegroundColor Green diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/domain/analysis_results.hpp b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/domain/analysis_results.hpp deleted file mode 100644 index 017de7af..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/domain/analysis_results.hpp +++ /dev/null @@ -1,123 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -/** - * @file analysis_results.hpp - * @brief Domain result objects for image analysis operations - * - * Result objects that encapsulate the outcomes of different - * image analysis operations with confidence scores and debug info. - */ - -#pragma once - -#include "value_objects.hpp" -#include -#include -#include // For cv::Point2f, cv::Vec3d - -namespace golf_sim::image_analysis::domain -{ - /** - * @brief Result of teed ball analysis - */ - struct TeedBallResult - { - BallState state = BallState::ABSENT; - std::optional position; - double confidence = 0.0; // Overall confidence in the analysis - std::string analysis_method; // e.g., "opencv_hough", "yolo_v5", etc. - std::vector debug_info; // Debug information for troubleshooting - - [[nodiscard]] bool HasBall() const - { - return state == BallState::TEED || state == BallState::RESET; - } - - [[nodiscard]] ConfidenceLevel GetConfidenceLevel() const - { - return domain::GetConfidenceLevel(confidence); - } - }; - - /** - * @brief Result of movement detection analysis - */ - struct MovementResult - { - bool movement_detected = false; - std::optional last_known_position; - double movement_confidence = 0.0; - double movement_magnitude = 0.0; // Magnitude of detected movement - std::vector motion_vectors; // Optional motion field data - std::chrono::microseconds time_since_first_movement{0}; - std::string analysis_method; - std::vector debug_info; - - [[nodiscard]] ConfidenceLevel GetConfidenceLevel() const - { - return domain::GetConfidenceLevel(movement_confidence); - } - }; - - /** - * @brief Result of strobed ball flight analysis - */ - struct FlightAnalysisResult - { - std::vector detected_balls; // Multiple ball positions from strobed image - std::optional spin_rates; // x, y, z rotation rates (degrees/second) - std::optional velocity_vector; // 3D velocity vector (m/s) - double temporal_spacing_us = 0.0; // Time between ball exposures (microseconds) - double confidence = 0.0; // Overall confidence in analysis - std::string analysis_method; - std::vector debug_info; - - [[nodiscard]] bool HasMultipleBalls() const - { - return detected_balls.size() >= 2; - } - - [[nodiscard]] bool HasValidSpinData() const - { - return spin_rates.has_value() && confidence > 0.5; - } - - [[nodiscard]] bool HasValidVelocityData() const - { - return velocity_vector.has_value() && confidence > 0.5; - } - - [[nodiscard]] ConfidenceLevel GetConfidenceLevel() const - { - return domain::GetConfidenceLevel(confidence); - } - }; - - /** - * @brief Generic analysis result for operations that might fail - */ - template - struct AnalysisResult - { - bool success = false; - T data; - std::string error_message; - std::vector debug_info; - - [[nodiscard]] static AnalysisResult Success(const T& result) - { - return {true, result, "", {}}; - } - - [[nodiscard]] static AnalysisResult Failure(const std::string& error) - { - return {false, T{}, error, {}}; - } - - [[nodiscard]] bool IsSuccess() const { return success; } - [[nodiscard]] bool IsFailure() const { return !success; } - }; -} // namespace golf_sim::image_analysis::domain diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/domain/interfaces.hpp b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/domain/interfaces.hpp deleted file mode 100644 index f8b4351e..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/domain/interfaces.hpp +++ /dev/null @@ -1,155 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -/** - * @file interfaces.hpp - * @brief Domain interfaces for image analysis bounded context - * - * Technology-agnostic interfaces that define the core capabilities - * of the image analysis domain. These interfaces will be implemented - * by infrastructure adapters (OpenCV, YOLO, etc.). - */ - -#pragma once - -#include "value_objects.hpp" -#include "analysis_results.hpp" -#include -#include -#include - -namespace golf_sim::image_analysis::domain -{ - /** - * @brief Core interface for golf ball image analysis capabilities - * - * This interface abstracts the four key image analysis capabilities - * needed for golf ball tracking, independent of the underlying - * implementation technology (OpenCV, YOLO, TensorFlow, etc.). - */ - class IImageAnalyzer - { - public: - virtual ~IImageAnalyzer() = default; - - /** - * @brief Analyze image to detect if ball is present on tee - * @param image The image to analyze - * @param expected_position Optional hint about where ball should be - * @return Result indicating ball state and position - */ - [[nodiscard]] virtual TeedBallResult AnalyzeTeedBall( - const ImageBuffer& image, - const std::optional& expected_position = std::nullopt - ) = 0; - - /** - * @brief Detect movement indicating shot in progress - * @param image_sequence Sequence of images to analyze for movement - * @param reference_ball_position Known position of ball before movement - * @return Result indicating if movement was detected and its characteristics - */ - [[nodiscard]] virtual MovementResult DetectMovement( - const std::vector& image_sequence, - const BallPosition& reference_ball_position - ) = 0; - - /** - * @brief Analyze strobed ball flight image for multiple ball positions - * @param strobed_image High-speed strobed image showing ball flight - * @param calibration_reference Reference ball for size/distance calibration - * @return Analysis of ball positions, velocity, and spin - */ - [[nodiscard]] virtual FlightAnalysisResult AnalyzeBallFlight( - const ImageBuffer& strobed_image, - const BallPosition& calibration_reference - ) = 0; - - /** - * @brief Detect if ball has been reset on tee - * @param current_image Current image to analyze - * @param previous_ball_position Last known ball position - * @return Result indicating if ball was reset - */ - [[nodiscard]] virtual TeedBallResult DetectBallReset( - const ImageBuffer& current_image, - const BallPosition& previous_ball_position - ) = 0; - - // Analyzer metadata and capabilities - [[nodiscard]] virtual std::string GetAnalyzerName() const = 0; - [[nodiscard]] virtual std::string GetVersion() const = 0; - [[nodiscard]] virtual bool SupportsRealTime() const = 0; - }; - - /** - * @brief Factory interface for creating image analyzers - * - * Enables runtime selection of analyzer implementation: - * - "opencv" - Traditional OpenCV Hough circle detection - * - "yolo_v5" - YOLO v5 machine learning detection - * - "tensorflow_lite" - TensorFlow Lite embedded models - * - "hybrid" - Combination of multiple approaches - */ - class IImageAnalyzerFactory - { - public: - virtual ~IImageAnalyzerFactory() = default; - - [[nodiscard]] virtual std::unique_ptr CreateAnalyzer( - const std::string& analyzer_type = "opencv" - ) = 0; - - [[nodiscard]] virtual std::vector GetAvailableAnalyzers() const = 0; - - [[nodiscard]] virtual bool IsAnalyzerAvailable(const std::string& analyzer_type) const = 0; - }; - - /** - * @brief Repository interface for storing and retrieving analysis results - * - * Allows persisting analysis results for debugging, training data - * collection, or performance analysis. - */ - class IAnalysisResultRepository - { - public: - virtual ~IAnalysisResultRepository() = default; - virtual void StoreTeedBallResult(const TeedBallResult& result, - const ImageBuffer& image) = 0; - virtual void StoreMovementResult(const MovementResult& result, - const std::vector& images) = 0; - virtual void StoreFlightAnalysisResult(const FlightAnalysisResult& result, - const ImageBuffer& image) = 0; - - [[nodiscard]] virtual std::vector GetTeedBallResults( - std::chrono::microseconds start_time, - std::chrono::microseconds end_time) = 0; - }; - - /** - * @brief Configuration repository interface - * - * Manages analyzer configuration settings that can be persisted - * and modified at runtime. - */ - class IAnalyzerConfigRepository - { - public: - virtual ~IAnalyzerConfigRepository() = default; - - virtual void SetAnalyzerType(const std::string& analyzer_type) = 0; - [[nodiscard]] virtual std::string GetAnalyzerType() const = 0; - - virtual void SetConfidenceThreshold(double threshold) = 0; // Should be 0.0-1.0 - [[nodiscard]] virtual double GetConfidenceThreshold() const = 0; - - virtual void SetDebugMode(bool enabled) = 0; - [[nodiscard]] virtual bool IsDebugModeEnabled() const = 0; - - virtual void SetModelPath(const std::string& path) = 0; - [[nodiscard]] virtual std::string GetModelPath() const = 0; - }; -} // namespace golf_sim::image_analysis::domain diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/domain/value_objects.hpp b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/domain/value_objects.hpp deleted file mode 100644 index 1faa8cdd..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/domain/value_objects.hpp +++ /dev/null @@ -1,237 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -/** - * @file value_objects.hpp - * @brief Domain value objects for image analysis bounded context - * - * Core immutable data structures representing business concepts - * in the image analysis domain. These are technology-agnostic - * and contain no dependencies on OpenCV, YOLO, or other frameworks. - */ - -#pragma once - -#include -#include -#include -#include -#include -#include // Only for cv::Mat, cv::Point2f, cv::Vec3d - consider abstracting later - -namespace golf_sim::image_analysis::domain -{ - /** - * @brief Represents a ball position with confidence and metadata - * - * Immutable value object representing the position of a golf ball - * in an image with associated confidence and detection metadata. - */ - struct BallPosition - { - double x_pixels; - double y_pixels; - double radius_pixels; - double confidence; // 0.0 to 1.0 - std::chrono::microseconds timestamp; - std::string detection_method; // e.g., "hough_circles", "yolo_v5" - - // Default constructor - BallPosition() : x_pixels(0.0), y_pixels(0.0), radius_pixels(0.0), - confidence(0.0), timestamp(std::chrono::microseconds{0}), - detection_method("unknown") - { - } - - // Parameterized constructor - BallPosition(double x, double y, double radius, double conf = 1.0, - std::chrono::microseconds ts = std::chrono::microseconds{0}, - const std::string& method = "unknown") - : x_pixels(x), y_pixels(y), radius_pixels(radius), - confidence(conf), timestamp(ts), detection_method(method) - { - ValidateParameters(); - } - - [[nodiscard]] bool IsValid() const - { - return confidence > 0.0 && radius_pixels > 0.0; - } - - // Distance calculation for ball movement detection - [[nodiscard]] double DistanceFrom(const BallPosition& other) const - { - double dx = x_pixels - other.x_pixels; - double dy = y_pixels - other.y_pixels; - return std::sqrt(dx * dx + dy * dy); - } - - // Check if two positions are nearly equal within tolerance - [[nodiscard]] bool IsNearlyEqual(const BallPosition& other, double tolerance) const - { - if (tolerance < 0.0) - { - throw std::invalid_argument("Tolerance must be non-negative"); - } - return DistanceFrom(other) <= tolerance; - } - - private: - void ValidateParameters() const - { - if (confidence < 0.0 || confidence > 1.0) - { - throw std::invalid_argument("Confidence must be between 0.0 and 1.0"); - } - if (radius_pixels < 0.0) - { - throw std::invalid_argument("Radius must be non-negative"); - } - if (std::isnan(x_pixels) || std::isnan(y_pixels) || std::isnan(radius_pixels)) - { - throw std::invalid_argument("Position coordinates cannot be NaN"); - } - if (std::isinf(x_pixels) || std::isinf(y_pixels) || std::isinf(radius_pixels)) - { - throw std::invalid_argument("Position coordinates cannot be infinite"); - } - } - }; - - /** - * @brief Represents an image buffer with timing and metadata - * - * Contains the actual image data along with capture timing - * and metadata needed for analysis. - */ - struct ImageBuffer - { - cv::Mat data; // The actual image data - std::chrono::microseconds timestamp; // When image was captured - std::string camera_id; // Which camera captured this - std::string metadata; // Additional metadata (exposure, etc.) - - ImageBuffer() = default; - - ImageBuffer(const cv::Mat& image, - std::chrono::microseconds ts = std::chrono::microseconds{0}, - const std::string& cam_id = "", - const std::string& meta = "") - : data(image.clone()), timestamp(ts), camera_id(cam_id), metadata(meta) - { - ValidateImage(); - } - - [[nodiscard]] bool IsValid() const - { - return !data.empty(); - } - - // Get time difference between this and another image - [[nodiscard]] std::chrono::microseconds TimeDifferenceFrom(const ImageBuffer& other) const - { - return timestamp - other.timestamp; - } - - private: - void ValidateImage() const - { - if (data.empty()) - { - throw std::invalid_argument("Image data cannot be empty"); - } - if (data.rows <= 0 || data.cols <= 0) - { - throw std::invalid_argument("Image must have positive dimensions"); - } - } - }; - - /** - * @brief Ball state enumeration for tee detection - */ - enum class BallState - { - ABSENT, // No ball detected on tee - TEED, // Ball is stationary and ready for shot - MOVING, // Ball is in motion (during shot) - RESET // Ball has been reset/replaced after previous analysis - }; - - /** - * @brief Convert BallState to string for logging/debugging - */ - inline std::string ToString(BallState state) - { - switch (state) - { - case BallState::ABSENT: return "ABSENT"; - case BallState::TEED: return "TEED"; - case BallState::MOVING: return "MOVING"; - case BallState::RESET: return "RESET"; - default: return "UNKNOWN"; - } - } - - /** - * @brief Stream operator for BallState (required by Boost Test) - */ - inline std::ostream& operator<<(std::ostream& os, BallState state) - { - return os << ToString(state); - } - - /** - * @brief Analysis confidence levels - */ - enum class ConfidenceLevel - { - VERY_LOW, // 0.0 - 0.3 - LOW, // 0.3 - 0.5 - MEDIUM, // 0.5 - 0.7 - HIGH, // 0.7 - 0.9 - VERY_HIGH // 0.9 - 1.0 - }; - - /** - * @brief Convert confidence score to level - */ - [[nodiscard]] inline ConfidenceLevel GetConfidenceLevel(double confidence) - { - if (confidence < 0.0 || confidence > 1.0) - { - throw std::invalid_argument("Confidence must be between 0.0 and 1.0"); - } - if (confidence < 0.3) return ConfidenceLevel::VERY_LOW; - if (confidence < 0.5) return ConfidenceLevel::LOW; - if (confidence < 0.7) return ConfidenceLevel::MEDIUM; - if (confidence < 0.9) return ConfidenceLevel::HIGH; - return ConfidenceLevel::VERY_HIGH; - } - - /** - * @brief Convert ConfidenceLevel to string for logging/debugging - */ - inline std::string ToString(ConfidenceLevel level) - { - switch (level) - { - case ConfidenceLevel::VERY_LOW: return "VERY_LOW"; - case ConfidenceLevel::LOW: return "LOW"; - case ConfidenceLevel::MEDIUM: return "MEDIUM"; - case ConfidenceLevel::HIGH: return "HIGH"; - case ConfidenceLevel::VERY_HIGH: return "VERY_HIGH"; - default: return "UNKNOWN"; - } - } - - /** - * @brief Stream operator for ConfidenceLevel (required by Boost Test) - */ - inline std::ostream& operator<<(std::ostream& os, ConfidenceLevel level) - { - return os << ToString(level); - } -} // namespace golf_sim::image_analysis::domain diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/infrastructure/ml_image_analyzer.hpp b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/infrastructure/ml_image_analyzer.hpp deleted file mode 100644 index 872649ab..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/infrastructure/ml_image_analyzer.hpp +++ /dev/null @@ -1,301 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -/** - * @file ml_image_analyzer.hpp - * @brief Machine Learning-based implementation framework for image analysis - * - * Provides a framework for integrating AI/ML approaches like YOLO, TensorFlow Lite, - * and other modern computer vision models alongside the existing OpenCV implementation. - * This enables experimentation with modern AI approaches while preserving the - * sophisticated existing algorithms. - */ - -#pragma once - -#include "../domain/interfaces.hpp" -#include "../domain/analysis_results.hpp" -#include -#include -#include - -namespace golf_sim::image_analysis::infrastructure::ml { - - // Forward declarations for ML frameworks - struct YOLOModel; - struct TensorFlowLiteModel; - struct PyTorchMobileModel; - - /** - * @brief Machine Learning-based analyzer for future AI integration - * - * This class provides the framework for integrating modern AI/ML approaches - * for golf ball detection. It supports multiple ML frameworks and can be - * configured to use different models at runtime. - */ - class MLImageAnalyzer : public domain::IImageAnalyzer { - public: - /** - * @brief Model types supported by the ML analyzer - */ - enum class ModelType { - YOLO_V5, ///< YOLOv5 object detection model - YOLO_V8, ///< YOLOv8 object detection model - TENSORFLOW_LITE,///< TensorFlow Lite mobile model - PYTORCH_MOBILE, ///< PyTorch Mobile optimized model - NCNN ///< NCNN optimized inference model - }; - - /** - * @brief Constructor for ML-based image analyzer - * @param model_type Type of ML model to use - * @param model_path Path to the model file - */ - explicit MLImageAnalyzer(ModelType model_type, const std::string& model_path); - ~MLImageAnalyzer() override; - - // Domain interface implementation - domain::TeedBallResult AnalyzeTeedBall( - const domain::ImageBuffer& image, - const std::optional& expected_position = std::nullopt - ) override; - - domain::MovementResult DetectMovement( - const std::vector& image_sequence, - const domain::BallPosition& reference_ball_position - ) override; - - domain::FlightAnalysisResult AnalyzeBallFlight( - const domain::ImageBuffer& strobed_image, - const domain::BallPosition& calibration_reference - ) override; - - domain::TeedBallResult DetectBallReset( - const domain::ImageBuffer& current_image, - const domain::BallPosition& previous_ball_position - ) override; - - // Analyzer metadata - std::string GetAnalyzerName() const override; - std::string GetVersion() const override { return "2.0.0-ml"; } - bool SupportsRealTime() const override; // ML-specific configuration - - /** - * @brief Load ML model from file - * @param model_path Path to the model file - * @return true if model loaded successfully, false otherwise - */ - bool LoadModel(const std::string& model_path); - - /** - * @brief Set confidence threshold for detections - * @param threshold Minimum confidence (0.0-1.0) for valid detections - */ - void SetConfidenceThreshold(double threshold); - - /** - * @brief Set Non-Maximum Suppression threshold - * @param threshold NMS threshold (0.0-1.0) for overlapping detections - */ - void SetNMSThreshold(double threshold); - - /** - * @brief Set input image size for model inference - * @param width Target width in pixels - * @param height Target height in pixels - */ - void SetInputSize(int width, int height); - - /** - * @brief Enable or disable GPU acceleration if available - * @param enabled true to enable GPU acceleration, false for CPU only - */ - void SetGPUAcceleration(bool enabled); - - private: - ModelType model_type_; - std::string model_path_; - bool model_loaded_ = false; - double confidence_threshold_ = 0.5; - double nms_threshold_ = 0.4; - int input_width_ = 640; - int input_height_ = 640; - bool gpu_acceleration_ = false; - - // Model-specific implementations - std::unique_ptr yolo_model_; - std::unique_ptr tflite_model_; - std::unique_ptr pytorch_model_; - - // Core ML processing methods - std::vector RunInference(const cv::Mat& image); - domain::TeedBallResult ClassifyBallState(const std::vector& detections); - std::vector EstimateMotionVectors(const std::vector& sequence); - - // Post-processing utilities - std::vector FilterDetectionsByConfidence( - const std::vector& detections) const; - std::vector ApplyNonMaxSuppression( - const std::vector& detections) const; - - // Model-specific inference - std::vector RunYOLOInference(const cv::Mat& image); - std::vector RunTensorFlowLiteInference(const cv::Mat& image); - std::vector RunPyTorchMobileInference(const cv::Mat& image); - - // Preprocessing - cv::Mat PreprocessImage(const cv::Mat& input) const; - cv::Mat ResizeWithPadding(const cv::Mat& input, int target_width, int target_height) const; - cv::Mat NormalizeImage(const cv::Mat& input) const; - - // Error handling - domain::TeedBallResult CreateMLErrorResult(const std::string& error_message) const; - domain::MovementResult CreateMLMovementErrorResult(const std::string& error_message) const; - domain::FlightAnalysisResult CreateMLFlightErrorResult(const std::string& error_message) const; - }; - - /** - * @brief Factory for ML-based analyzers - */ - class MLAnalyzerFactory : public domain::IImageAnalyzerFactory { - public: - std::unique_ptr CreateAnalyzer( - const std::string& analyzer_type = "yolo_v5" - ) override; - - std::vector GetAvailableAnalyzers() const override; - bool IsAnalyzerAvailable(const std::string& analyzer_type) const override; - - // ML-specific factory methods - std::unique_ptr CreateYOLOAnalyzer( - const std::string& model_path, - MLImageAnalyzer::ModelType version = MLImageAnalyzer::ModelType::YOLO_V5 - ); - - std::unique_ptr CreateTensorFlowLiteAnalyzer( - const std::string& model_path - ); - - std::unique_ptr CreatePyTorchMobileAnalyzer( - const std::string& model_path - ); - - private: - std::map default_model_paths_; - - void InitializeDefaultModelPaths(); - bool IsModelFileValid(const std::string& model_path) const; - }; - - /** - * @brief Hybrid analyzer that combines multiple approaches - * - * Uses multiple analyzers (e.g., OpenCV + ML) and combines results - * for improved accuracy and reliability. Can fallback from ML to - * traditional methods if ML inference fails. - */ - class HybridImageAnalyzer : public domain::IImageAnalyzer { - public: - HybridImageAnalyzer( - std::unique_ptr primary_analyzer, - std::unique_ptr fallback_analyzer - ); - - ~HybridImageAnalyzer() override = default; - - // Domain interface implementation with hybrid logic - domain::TeedBallResult AnalyzeTeedBall( - const domain::ImageBuffer& image, - const std::optional& expected_position = std::nullopt - ) override; - - domain::MovementResult DetectMovement( - const std::vector& image_sequence, - const domain::BallPosition& reference_ball_position - ) override; - - domain::FlightAnalysisResult AnalyzeBallFlight( - const domain::ImageBuffer& strobed_image, - const domain::BallPosition& calibration_reference - ) override; - - domain::TeedBallResult DetectBallReset( - const domain::ImageBuffer& current_image, - const domain::BallPosition& previous_ball_position - ) override; - - // Analyzer metadata - std::string GetAnalyzerName() const override; - std::string GetVersion() const override { return "1.0.0-hybrid"; } - bool SupportsRealTime() const override; - - // Hybrid-specific configuration - void SetPrimaryConfidenceThreshold(double threshold); - void SetFallbackMode(bool auto_fallback); - void SetResultFusion(bool enable_fusion); - - private: - std::unique_ptr primary_analyzer_; - std::unique_ptr fallback_analyzer_; - - double primary_confidence_threshold_ = 0.6; - bool auto_fallback_enabled_ = true; - bool result_fusion_enabled_ = false; - - // Result combination strategies - domain::TeedBallResult CombineTeedBallResults( - const domain::TeedBallResult& primary, - const domain::TeedBallResult& fallback) const; - - domain::MovementResult CombineMovementResults( - const domain::MovementResult& primary, - const domain::MovementResult& fallback) const; - - domain::FlightAnalysisResult CombineFlightResults( - const domain::FlightAnalysisResult& primary, - const domain::FlightAnalysisResult& fallback) const; - - // Helper methods - bool ShouldUseFallback(double primary_confidence) const; - domain::BallPosition FuseBallPositions( - const domain::BallPosition& pos1, - const domain::BallPosition& pos2, - double weight1 = 0.5) const; - }; - - // Model interface abstractions (to be implemented based on actual ML frameworks) - - /** - * @brief Abstract interface for YOLO models - */ - struct YOLOModel { - virtual ~YOLOModel() = default; - virtual bool LoadModel(const std::string& model_path) = 0; - virtual std::vector Detect(const cv::Mat& image) = 0; - virtual void SetConfidenceThreshold(double threshold) = 0; - virtual void SetNMSThreshold(double threshold) = 0; - }; - - /** - * @brief Abstract interface for TensorFlow Lite models - */ - struct TensorFlowLiteModel { - virtual ~TensorFlowLiteModel() = default; - virtual bool LoadModel(const std::string& model_path) = 0; - virtual std::vector Detect(const cv::Mat& image) = 0; - virtual void SetInputSize(int width, int height) = 0; - }; - - /** - * @brief Abstract interface for PyTorch Mobile models - */ - struct PyTorchMobileModel { - virtual ~PyTorchMobileModel() = default; - virtual bool LoadModel(const std::string& model_path) = 0; - virtual std::vector Detect(const cv::Mat& image) = 0; - virtual void SetGPUAcceleration(bool enabled) = 0; - }; - -} // namespace golf_sim::image_analysis::infrastructure::ml diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/infrastructure/opencv_image_analyzer.cpp b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/infrastructure/opencv_image_analyzer.cpp deleted file mode 100644 index dc7a8d4d..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/infrastructure/opencv_image_analyzer.cpp +++ /dev/null @@ -1,466 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -/** - * @file opencv_image_analyzer.cpp - * @brief OpenCV implementation of image analysis interface - */ - -#include "opencv_image_analyzer.hpp" -#include -#include // For optical flow -#include -#include - -namespace golf_sim::image_analysis::infrastructure { - -using namespace domain; - -// Simple logging functions to replace dependencies -static void LogInfo(const std::string& message) { - std::cout << "[INFO] " << message << std::endl; -} - -static void LogError(const std::string& message) { - std::cerr << "[ERROR] " << message << std::endl; -} - -OpenCVImageAnalyzer::OpenCVImageAnalyzer() { - LogInfo("OpenCV Image Analyzer initialized"); -} - -TeedBallResult OpenCVImageAnalyzer::AnalyzeTeedBall( - const ImageBuffer& image, - const std::optional& expected_position -) { - if (!image.IsValid()) { - return CreateErrorResult("Invalid image buffer"); - } - - try { - cv::Mat processed = PreprocessImage(image.data); - std::vector candidates = DetectCircles(processed); - - if (candidates.empty()) { - TeedBallResult result; - result.state = BallState::ABSENT; - result.confidence = 0.0; - result.analysis_method = "opencv_hough_circles"; - result.debug_info.push_back("No circles detected"); - return result; - } - - BallPosition best = SelectBestCandidate(candidates, expected_position); - - TeedBallResult result; - result.state = (best.confidence >= 0.5) ? BallState::TEED : BallState::ABSENT; - result.position = best; - result.confidence = best.confidence; - result.analysis_method = "opencv_hough_circles"; - result.debug_info.push_back("Detected " + std::to_string(candidates.size()) + " circles"); - - return result; - - } catch (const std::exception& e) { - return CreateErrorResult("Exception: " + std::string(e.what())); - } -} - -MovementResult OpenCVImageAnalyzer::DetectMovement( - const std::vector& image_sequence, - const BallPosition& reference_position -) { - if (image_sequence.size() < 2) { - return CreateMovementErrorResult("Insufficient images for movement detection"); - } - - try { - MovementResult result; - result.analysis_method = "opencv_optical_flow"; // Simple movement detection using frame differencing - cv::Mat prev_frame = PreprocessImage(image_sequence[0].data); - double max_movement = 0.0; - - for (size_t i = 1; i < image_sequence.size(); ++i) { - cv::Mat curr_frame = PreprocessImage(image_sequence[i].data); - - // Calculate optical flow - std::vector flow = CalculateOpticalFlow(prev_frame, curr_frame); - double movement = CalculateMovementMagnitude(flow); - - if (movement > max_movement) { - max_movement = movement; - } - - prev_frame = curr_frame; - } - - result.movement_detected = max_movement > MOVEMENT_THRESHOLD; - result.movement_confidence = std::min(1.0, max_movement / VELOCITY_SCALING_FACTOR); - result.movement_magnitude = max_movement; - result.last_known_position = reference_position; - - return result; - - } catch (const std::exception& e) { - return CreateMovementErrorResult("Exception: " + std::string(e.what())); - } -} - -FlightAnalysisResult OpenCVImageAnalyzer::AnalyzeBallFlight( - const ImageBuffer& strobed_image, - const BallPosition& calibration_reference -) { - // calibration_reference is reserved for future flight path calibration - (void)calibration_reference; // Suppress unused parameter warning - - if (!strobed_image.IsValid()) { - return CreateFlightErrorResult("Invalid strobed image"); - } - - try { - cv::Mat processed = PreprocessImage(strobed_image.data); - std::vector candidates = DetectCircles(processed); - - FlightAnalysisResult result; - result.analysis_method = "opencv_multi_ball_detection"; - - // Filter candidates with reasonable confidence - for (const auto& candidate : candidates) { - if (candidate.confidence >= 0.3) { - result.detected_balls.push_back(candidate); - } - } - - // Sort by x-position (flight trajectory) - std::sort(result.detected_balls.begin(), result.detected_balls.end(), - [](const BallPosition& a, const BallPosition& b) { - return a.x_pixels < b.x_pixels; - }); if (result.detected_balls.size() >= 2) { - result.confidence = 0.8; - result.temporal_spacing_us = TEMPORAL_SPACING_US; - - // Basic velocity calculation - const auto& first = result.detected_balls.front(); - const auto& last = result.detected_balls.back(); - - double dx = last.x_pixels - first.x_pixels; - double dy = last.y_pixels - first.y_pixels; - double dt = result.temporal_spacing_us * (result.detected_balls.size() - 1); - - if (dt > 0) { - double velocity_x = (dx / dt) * 1000000 * 0.001; // Convert to m/s - double velocity_y = (dy / dt) * 1000000 * 0.001; - result.velocity_vector = cv::Vec3d{velocity_x, velocity_y, 0.0}; - } - } - - return result; - - } catch (const std::exception& e) { - return CreateFlightErrorResult("Exception: " + std::string(e.what())); - } -} - -TeedBallResult OpenCVImageAnalyzer::DetectBallReset( - const ImageBuffer& current_image, - const BallPosition& previous_position -) { - TeedBallResult result = AnalyzeTeedBall(current_image); - if (result.position.has_value()) { - double distance = result.position->DistanceFrom(previous_position); - - if (distance > RESET_DISTANCE_THRESHOLD) { - result.state = BallState::RESET; - result.debug_info.push_back("Ball position significantly changed - possible reset"); - } - } - - result.analysis_method = "opencv_reset_detection"; - return result; -} - -void OpenCVImageAnalyzer::SetHoughParameters(double param1, double param2, double dp) { - if (param1 <= 0.0 || param2 <= 0.0 || dp <= 0.0) { - LogError("Invalid Hough parameters: all values must be positive"); - return; - } - - hough_param1_ = param1; - hough_param2_ = param2; - hough_dp_ = dp; - LogInfo("Hough parameters updated: param1=" + std::to_string(param1) + - ", param2=" + std::to_string(param2) + ", dp=" + std::to_string(dp)); -} - -void OpenCVImageAnalyzer::SetRadiusLimits(int min_radius, int max_radius) { - if (min_radius <= 0 || max_radius <= 0 || min_radius >= max_radius) { - LogError("Invalid radius limits: min_radius must be positive and less than max_radius"); - return; - } - - min_radius_ = min_radius; - max_radius_ = max_radius; - LogInfo("Radius limits updated: " + std::to_string(min_radius) + "-" + std::to_string(max_radius)); -} - -// Private helper methods -std::vector OpenCVImageAnalyzer::DetectCircles(const cv::Mat& image) const { - std::vector positions; - - try { - std::vector circles; - cv::HoughCircles( - image, - circles, - cv::HOUGH_GRADIENT, - hough_dp_, - image.rows / 4, - hough_param1_, - hough_param2_, - min_radius_, - max_radius_ - ); - - positions.reserve(circles.size()); // Preallocate for efficiency - - for (const auto& circle : circles) { - BallPosition position{ - static_cast(circle[0]), - static_cast(circle[1]), - static_cast(circle[2]), - 0.0, // Will be calculated next - std::chrono::microseconds{0}, - "opencv_hough" - }; - - position.confidence = CalculateConfidence(position, image); - positions.push_back(position); - } - } catch (const cv::Exception& e) { - LogError("OpenCV exception in DetectCircles: " + std::string(e.what())); - // Return empty vector on OpenCV errors - } catch (const std::exception& e) { - LogError("Standard exception in DetectCircles: " + std::string(e.what())); - // Return empty vector on other errors - } - - return positions; -} - -BallPosition OpenCVImageAnalyzer::SelectBestCandidate( - const std::vector& candidates, - const std::optional& expected_position) -{ - - if (candidates.empty()) { - return BallPosition{}; // Default constructed - } - - BallPosition best = candidates[0]; - - if (expected_position.has_value()) { - // Find candidate closest to expected position - double min_distance = best.DistanceFrom(*expected_position); - - for (const auto& candidate : candidates) { - double distance = candidate.DistanceFrom(*expected_position); - if (distance < min_distance) { - best = candidate; - min_distance = distance; - } - } - } else { - // Find candidate with highest confidence - for (const auto& candidate : candidates) { - if (candidate.confidence > best.confidence) { - best = candidate; - } - } - } - - return best; -} - -double OpenCVImageAnalyzer::CalculateConfidence(const BallPosition& position, const cv::Mat& image) const { - // Validate inputs - if (image.empty()) { - return 0.0; - } - - double x = position.x_pixels; - double y = position.y_pixels; - double radius = position.radius_pixels; - - // Check bounds - ball must be fully within image - if (x - radius < 0 || x + radius >= image.cols || - y - radius < 0 || y + radius >= image.rows) { - return 0.1; // Low confidence for partially out-of-bounds balls - } - - // Radius confidence - prefer balls within expected size range - double radius_confidence = 1.0; - if (radius < min_radius_) { - radius_confidence = static_cast(radius) / min_radius_; - } else if (radius > max_radius_) { - radius_confidence = static_cast(max_radius_) / radius; - } - - // Position confidence - prefer balls not too close to edges - double edge_margin = std::min(image.cols, image.rows) * 0.1; // 10% margin - double edge_confidence = 1.0; - if (x < edge_margin || x > image.cols - edge_margin || - y < edge_margin || y > image.rows - edge_margin) { - edge_confidence = 0.8; // Slightly lower confidence near edges - } - - // Combined confidence - double confidence = radius_confidence * edge_confidence * 0.8; // Base confidence factor - return std::min(1.0, std::max(0.0, confidence)); // Clamp to [0, 1] -} - -bool OpenCVImageAnalyzer::IsValidBallPosition(const BallPosition& position, const cv::Mat& image) { - return position.x_pixels >= 0 && position.x_pixels < image.cols && - position.y_pixels >= 0 && position.y_pixels < image.rows && - position.radius_pixels > 0 && position.confidence > 0.0; -} - -cv::Mat OpenCVImageAnalyzer::PreprocessImage(const cv::Mat& input) { - if (input.empty()) { - LogError("Empty input image in PreprocessImage"); - return cv::Mat(); - } - - try { - cv::Mat blurred; - cv::Mat gray; - if (input.channels() == 3) { - cv::cvtColor(input, gray, cv::COLOR_BGR2GRAY); - } else if (input.channels() == 1) { - gray = input.clone(); - } else { - LogError("Unsupported number of channels: " + std::to_string(input.channels())); - return cv::Mat(); - } - - cv::GaussianBlur(gray, blurred, cv::Size(9, 9), 2, 2); - return blurred; - - } catch (const cv::Exception& e) { - LogError("OpenCV exception in PreprocessImage: " + std::string(e.what())); - return cv::Mat(); - } -} - -std::vector OpenCVImageAnalyzer::CalculateOpticalFlow( - const cv::Mat& prev_frame, const cv::Mat& curr_frame) { - - std::vector flow; - - if (prev_frame.empty() || curr_frame.empty()) { - LogError("Empty frames in CalculateOpticalFlow"); - return flow; - } - - if (prev_frame.size() != curr_frame.size()) { - LogError("Frame size mismatch in CalculateOpticalFlow"); - return flow; - } - - try { - // Use Lucas-Kanade optical flow - std::vector prev_points; - - // Find corner points in previous frame - cv::goodFeaturesToTrack(prev_frame, prev_points, 100, 0.3, 7, cv::Mat(), 7, false, 0.04); - - if (!prev_points.empty()) { - std::vector error; - std::vector status; - std::vector next_points; - // Calculate optical flow - cv::calcOpticalFlowPyrLK(prev_frame, curr_frame, prev_points, next_points, status, error); - - // Extract valid flow vectors - flow.reserve(prev_points.size()); // Preallocate for efficiency - for (size_t i = 0; i < prev_points.size(); ++i) { - if (status[i] && error[i] < 50) { - cv::Point2f flow_vector = next_points[i] - prev_points[i]; - flow.push_back(flow_vector); - } - } - } - - // Fallback to simple frame difference if no good features found - if (flow.empty()) { - cv::Mat diff; - cv::absdiff(prev_frame, curr_frame, diff); - cv::Scalar mean_diff = cv::mean(diff); - - // Generate representative flow vectors based on mean difference - if (mean_diff[0] > 1.0) { // Sensitivity threshold - flow.push_back(cv::Point2f{static_cast(mean_diff[0]), 0.0f}); - } - } - } catch (const cv::Exception& e) { - LogError("OpenCV exception in CalculateOpticalFlow: " + std::string(e.what())); - - // Fallback to simple difference - try { - cv::Mat diff; - cv::absdiff(prev_frame, curr_frame, diff); - cv::Scalar mean_diff = cv::mean(diff); - - if (mean_diff[0] > 1.0) { - flow.push_back(cv::Point2f{static_cast(mean_diff[0]), 0.0f}); - } - } catch (const cv::Exception& e2) { - LogError("Fallback calculation also failed: " + std::string(e2.what())); - } - } - - return flow; -} - -double OpenCVImageAnalyzer::CalculateMovementMagnitude(const std::vector& flow) { - if (flow.empty()) return 0.0; - - double total = 0.0; - for (const auto& vector : flow) { - total += std::sqrt(vector.x * vector.x + vector.y * vector.y); - } - - return total / flow.size(); -} - -TeedBallResult OpenCVImageAnalyzer::CreateErrorResult(const std::string& error_message) { - TeedBallResult result; - result.state = BallState::ABSENT; - result.confidence = 0.0; - result.analysis_method = "opencv_error"; - result.debug_info.push_back(error_message); - LogError(error_message); - return result; -} - -MovementResult OpenCVImageAnalyzer::CreateMovementErrorResult(const std::string& error_message) { - MovementResult result; - result.movement_detected = false; - result.movement_confidence = 0.0; - result.analysis_method = "opencv_error"; - result.debug_info.push_back(error_message); - LogError(error_message); - return result; -} - -FlightAnalysisResult OpenCVImageAnalyzer::CreateFlightErrorResult(const std::string& error_message) { - FlightAnalysisResult result; - result.confidence = 0.0; - result.analysis_method = "opencv_error"; - result.debug_info.push_back(error_message); - LogError(error_message); - return result; -} - -} // namespace golf_sim::image_analysis::infrastructure \ No newline at end of file diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/infrastructure/opencv_image_analyzer.hpp b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/infrastructure/opencv_image_analyzer.hpp deleted file mode 100644 index de4087b6..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/infrastructure/opencv_image_analyzer.hpp +++ /dev/null @@ -1,105 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -/** - * @file opencv_image_analyzer.hpp - * @brief OpenCV-based implementation of image analysis interface - * - * Wraps the existing sophisticated OpenCV ball detection logic - * (BallImageProc and GolfSimCamera) behind the domain interface. - * This preserves all the complex Hough circle detection, strobed - * ball analysis, and movement detection while providing a clean - * abstraction for future AI/ML integration. - */ - -#pragma once - -#include "../domain/interfaces.hpp" -#include "../domain/analysis_results.hpp" -#include - -namespace golf_sim::image_analysis::infrastructure { - - /** - * @brief Simplified OpenCV-based implementation of IImageAnalyzer - * - * This implementation provides basic OpenCV-based ball detection - * using Hough circle detection. It serves as a working prototype - * for the bounded context while the full integration with existing - * BallImageProc can be completed later. - */ - class OpenCVImageAnalyzer : public domain::IImageAnalyzer { - public: - OpenCVImageAnalyzer(); - ~OpenCVImageAnalyzer() override = default; - - // Domain interface implementation - domain::TeedBallResult AnalyzeTeedBall( - const domain::ImageBuffer& image, - const std::optional& expected_position = std::nullopt - ) override; - - domain::MovementResult DetectMovement( - const std::vector& image_sequence, - const domain::BallPosition& reference_ball_position - ) override; - - domain::FlightAnalysisResult AnalyzeBallFlight( - const domain::ImageBuffer& strobed_image, - const domain::BallPosition& calibration_reference - ) override; - - domain::TeedBallResult DetectBallReset( - const domain::ImageBuffer& current_image, - const domain::BallPosition& previous_ball_position - ) override; - - // Analyzer metadata - std::string GetAnalyzerName() const override { return "OpenCV Image Analyzer"; } - std::string GetVersion() const override { return "1.0.0-simplified"; } - bool SupportsRealTime() const override { return true; } - - // OpenCV-specific configuration - void SetHoughParameters(double param1, double param2, double dp = 1.0); - void SetRadiusLimits(int min_radius, int max_radius); private: - // Configuration parameters for Hough Circle detection - static constexpr double DEFAULT_HOUGH_PARAM1 = 100.0; - static constexpr double DEFAULT_HOUGH_PARAM2 = 30.0; - static constexpr double DEFAULT_HOUGH_DP = 1.0; - static constexpr int DEFAULT_MIN_RADIUS = 10; - static constexpr int DEFAULT_MAX_RADIUS = 100; - static constexpr double MOVEMENT_THRESHOLD = 2.0; - static constexpr double VELOCITY_SCALING_FACTOR = 20.0; - static constexpr double RESET_DISTANCE_THRESHOLD = 100.0; - static constexpr double TEMPORAL_SPACING_US = 5000.0; // 5ms assumption - - double hough_param1_ = DEFAULT_HOUGH_PARAM1; - double hough_param2_ = DEFAULT_HOUGH_PARAM2; - double hough_dp_ = DEFAULT_HOUGH_DP; - int min_radius_ = DEFAULT_MIN_RADIUS; - int max_radius_ = DEFAULT_MAX_RADIUS; - - // Core detection methods - std::vector DetectCircles(const cv::Mat& image) const; - static domain::BallPosition SelectBestCandidate( - const std::vector& candidates, - const std::optional& expected_position); - // Helper methods - double CalculateConfidence(const domain::BallPosition& position, const cv::Mat& image) const; - static bool IsValidBallPosition(const domain::BallPosition& position, const cv::Mat& image); - static cv::Mat PreprocessImage(const cv::Mat& input); - - // Movement detection helpers - static std::vector CalculateOpticalFlow( - const cv::Mat& prev_frame, const cv::Mat& curr_frame); - static double CalculateMovementMagnitude(const std::vector& flow); - - // Error result creators - static domain::TeedBallResult CreateErrorResult(const std::string& error_message); - static domain::MovementResult CreateMovementErrorResult(const std::string& error_message); - static domain::FlightAnalysisResult CreateFlightErrorResult(const std::string& error_message); - }; - -} // namespace golf_sim::image_analysis::infrastructure diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/APPROVAL_TESTING.md b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/APPROVAL_TESTING.md deleted file mode 100644 index 1e0755cd..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/APPROVAL_TESTING.md +++ /dev/null @@ -1,305 +0,0 @@ -# Approval Testing with Real PiTrac Images - -This directory contains approval tests that use actual PiTrac test images to validate the ImageAnalysis bounded context. The approval testing approach creates baseline artifacts that can be compared against future test runs to detect regressions. - -## Overview - -Approval testing works by: -1. **First Run**: Creates "approved" baseline files representing expected behavior -2. **Subsequent Runs**: Compares current results against approved baselines -3. **Failure**: When outputs differ, manual review determines if change is intended or a regression - -## Test Images Used - -The tests use real PiTrac images from `C:\kata\PiTrac\Software\LMSourceCode\Images\`: - -- `log_ball_final_found_ball_img.png` - Ball detection scenario -- `gs_log_img__log_ball_final_found_ball_img.png` - Golf simulation log image -- `log_cam2_last_strobed_img.png` - Strobed ball capture -- `log_cam2_last_strobed_img_232_fast.png` - Fast strobed capture -- `spin_ball_1_gray_image1.png` - Spin analysis scenario 1 -- `spin_ball_2_gray_image1.png` - Spin analysis scenario 2 -- `log_ball_final_found_ball_img_232_fast.png` - Fast ball detection - -## Generated Artifacts - -For each test, the framework generates: - -### Text Artifacts -- `{test_name}.approved.txt` - Baseline expected results -- `{test_name}.received.txt` - Current test run results - -### Visual Artifacts -- `{test_name}.approved.png` - Baseline visualization with detected ball highlighted -- `{test_name}.received.png` - Current run visualization - -## Running Approval Tests - -### Using the Build Script (Recommended) -```powershell -# From ImageAnalysis directory -.\build_tests.ps1 -Verbose - -# Run only approval tests -.\build_tests.ps1 -Verbose -ApprovalOnly -``` - -### Using CMake Directly -```powershell -# Build and run all tests -mkdir build -cd build -cmake .. -cmake --build . -ctest --verbose - -# Run only approval tests -./test_approval_with_pitrac_images.exe -``` - -### Using Custom Targets -```powershell -# Run all tests -cmake --build . --target run_tests - -# Run only approval tests -cmake --build . --target run_approval_tests -``` - -## Approval Workflow - -### Initial Setup (First Time) -1. Run the tests - they will create baseline `.approved.txt` and `.approved.png` files -2. Manually review the generated artifacts to ensure they represent correct behavior -3. Commit the approved files to version control - -### Regular Development -1. Run tests normally - they compare against approved baselines -2. If tests fail, examine the differences: - - Review `.received.txt` vs `.approved.txt` - - Compare `.received.png` vs `.approved.png` -3. If changes are intended (new features, improvements): - - Copy `.received.*` files over `.approved.*` files to update baselines - - Commit the updated approved files -4. If changes are unintended: - - Fix the code to match expected behavior - -### Updating Baselines -When intentional changes require new baselines: -```powershell -# Copy received files to approved (Windows) -copy "approval_artifacts\*.received.txt" "approval_artifacts\*.approved.txt" -copy "approval_artifacts\*.received.png" "approval_artifacts\*.approved.png" - -# Or use PowerShell -Get-ChildItem "approval_artifacts\*.received.*" | ForEach-Object { - $approved = $_.FullName -replace '\.received\.', '.approved.' - Copy-Item $_.FullName $approved -Force -} -``` - -## Analysis Result Format - -Each test generates a detailed analysis summary including: - -``` -=== Image Analysis Result Summary === -Timestamp: 1000000 microseconds -Source ID: test_name -Processing Duration: 42.5 ms -Ball Detected: YES -Ball Position: - X: 320.50 pixels - Y: 240.75 pixels - Radius: 15.25 pixels - Confidence: 0.885 - Detection Method: HoughCircles - Valid: YES -Quality Metrics: - Overall Score: 0.823 - Confidence Score: 0.885 - Analysis Successful: YES -========================================== -``` - -## Integration with CI/CD - -The approval tests are designed for local development and validation. For CI/CD: - -1. **Commit approved baselines** to version control -2. **CI runs compare mode** - tests fail if received ≠ approved -3. **Manual review** required for baseline updates -4. **No automatic baseline updates** in CI to prevent regressions - -## Troubleshooting - -### Test Images Not Found -- Verify PiTrac images exist at `C:\kata\PiTrac\Software\LMSourceCode\Images\` -- Check file permissions and accessibility - -### Approval Artifacts Directory -- Directory is automatically created at `approval_artifacts\` -- Ensure write permissions in test directory - -### Boost Test Framework Issues -- Tests use same Boost configuration as Camera bounded context -- Supports both linked and header-only Boost modes - -## Benefits - -1. **Real Data Validation**: Uses actual golf ball images from PiTrac system -2. **Regression Detection**: Automatically catches unintended behavior changes -3. **Visual Verification**: Generated images show ball detection results -4. **Baseline Management**: Simple workflow for updating expected results -5. **Integration Ready**: Tests the full image analysis pipeline end-to-end - -This approval testing framework provides confidence that the ImageAnalysis component correctly processes real golf ball scenarios while making it easy to validate changes and detect regressions. - -# Image Analysis Approval Testing Documentation - -## Overview -This document describes the approval testing framework implemented for the PiTrac Image Analysis bounded context. Approval testing validates that our image analysis algorithms produce consistent, expected results when processing real PiTrac golf ball images. - -## Test Implementation Status ✅ COMPLETED - -### Successfully Implemented -- ✅ **Test Framework**: Complete approval testing framework using real PiTrac images -- ✅ **Image Integration**: All 7 PiTrac test images successfully integrated -- ✅ **Baseline Generation**: All baseline artifacts created and validated -- ✅ **Build Integration**: CMake targets and PowerShell build script support -- ✅ **Documentation**: Comprehensive testing documentation - -### Test Results Summary -**Build Status**: ✅ All tests passing (8/8 test cases) -**Execution Time**: ~2 seconds for complete approval test suite -**Coverage**: 7 real PiTrac images + 1 movement analysis integration test - -## Architecture - -### Key Components -1. **ApprovalTestFixture**: Core test infrastructure -2. **Image Loading**: Automated PiTrac image discovery and loading -3. **Result Analysis**: Detailed result summarization and visualization -4. **Artifact Management**: Received/approved artifact comparison system - -## Test Results Analysis - -### Ball Detection Performance -Based on our baseline runs, the system demonstrates: - -1. **High Confidence Detection**: - - `log_ball_final_found_ball_img.png`: Ball detected at (998.5, 593.5) with 80% confidence - - State: TEED, Method: opencv_hough_circles - -2. **Low Confidence Cases**: - - `spin_ball_1_gray_image1.png`: Ball state ABSENT with 10% confidence - - Detected circle at (56.5, 54.5) but classified as insufficient confidence - -3. **Movement Analysis**: - - Successfully detects movement between strobed images - - Movement magnitude: 187.359 pixels with 100% confidence - - Uses opencv_optical_flow method - -### Baseline Artifacts Generated -All baseline files have been created in `tests/approval_artifacts/`: -- **Text Summaries**: 8 `.approved.txt` files with detailed analysis results -- **Visual Artifacts**: 7 `.approved.png` files with detected ball highlighting -- **Movement Analysis**: 1 movement analysis result for strobed image sequence - -## Build Integration Status - -### CMake Integration ✅ -- Approval test executable: `test_approval_with_pitrac_images` -- Test labels: `approval`, `images`, `pitrac` -- Custom target: `approval_tests` - -### PowerShell Build Script ✅ -- Full integration with `build_tests.ps1` -- Automatic execution in test suite -- Clean emoji-free output for cross-platform compatibility - -## Usage - -### Running Approval Tests -```powershell -# Run all tests including approval tests -.\build_tests.ps1 - -# Run only approval tests -cmake --build build --target test_approval_with_pitrac_images -.\build\Debug\test_approval_with_pitrac_images.exe -``` - -## Enhanced Developer Experience - -### Approval Helper Script - -We've created `approve_changes.ps1` to streamline the approval testing workflow: - -```powershell -# Quick overview of pending changes -.\approve_changes.ps1 - -# List all pending changes -.\approve_changes.ps1 -ListChanges - -# Open all received images for visual review -.\approve_changes.ps1 -ViewImages - -# Approve changes for a specific test -.\approve_changes.ps1 -TestName 'spin_ball_1' - -# Approve all changes (use carefully!) -.\approve_changes.ps1 -ApproveAll -``` - -### Automated VS Code Integration - -When approval tests fail, the framework automatically: - -1. **Launches VS Code diffs** for text file comparisons -2. **Opens image files** for visual comparison -3. **Creates empty baselines** for missing files to show differences -4. **Provides copy commands** for easy approval - -### Missing Baseline Handling - -When a baseline file is missing (e.g., after deletion), the test will: - -1. **Detect the missing file** and fail appropriately -2. **Create a temporary empty baseline** for comparison -3. **Launch VS Code** to show the received content vs empty baseline -4. **Provide clear instructions** for approving the new baseline - -### Developer Workflow Example - -```powershell -# 1. Run tests to see failures -.\build_tests.ps1 - -# 2. Review pending changes -.\approve_changes.ps1 - -# 3. Use provided diff commands to review specific changes -code --diff "approved.txt" "received.txt" - -# 4. Approve specific test changes -.\approve_changes.ps1 -TestName 'ball_detection' - -# 5. Or approve all if you've reviewed them -.\approve_changes.ps1 -ApproveAll - -# 6. Re-run tests to confirm -.\build_tests.ps1 -``` - -## Benefits of Enhanced Framework - -1. **🚀 Faster Workflow**: Helper script automates common approval tasks -2. **👁️ Visual Review**: Automatic VS Code integration for easy comparison -3. **🛡️ Safety**: Clear warnings and confirmation steps for bulk operations -4. **📊 Better Visibility**: Clear overview of what needs approval -5. **🔧 Missing File Handling**: Proper detection and workflow for deleted baselines -6. **🧹 Automatic Cleanup**: Received files are cleaned up after approval - -This enhanced approval testing framework provides confidence that the ImageAnalysis component correctly processes real golf ball scenarios while making it easy to validate changes and detect regressions. diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/approval_test_config.cpp b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/approval_test_config.cpp deleted file mode 100644 index 0fe0967d..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/approval_test_config.cpp +++ /dev/null @@ -1,36 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -#include "approval_test_config.hpp" -#include -#include - -namespace golf_sim::image_analysis::testing { - -const ApprovalTestConfig& ApprovalTestConfig::Instance() { - static ApprovalTestConfig instance; - return instance; -} - -ApprovalTestConfig::ApprovalTestConfig() { - // Constructor intentionally minimal - all initialization in member initializer list -} - -bool ApprovalTestConfig::IsRunningInCI() const { - return std::getenv("CI") != nullptr || - std::getenv("GITHUB_ACTIONS") != nullptr || - std::getenv("TF_BUILD") != nullptr; -} - -void ApprovalTestConfig::EnsureDirectoriesExist() const { - try { - std::filesystem::create_directories(approval_artifacts_dir_); - } catch (const std::filesystem::filesystem_error& e) { - throw std::runtime_error("Failed to create approval artifacts directory: " + - approval_artifacts_dir_ + " - " + e.what()); - } -} - -} // namespace golf_sim::image_analysis::testing diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/approval_test_config.hpp b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/approval_test_config.hpp deleted file mode 100644 index 188204d0..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/approval_test_config.hpp +++ /dev/null @@ -1,90 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -/** - * @file approval_test_config.hpp - * @brief Configuration management for approval tests - * - * Centralizes configuration settings and eliminates magic numbers/hardcoded paths. - * Follows Single Responsibility Principle by handling only configuration concerns. - */ - -#pragma once - -#include -#include - -namespace golf_sim::image_analysis::testing { - -/** - * @brief Configuration settings for approval tests - * - * Encapsulates all configuration data to eliminate magic numbers and - * provide a single source of truth for test settings. - */ -class ApprovalTestConfig { -public: - /** - * @brief Get the singleton instance of the configuration - * @return Reference to the configuration instance - */ - static const ApprovalTestConfig& Instance(); - - // Directory paths - const std::string& GetPiTracImagesDir() const { return pitrac_images_dir_; } - const std::string& GetApprovalArtifactsDir() const { return approval_artifacts_dir_; } - - // Image settings - int GetDefaultImageWidth() const { return default_image_width_; } - int GetDefaultImageHeight() const { return default_image_height_; } - - // Visualization settings - const std::string& GetBallDetectionColor() const { return ball_detection_color_; } - int GetCircleThickness() const { return circle_thickness_; } - double GetFontScale() const { return font_scale_; } - int GetTextOffsetX() const { return text_offset_x_; } - int GetTextOffsetY() const { return text_offset_y_; } - - // File extensions - const std::string& GetTextFileExtension() const { return text_extension_; } - const std::string& GetImageFileExtension() const { return image_extension_; } - const std::string& GetReceivedSuffix() const { return received_suffix_; } - const std::string& GetApprovedSuffix() const { return approved_suffix_; } - - // Environment detection - bool IsRunningInCI() const; - - /** - * @brief Ensure all required directories exist - * @throws std::runtime_error if directories cannot be created - */ - void EnsureDirectoriesExist() const; - -private: - ApprovalTestConfig(); - - // Directory paths (relative from build directory) - const std::string pitrac_images_dir_ = "../../../Images/"; - const std::string approval_artifacts_dir_ = "../tests/approval_artifacts/"; - - // Image dimensions - const int default_image_width_ = 640; - const int default_image_height_ = 480; - - // Visualization settings - const std::string ball_detection_color_ = "green"; // Semantic color name - const int circle_thickness_ = 2; - const double font_scale_ = 0.5; - const int text_offset_x_ = 5; - const int text_offset_y_ = 20; - - // File naming - const std::string text_extension_ = ".txt"; - const std::string image_extension_ = ".png"; - const std::string received_suffix_ = ".received"; - const std::string approved_suffix_ = ".approved"; -}; - -} // namespace golf_sim::image_analysis::testing diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/approval_test_orchestrator.cpp b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/approval_test_orchestrator.cpp deleted file mode 100644 index e7df0600..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/approval_test_orchestrator.cpp +++ /dev/null @@ -1,407 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -#include "approval_test_orchestrator.hpp" -#include -#include -#include -#include - -namespace golf_sim::image_analysis::testing { - -// ApprovalTestOrchestrator Implementation -ApprovalTestOrchestrator::ApprovalTestOrchestrator( - const ApprovalTestConfig& config, - std::unique_ptr formatter, - std::unique_ptr visualizer, - std::unique_ptr comparator, - std::unique_ptr diff_launcher -) : config_(config), - formatter_(std::move(formatter)), - visualizer_(std::move(visualizer)), - comparator_(std::move(comparator)), - diff_launcher_(std::move(diff_launcher)) { - - // Ensure required directories exist - config_.EnsureDirectoriesExist(); -} - -ApprovalTestResult ApprovalTestOrchestrator::RunImageApprovalTest( - const std::string& image_filename, - const std::string& test_name, - infrastructure::OpenCVImageAnalyzer& analyzer, - const std::chrono::microseconds& timestamp) { - - ApprovalTestResult result(test_name); - - try { - // Load the PiTrac test image - cv::Mat test_image = LoadPiTracImage(image_filename); - - // Create image buffer for analysis - domain::ImageBuffer image_buffer(test_image, timestamp, test_name); - - // Perform analysis - auto analysis_result = analyzer.AnalyzeTeedBall(image_buffer); - - // Format the result - std::string formatted_result = formatter_->FormatTeedBallResult(analysis_result); - - // Save received artifacts - if (!SaveReceivedArtifacts(test_name, formatted_result, test_image, analysis_result)) { - result.failure_message = "Failed to save received artifacts for " + test_name; - return result; - } - - // Generate file paths - std::string approved_text_path = GenerateArtifactPath(test_name, config_.GetApprovedSuffix(), config_.GetTextFileExtension()); - std::string approved_image_path = GenerateArtifactPath(test_name, config_.GetApprovedSuffix(), config_.GetImageFileExtension()); - std::string received_text_path = GenerateArtifactPath(test_name, config_.GetReceivedSuffix(), config_.GetTextFileExtension()); - std::string received_image_path = GenerateArtifactPath(test_name, config_.GetReceivedSuffix(), config_.GetImageFileExtension()); - - // Check what approved files exist and handle accordingly - bool approved_text_exists = std::filesystem::exists(approved_text_path); - bool approved_image_exists = std::filesystem::exists(approved_image_path); - - if (!approved_text_exists && !approved_image_exists) { - // New test - no approved files exist - return HandleNewTest(test_name, received_text_path, received_image_path); - } else if (!approved_text_exists || !approved_image_exists) { - // Partial baseline - some approved files missing - return HandlePartialBaseline(test_name, approved_text_path, approved_image_path, - received_text_path, received_image_path); - } else { - // Full baseline exists - compare artifacts - return CompareArtifacts(test_name, approved_text_path, approved_image_path, - received_text_path, received_image_path, formatted_result); - } - - } catch (const std::exception& e) { - result.failure_message = "Exception during approval test: " + std::string(e.what()); - return result; - } -} - -ApprovalTestResult ApprovalTestOrchestrator::RunMovementApprovalTest( - const std::vector& image_sequence, - const domain::BallPosition& reference_position, - const std::string& test_name, - infrastructure::OpenCVImageAnalyzer& analyzer) { - - ApprovalTestResult result(test_name); - - try { - // Analyze movement - auto movement_result = analyzer.DetectMovement(image_sequence, reference_position); - - // Format the result - std::string formatted_result = formatter_->FormatMovementResult(movement_result); - - // Generate file paths - std::string approved_text_path = GenerateArtifactPath(test_name, config_.GetApprovedSuffix(), config_.GetTextFileExtension()); - std::string received_text_path = GenerateArtifactPath(test_name, config_.GetReceivedSuffix(), config_.GetTextFileExtension()); - - // Save received artifact - if (!WriteTextFile(received_text_path, formatted_result)) { - result.failure_message = "Failed to save received text artifact for " + test_name; - return result; - } - - // Check if approved file exists - if (!std::filesystem::exists(approved_text_path)) { - // Create empty approved file for new test - if (!WriteTextFile(approved_text_path, "# Empty baseline - no approved content exists yet\n# Review the received content and approve if correct\n# Use approve_changes.ps1 to approve this test\n")) { - result.failure_message = "Failed to create baseline file for " + test_name; - return result; - } - - // Launch diff for review - DiffInfo diff_info(approved_text_path, received_text_path, test_name + "_new_baseline", true); - diff_launcher_->LaunchTextDiff(diff_info); - - result.failure_message = "New test detected - approved file created as empty baseline for " + test_name + - "\nReceived file: " + received_text_path + - "\nApproved file: " + approved_text_path + - "\nReview the received content and use approve_changes.ps1 to approve if correct."; - return result; - } else { - // Compare with existing approved content - std::string approved_content = ReadTextFile(approved_text_path); - auto comparison_result = comparator_->CompareText(formatted_result, approved_content); - - result.text_matches = comparison_result.matches; - result.images_match = true; // No image comparison for movement tests - - if (comparison_result.matches) { - result.passed = true; - return result; - } else { - // Launch diff for review - DiffInfo diff_info(approved_text_path, received_text_path, test_name + "_text"); - diff_launcher_->LaunchTextDiff(diff_info); - - result.failure_message = "Movement approval test failed for " + test_name + - "\nText content differs between approved and received files.\n" + - "Received file: " + received_text_path + "\n" + - "Approved file: " + approved_text_path + "\n" + - "VS Code diff launched for review. Check the differences and approve if intended."; - return result; - } - } - - } catch (const std::exception& e) { - result.failure_message = "Exception during movement approval test: " + std::string(e.what()); - return result; - } -} - -cv::Mat ApprovalTestOrchestrator::LoadPiTracImage(const std::string& filename) const { - std::string full_path = config_.GetPiTracImagesDir() + filename; - cv::Mat image = cv::imread(full_path, cv::IMREAD_COLOR); - - if (image.empty()) { - throw std::runtime_error("Failed to load PiTrac test image: " + full_path); - } - - return image; -} - -std::string ApprovalTestOrchestrator::GenerateArtifactPath(const std::string& test_name, - const std::string& suffix, - const std::string& extension) const { - return config_.GetApprovalArtifactsDir() + test_name + suffix + extension; -} - -bool ApprovalTestOrchestrator::SaveReceivedArtifacts(const std::string& test_name, - const std::string& formatted_result, - const cv::Mat& original_image, - const domain::TeedBallResult& analysis_result) const { - // Save text artifact - std::string received_text_path = GenerateArtifactPath(test_name, config_.GetReceivedSuffix(), config_.GetTextFileExtension()); - if (!WriteTextFile(received_text_path, formatted_result)) { - return false; - } - - // Save visualization artifact - std::string received_image_path = GenerateArtifactPath(test_name, config_.GetReceivedSuffix(), config_.GetImageFileExtension()); - return visualizer_->CreateVisualization(original_image, analysis_result, received_image_path); -} - -ApprovalTestResult ApprovalTestOrchestrator::HandleNewTest(const std::string& test_name, - const std::string& received_text_path, - const std::string& received_image_path) const { - ApprovalTestResult result(test_name); - - // Generate approved file paths - std::string approved_text_path = GenerateArtifactPath(test_name, config_.GetApprovedSuffix(), config_.GetTextFileExtension()); - std::string approved_image_path = GenerateArtifactPath(test_name, config_.GetApprovedSuffix(), config_.GetImageFileExtension()); - - // Create empty approved text file - if (!WriteTextFile(approved_text_path, "# Empty baseline - no approved content exists yet\n# Review the received content and approve if correct\n# Use approve_changes.ps1 to approve this test\n")) { - result.failure_message = "Failed to create baseline text file for " + test_name; - return result; - } - - // Create empty approved image with same dimensions as received - cv::Mat received_img = cv::imread(received_image_path, cv::IMREAD_COLOR); - int width = received_img.empty() ? config_.GetDefaultImageWidth() : received_img.cols; - int height = received_img.empty() ? config_.GetDefaultImageHeight() : received_img.rows; - - if (!visualizer_->CreateEmptyBaseline(width, height, approved_image_path)) { - result.failure_message = "Failed to create baseline image file for " + test_name; - return result; - } - - // Launch diff for review - DiffInfo diff_info(approved_text_path, received_text_path, test_name + "_new_baseline", true); - diff_launcher_->LaunchTextDiff(diff_info); - - result.failure_message = "New test detected - approved files created as empty baselines for " + test_name + - "\nReceived file: " + received_text_path + - "\nApproved file: " + approved_text_path + - "\nReview the received content and use approve_changes.ps1 to approve if correct."; - return result; -} - -ApprovalTestResult ApprovalTestOrchestrator::HandlePartialBaseline(const std::string& test_name, - const std::string& approved_text_path, - const std::string& approved_image_path, - const std::string& received_text_path, - const std::string& received_image_path) const { - ApprovalTestResult result(test_name); - - bool approved_text_exists = std::filesystem::exists(approved_text_path); - bool approved_image_exists = std::filesystem::exists(approved_image_path); - - if (approved_text_exists && !approved_image_exists) { - // Text baseline exists but image baseline missing - cv::Mat received_img = cv::imread(received_image_path, cv::IMREAD_COLOR); - int width = received_img.empty() ? config_.GetDefaultImageWidth() : received_img.cols; - int height = received_img.empty() ? config_.GetDefaultImageHeight() : received_img.rows; - - if (!visualizer_->CreateEmptyBaseline(width, height, approved_image_path)) { - result.failure_message = "Failed to create missing baseline image for " + test_name; - return result; - } - - // Launch image diff - DiffInfo img_diff_info(approved_image_path, received_image_path, test_name + "_missing_image"); - diff_launcher_->LaunchImageDiff(img_diff_info); - - result.failure_message = "Missing approved visualization file created as empty baseline: " + approved_image_path + - "\nText baseline exists but image baseline was missing." + - "\nVS Code opened to compare empty approved vs received image." + - "\nTo approve: copy \"" + received_image_path + "\" \"" + approved_image_path + "\""; - return result; - } - - if (!approved_text_exists && approved_image_exists) { - // Image baseline exists but text baseline missing - if (!WriteTextFile(approved_text_path, "# Empty baseline - no text analysis result exists yet\n# Review the received content and approve if correct\n")) { - result.failure_message = "Failed to create missing baseline text for " + test_name; - return result; - } - - // Launch text diff - DiffInfo text_diff_info(approved_text_path, received_text_path, test_name + "_missing_text"); - diff_launcher_->LaunchTextDiff(text_diff_info); - - result.failure_message = "Missing approved text file created as empty baseline: " + approved_text_path + - "\nImage baseline exists but text baseline was missing." + - "\nVS Code diff launched to review the received content."; - return result; - } - - result.failure_message = "Unexpected partial baseline state for " + test_name; - return result; -} - -ApprovalTestResult ApprovalTestOrchestrator::CompareArtifacts(const std::string& test_name, - const std::string& approved_text_path, - const std::string& approved_image_path, - const std::string& received_text_path, - const std::string& received_image_path, - const std::string& formatted_result) const { - ApprovalTestResult result(test_name); - - try { - // Compare text content - std::string approved_content = ReadTextFile(approved_text_path); - auto text_comparison = comparator_->CompareText(formatted_result, approved_content); - result.text_matches = text_comparison.matches; - - // Compare image content - auto image_comparison = comparator_->CompareImages(received_image_path, approved_image_path); - result.images_match = image_comparison.matches; - - if (result.text_matches && result.images_match) { - result.passed = true; - return result; - } - - // Handle failures by launching appropriate diff tools - std::string failure_msg = "Approval test failed for " + test_name + "\n"; - - if (!result.text_matches) { - DiffInfo text_diff_info(approved_text_path, received_text_path, test_name + "_text"); - diff_launcher_->LaunchTextDiff(text_diff_info); - failure_msg += "Text content differs between approved and received files.\n"; - } - - if (!result.images_match) { - DiffInfo image_diff_info(approved_image_path, received_image_path, test_name + "_image"); - diff_launcher_->LaunchImageDiff(image_diff_info); - failure_msg += "Image content differs between approved and received files.\n"; - } - - failure_msg += "Received file: " + received_text_path + "\n"; - failure_msg += "Approved file: " + approved_text_path + "\n"; - failure_msg += "VS Code diff launched for review. Check the differences and approve if intended."; - - result.failure_message = failure_msg; - return result; - - } catch (const std::exception& e) { - result.failure_message = "Exception during artifact comparison: " + std::string(e.what()); - return result; - } -} - -std::string ApprovalTestOrchestrator::ReadTextFile(const std::string& file_path) const { - std::ifstream file(file_path); - if (!file.is_open()) { - throw std::runtime_error("Failed to open file for reading: " + file_path); - } - - return std::string((std::istreambuf_iterator(file)), - std::istreambuf_iterator()); -} - -bool ApprovalTestOrchestrator::WriteTextFile(const std::string& file_path, const std::string& content) const { - try { - std::ofstream file(file_path); - if (!file.is_open()) { - return false; - } - file << content; - return true; - } catch (const std::exception&) { - return false; - } -} - -// ApprovalTestOrchestratorFactory Implementation -std::unique_ptr ApprovalTestOrchestratorFactory::CreateStandard() { - const auto& config = ApprovalTestConfig::Instance(); - - auto formatter = ResultFormatterFactory::Create(ResultFormatterFactory::FormatterType::STANDARD_APPROVAL); - auto visualizer = VisualizationServiceFactory::Create(VisualizationServiceFactory::ServiceType::OPENCV_STANDARD, config); - auto comparator = ComparisonServiceFactory::Create(ComparisonServiceFactory::ServiceType::STANDARD); - auto diff_launcher = DiffLauncherFactory::Create(DiffLauncherFactory::LauncherType::AUTO_DETECT, config); - - return std::make_unique( - config, - std::move(formatter), - std::move(visualizer), - std::move(comparator), - std::move(diff_launcher) - ); -} - -std::unique_ptr ApprovalTestOrchestratorFactory::CreateWithFuzzyComparison(double image_tolerance) { - const auto& config = ApprovalTestConfig::Instance(); - - auto formatter = ResultFormatterFactory::Create(ResultFormatterFactory::FormatterType::STANDARD_APPROVAL); - auto visualizer = VisualizationServiceFactory::Create(VisualizationServiceFactory::ServiceType::OPENCV_STANDARD, config); - auto comparator = ComparisonServiceFactory::Create(ComparisonServiceFactory::ServiceType::FUZZY, image_tolerance); - auto diff_launcher = DiffLauncherFactory::Create(DiffLauncherFactory::LauncherType::AUTO_DETECT, config); - - return std::make_unique( - config, - std::move(formatter), - std::move(visualizer), - std::move(comparator), - std::move(diff_launcher) - ); -} - -std::unique_ptr ApprovalTestOrchestratorFactory::CreateCompact() { - const auto& config = ApprovalTestConfig::Instance(); - - auto formatter = ResultFormatterFactory::Create(ResultFormatterFactory::FormatterType::COMPACT); - auto visualizer = VisualizationServiceFactory::Create(VisualizationServiceFactory::ServiceType::OPENCV_STANDARD, config); - auto comparator = ComparisonServiceFactory::Create(ComparisonServiceFactory::ServiceType::STANDARD); - auto diff_launcher = DiffLauncherFactory::Create(DiffLauncherFactory::LauncherType::AUTO_DETECT, config); - - return std::make_unique( - config, - std::move(formatter), - std::move(visualizer), - std::move(comparator), - std::move(diff_launcher) - ); -} - -} // namespace golf_sim::image_analysis::testing diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/approval_test_orchestrator.hpp b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/approval_test_orchestrator.hpp deleted file mode 100644 index 2b2ae081..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/approval_test_orchestrator.hpp +++ /dev/null @@ -1,229 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -/** - * @file approval_test_orchestrator.hpp - * @brief Main orchestrator for approval testing workflow - * - * Coordinates all approval testing services following the Facade pattern. - * Provides a simplified interface for running approval tests while delegating - * to specialized services following Single Responsibility Principle. - */ - -#pragma once - -#include "approval_test_config.hpp" -#include "result_formatter.hpp" -#include "visualization_service.hpp" -#include "comparison_service.hpp" -#include "diff_launcher.hpp" -#include "../../domain/analysis_results.hpp" -#include "../../domain/value_objects.hpp" -#include "../../infrastructure/opencv_image_analyzer.hpp" -#include -#include -#include - -namespace golf_sim::image_analysis::testing { - -/** - * @brief Result of an approval test operation - */ -struct ApprovalTestResult { - bool passed; - std::string test_name; - std::string failure_message; - bool text_matches; - bool images_match; - - ApprovalTestResult(const std::string& name) - : passed(false), test_name(name), text_matches(false), images_match(false) {} -}; - -/** - * @brief Main orchestrator for approval testing - * - * Coordinates all approval testing services and provides a clean interface - * for running approval tests. Follows Facade pattern to hide complexity. - */ -class ApprovalTestOrchestrator { -public: - /** - * @brief Constructor with dependency injection - * - * @param config Configuration settings - * @param formatter Result formatting strategy - * @param visualizer Visualization service - * @param comparator Comparison service - * @param diff_launcher Diff tool launcher - */ - ApprovalTestOrchestrator( - const ApprovalTestConfig& config, - std::unique_ptr formatter, - std::unique_ptr visualizer, - std::unique_ptr comparator, - std::unique_ptr diff_launcher - ); - - /** - * @brief Run approval test for a single image - * - * @param image_filename Name of image file in PiTrac images directory - * @param test_name Unique test identifier - * @param analyzer Image analyzer to use for analysis - * @param timestamp Test timestamp for consistent results - * @return Approval test result - */ - ApprovalTestResult RunImageApprovalTest( - const std::string& image_filename, - const std::string& test_name, - infrastructure::OpenCVImageAnalyzer& analyzer, - const std::chrono::microseconds& timestamp - ); - - /** - * @brief Run approval test for movement analysis - * - * @param image_sequence Sequence of images for movement analysis - * @param reference_position Reference ball position - * @param test_name Unique test identifier - * @param analyzer Image analyzer to use for analysis - * @return Approval test result - */ - ApprovalTestResult RunMovementApprovalTest( - const std::vector& image_sequence, - const domain::BallPosition& reference_position, - const std::string& test_name, - infrastructure::OpenCVImageAnalyzer& analyzer - ); - -private: - const ApprovalTestConfig& config_; - std::unique_ptr formatter_; - std::unique_ptr visualizer_; - std::unique_ptr comparator_; - std::unique_ptr diff_launcher_; - - /** - * @brief Load image from PiTrac test images directory - * @param filename Image filename - * @return Loaded image matrix - * @throws std::runtime_error if image cannot be loaded - */ - cv::Mat LoadPiTracImage(const std::string& filename) const; - - /** - * @brief Generate file paths for approval artifacts - * @param test_name Test identifier - * @param suffix File suffix (.approved or .received) - * @param extension File extension (.txt or .png) - * @return Generated file path - */ - std::string GenerateArtifactPath(const std::string& test_name, - const std::string& suffix, - const std::string& extension) const; - - /** - * @brief Save received artifacts (text and visualization) - * @param test_name Test identifier - * @param formatted_result Formatted text result - * @param original_image Original image for visualization - * @param analysis_result Analysis result for visualization - * @return true if artifacts saved successfully - */ - bool SaveReceivedArtifacts(const std::string& test_name, - const std::string& formatted_result, - const cv::Mat& original_image, - const domain::TeedBallResult& analysis_result) const; - - /** - * @brief Handle the case where no approved files exist (new test) - * @param test_name Test identifier - * @param received_text_path Path to received text file - * @param received_image_path Path to received image file - * @return Approval test result - */ - ApprovalTestResult HandleNewTest(const std::string& test_name, - const std::string& received_text_path, - const std::string& received_image_path) const; - - /** - * @brief Handle partial baselines (missing approved files) - * @param test_name Test identifier - * @param approved_text_path Path to approved text file - * @param approved_image_path Path to approved image file - * @param received_text_path Path to received text file - * @param received_image_path Path to received image file - * @return Approval test result - */ - ApprovalTestResult HandlePartialBaseline(const std::string& test_name, - const std::string& approved_text_path, - const std::string& approved_image_path, - const std::string& received_text_path, - const std::string& received_image_path) const; - - /** - * @brief Compare approved and received artifacts - * @param test_name Test identifier - * @param approved_text_path Path to approved text file - * @param approved_image_path Path to approved image file - * @param received_text_path Path to received text file - * @param received_image_path Path to received image file - * @param formatted_result Formatted text result for comparison - * @return Approval test result - */ - ApprovalTestResult CompareArtifacts(const std::string& test_name, - const std::string& approved_text_path, - const std::string& approved_image_path, - const std::string& received_text_path, - const std::string& received_image_path, - const std::string& formatted_result) const; - - /** - * @brief Read content from a text file - * @param file_path Path to text file - * @return File content as string - * @throws std::runtime_error if file cannot be read - */ - std::string ReadTextFile(const std::string& file_path) const; - - /** - * @brief Write content to a text file - * @param file_path Path to text file - * @param content Content to write - * @return true if file written successfully - */ - bool WriteTextFile(const std::string& file_path, const std::string& content) const; -}; - -/** - * @brief Factory for creating approval test orchestrators - * - * Provides convenient factory methods for creating orchestrators with - * different configurations and service combinations. - */ -class ApprovalTestOrchestratorFactory { -public: - /** - * @brief Create standard approval test orchestrator - * @return Configured orchestrator with standard services - */ - static std::unique_ptr CreateStandard(); - - /** - * @brief Create fuzzy comparison approval test orchestrator - * @param image_tolerance Tolerance for image comparison (0.0-1.0) - * @return Configured orchestrator with fuzzy comparison - */ - static std::unique_ptr CreateWithFuzzyComparison(double image_tolerance = 0.01); - - /** - * @brief Create compact formatting approval test orchestrator - * @return Configured orchestrator with compact formatting - */ - static std::unique_ptr CreateCompact(); -}; - -} // namespace golf_sim::image_analysis::testing diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/comparison_service.cpp b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/comparison_service.cpp deleted file mode 100644 index e155581f..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/comparison_service.cpp +++ /dev/null @@ -1,176 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -#include "comparison_service.hpp" -#include -#include -#include - -namespace golf_sim::image_analysis::testing { - -// StandardComparisonService Implementation -ComparisonResult StandardComparisonService::CompareText(const std::string& received, - const std::string& approved) const { - if (received == approved) { - return ComparisonResult(true); - } - - return ComparisonResult(false, "Text content differs"); -} - -ComparisonResult StandardComparisonService::CompareImages(const std::string& received_path, - const std::string& approved_path) const { - if (!std::filesystem::exists(received_path)) { - return ComparisonResult(false, "Received image file does not exist: " + received_path); - } - - if (!std::filesystem::exists(approved_path)) { - return ComparisonResult(false, "Approved image file does not exist: " + approved_path); - } - - cv::Mat received_img = cv::imread(received_path, cv::IMREAD_COLOR); - cv::Mat approved_img = cv::imread(approved_path, cv::IMREAD_COLOR); - - if (received_img.empty()) { - return ComparisonResult(false, "Failed to load received image: " + received_path); - } - - if (approved_img.empty()) { - return ComparisonResult(false, "Failed to load approved image: " + approved_path); - } - - // Check for empty baselines - if (IsEmptyBaseline(approved_img)) { - return ComparisonResult(false, "Approved image is empty baseline - requires manual approval"); - } - - if (IsEmptyBaseline(received_img)) { - return ComparisonResult(false, "Received image is empty (unexpected)"); - } - - // Check dimensions - if (received_img.size() != approved_img.size()) { - return ComparisonResult(false, "Image dimensions differ"); - } - - // Check pixel-perfect equality - if (AreImagesIdentical(received_img, approved_img)) { - return ComparisonResult(true); - } - - return ComparisonResult(false, "Image pixel values differ"); -} - -bool StandardComparisonService::IsEmptyBaseline(const cv::Mat& image) const { - if (image.empty()) { - return true; - } - - cv::Scalar mean_val = cv::mean(image); - return (mean_val[0] == 0 && mean_val[1] == 0 && mean_val[2] == 0); -} - -bool StandardComparisonService::AreImagesIdentical(const cv::Mat& img1, const cv::Mat& img2) const { - cv::Mat diff; - cv::absdiff(img1, img2, diff); - - cv::Mat gray_diff; - cv::cvtColor(diff, gray_diff, cv::COLOR_BGR2GRAY); - - double min_val, max_val; - cv::minMaxLoc(gray_diff, &min_val, &max_val); - - return max_val == 0; -} - -// FuzzyComparisonService Implementation -FuzzyComparisonService::FuzzyComparisonService(double image_tolerance) - : image_tolerance_(std::clamp(image_tolerance, 0.0, 1.0)) { -} - -ComparisonResult FuzzyComparisonService::CompareText(const std::string& received, - const std::string& approved) const { - // Text comparison is still exact for fuzzy service - return StandardComparisonService().CompareText(received, approved); -} - -ComparisonResult FuzzyComparisonService::CompareImages(const std::string& received_path, - const std::string& approved_path) const { - // First try standard comparison for file existence and loading - StandardComparisonService standard_service; - auto standard_result = standard_service.CompareImages(received_path, approved_path); - - // If standard comparison passes or fails due to file issues, return that result - if (standard_result.matches || - standard_result.failure_reason.find("does not exist") != std::string::npos || - standard_result.failure_reason.find("Failed to load") != std::string::npos || - standard_result.failure_reason.find("empty baseline") != std::string::npos) { - return standard_result; - } - - // Load images for fuzzy comparison - cv::Mat received_img = cv::imread(received_path, cv::IMREAD_COLOR); - cv::Mat approved_img = cv::imread(approved_path, cv::IMREAD_COLOR); - - // Calculate similarity - double similarity = CalculateImageSimilarity(received_img, approved_img); - double threshold = 1.0 - image_tolerance_; - - if (similarity >= threshold) { - return ComparisonResult(true); - } - - return ComparisonResult(false, "Image similarity (" + std::to_string(similarity) + - ") below threshold (" + std::to_string(threshold) + ")"); -} - -double FuzzyComparisonService::CalculateImageSimilarity(const cv::Mat& img1, const cv::Mat& img2) const { - if (img1.size() != img2.size()) { - return 0.0; - } - - // Convert to grayscale for comparison - cv::Mat gray1, gray2; - cv::cvtColor(img1, gray1, cv::COLOR_BGR2GRAY); - cv::cvtColor(img2, gray2, cv::COLOR_BGR2GRAY); - - // Calculate mean squared error - cv::Mat diff; - cv::absdiff(gray1, gray2, diff); - diff.convertTo(diff, CV_32F); - - cv::Scalar mse_scalar = cv::mean(diff.mul(diff)); - double mse = mse_scalar[0]; - - // Convert MSE to similarity score (higher is more similar) - // Using PSNR-like calculation - if (mse == 0) { - return 1.0; // Perfect match - } - - double max_pixel_value = 255.0; - double psnr = 20 * std::log10(max_pixel_value / std::sqrt(mse)); - - // Normalize PSNR to 0-1 similarity score - // PSNR values typically range from 0-100, with 30+ being good quality - double similarity = std::min(1.0, psnr / 100.0); - - return std::max(0.0, similarity); -} - -// ComparisonServiceFactory Implementation -std::unique_ptr ComparisonServiceFactory::Create(ServiceType type, - double fuzzy_tolerance) { - switch (type) { - case ServiceType::STANDARD: - return std::make_unique(); - case ServiceType::FUZZY: - return std::make_unique(fuzzy_tolerance); - default: - return std::make_unique(); - } -} - -} // namespace golf_sim::image_analysis::testing diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/comparison_service.hpp b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/comparison_service.hpp deleted file mode 100644 index 8e3cc5de..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/comparison_service.hpp +++ /dev/null @@ -1,138 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -/** - * @file comparison_service.hpp - * @brief Service for comparing approval test artifacts - * - * Handles comparison of text and image files for approval testing. - * Follows Single Responsibility Principle - only concerned with comparison logic. - */ - -#pragma once - -#include -#include -#include - -namespace golf_sim::image_analysis::testing { - -/** - * @brief Result of a comparison operation - */ -struct ComparisonResult { - bool matches; - std::string failure_reason; - - ComparisonResult(bool matches, const std::string& reason = "") - : matches(matches), failure_reason(reason) {} - - operator bool() const { return matches; } -}; - -/** - * @brief Interface for comparison strategies - * - * Allows different comparison algorithms while maintaining dependency inversion. - */ -class IComparisonService { -public: - virtual ~IComparisonService() = default; - - /** - * @brief Compare two text strings for equality - * @param received The received content - * @param approved The approved content - * @return Comparison result - */ - virtual ComparisonResult CompareText(const std::string& received, - const std::string& approved) const = 0; - - /** - * @brief Compare two image files for equality - * @param received_path Path to received image - * @param approved_path Path to approved image - * @return Comparison result - */ - virtual ComparisonResult CompareImages(const std::string& received_path, - const std::string& approved_path) const = 0; -}; - -/** - * @brief Standard comparison service implementation - * - * Provides exact comparison for text and pixel-perfect comparison for images. - */ -class StandardComparisonService : public IComparisonService { -public: - ComparisonResult CompareText(const std::string& received, - const std::string& approved) const override; - - ComparisonResult CompareImages(const std::string& received_path, - const std::string& approved_path) const override; - -private: - /** - * @brief Check if an image is completely black (empty baseline) - * @param image The image to check - * @return true if image is empty baseline - */ - bool IsEmptyBaseline(const cv::Mat& image) const; - - /** - * @brief Check if two images have identical pixel values - * @param img1 First image - * @param img2 Second image - * @return true if images are pixel-perfect identical - */ - bool AreImagesIdentical(const cv::Mat& img1, const cv::Mat& img2) const; -}; - -/** - * @brief Fuzzy comparison service for tolerant comparisons - * - * Allows small differences in images due to compression or minor variations. - */ -class FuzzyComparisonService : public IComparisonService { -public: - /** - * @brief Constructor with tolerance settings - * @param image_tolerance Maximum allowed difference for image comparison (0.0-1.0) - */ - explicit FuzzyComparisonService(double image_tolerance = 0.01); - - ComparisonResult CompareText(const std::string& received, - const std::string& approved) const override; - - ComparisonResult CompareImages(const std::string& received_path, - const std::string& approved_path) const override; - -private: - double image_tolerance_; - - /** - * @brief Calculate structural similarity between two images - * @param img1 First image - * @param img2 Second image - * @return Similarity score (0.0-1.0, where 1.0 is identical) - */ - double CalculateImageSimilarity(const cv::Mat& img1, const cv::Mat& img2) const; -}; - -/** - * @brief Factory for creating comparison services - */ -class ComparisonServiceFactory { -public: - enum class ServiceType { - STANDARD, - FUZZY - }; - - static std::unique_ptr Create(ServiceType type, - double fuzzy_tolerance = 0.01); -}; - -} // namespace golf_sim::image_analysis::testing diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/diff_launcher.cpp b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/diff_launcher.cpp deleted file mode 100644 index 7f3cde37..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/diff_launcher.cpp +++ /dev/null @@ -1,144 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -#include "diff_launcher.hpp" -#include -#include -#include - -namespace golf_sim::image_analysis::testing { - -// VSCodeDiffLauncher Implementation -VSCodeDiffLauncher::VSCodeDiffLauncher(const ApprovalTestConfig& config) - : config_(config) { -} - -bool VSCodeDiffLauncher::LaunchTextDiff(const DiffInfo& diff_info) const { - if (!ShouldLaunchDiff()) { - std::cout << "CI environment detected - skipping interactive text diff for " - << diff_info.test_name << std::endl; - return true; // Return true since this is expected behavior in CI - } - - std::cout << "🔍 DIFF TRACE: Launching VS Code text diff for " << diff_info.test_name << "..." << std::endl; - std::cout << "🔍 DIFF TRACE: Approved: " << diff_info.approved_path << std::endl; - std::cout << "🔍 DIFF TRACE: Received: " << diff_info.received_path << std::endl; - - std::string command; - - if (diff_info.is_new_baseline) { - // Create empty baseline for comparison - std::string empty_baseline = diff_info.approved_path + ".empty"; - if (!CreateEmptyBaseline(empty_baseline, "text")) { - return false; - } - - command = "code --diff \"" + empty_baseline + "\" \"" + diff_info.received_path + "\""; - std::cout << "To approve this baseline, run:" << std::endl; - std::cout << " copy \"" << diff_info.received_path << "\" \"" << diff_info.approved_path << "\"" << std::endl; - } else { - command = "code --diff \"" + diff_info.approved_path + "\" \"" + diff_info.received_path + "\""; - std::cout << "To approve changes, run:" << std::endl; - std::cout << " copy \"" << diff_info.received_path << "\" \"" << diff_info.approved_path << "\"" << std::endl; - } - - std::cout << "🔍 DIFF TRACE: Executing text diff command: " << command << std::endl; - return ExecuteCommand(command); -} - -bool VSCodeDiffLauncher::LaunchImageDiff(const DiffInfo& diff_info) const { - if (!ShouldLaunchDiff()) { - std::cout << "CI environment detected - skipping interactive image diff for " - << diff_info.test_name << std::endl; - return true; // Return true since this is expected behavior in CI - } - - std::cout << "🔍 IMAGE DIFF TRACE: Launching image comparison for " << diff_info.test_name << std::endl; - std::cout << "🔍 IMAGE DIFF TRACE: Approved: " << diff_info.approved_path << std::endl; - std::cout << "🔍 IMAGE DIFF TRACE: Received: " << diff_info.received_path << std::endl; - - // Use VS Code's diff functionality for side-by-side image comparison - std::string command = "code --diff \"" + diff_info.approved_path + "\" \"" + diff_info.received_path + "\""; - std::cout << "🔍 IMAGE DIFF TRACE: Executing image diff command: " << command << std::endl; - - bool success = ExecuteCommand(command); - - if (success) { - std::cout << "To approve image changes, run:" << std::endl; - std::cout << " copy \"" << diff_info.received_path << "\" \"" << diff_info.approved_path << "\"" << std::endl; - } - - return success; -} - -bool VSCodeDiffLauncher::ShouldLaunchDiff() const { - return !config_.IsRunningInCI(); -} - -bool VSCodeDiffLauncher::ExecuteCommand(const std::string& command) const { - try { - int result = std::system(command.c_str()); - return result == 0; - } catch (const std::exception&) { - return false; - } -} - -bool VSCodeDiffLauncher::CreateEmptyBaseline(const std::string& baseline_path, - const std::string& content_type) const { - try { - std::ofstream empty_file(baseline_path); - if (content_type == "text") { - empty_file << "# This is a new test - no baseline exists yet\n"; - empty_file << "# Review the received content and approve if correct\n"; - } - empty_file.close(); - return true; - } catch (const std::exception&) { - return false; - } -} - -// CIDiffLauncher Implementation -bool CIDiffLauncher::LaunchTextDiff(const DiffInfo& diff_info) const { - std::cout << "CI Mode: Text diff requested for " << diff_info.test_name - << " but interactive diff disabled in CI environment" << std::endl; - std::cout << "Approved: " << diff_info.approved_path << std::endl; - std::cout << "Received: " << diff_info.received_path << std::endl; - return true; -} - -bool CIDiffLauncher::LaunchImageDiff(const DiffInfo& diff_info) const { - std::cout << "CI Mode: Image diff requested for " << diff_info.test_name - << " but interactive diff disabled in CI environment" << std::endl; - std::cout << "Approved: " << diff_info.approved_path << std::endl; - std::cout << "Received: " << diff_info.received_path << std::endl; - return true; -} - -bool CIDiffLauncher::ShouldLaunchDiff() const { - return false; // Never launch in CI mode -} - -// DiffLauncherFactory Implementation -std::unique_ptr DiffLauncherFactory::Create(LauncherType type, - const ApprovalTestConfig& config) { - switch (type) { - case LauncherType::AUTO_DETECT: - if (config.IsRunningInCI()) { - return std::make_unique(); - } else { - return std::make_unique(config); - } - case LauncherType::VSCODE: - return std::make_unique(config); - case LauncherType::CI_NOOP: - return std::make_unique(); - default: - return std::make_unique(config); - } -} - -} // namespace golf_sim::image_analysis::testing diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/diff_launcher.hpp b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/diff_launcher.hpp deleted file mode 100644 index 75fda8cb..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/diff_launcher.hpp +++ /dev/null @@ -1,128 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -/** - * @file diff_launcher.hpp - * @brief Service for launching diff tools for approval workflow - * - * Handles launching external diff tools and managing approval workflow. - * Follows Single Responsibility Principle - only concerned with diff tool management. - */ - -#pragma once - -#include "approval_test_config.hpp" -#include -#include - -namespace golf_sim::image_analysis::testing { - -/** - * @brief Information about a diff operation - */ -struct DiffInfo { - std::string approved_path; - std::string received_path; - std::string test_name; - bool is_new_baseline; - - DiffInfo(const std::string& approved, const std::string& received, - const std::string& name, bool new_baseline = false) - : approved_path(approved), received_path(received), - test_name(name), is_new_baseline(new_baseline) {} -}; - -/** - * @brief Interface for diff launching strategies - */ -class IDiffLauncher { -public: - virtual ~IDiffLauncher() = default; - - /** - * @brief Launch a text diff tool - * @param diff_info Information about the diff operation - * @return true if diff tool was launched successfully - */ - virtual bool LaunchTextDiff(const DiffInfo& diff_info) const = 0; - - /** - * @brief Launch an image diff tool - * @param diff_info Information about the diff operation - * @return true if diff tool was launched successfully - */ - virtual bool LaunchImageDiff(const DiffInfo& diff_info) const = 0; - - /** - * @brief Check if running in an environment where diff tools should be launched - * @return true if diff tools should be launched - */ - virtual bool ShouldLaunchDiff() const = 0; -}; - -/** - * @brief VS Code-based diff launcher - * - * Uses VS Code's diff functionality for both text and image comparisons. - */ -class VSCodeDiffLauncher : public IDiffLauncher { -public: - /** - * @brief Constructor with dependency injection - * @param config Configuration for diff launching - */ - explicit VSCodeDiffLauncher(const ApprovalTestConfig& config); - - bool LaunchTextDiff(const DiffInfo& diff_info) const override; - bool LaunchImageDiff(const DiffInfo& diff_info) const override; - bool ShouldLaunchDiff() const override; - -private: - const ApprovalTestConfig& config_; - - /** - * @brief Execute a command and return success status - * @param command Command to execute - * @return true if command executed successfully - */ - bool ExecuteCommand(const std::string& command) const; - - /** - * @brief Create empty baseline file for new test comparisons - * @param baseline_path Path where baseline should be created - * @param content_type Type of content ("text" or "image") - * @return true if baseline was created successfully - */ - bool CreateEmptyBaseline(const std::string& baseline_path, const std::string& content_type) const; -}; - -/** - * @brief No-op diff launcher for CI environments - * - * Provides logging but doesn't launch interactive tools in CI environments. - */ -class CIDiffLauncher : public IDiffLauncher { -public: - bool LaunchTextDiff(const DiffInfo& diff_info) const override; - bool LaunchImageDiff(const DiffInfo& diff_info) const override; - bool ShouldLaunchDiff() const override; -}; - -/** - * @brief Factory for creating diff launchers - */ -class DiffLauncherFactory { -public: - enum class LauncherType { - AUTO_DETECT, // Automatically choose based on environment - VSCODE, - CI_NOOP - }; - - static std::unique_ptr Create(LauncherType type, - const ApprovalTestConfig& config); -}; - -} // namespace golf_sim::image_analysis::testing diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/result_formatter.cpp b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/result_formatter.cpp deleted file mode 100644 index 055d1263..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/result_formatter.cpp +++ /dev/null @@ -1,142 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -#include "result_formatter.hpp" -#include -#include - -namespace golf_sim::image_analysis::testing { - -// StandardApprovalFormatter Implementation -std::string StandardApprovalFormatter::FormatTeedBallResult(const domain::TeedBallResult& result) const { - std::ostringstream summary; - - summary << "=== Teed Ball Analysis Result Summary ===\n"; - summary << "Ball State: " << FormatBallState(result.state) << "\n"; - summary << "Has Ball: " << (result.HasBall() ? "YES" : "NO") << "\n"; - summary << "Confidence: " << std::fixed << std::setprecision(3) << result.confidence << "\n"; - summary << "Analysis Method: " << result.analysis_method << "\n"; - summary << "Confidence Level: " << FormatConfidenceLevel(result.GetConfidenceLevel()) << "\n"; - - if (result.position.has_value()) { - summary << FormatBallPosition(result.position.value()); - } else { - summary << "Ball Position: NOT DETECTED\n"; - } - - if (!result.debug_info.empty()) { - summary << FormatDebugInfo(result.debug_info); - } - - summary << "============================================\n"; - - return summary.str(); -} - -std::string StandardApprovalFormatter::FormatMovementResult(const domain::MovementResult& result) const { - std::ostringstream summary; - - summary << "=== Movement Analysis Result ===\n"; - summary << "Movement Detected: " << (result.movement_detected ? "YES" : "NO") << "\n"; - summary << "Confidence: " << std::fixed << std::setprecision(3) << result.movement_confidence << "\n"; - summary << "Movement Magnitude: " << result.movement_magnitude << "\n"; - summary << "Time Since First Movement: " << result.time_since_first_movement.count() << " microseconds\n"; - summary << "Analysis Method: " << result.analysis_method << "\n"; - summary << "Motion Vectors: " << result.motion_vectors.size() << "\n"; - - if (result.last_known_position.has_value()) { - const auto& pos = result.last_known_position.value(); - summary << "Last Known Position:\n"; - summary << " X: " << pos.x_pixels << " pixels\n"; - summary << " Y: " << pos.y_pixels << " pixels\n"; - summary << " Radius: " << pos.radius_pixels << " pixels\n"; - summary << " Confidence: " << pos.confidence << "\n"; - } - - summary << "================================\n"; - - return summary.str(); -} - -std::string StandardApprovalFormatter::FormatBallState(domain::BallState state) const { - switch (state) { - case domain::BallState::ABSENT: return "ABSENT"; - case domain::BallState::TEED: return "TEED"; - case domain::BallState::RESET: return "RESET"; - case domain::BallState::MOVING: return "MOVING"; - default: return "INVALID"; - } -} - -std::string StandardApprovalFormatter::FormatConfidenceLevel(domain::ConfidenceLevel level) const { - switch (level) { - case domain::ConfidenceLevel::LOW: return "LOW"; - case domain::ConfidenceLevel::MEDIUM: return "MEDIUM"; - case domain::ConfidenceLevel::HIGH: return "HIGH"; - case domain::ConfidenceLevel::VERY_HIGH: return "VERY_HIGH"; - default: return "UNKNOWN"; - } -} - -std::string StandardApprovalFormatter::FormatBallPosition(const domain::BallPosition& position) const { - std::ostringstream pos_info; - pos_info << "Ball Position:\n"; - pos_info << " X: " << std::fixed << std::setprecision(2) << position.x_pixels << " pixels\n"; - pos_info << " Y: " << std::fixed << std::setprecision(2) << position.y_pixels << " pixels\n"; - pos_info << " Radius: " << std::fixed << std::setprecision(2) << position.radius_pixels << " pixels\n"; - pos_info << " Confidence: " << std::fixed << std::setprecision(3) << position.confidence << "\n"; - pos_info << " Detection Method: " << position.detection_method << "\n"; - pos_info << " Valid: " << (position.IsValid() ? "YES" : "NO") << "\n"; - return pos_info.str(); -} - -std::string StandardApprovalFormatter::FormatDebugInfo(const std::vector& debug_info) const { - std::ostringstream debug_section; - debug_section << "Debug Information:\n"; - for (const auto& debug : debug_info) { - debug_section << " - " << debug << "\n"; - } - return debug_section.str(); -} - -// CompactFormatter Implementation -std::string CompactFormatter::FormatTeedBallResult(const domain::TeedBallResult& result) const { - std::ostringstream summary; - summary << "Ball:" << (result.HasBall() ? "YES" : "NO") - << " State:" << static_cast(result.state) - << " Conf:" << std::fixed << std::setprecision(2) << result.confidence; - - if (result.position.has_value()) { - const auto& pos = result.position.value(); - summary << " Pos:(" << static_cast(pos.x_pixels) - << "," << static_cast(pos.y_pixels) - << "," << static_cast(pos.radius_pixels) << ")"; - } - - summary << "\n"; - return summary.str(); -} - -std::string CompactFormatter::FormatMovementResult(const domain::MovementResult& result) const { - std::ostringstream summary; - summary << "Movement:" << (result.movement_detected ? "YES" : "NO") - << " Conf:" << std::fixed << std::setprecision(2) << result.movement_confidence - << " Mag:" << result.movement_magnitude << "\n"; - return summary.str(); -} - -// ResultFormatterFactory Implementation -std::unique_ptr ResultFormatterFactory::Create(FormatterType type) { - switch (type) { - case FormatterType::STANDARD_APPROVAL: - return std::make_unique(); - case FormatterType::COMPACT: - return std::make_unique(); - default: - return std::make_unique(); - } -} - -} // namespace golf_sim::image_analysis::testing diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/result_formatter.hpp b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/result_formatter.hpp deleted file mode 100644 index 6d3c0f5b..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/result_formatter.hpp +++ /dev/null @@ -1,85 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -/** - * @file result_formatter.hpp - * @brief Strategy pattern for formatting analysis results - * - * Provides different formatting strategies for analysis results. - * Follows Open/Closed Principle - new formatters can be added without modifying existing code. - */ - -#pragma once - -#include "../../domain/analysis_results.hpp" -#include -#include - -namespace golf_sim::image_analysis::testing { - -/** - * @brief Abstract base class for result formatting strategies - */ -class IResultFormatter { -public: - virtual ~IResultFormatter() = default; - - /** - * @brief Format a TeedBallResult for approval testing - * @param result The analysis result to format - * @return Formatted string representation - */ - virtual std::string FormatTeedBallResult(const domain::TeedBallResult& result) const = 0; - - /** - * @brief Format a MovementResult for approval testing - * @param result The movement analysis result to format - * @return Formatted string representation - */ - virtual std::string FormatMovementResult(const domain::MovementResult& result) const = 0; -}; - -/** - * @brief Standard formatter for approval tests - * - * Provides comprehensive, human-readable formatting suitable for approval testing. - */ -class StandardApprovalFormatter : public IResultFormatter { -public: - std::string FormatTeedBallResult(const domain::TeedBallResult& result) const override; - std::string FormatMovementResult(const domain::MovementResult& result) const override; - -private: - std::string FormatBallState(domain::BallState state) const; - std::string FormatConfidenceLevel(domain::ConfidenceLevel level) const; - std::string FormatBallPosition(const domain::BallPosition& position) const; - std::string FormatDebugInfo(const std::vector& debug_info) const; -}; - -/** - * @brief Compact formatter for minimal output - * - * Alternative formatter that produces concise output for specific test scenarios. - */ -class CompactFormatter : public IResultFormatter { -public: - std::string FormatTeedBallResult(const domain::TeedBallResult& result) const override; - std::string FormatMovementResult(const domain::MovementResult& result) const override; -}; - -/** - * @brief Factory for creating result formatters - */ -class ResultFormatterFactory { -public: - enum class FormatterType { - STANDARD_APPROVAL, - COMPACT - }; - - static std::unique_ptr Create(FormatterType type); -}; - -} // namespace golf_sim::image_analysis::testing diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/visualization_service.cpp b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/visualization_service.cpp deleted file mode 100644 index e5e9e014..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/visualization_service.cpp +++ /dev/null @@ -1,121 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -#include "visualization_service.hpp" -#include -#include - -namespace golf_sim::image_analysis::testing { - -// OpenCVVisualizationService Implementation -OpenCVVisualizationService::OpenCVVisualizationService(const ApprovalTestConfig& config) - : config_(config) { -} - -bool OpenCVVisualizationService::CreateVisualization(const cv::Mat& original_image, - const domain::TeedBallResult& result, - const std::string& output_path) const { - if (original_image.empty()) { - return false; - } - - try { - cv::Mat visualization = original_image.clone(); - - if (result.HasBall() && result.position.has_value()) { - DrawBallDetection(visualization, result); - } else { - DrawNoBallDetected(visualization); - } - - return cv::imwrite(output_path, visualization); - } catch (const std::exception&) { - return false; - } -} - -bool OpenCVVisualizationService::CreateEmptyBaseline(int width, int height, - const std::string& output_path) const { - try { - cv::Mat empty_image = cv::Mat::zeros(height, width, CV_8UC3); - return cv::imwrite(output_path, empty_image); - } catch (const std::exception&) { - return false; - } -} - -cv::Scalar OpenCVVisualizationService::GetColorScalar(const std::string& color_name) const { - static const std::unordered_map color_map = { - {"green", cv::Scalar(0, 255, 0)}, // BGR format - {"red", cv::Scalar(0, 0, 255)}, - {"blue", cv::Scalar(255, 0, 0)}, - {"yellow", cv::Scalar(0, 255, 255)}, - {"white", cv::Scalar(255, 255, 255)}, - {"black", cv::Scalar(0, 0, 0)} - }; - - auto it = color_map.find(color_name); - if (it != color_map.end()) { - return it->second; - } - - // Default to green if color not found - return cv::Scalar(0, 255, 0); -} - -void OpenCVVisualizationService::DrawBallDetection(cv::Mat& image, - const domain::TeedBallResult& result) const { - const auto& pos = result.position.value(); - const cv::Scalar color = GetColorScalar(config_.GetBallDetectionColor()); - - // Draw detected ball circle - cv::Point center(static_cast(pos.x_pixels), static_cast(pos.y_pixels)); - int radius = static_cast(pos.radius_pixels); - - cv::circle(image, center, radius, color, config_.GetCircleThickness()); - cv::circle(image, center, 2, color, -1); // Center dot - - // Add confidence text - std::string confidence_text = "Conf: " + std::to_string(pos.confidence).substr(0, 5); - cv::putText(image, confidence_text, - cv::Point(center.x + radius + config_.GetTextOffsetX(), center.y), - cv::FONT_HERSHEY_SIMPLEX, config_.GetFontScale(), color, 1); - - // Add ball state text - std::string state_text = "State: "; - switch (result.state) { - case domain::BallState::TEED: state_text += "TEED"; break; - case domain::BallState::RESET: state_text += "RESET"; break; - case domain::BallState::MOVING: state_text += "MOVING"; break; - default: state_text += "OTHER"; break; - } - - cv::putText(image, state_text, - cv::Point(center.x + radius + config_.GetTextOffsetX(), - center.y + config_.GetTextOffsetY()), - cv::FONT_HERSHEY_SIMPLEX, config_.GetFontScale(), color, 1); -} - -void OpenCVVisualizationService::DrawNoBallDetected(cv::Mat& image) const { - const cv::Scalar red_color = GetColorScalar("red"); - cv::putText(image, "NO BALL DETECTED", - cv::Point(20, 40), - cv::FONT_HERSHEY_SIMPLEX, 1.0, red_color, 2); -} - -// VisualizationServiceFactory Implementation -std::unique_ptr VisualizationServiceFactory::Create( - ServiceType type, - const ApprovalTestConfig& config) { - - switch (type) { - case ServiceType::OPENCV_STANDARD: - return std::make_unique(config); - default: - return std::make_unique(config); - } -} - -} // namespace golf_sim::image_analysis::testing diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/visualization_service.hpp b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/visualization_service.hpp deleted file mode 100644 index aa0a7fba..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval/visualization_service.hpp +++ /dev/null @@ -1,110 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -/** - * @file visualization_service.hpp - * @brief Service for creating test visualization images - * - * Handles the creation of visualization images for approval testing. - * Follows Single Responsibility Principle - only concerned with visualization. - */ - -#pragma once - -#include "../../domain/analysis_results.hpp" -#include "approval_test_config.hpp" -#include -#include -#include - -namespace golf_sim::image_analysis::testing { - -/** - * @brief Interface for visualization services - * - * Allows for different visualization strategies while maintaining dependency inversion. - */ -class IVisualizationService { -public: - virtual ~IVisualizationService() = default; - - /** - * @brief Create a visualization image showing analysis results - * @param original_image The original image to annotate - * @param result The analysis result to visualize - * @param output_path Path where the visualization should be saved - * @return true if visualization was created successfully - */ - virtual bool CreateVisualization(const cv::Mat& original_image, - const domain::TeedBallResult& result, - const std::string& output_path) const = 0; - - /** - * @brief Create an empty baseline image with the specified dimensions - * @param width Image width - * @param height Image height - * @param output_path Path where the empty image should be saved - * @return true if empty image was created successfully - */ - virtual bool CreateEmptyBaseline(int width, int height, const std::string& output_path) const = 0; -}; - -/** - * @brief OpenCV-based visualization service - * - * Concrete implementation using OpenCV for image processing and annotation. - */ -class OpenCVVisualizationService : public IVisualizationService { -public: - /** - * @brief Constructor with dependency injection - * @param config Configuration settings for visualization - */ - explicit OpenCVVisualizationService(const ApprovalTestConfig& config); - - bool CreateVisualization(const cv::Mat& original_image, - const domain::TeedBallResult& result, - const std::string& output_path) const override; - - bool CreateEmptyBaseline(int width, int height, const std::string& output_path) const override; - -private: - const ApprovalTestConfig& config_; - - /** - * @brief Convert semantic color name to OpenCV Scalar - * @param color_name Semantic color name (e.g., "green", "red") - * @return OpenCV Scalar in BGR format - */ - cv::Scalar GetColorScalar(const std::string& color_name) const; - - /** - * @brief Draw ball detection annotations on the image - * @param image Image to annotate (modified in place) - * @param result Analysis result containing detection information - */ - void DrawBallDetection(cv::Mat& image, const domain::TeedBallResult& result) const; - - /** - * @brief Draw "no ball detected" annotation on the image - * @param image Image to annotate (modified in place) - */ - void DrawNoBallDetected(cv::Mat& image) const; -}; - -/** - * @brief Factory for creating visualization services - */ -class VisualizationServiceFactory { -public: - enum class ServiceType { - OPENCV_STANDARD - }; - - static std::unique_ptr Create(ServiceType type, - const ApprovalTestConfig& config); -}; - -} // namespace golf_sim::image_analysis::testing diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/compact_format_test.approved.png b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/compact_format_test.approved.png deleted file mode 100644 index 138a2ec3..00000000 Binary files a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/compact_format_test.approved.png and /dev/null differ diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/compact_format_test.approved.txt b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/compact_format_test.approved.txt deleted file mode 100644 index 548f5936..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/compact_format_test.approved.txt +++ /dev/null @@ -1 +0,0 @@ -Ball:NO State:0 Conf:0.10 Pos:(56,54,55) diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/fuzzy_comparison_test.approved.png b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/fuzzy_comparison_test.approved.png deleted file mode 100644 index 71cd5e4c..00000000 Binary files a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/fuzzy_comparison_test.approved.png and /dev/null differ diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/fuzzy_comparison_test.approved.txt b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/fuzzy_comparison_test.approved.txt deleted file mode 100644 index e1296e68..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/fuzzy_comparison_test.approved.txt +++ /dev/null @@ -1,16 +0,0 @@ -=== Teed Ball Analysis Result Summary === -Ball State: TEED -Has Ball: YES -Confidence: 0.800 -Analysis Method: opencv_hough_circles -Confidence Level: HIGH -Ball Position: - X: 998.50 pixels - Y: 593.50 pixels - Radius: 49.40 pixels - Confidence: 0.800 - Detection Method: opencv_hough - Valid: YES -Debug Information: - - Detected 1 circles -============================================ diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/gs_log_img_log_ball_final_found_ball_img.approved.png b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/gs_log_img_log_ball_final_found_ball_img.approved.png deleted file mode 100644 index 051f09d3..00000000 Binary files a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/gs_log_img_log_ball_final_found_ball_img.approved.png and /dev/null differ diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/gs_log_img_log_ball_final_found_ball_img.approved.txt b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/gs_log_img_log_ball_final_found_ball_img.approved.txt deleted file mode 100644 index 6d2327c7..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/gs_log_img_log_ball_final_found_ball_img.approved.txt +++ /dev/null @@ -1,16 +0,0 @@ -=== Teed Ball Analysis Result Summary === -Ball State: TEED -Has Ball: YES -Confidence: 0.800 -Analysis Method: opencv_hough_circles -Confidence Level: HIGH -Ball Position: - X: 856.50 pixels - Y: 573.50 pixels - Radius: 54.20 pixels - Confidence: 0.800 - Detection Method: opencv_hough - Valid: YES -Debug Information: - - Detected 2 circles -============================================ diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/log_ball_final_found_ball_img.approved.png b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/log_ball_final_found_ball_img.approved.png deleted file mode 100644 index 71cd5e4c..00000000 Binary files a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/log_ball_final_found_ball_img.approved.png and /dev/null differ diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/log_ball_final_found_ball_img.approved.txt b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/log_ball_final_found_ball_img.approved.txt deleted file mode 100644 index e1296e68..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/log_ball_final_found_ball_img.approved.txt +++ /dev/null @@ -1,16 +0,0 @@ -=== Teed Ball Analysis Result Summary === -Ball State: TEED -Has Ball: YES -Confidence: 0.800 -Analysis Method: opencv_hough_circles -Confidence Level: HIGH -Ball Position: - X: 998.50 pixels - Y: 593.50 pixels - Radius: 49.40 pixels - Confidence: 0.800 - Detection Method: opencv_hough - Valid: YES -Debug Information: - - Detected 1 circles -============================================ diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/log_ball_final_found_ball_img_232_fast.approved.png b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/log_ball_final_found_ball_img_232_fast.approved.png deleted file mode 100644 index dd7592e5..00000000 Binary files a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/log_ball_final_found_ball_img_232_fast.approved.png and /dev/null differ diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/log_ball_final_found_ball_img_232_fast.approved.txt b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/log_ball_final_found_ball_img_232_fast.approved.txt deleted file mode 100644 index c17c584e..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/log_ball_final_found_ball_img_232_fast.approved.txt +++ /dev/null @@ -1,16 +0,0 @@ -=== Teed Ball Analysis Result Summary === -Ball State: TEED -Has Ball: YES -Confidence: 0.800 -Analysis Method: opencv_hough_circles -Confidence Level: HIGH -Ball Position: - X: 844.50 pixels - Y: 346.50 pixels - Radius: 49.90 pixels - Confidence: 0.800 - Detection Method: opencv_hough - Valid: YES -Debug Information: - - Detected 3 circles -============================================ diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/log_cam2_last_strobed_img.approved.png b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/log_cam2_last_strobed_img.approved.png deleted file mode 100644 index 64d44a6d..00000000 Binary files a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/log_cam2_last_strobed_img.approved.png and /dev/null differ diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/log_cam2_last_strobed_img.approved.txt b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/log_cam2_last_strobed_img.approved.txt deleted file mode 100644 index 3da4c6f4..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/log_cam2_last_strobed_img.approved.txt +++ /dev/null @@ -1,16 +0,0 @@ -=== Teed Ball Analysis Result Summary === -Ball State: TEED -Has Ball: YES -Confidence: 0.800 -Analysis Method: opencv_hough_circles -Confidence Level: HIGH -Ball Position: - X: 681.50 pixels - Y: 547.50 pixels - Radius: 53.60 pixels - Confidence: 0.800 - Detection Method: opencv_hough - Valid: YES -Debug Information: - - Detected 2 circles -============================================ diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/log_cam2_last_strobed_img_232_fast.approved.png b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/log_cam2_last_strobed_img_232_fast.approved.png deleted file mode 100644 index b832d302..00000000 Binary files a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/log_cam2_last_strobed_img_232_fast.approved.png and /dev/null differ diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/log_cam2_last_strobed_img_232_fast.approved.txt b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/log_cam2_last_strobed_img_232_fast.approved.txt deleted file mode 100644 index 7e120c8a..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/log_cam2_last_strobed_img_232_fast.approved.txt +++ /dev/null @@ -1,16 +0,0 @@ -=== Teed Ball Analysis Result Summary === -Ball State: TEED -Has Ball: YES -Confidence: 0.800 -Analysis Method: opencv_hough_circles -Confidence Level: HIGH -Ball Position: - X: 663.50 pixels - Y: 439.50 pixels - Radius: 72.20 pixels - Confidence: 0.800 - Detection Method: opencv_hough - Valid: YES -Debug Information: - - Detected 3 circles -============================================ diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/movement_analysis_strobed_sequence.approved.txt b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/movement_analysis_strobed_sequence.approved.txt deleted file mode 100644 index d0e0cb3d..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/movement_analysis_strobed_sequence.approved.txt +++ /dev/null @@ -1,13 +0,0 @@ -=== Movement Analysis Result === -Movement Detected: YES -Confidence: 1.000 -Movement Magnitude: 187.359 -Time Since First Movement: 0 microseconds -Analysis Method: opencv_optical_flow -Motion Vectors: 0 -Last Known Position: - X: 681.500 pixels - Y: 547.500 pixels - Radius: 53.600 pixels - Confidence: 0.800 -================================ diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/spin_ball_1_gray_image1.approved.png b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/spin_ball_1_gray_image1.approved.png deleted file mode 100644 index 138a2ec3..00000000 Binary files a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/spin_ball_1_gray_image1.approved.png and /dev/null differ diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/spin_ball_1_gray_image1.approved.txt b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/spin_ball_1_gray_image1.approved.txt deleted file mode 100644 index 003349e0..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/spin_ball_1_gray_image1.approved.txt +++ /dev/null @@ -1,16 +0,0 @@ -=== Teed Ball Analysis Result Summary === -Ball State: ABSENT -Has Ball: NO -Confidence: 0.100 -Analysis Method: opencv_hough_circles -Confidence Level: UNKNOWN -Ball Position: - X: 56.50 pixels - Y: 54.50 pixels - Radius: 55.50 pixels - Confidence: 0.100 - Detection Method: opencv_hough - Valid: YES -Debug Information: - - Detected 1 circles -============================================ diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/spin_ball_2_gray_image1.approved.png b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/spin_ball_2_gray_image1.approved.png deleted file mode 100644 index eb2dc644..00000000 Binary files a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/spin_ball_2_gray_image1.approved.png and /dev/null differ diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/spin_ball_2_gray_image1.approved.txt b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/spin_ball_2_gray_image1.approved.txt deleted file mode 100644 index c057951f..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/approval_artifacts/spin_ball_2_gray_image1.approved.txt +++ /dev/null @@ -1,16 +0,0 @@ -=== Teed Ball Analysis Result Summary === -Ball State: ABSENT -Has Ball: NO -Confidence: 0.100 -Analysis Method: opencv_hough_circles -Confidence Level: UNKNOWN -Ball Position: - X: 54.50 pixels - Y: 53.50 pixels - Radius: 54.30 pixels - Confidence: 0.100 - Detection Method: opencv_hough - Valid: YES -Debug Information: - - Detected 1 circles -============================================ diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/test_approval_with_pitrac_images.cpp b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/test_approval_with_pitrac_images.cpp deleted file mode 100644 index ae73b016..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/test_approval_with_pitrac_images.cpp +++ /dev/null @@ -1,206 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -/** - * @file test_approval_with_pitrac_images.cpp - * @brief Approval tests using clean architecture and SOLID principles - * - * This test file implements approval testing using a clean architecture framework: - * - Single Responsibility Principle: Each class has one reason to change - * - Open/Closed Principle: New formatters and services can be added without modification - * - Liskov Substitution Principle: All service implementations are interchangeable - * - Interface Segregation Principle: Focused interfaces for specific concerns - * - Dependency Inversion Principle: Depends on abstractions, not concretions - * - * The framework consists of: - * - Configuration management (ApprovalTestConfig) - * - Result formatting strategies (IResultFormatter implementations) - * - Visualization services (IVisualizationService implementations) - * - Comparison services (IComparisonService implementations) - * - Diff launching services (IDiffLauncher implementations) - * - Orchestration facade (ApprovalTestOrchestrator) - */ - -#define BOOST_TEST_MODULE ApprovalTestsWithPiTracImagesRefactored -#include -#include "../application/image_analysis_service.hpp" -#include "../infrastructure/opencv_image_analyzer.hpp" -#include "approval/approval_test_orchestrator.hpp" -#include -#include - -using namespace golf_sim::image_analysis; -using namespace golf_sim::image_analysis::testing; - -BOOST_AUTO_TEST_SUITE(ApprovalTestsWithPiTracImagesRefactored) - -/** - * @brief Clean test fixture following dependency injection principles - * - * Demonstrates proper separation of concerns and dependency management. - * No longer a god object - focused only on test setup and orchestration. - */ -struct CleanApprovalTestFixture { - CleanApprovalTestFixture() { - // Initialize dependencies using dependency injection - analyzer = std::make_unique(); - - // Create orchestrator using factory (dependency injection container pattern) - orchestrator = ApprovalTestOrchestratorFactory::CreateStandard(); - - // Generate consistent timestamp for reproducible tests - test_timestamp = std::chrono::duration_cast( - std::chrono::steady_clock::now().time_since_epoch() - ); - } - - /** - * @brief Run a single image approval test - * @param image_filename Name of image in PiTrac images directory - * @param test_name Unique test identifier - */ - void RunSingleImageTest(const std::string& image_filename, const std::string& test_name) { - auto result = orchestrator->RunImageApprovalTest(image_filename, test_name, *analyzer, test_timestamp); - - if (!result.passed) { - BOOST_FAIL(result.failure_message); - } else { - BOOST_TEST_MESSAGE("Approval test passed for " + test_name); - } - } - - /** - * @brief Run a movement analysis approval test - * @param image_filenames Vector of image filenames for sequence analysis - * @param test_name Unique test identifier - */ - void RunMovementAnalysisTest(const std::vector& image_filenames, const std::string& test_name) { - if (image_filenames.size() < 2) { - BOOST_FAIL("Movement analysis requires at least 2 images"); - return; - } - - // Load images and create sequence - std::vector sequence; - const auto& config = ApprovalTestConfig::Instance(); - - for (size_t i = 0; i < image_filenames.size(); ++i) { - std::string full_path = config.GetPiTracImagesDir() + image_filenames[i]; - cv::Mat image = cv::imread(full_path, cv::IMREAD_COLOR); - - if (image.empty()) { - BOOST_FAIL("Failed to load image: " + full_path); - return; - } - - auto timestamp_offset = test_timestamp + std::chrono::microseconds(i * 33333); // ~30fps spacing - sequence.emplace_back(image, timestamp_offset, test_name + "_" + std::to_string(i)); - } - - // Get reference position from first image - auto first_result = analyzer->AnalyzeTeedBall(sequence[0]); - domain::BallPosition reference_position; - - if (first_result.position.has_value()) { - reference_position = first_result.position.value(); - } else { - // Create default reference position if no ball detected - reference_position = domain::BallPosition(320, 240, 20, 0.5, test_timestamp, "default"); - } - - // Run movement approval test - auto result = orchestrator->RunMovementApprovalTest(sequence, reference_position, test_name, *analyzer); - - if (!result.passed) { - BOOST_FAIL(result.failure_message); - } else { - BOOST_TEST_MESSAGE("Movement approval test passed for " + test_name); - } - } - -protected: - std::unique_ptr analyzer; - std::unique_ptr orchestrator; - std::chrono::microseconds test_timestamp; -}; - -// Test cases using clean architecture - much cleaner and more maintainable -BOOST_FIXTURE_TEST_CASE(test_log_ball_final_found_ball_img_clean, CleanApprovalTestFixture) { - RunSingleImageTest("log_ball_final_found_ball_img.png", "log_ball_final_found_ball_img"); -} - -BOOST_FIXTURE_TEST_CASE(test_gs_log_img_log_ball_final_found_ball_img_clean, CleanApprovalTestFixture) { - RunSingleImageTest("gs_log_img__log_ball_final_found_ball_img.png", "gs_log_img_log_ball_final_found_ball_img"); -} - -BOOST_FIXTURE_TEST_CASE(test_log_cam2_last_strobed_img_clean, CleanApprovalTestFixture) { - RunSingleImageTest("log_cam2_last_strobed_img.png", "log_cam2_last_strobed_img"); -} - -BOOST_FIXTURE_TEST_CASE(test_log_cam2_last_strobed_img_232_fast_clean, CleanApprovalTestFixture) { - RunSingleImageTest("log_cam2_last_strobed_img_232_fast.png", "log_cam2_last_strobed_img_232_fast"); -} - -BOOST_FIXTURE_TEST_CASE(test_spin_ball_1_gray_image1_clean, CleanApprovalTestFixture) { - RunSingleImageTest("spin_ball_1_gray_image1.png", "spin_ball_1_gray_image1"); -} - -BOOST_FIXTURE_TEST_CASE(test_spin_ball_2_gray_image1_clean, CleanApprovalTestFixture) { - RunSingleImageTest("spin_ball_2_gray_image1.png", "spin_ball_2_gray_image1"); -} - -BOOST_FIXTURE_TEST_CASE(test_log_ball_final_found_ball_img_232_fast_clean, CleanApprovalTestFixture) { - RunSingleImageTest("log_ball_final_found_ball_img_232_fast.png", "log_ball_final_found_ball_img_232_fast"); -} - -// Movement analysis test using clean architecture -BOOST_FIXTURE_TEST_CASE(test_movement_analysis_with_strobed_images_clean, CleanApprovalTestFixture) { - std::vector strobed_sequence = { - "log_cam2_last_strobed_img.png", - "log_cam2_last_strobed_img_232_fast.png" - }; - - RunMovementAnalysisTest(strobed_sequence, "movement_analysis_strobed_sequence"); -} - -// Demonstration of framework extensibility - fuzzy comparison strategy -BOOST_FIXTURE_TEST_CASE(test_with_fuzzy_comparison_strategy, CleanApprovalTestFixture) { - // Create orchestrator with fuzzy comparison for tolerance testing - auto fuzzy_orchestrator = ApprovalTestOrchestratorFactory::CreateWithFuzzyComparison(0.02); // 2% tolerance - - auto result = fuzzy_orchestrator->RunImageApprovalTest( - "log_ball_final_found_ball_img.png", - "fuzzy_comparison_test", - *analyzer, - test_timestamp - ); - - if (!result.passed) { - BOOST_FAIL(result.failure_message); - } else { - BOOST_TEST_MESSAGE("Fuzzy comparison strategy test passed"); - } -} - -// Demonstration of framework extensibility - compact formatting strategy -BOOST_FIXTURE_TEST_CASE(test_with_compact_formatting_strategy, CleanApprovalTestFixture) { - // Create orchestrator with compact formatting for minimal output - auto compact_orchestrator = ApprovalTestOrchestratorFactory::CreateCompact(); - - auto result = compact_orchestrator->RunImageApprovalTest( - "spin_ball_1_gray_image1.png", - "compact_format_test", - *analyzer, - test_timestamp - ); - - if (!result.passed) { - BOOST_FAIL(result.failure_message); - } else { - BOOST_TEST_MESSAGE("Compact formatting strategy test passed"); - } -} - -BOOST_AUTO_TEST_SUITE_END() diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/test_domain_validation.cpp b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/test_domain_validation.cpp deleted file mode 100644 index eb971928..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/test_domain_validation.cpp +++ /dev/null @@ -1,211 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -/** - * @file test_domain_validation.cpp - * @brief Comprehensive validation tests for domain layer input validation - * - * Tests the new input validation and invariant enforcement added to - * domain value objects. Ensures migration-safe behavior and proper - * error handling for invalid inputs. - */ - -#define BOOST_TEST_MODULE DomainValidationTests -#include -#include "../domain/value_objects.hpp" -#include "../domain/analysis_results.hpp" -#include -#include - -using namespace golf_sim::image_analysis::domain; - -BOOST_AUTO_TEST_SUITE(DomainValidationTests) - -// BallPosition Validation Tests -BOOST_AUTO_TEST_CASE(BallPositionValidConfidenceRange) { - // Valid confidence values should not throw - BOOST_CHECK_NO_THROW(BallPosition(100.0, 200.0, 15.0, 0.0)); - BOOST_CHECK_NO_THROW(BallPosition(100.0, 200.0, 15.0, 0.5)); - BOOST_CHECK_NO_THROW(BallPosition(100.0, 200.0, 15.0, 1.0)); -} - -BOOST_AUTO_TEST_CASE(BallPositionInvalidConfidenceThrowsException) { - // Confidence < 0.0 should throw - BOOST_CHECK_THROW( - BallPosition(100.0, 200.0, 15.0, -0.1), - std::invalid_argument - ); - - // Confidence > 1.0 should throw - BOOST_CHECK_THROW( - BallPosition(100.0, 200.0, 15.0, 1.1), - std::invalid_argument - ); -} - -BOOST_AUTO_TEST_CASE(BallPositionInvalidRadiusThrowsException) { - // Negative radius should throw - BOOST_CHECK_THROW( - BallPosition(100.0, 200.0, -1.0, 0.5), - std::invalid_argument - ); -} - -BOOST_AUTO_TEST_CASE(BallPositionNaNValuesThrowException) { - double nan_val = std::numeric_limits::quiet_NaN(); - - BOOST_CHECK_THROW( - BallPosition(nan_val, 200.0, 15.0, 0.5), - std::invalid_argument - ); - - BOOST_CHECK_THROW( - BallPosition(100.0, nan_val, 15.0, 0.5), - std::invalid_argument - ); - - BOOST_CHECK_THROW( - BallPosition(100.0, 200.0, nan_val, 0.5), - std::invalid_argument - ); -} - -BOOST_AUTO_TEST_CASE(BallPositionInfiniteValuesThrowException) { - double inf_val = std::numeric_limits::infinity(); - - BOOST_CHECK_THROW( - BallPosition(inf_val, 200.0, 15.0, 0.5), - std::invalid_argument - ); - - BOOST_CHECK_THROW( - BallPosition(100.0, inf_val, 15.0, 0.5), - std::invalid_argument - ); - - BOOST_CHECK_THROW( - BallPosition(100.0, 200.0, inf_val, 0.5), - std::invalid_argument - ); -} - -BOOST_AUTO_TEST_CASE(BallPositionIsNearlyEqualValidationArgumentValidation) { - BallPosition pos1(100.0, 200.0, 15.0, 0.9); - BallPosition pos2(105.0, 205.0, 15.0, 0.8); - - // Valid tolerance should not throw - [[maybe_unused]] bool result1 = false; - [[maybe_unused]] bool result2 = false; - BOOST_CHECK_NO_THROW(result1 = pos1.IsNearlyEqual(pos2, 10.0)); - BOOST_CHECK_NO_THROW(result2 = pos1.IsNearlyEqual(pos2, 0.0)); - // Negative tolerance should throw - BOOST_CHECK_THROW({ - [[maybe_unused]] auto result = pos1.IsNearlyEqual(pos2, -1.0); - }, std::invalid_argument); -} - -// ImageBuffer Validation Tests -BOOST_AUTO_TEST_CASE(ImageBufferValidImageDoesNotThrow) { - cv::Mat valid_image = cv::Mat::ones(100, 100, CV_8UC3); - BOOST_CHECK_NO_THROW([[maybe_unused]] ImageBuffer buffer(valid_image)); -} - -BOOST_AUTO_TEST_CASE(ImageBufferEmptyImageThrowsException) { - cv::Mat empty_image; - - // Test that empty image throws exception - BOOST_CHECK_THROW({ - [[maybe_unused]] ImageBuffer buffer(empty_image); - }, std::invalid_argument); -} - -BOOST_AUTO_TEST_CASE(ImageBufferZeroDimensionImageThrowsException) { - cv::Mat zero_width_image = cv::Mat::ones(100, 0, CV_8UC3); - cv::Mat zero_height_image = cv::Mat::ones(0, 100, CV_8UC3); - - // Test zero-width image - BOOST_CHECK_THROW({ - [[maybe_unused]] ImageBuffer buffer1(zero_width_image); - }, std::invalid_argument); - - // Test zero-height image - BOOST_CHECK_THROW({ - [[maybe_unused]] ImageBuffer buffer2(zero_height_image); - }, std::invalid_argument); -} - -// GetConfidenceLevel Validation Tests -BOOST_AUTO_TEST_CASE(GetConfidenceLevelValidRange) { - [[maybe_unused]] ConfidenceLevel level1, level2, level3; - BOOST_CHECK_NO_THROW(level1 = GetConfidenceLevel(0.0)); - BOOST_CHECK_NO_THROW(level2 = GetConfidenceLevel(0.5)); - BOOST_CHECK_NO_THROW(level3 = GetConfidenceLevel(1.0)); - - // Test boundary conditions - BOOST_CHECK_EQUAL(GetConfidenceLevel(0.0), ConfidenceLevel::VERY_LOW); - BOOST_CHECK_EQUAL(GetConfidenceLevel(0.29), ConfidenceLevel::VERY_LOW); - BOOST_CHECK_EQUAL(GetConfidenceLevel(0.3), ConfidenceLevel::LOW); - BOOST_CHECK_EQUAL(GetConfidenceLevel(0.49), ConfidenceLevel::LOW); - BOOST_CHECK_EQUAL(GetConfidenceLevel(0.5), ConfidenceLevel::MEDIUM); - BOOST_CHECK_EQUAL(GetConfidenceLevel(0.69), ConfidenceLevel::MEDIUM); - BOOST_CHECK_EQUAL(GetConfidenceLevel(0.7), ConfidenceLevel::HIGH); - BOOST_CHECK_EQUAL(GetConfidenceLevel(0.89), ConfidenceLevel::HIGH); - BOOST_CHECK_EQUAL(GetConfidenceLevel(0.9), ConfidenceLevel::VERY_HIGH); - BOOST_CHECK_EQUAL(GetConfidenceLevel(1.0), ConfidenceLevel::VERY_HIGH); -} - -BOOST_AUTO_TEST_CASE(GetConfidenceLevelInvalidRangeThrowsException) { - BOOST_CHECK_THROW({ - [[maybe_unused]] auto level = GetConfidenceLevel(-0.1); - }, std::invalid_argument); - - BOOST_CHECK_THROW({ - [[maybe_unused]] auto level = GetConfidenceLevel(1.1); - }, std::invalid_argument); -} - -// Test that analysis result methods work correctly with validation -BOOST_AUTO_TEST_CASE(TeedBallResultGetConfidenceLevelWithValidation) { - TeedBallResult result; - result.confidence = 0.8; - - [[maybe_unused]] ConfidenceLevel level; - BOOST_CHECK_NO_THROW(level = result.GetConfidenceLevel()); - BOOST_CHECK_EQUAL(result.GetConfidenceLevel(), ConfidenceLevel::HIGH); -} - -BOOST_AUTO_TEST_CASE(MovementResultGetConfidenceLevelWithValidation) { - MovementResult result; - result.movement_confidence = 0.6; - - [[maybe_unused]] ConfidenceLevel level; - BOOST_CHECK_NO_THROW(level = result.GetConfidenceLevel()); - BOOST_CHECK_EQUAL(result.GetConfidenceLevel(), ConfidenceLevel::MEDIUM); -} - -BOOST_AUTO_TEST_CASE(FlightAnalysisResultGetConfidenceLevelWithValidation) { - FlightAnalysisResult result; - result.confidence = 0.4; - - [[maybe_unused]] ConfidenceLevel level; - BOOST_CHECK_NO_THROW(level = result.GetConfidenceLevel()); - BOOST_CHECK_EQUAL(result.GetConfidenceLevel(), ConfidenceLevel::LOW); -} - -// Test [[nodiscard]] behavior doesn't prevent compilation -BOOST_AUTO_TEST_CASE(NodiscardAttributesCompileCorrectly) { - BallPosition pos(100.0, 200.0, 15.0, 0.9); - - // These should compile without warnings when [[nodiscard]] is applied - bool is_valid = pos.IsValid(); - double distance = pos.DistanceFrom(pos); - bool nearly_equal = pos.IsNearlyEqual(pos, 1.0); - - BOOST_CHECK(is_valid); - BOOST_CHECK_EQUAL(distance, 0.0); - BOOST_CHECK(nearly_equal); -} - -BOOST_AUTO_TEST_SUITE_END() diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/test_image_analysis_domain.cpp b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/test_image_analysis_domain.cpp deleted file mode 100644 index b7786173..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/test_image_analysis_domain.cpp +++ /dev/null @@ -1,201 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -/** - * @file test_image_analysis_domain.cpp - * @brief Unit tests for domain layer of image analysis bounded context - * - * Tests the business logic and domain objects without dependencies - * on external frameworks or infrastructure. Using Boost Test Framework - * consistent with Camera bounded context. - */ - -#define BOOST_TEST_MODULE ImageAnalysisDomainTests -#include -#include "../domain/value_objects.hpp" -#include "../domain/analysis_results.hpp" -#include - -using namespace golf_sim::image_analysis::domain; - -BOOST_AUTO_TEST_SUITE(ImageAnalysisDomainTests) - -// Test fixture for common setup -struct DomainTestFixture { - DomainTestFixture() { - test_timestamp = std::chrono::microseconds{1000000}; // 1 second - - valid_position = BallPosition{ - 100.0, 200.0, 15.0, 0.9, test_timestamp, "test_detection" - }; - - invalid_position = BallPosition{ - 0.0, 0.0, 0.0, 0.0, test_timestamp, "test_detection" - }; - } - - std::chrono::microseconds test_timestamp; - BallPosition valid_position; - BallPosition invalid_position; -}; - -// Test BallPosition value object -BOOST_FIXTURE_TEST_CASE(BallPositionValidation, DomainTestFixture) { - BOOST_CHECK(valid_position.IsValid()); - BOOST_CHECK(!invalid_position.IsValid()); -} - -BOOST_FIXTURE_TEST_CASE(BallPositionDistanceCalculation, DomainTestFixture) { - BallPosition pos1{100.0, 200.0, 15.0, 0.9}; - BallPosition pos2{103.0, 204.0, 15.0, 0.8}; - - double distance = pos1.DistanceFrom(pos2); - BOOST_CHECK_CLOSE(distance, 5.0, 2.0); // sqrt(3^2 + 4^2) = 5.0, 2% tolerance -} - -BOOST_FIXTURE_TEST_CASE(BallPositionEquality, DomainTestFixture) { - BallPosition pos1{100.0, 200.0, 15.0, 0.9}; - BallPosition pos2{100.0, 200.0, 15.0, 0.9}; - BallPosition pos3{101.0, 200.0, 15.0, 0.9}; - - BOOST_CHECK(pos1.IsNearlyEqual(pos2, 1.0)); - BOOST_CHECK(!pos1.IsNearlyEqual(pos3, 0.5)); - BOOST_CHECK(pos1.IsNearlyEqual(pos3, 2.0)); -} - -// Test TeedBallResult -BOOST_FIXTURE_TEST_CASE(TeedBallResultConstruction, DomainTestFixture) { - TeedBallResult result{ - BallState::TEED, - valid_position, - 0.95, - "test_method" - }; - - BOOST_CHECK_EQUAL(result.state, BallState::TEED); - BOOST_CHECK(result.position.has_value()); - BOOST_CHECK_EQUAL(result.confidence, 0.95); - BOOST_CHECK_EQUAL(result.analysis_method, "test_method"); -} - -BOOST_FIXTURE_TEST_CASE(TeedBallResultAbsentState, DomainTestFixture) { - TeedBallResult result{ - BallState::ABSENT, - std::nullopt, - 0.1, - "test_method" - }; - - BOOST_CHECK_EQUAL(result.state, BallState::ABSENT); - BOOST_CHECK(!result.position.has_value()); -} - -// Test MovementResult -BOOST_FIXTURE_TEST_CASE(MovementResultDetection, DomainTestFixture) { - std::vector motion_vectors = { - cv::Point2f{1.0f, 2.0f}, - cv::Point2f{2.0f, 3.0f} - }; - - MovementResult result; - result.movement_detected = true; - result.last_known_position = valid_position; - result.movement_confidence = 0.85; - result.movement_magnitude = 5.0; - result.motion_vectors = motion_vectors; - result.analysis_method = "optical_flow"; - - BOOST_CHECK(result.movement_detected); - BOOST_CHECK(result.last_known_position.has_value()); - BOOST_CHECK_EQUAL(result.motion_vectors.size(), 2); - BOOST_CHECK_EQUAL(result.analysis_method, "optical_flow"); -} - -// Test FlightAnalysisResult -BOOST_FIXTURE_TEST_CASE(FlightAnalysisMultipleBalls, DomainTestFixture) { - std::vector ball_positions = { - BallPosition{100, 200, 15, 0.9, test_timestamp, "strobe_1"}, - BallPosition{110, 190, 14, 0.8, test_timestamp, "strobe_2"}, - BallPosition{120, 180, 13, 0.7, test_timestamp, "strobe_3"} - }; - - cv::Vec3d spin_rates{100.0, 200.0, 50.0}; // degrees/second - cv::Vec3d velocity{25.0, 15.0, 30.0}; // m/s - - FlightAnalysisResult result; - result.detected_balls = ball_positions; - result.spin_rates = spin_rates; - result.velocity_vector = velocity; - result.temporal_spacing_us = 5000.0; // 5ms between strobes - result.confidence = 0.9; - result.analysis_method = "strobed_analysis"; - - BOOST_CHECK_EQUAL(result.detected_balls.size(), 3); - BOOST_CHECK(result.spin_rates.has_value()); - BOOST_CHECK(result.velocity_vector.has_value()); - BOOST_CHECK_EQUAL(result.temporal_spacing_us, 5000.0); -} - -// Test ImageBuffer -BOOST_FIXTURE_TEST_CASE(ImageBufferConstruction, DomainTestFixture) { - cv::Mat test_image = cv::Mat::zeros(480, 640, CV_8UC3); - - ImageBuffer buffer{ - test_image, - test_timestamp, - "camera_1", - "test_metadata" - }; - - BOOST_CHECK(!buffer.data.empty()); - BOOST_CHECK_EQUAL(buffer.timestamp.count(), test_timestamp.count()); - BOOST_CHECK_EQUAL(buffer.camera_id, "camera_1"); - BOOST_CHECK_EQUAL(buffer.metadata, "test_metadata"); - BOOST_CHECK(buffer.IsValid()); -} - -BOOST_FIXTURE_TEST_CASE(ImageBufferValidation, DomainTestFixture) { - cv::Mat empty_image; - - // After domain improvements, ImageBuffer constructor validates input - // Empty images should throw an exception during construction - BOOST_CHECK_THROW( - ImageBuffer(empty_image, test_timestamp, "camera_1", "invalid"), - std::invalid_argument - ); -} - -// Test BallState enum -BOOST_AUTO_TEST_CASE(BallStateValues) { - BOOST_CHECK_EQUAL(static_cast(BallState::ABSENT), 0); - BOOST_CHECK_NE(BallState::TEED, BallState::MOVING); - BOOST_CHECK_NE(BallState::MOVING, BallState::RESET); -} - -// Performance tests -BOOST_FIXTURE_TEST_CASE(BallPositionPerformance, DomainTestFixture) { - const int num_iterations = 10000; - - auto start = std::chrono::high_resolution_clock::now(); - - for (int i = 0; i < num_iterations; ++i) { - BallPosition pos{ - static_cast(i), - static_cast(i * 2), - 15.0, - 0.9 - }; - - volatile bool is_valid = pos.IsValid(); // Prevent optimization - } - - auto end = std::chrono::high_resolution_clock::now(); - auto duration = std::chrono::duration_cast(end - start); - - // Should be reasonably fast - less than 100ms for 10k operations in debug mode - BOOST_CHECK_LT(duration.count(), 100000); -} - -BOOST_AUTO_TEST_SUITE_END() diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/test_image_analysis_service.cpp b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/test_image_analysis_service.cpp deleted file mode 100644 index b370a312..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/test_image_analysis_service.cpp +++ /dev/null @@ -1,247 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -/** - * @file test_image_analysis_service.cpp - * @brief Unit tests for ImageAnalysisService input validation - * - * Tests input validation functions that will be added to the service. - * Focuses on validation logic rather than full service implementation. - */ - -#define BOOST_TEST_MODULE ImageAnalysisServiceValidationTests -#include -#include "../application/image_analysis_service.hpp" -#include - -using namespace golf_sim::image_analysis::application; - -// ============================================================================= -// Input Validation Helper Functions (to be added to service) -// ============================================================================= - -namespace { - // These validation functions will be added to ImageAnalysisService - - void ValidateConfidenceThreshold(double threshold) { - if (threshold < 0.0 || threshold > 1.0) { - throw std::invalid_argument( - "Confidence threshold must be between 0.0 and 1.0, got: " + - std::to_string(threshold) - ); - } - } - - void ValidateAnalyzerConfig(const AnalyzerConfig& config) { - if (config.type.empty()) { - throw std::invalid_argument("Analyzer type cannot be empty"); - } - - ValidateConfidenceThreshold(config.confidence_threshold); - - if (config.nms_threshold < 0.0 || config.nms_threshold > 1.0) { - throw std::invalid_argument( - "NMS threshold must be between 0.0 and 1.0, got: " + - std::to_string(config.nms_threshold) - ); - } - - if (config.input_width <= 0) { - throw std::invalid_argument( - "Input width must be positive, got: " + - std::to_string(config.input_width) - ); - } - - if (config.input_height <= 0) { - throw std::invalid_argument( - "Input height must be positive, got: " + - std::to_string(config.input_height) - ); - } - } - - void ValidateAnalyzerType(const std::string& analyzer_type) { - if (analyzer_type.empty()) { - throw std::invalid_argument("Analyzer type cannot be empty"); - } - - // This would check against available analyzers in real implementation - static const std::vector valid_types = { - "opencv", "yolo", "tensorflow_lite", "hybrid" - }; - - if (std::find(valid_types.begin(), valid_types.end(), analyzer_type) == valid_types.end()) { - throw std::invalid_argument("Unknown analyzer type: " + analyzer_type); - } - } -} - -BOOST_AUTO_TEST_SUITE(ImageAnalysisServiceValidationTests) - -// ============================================================================= -// Confidence Threshold Validation Tests -// ============================================================================= - -BOOST_AUTO_TEST_CASE(test_validate_confidence_threshold_valid_values) { - // Valid confidence thresholds - BOOST_CHECK_NO_THROW(ValidateConfidenceThreshold(0.0)); - BOOST_CHECK_NO_THROW(ValidateConfidenceThreshold(0.5)); - BOOST_CHECK_NO_THROW(ValidateConfidenceThreshold(1.0)); - BOOST_CHECK_NO_THROW(ValidateConfidenceThreshold(0.001)); - BOOST_CHECK_NO_THROW(ValidateConfidenceThreshold(0.999)); -} - -BOOST_AUTO_TEST_CASE(test_validate_confidence_threshold_invalid_values) { - // Invalid confidence thresholds - BOOST_CHECK_THROW(ValidateConfidenceThreshold(-0.1), std::invalid_argument); - BOOST_CHECK_THROW(ValidateConfidenceThreshold(1.1), std::invalid_argument); - BOOST_CHECK_THROW(ValidateConfidenceThreshold(-1.0), std::invalid_argument); - BOOST_CHECK_THROW(ValidateConfidenceThreshold(2.0), std::invalid_argument); - BOOST_CHECK_THROW(ValidateConfidenceThreshold(-0.001), std::invalid_argument); - BOOST_CHECK_THROW(ValidateConfidenceThreshold(1.001), std::invalid_argument); -} - -// ============================================================================= -// Analyzer Configuration Validation Tests -// ============================================================================= - -BOOST_AUTO_TEST_CASE(test_validate_analyzer_config_valid) { - AnalyzerConfig config; - config.type = "opencv"; - config.confidence_threshold = 0.7; - config.nms_threshold = 0.4; - config.input_width = 640; - config.input_height = 480; - - BOOST_CHECK_NO_THROW(ValidateAnalyzerConfig(config)); -} - -BOOST_AUTO_TEST_CASE(test_validate_analyzer_config_empty_type) { - AnalyzerConfig config; - config.type = ""; // Invalid - - BOOST_CHECK_THROW(ValidateAnalyzerConfig(config), std::invalid_argument); -} - -BOOST_AUTO_TEST_CASE(test_validate_analyzer_config_invalid_confidence) { - AnalyzerConfig config; - config.type = "opencv"; - config.confidence_threshold = -0.1; // Invalid - - BOOST_CHECK_THROW(ValidateAnalyzerConfig(config), std::invalid_argument); - - config.confidence_threshold = 1.5; // Invalid - BOOST_CHECK_THROW(ValidateAnalyzerConfig(config), std::invalid_argument); -} - -BOOST_AUTO_TEST_CASE(test_validate_analyzer_config_invalid_nms_threshold) { - AnalyzerConfig config; - config.type = "opencv"; - config.nms_threshold = -0.1; // Invalid - - BOOST_CHECK_THROW(ValidateAnalyzerConfig(config), std::invalid_argument); - - config.nms_threshold = 1.5; // Invalid - BOOST_CHECK_THROW(ValidateAnalyzerConfig(config), std::invalid_argument); -} - -BOOST_AUTO_TEST_CASE(test_validate_analyzer_config_invalid_dimensions) { - AnalyzerConfig config; - config.type = "opencv"; - - config.input_width = 0; // Invalid - BOOST_CHECK_THROW(ValidateAnalyzerConfig(config), std::invalid_argument); - - config.input_width = -1; // Invalid - BOOST_CHECK_THROW(ValidateAnalyzerConfig(config), std::invalid_argument); - - config.input_width = 640; - config.input_height = 0; // Invalid - BOOST_CHECK_THROW(ValidateAnalyzerConfig(config), std::invalid_argument); - - config.input_height = -1; // Invalid - BOOST_CHECK_THROW(ValidateAnalyzerConfig(config), std::invalid_argument); -} - -// ============================================================================= -// Analyzer Type Validation Tests -// ============================================================================= - -BOOST_AUTO_TEST_CASE(test_validate_analyzer_type_valid) { - BOOST_CHECK_NO_THROW(ValidateAnalyzerType("opencv")); - BOOST_CHECK_NO_THROW(ValidateAnalyzerType("yolo")); - BOOST_CHECK_NO_THROW(ValidateAnalyzerType("tensorflow_lite")); - BOOST_CHECK_NO_THROW(ValidateAnalyzerType("hybrid")); -} - -BOOST_AUTO_TEST_CASE(test_validate_analyzer_type_invalid) { - BOOST_CHECK_THROW(ValidateAnalyzerType(""), std::invalid_argument); - BOOST_CHECK_THROW(ValidateAnalyzerType("nonexistent"), std::invalid_argument); - BOOST_CHECK_THROW(ValidateAnalyzerType("invalid_type"), std::invalid_argument); - BOOST_CHECK_THROW(ValidateAnalyzerType("OPENCV"), std::invalid_argument); // Case sensitive -} - -// ============================================================================= -// Error Message Quality Tests -// ============================================================================= - -BOOST_AUTO_TEST_CASE(test_error_messages_contain_actual_values) { - try { - ValidateConfidenceThreshold(-0.5); - BOOST_FAIL("Expected exception was not thrown"); - } catch (const std::invalid_argument& e) { - std::string error_msg = e.what(); - BOOST_CHECK(error_msg.find("-0.5") != std::string::npos); - BOOST_CHECK(error_msg.find("between 0.0 and 1.0") != std::string::npos); - } - - try { - ValidateAnalyzerType("bad_type"); - BOOST_FAIL("Expected exception was not thrown"); - } catch (const std::invalid_argument& e) { - std::string error_msg = e.what(); - BOOST_CHECK(error_msg.find("bad_type") != std::string::npos); - BOOST_CHECK(error_msg.find("Unknown analyzer type") != std::string::npos); - } -} - -// ============================================================================= -// Edge Case Tests -// ============================================================================= - -BOOST_AUTO_TEST_CASE(test_boundary_conditions) { - // Test exact boundary values - BOOST_CHECK_NO_THROW(ValidateConfidenceThreshold(0.0)); - BOOST_CHECK_NO_THROW(ValidateConfidenceThreshold(1.0)); - - // Test just outside boundaries - BOOST_CHECK_THROW(ValidateConfidenceThreshold(-0.000001), std::invalid_argument); - BOOST_CHECK_THROW(ValidateConfidenceThreshold(1.000001), std::invalid_argument); -} - -BOOST_AUTO_TEST_CASE(test_configuration_with_minimal_valid_values) { - AnalyzerConfig config; - config.type = "opencv"; - config.confidence_threshold = 0.0; - config.nms_threshold = 0.0; - config.input_width = 1; // Minimal valid - config.input_height = 1; // Minimal valid - - BOOST_CHECK_NO_THROW(ValidateAnalyzerConfig(config)); -} - -BOOST_AUTO_TEST_CASE(test_configuration_with_maximal_valid_values) { - AnalyzerConfig config; - config.type = "tensorflow_lite"; - config.confidence_threshold = 1.0; - config.nms_threshold = 1.0; - config.input_width = 4096; // Large but reasonable - config.input_height = 4096; // Large but reasonable - - BOOST_CHECK_NO_THROW(ValidateAnalyzerConfig(config)); -} - -BOOST_AUTO_TEST_SUITE_END() diff --git a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/test_opencv_analyzer.cpp b/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/test_opencv_analyzer.cpp deleted file mode 100644 index 1f40a956..00000000 --- a/Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/test_opencv_analyzer.cpp +++ /dev/null @@ -1,229 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -/** - * @file test_opencv_analyzer.cpp - * @brief Integration tests for OpenCV-based image analyzer - * - * Tests the OpenCV implementation against the domain interface, - * verifying that the adapter correctly wraps existing functionality. - * Using Boost Test Framework consistent with Camera bounded context. - */ - -#define BOOST_TEST_MODULE OpenCVAnalyzerTests -#include -#include "../infrastructure/opencv_image_analyzer.hpp" -#include - -using namespace golf_sim::image_analysis; - -BOOST_AUTO_TEST_SUITE(OpenCVAnalyzerTests) - -struct OpenCVAnalyzerFixture { - OpenCVAnalyzerFixture() { - analyzer = std::make_unique(); - - // Create test images - test_image_with_ball = CreateTestImageWithBall(); - test_image_without_ball = CreateTestImageWithoutBall(); - - test_timestamp = std::chrono::duration_cast( - std::chrono::steady_clock::now().time_since_epoch() - ); - } - - cv::Mat CreateTestImageWithBall() { - cv::Mat image = cv::Mat::zeros(480, 640, CV_8UC3); - - // Draw a white circle to simulate a golf ball - cv::Point center(320, 240); // Center of image - int radius = 20; - cv::Scalar color(255, 255, 255); // White - cv::circle(image, center, radius, color, -1); // Filled circle - - // Add some noise to make it more realistic - cv::Mat noise(480, 640, CV_8UC3); - cv::randn(noise, cv::Scalar(0, 0, 0), cv::Scalar(10, 10, 10)); - image += noise; - - return image; - } - - cv::Mat CreateTestImageWithoutBall() { - cv::Mat image = cv::Mat::zeros(480, 640, CV_8UC3); - - // Add some background texture but no ball - cv::Mat noise(480, 640, CV_8UC3); - cv::randn(noise, cv::Scalar(128, 128, 128), cv::Scalar(20, 20, 20)); - image += noise; - - return image; - } - - std::vector CreateMovementSequence() { - std::vector sequence; - - // Create 5 images with ball moving across the frame - for (int i = 0; i < 5; ++i) { - cv::Mat image = cv::Mat::zeros(480, 640, CV_8UC3); - - // Ball moves from left to right - cv::Point center(100 + i * 50, 240); - cv::circle(image, center, 20, cv::Scalar(255, 255, 255), -1); - - sequence.emplace_back( - image, - test_timestamp + std::chrono::microseconds(i * 33333), // ~30fps - "movement_frame_" + std::to_string(i) - ); - } - - return sequence; - } - - cv::Mat CreateStrobedImage() { - cv::Mat image = cv::Mat::zeros(480, 640, CV_8UC3); - - // Create multiple ball positions to simulate strobed capture - std::vector positions = { - cv::Point{100, 240}, - cv::Point{150, 230}, - cv::Point{200, 220}, - cv::Point{250, 210} - }; - - for (const auto& pos : positions) { - cv::circle(image, pos, 15, cv::Scalar(255, 255, 255), -1); - } - - return image; - } - - std::unique_ptr analyzer; - cv::Mat test_image_with_ball; - cv::Mat test_image_without_ball; - std::chrono::microseconds test_timestamp; -}; - -// Test basic analyzer properties -BOOST_FIXTURE_TEST_CASE(AnalyzerProperties, OpenCVAnalyzerFixture) { - BOOST_CHECK_EQUAL(analyzer->GetAnalyzerName(), "OpenCV Image Analyzer"); - BOOST_CHECK(!analyzer->GetVersion().empty()); - BOOST_CHECK(analyzer->SupportsRealTime()); -} - -// Test teed ball detection -BOOST_FIXTURE_TEST_CASE(DetectsTeedBall, OpenCVAnalyzerFixture) { - domain::ImageBuffer image_buffer{ - test_image_with_ball, - test_timestamp, - "test_with_ball" - }; - - auto result = analyzer->AnalyzeTeedBall(image_buffer); - - BOOST_CHECK_EQUAL(result.state, domain::BallState::TEED); - BOOST_CHECK(result.position.has_value()); - BOOST_CHECK_GT(result.confidence, 0.5); // Should have decent confidence - BOOST_CHECK(!result.analysis_method.empty()); - - if (result.position) { - // Ball should be detected near center of image - BOOST_CHECK_CLOSE(result.position->x_pixels, 320, 15.0); // 15% tolerance - BOOST_CHECK_CLOSE(result.position->y_pixels, 240, 20.0); // 20% tolerance - BOOST_CHECK_CLOSE(result.position->radius_pixels, 20, 50.0); // 50% tolerance - } -} - -BOOST_FIXTURE_TEST_CASE(DetectsNoBall, OpenCVAnalyzerFixture) { - domain::ImageBuffer image_buffer{ - test_image_without_ball, - test_timestamp, - "test_without_ball" - }; - - auto result = analyzer->AnalyzeTeedBall(image_buffer); - - BOOST_CHECK_EQUAL(result.state, domain::BallState::ABSENT); - BOOST_CHECK(!result.position.has_value()); - BOOST_CHECK_LT(result.confidence, 0.5); // Low confidence when no ball -} - -// Test movement detection -BOOST_FIXTURE_TEST_CASE(DetectsMovement, OpenCVAnalyzerFixture) { - auto movement_sequence = CreateMovementSequence(); - - domain::BallPosition reference_position{ - 100, 240, 20, 0.9, test_timestamp, "reference" - }; - - auto result = analyzer->DetectMovement(movement_sequence, reference_position); - - BOOST_CHECK(result.movement_detected); - BOOST_CHECK_GT(result.movement_confidence, 0.5); - BOOST_CHECK(result.last_known_position.has_value()); - BOOST_CHECK(!result.analysis_method.empty()); -} - -// Performance test -BOOST_FIXTURE_TEST_CASE(PerformanceTeedBallAnalysis, OpenCVAnalyzerFixture) { - domain::ImageBuffer image_buffer{ - test_image_with_ball, - test_timestamp, - "performance_test" - }; - - const int num_iterations = 50; // Reduced for faster testing - auto start = std::chrono::high_resolution_clock::now(); - - for (int i = 0; i < num_iterations; ++i) { - auto result = analyzer->AnalyzeTeedBall(image_buffer); - // Ensure result is used to prevent optimization - volatile bool has_ball = result.position.has_value(); - } - - auto end = std::chrono::high_resolution_clock::now(); - auto duration = std::chrono::duration_cast(end - start); - // Should process 50 frames in reasonable time - #ifdef _DEBUG - BOOST_CHECK_LT(duration.count(), 5000); // 5 seconds for debug builds - #else - BOOST_CHECK_LT(duration.count(), 2500); // 2.5 seconds for release builds - #endif - - double avg_time_ms = static_cast(duration.count()) / num_iterations; - BOOST_TEST_MESSAGE("Average processing time: " << avg_time_ms << " ms per frame"); - - // Should be fast enough for real-time - #ifdef _DEBUG - BOOST_CHECK_LT(avg_time_ms, 100.0); // 100ms per frame for debug builds - #else - BOOST_CHECK_LT(avg_time_ms, 50.0); // 50ms per frame for release builds - #endif -} - -// Error handling tests -BOOST_FIXTURE_TEST_CASE(HandlesEmptyImage, OpenCVAnalyzerFixture) { - cv::Mat empty_image; - - // After domain improvements, ImageBuffer constructor validates input - // Empty images should throw an exception during construction - BOOST_CHECK_THROW( - domain::ImageBuffer(empty_image, test_timestamp, "empty_image"), - std::invalid_argument - ); - - // Test with a minimal valid image instead to test analyzer error handling - cv::Mat tiny_image = cv::Mat::zeros(1, 1, CV_8UC3); - domain::ImageBuffer tiny_buffer{tiny_image, test_timestamp, "tiny_image"}; - - auto result = analyzer->AnalyzeTeedBall(tiny_buffer); - - BOOST_CHECK_EQUAL(result.state, domain::BallState::ABSENT); - BOOST_CHECK(!result.position.has_value()); - BOOST_CHECK_LT(result.confidence, 0.1); -} - -BOOST_AUTO_TEST_SUITE_END() diff --git a/Software/LMSourceCode/ImageProcessing/ImageProcessing.vcxproj b/Software/LMSourceCode/ImageProcessing/ImageProcessing.vcxproj index ba43d801..c83ab061 100644 --- a/Software/LMSourceCode/ImageProcessing/ImageProcessing.vcxproj +++ b/Software/LMSourceCode/ImageProcessing/ImageProcessing.vcxproj @@ -211,12 +211,6 @@ - - true - - - true - @@ -275,7 +269,6 @@ - @@ -383,10 +376,6 @@ - - - - @@ -444,12 +433,6 @@ - - - - - - diff --git a/Software/LMSourceCode/ImageProcessing/ImageProcessing.vcxproj.BACKUP b/Software/LMSourceCode/ImageProcessing/ImageProcessing.vcxproj.BACKUP index afa1df94..3c8437cc 100644 --- a/Software/LMSourceCode/ImageProcessing/ImageProcessing.vcxproj.BACKUP +++ b/Software/LMSourceCode/ImageProcessing/ImageProcessing.vcxproj.BACKUP @@ -211,12 +211,6 @@ - - true - - - true - @@ -277,7 +271,6 @@ - @@ -389,10 +382,6 @@ - - - - @@ -455,12 +444,6 @@ - - - - - - diff --git a/Software/LMSourceCode/ImageProcessing/ImageProcessing.vcxproj.filters b/Software/LMSourceCode/ImageProcessing/ImageProcessing.vcxproj.filters index c8a86729..1433ac6f 100644 --- a/Software/LMSourceCode/ImageProcessing/ImageProcessing.vcxproj.filters +++ b/Software/LMSourceCode/ImageProcessing/ImageProcessing.vcxproj.filters @@ -249,18 +249,9 @@ Source Files - - Source Files - - - Source Files - Source Files - - Source Files - Source Files @@ -488,39 +479,9 @@ Header Files - - Header Files - - - Header Files - - - Header Files - - - Header Files - Header Files - - Header Files - - - Header Files - - - Header Files - - - Header Files - - - Header Files - - - Header Files - Header Files diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runAutoCalibrateCam1_SinglePi.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runAutoCalibrateCam1_SinglePi.sh deleted file mode 100755 index 3d80d7c0..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runAutoCalibrateCam1_SinglePi.sh +++ /dev/null @@ -1,11 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - -#rm -f Logs/*.log - -sudo -E nice -n -10 $PITRAC_ROOT/ImageProcessing/build/pitrac_lm --run_single_pi --system_mode camera1AutoCalibrate $PITRAC_COMMON_CMD_LINE_ARGS --search_center_x 750 --search_center_y 500 --logging_level=trace --artifact_save_level=all --show_images=0 diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runAutoCalibrateCam2_SinglePi.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runAutoCalibrateCam2_SinglePi.sh deleted file mode 100755 index e1324639..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runAutoCalibrateCam2_SinglePi.sh +++ /dev/null @@ -1,11 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - -#rm -f Logs/*.log - -sudo -E nice -n -10 $PITRAC_ROOT/ImageProcessing/build/pitrac_lm --system_mode camera2AutoCalibrate $PITRAC_COMMON_CMD_LINE_ARGS --search_center_x 720 --search_center_y 500 --logging_level=trace --artifact_save_level=final_results_only diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runCam1BallLocationSinglePi.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runCam1BallLocationSinglePi.sh deleted file mode 100755 index 625af7e7..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runCam1BallLocationSinglePi.sh +++ /dev/null @@ -1,13 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# - -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - - -#rm -f Logs/*.log - -sudo -E nice -n -10 $PITRAC_ROOT/ImageProcessing/build/pitrac_lm --run_single_pi --system_mode camera1_ball_location $PITRAC_COMMON_CMD_LINE_ARGS --search_center_x 723 --search_center_y 544 --logging_level=info --artifact_save_level=all --camera_gain 2.0 diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runCam1ExternalStrobe.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runCam1ExternalStrobe.sh deleted file mode 100755 index b7a936d9..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runCam1ExternalStrobe.sh +++ /dev/null @@ -1,11 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -#rm -f Logs/*.log -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - - -sudo -E nice -n -20 $PITRAC_ROOT/ImageProcessing/build/pitrac_lm --run_single_pi --system_mode camera1 --lm_comparison_mode=1 $PITRAC_COMMON_CMD_LINE_ARGS --search_center_x 850 --search_center_y 500 --logging_level=info --artifact_save_level=all --camera_gain 0.5 diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runCam1SinglePi.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runCam1SinglePi.sh deleted file mode 100755 index 472931fd..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runCam1SinglePi.sh +++ /dev/null @@ -1,11 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - -#rm -f Logs/*.log - -sudo -E nice -n -20 $PITRAC_ROOT/ImageProcessing/build/pitrac_lm --run_single_pi --system_mode camera1 $PITRAC_COMMON_CMD_LINE_ARGS --search_center_x 850 --search_center_y 500 --logging_level=info --artifact_save_level=final_results_only diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runCam1StillSinglePi.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runCam1StillSinglePi.sh deleted file mode 100755 index 373292fd..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runCam1StillSinglePi.sh +++ /dev/null @@ -1,9 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - -sudo -E nice -n -10 $PITRAC_ROOT/ImageProcessing/build/pitrac_lm --run_single_pi --system_mode camera1 -$PITRAC_COMMON_CMD_LINE_ARGS --cam_still_mode --output_filename=cam1_still_picture.png --search_center_x 650 --search_center_y 500 --logging_level=trace --camera_gain 2.0 diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runCam2BallLocationSinglePi.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runCam2BallLocationSinglePi.sh deleted file mode 100755 index fe63578b..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runCam2BallLocationSinglePi.sh +++ /dev/null @@ -1,10 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - -sudo -E nice -n -10 $PITRAC_ROOT/ImageProcessing/build/pitrac_lm --run_single_pi --system_mode camera2_ball_location $PITRAC_COMMON_CMD_LINE_ARGS --search_center_x 723 --search_center_y 544 --logging_level=info --artifact_save_level=all diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runCam2ForPi1Processing.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runCam2ForPi1Processing.sh deleted file mode 100755 index 1a3aab25..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runCam2ForPi1Processing.sh +++ /dev/null @@ -1,13 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - - -#rm -f Logs/*.log - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --run_single_pi --system_mode runCam2ProcessForPi1Processing $PITRAC_COMMON_CMD_LINE_ARGS --camera_gain 3.6 --logging_level=info --artifact_save_level=final_results_only - diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runCam2SinglePi.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runCam2SinglePi.sh deleted file mode 100755 index 31461f7f..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runCam2SinglePi.sh +++ /dev/null @@ -1,13 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - - -#rm -f Logs/*.log - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --run_single_pi --system_mode camera2 $PITRAC_COMMON_CMD_LINE_ARGS --camera_gain 1.0 --logging_level=info --artifact_save_level=final_results_only - diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runCam2StillSinglePi.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runCam2StillSinglePi.sh deleted file mode 100755 index 4d8a68f8..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runCam2StillSinglePi.sh +++ /dev/null @@ -1,11 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - - -# Resolution can also by 640x480, 1280x800 -sudo -E nice -n -10 $PITRAC_ROOT/ImageProcessing/build/pitrac_lm --run_single_pi --system_mode camera2 $PITRAC_COMMON_CMD_LINE_ARGS --cam_still_mode --output_filename=cam2_still_picture.png --search_center_x 650 --search_center_y 500 --logging_level=trace diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runPulseTest.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runPulseTest.sh deleted file mode 100755 index 46907fc5..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runPulseTest.sh +++ /dev/null @@ -1,9 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - -sudo -E nice -n -10 $PITRAC_ROOT/ImageProcessing/build/pitrac_lm --pulse_test --run_single_pi --system_mode camera1 $PITRAC_COMMON_CMD_LINE_ARGS --logging_level trace - diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runTestImages.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runTestImages.sh deleted file mode 100755 index e798ae8d..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/SinglePi/runTestImages.sh +++ /dev/null @@ -1,11 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - -#rm -f Logs/*.log - -sudo -E nice -n -20 $PITRAC_ROOT/ImageProcessing/build/pitrac_lm --run_single_pi --system_mode test $PITRAC_COMMON_CMD_LINE_ARGS --search_center_x 850 --search_center_y 500 --logging_level=trace --artifact_save_level=final_results_only diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runAutoCalibrateCam1.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runAutoCalibrateCam1.sh deleted file mode 100755 index e3a3d83b..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runAutoCalibrateCam1.sh +++ /dev/null @@ -1,11 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - -#rm -f Logs/*.log - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --system_mode camera1AutoCalibrate $PITRAC_COMMON_CMD_LINE_ARGS --search_center_x 750 --search_center_y 500 --logging_level=trace --artifact_save_level=all diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runAutoCalibrateCam2.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runAutoCalibrateCam2.sh deleted file mode 100755 index 9d09fd3f..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runAutoCalibrateCam2.sh +++ /dev/null @@ -1,11 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - -#rm -f Logs/*.log - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --system_mode camera2AutoCalibrate $PITRAC_COMMON_CMD_LINE_ARGS --search_center_x 720 --search_center_y 500 --logging_level=trace --artifact_save_level=final_results_only diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runAutomatedTesting.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runAutomatedTesting.sh deleted file mode 100755 index 0cb7598a..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runAutomatedTesting.sh +++ /dev/null @@ -1,11 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - -#rm -f Logs/*.log - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --system_mode automated_testing $PITRAC_COMMON_CMD_LINE_ARGS --search_center_x 850 --search_center_y 500 --logging_level=trace --artifact_save_level=final_results_only diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam1.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runCam1.sh deleted file mode 100755 index 8c0fdff2..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam1.sh +++ /dev/null @@ -1,11 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - -#rm -f Logs/*.log - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --system_mode camera1 $PITRAC_COMMON_CMD_LINE_ARGS --search_center_x 850 --search_center_y 500 --logging_level=trace --artifact_save_level=final_results_only --camera_gain 1.1 diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam1BallLocation.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runCam1BallLocation.sh deleted file mode 100755 index 8eca30e5..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam1BallLocation.sh +++ /dev/null @@ -1,15 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# - -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - - -#rm -f Logs/*.log - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --system_mode camera1_ball_location $PITRAC_COMMON_CMD_LINE_ARGS --search_center_x 723 --search_center_y 544 --logging_level=info --artifact_save_level=all --camera_gain 2.0 - -# --post-process-file /mnt/VerdantShare/dev/GolfSim/LM/ImageProcessing/assets/motion_detect.json diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam1Calibration.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runCam1Calibration.sh deleted file mode 100755 index 074f68ae..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam1Calibration.sh +++ /dev/null @@ -1,13 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - - -#rm -f Logs/*.log - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --system_mode camera1Calibrate $PITRAC_COMMON_CMD_LINE_ARGS --search_center_x 700 --search_center_y 500 --logging_level=info --artifact_save_level=all - diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam1ExternalStrobe.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runCam1ExternalStrobe.sh deleted file mode 100755 index 93b8a409..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam1ExternalStrobe.sh +++ /dev/null @@ -1,11 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -#rm -f Logs/*.log -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --system_mode camera1 --lm_comparison_mode=1 $PITRAC_COMMON_CMD_LINE_ARGS --search_center_x 850 --search_center_y 500 --logging_level=info --artifact_save_level=final_results_only diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam1SinglePi.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runCam1SinglePi.sh deleted file mode 100755 index 9dbf0896..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam1SinglePi.sh +++ /dev/null @@ -1,11 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - -#rm -f Logs/*.log - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --run_single_pi --system_mode camera1 $PITRAC_COMMON_CMD_LINE_ARGS --search_center_x 850 --search_center_y 500 --logging_level=trace --artifact_save_level=final_results_only diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam1Still.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runCam1Still.sh deleted file mode 100755 index 73cb74bd..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam1Still.sh +++ /dev/null @@ -1,9 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --system_mode camera1 $PITRAC_COMMON_CMD_LINE_ARGS --cam_still_mode --output_filename=cam1_still_picture.png --search_center_x 650 --search_center_y 500 --logging_level=trace diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam1StillSinglePi.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runCam1StillSinglePi.sh deleted file mode 100755 index 1eec114f..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam1StillSinglePi.sh +++ /dev/null @@ -1,9 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --run_single_pi --system_mode camera1 -$PITRAC_COMMON_CMD_LINE_ARGS --cam_still_mode --output_filename=cam1_still_picture.png --search_center_x 650 --search_center_y 500 --logging_level=trace diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam1Test.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runCam1Test.sh deleted file mode 100755 index 64908d94..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam1Test.sh +++ /dev/null @@ -1,14 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - - -rm -f Logs/*.log - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --show_images 0 --logging_level trace $PITRAC_COMMON_CMD_LINE_ARGS --artifact_save_level=all --wait_keys 0 --system_mode test --search_center_x 800 --search_center_y 550 - -# --post-process-file /mnt/VerdantShare/dev/GolfSim/LM/ImageProcessing/assets/motion_detect.json diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam2.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runCam2.sh deleted file mode 100755 index 6bc69d6c..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam2.sh +++ /dev/null @@ -1,13 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - - -#rm -f Logs/*.log - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --system_mode camera2 $PITRAC_COMMON_CMD_LINE_ARGS --camera_gain 3.0 --logging_level=trace --artifact_save_level=final_results_only - diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam2BallLocation.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runCam2BallLocation.sh deleted file mode 100755 index ec1fc637..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam2BallLocation.sh +++ /dev/null @@ -1,10 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --system_mode camera2_ball_location $PITRAC_COMMON_CMD_LINE_ARGS --search_center_x 723 --search_center_y 544 --logging_level=trace --artifact_save_level=all diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam2Calibration.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runCam2Calibration.sh deleted file mode 100755 index 84fded05..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam2Calibration.sh +++ /dev/null @@ -1,13 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - -# Setting the “logging."kLogIntermediateExposureImagesToFile": 1 in the golf_sim_config.json file will save intermediate images if you need to debug. - - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --system_mode camera2Calibrate $PITRAC_COMMON_CMD_LINE_ARGS --search_center_x 700 --search_center_y 500 --logging_level=info --artifact_save_level=all - diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam2ForAutoCalibration.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runCam2ForAutoCalibration.sh deleted file mode 100755 index 6fce8361..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam2ForAutoCalibration.sh +++ /dev/null @@ -1,13 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - - -#rm -f Logs/*.log - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --system_mode runCam2ProcessForPi1Processing $PITRAC_COMMON_CMD_LINE_ARGS --camera_gain 0.6 --logging_level=trace --artifact_save_level=final_results_only - diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam2ForPi1Processing.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runCam2ForPi1Processing.sh deleted file mode 100755 index 49277105..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam2ForPi1Processing.sh +++ /dev/null @@ -1,13 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - - -#rm -f Logs/*.log - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --system_mode runCam2ProcessForPi1Processing $PITRAC_COMMON_CMD_LINE_ARGS --camera_gain 0.6 --logging_level=trace --artifact_save_level=final_results_only - diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam2SinglePi.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runCam2SinglePi.sh deleted file mode 100755 index 988df3d2..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam2SinglePi.sh +++ /dev/null @@ -1,13 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - - -#rm -f Logs/*.log - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --run_single_pi --system_mode camera2 $PITRAC_COMMON_CMD_LINE_ARGS --camera_gain 3.0 --logging_level=trace --artifact_save_level=final_results_only - diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam2Still.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runCam2Still.sh deleted file mode 100755 index 4bef0f0f..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runCam2Still.sh +++ /dev/null @@ -1,11 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - - -# Resolution can also by 640x480, 1280x800 -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --system_mode camera2 $PITRAC_COMMON_CMD_LINE_ARGS --cam_still_mode --output_filename=cam1_still_picture.png --search_center_x 650 --search_center_y 500 --logging_level=trace diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runPiTracCommon.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runPiTracCommon.sh deleted file mode 100755 index 567307de..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runPiTracCommon.sh +++ /dev/null @@ -1,59 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# - -if [ -z "${PITRAC_ROOT}" ]; then - echo "PITRAC_ROOT environment variable not set. Exiting." - exit -else - echo "PITRAC_ROOT set to: ${PITRAC_ROOT}" -fi - -if [ -z "${PITRAC_MSG_BROKER_FULL_ADDRESS}" ]; then - echo "PITRAC_MSG_BROKER_FULL_ADDRESS environment variable not set. Exiting." - exit -else - echo "PITRAC_MSG_BROKER_FULL_ADDRESS set to: ${PITRAC_MSG_BROKER_FULL_ADDRESS}" -fi - -if [ -z "${PITRAC_WEBSERVER_SHARE_DIR}" ]; then - echo "PITRAC_WEBSERVER_SHARE_DIR environment variable not set. Exiting." - exit -else - echo "PITRAC_WEBSERVER_SHARE_DIR set to: ${PITRAC_WEBSERVER_SHARE_DIR}" -fi - -if [ -z "${PITRAC_BASE_IMAGE_LOGGING_DIR}" ]; then - echo "PITRAC_BASE_IMAGE_LOGGING_DIR environment variable not set. Exiting." - exit -else - echo "PITRAC_BASE_IMAGE_LOGGING_DIR set to: ${PITRAC_BASE_IMAGE_LOGGING_DIR}" -fi - - -if [ -z "${PITRAC_E6_HOST_ADDRESS}" ]; then -# If the E6 sim isn't in use, do nothing - echo "" -else - echo "PITRAC_E6_HOST_ADDRESS set to: ${PITRAC_E6_HOST_ADDRESS}" - export PITRAC_SIM_ARG="--e6_host_address $PITRAC_E6_HOST_ADDRESS" -fi - -if [ -z "${PITRAC_GSPRO_HOST_ADDRESS}" ]; then -# If the GSPRO sim isn't in use, do nothing - echo "" -else - echo "PITRAC_GSPRO_HOST_ADDRESS set to: ${PITRAC_GSPRO_HOST_ADDRESS}" - export PITRAC_SIM_ARG="--gspro_host_address $PITRAC_GSPRO_HOST_ADDRESS" -fi - - -# NOTE that the PITRAC_SIM_ARG may be empty -export PITRAC_COMMON_CMD_LINE_ARGS=" --config_file $PITRAC_ROOT/ImageProcessing/golf_sim_config.json --msg_broker_address $PITRAC_MSG_BROKER_FULL_ADDRESS $PITRAC_SIM_ARG --web_server_share_dir $PITRAC_WEBSERVER_SHARE_DIR --base_image_logging_dir $PITRAC_BASE_IMAGE_LOGGING_DIR " - -echo "PITRAC_COMMON_CMD_LINE_ARGS = " $PITRAC_COMMON_CMD_LINE_ARGS - -# Ensure that any images that will be displayed can show up on any connected monitor -export DISPLAY=:0.0 - diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runPulseTest.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runPulseTest.sh deleted file mode 100755 index 0b295357..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runPulseTest.sh +++ /dev/null @@ -1,9 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --pulse_test --system_mode camera1 $PITRAC_COMMON_CMD_LINE_ARGS --logging_level trace - diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runShutdown.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runShutdown.sh deleted file mode 100755 index 7dc87c80..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runShutdown.sh +++ /dev/null @@ -1,12 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --shutdown --practice_ball --system_mode camera1_test_standalone --message_host 10.0.0.65 --search_center_x 700 --search_center_y 600 - -# --post-process-file /mnt/VerdantShare/dev/GolfSim/LM/ImageProcessing/assets/motion_detect.json diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runTestExternalSimMessage.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runTestExternalSimMessage.sh deleted file mode 100755 index 074d3879..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runTestExternalSimMessage.sh +++ /dev/null @@ -1,11 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - -#rm -f Logs/*.log - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --system_mode test_sim_message $PITRAC_COMMON_CMD_LINE_ARGS --search_center_x 700 --search_center_y 650 --logging_level=info --artifact_save_level=final_results_only diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runTestGsProServer.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runTestGsProServer.sh deleted file mode 100755 index 2fd52f6d..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runTestGsProServer.sh +++ /dev/null @@ -1,13 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - -#rm -f Logs/*.log - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --system_mode test_gspro_server --search_center_x 700 --search_center_y 650 --logging_level=trace --artifact_save_level=final_results_only - -# --post-process-file /mnt/VerdantShare/dev/GolfSim/LM/ImageProcessing/assets/motion_detect.json diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runTestImages.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runTestImages.sh deleted file mode 100755 index 27d3c650..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runTestImages.sh +++ /dev/null @@ -1,11 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - -#rm -f Logs/*.log - -sudo -E nice -n -20 $PITRAC_ROOT/ImageProcessing/build/pitrac_lm --system_mode test $PITRAC_COMMON_CMD_LINE_ARGS --search_center_x 850 --search_center_y 500 --logging_level=trace --artifact_save_level=final_results_only diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runTestResults.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runTestResults.sh deleted file mode 100755 index 491e1c75..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runTestResults.sh +++ /dev/null @@ -1,13 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# - -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --send_test_results $PITRAC_COMMON_CMD_LINE_ARGS --system_mode camera1_test_standalone --search_center_x 700 --search_center_y 600 --logging_level=trace - -# --post-process-file /mnt/VerdantShare/dev/GolfSim/LM/ImageProcessing/assets/motion_detect.json diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/runTestSpin.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/runTestSpin.sh deleted file mode 100755 index d2d4330e..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/runTestSpin.sh +++ /dev/null @@ -1,14 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# - -#!/bin/bash - -. $PITRAC_ROOT/ImageProcessing/RunScripts/runPiTracCommon.sh - -#rm -f Logs/*.log - -$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --system_mode test_spin --wait_keys --show_image --message_host 10.0.0.65 --search_center_x 700 --search_center_y 600 - -# --post-process-file /mnt/VerdantShare/dev/GolfSim/LM/ImageProcessing/assets/motion_detect.json diff --git a/Software/LMSourceCode/ImageProcessing/RunScripts/shutdown_gs.sh b/Software/LMSourceCode/ImageProcessing/RunScripts/shutdown_gs.sh deleted file mode 100755 index aa59b0f1..00000000 --- a/Software/LMSourceCode/ImageProcessing/RunScripts/shutdown_gs.sh +++ /dev/null @@ -1,8 +0,0 @@ -# SPDX-License-Identifier: GPL-2.0-only */ -# -# Copyright (C) 2022-2025, Verdant Consultants, LLC. -# -#!/bin/bash - - -build/pitrac_lm $PITRAC_COMMON_CMD_LINE_ARGS --shutdown --message_host 10.0.0.41 diff --git a/Software/LMSourceCode/ImageProcessing/create_closed_source_objects.sh b/Software/LMSourceCode/ImageProcessing/create_closed_source_objects.sh index 9f5e9975..e063e756 100755 --- a/Software/LMSourceCode/ImageProcessing/create_closed_source_objects.sh +++ b/Software/LMSourceCode/ImageProcessing/create_closed_source_objects.sh @@ -2,7 +2,7 @@ # # Copyright (C) 2022-2025, Verdant Consultants, LLC. # -#!/bin/bash +#!/bin/bash echo "Inserting Closed Source Object Files..." cp -f $PITRAC_ROOT/ImageProcessing/ClosedSourceObjectFiles/* $PITRAC_ROOT/ImageProcessing/build/pitrac_lm.p diff --git a/Software/Playgrounds/HoughCirclePlayground/.vs/Playground/FileContentIndex/0f4873a9-ad8d-4903-96d0-0691d0065d56.vsidx b/Software/Playgrounds/HoughCirclePlayground/.vs/Playground/FileContentIndex/0f4873a9-ad8d-4903-96d0-0691d0065d56.vsidx deleted file mode 100644 index c4ce3022..00000000 Binary files a/Software/Playgrounds/HoughCirclePlayground/.vs/Playground/FileContentIndex/0f4873a9-ad8d-4903-96d0-0691d0065d56.vsidx and /dev/null differ diff --git a/Software/Playgrounds/HoughCirclePlayground/.vs/Playground/FileContentIndex/2d2e0f41-2e7a-4087-a6ce-355ed33eb750.vsidx b/Software/Playgrounds/HoughCirclePlayground/.vs/Playground/FileContentIndex/2d2e0f41-2e7a-4087-a6ce-355ed33eb750.vsidx deleted file mode 100644 index 9d4842ac..00000000 Binary files a/Software/Playgrounds/HoughCirclePlayground/.vs/Playground/FileContentIndex/2d2e0f41-2e7a-4087-a6ce-355ed33eb750.vsidx and /dev/null differ diff --git a/Software/Playgrounds/HoughCirclePlayground/.vs/Playground/FileContentIndex/54b49739-d285-44af-9d08-990e8793f6d3.vsidx b/Software/Playgrounds/HoughCirclePlayground/.vs/Playground/FileContentIndex/54b49739-d285-44af-9d08-990e8793f6d3.vsidx deleted file mode 100644 index 70aef67a..00000000 Binary files a/Software/Playgrounds/HoughCirclePlayground/.vs/Playground/FileContentIndex/54b49739-d285-44af-9d08-990e8793f6d3.vsidx and /dev/null differ diff --git a/Software/Playgrounds/HoughCirclePlayground/.vs/Playground/FileContentIndex/9c71639a-b326-4d6a-8fdd-cbaa256c69cb.vsidx b/Software/Playgrounds/HoughCirclePlayground/.vs/Playground/FileContentIndex/9c71639a-b326-4d6a-8fdd-cbaa256c69cb.vsidx deleted file mode 100644 index 8d7ccb48..00000000 Binary files a/Software/Playgrounds/HoughCirclePlayground/.vs/Playground/FileContentIndex/9c71639a-b326-4d6a-8fdd-cbaa256c69cb.vsidx and /dev/null differ diff --git a/Software/Playgrounds/HoughCirclePlayground/.vs/Playground/FileContentIndex/e9ee9f9d-b145-46bc-aa79-a9599be4993e.vsidx b/Software/Playgrounds/HoughCirclePlayground/.vs/Playground/FileContentIndex/e9ee9f9d-b145-46bc-aa79-a9599be4993e.vsidx deleted file mode 100644 index 382cb5b6..00000000 Binary files a/Software/Playgrounds/HoughCirclePlayground/.vs/Playground/FileContentIndex/e9ee9f9d-b145-46bc-aa79-a9599be4993e.vsidx and /dev/null differ diff --git a/Software/Playgrounds/HoughCirclePlayground/.vs/Playground/v17/.suo b/Software/Playgrounds/HoughCirclePlayground/.vs/Playground/v17/.suo deleted file mode 100644 index 9f28f8a8..00000000 Binary files a/Software/Playgrounds/HoughCirclePlayground/.vs/Playground/v17/.suo and /dev/null differ diff --git a/Software/Playgrounds/HoughCirclePlayground/.vs/Playground/v17/DocumentLayout.backup.json b/Software/Playgrounds/HoughCirclePlayground/.vs/Playground/v17/DocumentLayout.backup.json deleted file mode 100644 index 22366d22..00000000 --- a/Software/Playgrounds/HoughCirclePlayground/.vs/Playground/v17/DocumentLayout.backup.json +++ /dev/null @@ -1,227 +0,0 @@ -{ - 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* Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -// This code allows the user to play with the HoughCircle transform parameters to -// help determine which parameters work best. The HoughCircle process is pretty -// touch, so sometimes it's easier to move some sliders around to figure out what -// works best instead of trying different parameters in a .json file and running the -// applicaiton again and again. - -#include -#include -#include - -#include "cv_utils.h" -#include "gs_globals.h" -#include "logging_tools.h" - -#include -#include -#include -#include - - - -namespace fs = std::filesystem; - -namespace gs = golf_sim; - - - -// Deprecated -int hsv_lower_h = 14; //16; -int hsv_upper_h = 48; -int hsv_lower_s = 26; -int hsv_upper_s = 255; -int hsv_lower_v = 114; -int hsv_upper_v = 255; - -int kStrobedEnvironmentCannyLower = 35; // 41 for external; -int kStrobedEnvironmentCannyUpper = 80; // 44 for external 98; -int kStrobedEnvironmentPreCannyBlurSizeInt = 11; -int kStrobedEnvironmentPreHoughBlurSizeInt = 11; // 16 also worked well - -int kStrobedEnvironmentHoughDpParam1Int = 8; // Will be divided by 10 if using HOUGH_GRADIENT_ALT. Either 1.7 or *1.8* tremendously helps the accuracy! 1.9 can work ok for external. 1.3 is good for stationary ball (cam1) -int kStrobedEnvironmentBallCurrentParam1Int = 130; -int kStrobedEnvironmentBallMinParam2Int = 28; // 60 for external -int kStrobedEnvironmentBallMaxParam2Int = 140; -int kStrobedEnvironmentBallStartingParam2Int = 65; -int kStrobedEnvironmentBallParam2IncrementInt = 4; -int kStrobedEnvironmentMinimumSearchRadiusInt = 52; // 59; // 60; // gets bad fast as this widens. I'd try 56 and 85 for now -int kStrobedEnvironmentMaximumSearchRadiusInt = 128; // 148; // 80; - -// The following are specific to an experiment designed to remove Uneekor strobe artifacts -int kStrobedEnvironmentHoughLineIntersections = 58; -int kStrobedEnvironmentMinimumHoughLineLength = 23; -int kStrobedEnvironmentMaximumHoughLineGap = 7; -int kStrobedEnvironmentLinesAngleLower = 190; // 180 is a horizontal line -int kStrobedEnvironmentLinesAngleUpper = 290; // 280 is a vertical line - -// The following defaults seem to perform well -int kCLAHEClipLimit = 6; -int kCLAHETileGridSize = 8; - -int kStrobedEnvironmentBottomIgnoreHeight = 0; // 80; - -int min_hough_circle_distance = 8; - -// TBD - Not used? -int kStrobedEnvironmentMinHoughReturnCirclesInt = 3; -int kStrobedEnvironmentMaxHoughReturnCirclesInt = 1.2; - - -cv::Mat src_f; -cv::Mat dest; -int binary_threshold = 2; // *10. Nominal: 3 -int white_percent = 0; // This will be an output - -bool process_window_ready = false; - - - // The result files we create will be prefixed with this - static std::string processWindowName = "Process window"; - - - - void sizeWindow(std::string windowName, cv::Mat img) { - - static int xIncrement = 0; - static int yIncrement = 0; - - cv::Rect r = cv::getWindowImageRect(windowName); - - int windowWidth = r.width; - int windowHeight = r.height; - - // int largestDim = (int)std::max(windowWidth, windowHeight); - int largestDim = (int)std::max(gs::CvUtils::CvWidth(img), gs::CvUtils::CvHeight(img)); - - largestDim = (int)std::max(largestDim, 900); - - int xDim = 0; - int yDim = 0; - - if (windowWidth > windowHeight) - { - xDim = largestDim; - yDim = (int)((float)largestDim * ((float)windowHeight / (float)windowWidth)); - } - else - { - yDim = largestDim; - xDim = (int)((float)largestDim * ((float)windowWidth / (float)windowHeight)); - } - - cv::resizeWindow(windowName, xDim, yDim); - // cv::moveWindow(windowName, 1200+xIncrement, 20+yIncrement); - } - - - // Returns a mask with 1 bits wherever the corresponding pixel is OUTSIDE the upper/lower HSV range - cv::Mat GetColorMaskImage(const cv::Mat& hsvImage, const gs::GsColorTriplet input_lowerHsv, const gs::GsColorTriplet input_upperHsv) { - - gs::GsColorTriplet lowerHsv = input_lowerHsv; - gs::GsColorTriplet upperHsv = input_upperHsv; - - const int kColorMaskWideningAmount = 0; - - for (int i = 0; i < 3; i++) { - lowerHsv[i] -= kColorMaskWideningAmount; // (int)std::round(((double)lowerHsv[i] * kColorMaskWideningRatio)); - upperHsv[i] += kColorMaskWideningAmount; //(int)std::round(((double)upperHsv[i] * kColorMaskWideningRatio)); - } - - - // Ensure we didn't go too big on the S or V upper bound (which is 255) - upperHsv[1] = std::min((int)upperHsv[1], 255); - upperHsv[2] = std::min((int)upperHsv[2], 255); - - // Because we are creating a binary mask, it should be CV_8U or CV_8S (TBD - I think?) - // cv::Mat color_mask_image(hsvImage.rows, hsvImage.cols, CV_8S, cv::Scalar(0)); - cv::Mat color_mask_image = cv::Mat::zeros(hsvImage.size(), CV_8U); - // CvUtils::SetMatSize(hsvImage, color_mask_image); - // color_mask_image = hsvImage.clone(); - - // We will need TWO masks if the hue range crosses over the 180 - degreee "loop" point for reddist colors - // TBD - should we convert the ranges to scalars? - if ((lowerHsv[0] >= 0) && (upperHsv[0] <= (float)gs::CvUtils::kOpenCvHueMax)) { - cv::inRange(hsvImage, cv::Scalar(lowerHsv), cv::Scalar(upperHsv), color_mask_image); - bitwise_not(color_mask_image, color_mask_image); - } - else { - // 'First' and 'Second' refer to the Hsv triplets that will be used for he first and second masks - cv::Vec3f firstLowerHsv; - cv::Vec3f secondLowerHsv; - cv::Vec3f firstUpperHsv; - cv::Vec3f secondUpperHsv; - - cv::Vec3f leftMostLowerHsv; - cv::Vec3f leftMostUpperHsv; - cv::Vec3f rightMostLowerHsv; - cv::Vec3f rightMostUpperHsv; - - // Check the hue range - does it loop around 180 degrees? - if (lowerHsv[0] < 0) { - // the lower hue is below 0 - leftMostLowerHsv = cv::Vec3f(0.f, (float)lowerHsv[1], (float)lowerHsv[2]); - leftMostUpperHsv = cv::Vec3f((float)upperHsv[0], (float)upperHsv[1], (float)upperHsv[2]); - rightMostLowerHsv = cv::Vec3f((float)gs::CvUtils::kOpenCvHueMax + (float)lowerHsv[0], (float)lowerHsv[1], (float)lowerHsv[2]); - rightMostUpperHsv = cv::Vec3f((float)gs::CvUtils::kOpenCvHueMax, (float)upperHsv[1], (float)upperHsv[2]); - } - else { - // the upper hue is over 180 degrees - leftMostLowerHsv = cv::Vec3f(0.f, (float)lowerHsv[1], (float)lowerHsv[2]); - leftMostUpperHsv = cv::Vec3f((float)upperHsv[0] - 180.f, (float)upperHsv[1], (float)upperHsv[2]); - rightMostLowerHsv = cv::Vec3f((float)lowerHsv[0], (float)lowerHsv[1], (float)lowerHsv[2]); - rightMostUpperHsv = cv::Vec3f((float)gs::CvUtils::kOpenCvHueMax, (float)upperHsv[1], (float)upperHsv[2]); - } - - //GS_LOG_MSG(trace, "leftMost Lower/Upper HSV{ " + LoggingTools::FormatVec3f(leftMostLowerHsv) + ", " + LoggingTools::FormatVec3f(leftMostUpperHsv) + "."); - //GS_LOG_MSG(trace, "righttMost Lower/Upper HSV{ " + LoggingTools::FormatVec3f(rightMostLowerHsv) + ", " + LoggingTools::FormatVec3f(rightMostUpperHsv) + "."); - - cv::Mat firstColorMaskImage; - cv::inRange(hsvImage, leftMostLowerHsv, leftMostUpperHsv, firstColorMaskImage); - - cv::Mat secondColorMaskImage; - cv::inRange(hsvImage, rightMostLowerHsv, rightMostUpperHsv, secondColorMaskImage); - - //LoggingTools::DebugShowImage(image_name_ + " firstColorMaskImage", firstColorMaskImage); - //LoggingTools::DebugShowImage(image_name_ + " secondColorMaskImage", secondColorMaskImage); - - cv::Mat intermediate_color_mask; - cv::bitwise_or(firstColorMaskImage, secondColorMaskImage, intermediate_color_mask); - bitwise_not(intermediate_color_mask, color_mask_image); - } - - //LoggingTools::DebugShowImage("BallImagProc::GetColorMaskImage returning color_mask_image", color_mask_image); - - return color_mask_image; - } - - - void DrawFilterLines(const std::vector& lines, - cv::Mat& image, - const cv::Scalar& color, - const int thickness = 1) { - for (size_t i = 0; i < lines.size(); i++) - { - cv::Point pt1 = cv::Point(lines[i][0], lines[i][1]); - cv::Point pt2 = cv::Point(lines[i][2], lines[i][3]); - - double angle = atan2(pt1.y - pt2.y, pt1.x - pt2.x); - if (angle < 0.0) { - angle += 2 * CV_PI; - } - - angle = gs::CvUtils::RadiansToDegrees(angle); - - std::cout << "angle = " << std::to_string(angle) << std::endl; - // std::cout << "rho, theta = " << std::to_string(rho) << ", " << std::to_string(gs::CvUtils::RadiansToDegrees(theta)) << "." << std::endl; - - bool is_high_priority_angle = (angle > kStrobedEnvironmentLinesAngleLower) && (angle < kStrobedEnvironmentLinesAngleUpper); - - double line_length = sqrt((pow((double)(pt1.x - pt2.x), 2.) + pow((double)(pt1.y - pt2.y), 2.))); - - // Ignore this line if it's not in the most-relevant angle range unless - // it's a long line. - if (false && !is_high_priority_angle /* && line_length < kStrobedEnvironmentMinimumHoughLineLength */) { - continue; - } - - // cv::line(image, pt1, pt2, color, thickness, cv::LINE_AA); - cv::line(image, pt1, pt2, color, thickness); - - } - } - - void Process(int, void*) - { - if (!process_window_ready) { - return; - } - - - int h = src_f.rows; - int w = src_f.cols; - - - // Filtering out long lines (usually of the golf shaft) - - cv::Mat src_f_gray; - cv::Mat cannyOutput; - - cv::cvtColor(src_f, src_f_gray, cv::COLOR_BGR2GRAY); - - // TBD - Experimental CLAHE pre-processing - // Create a CLAHE object - cv::Ptr clahe = cv::createCLAHE(); - - // Set CLAHE parameters (optional) - // Do not perform CLAHE processing if the grid size is set to 0 - if (kCLAHETileGridSize > 0) { - clahe->setClipLimit(kCLAHEClipLimit); - clahe->setTilesGridSize(cv::Size(kCLAHETileGridSize, kCLAHETileGridSize)); - - // Apply CLAHE - cv::Mat equalizedImage; - clahe->apply(src_f_gray, src_f_gray); - } - - cv::imshow("Initial CLAHE output", src_f_gray); - sizeWindow("Initial CLAHE output", src_f_gray); - - - cv::Scalar black_color{ 0,0,0 }; - cv::Scalar white_color{ 255,255,255 }; - cv::Scalar red_color{ 0 ,0, 255 }; - - // NOTE - the following code should mirror the code in the main LM BallImageProc::GetBall function, - // though this code will only account for one main mode of operation, typically the kStrobedBall mode. - - // The size for the blur must be odd - if (kStrobedEnvironmentPreCannyBlurSizeInt > 0) { - if (kStrobedEnvironmentPreCannyBlurSizeInt % 2 != 1) { - kStrobedEnvironmentPreCannyBlurSizeInt++; - } - cv::GaussianBlur(src_f_gray, src_f_gray, cv::Size(kStrobedEnvironmentPreCannyBlurSizeInt, kStrobedEnvironmentPreCannyBlurSizeInt), 0); - } - - // Change the "< 0" to "< 2" or similar to try this sharpening technique. - // Usually this is harmful, so currently disabled. - for (int i = 0; i < 0; i++) { - cv::erode(src_f_gray, src_f_gray, cv::getStructuringElement(cv::MORPH_RECT, cv::Size(3, 3)), cv::Point(-1, -1), 3); - cv::dilate(src_f_gray, src_f_gray, cv::getStructuringElement(cv::MORPH_RECT, cv::Size(3, 3)), cv::Point(-1, -1), 3); - } - - // Get a good picture of the edges of the balls. Will probably have way too many shaft lines - cv::Mat cannyOutput_for_balls = src_f_gray.clone(); - cv::Canny(src_f_gray, cannyOutput_for_balls, kStrobedEnvironmentCannyLower, kStrobedEnvironmentCannyUpper); - - cv::imshow("Initial cannyOutput", cannyOutput_for_balls); - sizeWindow("Initial cannyOutput", cannyOutput_for_balls); - - if (kStrobedEnvironmentPreHoughBlurSizeInt > 0) { - if (kStrobedEnvironmentPreHoughBlurSizeInt % 2 != 1) { - kStrobedEnvironmentPreHoughBlurSizeInt++; - } - cv::GaussianBlur(cannyOutput_for_balls, cannyOutput_for_balls, cv::Size(kStrobedEnvironmentPreHoughBlurSizeInt, kStrobedEnvironmentPreHoughBlurSizeInt), 0); - } - - // cannyOutput_for_balls = cannyOutput_for_balls * -1 + 255; - if (kStrobedEnvironmentBottomIgnoreHeight > 0) { - cv::Rect floor_blackout_area{ 0, h - kStrobedEnvironmentBottomIgnoreHeight, w, h }; - cv::rectangle(cannyOutput_for_balls, floor_blackout_area.tl(), floor_blackout_area.br(), black_color, cv::FILLED); - } - - - cv::imshow("Final PreHough Image", cannyOutput_for_balls); - sizeWindow("Final PreHough Image", cannyOutput_for_balls); - - - double kStrobedEnvironmentBallCurrentParam1 = (double)kStrobedEnvironmentBallCurrentParam1Int; - double kStrobedEnvironmentBallMinParam2 = (double)kStrobedEnvironmentBallMinParam2Int; - double kStrobedEnvironmentBallMaxParam2 = (double)kStrobedEnvironmentBallMaxParam2Int; - double kStrobedEnvironmentBallStartingParam2 = (double)kStrobedEnvironmentBallStartingParam2Int; - double kStrobedEnvironmentBallParam2Increment = (double)kStrobedEnvironmentBallParam2IncrementInt; - double kStrobedEnvironmentMinHoughReturnCircles = (double)kStrobedEnvironmentMinHoughReturnCirclesInt; - double kStrobedEnvironmentMaxHoughReturnCircles = (double)kStrobedEnvironmentMaxHoughReturnCirclesInt; - double kStrobedEnvironmentPreHoughBlurSize = (double)kStrobedEnvironmentPreHoughBlurSizeInt; - double kStrobedEnvironmentHoughDpParam1 = (double)kStrobedEnvironmentHoughDpParam1Int / 10.0; - double kStrobedEnvironmentMinimumSearchRadius = (double)kStrobedEnvironmentMinimumSearchRadiusInt; - double kStrobedEnvironmentMaximumSearchRadius = (double)kStrobedEnvironmentMaximumSearchRadiusInt; - - int minDistance = min_hough_circle_distance; - - cv::Mat final_search_image = cannyOutput_for_balls.clone(); - - // A main switch - currently, haven't had good luck with this - const bool kUseAltGradient = true; - - double local_param2 = 0; - cv::HoughModes mode = cv::HOUGH_GRADIENT; - - if (kUseAltGradient) { - local_param2 = kStrobedEnvironmentBallStartingParam2 / 100.0; - if (local_param2 >= 1.0) { - local_param2 = 0.9999; - } - mode = cv::HOUGH_GRADIENT_ALT; - } - else { - local_param2 = kStrobedEnvironmentBallStartingParam2; - mode = cv::HOUGH_GRADIENT; - } - - GS_LOG_MSG(trace, "Executing houghCircles with mode = " + std::to_string(mode) + ", currentDP = " + std::to_string(kStrobedEnvironmentHoughDpParam1) + - ", minDist = " + std::to_string(minDistance) + ", param1 = " + std::to_string(kStrobedEnvironmentBallCurrentParam1) + - ", param2 = " + std::to_string(local_param2) + ", minRadius = " + std::to_string(int(kStrobedEnvironmentMinimumSearchRadius)) + - ", maxRadius = " + std::to_string(int(kStrobedEnvironmentMaximumSearchRadius))); - - // TBD - May want to adjust min / max radius - // NOTE - Param 1 may be sensitive as well - needs to be 100 for large pictures ? - // TBD - Need to set minDist to rows / 8, roughly ? - std::vector testCircles; - cv::HoughCircles(final_search_image, - testCircles, - mode, - kStrobedEnvironmentHoughDpParam1, - /* minDist = */ minDistance, // Does this really matter if we are only looking for one circle ? - /* param1 = */ kStrobedEnvironmentBallCurrentParam1, - /* param2 = */ local_param2, - /* minRadius = */ int(kStrobedEnvironmentMinimumSearchRadius), - /* maxRadius = */ int(kStrobedEnvironmentMaximumSearchRadius)); - - GS_LOG_MSG(trace, "Identified " + std::to_string(testCircles.size()) + " circles."); - - dest = src_f.clone(); - - - int MAX_CIRCLES_TO_EVALUATE = 100; - int kMaxCirclesToEmphasize = 3; - int i = 0; - int largest_index = -1; - double largest_radius = -1.0; - - for (auto& c : testCircles) { - - i += 1; - - if (i > MAX_CIRCLES_TO_EVALUATE) { - break; - } - - double found_radius = c[2]; - - if (found_radius > largest_radius) { - largest_radius = found_radius; - largest_index = i - 1; - } - - GS_LOG_MSG(trace, "Circle radius: " + std::to_string(found_radius)); - - if (i <= 20) { - gs::LoggingTools::DrawCircleOutlineAndCenter(dest, c, std::to_string(i), i, (i > kMaxCirclesToEmphasize)); - } - - } - - /* - if (largest_index >= 0) { - gs::LoggingTools::DrawCircleOutlineAndCenter(dest, testCircles[largest_index], std::to_string(largest_index), largest_index, true); - } - */ - - // LoggingTools::DebugShowImage("Hough-only-identified Circles{", dest); - - cv::imshow("Result", dest); - sizeWindow("Result", dest); - - // TBD - ONLY FOR PLACED BALL TESTING WHERE THERE IS ONE BALL - if (false && testCircles.size() == 1) { - - - int r1 = (int)std::round(testCircles[0][2] * 1.5); - int rInc = (long)(r1 - testCircles[0][2]); - // Don't assume the ball is well within the larger picture - - int x1 = testCircles[0][0] - r1; - int y1 = testCircles[0][1] - r1; - int x_width = 2 * r1; - int y_height = 2 * r1; - - // Ensure the isolated image is entirely in the larger image - x1 = std::max(0, x1); - y1 = std::max(0, y1); - - if (x1 + x_width >= final_search_image.cols) { - x1 = final_search_image.cols - x_width - 1; - } - if (y1 + y_height >= final_search_image.rows) { - y1 = final_search_image.rows - y_height - 1; - } - - cv::Rect ballRect{ x1, y1, x_width, y_height }; - - - cv::Point offset_sub_to_full; - cv::Point offset_full_to_sub; - cv::Mat ball_image = gs::CvUtils::GetSubImage(dest, ballRect, offset_sub_to_full, offset_full_to_sub); - - - cv::namedWindow("ball_image", cv::WINDOW_KEEPRATIO); - cv::imshow("ball_image", ball_image); - } - } - - - - int main(int argc, char** argv) - { - gs::LoggingTools::InitLogging(); - - BOOST_LOG_FUNCTION(); - - - // const std::string kBaseTestDir = "D:/GolfSim/C++Code/UneekorComparePlayground/CircleIDPlayground/Images/"; - const std::string kBaseTestDir = "L:/SavedImages/Test_For_Histogram/"; - - - const std::string kTestImageFileName = kBaseTestDir + "gs_log_img__log_cam2_last_strobed_img_Shot_2_2025-Jan-20_15.44.24.png"; // "log_cam2_last_strobed_img_17_2024-Jun-24_13.17.33.png"; - - src_f = cv::imread(kTestImageFileName, cv::IMREAD_COLOR); - - cv::namedWindow(processWindowName, 1); - cv::resizeWindow(processWindowName, 700, 500); - - // OpenCV trackbars have some weird limitation where they truncate the bar label to 10 characters - // We'll just shorten ours for now - cv::createTrackbar("CanLower", processWindowName, &kStrobedEnvironmentCannyLower, 100, Process); - cv::createTrackbar("CanUpper", processWindowName, &kStrobedEnvironmentCannyUpper, 300, Process); - - cv::createTrackbar("B4CanBlrSz", processWindowName, &kStrobedEnvironmentPreCannyBlurSizeInt, 20, Process); - cv::createTrackbar("B4HghBlrSz", processWindowName, &kStrobedEnvironmentPreHoughBlurSizeInt, 20, Process); - - cv::createTrackbar("CurrParam1", processWindowName, &kStrobedEnvironmentBallCurrentParam1Int, 400, Process); - cv::createTrackbar("DpParam1", processWindowName, &kStrobedEnvironmentHoughDpParam1Int, 20, Process); - cv::createTrackbar("HghParam2", processWindowName, &kStrobedEnvironmentBallStartingParam2Int, 200, Process); - cv::createTrackbar("MinRadius", processWindowName, &kStrobedEnvironmentMinimumSearchRadiusInt, 100, Process); - cv::createTrackbar("MaxRadius", processWindowName, &kStrobedEnvironmentMaximumSearchRadiusInt, 120, Process); - cv::createTrackbar("CircDist", processWindowName, &min_hough_circle_distance, 30, Process); - - cv::createTrackbar("ClipLimit", processWindowName, &kCLAHEClipLimit, 60, Process); - cv::createTrackbar("GridSize", processWindowName, &kCLAHETileGridSize, 30, Process); - - - - process_window_ready = true; - - Process(0, NULL); - - cv::waitKey(0); - return 0; - - gs::LoggingTools::Debug("Tests Complete"); - } diff --git a/Software/Playgrounds/HoughCirclePlayground/Playground.sln b/Software/Playgrounds/HoughCirclePlayground/Playground.sln deleted file mode 100644 index d553a856..00000000 --- a/Software/Playgrounds/HoughCirclePlayground/Playground.sln +++ /dev/null @@ -1,31 +0,0 @@ - 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- - Application - false - v143 - true - Unicode - - - - - - - - - - - - - - - - - - - - - - Level3 - true - WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions) - true - - - Console - true - - - - - Level3 - true - true - true - WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions) - true - - - Console - true - true - true - - - - - Level3 - true - _DEBUG;_CONSOLE;%(PreprocessorDefinitions) - true - stdcpp20 - E:\Dev_Libs\opencv\build\include;E:\Dev_Libs\boost_1_81_0\;E:\Dev_Libs\NumCpp-master\include; - - - Console - true - E:\Dev_Libs\opencv\build\x64\vc16\lib;E:\Dev_Libs\boost_1_81_0\stage\lib - opencv_world4100d.lib;$(CoreLibraryDependencies);%(AdditionalDependencies) - - - - - Level3 - true - true - true - NDEBUG;_CONSOLE;%(PreprocessorDefinitions) - true - E:\Dev_Libs\opencv\build\include;E:\Dev_Libs\boost_1_81_0\;E:\Dev_Libs\boost_1_81_0\boost;E:\Dev_Libs\NumCpp-master\include - - - Console - true - true - true - E:\Dev_Libs\opencv\build\x64\vc16\lib\;E:\Dev_Libs\boost_1_81_0\stage\lib - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/Software/Playgrounds/HoughCirclePlayground/Playground.vcxproj.filters b/Software/Playgrounds/HoughCirclePlayground/Playground.vcxproj.filters deleted file mode 100644 index 5e1abbad..00000000 --- a/Software/Playgrounds/HoughCirclePlayground/Playground.vcxproj.filters +++ /dev/null @@ -1,45 +0,0 @@ - - - - - {4FC737F1-C7A5-4376-A066-2A32D752A2FF} - cpp;c;cc;cxx;c++;cppm;ixx;def;odl;idl;hpj;bat;asm;asmx - - - {93995380-89BD-4b04-88EB-625FBE52EBFB} - h;hh;hpp;hxx;h++;hm;inl;inc;ipp;xsd - - - {67DA6AB6-F800-4c08-8B7A-83BB121AAD01} - rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms - - - - - Header Files - - - Header Files - - - Header Files - - - Header Files - - - - - Source Files - - - Source Files - - - Source Files - - - Source Files - - - \ No newline at end of file diff --git a/Software/Playgrounds/HoughCirclePlayground/Playground.vcxproj.user b/Software/Playgrounds/HoughCirclePlayground/Playground.vcxproj.user deleted file mode 100644 index e9abeb36..00000000 --- a/Software/Playgrounds/HoughCirclePlayground/Playground.vcxproj.user +++ /dev/null @@ -1,8 +0,0 @@ - - - - PATH=E:\Dev_Libs\opencv\build\x64\vc16\bin -$(LocalDebuggerEnvironment) - WindowsLocalDebugger - - \ No newline at end of file diff --git a/Software/Playgrounds/HoughCirclePlayground/Playground/x64/Debug/Playground.Build.CppClean.log b/Software/Playgrounds/HoughCirclePlayground/Playground/x64/Debug/Playground.Build.CppClean.log deleted file mode 100644 index ac0518d1..00000000 --- a/Software/Playgrounds/HoughCirclePlayground/Playground/x64/Debug/Playground.Build.CppClean.log +++ /dev/null @@ -1,27 +0,0 @@ -m:\golfsim\playgrounds\houghcircleplayground\playground\x64\debug\vc143.pdb -m:\golfsim\playgrounds\houghcircleplayground\playground\x64\debug\vc143.idb -m:\golfsim\playgrounds\houghcircleplayground\playground\x64\debug\playground.obj -m:\golfsim\playgrounds\houghcircleplayground\playground\x64\debug\logging_tools.obj -m:\golfsim\playgrounds\houghcircleplayground\playground\x64\debug\cv_utils.obj -m:\golfsim\playgrounds\houghcircleplayground\playground\x64\debug\colorsys.obj -m:\golfsim\playgrounds\houghcircleplayground\x64\debug\playground.exe -m:\golfsim\playgrounds\houghcircleplayground\x64\debug\playground.pdb -m:\golfsim\playgrounds\houghcircleplayground\playground\x64\debug\playground.ilk -m:\dev\pitrac\software\playgrounds\houghcircleplayground\playground\x64\debug\colorsys.obj -m:\dev\pitrac\software\playgrounds\houghcircleplayground\playground\x64\debug\cv_utils.obj -m:\dev\pitrac\software\playgrounds\houghcircleplayground\playground\x64\debug\logging_tools.obj -m:\dev\pitrac\software\playgrounds\houghcircleplayground\playground\x64\debug\playground.obj -m:\dev\pitrac\software\playgrounds\houghcircleplayground\playground\x64\debug\playground.obj.enc -m:\dev\pitrac\software\playgrounds\houghcircleplayground\playground\x64\debug\playground.ilk -m:\dev\pitrac\software\playgrounds\houghcircleplayground\playground\x64\debug\vc143.idb -m:\dev\pitrac\software\playgrounds\houghcircleplayground\playground\x64\debug\vc143.pdb -m:\dev\pitrac\software\playgrounds\houghcircleplayground\x64\debug\playground.pdb -m:\dev\pitrac\software\playgrounds\houghcircleplayground\x64\debug\playground.exe -m:\dev\pitrac\software\playgrounds\houghcircleplayground\playground\x64\debug\playground.tlog\cl.command.1.tlog -m:\dev\pitrac\software\playgrounds\houghcircleplayground\playground\x64\debug\playground.tlog\cl.items.tlog -m:\dev\pitrac\software\playgrounds\houghcircleplayground\playground\x64\debug\playground.tlog\cl.read.1.tlog -m:\dev\pitrac\software\playgrounds\houghcircleplayground\playground\x64\debug\playground.tlog\cl.write.1.tlog -m:\dev\pitrac\software\playgrounds\houghcircleplayground\playground\x64\debug\playground.tlog\link.command.1.tlog -m:\dev\pitrac\software\playgrounds\houghcircleplayground\playground\x64\debug\playground.tlog\link.read.1.tlog -m:\dev\pitrac\software\playgrounds\houghcircleplayground\playground\x64\debug\playground.tlog\link.secondary.1.tlog -m:\dev\pitrac\software\playgrounds\houghcircleplayground\playground\x64\debug\playground.tlog\link.write.1.tlog diff --git a/Software/Playgrounds/HoughCirclePlayground/Playground/x64/Debug/Playground.exe.recipe b/Software/Playgrounds/HoughCirclePlayground/Playground/x64/Debug/Playground.exe.recipe deleted file mode 100644 index a77695a4..00000000 --- a/Software/Playgrounds/HoughCirclePlayground/Playground/x64/Debug/Playground.exe.recipe +++ /dev/null @@ -1,11 +0,0 @@ - - - - - M:\GolfSim\Playgrounds\HoughCirclePlayground\x64\Debug\Playground.exe - - - - - - \ No newline at end of file diff --git a/Software/Playgrounds/HoughCirclePlayground/Playground/x64/Debug/Playground.log b/Software/Playgrounds/HoughCirclePlayground/Playground/x64/Debug/Playground.log deleted file mode 100644 index 5f282702..00000000 --- a/Software/Playgrounds/HoughCirclePlayground/Playground/x64/Debug/Playground.log +++ /dev/null @@ -1 +0,0 @@ - \ No newline at end of file diff --git a/Software/Playgrounds/HoughCirclePlayground/Playground/x64/Debug/Playground.vcxproj.FileListAbsolute.txt b/Software/Playgrounds/HoughCirclePlayground/Playground/x64/Debug/Playground.vcxproj.FileListAbsolute.txt deleted file mode 100644 index e69de29b..00000000 diff --git a/Software/Playgrounds/HoughCirclePlayground/colorsys.cpp b/Software/Playgrounds/HoughCirclePlayground/colorsys.cpp deleted file mode 100644 index 62ed6d37..00000000 --- a/Software/Playgrounds/HoughCirclePlayground/colorsys.cpp +++ /dev/null @@ -1,243 +0,0 @@ -/* Copyright 2005-2011 Mark Dufour and contributors; License Expat (See LICENSE) */ -/* Copyright (C) 2022-2025, Verdant Consultants, LLC. */ - - -#include "colorsys.h" - -#include - - -/** -Conversion functions between RGB and other color systems. - -This modules provides two functions for each color system ABC: - - rgb_to_abc(r, g, b) --> a, b, c - abc_to_rgb(a, b, c) --> r, g, b - -All inputs and outputs are triples of floats in the range [0.0...1.0] -(with the exception of I and Q, which covers a slightly larger range). -Inputs outside the valid range may cause exceptions or invalid outputs. - -Supported color systems: -RGB: Red, Green, Blue components -YIQ: Luminance, Chrominance (used by composite video signals) -HLS: Hue, Luminance, Saturation -HSV: Hue, Saturation, Value -*/ - -namespace golf_sim { - - const float colorsys::ONE_THIRD = (1.0f / 3.0f); - const float colorsys::ONE_SIXTH = (1.0f / 6.0f); - const float colorsys::TWO_THIRD = (2.0f / 3.0f); - - - GsColorTriplet colorsys::rgb_to_yiq(const GsColorTriplet& rgb) - { - float r = (float)rgb[0]; - float g = (float)rgb[1]; - float b = (float)rgb[2]; - - float y = (float)(((0.3f * r) + (0.59f * g)) + (0.11f * b)); - float i = (float)(((0.6f * r) - (0.28f * g)) - (0.32f * b)); - float q = (float)(((0.21f * r) - (0.52f * g)) + (0.31f * b)); - - return (GsColorTriplet(y, i, q)); - } - - - GsColorTriplet colorsys::yiq_to_rgb(const GsColorTriplet& yiq) - { - float y = yiq[0]; - float i = yiq[1]; - float q = yiq[2]; - - float r = (float)std::clamp((double)(y + (0.948262f * i)) + (0.624013f * q), 0., 1.); - float g = (float)std::clamp((double)(y - (0.276066f * i)) - (0.63981f * q), 0., 1.); - float b = (float)std::clamp((double)(y - (1.10545f * i)) + (1.72986f * q), 0., 1.); - - return (GsColorTriplet(r, g, b)); - } - - - GsColorTriplet colorsys::rgb_to_hls(const GsColorTriplet& rgb) - { - float bc, gc, h, l, maxc, minc, rc, s; - - float r = rgb[0]; - float g = rgb[1]; - float b = rgb[2]; - - maxc = std::max({ r, g, b }); - minc = std::min({ r, g, b }); - - l = ((minc + maxc) / 2.0f); - if (minc == maxc) - { - return (GsColorTriplet(0.0, l, 0.0)); - } - if (l <= 0.5) - { - s = ((maxc - minc) / (maxc + minc)); - } - else - { - s = ((maxc - minc) / ((2.0f - maxc) - minc)); - } - - rc = ((maxc - r) / (maxc - minc)); - gc = ((maxc - g) / (maxc - minc)); - bc = ((maxc - b) / (maxc - minc)); - - if (r == maxc) { - h = (bc - gc); - } - else if (g == maxc) { - h = ((2.0f + rc) - bc); - } - else { - h = ((4.0f + gc) - rc); - } - h = fmods((h / 6.0f), 1.0); - - return (GsColorTriplet(h, l, s)); - } - - GsColorTriplet colorsys::hls_to_rgb(const GsColorTriplet& hls) - { - float m1, m2; - - float h = (float)hls[0]; - float l = (float)hls[1]; - float s = (float)hls[2]; - - if (s == 0.0) { - return (GsColorTriplet(l, l, l)); - } - if ((l <= 0.5)) { - m2 = (l * (1.0f + s)); - } - else { - m2 = ((l + s) - (l * s)); - } - m1 = ((2.0f * l) - m2); - GsColorTriplet result = (GsColorTriplet(_v(m1, m2, (h + ONE_THIRD)), _v(m1, m2, h), _v(m1, m2, (h - ONE_THIRD)))); - return (result); - } - - float colorsys::_v(float m1, float m2, float hue) { - - hue = fmods(hue, 1.0); - if ((hue < ONE_SIXTH)) { - return (m1 + (((m2 - m1) * hue) * 6.0f)); - } - if (hue < 0.5) { - return m2; - } - if (hue < TWO_THIRD) { - return (m1 + (((m2 - m1) * (TWO_THIRD - hue)) * 6.0f)); - } - return m1; - } - - GsColorTriplet colorsys::rgb_to_hsv(const GsColorTriplet& rgb) - { - float bc, gc, h, maxc, minc, rc, s, v; - - float r = (float)rgb[0]; - float g = (float)rgb[1]; - float b = (float)rgb[2]; - - maxc = std::max({ r, g, b }); - minc = std::min({ r, g, b }); - v = maxc; - - if (minc == maxc) { - return (GsColorTriplet(0.0, 0.0, v)); - } - s = ((maxc - minc) / maxc); - rc = ((maxc - r) / (maxc - minc)); - gc = ((maxc - g) / (maxc - minc)); - bc = ((maxc - b) / (maxc - minc)); - if (r == maxc) { - h = (bc - gc); - } - else if (g == maxc) { - h = ((2.0f + rc) - bc); - } - else { - h = ((4.0f + gc) - rc); - } - h = fmods((h / 6.0f), 1.0); - - return (GsColorTriplet(h, s, v)); - } - - GsColorTriplet colorsys::hsv_to_rgb(const GsColorTriplet& hsv) - { - float f, p, q, t; - int i; - - float h = hsv[0]; - float s = hsv[1]; - float v = hsv[2]; - - if (s == 0.0) { - return (GsColorTriplet(v, v, v)); - } - i = (int)((h * 6.0f)); - f = ((h * 6.0f) - i); - p = (v * (1.0f - s)); - q = (v * (1.0f - (s * f))); - t = (v * (1.0f - (s * (1.0f - f)))); - i = (int)fmods((float)i, 6.0f); - if (i == 0) { - return (GsColorTriplet(v, t, p)); - } - if (i == 1) { - return (GsColorTriplet(q, v, p)); - } - if (i == 2) { - return (GsColorTriplet(p, v, t)); - } - if (i == 3) { - return (GsColorTriplet(p, q, v)); - } - if (i == 4) { - return (GsColorTriplet(t, p, v)); - } - if (i == 5) { - return (GsColorTriplet(v, p, q)); - } - return 0; - } - - /*** Test Code: - * - // Sloppy way to make close-enough comparison - bool compareVec3f(GsColorTriplet a, GsColorTriplet b, int precision) - { - GsColorTriplet diff = a - b; - float epsilon = pow(10, -precision); - float mag = abs(diff[0]) + abs(diff[1]) + abs(diff[2]); - return (mag < epsilon); - } - - void test_function(int a) - { - BOOST_LOG_FUNCTION(); - BOOST_LOG_TRIVIAL(info) << "Test called"; - - assert(compareVec3f(colorsys::rgb_to_hsv(Vec3f(0.2, 0.4, 0.4)), Vec3f(0.5, 0.5, 0.4), 3)); - assert(compareVec3f(colorsys::hsv_to_rgb(Vec3f(0.5, 0.5, 0.4)), Vec3f(0.2, 0.4, 0.4), 3)); - - assert(compareVec3f(colorsys::hls_to_rgb(Vec3f(1.0, 0.5, 0.7)), Vec3f(0.85, 0.15, 0.15), 3)); - assert(compareVec3f(colorsys::rgb_to_hls(Vec3f(1.0, 0.5, 0.7)), Vec3f(0.93, 0.75, 1.00), 2)); - assert(compareVec3f(colorsys::rgb_to_yiq(GsColorTriplet(1.0, 0.5, 0.7)), GsColorTriplet(0.67, 0.24, 0.17), 2)); - assert(compareVec3f(colorsys::hsv_to_rgb(GsColorTriplet(1.0, 0.5, 0.7)), GsColorTriplet(0.70, 0.35, 0.35), 2)); - assert(compareVec3f(colorsys::rgb_to_hsv(GsColorTriplet(1.0, 0.5, 0.7)), GsColorTriplet(0.93, 0.50, 1.00), 2)); - } - */ - -} \ No newline at end of file diff --git a/Software/Playgrounds/HoughCirclePlayground/colorsys.h b/Software/Playgrounds/HoughCirclePlayground/colorsys.h deleted file mode 100644 index a97bf1b8..00000000 --- a/Software/Playgrounds/HoughCirclePlayground/colorsys.h +++ /dev/null @@ -1,39 +0,0 @@ - -/* Copyright 2005-2011 Mark Dufour and contributors; License Expat (See LICENSE) */ -/* Copyright (C) 2022-2025, Verdant Consultants, LLC. */ - -#pragma once - -#include - -#include "gs_globals.h" - - -namespace golf_sim { - - struct colorsys - { - public: - static GsColorTriplet rgb_to_yiq(const GsColorTriplet& rgb); - static GsColorTriplet yiq_to_rgb(const GsColorTriplet& yiq); - static GsColorTriplet rgb_to_hls(const GsColorTriplet& rgb); - static GsColorTriplet hls_to_rgb(const GsColorTriplet& hls); - static GsColorTriplet rgb_to_hsv(const GsColorTriplet& rgb); - static GsColorTriplet hsv_to_rgb(const GsColorTriplet& hsv); - - private: - const static float ONE_THIRD; - const static float ONE_SIXTH; - const static float TWO_THIRD; - - static float _v(float m1, float m2, float hue); - - inline static float fmods(float a, float b) - { - float f = fmod(a, b); - if ((f < 0 && b>0) || (f > 0 && b < 0)) f += b; - return f; - } - }; - -} \ No newline at end of file diff --git a/Software/Playgrounds/HoughCirclePlayground/cv_utils.cpp b/Software/Playgrounds/HoughCirclePlayground/cv_utils.cpp deleted file mode 100644 index 3364cd46..00000000 --- a/Software/Playgrounds/HoughCirclePlayground/cv_utils.cpp +++ /dev/null @@ -1,415 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -#include "cv_utils.h" -#include -#include -#include - - -namespace golf_sim { - - int CvUtils::CircleRadius(const GsCircle& circle) - { - return ((int)std::round(circle[2])); - } - - cv::Vec2i CvUtils::CircleXY(const GsCircle& circle) - { - return (cv::Vec2i((int)std::round(circle[0]), (int)std::round(circle[1]))); - } - - int CvUtils::CircleX(const GsCircle& circle) { - return ((int)std::round(circle[0])); - } - - int CvUtils::CircleY(const GsCircle& circle) { - return ((int)std::round(circle[1])); - } - - - cv::Vec2i CvUtils::CvSize(const cv::Mat& img) - { - return (cv::Vec2i(img.cols, img.rows)); - } - - int CvUtils::CvHeight(const cv::Mat& img) - { - return (img.rows); - } - - int CvUtils::CvWidth(const cv::Mat& img) - { - return (img.cols); - } - - - - // Note that the rgb value will be stored in openCV format - i.e., as bgr - GsColorTriplet CvUtils::ConvertRgbToHsv(const GsColorTriplet& rgb) - { - GsColorTriplet hsvUnscaled = colorsys::rgb_to_hsv(GsColorTriplet(rgb[2] / 255, rgb[1] / 255, rgb[0] / 255)); - GsColorTriplet hsv = GsColorTriplet(hsvUnscaled[0] * (float)kOpenCvHueMax, hsvUnscaled[1] * (float)kOpenCvSatMax, hsvUnscaled[2] * (float)kOpenCvValMax); - - return (hsv); - } - - - // Note that the hsv value will be stored in openCV format - GsColorTriplet CvUtils::ConvertHsvToRgb(const GsColorTriplet& hsv) - { - GsColorTriplet rgbUnscaled = colorsys::hsv_to_rgb(GsColorTriplet( hsv[0] / (float)kOpenCvHueMax, hsv[1] / (float)kOpenCvSatMax, hsv[2] / (float)kOpenCvValMax )); - GsColorTriplet rgb = GsColorTriplet(int(rgbUnscaled[2] * 255), int(rgbUnscaled[1] * 255), int(rgbUnscaled[0] * 255)); - - return (rgb); - } - - - float CvUtils::ColorDistance(const GsColorTriplet & rgb1, const GsColorTriplet& rgb2) - { - float rgbDiff = sqrt((float)(pow((double)(rgb1[0] - rgb2[0]), 2.) + pow((double)(rgb1[1] - rgb2[1]), 2.) + pow((double)(rgb1[2] - rgb2[2]), 2.))); - return (rgbDiff); - } - - - - // The ball color will be an average of the colors near the middle of the determined ball - // The returned color is in RGB form - std::vector CvUtils::GetBallColorRgb(const cv::Mat &img, const GsCircle &circle) - { - BOOST_LOG_FUNCTION(); - - int r = CircleRadius(circle); - cv::Vec2i xy = CircleXY(circle); - int x = xy[0]; - int y = xy[1]; - - if (r == 0) { - LoggingTools::Error("CvUtils::GetBallColorRgb called with circle of 0 radius."); - std::vector empty; - return empty; - } - - const double BOUNDED_BOX_RADIUS_RATIO = r / 2.0; // 1.6 (which is almost the whole ball may be resulting in too much averaging) - int xmin = std::max(0, (int)round(x - BOUNDED_BOX_RADIUS_RATIO)); - int xmax = std::min(CvWidth(img), (int)round(x + BOUNDED_BOX_RADIUS_RATIO + 0.5)); // Somehow, the box otherwise seems too far to the left? - int ymin = std::max(0, (int)round(y - BOUNDED_BOX_RADIUS_RATIO - 0.5)); // Round up to focus more on the better-lit top of the ball - int ymax = std::min(CvHeight(img), (int)round(y + BOUNDED_BOX_RADIUS_RATIO)); - - BOOST_LOG_TRIVIAL(trace) << "GetBall_color: xmin,max, ymin,max = " << "(" << std::to_string(xmin) << "," << std::to_string(xmax) << ") : (" << std::to_string(ymin) << "," << std::to_string(ymax) << ")"; - - // LoggingTools::ShowRectangleOnImage("getBallColor area to average: ", img, cv::Point(xmin, ymin), cv::Point(xmax, ymax)); - - cv::Mat subImg = img(cv::Range(ymin, ymax), cv::Range(xmin, xmax)); - - cv::Scalar avg_color, std_color; - cv::meanStdDev(subImg, avg_color, std_color); - cv::Scalar median_color = avg_color; // TBD - Compute Median - - // TBD - Not sure the first element of the array is the correct one - BOOST_LOG_TRIVIAL(trace) << "Average is (RGB):" << LoggingTools::FormatGsColorTriplet(avg_color) << " Median is: " << LoggingTools::FormatGsColorTriplet(median_color) << " STD is " << LoggingTools::FormatGsColorTriplet(std_color); - GsColorTriplet average_color_Scalar{ avg_color }; - // LoggingTools::DebugShowColorSwatch("Average Color of Ball (BGR)", average_color_Scalar ); - - // TBD - Not sure whaht we're going to be getting from the statistical calls, above - GsColorTriplet avg_color_vec3f{ (float)avg_color[0], (float)avg_color[1], (float)avg_color[2] }; - GsColorTriplet median_color_vec3f{ (float)median_color[0], (float)median_color[1], (float)median_color[2] }; - GsColorTriplet std_color_vec3f{ (float)std_color[0], (float)std_color[1], (float)std_color[2] }; - - std::vector results{ avg_color_vec3f, median_color_vec3f, std_color_vec3f }; - return results; - } - - cv::Mat CvUtils::GetAreaMaskImage(int resolutionX, int resolutionY, int expected_ball_X, int expected_ball_Y, int mask_radius, cv::Rect& mask_dimensions, bool use_square) - { - BOOST_LOG_FUNCTION(); - - cv::Mat initialAreaMaskImage = cv::Mat::zeros(resolutionY, resolutionX, CV_8UC3); - cv::Mat maskImage; - cv::cvtColor(initialAreaMaskImage, maskImage, cv::COLOR_BGR2HSV); - - // A white circle on a black background will act as our mask - - // Setup white color scalar for re-use below - cv::Scalar c1(255, 255, 255); - - // Make sure we're not drawing outside the image - if (expected_ball_X + mask_radius > resolutionX) { - mask_radius = resolutionX - expected_ball_X; - LoggingTools::Warning("Attempted to draw mask area outside image (1)."); - } - if (expected_ball_X - mask_radius < 0) { - mask_radius = expected_ball_X; - LoggingTools::Warning("Attempted to draw mask area outside image (2)."); - } - if (expected_ball_Y + mask_radius > resolutionY) { - mask_radius = resolutionY - expected_ball_Y; - LoggingTools::Warning("Attempted to draw mask area outside image (3)."); - } - if (expected_ball_Y - mask_radius < 0) { - mask_radius = expected_ball_Y; - LoggingTools::Warning("Attempted to draw mask area outside image (4)."); - } - - if (!use_square) - { - cv::circle(maskImage, cv::Point(expected_ball_X, expected_ball_Y), mask_radius, c1, -1); - } - else - { - cv::rectangle(maskImage, - cv::Point(expected_ball_X - mask_radius, expected_ball_Y - mask_radius), - cv::Point(expected_ball_X + mask_radius, expected_ball_Y + mask_radius), - c1, -1); - } - - // Return the rectangle around the ROI - mask_dimensions = cv::Rect(expected_ball_X - mask_radius, expected_ball_Y - mask_radius, 2 * mask_radius, 2 * mask_radius); - - cv::Mat area_mask_image_(maskImage.rows, maskImage.cols, CV_8U, cv::Scalar(0)); - cv::inRange(maskImage, c1, c1, area_mask_image_); - - // We will create our own mask based on where the ball should be - // TBD - The blur matrix may be touchy. If not blurry enough, things break - // For now, assume the mask will be blurred later - cv::GaussianBlur(area_mask_image_, area_mask_image_, cv::Size(5, 5), 0); // nominal was 11x11 - cv::erode(area_mask_image_, area_mask_image_, cv::getStructuringElement(cv::MORPH_RECT, cv::Size(3, 3)), cv::Point(-1, -1), 2); - cv::dilate(area_mask_image_, area_mask_image_, cv::getStructuringElement(cv::MORPH_RECT, cv::Size(3, 3)), cv::Point(-1, -1), 2); - - return (area_mask_image_); - } - - // Must be a 2D image with 3 channels of uints - cv::Mat CvUtils::ConvertNDArrayToMat(const nc::NdArray& ndarr) { - - int rows = ndarr.shape().rows; - int cols = ndarr.shape().cols; - - cv::Mat mat = cv::Mat(rows, cols, CV_8UC3); - memcpy(mat.data, ndarr.data(), sizeof(uchar) * rows * cols * 3 /*Channel*/); - - return mat; - } - - double CvUtils::MetersToFeet(double m) - { - return (3.281 * m); - } - - double CvUtils::MetersToInches(double m) - { - return 12 * MetersToFeet(m); - } - - double CvUtils::InchesToMeters(double i) - { - return (0.0254 * i); - } - - // Size the result image to the size of the image_to_size - void CvUtils::SetMatSize(const cv::Mat& image_to_size, cv::Mat& result_image) { - result_image = cv::Mat::zeros(image_to_size.rows, image_to_size.cols, CV_8UC3); - } - - // Note - the bar for "upright" is REALLY low here - bool CvUtils::IsUprightRect(float theta) { - const float kUprightRectTolerance = 25.0; - bool isUpright = false; - - if (std::abs(theta - 0.) < kUprightRectTolerance || - std::abs(theta - 90.) < kUprightRectTolerance || - std::abs(theta - 180.) < kUprightRectTolerance || - std::abs(theta - 270.) < kUprightRectTolerance) { - isUpright = true; - } - - if (!isUpright) { - LoggingTools::Warning("Found non-upright ellipse. Theta = " + std::to_string(theta)); - } - return isUpright; - } - - void CvUtils::DrawGrayImgHistogram(const cv::Mat& img, const bool ignore_zeros) { - /// Establish the number of bins - const int histSize = 256; - - float range[] = { 0, 256 }; - const float* histRange = { range }; - - bool uniform = true; bool accumulate = false; - - cv::Mat b_hist; - /// Compute the histograms: - calcHist(&img, 1, 0, cv::Mat(), b_hist, 1, &histSize, &histRange, uniform, accumulate); - - // Draw the histograms for B, G and R - int hist_w = 512; int hist_h = 400; - int bin_w = cvRound((double)hist_w / histSize); - - cv::Mat histImage(hist_h, hist_w, CV_8UC3, cv::Scalar(0, 0, 0)); - - // Normalize the result to [ 0, histImage.rows ] - cv::normalize(b_hist, b_hist, 0, histImage.rows, cv::NORM_MINMAX, -1, cv::Mat()); - - // Draw for each channel - int startingBin = ignore_zeros ? 2 : 1; - - for (int i = startingBin; i < histSize; i++) - { - cv::line(histImage, cv::Point(bin_w * (i - 1), hist_h - cvRound(b_hist.at(i - 1))), - cv::Point(bin_w * (i), hist_h - cvRound(b_hist.at(i))), - cv::Scalar(255, 0, 0), 2, 8, 0); - } - - LoggingTools::DebugShowImage("calcHist Dem", histImage); - - cv::waitKey(0); - } - - cv::Mat CvUtils::GetSubImage(const cv::Mat& full_image, cv::Rect& ball_ROI_rectInfull_image, cv::Point& offset_sub_to_full, cv::Point& offset_full_to_sub) { - - cv::Mat subImg; - - cv::Rect finalRoi = ball_ROI_rectInfull_image; - - if (ball_ROI_rectInfull_image.tl().x < 0 ) { - finalRoi.x = 0; - LoggingTools::Warning("CvUtils::GetSubImage received invalid sub-image parameters. Corrected"); - } - if (ball_ROI_rectInfull_image.tl().y < 0) { - finalRoi.y = 0; - LoggingTools::Warning("CvUtils::GetSubImage received invalid sub-image parameters. Corrected"); - } - if (ball_ROI_rectInfull_image.br().x >= full_image.cols) { - finalRoi.width -= ball_ROI_rectInfull_image.br().x - full_image.cols; - LoggingTools::Warning("CvUtils::GetSubImage received invalid sub-image parameters. Corrected"); - } - if (ball_ROI_rectInfull_image.br().y >= full_image.rows) { - finalRoi.height -= ball_ROI_rectInfull_image.br().y - full_image.rows; - LoggingTools::Warning("CvUtils::GetSubImage received invalid sub-image parameters. Corrected"); - } - - // TBD - Might be better to pass in a reference to avoide the sub-image copy? - subImg = full_image(cv::Range(finalRoi.tl().y, finalRoi.br().y), - cv::Range(finalRoi.tl().x, finalRoi.br().x)); - - offset_sub_to_full = cv::Point(finalRoi.tl().x, finalRoi.tl().y); - offset_full_to_sub = cv::Point(-finalRoi.tl().x, -finalRoi.tl().y); - - // At least for now, correct the original Roi to prevent downstream errors - ball_ROI_rectInfull_image = finalRoi; - - return subImg; - } -} - - -void BrightnessAndContrastAutoAlgo2(const cv::Mat& bgr_image, cv::Mat& dst) { - cv::Mat lab_image; - cv::cvtColor(bgr_image, lab_image, cv::COLOR_BGR2Lab); - - // Extract the L channel - std::vector lab_planes(3); - cv::split(lab_image, lab_planes); // now we have the L image in lab_planes[0] - - // apply the CLAHE algorithm to the L channel - cv::Ptr clahe = cv::createCLAHE(); - clahe->setClipLimit(4); - clahe->apply(lab_planes[0], dst); - - // Merge the the color planes back into an Lab image - dst.copyTo(lab_planes[0]); - cv::merge(lab_planes, lab_image); - - // convert back to RGB - cv::Mat image_clahe; - cv::cvtColor(lab_image, image_clahe, cv::COLOR_Lab2BGR); - - // display the results (you might also want to see lab_planes[0] before and after). - cv::imshow("image original", bgr_image); - cv::imshow("image CLAHE", image_clahe); - - dst = image_clahe; -} - -/** - * \brief Automatic brightness and contrast optimization with optional histogram clipping - * \param [in]src Input image GRAY or BGR or BGRA - * \param [out]dst Destination image - * \param clip_hist_percent cut wings of histogram at given percent tipical=>1, 0=>Disabled - * (Seems like it must be at least 30 or so to make much of a difference) - * \note In case of BGRA image, we won't touch the transparency -*/ -void BrightnessAndContrastAutoAlgo1(const cv::Mat& src, cv::Mat& dst, float clip_hist_percent = 0) { - - CV_Assert(clip_hist_percent >= 0); - CV_Assert((src.type() == CV_8UC1) || (src.type() == CV_8UC3) || (src.type() == CV_8UC4)); - - int histSize = 256; - float alpha, beta; - double minGray = 0, maxGray = 0; - - //to calculate grayscale histogram - cv::Mat gray; - if (src.type() == CV_8UC1) gray = src; - else if (src.type() == CV_8UC3) cvtColor(src, gray, cv::COLOR_BGR2GRAY); - else if (src.type() == CV_8UC4) cvtColor(src, gray, cv::COLOR_BGRA2GRAY); - if (clip_hist_percent == 0) - { - // keep full available range - cv::minMaxLoc(gray, &minGray, &maxGray); - } - else - { - cv::Mat hist; //the grayscale histogram - - float range[] = { 0, 256 }; - const float* histRange = { range }; - bool uniform = true; - bool accumulate = false; - calcHist(&gray, 1, 0, cv::Mat(), hist, 1, &histSize, &histRange, uniform, accumulate); - - // calculate cumulative distribution from the histogram - std::vector accumulator(histSize); - accumulator[0] = hist.at(0); - for (int i = 1; i < histSize; i++) - { - accumulator[i] = (float)(accumulator[i - 1] + hist.at(i)); - } - - // locate points that cuts at required value - float max = accumulator.back(); - clip_hist_percent *= (float)(max / 100.0); //make percent as absolute - clip_hist_percent /= 2.0; // left and right wings - // locate left cut - minGray = 0; - while (accumulator[(int)minGray] < (float)clip_hist_percent) - minGray++; - - // locate right cut - maxGray = (double)(histSize - 1); - while (accumulator[(int)maxGray] >= (float)(max - clip_hist_percent)) - maxGray--; - } - - // current range - float inputRange = (float)(maxGray - minGray); - - alpha = (histSize - 1) / inputRange; // alpha expands current range to histsize range - beta = (float)(-minGray * alpha); // beta shifts current range so that minGray will go to 0 - - // Apply brightness and contrast normalization - // convertTo operates with saurate_cast - src.convertTo(dst, -1, alpha, beta); - - // restore alpha channel from source - if (dst.type() == CV_8UC4) - { - int from_to[] = { 3, 3 }; - cv::mixChannels(&src, 4, &dst, 1, from_to, 1); - } - return; -} - diff --git a/Software/Playgrounds/HoughCirclePlayground/cv_utils.h b/Software/Playgrounds/HoughCirclePlayground/cv_utils.h deleted file mode 100644 index c2c39573..00000000 --- a/Software/Playgrounds/HoughCirclePlayground/cv_utils.h +++ /dev/null @@ -1,84 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -#pragma once - -#include -#include -#include - -#include -#include -#include - -#include -#include -#include -#include - -#include "gs_globals.h" -#include "logging_tools.h" -#include "colorsys.h" - -namespace golf_sim { - -struct CvUtils -{ - const static std::byte kOpenCvHueMax{ 180 }; // Apparently because 360 degrees is more than can fit in an 8 - bit uchar - const static std::byte kOpenCvSatMax{ 255 }; - const static std::byte kOpenCvValMax{ 255 }; - - static int CircleRadius(const GsCircle& circle); - - static cv::Vec2i CircleXY(const GsCircle& circle); - static int CircleX(const GsCircle& circle); - static int CircleY(const GsCircle& circle); - - static cv::Vec2i CvSize(const cv::Mat& img); - - static int CvHeight(const cv::Mat& img); - - static int CvWidth(const cv::Mat& img); - - static double inline DegreesToRadians(double deg) { return ((deg / 180.0) * CV_PI); }; - static double inline RadiansToDegrees(double deg) { return ((deg / CV_PI) * 180.0); }; - - // Note that the rgb value will be stored in openCV format - i.e., as bgr - static GsColorTriplet ConvertRgbToHsv(const GsColorTriplet& rgb); - - // Note that the hsv value will be stored in openCV format - static GsColorTriplet ConvertHsvToRgb(const GsColorTriplet& hsv); - - static float ColorDistance(const GsColorTriplet& rgb1, const GsColorTriplet& rgb2); - - // The ball color will be an average of the colors near the middle of the determined ball - // The returned color is in RGB form - static std::vector GetBallColorRgb(const cv::Mat &img, const GsCircle &circle); - - static cv::Mat GetAreaMaskImage(int resolutionX, int resolutionY, int expected_ball_X, int expected_ball_Y, int mask_radius, cv::Rect &mask_dimensions, bool use_square = false); - - // Must be a 2D image with 3 channels of uints - static cv::Mat ConvertNDArrayToMat(const nc::NdArray& ndarr); - - static double MetersToFeet(double m); - static double MetersToInches(double m); - static double InchesToMeters(double i); - - // Size the result image to the size of the image_to_size - static void SetMatSize(const cv::Mat& image_to_size, cv::Mat & result_image); - - static void BrightnessAndContrastAutoAlgo1(const cv::Mat& src, cv::Mat& dst, float clip_hist_percent = 0); - - static void BrightnessAndContrastAutoAlgo2(const cv::Mat& bgr_image, cv::Mat& dst); - - static void DrawGrayImgHistogram(const cv::Mat& img, const bool ignore_zeros = false); - - // Note - if the ball_ROI_rect rectangle is invalid, it will be corrected. - static cv::Mat GetSubImage(const cv::Mat& full_image, cv::Rect& ball_ROI_rect, cv::Point& offset_sub_to_full, cv::Point& offset_full_to_sub); - - static bool IsUprightRect(float theta); -}; - -} diff --git a/Software/Playgrounds/HoughCirclePlayground/gs_globals.h b/Software/Playgrounds/HoughCirclePlayground/gs_globals.h deleted file mode 100644 index e7cc6df2..00000000 --- a/Software/Playgrounds/HoughCirclePlayground/gs_globals.h +++ /dev/null @@ -1,24 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -#pragma once - -#include -#include - -namespace golf_sim { - - using GsCircle = cv::Vec3f; - // Note that the GsColorTriplet may need to go negative to handle loop-around situations for the hue in an HSV value. A Vec3b would not work for that - using GsColorTriplet = cv::Scalar; // cv::Vec3b; - using GsColor = uchar; - - -#ifdef __unix__ - const std::string GolfSimPlatform = "Unix"; -#elif defined(_WIN32) || defined(WIN32) - const std::string GolfSimPlatform = "Windows"; -#endif -}; \ No newline at end of file diff --git a/Software/Playgrounds/HoughCirclePlayground/logging_tools.cpp b/Software/Playgrounds/HoughCirclePlayground/logging_tools.cpp deleted file mode 100644 index f964fe18..00000000 --- a/Software/Playgrounds/HoughCirclePlayground/logging_tools.cpp +++ /dev/null @@ -1,410 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -#include -#include -#include "logging_tools.h" -#include "cv_utils.h" - -#ifdef __unix__ -const std::string kBaseImageLoggingDir = "/mnt/VerdantShare/dev/GolfSim/LM/Images/"; -#else -const std::string kBaseImageLoggingDir = "D:\\GolfSim\\LM\\Images\\"; -#endif - -namespace golf_sim { - - bool LoggingTools::show_intermediate_images_ = false; - bool LoggingTools::logging_is_initialized_ = false; - - // Waits for the user to press a key before continuing after showing an image - bool LoggingTools::logging_tool_wait_for_keypress_ = false; - - void LoggingTools::InitLogging() - { - boost::log::add_common_attributes(); - boost::log::core::get()->add_global_attribute("Scope", boost::log::attributes::named_scope()); - - boost::log::core::get()->set_filter( - boost::log::trivial::severity >= boost::log::trivial::trace - ); - - LoggingTools::show_intermediate_images_ = true; - - /* log formatter: - * [TimeStamp] [ThreadId] [Severity Level] [Scope] Log message - */ - auto fmtTimeStamp = boost::log::expressions:: - format_date_time("TimeStamp", "%Y-%m-%d %H:%M:%S.%f"); - auto fmtThreadId = boost::log::expressions:: - attr("ThreadID"); - auto fmtSeverity = boost::log::expressions:: - attr("Severity"); - auto fmtScope = boost::log::expressions::format_named_scope("Scope", - boost::log::keywords::format = "%n(%f:%l)", - boost::log::keywords::iteration = boost::log::expressions::reverse, - boost::log::keywords::depth = 2); - - boost::log::formatter logFmt = - boost::log::expressions::format("[%1%] (%2%) [%3%] %4%") - % fmtTimeStamp % fmtThreadId % fmtSeverity - % boost::log::expressions::smessage; - /* - boost::log::formatter logFmt = - boost::log::expressions::format("[%1%] (%2%) [%3%] [%4%] %5%") - % fmtTimeStamp % fmtThreadId % fmtSeverity % fmtScope - % boost::log::expressions::smessage; - */ - /* console sink */ - auto consoleSink = boost::log::add_console_log(std::clog); - consoleSink->set_formatter(logFmt); - - /* fs sink */ - auto fsSink = boost::log::add_file_log( - boost::log::keywords::file_name = "Logs/test_%Y-%m-%d_%H-%M-%S.%N.log", - boost::log::keywords::rotation_size = 10 * 1024 * 1024, - boost::log::keywords::min_free_space = 30 * 1024 * 1024, - boost::log::keywords::open_mode = std::ios_base::app); - fsSink->set_formatter(logFmt); - fsSink->locked_backend()->auto_flush(true); - } - - - void LoggingTools::Debug(std::string msg) { - BOOST_LOG_TRIVIAL(debug) << msg; - } - - void LoggingTools::Warning(std::string msg) { - BOOST_LOG_TRIVIAL(warning) << msg; - } - - void LoggingTools::Error(std::string msg) { - BOOST_LOG_TRIVIAL(error) << msg; - } - - - // TBD - Refactor all the repeated code - void LoggingTools::Debug(const std::string msg, const std::vector list) { - BOOST_LOG_TRIVIAL(debug) << msg; - - for (auto element : list) { - BOOST_LOG_TRIVIAL(debug) << element; - } - } - - void LoggingTools::Debug(const std::string msg, const std::vector list) { - BOOST_LOG_TRIVIAL(debug) << msg; - - for (auto element : list) { - BOOST_LOG_TRIVIAL(debug) << element; - } - } - - void LoggingTools::Debug(const std::string msg, const std::vector list) { - BOOST_LOG_TRIVIAL(debug) << msg; - - for (auto element : list) { - BOOST_LOG_TRIVIAL(debug) << element; - } - } - - void LoggingTools::Debug(const std::string msg, const std::vector list) { - BOOST_LOG_TRIVIAL(debug) << msg; - - for (auto element : list) { - BOOST_LOG_TRIVIAL(debug) << element; - } - } - - - - bool LoggingTools::DisplayIntermediateImages() - { - return (show_intermediate_images_); - } - - // Get a window size (x, y) appropriate to the image, limited to something reasonable -- 600 pixels - cv::Vec2i LoggingTools::GetImageWindowSize(const cv::Mat& img) - { - int largestDim = (int)std::max(CvUtils::CvWidth(img), CvUtils::CvHeight(img)); - largestDim = std::min((int)largestDim, 750); - - int xDim = 0; - int yDim = 0; - - if (CvUtils::CvWidth(img) > CvUtils::CvHeight(img)) - { - xDim = largestDim; - yDim = (int)((float)largestDim * ((float)CvUtils::CvHeight(img) / (float)CvUtils::CvWidth(img))); - } - else - { - yDim = largestDim; - xDim = (int)((float)largestDim * (int)((float)CvUtils::CvWidth(img) / (float)CvUtils::CvHeight(img))); - } - - return cv::Vec2i(xDim, yDim); - } - - - - void LoggingTools::ShowImage(std::string name, const cv::Mat& img, const std::vector < cv::Point >& pointFeatures) - { - BOOST_LOG_FUNCTION(); - BOOST_LOG_TRIVIAL(trace) << "ShowImage(" << name << ", " << SummarizeImage(img); - - name = name + " (" + std::to_string(CvUtils::CvWidth(img)) + ", " + std::to_string(CvUtils::CvHeight(img)) + ")"; - cv::namedWindow((cv::String)name, cv::WINDOW_NORMAL); - - if (img.rows > 0 && img.cols > 0) { - cv::Vec2i windowSize = GetImageWindowSize(img); - cv::resizeWindow(name, windowSize[0], windowSize[1]); - } - else { - cv::resizeWindow(name, 400, 400); - } - - cv::Mat imgToShow = img.clone(); - - for (auto& point : pointFeatures) - { - cv::circle(imgToShow, point, 2, cv::Scalar{ 0, 0, 0 }, 24); // Nominal width was 24 - } - - - cv::imshow(name, imgToShow); - cv::setWindowProperty(name, cv::WND_PROP_TOPMOST, 1); - - // Move the windows out of the way of the debugger window - // TBD - determine how to move to right - most side of screen - cv::moveWindow(name, 1200, 20); - - // "S" means to save thhe picture that is being shown - if (logging_tool_wait_for_keypress_) - { - int keyPressed = cv::waitKey(0) & 0xFF; - if (keyPressed == 115) // "s" - { - std::string fname = std::string{ kDefaultSaveFileName }; - cv::imwrite(fname, img); - BOOST_LOG_TRIVIAL(debug) << "Saved to file: " << kDefaultSaveFileName << ". Press any key to continue"; - cv::waitKey(0); // Give user a chance to move the saved file if necessary - } - } - } - - std::string LoggingTools::GetUniqueLogName() - { - using namespace boost::posix_time; - using namespace boost::gregorian; - - //get the current time from the clock -- one second resolution - ptime now = second_clock::local_time(); - //Get the date part out of the time - date today = now.date(); - - std::string s = to_simple_string(today); - - return s; - } - - const std::string kLogImagePrefix = "gs_log_img__"; - - // Save the image (possibly with some pointFeatures) to a timestamped file whose name - // will include the fileNameTag. Example, with fileNameTag = "last_hit": - // "gs_log_img__last_hit__2023-11-13_12-52-47.0.png" - // If forceFixedFileName is true, the logged image filename will be fixedFileName, but. - // still preceded by the default logging directory. - // For example, "last_GetBall_img.png", so that the file keeps getting overwritten. - // Otherwise, the file name will have a date & - bool LoggingTools::LogImage(const std::string& fileNameTag, - const cv::Mat& img, - const std::vector < cv::Point >& pointFeatures, - bool forceFixedFileName, - const std::string& fixedFileName) { - - if (img.empty()) { - BOOST_LOG_TRIVIAL(debug) << "LogImage: image was empty - ignoring."; - return false; - } - std::string fname; - - if (forceFixedFileName && !fixedFileName.empty()) { - fname = kBaseImageLoggingDir + fixedFileName; - } - else { - std::string dateTimeStr = GetUniqueLogName(); - - fname = kBaseImageLoggingDir + kLogImagePrefix + fileNameTag + dateTimeStr + ".png"; - } - - cv::Mat imgToLog = img.clone(); - - for (auto& point : pointFeatures) - { - cv::circle(imgToLog, point, 2, cv::Scalar{ 0, 0, 0 }, 24); // Nominal width was 24 - } - - - BOOST_LOG_TRIVIAL(debug) << "About to log image to file: " << fname << "."; - cv::imwrite(fname, imgToLog); - BOOST_LOG_TRIVIAL(debug) << "Logged image to file: " << fname << "."; - - return true; - } - - // Only shows the image if the logging level is at or below debug - void LoggingTools::DebugShowImage(std::string name, const cv::Mat& img, const std::vector < cv::Point >& pointFeatures) - { - - // TBD - Figure out logging level - if (DisplayIntermediateImages()) - { - ShowImage(name, img, pointFeatures); - } - } - - // Creates its own copy of the image, so does not affect the original - // start/endPoints are (x,y) tuples - void LoggingTools::ShowRectangleOnImage(std::string name, const cv::Mat& baseImage, cv::Point startPoint, cv::Point endPoint) - { - cv::Scalar c1{ 0, 255, 0 }; - cv::Mat debugImage = baseImage.clone(); - cv::rectangle(debugImage, startPoint, endPoint, c1, 2); - - DebugShowImage(name, debugImage); - } - - void LoggingTools::DebugShowColorSwatch(std::string name, GsColorTriplet bgr) - { - cv::Mat img = cv::Mat::zeros(200, 200, CV_8UC3); - cv::Scalar color{ bgr }; - cv::rectangle(img, cv::Point(0, 0), cv::Point(199, 199), color, -1); - - DebugShowImage(name, img); - } - - - // Creates its own copy of the image, so does not affect the original - void LoggingTools::ShowContours(std::string name, const cv::Mat& baseImage, std::vector> contours) - { - cv::Mat debugImage = baseImage.clone(); - - for (auto i = 0; i < contours.size(); i++) - { - cv::Scalar c1{ 0, 255, 0 }; - cv::drawContours(debugImage, contours, i, c1, 2); - } - - DebugShowImage(name, debugImage); - } - - // Only shows the image if the logging level is at or below debug - void LoggingTools::DebugShowContours(std::string name, const cv::Mat& baseImage, std::vector> contours) - { - // TBD - Figure out logging level - ShowContours(name, baseImage, contours); - } - - void LoggingTools::GetOneImage(std::vector images) - { - std::vector imgList; - - const int padding = 200; - - for (auto& img : images) - { - imgList.push_back(img); - } - - std::vector max_width; - int max_height = 0; - - for (auto& img : imgList) - { - max_width.push_back(img.rows); - max_height += img.cols; - } - - int w = *max_element(max_width.begin(), max_width.end()); - int h = max_height + padding; - - // create a new array with a size large enough to contain all the images - cv::Mat final_image = cv::Mat::zeros(h, w, CV_8U); - - int current_y = 0; // keep track of where your current image was last placed in the y coordinate - - for (auto& image : imgList) - { - // add an image to the final array and increment the y coordinate - image.copyTo(final_image(cv::Rect(0, current_y, image.cols, current_y + image.rows))); - current_y += image.rows; - } - cv::imwrite(std::string{ kDefaultSaveFileName }, final_image); - } - - void LoggingTools::DrawCircleOutlineAndCenter(cv::Mat& img, GsCircle circle, std::string label, int ordinal, bool de_emphasize) - { - uchar rotatingColor = ordinal * 30; - - cv::Scalar c1 = cv::Scalar(rotatingColor, 255 - rotatingColor, rotatingColor); - cv::Scalar c2 = cv::Scalar(0, rotatingColor, 255); - cv::Scalar c3{ 0, 0, 0 }; - - if (ordinal > 0) { - c3 = c1; - c2 = c1; - } - - int thickness = 1; - - if (img.cols < 600) { - thickness = 1; - } - - int kMaxCirclesToEmphasize = 10; - - if (de_emphasize) { - c1 = { 240,240,240 }; - c2 = { 240,240,240 }; - c3 = { 40,40,40 }; - } - cv::circle(img, cv::Point((int)circle[0], (int)circle[1]), (int)circle[2], c1, thickness); - cv::circle(img, cv::Point((int)circle[0], (int)circle[1]), 2, c2, 4); - cv::putText(img, label, cv::Point((int)circle[0] + 2 + ((float)(ordinal) * .2), (int)circle[1] + ((float)(ordinal) * .2)), cv::FONT_HERSHEY_SIMPLEX, 1, c3, 2, cv::LINE_AA); - - } - - std::string LoggingTools::SummarizeImage(const cv::Mat& img) { - std::string s = "(sizeX, sizeY) = (" + std::to_string(img.cols) + ", " + std::to_string(img.rows) + ")"; - return s; - } - - std::string LoggingTools::FormatVec3f(const cv::Vec3f& v) { - - auto f = std::format("[{: >6.2f}, {: >6.2f}, {: >6.2f}]", v[0], v[1], v[2]); - return f; - } - - std::string LoggingTools::FormatGsColorTriplet(const GsColorTriplet& v) { - - auto f = std::format("[{: >6.2f}, {: >6.2f}, {: >6.2f}]", v[0], v[1], v[2]); - return f; - } - - std::string LoggingTools::FormatCircle(const GsCircle& c) { - auto f = std::format( "[(x,y)=({: >4},{: <4}), r={: <6.1f}]", c[0], c[1], c[2] ); - return f; - } - - std::string LoggingTools::FormatCircleList(const std::vector& circleList) { - std::string s; - for (auto& c : circleList) { - s += FormatCircle(c); - } - return s; - } - -} diff --git a/Software/Playgrounds/HoughCirclePlayground/logging_tools.h b/Software/Playgrounds/HoughCirclePlayground/logging_tools.h deleted file mode 100644 index bae14c83..00000000 --- a/Software/Playgrounds/HoughCirclePlayground/logging_tools.h +++ /dev/null @@ -1,120 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-only */ -/* - * Copyright (C) 2022-2025, Verdant Consultants, LLC. - */ - -#pragma once - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include - -#include "gs_globals.h" - - -namespace golf_sim { - -struct LoggingTools -{ - static constexpr std::string_view kDefaultSaveFileName = "out.png"; - - static bool show_intermediate_images_; - static bool logging_is_initialized_; - static bool logging_tool_wait_for_keypress_; - - static void InitLogging(); - - // Shohrtcut calls for debug and error messages - static void Debug(std::string msg); - static void Warning(std::string msg); - static void Error(std::string msg); - - // Vector debug-print methods - // TBD - Refactor all the repeated code - static void Debug(const std::string msg, const std::vector list); - static void Debug(const std::string msg, const std::vector list); - static void Debug(const std::string msg, const std::vector list); - static void Debug(const std::string msg, const std::vector list); - - - static bool DisplayIntermediateImages(); - - static cv::Vec2i GetImageWindowSize(const cv::Mat& img); - - static void ShowImage(std::string name, const cv::Mat& img, const std::vector < cv::Point >& pointFeatures = {}); - - // Save the image (possibly with some pointFeatures) to a timestamped file whose name - // will include the fileNameTag. Example, with fileNameTag = "last_hit": - // "gs_log_img__last_hit__2023-11-13_12-52-47.0.png" - // If forceFixedFileName is true, the logged image filename will be fixedFileName - // Otherwise, the file name will have a date & - static bool LogImage(const std::string& fileNameTag, - const cv::Mat& img, - const std::vector < cv::Point >& pointFeatures, - bool forceFixedFileName = false, - const std::string& fixedFileName = std::string("") ); - - // Create a unique, seconds-based date-time string - static std::string GetUniqueLogName(); - - - // Creates its own copy of the image, so does not affect the original - // start/endPoints are (x,y) tuples - static void ShowRectangleOnImage(std::string name, const cv::Mat& baseImage, cv::Point startPoint, cv::Point endPoint); - - static void DebugShowColorSwatch(std::string name, GsColorTriplet bgr); - - // Creates its own copy of the image, so does not affect the original - static void ShowContours(std::string name, const cv::Mat& baseImage, std::vector> contours); - - // Only shows the image if the logging level is at or below debug - static void DebugShowContours(std::string name, const cv::Mat& baseImage, std::vector> contours); - - static void GetOneImage(std::vector images); - - // The ordinal value provides a mechanism to adjust the outline and - // colors a little to make them easier to see for each (ordinal) circle - // Ordinals must start at 1 to be used - static void DrawCircleOutlineAndCenter(cv::Mat& img, GsCircle circle, std::string label, int ordinal = 0, bool de_emphasize = false); - - - // Only shows the image if the logging level is at or below debug - static void DebugShowImage(std::string name, const cv::Mat& img, const std::vector < cv::Point > &pointFeatures = {}); - - // Prints out theh basic information about an image, but not all the data - static std::string SummarizeImage(const cv::Mat& img); - - // The following format_xxx functions prepare a human-readable output that represents the given object - static std::string FormatCircle(const GsCircle& c); - static std::string FormatCircleList(const std::vector& cList); - - static std::string FormatVec3f(const cv::Vec3f& v); - static std::string FormatGsColorTriplet(const GsColorTriplet& v); -}; - -// Used as a define so that we can get file/line-numbers in our tracing if we want -#define GS_LOG_MSG(LEVEL, MSG) BOOST_LOG_FUNCTION(); BOOST_LOG_TRIVIAL(LEVEL) << MSG - -// Trace logging is everywhere, so this macro allows just that macro to be undefined -// in order to increase performance -#define GS_LOG_TRACE_MSG(LEVEL, MSG) BOOST_LOG_FUNCTION(); BOOST_LOG_TRIVIAL(LEVEL) << MSG - - -} diff --git a/Software/web-server/eslint.config.js b/Software/web-server/eslint.config.js index 36a639e3..2bb57595 100644 --- a/Software/web-server/eslint.config.js +++ b/Software/web-server/eslint.config.js @@ -1,8 +1,10 @@ +const prettierConfig = require('eslint-config-prettier'); + module.exports = [ { files: ['**/*.js'], languageOptions: { - ecmaVersion: 2021, + ecmaVersion: 'latest', sourceType: 'script', globals: { window: 'readonly', @@ -28,34 +30,15 @@ module.exports = [ } }, rules: { - 'indent': ['error', 4], - 'linebreak-style': ['error', 'unix'], - 'quotes': ['error', 'single'], - 'semi': ['error', 'always'], - 'no-trailing-spaces': 'error', 'no-unused-vars': ['error', { 'argsIgnorePattern': '^_|^e$', 'varsIgnorePattern': '^(saveChanges|resetAll|reloadConfig|showDiff|exportConfig|importConfig|filterConfig|closeModal|setTheme|openImage|resetShot|controlPiTrac|startBtn|stopBtn|restartBtn|calibration)$' }], 'no-console': ['warn', { 'allow': ['warn', 'error'] }], - 'comma-dangle': ['error', 'never'], - 'no-multiple-empty-lines': ['error', { 'max': 1, 'maxEOF': 0 }], - 'eol-last': ['error', 'always'], - 'space-before-function-paren': ['error', { - 'anonymous': 'never', - 'named': 'never', - 'asyncArrow': 'always' - }], - 'object-curly-spacing': ['error', 'always'], - 'array-bracket-spacing': ['error', 'never'], - 'space-in-parens': ['error', 'never'], - 'keyword-spacing': ['error', { 'before': true, 'after': true }], - 'space-infix-ops': 'error', - 'comma-spacing': ['error', { 'before': false, 'after': true }], - 'brace-style': ['error', '1tbs', { 'allowSingleLine': true }], 'curly': ['error', 'multi-line'], 'no-var': 'error', 'prefer-const': 'error' } - } + }, + prettierConfig ]; diff --git a/Software/web-server/package-lock.json b/Software/web-server/package-lock.json index 23ec6d10..a21fabc1 100644 --- a/Software/web-server/package-lock.json +++ b/Software/web-server/package-lock.json @@ -5,7 +5,8 @@ "packages": { "": { "devDependencies": { - "eslint": "^9.35.0" + "eslint": "^9.35.0", + "eslint-config-prettier": "^10.1.0" } }, "node_modules/@eslint-community/eslint-utils": { @@ -464,6 +465,22 @@ } } }, + "node_modules/eslint-config-prettier": { + "version": "10.1.8", + "resolved": "https://registry.npmjs.org/eslint-config-prettier/-/eslint-config-prettier-10.1.8.tgz", + "integrity": "sha512-82GZUjRS0p/jganf6q1rEO25VSoHH0hKPCTrgillPjdI/3bgBhAE1QzHrHTizjpRvy6pGAvKjDJtk2pF9NDq8w==", + "dev": true, + "license": "MIT", + "bin": { + "eslint-config-prettier": "bin/cli.js" + }, + "funding": { + "url": "https://opencollective.com/eslint-config-prettier" + }, + "peerDependencies": { + "eslint": ">=7.0.0" + } + }, "node_modules/eslint-scope": { "version": "8.4.0", "resolved": "https://registry.npmjs.org/eslint-scope/-/eslint-scope-8.4.0.tgz", diff --git a/Software/web-server/package.json b/Software/web-server/package.json index 1c4b37c3..f7b65955 100644 --- a/Software/web-server/package.json +++ b/Software/web-server/package.json @@ -4,6 +4,7 @@ "lint:fix": "eslint static/**/*.js --fix" }, "devDependencies": { - "eslint": "^9.35.0" + "eslint": "^9.35.0", + "eslint-config-prettier": "^10.1.0" } } diff --git a/Software/web-server/run.sh b/Software/web-server/run.sh index 0e5d98a9..e46dcaea 100755 --- a/Software/web-server/run.sh +++ b/Software/web-server/run.sh @@ -22,4 +22,4 @@ else echo " Usage: ./run.sh [dev|prod] [port]" echo " Example: ./run.sh dev 8080" exit 1 -fi \ No newline at end of file +fi diff --git a/archived/Dev/README.md b/archived/Dev/README.md deleted file mode 100644 index 4926b889..00000000 --- a/archived/Dev/README.md +++ /dev/null @@ -1,709 +0,0 @@ -# PiTrac Dev Environment - -So you want to hack on PiTrac? Cool. This is where the magic happens. - -## The Big Picture - -This isn't your typical "run these 50 commands and pray" setup. We built this thing to actually work. Every time. The whole Dev folder is basically a smart installer that knows what you need, what order to install it in, and how to fix things when they inevitably go sideways. - -## Getting Started - -Dead simple: -```bash -mv Dev ~/ # Put it in your home dir -cd ~/Dev -chmod +x run.sh -./run.sh # Launch the menu -``` - -That's it. Menu pops up, shows you what's installed, what's not. Pick what you want. - -The typical flow: -1. **Install Software** - Gets all the dependencies -2. **System Configuration** - Sets up your Pi hardware -3. **Build PiTrac** - Actually builds the launch monitor -4. **Run PiTrac** - Launch the monitor (single or dual-Pi mode) -5. **Test Without Camera** - Test image processing without hardware -6. **Verify Installations** - Make sure it all works - -## How This Thing Actually Works - -### The Brain: Dependency Resolution - -Everything runs through `scripts/dep_resolver.sh`. Think of it like apt-get but for PiTrac stuff. It reads `deps.conf` to figure out what needs what, then installs things in the right order. - -Say you want OpenCV? It knows you need cmake and build-essential first. Trying to install ActiveMQ C++? Better have the broker running first. It handles all that. - -```bash -# See what would get installed (and in what order) -./scripts/dep_resolver.sh deps opencv -# Output: build-essential, cmake, opencv - -# Actually install it -./scripts/dep_resolver.sh install opencv -``` - -### Circular Dependencies? We Got You - -The system actively prevents dependency loops. Every install request goes through cycle detection first. Try to make package A depend on B which depends on C which depends on A? Nope: - -``` -[ERROR] Circular dependency detected: A -> B -> C -> A -``` - -How it works: -1. Builds a dependency graph -2. Tracks what's currently being resolved (the "stack") -3. If it sees something twice in the stack, that's a cycle -4. Fails fast with a clear error showing the exact loop - -This runs BEFORE any installation starts, so you can't break anything. - -### The Config File That Rules Them All - -Check out `scripts/deps.conf`. This is where all the magic happens. Each line tells the system everything it needs to know: - -``` -package:dependencies:detection_method:install_script -``` - -Real examples: -``` -# System package (installed via apt) -cmake:SYSTEM:apt: - -# Package with dependencies -opencv:build-essential,cmake:function:install_opencv.sh - -# Package that needs another package first -activemq-cpp:activemq-broker,libssl-dev:function:install_activemq_cpp_cms.sh -``` - -Detection methods: -- **apt**: Check if apt package is installed -- **cmd**: Check if command exists -- **function**: Call is_package_installed() in the script -- **pkg-config**: Use pkg-config to detect -- **file**: Check if specific file exists - -### Updating Dependencies (Without Breaking Everything) - -Need to change what a package depends on? Here's how: - -1. **Edit deps.conf** - ```bash - # Before - opencv:build-essential,cmake:function:install_opencv.sh - - # After (adding new dependency) - opencv:build-essential,cmake,pkg-config:function:install_opencv.sh - ``` - -2. **Test the dependency chain** - ```bash - ./scripts/dep_resolver.sh deps opencv - # Shows new order including pkg-config - ``` - -3. **Verify it doesn't create cycles** - ```bash - # The system checks automatically, but you can test: - ./scripts/dep_resolver.sh install opencv --dry-run - ``` - -4. **Update the install script if needed** - - Detection function name must match: `is_opencv_installed()` - - Must source common.sh - - Must load defaults - - Must call run_preflight_checks - -### Shared Code (Because Copy-Paste is Evil) - -Everything sources `scripts/common.sh`. This bad boy has all the utilities you need: - -#### Sudo Handling -```bash -# Don't do this: -sudo apt-get install wget - -# Do this (uses $SUDO from common.sh): -apt_ensure wget -``` - -#### Temp Directory Management -```bash -# Don't do this: -WORK=$(mktemp -d) -trap "rm -rf $WORK" EXIT - -# Do this (auto-cleanup on exit): -WORK=$(create_temp_dir "mypackage") -cd "$WORK" -# Automatically cleaned up when script exits -``` - -#### Logging with Colors -```bash -log_info "Starting installation..." # Blue [INFO] -log_success "Installation complete!" # Green [SUCCESS] -log_warn "This might take a while..." # Yellow [WARN] -log_error "Something went wrong" # Red [ERROR] -``` - -#### Package Installation -```bash -# Only installs if not already present -apt_ensure git cmake build-essential - -# Multiple packages at once -apt_ensure libgtk-3-dev libavcodec-dev libavformat-dev -``` - -#### Version Checking -```bash -# Compares versions intelligently -if version_ge "$current_version" "$required_version"; then - log_success "Version OK" -fi -``` - -#### Download with Progress Bar -```bash -# Shows actual progress -download_with_progress "https://example.com/file.tar.gz" "file.tar.gz" -``` - -#### Pre-flight Checks -```bash -# Checks disk space, internet, system requirements -run_preflight_checks "opencv" || return 1 -``` - -#### Build Progress Monitoring -```bash -# Shows compilation progress -run_with_progress "make -j$(get_cpu_cores)" "Building OpenCV" "/tmp/build.log" -``` - -### Non-Interactive Mode (For Automation) - -Every script can run hands-free. Here's the complete flow: - -1. **Create defaults file** in `scripts/defaults/package.yaml`: - ```yaml - # opencv.yaml - required-opencv-version: 4.11.0 - force: 0 - build-examples: 1 - build-type: Release - install-python-bindings: 1 - ``` - -2. **Script loads these automatically**: - ```bash - # In install script - load_defaults "opencv" "$@" - # Now all YAML values are environment variables - ``` - -3. **Run non-interactively**: - ```bash - ./install_opencv.sh --non-interactive - # or - NON_INTERACTIVE=1 ./install_opencv.sh - ``` - -4. **What changes in non-interactive mode**: - - No prompts (uses defaults for everything) - - Fails fast on errors (no "Continue anyway?" prompts) - - More verbose logging - - Returns proper exit codes for scripting - -### Building PiTrac After Dependencies - -Once you've got all the dependencies installed, you need to actually build PiTrac. We've got that covered too: - -```bash -./run.sh -# Choose option 3: Build PiTrac -``` - -What this does: -1. **Clones the PiTrac repo** (or updates if you already have it) -2. **Checks out the right branch** (configurable in defaults/pitrac-build.yaml) -3. **Sets up environment variables** (or uses ones from pitrac-environment) -4. **Configures libcamera** for your specific Pi model -5. **Builds the launch monitor** with meson/ninja -6. **Optionally builds the web GUI** if TomEE is installed - -The build script is smart: -- Won't let you build if dependencies are missing -- Detects Pi model and adjusts accordingly -- Uses optimal core count for compilation -- Shows progress bars for long builds -- Can resume failed builds - -Want a different branch? -```yaml -# Edit scripts/defaults/pitrac-build.yaml -pitrac-branch: develop # or feature/whatever -``` - -Need to rebuild from scratch? -```yaml -clean-build: 1 -force-clone: 1 -``` - -### Running PiTrac Launch Monitor - -After building, you can run PiTrac from the menu: - -```bash -./run.sh -# Choose option 4: Run PiTrac Launch Monitor -``` - -The run system supports: -- **Single-Pi mode** - Everything runs on one Pi -- **Dual-Pi mode** - Camera 1 (primary) and Camera 2 (secondary) -- **Background processes** - Run cam1 and cam2 simultaneously -- **Process management** - View logs, check status, stop processes -- **Hardware tests** - Test strobe lights and camera triggers -- **Auto-restart** - Configurable restart on failure - -Configuration in `scripts/defaults/run-pitrac.yaml`: -```yaml -pi_mode: single # or dual -logging_level: info # trace, debug, info, warning, error -auto_restart: 0 # Enable auto-restart on failure -``` - -The run script: -- Checks for ActiveMQ and TomEE services (non-blocking) -- Loads environment variables from your shell config -- Falls back to RunScripts if they exist, or uses command-line params -- Manages PIDs for background processes -- Provides full process control from the menu - -For dual-Pi setup, the communication happens via ActiveMQ message broker (not SSH). Start Camera 2 first, then Camera 1. - -### Testing Without Camera Hardware - -Don't have cameras connected? Want to test the image processing? We've got you covered: - -```bash -./run.sh -# Choose option 7: Test Image Processing (No Camera) -``` - -This launches a test environment that: -- **Uses test images** instead of live camera feed -- **Processes teed and strobed ball images** -- **Generates full shot data** (speed, angles, spin) -- **Creates visual outputs** (detected balls, trajectories) -- **Runs a web server** to view results - -Test modes: -1. **Quick Test** - Uses default test images from TestImages/ -2. **Custom Test** - Specify your own teed/strobed images -3. **Results Server** - View results in browser at localhost:8080 - -The test processor: -- Verifies image processing algorithms -- Tests ball detection and tracking -- Validates spin calculation -- Checks trajectory computation -- No hardware required - -Perfect for: -- Development and debugging -- Algorithm verification -- CI/CD pipelines -- Learning how PiTrac works - -### Writing a New Install Script - -Here's the complete template for a new package: - -```bash -#!/usr/bin/env bash -set -euo pipefail - -# MyPackage Installation Script -SCRIPT_DIR="$(cd -- "$(dirname "$0")" >/dev/null 2>&1 && pwd)" -source "${SCRIPT_DIR}/common.sh" - -# Load defaults from config file -load_defaults "mypackage" "$@" - -# Set defaults (can be overridden by YAML) -REQUIRED_VERSION="${REQUIRED_VERSION:-1.0.0}" -FORCE="${FORCE:-0}" - -# Detection function (MUST match package name) -is_mypackage_installed() { - # Return 0 if installed, 1 if not - command -v mypackage >/dev/null 2>&1 -} - -# Main installation function -install_mypackage() { - # ALWAYS run preflight checks first - run_preflight_checks "mypackage" || return 1 - - # Check if already installed - if is_mypackage_installed && [ "$FORCE" != "1" ]; then - log_success "MyPackage already installed" - return 0 - fi - - # Install dependencies - apt_ensure wget build-essential - - # Create temp directory (auto-cleaned) - local WORK - WORK=$(create_temp_dir "mypackage") - cd "$WORK" - - # Download with progress - download_with_progress "https://example.com/mypackage.tar.gz" "mypackage.tar.gz" - - # Extract and build - tar -xzf mypackage.tar.gz - cd mypackage-* - - # Build with progress monitoring - log_info "Configuring..." - ./configure - - run_with_progress "make -j$(get_cpu_cores)" "Building MyPackage" - - log_info "Installing..." - $SUDO make install - - # Verify installation - if is_mypackage_installed; then - log_success "MyPackage installed successfully" - else - log_error "Installation verification failed" - return 1 - fi -} - -# Run if called directly -if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then - install_mypackage -fi -``` - -### Adding Your Package to the System - -1. **Create the install script** (following template above) - -2. **Add to deps.conf**: - ```bash - # Simple package - mypackage:build-essential:function:install_mypackage.sh - - # Package with multiple deps - mypackage:cmake,libssl-dev,boost:function:install_mypackage.sh - - # System package (no script needed) - mypackage:SYSTEM:apt: - ``` - -3. **Create defaults YAML** in `scripts/defaults/mypackage.yaml`: - ```yaml - required-version: 1.0.0 - force: 0 - enable-feature-x: 1 - build-type: Release - ``` - -4. **Test detection**: - ```bash - ./scripts/dep_resolver.sh verify mypackage - ``` - -5. **Test installation**: - ```bash - ./scripts/dep_resolver.sh install mypackage - ``` - -### Error Handling That Won't Ruin Your Day - -The scripts are carefully designed to not mess up your shell: - -#### Return vs Exit -- **Functions use `return`** - Won't kill your shell if sourced -- **Main scripts use `exit`** - Only when run directly -- **Subshells use `exit`** - Only affects the subshell - -#### Error Propagation -```bash -install_mypackage() { - run_preflight_checks "mypackage" || return 1 - do_something || return 1 - do_another_thing || return 1 -} -``` - -#### Interactive vs Non-Interactive -```bash -if is_non_interactive; then - # Fail immediately - return 1 -else - # Ask user - read -p "Continue anyway? (y/N): " -n 1 -r - [[ $REPLY =~ ^[Yy]$ ]] || return 1 -fi -``` - -### The Install Order (How Dependencies Actually Work) - -When you run `./scripts/dep_resolver.sh install opencv`, here's what happens: - -1. **Parse deps.conf** to find opencv's dependencies -2. **Recursively resolve** each dependency's dependencies -3. **Check for circular dependencies** (fail if found) -4. **Build installation order** (dependencies first) -5. **Check what's already installed** (skip those) -6. **Install in order**, checking each step -7. **Log everything** for rollback if needed - -Example with activemq-cpp: -``` -activemq-cpp depends on: activemq-broker, libssl-dev, libapr1-dev -activemq-broker depends on: nothing -libssl-dev depends on: SYSTEM -libapr1-dev depends on: SYSTEM - -Install order: -1. libssl-dev (apt) -2. libapr1-dev (apt) -3. activemq-broker (script) -4. activemq-cpp (script) -``` - -### System Packages vs Custom Installs - -There are two types in deps.conf: - -**System Packages** (SYSTEM flag): -``` -cmake:SYSTEM:apt: -``` -- Installed via apt-get -- Simple version checking -- Fast installation - -**Custom Packages** (with scripts): -``` -opencv:build-essential,cmake:function:install_opencv.sh -``` -- Complex installation logic -- Custom version detection -- Build from source -- Configuration options - -### The Config Scripts (Not Just Installs) - -In `scripts/config/` you'll find system configuration scripts: - -**system_config.sh** -- GPU memory split -- Boot configuration -- Hardware-specific tweaks - -**camera_config.sh** -- Camera sensor detection -- Device tree overlays -- Sensor-specific configs - -**network_services.sh** -- NAS mount points -- Samba shares -- SSH key management - -**pitrac_environment.sh** -- Environment variables -- PATH setup -- App configuration - -**dev_environment.sh** -- Optional developer tools -- ZSH + Oh-My-ZSH -- Neovim setup -- Productivity tools - -These use the same patterns but configure the system rather than install packages. - -### Troubleshooting Like a Pro - -#### Check What Would Happen -```bash -# See dependency tree -./scripts/dep_resolver.sh deps package_name - -# List all available packages -./scripts/dep_resolver.sh list -``` - -#### When Something Fails -```bash -# Check if it's really installed -./scripts/dep_resolver.sh verify package_name - -# See the install log -cat scripts/.install.log - -# Check the rollback log -cat scripts/.rollback.log -``` - -#### Starting Fresh -```bash -# Undo last installation -./scripts/dep_resolver.sh rollback - -# Nuclear option - reset everything -rm scripts/.install.log -rm scripts/.lock -``` - -#### Debug Mode -```bash -# Run with bash debugging -bash -x ./scripts/install_opencv.sh - -# Extra verbose -set -x -./scripts/dep_resolver.sh install opencv -``` - -### Making Changes Without Fear - -The system is designed to be hackable: - -1. **All changes are logged** - You can see what happened -2. **Dependencies are verified** - Can't create broken states -3. **Functions return errors** - Won't crash your shell -4. **Temp dirs auto-clean** - No leftover mess -5. **Versions are checked** - Won't downgrade by accident - -Want to experiment? Just: -1. Copy an existing script as template -2. Modify for your needs -3. Test with verify first -4. Run the install -5. If it breaks, rollback - -### Common Patterns You'll See - -#### Architecture Detection -```bash -arch="$(uname -m)" -if [[ "$arch" == "aarch64" ]]; then - # ARM/Pi specific code -else - # x86_64 code -fi -``` - -#### Pi Model Detection -```bash -pi_model=$(detect_pi_model) # Returns 4, 5, or unknown -if [ "$pi_model" = "5" ]; then - # Pi5 specific stuff -fi -``` - -#### Conditional Features -```bash -if [ "${ENABLE_FEATURE:-0}" = "1" ]; then - # Feature enabled in YAML/environment -fi -``` - -#### Safe Command Execution -```bash -# Don't assume commands exist -if command -v some_command >/dev/null 2>&1; then - some_command -fi -``` - -## The Philosophy - -We wrote this because the old way sucked. Random scripts from random tutorials that worked on some specific Pi model with some specific OS version three years ago. No more. - -This system: -- Works on Pi4, Pi5, x86_64 -- Handles Bookworm and Bullseye -- Detects what you have -- Installs what you need -- Gets out of your way -- Doesn't pretend to be smarter than you - -It's not perfect, but it's a hell of a lot better than copy-pasting from forum posts and hoping for the best. - -## Quick Reference - -### Commands You'll Actually Use -```bash -# Main menu - everything starts here -./run.sh - -# Install something specific -./scripts/dep_resolver.sh install package_name - -# Check if something's installed -./scripts/dep_resolver.sh verify package_name - -# See what depends on what -./scripts/dep_resolver.sh deps package_name - -# List everything available -./scripts/dep_resolver.sh list - -# Undo last install -./scripts/dep_resolver.sh rollback - -# Run PiTrac after building -./scripts/run_pitrac.sh # Single-Pi mode -./scripts/run_pitrac.sh cam1 # Camera 1 (dual-Pi) -./scripts/run_pitrac.sh cam2 # Camera 2 (dual-Pi) - -# Test without cameras -./scripts/test_image_processor.sh quick # Quick test with defaults -./scripts/test_image_processor.sh list # List available test images -python3 scripts/test_results_server.py # View results in browser -``` - -### Files You'll Actually Edit -- `scripts/deps.conf` - Package definitions and dependencies -- `scripts/defaults/*.yaml` - Default values for each package -- `scripts/install_*.sh` - Individual install scripts -- `scripts/common.sh` - Shared utilities (probably don't touch) - -### Environment Variables That Matter -- `NON_INTERACTIVE=1` - Run without prompts -- `FORCE=1` - Reinstall even if present -- `SKIP_PREFLIGHT=1` - Skip disk/network checks (dangerous) - -## Contributing - -Found a bug? Script could be better? Package needs updating? - -The code's all here. Make it better. Just remember: -- Test your dependency changes with the cycle detector -- Keep the patterns consistent (look at existing scripts) -- Update deps.conf if you change dependencies -- Create a defaults YAML for new packages -- Use common.sh functions instead of reinventing -- Test on both Pi and x86 if possible -- Document the weird stuff - -That's it. Go build something cool. \ No newline at end of file diff --git a/archived/Dev/assets/lgpio.pc b/archived/Dev/assets/lgpio.pc deleted file mode 100644 index c4c65246..00000000 --- a/archived/Dev/assets/lgpio.pc +++ /dev/null @@ -1,10 +0,0 @@ -# Package Information for pkg-config -prefix=/usr/local -exec_prefix=${prefix} -libdir=${exec_prefix}/lib -includedir=${prefix}/include/ -Name: lgpio -Description: Open Source GPIO library -Version: 1.0.0 -Libs: ${exec_prefix}/lib/liblgpio.so -Cflags: -I${includedir} diff --git a/archived/Dev/assets/vimrc b/archived/Dev/assets/vimrc deleted file mode 100644 index ad89db56..00000000 --- a/archived/Dev/assets/vimrc +++ /dev/null @@ -1,53 +0,0 @@ -" Enable line numbers -set number - -" Relative line numbers (optional, good for navigation) -" set relativenumber - -" Highlight current line -set cursorline - -" Enable syntax highlighting -syntax on - -" Better search -set ignorecase " Ignore case when searching... -set smartcase " ...unless search has capital letters -set hlsearch " Highlight search matches -set incsearch " Show matches as you type - -" Indentation settings -set tabstop=4 " Number of spaces that a counts for -set shiftwidth=4 " Number of spaces for each step of (auto)indent -set expandtab " Use spaces instead of tabs -set autoindent " Auto-indent new lines -set smartindent " Smarter indentation - -" Show matching brackets -set showmatch - -" Enable mouse support -set mouse=a - -" Show line and column number in status bar -set ruler - -" Always show status line -set laststatus=2 - -" Enable filetype plugins and indentation -filetype plugin indent on - -" Remember last position in file -augroup resume_cursor - autocmd! - autocmd BufReadPost * if line("'\"") > 0 && line("'\"") <= line("$") | exe "normal! g`\"" | endif -augroup END - -" Better command-line completion -set wildmenu -set wildmode=longest:full,full - - -" Allow backspacing over everything in insert mode -set backspace=indent,eol,start \ No newline at end of file diff --git a/archived/Dev/img/install_menu.png b/archived/Dev/img/install_menu.png deleted file mode 100644 index fb18206d..00000000 Binary files a/archived/Dev/img/install_menu.png and /dev/null differ diff --git a/archived/Dev/img/menu.png b/archived/Dev/img/menu.png deleted file mode 100644 index d0fbfb0d..00000000 Binary files a/archived/Dev/img/menu.png and /dev/null differ diff --git a/archived/Dev/run.sh b/archived/Dev/run.sh deleted file mode 100755 index 329f9e2b..00000000 --- a/archived/Dev/run.sh +++ /dev/null @@ -1,1026 +0,0 @@ -#!/usr/bin/env bash -set -euo pipefail - -# PiTrac Hardened Installation System -# Version 2.0 - With dependency resolution and rollback support - -# Ensure we are running under bash -if [ -z "${BASH_VERSION:-}" ]; then - echo "This script must be run with bash, not sh." - exit 1 -fi - -# Paths and configuration -SCRIPT_DIR="$(cd -- "$(dirname "$0")" >/dev/null 2>&1 && pwd)" -DEP_RESOLVER="${SCRIPT_DIR}/scripts/dep_resolver.sh" -LOCK_FILE="${SCRIPT_DIR}/.pitrac_install.lock" -SESSION_LOG="${SCRIPT_DIR}/.session.log" - -# Handle sudo for both Docker and Pi -SUDO="" -if command -v sudo >/dev/null 2>&1 && [ "$(id -u)" -ne 0 ]; then - SUDO="sudo" -fi -export DEBIAN_FRONTEND=noninteractive - -# Colors for output -RED='\033[0;31m' -GREEN='\033[0;32m' -YELLOW='\033[1;33m' -BLUE='\033[0;34m' -NC='\033[0m' # No Color - -# Logging functions -log_info() { echo -e "${BLUE}[INFO]${NC} $*" | tee -a "$SESSION_LOG"; } -log_warn() { echo -e "${YELLOW}[WARN]${NC} $*" | tee -a "$SESSION_LOG"; } -log_error() { echo -e "${RED}[ERROR]${NC} $*" | tee -a "$SESSION_LOG"; } -log_success() { echo -e "${GREEN}[SUCCESS]${NC} $*" | tee -a "$SESSION_LOG"; } - -# Initialize session -init_session() { - echo "# PiTrac hardened installation session - $(date)" > "$SESSION_LOG" - log_info "Starting PiTrac hardened installation system" - - # Check if another installation is running - if [ -f "$LOCK_FILE" ]; then - local lock_pid - lock_pid=$(cat "$LOCK_FILE" 2>/dev/null || echo "") - if [ -n "$lock_pid" ] && kill -0 "$lock_pid" 2>/dev/null; then - log_error "Another installation is running (PID: $lock_pid)" - exit 1 - else - log_warn "Stale lock file found, removing" - rm -f "$LOCK_FILE" - fi - fi - - # Create lock file - echo $$ > "$LOCK_FILE" - trap cleanup_session EXIT -} - -cleanup_session() { - log_info "Cleaning up session" - rm -f "$LOCK_FILE" -} - -# Enhanced package management -apt_ensure() { - local need=() - for p in "$@"; do - if ! dpkg -s "$p" >/dev/null 2>&1; then - need+=("$p") - fi - done - - if [ "${#need[@]}" -gt 0 ]; then - log_info "Installing system packages: ${need[*]}" - - # Update package lists if they're old - local last_update - if [ -f /var/lib/apt/periodic/update-success-stamp ]; then - last_update=$(stat -c %Y /var/lib/apt/periodic/update-success-stamp) - else - last_update=0 - fi - - local current_time - current_time=$(date +%s) - - # Update if stamp is older than 1 hour - if [ $((current_time - last_update)) -gt 3600 ]; then - log_info "Updating package lists..." - $SUDO apt-get update - fi - - # Install packages with retry logic - local attempt=1 - local max_attempts=3 - - while [ $attempt -le $max_attempts ]; do - log_info "Installing packages (attempt $attempt/$max_attempts)..." - - if $SUDO apt-get install -y --no-install-recommends "${need[@]}"; then - log_success "System packages installed successfully" - return 0 - else - log_warn "Package installation failed, attempt $attempt/$max_attempts" - if [ $attempt -lt $max_attempts ]; then - log_info "Retrying in 5 seconds..." - sleep 5 - $SUDO apt-get update - fi - ((attempt++)) - fi - done - - log_error "Failed to install system packages after $max_attempts attempts" - return 1 - fi -} - -# Install prerequisites -install_prerequisites() { - log_info "Installing prerequisites..." - - # Essential packages for the system to function - apt_ensure dialog curl wget ca-certificates - - # Install vim if requested - if ! command -v vim >/dev/null 2>&1; then - log_info "Installing vim..." - apt_ensure vim - fi - - # Copy vimrc if present - if [ -f "${SCRIPT_DIR}/assets/vimrc" ]; then - log_info "Copying vimrc to ~/.vimrc" - cp "${SCRIPT_DIR}/assets/vimrc" ~/.vimrc - fi - - # Make dependency resolver executable - chmod +x "$DEP_RESOLVER" 2>/dev/null || true - - # Verify dependency resolver works - if ! "$DEP_RESOLVER" list >/dev/null 2>&1; then - log_error "Dependency resolver is not working properly" - exit 1 - fi - - log_success "Prerequisites installed" -} - -# Enhanced connectivity check -check_internet_connectivity() { - log_info "Checking internet connectivity..." - - # First try ping if available - if command -v ping >/dev/null 2>&1; then - if ping -c 1 -W 3 8.8.8.8 >/dev/null 2>&1; then - log_success "Internet connectivity verified (ICMP)" - return 0 - fi - fi - - # Try HTTP connectivity test - local test_urls=( - "http://connectivitycheck.gstatic.com/generate_204" - "http://clients3.google.com/generate_204" - "http://www.msftconnecttest.com/connecttest.txt" - ) - - for url in "${test_urls[@]}"; do - if command -v curl >/dev/null 2>&1; then - if curl -fsS --max-time 5 "$url" >/dev/null 2>&1; then - log_success "Internet connectivity verified (HTTP)" - return 0 - fi - elif command -v wget >/dev/null 2>&1; then - if wget -q --timeout=5 -O /dev/null "$url" 2>/dev/null; then - log_success "Internet connectivity verified (HTTP)" - return 0 - fi - fi - done - - log_error "Internet connectivity check failed" - log_error "Please check your network connection and try again" - exit 1 -} - -# Enhanced menu system with dependency awareness -show_installation_status() { - local package="$1" - if "$DEP_RESOLVER" verify "$package" >/dev/null 2>&1; then - echo "[INSTALLED]" - else - echo "[NOT INSTALLED]" - fi -} - -# Menu configuration -BUILD="6.12.34-1" -VERSION="2.0-hardened" -TITLE="PiTrac Hardened Installer - Raspberry Pi OS >= $BUILD" -HEIGHT=20 -WIDTH=70 -MENU_HEIGHT=12 - -# Available packages -declare -A PACKAGES=( - ["activemq-broker"]="ActiveMQ Broker 6.1.7" - ["activemq-cpp"]="ActiveMQ C++ CMS" - ["boost"]="Boost 1.74 Libraries" - ["opencv"]="OpenCV 4.11.0" - ["msgpack"]="MessagePack C++" - ["lgpio"]="LGPIO Library" - ["libcamera"]="Libcamera & RpiCam Apps" - ["java"]="Java 17 OpenJDK" - ["maven"]="Apache Maven" - # Python web server is now used instead of TomEE - ["pitrac-deps"]="PiTrac Dependencies" -) - -declare -A CONFIG_PACKAGES=( - ["system-config"]="Pi System Configuration" - ["camera-config"]="Camera Configuration" - ["pitrac-environment"]="PiTrac Environment Setup" - ["network-services"]="Network Services (NAS/Samba/SSH)" - ["dev-environment"]="Development Environment" -) - -show_main_menu() { - while true; do - local main_options=( - 1 "Install Software" - 2 "System Configuration" - 3 "Build PiTrac" - 4 "Run PiTrac Launch Monitor" - 5 "Verify Installations" - 6 "System Maintenance" - 7 "Test Image Processing (No Camera)" - 8 "View Logs" - 9 "Exit" - ) - - local main_choice - main_choice=$(dialog --clear \ - --title "$TITLE" \ - --ok-label "OK" \ - --cancel-label "Exit" \ - --menu "Version $VERSION" \ - $HEIGHT $WIDTH $MENU_HEIGHT \ - "${main_options[@]}" \ - 2>&1 >/dev/tty) - - local exit_code=$? - if [ $exit_code -ne 0 ]; then - clear - log_info "Exiting installer" - exit 0 - fi - - case "$main_choice" in - 1) show_install_menu ;; - 2) show_config_menu ;; - 3) build_pitrac_menu ;; - 4) run_pitrac_menu ;; - 5) show_verify_menu ;; - 6) show_maintenance_menu ;; - 7) show_test_processing_menu ;; - 8) show_logs_menu ;; - 9) clear; exit 0 ;; - *) log_error "Invalid selection: $main_choice" ;; - esac - done -} - -show_install_menu() { - while true; do - local install_options=() - install_options+=(1 "Install ALL Dependencies") - - local i=2 - for package in "${!PACKAGES[@]}"; do - local status - status=$(show_installation_status "$package") - install_options+=($i "${PACKAGES[$package]} $status") - ((i++)) - done - install_options+=($i "Go Back to Main Menu") - - local install_choice - install_choice=$(dialog --clear \ - --title "PiTrac Installation Menu" \ - --menu "Select what to install:" \ - $HEIGHT $WIDTH $MENU_HEIGHT \ - "${install_options[@]}" \ - 2>&1 >/dev/tty) - - local exit_code=$? - if [ $exit_code -ne 0 ] || [ "$install_choice" -eq $i ]; then - break - fi - - clear - - if [ "$install_choice" -eq 1 ]; then - # Install all dependencies - dialog --yesno "This will install ALL PiTrac dependencies. This may take a long time. Continue?" 8 60 - if [ $? -eq 0 ]; then - install_all_dependencies - fi - else - # Install specific package - local package_index=$((install_choice - 2)) - local packages_array=(${!PACKAGES[@]}) - local selected_package="${packages_array[$package_index]}" - - if [ -n "$selected_package" ]; then - dialog --yesno "Install ${PACKAGES[$selected_package]}?" 7 50 - if [ $? -eq 0 ]; then - install_single_package "$selected_package" - fi - fi - fi - - echo - read -rp "Press Enter to continue..." - done -} - -show_config_menu() { - while true; do - local config_options=() - config_options+=(1 "Configure ALL System Components") - - local i=2 - for package in "${!CONFIG_PACKAGES[@]}"; do - local status - status=$(show_installation_status "$package") - config_options+=($i "${CONFIG_PACKAGES[$package]} $status") - ((i++)) - done - config_options+=($i "Go Back to Main Menu") - - local config_choice - config_choice=$(dialog --clear \ - --title "System Configuration Menu" \ - --menu "Select configuration to apply:" \ - $HEIGHT $WIDTH $MENU_HEIGHT \ - "${config_options[@]}" \ - 2>&1 >/dev/tty) - - local exit_code=$? - if [ $exit_code -ne 0 ] || [ "$config_choice" -eq $i ]; then - break - fi - - clear - - if [ "$config_choice" -eq 1 ]; then - dialog --yesno "This will configure ALL system components. This may require user input. Continue?" 8 60 - if [ $? -eq 0 ]; then - configure_all_system - fi - else - local package_index=$((config_choice - 2)) - local packages_array=(${!CONFIG_PACKAGES[@]}) - local selected_package="${packages_array[$package_index]}" - - if [ -n "$selected_package" ]; then - dialog --yesno "Configure ${CONFIG_PACKAGES[$selected_package]}?" 7 50 - if [ $? -eq 0 ]; then - configure_single_component "$selected_package" - fi - fi - fi - - echo - read -rp "Press Enter to continue..." - done -} - -configure_all_system() { - log_info "Configuring all system components..." - - local all_configs=( - "system-config" "camera-config" "pitrac-environment" - "network-services" "dev-environment" - ) - - for config in "${all_configs[@]}"; do - log_info "Configuring $config..." - if ! "$DEP_RESOLVER" install "$config"; then - log_error "Failed to configure $config" - dialog --msgbox "Configuration failed at component: $config\\nCheck logs for details." 8 50 - return 1 - fi - done - - log_success "All system components configured successfully!" - dialog --msgbox "All system components have been configured successfully!" 8 50 -} - -configure_single_component() { - local component="$1" - - log_info "Configuring $component..." - - if "$DEP_RESOLVER" install "$component"; then - log_success "$component configured successfully" - dialog --msgbox "${CONFIG_PACKAGES[$component]} configured successfully!" 8 50 - else - log_error "Failed to configure $component" - dialog --msgbox "Failed to configure ${CONFIG_PACKAGES[$component]}\\nCheck logs for details." 8 50 - fi -} - -install_all_dependencies() { - log_info "Installing all PiTrac dependencies..." - - # Define the complete dependency chain - local all_packages=( - "java" "maven" "boost" "activemq-broker" "activemq-cpp" - "msgpack" "lgpio" "opencv" "libcamera" "pitrac-deps" - ) - - for package in "${all_packages[@]}"; do - log_info "Installing $package and its dependencies..." - if ! "$DEP_RESOLVER" install "$package"; then - log_error "Failed to install $package" - dialog --msgbox "Installation failed at package: $package\nCheck logs for details." 8 50 - return 1 - fi - done - - log_success "All dependencies installed successfully!" - dialog --msgbox "All PiTrac dependencies have been installed successfully!" 8 50 -} - -install_single_package() { - local package="$1" - - log_info "Installing $package..." - - if "$DEP_RESOLVER" install "$package"; then - log_success "$package installed successfully" - dialog --msgbox "${PACKAGES[$package]} installed successfully!" 8 50 - else - log_error "Failed to install $package" - dialog --msgbox "Failed to install ${PACKAGES[$package]}\nCheck logs for details." 8 50 - fi -} - -build_pitrac_menu() { - # Check if dependencies are installed first - local missing_deps=() - for dep in opencv libcamera msgpack lgpio activemq-cpp; do - if ! "$DEP_RESOLVER" verify "$dep" >/dev/null 2>&1; then - missing_deps+=("$dep") - fi - done - - if [ ${#missing_deps[@]} -gt 0 ]; then - dialog --msgbox "Cannot build PiTrac yet!\n\nMissing dependencies:\n${missing_deps[*]}\n\nPlease install software first (option 1)" 12 50 - return - fi - - # Check if configuration is done - if [ ! -f "$HOME/.bashrc" ] || ! grep -q "PITRAC_ROOT" "$HOME/.bashrc" 2>/dev/null; then - if [ ! -f "$HOME/.zshrc" ] || ! grep -q "PITRAC_ROOT" "$HOME/.zshrc" 2>/dev/null; then - dialog --msgbox "PiTrac environment not configured!\n\nPlease run System Configuration first (option 2)" 10 50 - return - fi - fi - - dialog --infobox "Starting PiTrac build process..." 3 40 - - # Run the build script - if "${SCRIPT_DIR}/scripts/build_pitrac.sh"; then - dialog --msgbox "PiTrac build completed successfully!\n\nYou can now test the launch monitor:\n\$PITRAC_ROOT/ImageProcessing/build/pitrac_lm --help" 10 60 - else - dialog --msgbox "PiTrac build failed!\n\nCheck the logs for details:\n/tmp/pitrac_build.log" 10 50 - fi -} - -run_pitrac_menu() { - # Check if PiTrac is built using dep_resolver - if ! "$DEP_RESOLVER" verify pitrac-build >/dev/null 2>&1; then - dialog --msgbox "PiTrac is not built yet!\n\nPlease build PiTrac first (option 3)" 8 50 - return - fi - - local run_options=( - 1 "Run Single-Pi Setup" - 2 "Run Two-Pi Setup (Camera 1)" - 3 "Run Two-Pi Setup (Camera 2)" - 4 "Start Camera 1 (Background)" - 5 "Start Camera 2 (Background)" - 6 "View Running Processes" - 7 "View Background Logs" - 8 "Stop All PiTrac Processes" - 9 "Test Strobe Light" - 10 "Test Camera Trigger" - 11 "Configure Run Settings" - 12 "Show Command-Line Help" - 13 "Go Back to Main Menu" - ) - - local run_choice - run_choice=$(dialog --clear \ - --title "Run PiTrac Launch Monitor" \ - --menu "Select operation mode:" \ - $HEIGHT $WIDTH $MENU_HEIGHT \ - "${run_options[@]}" \ - 2>&1 >/dev/tty) - - local exit_code=$? - if [ $exit_code -ne 0 ] || [ "$run_choice" -eq 13 ]; then - return 0 - fi - - clear - - case "$run_choice" in - 1) - log_info "Starting PiTrac in Single-Pi mode..." - log_info "Press Ctrl+C to stop" - "${SCRIPT_DIR}/scripts/run_pitrac.sh" run - ;; - 2) - log_info "Starting Camera 1 (Primary Pi)..." - log_warn "Make sure Camera 2 is running on the secondary Pi first!" - log_info "Press Ctrl+C to stop" - "${SCRIPT_DIR}/scripts/run_pitrac.sh" cam1 - ;; - 3) - log_info "Starting Camera 2 (Secondary Pi)..." - log_info "Start this BEFORE starting Camera 1!" - log_info "Press Ctrl+C to stop" - "${SCRIPT_DIR}/scripts/run_pitrac.sh" cam2 - ;; - 4) - log_info "Starting Camera 1 in background..." - nohup "${SCRIPT_DIR}/scripts/run_pitrac.sh" cam1 > /tmp/pitrac_cam1.log 2>&1 & - local cam1_pid=$! - echo "$cam1_pid" > /tmp/pitrac_cam1.pid - log_success "Camera 1 started with PID: $cam1_pid" - log_info "Log: /tmp/pitrac_cam1.log" - sleep 2 - ;; - 5) - log_info "Starting Camera 2 in background..." - nohup "${SCRIPT_DIR}/scripts/run_pitrac.sh" cam2 > /tmp/pitrac_cam2.log 2>&1 & - local cam2_pid=$! - echo "$cam2_pid" > /tmp/pitrac_cam2.pid - log_success "Camera 2 started with PID: $cam2_pid" - log_info "Log: /tmp/pitrac_cam2.log" - sleep 2 - ;; - 6) - log_info "PiTrac Running Processes:" - echo "" - - # Check Camera 1 - if [ -f /tmp/pitrac_cam1.pid ]; then - local pid=$(cat /tmp/pitrac_cam1.pid) - if kill -0 "$pid" 2>/dev/null; then - log_success "Camera 1: Running (PID: $pid)" - else - log_warn "Camera 1: Not running (stale PID file)" - fi - else - log_info "Camera 1: Not started" - fi - - # Check Camera 2 - if [ -f /tmp/pitrac_cam2.pid ]; then - local pid=$(cat /tmp/pitrac_cam2.pid) - if kill -0 "$pid" 2>/dev/null; then - log_success "Camera 2: Running (PID: $pid)" - else - log_warn "Camera 2: Not running (stale PID file)" - fi - else - log_info "Camera 2: Not started" - fi - - # Check for any pitrac_lm processes - echo "" - log_info "All pitrac_lm processes:" - pgrep -f pitrac_lm && pgrep -f pitrac_lm -a || echo " None found" - ;; - 7) - log_info "Background Process Logs:" - echo "" - - local log_choice - log_choice=$(dialog --clear \ - --title "View Background Logs" \ - --menu "Select log to view:" \ - 10 50 3 \ - 1 "Camera 1 Log" \ - 2 "Camera 2 Log" \ - 3 "Back" \ - 2>&1 >/dev/tty) - - case "$log_choice" in - 1) - if [ -f /tmp/pitrac_cam1.log ]; then - less /tmp/pitrac_cam1.log - else - log_warn "No Camera 1 log found" - fi - ;; - 2) - if [ -f /tmp/pitrac_cam2.log ]; then - less /tmp/pitrac_cam2.log - else - log_warn "No Camera 2 log found" - fi - ;; - esac - ;; - 8) - log_warn "Stopping all PiTrac processes..." - - # Stop using PID files - for pidfile in /tmp/pitrac_cam1.pid /tmp/pitrac_cam2.pid; do - if [ -f "$pidfile" ]; then - local pid=$(cat "$pidfile") - if kill -0 "$pid" 2>/dev/null; then - kill "$pid" - log_info "Stopped process $pid" - fi - rm -f "$pidfile" - fi - done - - # Also kill any remaining pitrac_lm processes - pkill -f pitrac_lm 2>/dev/null && log_info "Killed remaining pitrac_lm processes" - - log_success "All PiTrac processes stopped" - ;; - 9) - log_info "Testing strobe light..." - "${SCRIPT_DIR}/scripts/run_pitrac.sh" test-strobe - ;; - 10) - "${SCRIPT_DIR}/scripts/run_pitrac.sh" test-trigger - ;; - 11) - dialog --msgbox "Edit run configuration:\n\n${SCRIPT_DIR}/scripts/defaults/run-pitrac.yaml\n\nKey settings:\n- pi_mode: single or dual\n- logging_level: info, debug, trace\n- auto_restart: enable auto-restart on failure" 14 60 - ;; - 12) - "${SCRIPT_DIR}/scripts/run_pitrac.sh" help - ;; - esac - - echo - read -rp "Press Enter to continue..." -} - -show_verify_menu() { - local verify_options=() - local i=1 - - for package in "${!PACKAGES[@]}"; do - local status - status=$(show_installation_status "$package") - verify_options+=($i "${PACKAGES[$package]} $status") - ((i++)) - done - - for package in "${!CONFIG_PACKAGES[@]}"; do - local status - status=$(show_installation_status "$package") - verify_options+=($i "${CONFIG_PACKAGES[$package]} $status") - ((i++)) - done - - verify_options+=($i "Verify All Components") - verify_options+=($(($i + 1)) "Go Back to Main Menu") - - local verify_choice - verify_choice=$(dialog --clear \ - --title "Verification Menu" \ - --menu "Select package to verify:" \ - $HEIGHT $WIDTH $MENU_HEIGHT \ - "${verify_options[@]}" \ - 2>&1 >/dev/tty) - - local exit_code=$? - if [ $exit_code -ne 0 ] || [ "$verify_choice" -eq $(($i + 1)) ]; then - return 0 - fi - - clear - - if [ "$verify_choice" -eq $i ]; then - # Verify all packages - verify_all_components - else - local package_index=$((verify_choice - 1)) - - local all_packages_array=(${!PACKAGES[@]} ${!CONFIG_PACKAGES[@]}) - local selected_package="${all_packages_array[$package_index]}" - - if [ -n "$selected_package" ]; then - verify_single_component "$selected_package" - fi - fi - - echo - read -rp "Press Enter to continue..." -} - -verify_all_components() { - log_info "Verifying all installed components..." - - local all_good=true - - for package in "${!PACKAGES[@]}"; do - if "$DEP_RESOLVER" verify "$package" >/dev/null 2>&1; then - log_success "${PACKAGES[$package]}: OK" - else - log_error "${PACKAGES[$package]}: FAILED" - all_good=false - fi - done - - for package in "${!CONFIG_PACKAGES[@]}"; do - if "$DEP_RESOLVER" verify "$package" >/dev/null 2>&1; then - log_success "${CONFIG_PACKAGES[$package]}: OK" - else - log_error "${CONFIG_PACKAGES[$package]}: FAILED" - all_good=false - fi - done - - if $all_good; then - log_success "All components verified successfully" - else - log_warn "Some components failed verification" - fi -} - -verify_single_component() { - local package="$1" - - log_info "Verifying $package..." - - local description="" - if [[ -v PACKAGES[$package] ]]; then - description="${PACKAGES[$package]}" - elif [[ -v CONFIG_PACKAGES[$package] ]]; then - description="${CONFIG_PACKAGES[$package]}" - else - description="$package" - fi - - if "$DEP_RESOLVER" verify "$package"; then - log_success "$description verified successfully" - else - log_error "$description verification failed" - fi -} - -show_maintenance_menu() { - local maintenance_options=( - 1 "Update Package Lists" - 2 "Clean Package Cache" - 3 "Show Disk Usage" - 4 "Rollback Last Installation" - 5 "Reset Installation State" - 6 "Go Back to Main Menu" - ) - - local maintenance_choice - maintenance_choice=$(dialog --clear \ - --title "System Maintenance" \ - --menu "Select maintenance task:" \ - $HEIGHT $WIDTH $MENU_HEIGHT \ - "${maintenance_options[@]}" \ - 2>&1 >/dev/tty) - - local exit_code=$? - if [ $exit_code -ne 0 ] || [ "$maintenance_choice" -eq 6 ]; then - return 0 - fi - - clear - - case "$maintenance_choice" in - 1) - log_info "Updating package lists..." - $SUDO apt-get update - log_success "Package lists updated" - ;; - 2) - log_info "Cleaning package cache..." - $SUDO apt-get clean - $SUDO apt-get autoclean - log_success "Package cache cleaned" - ;; - 3) - log_info "Disk usage summary:" - df -h - echo - log_info "Package cache usage:" - du -sh /var/cache/apt/archives/ - ;; - 4) - dialog --yesno "This will attempt to rollback the last installation. Continue?" 7 60 - if [ $? -eq 0 ]; then - "$DEP_RESOLVER" rollback - fi - ;; - 5) - dialog --yesno "This will reset all installation state. You may need to reinstall everything. Continue?" 8 70 - if [ $? -eq 0 ]; then - rm -f "${SCRIPT_DIR}/scripts/.install.log" - rm -f "${SCRIPT_DIR}/scripts/.rollback.log" - log_info "Installation state reset" - fi - ;; - esac - - echo - read -rp "Press Enter to continue..." -} - -show_test_processing_menu() { - chmod +x "${SCRIPT_DIR}/scripts/test_image_processor.sh" 2>/dev/null || true - chmod +x "${SCRIPT_DIR}/scripts/test_results_server.py" 2>/dev/null || true - - # Ensure test-processor dependencies are installed - if ! "$DEP_RESOLVER" verify test-processor >/dev/null 2>&1; then - dialog --yesno "Test processor dependencies not installed.\n\nInstall now?" 8 50 - if [ $? -eq 0 ]; then - clear - log_info "Installing test processor dependencies..." - if ! "$DEP_RESOLVER" install test-processor; then - log_error "Failed to install test processor dependencies" - read -rp "Press Enter to continue..." - return 1 - fi - else - return 0 - fi - fi - - local test_options=( - 1 "Quick Test with Default Images" - 2 "Test with Custom Images" - 3 "List Available Test Images" - 4 "View Latest Results" - 5 "Start Results Web Server" - 6 "Go Back to Main Menu" - ) - - local test_choice - test_choice=$(dialog --clear \ - --title "Test Image Processing (No Camera)" \ - --menu "Select test option:" \ - $HEIGHT $WIDTH $MENU_HEIGHT \ - "${test_options[@]}" \ - 2>&1 >/dev/tty) - - local exit_code=$? - if [ $exit_code -ne 0 ] || [ "$test_choice" -eq 6 ]; then - return 0 - fi - - clear - - local local_ip - local_ip=$(hostname -I 2>/dev/null | awk '{print $1}') - [ -z "$local_ip" ] && local_ip="localhost" - - case "$test_choice" in - 1) - log_info "Running quick test with default images..." - "${SCRIPT_DIR}/scripts/test_image_processor.sh" quick - if [ $? -eq 0 ]; then - log_success "Test completed successfully" - echo "" - log_info "To view results in browser, run option 5 (Start Results Web Server)" - fi - ;; - 2) - log_info "Test with custom images" - - "${SCRIPT_DIR}/scripts/test_image_processor.sh" list - - echo "" - echo "Press Enter to continue to image selection..." - read -r - - local teed_img - local strobed_img - - local default_teed="${TEST_DIR:-${PITRAC_ROOT:-$(dirname "$SCRIPT_DIR")}/TestImages}/custom/teed.png" - local default_strobed="${TEST_DIR:-${PITRAC_ROOT:-$(dirname "$SCRIPT_DIR")}/TestImages}/custom/strobed.png" - - teed_img=$(dialog --inputbox "Enter path to teed ball image:" 8 70 "$default_teed" 2>&1 >/dev/tty) - if [ $? -ne 0 ]; then - log_info "Cancelled" - return 0 - fi - - strobed_img=$(dialog --inputbox "Enter path to strobed image:" 8 70 "$default_strobed" 2>&1 >/dev/tty) - if [ $? -ne 0 ]; then - log_info "Cancelled" - return 0 - fi - - clear - - if [ -n "$teed_img" ] && [ -n "$strobed_img" ]; then - "${SCRIPT_DIR}/scripts/test_image_processor.sh" custom "$teed_img" "$strobed_img" - else - log_warn "Test cancelled - images not specified" - fi - ;; - 3) - log_info "Listing available test images..." - "${SCRIPT_DIR}/scripts/test_image_processor.sh" list - ;; - 4) - log_info "Viewing latest test results..." - "${SCRIPT_DIR}/scripts/test_image_processor.sh" results - ;; - 5) - log_info "Starting test results web server..." - - # Check if running over SSH - if [ -n "${SSH_CONNECTION:-}" ]; then - dialog --msgbox "Web server on port 8080\n\nSSH tunnel:\nssh -L 8080:localhost:8080 $(whoami)@${local_ip}\n\nDirect:\nhttp://${local_ip}:8080\n\nCtrl+C to stop" 12 60 - else - dialog --msgbox "Web server on port 8080\n\nLocal: http://localhost:8080\nNetwork: http://${local_ip}:8080\n\nCtrl+C to stop" 10 50 - fi - - python3 "${SCRIPT_DIR}/scripts/test_results_server.py" - ;; - esac - - echo - read -rp "Press Enter to continue..." -} - -show_logs_menu() { - local log_files=( - "${SESSION_LOG}" - "${SCRIPT_DIR}/scripts/.install.log" - "/var/log/apt/history.log" - ) - - local log_options=( - 1 "View Current Session Log" - 2 "View Installation Log" - 3 "View APT History" - 4 "View All Logs" - 5 "Go Back to Main Menu" - ) - - local log_choice - log_choice=$(dialog --clear \ - --title "View Logs" \ - --menu "Select log to view:" \ - $HEIGHT $WIDTH $MENU_HEIGHT \ - "${log_options[@]}" \ - 2>&1 >/dev/tty) - - local exit_code=$? - if [ $exit_code -ne 0 ] || [ "$log_choice" -eq 5 ]; then - return 0 - fi - - clear - - case "$log_choice" in - 1|2|3) - local log_file="${log_files[$((log_choice - 1))]}" - if [ -f "$log_file" ]; then - log_info "Viewing: $log_file" - less "$log_file" - else - log_warn "Log file not found: $log_file" - fi - ;; - 4) - log_info "Viewing all available logs:" - for log_file in "${log_files[@]}"; do - if [ -f "$log_file" ]; then - echo "=== $log_file ===" - tail -n 20 "$log_file" - echo - fi - done | less - ;; - esac -} - -# Main -main() { - # Initialize session - init_session - - # Perform initial checks - check_internet_connectivity - install_prerequisites - - # Show menu - show_main_menu - - # Cleanup - clear - log_success "PiTrac installer session completed" -} - -# Handle signals gracefully -trap 'log_error "Installation interrupted"; cleanup_session; exit 1' INT TERM - -# Run if called directly -main "$@" diff --git a/archived/Dev/scripts/.install.log b/archived/Dev/scripts/.install.log deleted file mode 100644 index 459f547f..00000000 --- a/archived/Dev/scripts/.install.log +++ /dev/null @@ -1 +0,0 @@ -# PiTrac installation log - Thu Aug 14 15:05:28 EDT 2025 diff --git a/archived/Dev/scripts/.rollback.log b/archived/Dev/scripts/.rollback.log deleted file mode 100644 index 6601927d..00000000 --- a/archived/Dev/scripts/.rollback.log +++ /dev/null @@ -1 +0,0 @@ -# PiTrac rollback log - Thu Aug 14 15:05:28 EDT 2025 diff --git a/archived/Dev/scripts/__pycache__/test_results_server.cpython-312.pyc b/archived/Dev/scripts/__pycache__/test_results_server.cpython-312.pyc deleted file mode 100644 index 226ba49b..00000000 Binary files a/archived/Dev/scripts/__pycache__/test_results_server.cpython-312.pyc and /dev/null differ diff --git a/archived/Dev/scripts/build_pitrac.sh b/archived/Dev/scripts/build_pitrac.sh deleted file mode 100755 index c96c2f4b..00000000 --- a/archived/Dev/scripts/build_pitrac.sh +++ /dev/null @@ -1,446 +0,0 @@ -#!/usr/bin/env bash -set -euo pipefail - -# PiTrac Build Script -SCRIPT_DIR="$(cd -- "$(dirname "$0")" >/dev/null 2>&1 && pwd)" -source "${SCRIPT_DIR}/common.sh" - -# Load defaults from config file -load_defaults "pitrac-build" "$@" - -# Configuration from defaults -PITRAC_REPO="${PITRAC_REPO:-https://github.com/pitraclm/pitrac.git}" -PITRAC_BRANCH="${PITRAC_BRANCH:-main}" -PITRAC_PR="${PITRAC_PR:-0}" -BUILD_DIR="${BUILD_DIR:-$HOME/Dev}" -BUILD_DIR="${BUILD_DIR/#\~/$HOME}" # Expand tilde -PITRAC_DIR="${BUILD_DIR}/PiTrac" -FORCE_CLONE="${FORCE_CLONE:-0}" -SETUP_GUI="${SETUP_GUI:-1}" -CONFIGURE_SHELL="${CONFIGURE_SHELL:-0}" -BUILD_CORES="${BUILD_CORES:-0}" -CLEAN_BUILD="${CLEAN_BUILD:-0}" -SKIP_GIT_PULL="${SKIP_GIT_PULL:-0}" - -PITRAC_SLOT1_CAMERA_TYPE="${PITRAC_SLOT1_CAMERA_TYPE:-4}" -PITRAC_SLOT2_CAMERA_TYPE="${PITRAC_SLOT2_CAMERA_TYPE:-4}" -PITRAC_MSG_BROKER_FULL_ADDRESS="${PITRAC_MSG_BROKER_FULL_ADDRESS:-tcp://localhost:61616}" -PITRAC_BASE_IMAGE_LOGGING_DIR="${PITRAC_BASE_IMAGE_LOGGING_DIR:-~/LM_Shares/Images/}" -PITRAC_WEBSERVER_SHARE_DIR="${PITRAC_WEBSERVER_SHARE_DIR:-~/LM_Shares/WebShare/}" - -# Check if PiTrac is already cloned -check_pitrac_source() { - if [ -d "$PITRAC_DIR" ]; then - if [ -d "$PITRAC_DIR/.git" ]; then - log_success "PiTrac source found at $PITRAC_DIR" - - cd "$PITRAC_DIR" - local current_branch - current_branch=$(git rev-parse --abbrev-ref HEAD 2>/dev/null || echo "unknown") - log_info "Current branch: $current_branch" - - if [ "$current_branch" != "$PITRAC_BRANCH" ] && [ "$FORCE_CLONE" = "0" ]; then - log_warn "Repository is on branch '$current_branch' but config specifies '$PITRAC_BRANCH'" - if ! is_non_interactive; then - read -p "Switch to branch $PITRAC_BRANCH? (y/N): " -n 1 -r - echo - if [[ $REPLY =~ ^[Yy]$ ]]; then - git checkout "$PITRAC_BRANCH" || log_error "Failed to switch branch" - fi - fi - fi - return 0 - else - log_warn "Directory exists but is not a git repository" - return 1 - fi - fi - return 1 -} - -# Clone or update PiTrac -get_pitrac_source() { - if [ "$FORCE_CLONE" = "1" ] && [ -d "$PITRAC_DIR" ]; then - log_warn "Force clone requested, removing existing repository..." - rm -rf "$PITRAC_DIR" - fi - - if check_pitrac_source; then - # Ask user if they want to skip git pull (unless already set) - if [ "$SKIP_GIT_PULL" != "1" ] && ! is_non_interactive; then - log_info "Repository found at $PITRAC_DIR" - read -p "Skip git pull/fetch and use existing code? (y/N): " -n 1 -r - echo - if [[ $REPLY =~ ^[Yy]$ ]]; then - SKIP_GIT_PULL=1 - fi - fi - - if [ "$SKIP_GIT_PULL" = "1" ]; then - log_info "Skipping git pull (using existing code)" - cd "$PITRAC_DIR" - else - log_info "Updating existing PiTrac repository..." - cd "$PITRAC_DIR" - - if ! git diff --quiet || ! git diff --cached --quiet; then - log_warn "Local changes detected, stashing..." - git stash push -m "Auto-stash before update $(date +%Y%m%d_%H%M%S)" - fi - - if [ "$PITRAC_PR" != "0" ] && [ -n "$PITRAC_PR" ]; then - log_info "Fetching and checking out pull request #$PITRAC_PR..." - git fetch origin "pull/$PITRAC_PR/head:pr-$PITRAC_PR" - git checkout "pr-$PITRAC_PR" - else - git fetch origin - git pull origin "$PITRAC_BRANCH" || log_warn "Could not update (might have conflicts)" - fi - fi - else - log_info "Cloning PiTrac repository..." - mkdir -p "$BUILD_DIR" - cd "$BUILD_DIR" - - if ! git clone "$PITRAC_REPO"; then - log_error "Failed to clone PiTrac repository" - return 1 - fi - - cd "$PITRAC_DIR" - - if [ "$PITRAC_PR" != "0" ] && [ -n "$PITRAC_PR" ]; then - log_info "Fetching and checking out pull request #$PITRAC_PR..." - git fetch origin "pull/$PITRAC_PR/head:pr-$PITRAC_PR" - git checkout "pr-$PITRAC_PR" - elif [ "$PITRAC_BRANCH" != "main" ]; then - log_info "Checking out branch: $PITRAC_BRANCH" - git checkout "$PITRAC_BRANCH" || git checkout -b "$PITRAC_BRANCH" "origin/$PITRAC_BRANCH" - fi - - if [ ! -d "$PITRAC_DIR" ]; then - log_error "Repository cloned but directory not found" - return 1 - fi - - log_success "Repository cloned successfully" - fi - return 0 -} - -# Setup environment variables -setup_environment() { - log_info "Setting up PiTrac environment variables..." - - local detected_root="$(detect_pitrac_root)" - if [ -d "$detected_root" ]; then - export PITRAC_ROOT="$detected_root" - else - export PITRAC_ROOT="${PITRAC_DIR}/Software/LMSourceCode" - fi - - if [ "$CONFIGURE_SHELL" != "1" ]; then - log_info "Skipping shell configuration (CONFIGURE_SHELL=0)" - return 0 - fi - - if grep -q "PITRAC_ROOT" ~/.bashrc 2>/dev/null || grep -q "PITRAC_ROOT" ~/.zshrc 2>/dev/null; then - log_info "Environment variables already configured in shell profile" - return 0 - fi - - local env_setup=" -# PiTrac Build Environment Variables (if not already set) -export PITRAC_ROOT=${PITRAC_ROOT} -export PITRAC_BASE_IMAGE_LOGGING_DIR=${PITRAC_BASE_IMAGE_LOGGING_DIR} -export PITRAC_WEBSERVER_SHARE_DIR=${PITRAC_WEBSERVER_SHARE_DIR} -export PITRAC_MSG_BROKER_FULL_ADDRESS=${PITRAC_MSG_BROKER_FULL_ADDRESS} - -export PITRAC_SLOT1_CAMERA_TYPE=${PITRAC_SLOT1_CAMERA_TYPE} -export PITRAC_SLOT2_CAMERA_TYPE=${PITRAC_SLOT2_CAMERA_TYPE} - -export LIBCAMERA_RPI_CONFIG_FILE=${LIBCAMERA_RPI_CONFIG_FILE:-/usr/share/libcamera/pipeline/rpi/pisp/rpi_apps.yaml} -" - - for profile in ~/.bashrc ~/.zshrc; do - if [ -f "$profile" ]; then - echo "$env_setup" >> "$profile" - log_success "Added environment variables to $profile" - fi - done - - eval "$env_setup" -} - -# Configure libcamera timeout -configure_libcamera_timeout() { - log_info "Configuring libcamera timeout..." - - local rpi_config_dirs=( - "/usr/share/libcamera/pipeline/rpi/pisp" - "/usr/share/libcamera/pipeline/rpi/vc4" - "/usr/local/share/libcamera/pipeline/rpi/pisp" - "/usr/local/share/libcamera/pipeline/rpi/vc4" - ) - - for dir in "${rpi_config_dirs[@]}"; do - if [ -d "$dir" ]; then - local yaml_file="$dir/rpi_apps.yaml" - - if [ ! -f "$yaml_file" ] && [ -f "$dir/example.yaml" ]; then - log_info "Creating rpi_apps.yaml from example in $dir" - $SUDO cp "$dir/example.yaml" "$yaml_file" - fi - - if [ -f "$yaml_file" ]; then - if ! grep -q "camera_timeout_value_ms" "$yaml_file" 2>/dev/null; then - log_info "Adding timeout to $yaml_file" - log_warn "Please manually add 'camera_timeout_value_ms: 1000000' to $yaml_file" - else - log_success "Timeout already configured in $yaml_file" - fi - fi - fi - done -} - -# Copy camera configs -copy_camera_configs() { - log_info "Copying camera configuration files..." - - local pi_model=$(detect_pi_model) - local src_dir="${PITRAC_ROOT}/ImageProcessing" - - if [ ! -d "$src_dir" ]; then - log_error "ImageProcessing directory not found at $src_dir" - return 1 - fi - - if [ "$pi_model" = "5" ]; then - if [ -f "$src_dir/imx296_noir.json.PI_5_FOR_PISP_DIRECTORY" ]; then - $SUDO cp "$src_dir/imx296_noir.json.PI_5_FOR_PISP_DIRECTORY" \ - "/usr/share/libcamera/ipa/rpi/pisp/imx296_noir.json" - log_success "Copied Pi 5 camera config" - fi - elif [ "$pi_model" = "4" ]; then - if [ -f "$src_dir/imx296_noir.json.PI_4_FOR_VC4_DIRECTORY" ]; then - $SUDO cp "$src_dir/imx296_noir.json.PI_4_FOR_VC4_DIRECTORY" \ - "/usr/share/libcamera/ipa/rpi/vc4/imx296_noir.json" - log_success "Copied Pi 4 camera config" - fi - else - log_warn "Unknown Pi model, skipping camera config copy" - fi -} - -# Build PiTrac -build_pitrac() { - log_info "Building PiTrac Launch Monitor..." - - local dep_resolver="${SCRIPT_DIR}/dep_resolver.sh" - if [ -f "$dep_resolver" ]; then - log_info "Checking and installing dependencies..." - local deps_line=$(grep "^pitrac-build:" "${SCRIPT_DIR}/deps.conf" | cut -d: -f2) - local deps=(${deps_line//,/ }) - - for dep in "${deps[@]}"; do - if [ -n "$dep" ] && [ "$dep" != "function" ]; then - log_info "Checking dependency: $dep" - if ! "$dep_resolver" verify "$dep" >/dev/null 2>&1; then - log_info "Installing $dep..." - if ! "$dep_resolver" install "$dep"; then - log_error "Failed to install $dep" - return 1 - fi - fi - fi - done - else - log_warn "Dependency resolver not found, continuing without dependency check" - fi - - run_preflight_checks "pitrac-build" || return 1 - - local build_dir="${PITRAC_ROOT}/ImageProcessing" - - if [ ! -d "$build_dir" ]; then - log_error "ImageProcessing directory not found at $build_dir" - log_error "Make sure PiTrac repository is properly cloned" - return 1 - fi - - cd "$build_dir" - - local arch=$(uname -m) - if [ "$arch" = "x86_64" ]; then - log_info "Checking for ARM object files that need to be excluded..." - for obj_file in *.o; do - if [ -f "$obj_file" ]; then - if file "$obj_file" 2>/dev/null | grep -q "ARM\|aarch64"; then - if [ ! -f "${obj_file}.bak" ]; then - log_info "Moving ARM object file to backup: $obj_file -> ${obj_file}.bak" - mv "$obj_file" "${obj_file}.bak" - else - log_info "Removing ARM object file (backup exists): $obj_file" - rm -f "$obj_file" - fi - fi - fi - done - fi - - if [ -f "create_closed_source_objects.sh" ]; then - chmod +x create_closed_source_objects.sh - fi - - if [ "$CLEAN_BUILD" = "1" ] && [ -d "build" ]; then - log_info "Cleaning existing build directory..." - rm -rf build - fi - - if [ -f "${SCRIPT_DIR}/patch_meson_x86.sh" ]; then - chmod +x "${SCRIPT_DIR}/patch_meson_x86.sh" - "${SCRIPT_DIR}/patch_meson_x86.sh" "./meson.build" - else - local arch=$(uname -m) - if [ "$arch" != "armv7l" ] && [ "$arch" != "aarch64" ]; then - log_warn "Patch script not found, applying inline patch for x86_64..." - if [ ! -f "meson.build.original" ]; then - cp meson.build meson.build.original - fi - if ! grep -q "neon = \[\]" meson.build; then - sed -i "1i # Patched for x86_64 compatibility\nneon = []\nuse_neon = false\n" meson.build - fi - fi - fi - - log_info "Setting up build with meson..." - if [ -d "build" ]; then - log_info "Build directory exists, cleaning for fresh build..." - rm -rf build - fi - - if ! meson setup build; then - log_error "Meson setup failed" - return 1 - fi - - local cores="$BUILD_CORES" - if [ "$cores" = "0" ]; then - cores=$(get_cpu_cores) - fi - - local total_mem - total_mem=$(free -m | awk 'NR==2 {print $2}') - if [ "$total_mem" -lt 4096 ]; then - cores=2 - log_warn "Low memory detected, using only $cores cores for compilation" - fi - - log_info "Compiling PiTrac with $cores cores (this may take a while)..." - - if run_with_progress "ninja -C build -j$cores" "Building PiTrac" "/tmp/pitrac_build.log"; then - log_success "PiTrac build completed successfully!" - else - log_error "Build failed. Check /tmp/pitrac_build.log for details" - return 1 - fi - - log_info "Testing build..." - if [ -f "build/pitrac_lm" ]; then - if [ -x "build/pitrac_lm" ]; then - local output - output=$(build/pitrac_lm --help 2>&1 | head -1 || true) - if [ -n "$output" ]; then - log_success "PiTrac Launch Monitor built successfully!" - log_info "Binary location: $(pwd)/build/pitrac_lm" - else - log_warn "Binary exists but produces no output (may require hardware)" - log_success "Build completed - binary created at $(pwd)/build/pitrac_lm" - fi - else - log_error "Launch Monitor binary not executable" - return 1 - fi - else - log_error "Launch Monitor binary not found" - return 1 - fi -} - -# Setup GUI (Python web server is now used instead of TomEE) -setup_gui() { - if [ "$SETUP_GUI" != "1" ]; then - log_info "Skipping GUI setup (SETUP_GUI=0)" - return 0 - fi - - log_info "Python web server is now used for the GUI (available in packaging/build.sh dev mode)" - log_info "The web interface has been migrated from Java/TomEE to Python Flask" - - local ip_addr - ip_addr=$(hostname -I | awk '{print $1}') - log_info "After installation, access the GUI at: http://${ip_addr}:8080" -} - -is_pitrac_built() { - [ -f "${PITRAC_ROOT}/ImageProcessing/build/pitrac_lm" ] && \ - "${PITRAC_ROOT}/ImageProcessing/build/pitrac_lm" --help >/dev/null 2>&1 -} - -main() { - log_info "=== PiTrac Build Process ===" - - local missing_deps=() - - if ! need_cmd meson; then - missing_deps+=("meson") - fi - - if ! need_cmd ninja; then - missing_deps+=("ninja-build") - fi - - if ! need_cmd git; then - missing_deps+=("git") - fi - - if [ ${#missing_deps[@]} -gt 0 ]; then - log_error "Missing required tools: ${missing_deps[*]}" - log_info "Installing missing dependencies..." - apt_ensure "${missing_deps[@]}" - fi - - if ! get_pitrac_source; then - log_error "Failed to get PiTrac source code" - return 1 - fi - - setup_environment - - configure_libcamera_timeout - copy_camera_configs - - if ! build_pitrac; then - log_error "Build failed" - return 1 - fi - - # GUI setup is now handled by Python web server - setup_gui - - log_success "=== PiTrac Build Complete ===" - log_info "" - log_info "Next steps:" - if [ "$CONFIGURE_SHELL" = "1" ]; then - log_info "1. Restart your shell or run: source ~/.bashrc" - fi - log_info "2. Test the launch monitor: $PITRAC_ROOT/ImageProcessing/build/pitrac_lm --help" - log_info "3. Configure your cameras and start testing!" - - return 0 -} - -if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then - main "$@" -fi \ No newline at end of file diff --git a/archived/Dev/scripts/common.sh b/archived/Dev/scripts/common.sh deleted file mode 100644 index af4295d5..00000000 --- a/archived/Dev/scripts/common.sh +++ /dev/null @@ -1,756 +0,0 @@ -#!/usr/bin/env bash -# Common utilities for PiTrac installation scripts - -# Handle sudo for both Docker and Pi -SUDO="" -if command -v sudo >/dev/null 2>&1 && [ "$(id -u)" -ne 0 ]; then - SUDO="sudo" -fi -export DEBIAN_FRONTEND=noninteractive - -# Colors for output -RED='\033[0;31m' -GREEN='\033[0;32m' -YELLOW='\033[1;33m' -BLUE='\033[0;34m' -CYAN='\033[0;36m' -NC='\033[0m' # No Color - -# Logging functions -log_info() { echo -e "${BLUE}[INFO]${NC} $*"; } -log_warn() { echo -e "${YELLOW}[WARN]${NC} $*"; } -log_error() { echo -e "${RED}[ERROR]${NC} $*"; } -log_success() { echo -e "${GREEN}[SUCCESS]${NC} $*"; } -log_progress() { echo -e "${CYAN}[PROGRESS]${NC} $*"; } - -# Check if command exists -need_cmd() { - command -v "$1" >/dev/null 2>&1 -} - -# Package management helper -apt_ensure() { - local need=() - for p in "$@"; do - if ! dpkg -s "$p" >/dev/null 2>&1; then - need+=("$p") - fi - done - - if [ "${#need[@]}" -gt 0 ]; then - log_info "Installing system packages: ${need[*]}" - $SUDO apt-get update - $SUDO apt-get install -y --no-install-recommends "${need[@]}" - fi -} - -# Version comparison helper with fallback -version_ge() { - # Try dpkg first (most accurate) - if command -v dpkg >/dev/null 2>&1; then - dpkg --compare-versions "$1" ge "$2" 2>/dev/null && return 0 - fi - - # Fallback to simple version comparison - version_compare_fallback "$1" "$2" -} - -# Simple version comparison fallback -version_compare_fallback() { - local version1="$1" - local version2="$2" - - # Handle empty versions - [ -z "$version1" ] && return 1 - [ -z "$version2" ] && return 0 - - # Same version - [ "$version1" = "$version2" ] && return 0 - - # Compare using sort -V if available - if command -v sort >/dev/null 2>&1; then - [ "$(printf '%s\n' "$version2" "$version1" | sort -V | head -n1)" = "$version2" ] && return 0 - fi - - # Basic numeric comparison for simple versions - local IFS=. - local i ver1=($version1) ver2=($version2) - - # Fill empty fields with zeros - for ((i=${#ver1[@]}; i<${#ver2[@]}; i++)); do - ver1[i]=0 - done - - for ((i=0; i<${#ver1[@]}; i++)); do - # Handle missing parts in ver2 - if [ -z "${ver2[i]:-}" ]; then - ver2[i]=0 - fi - - # Compare numeric parts only - local num1="${ver1[i]//[^0-9]/}" - local num2="${ver2[i]//[^0-9]/}" - - [ -z "$num1" ] && num1=0 - [ -z "$num2" ] && num2=0 - - if ((10#$num1 > 10#$num2)); then - return 0 - elif ((10#$num1 < 10#$num2)); then - return 1 - fi - done - - return 0 -} - -# Extract version from various formats -extract_version() { - local input="$1" - local pattern="${2:-[0-9]+(\.[0-9]+)+}" - - # Try to extract version number - echo "$input" | grep -oE "$pattern" | head -1 -} - -# Get version with multiple fallback methods -get_package_version() { - local package="$1" - local version="" - - case "$package" in - opencv) - # Try pkg-config first - if command -v pkg-config >/dev/null 2>&1 && pkg-config --exists opencv4 2>/dev/null; then - version=$(pkg-config --modversion opencv4 2>/dev/null) - # Try Python cv2 - elif command -v python3 >/dev/null 2>&1; then - version=$(python3 -c "import cv2; print(cv2.__version__)" 2>/dev/null || true) - # Try opencv_version command - elif command -v opencv_version >/dev/null 2>&1; then - version=$(opencv_version 2>/dev/null | head -1) - fi - ;; - - java) - if command -v java >/dev/null 2>&1; then - # Try different Java version formats - version=$(java -version 2>&1 | grep -E "version|openjdk" | head -1 | grep -oE '[0-9]+(\.[0-9]+)+' | head -1) - fi - ;; - - activemq-broker) - if [ -x "/opt/apache-activemq/bin/activemq" ]; then - version=$(/opt/apache-activemq/bin/activemq --version 2>/dev/null | grep -oE '[0-9]+(\.[0-9]+)+' | head -1) - fi - ;; - - tomee) - if [ -f "/opt/tomee/.tomee-version" ]; then - version=$(cat "/opt/tomee/.tomee-version") - elif [ -d "/opt/tomee/lib" ]; then - version=$(ls /opt/tomee/lib/tomee-*.jar 2>/dev/null | head -1 | grep -oE '[0-9]+(\.[0-9]+)+' | head -1) - fi - ;; - - *) - # Generic version detection - if command -v "$package" >/dev/null 2>&1; then - # Try common version flags - for flag in --version -version -v -V version; do - version=$("$package" $flag 2>&1 | grep -oE '[0-9]+(\.[0-9]+)+' | head -1) - [ -n "$version" ] && break - done - fi - ;; - esac - - echo "${version:-unknown}" -} - -# Global array to track temp directories for cleanup -declare -a TEMP_DIRS_TO_CLEAN=() - -# Cleanup function for all temp directories -cleanup_all_temp_dirs() { - local dir - for dir in "${TEMP_DIRS_TO_CLEAN[@]}"; do - if [ -n "$dir" ] && [ -d "$dir" ]; then - log_info "Cleaning up temporary directory: $dir" - rm -rf "$dir" - fi - done - TEMP_DIRS_TO_CLEAN=() -} - -# Set up cleanup trap once -if [ -z "${CLEANUP_TRAP_SET:-}" ]; then - trap cleanup_all_temp_dirs EXIT INT TERM - export CLEANUP_TRAP_SET=1 -fi - -# Create temporary directory with automatic cleanup -create_temp_dir() { - local prefix="${1:-pitrac}" - local temp_dir - temp_dir=$(mktemp -d "/tmp/${prefix}.XXXXXX") - - if [ -z "$temp_dir" ] || [ ! -d "$temp_dir" ]; then - log_error "Failed to create temporary directory" - return 1 - fi - - # Add to cleanup list - TEMP_DIRS_TO_CLEAN+=("$temp_dir") - - echo "$temp_dir" - return 0 -} - -# Create build directory with cleanup -create_build_dir() { - local build_dir="${1:-/tmp/build}" - local clean_existing="${2:-1}" - - # Clean existing directory if requested - if [ -d "$build_dir" ] && [ "$clean_existing" = "1" ]; then - log_info "Cleaning existing build directory: $build_dir" - rm -rf "$build_dir" - fi - - # Create directory - mkdir -p "$build_dir" - - # Add to cleanup list if it's in /tmp - if [[ "$build_dir" == /tmp/* ]]; then - TEMP_DIRS_TO_CLEAN+=("$build_dir") - fi - - echo "$build_dir" - return 0 -} - -# Run comprehensive pre-flight checks -run_preflight_checks() { - local package="${1:-}" - local skip_checks="${SKIP_PREFLIGHT:-0}" - - if [ "$skip_checks" = "1" ]; then - log_warn "Skipping pre-flight checks (SKIP_PREFLIGHT=1)" - return 0 - fi - - log_info "Running pre-flight checks..." - local checks_passed=true - - # Check internet connectivity - if ! check_internet; then - log_error "Internet connectivity check failed" - checks_passed=false - else - log_success "Internet connectivity: OK" - fi - - # Check disk space based on package - local required_space=100 - case "$package" in - opencv) required_space=4096 ;; - libcamera) required_space=2048 ;; - activemq-broker) required_space=512 ;; - tomee) required_space=256 ;; - activemq-cpp) required_space=1024 ;; - esac - - if ! check_disk_space "$required_space"; then - checks_passed=false - else - log_success "Disk space: OK (${required_space}MB required)" - fi - - # Check system requirements - if ! check_system_requirements "$package"; then - checks_passed=false - fi - - # Check for required commands - if ! check_required_commands "$package"; then - checks_passed=false - fi - - if [ "$checks_passed" = false ]; then - log_error "Pre-flight checks failed" - if is_non_interactive; then - return 1 - fi - read -p "Continue anyway? (y/N): " -n 1 -r - echo - if [[ ! $REPLY =~ ^[Yy]$ ]]; then - return 1 - fi - else - log_success "All pre-flight checks passed" - fi - - return 0 -} - -# Check disk space (in MB) -check_disk_space() { - local required_mb="${1:-100}" - local path="${2:-.}" - - local available_mb - available_mb=$(df -BM "$path" | awk 'NR==2 {print $4}' | sed 's/M//') - - if [ "$available_mb" -lt "$required_mb" ]; then - log_error "Insufficient disk space: ${available_mb}MB available, ${required_mb}MB required" - return 1 - fi - - return 0 -} - -# Check internet connectivity -check_internet() { - local test_hosts=("8.8.8.8" "1.1.1.1") - - for host in "${test_hosts[@]}"; do - if ping -c 1 -W 2 "$host" >/dev/null 2>&1; then - return 0 - fi - done - - # Try HTTP as fallback - if command -v curl >/dev/null 2>&1; then - if curl -fsS --max-time 5 "http://www.google.com/generate_204" >/dev/null 2>&1; then - return 0 - fi - elif command -v wget >/dev/null 2>&1; then - if wget -q --timeout=5 -O /dev/null "http://www.google.com/generate_204" 2>/dev/null; then - return 0 - fi - fi - - return 1 -} - -# Check system requirements -check_system_requirements() { - local package="${1:-}" - - # Check if running on Raspberry Pi for Pi-specific packages - if [[ "$package" =~ ^(system-config|camera-config|pitrac-environment)$ ]]; then - if ! grep -q "Raspberry Pi" /proc/cpuinfo 2>/dev/null; then - log_warn "Package $package is designed for Raspberry Pi" - if is_non_interactive; then - return 1 - fi - fi - fi - - # Check CPU cores for compilation - if [[ "$package" =~ ^(opencv|libcamera|activemq-cpp)$ ]]; then - local cpu_cores - cpu_cores=$(nproc 2>/dev/null || echo 1) - if [ "$cpu_cores" -lt 2 ]; then - log_warn "Only $cpu_cores CPU core(s) detected. Compilation will be slow." - else - log_info "CPU cores: $cpu_cores" - fi - fi - - # Check memory - local total_mem - if command -v free >/dev/null 2>&1; then - total_mem=$(free -m | awk 'NR==2 {print $2}') - elif [ -r /proc/meminfo ]; then - # Fallback to /proc/meminfo if free is not available - total_mem=$(awk '/MemTotal/ {print int($2/1024)}' /proc/meminfo) - else - # If we can't determine memory, skip the check - log_info "Memory check skipped (unable to determine)" - total_mem=999999 # Set a high value to pass checks - fi - - if [ -n "$total_mem" ] && [ "$total_mem" -lt 512 ]; then - log_warn "Low memory detected: ${total_mem}MB. Some installations may fail." - if [[ "$package" =~ ^(opencv|libcamera)$ ]] && [ "$total_mem" -lt 1024 ]; then - log_error "Insufficient memory for $package compilation (need at least 1GB)" - return 1 - fi - elif [ -n "$total_mem" ]; then - log_info "Memory: ${total_mem}MB" - fi - - return 0 -} - -# Check for required commands -check_required_commands() { - local package="${1:-}" - local missing_cmds=() - - # Basic required commands for all packages - local basic_cmds=("wget" "curl" "tar" "unzip") - - # Package-specific requirements - case "$package" in - opencv|libcamera|activemq-cpp) - basic_cmds+=("git" "cmake" "make" "gcc" "g++") - ;; - java|tomee|activemq-broker) - basic_cmds+=("java") - ;; - esac - - for cmd in "${basic_cmds[@]}"; do - if ! command -v "$cmd" >/dev/null 2>&1; then - missing_cmds+=("$cmd") - fi - done - - if [ ${#missing_cmds[@]} -gt 0 ]; then - log_warn "Missing required commands: ${missing_cmds[*]}" - log_info "Installing missing commands..." - apt_ensure "${missing_cmds[@]}" - fi - - return 0 -} - -# Progress bar for long operations -show_progress() { - local current="$1" - local total="$2" - local label="${3:-Progress}" - local width=50 - - local percentage=$((current * 100 / total)) - local filled=$((percentage * width / 100)) - - printf "\r%s: [" "$label" - printf "%${filled}s" | tr ' ' '=' - printf "%$((width - filled))s" | tr ' ' '-' - printf "] %d%% (%d/%d)" "$percentage" "$current" "$total" - - if [ "$current" -eq "$total" ]; then - echo # New line when complete - fi -} - -# Spinner for indeterminate progress -show_spinner() { - local pid=$1 - local label="${2:-Working}" - local spin='⣾⣽⣻⢿⡿⣟⣯⣷' - local i=0 - - while kill -0 $pid 2>/dev/null; do - i=$(( (i+1) % ${#spin} )) - printf "\r%s %s " "$label" "${spin:$i:1}" - sleep 0.1 - done - - printf "\r%s Done! \n" "$label" -} - -# Monitor compilation with progress -monitor_compilation() { - local build_dir="${1:-}" - local label="${2:-Compiling}" - local total_files="${3:-0}" - - if [ "$total_files" -eq 0 ] && [ -n "$build_dir" ] && [ -d "$build_dir" ]; then - # Try to estimate total files - total_files=$(find "$build_dir" -name "*.cpp" -o -name "*.c" -o -name "*.cc" 2>/dev/null | wc -l) - [ "$total_files" -eq 0 ] && total_files=100 # Default estimate - fi - - local compiled=0 - local start_time=$(date +%s) - - while IFS= read -r line; do - # Check for compilation progress indicators - if [[ "$line" =~ \[([0-9]+)/([0-9]+)\] ]]; then - # Format: [X/Y] - compiled="${BASH_REMATCH[1]}" - total_files="${BASH_REMATCH[2]}" - show_progress "$compiled" "$total_files" "$label" - elif [[ "$line" =~ \[\ *([0-9]+)%\] ]]; then - # Format: [X%] - local percent="${BASH_REMATCH[1]}" - if [ "$total_files" -gt 0 ]; then - compiled=$((total_files * percent / 100)) - else - compiled="$percent" - total_files="100" - fi - - show_progress "$compiled" "$total_files" "$label" - elif [[ "$line" =~ Building|Compiling|Linking ]]; then - ((compiled++)) - show_progress "$compiled" "$total_files" "$label" - elif [[ "$line" =~ error:|Error:|ERROR: ]]; then - # Show errors in red - echo -e "\n${RED}$line${NC}" - elif [[ "$line" =~ warning:|Warning:|WARNING: ]]; then - # Show warnings in yellow (optional) - [ "${SHOW_WARNINGS:-0}" = "1" ] && echo -e "\n${YELLOW}$line${NC}" - fi - - # Save to log if specified - [ -n "${BUILD_LOG:-}" ] && echo "$line" >> "$BUILD_LOG" - done - - local end_time=$(date +%s) - local duration=$((end_time - start_time)) - - echo # New line after progress - log_success "$label completed in $(format_duration $duration)" -} - -# Format duration in human-readable form -format_duration() { - local seconds=$1 - local hours=$((seconds / 3600)) - local minutes=$(((seconds % 3600) / 60)) - local secs=$((seconds % 60)) - - if [ $hours -gt 0 ]; then - printf "%dh %dm %ds" $hours $minutes $secs - elif [ $minutes -gt 0 ]; then - printf "%dm %ds" $minutes $secs - else - printf "%ds" $secs - fi -} - -# Run command with progress monitoring -run_with_progress() { - local cmd="$1" - local label="${2:-Running}" - local log_file="${3:-}" - - log_info "$label: $cmd" - - if [ -n "$log_file" ]; then - # Run with logging - ( $cmd 2>&1 | tee "$log_file" | monitor_compilation "" "$label" ) & - else - # Run without logging - ( $cmd 2>&1 | monitor_compilation "" "$label" ) & - fi - - local cmd_pid=$! - - # Wait for command to complete - wait $cmd_pid - local exit_code=$? - - if [ $exit_code -eq 0 ]; then - log_success "$label completed successfully" - else - log_error "$label failed with exit code $exit_code" - [ -n "$log_file" ] && log_error "Check log file: $log_file" - fi - - return $exit_code -} - -# Download with progress -download_with_progress() { - local url="$1" - local output="${2:-}" - local label="${3:-Downloading}" - - if [ -z "$output" ]; then - output=$(basename "$url") - fi - - log_info "$label from: $url" - - if command -v wget >/dev/null 2>&1; then - { - wget --progress=bar:force -O "$output" "$url" 2>&1 | \ - grep --line-buffered "%" | \ - sed -u 's/.*\([0-9]\+\)%.*/\1/' | \ - while read percent; do - show_progress "$percent" "100" "$label" - done - } || true - elif command -v curl >/dev/null 2>&1; then - { - curl -# -L -o "$output" "$url" 2>&1 | \ - tr '\r' '\n' | \ - sed -n 's/.*\([0-9]\+\.[0-9]\+\)%.*/\1/p' | \ - while read percent; do - percent=${percent%.*} - show_progress "$percent" "100" "$label" - done - } || true - else - log_error "Neither wget nor curl found" - return 1 - fi - - echo # New line after progress - - if [ -f "$output" ]; then - log_success "$label completed: $output" - return 0 - else - log_error "$label failed" - return 1 - fi -} - -# detect_directory "relative/path" "fallback/path" "base1" "base2" ... -detect_directory() { - local target_path="$1" - local fallback="$2" - shift 2 - local search_bases=("$@") - - local current_dir="${DETECT_FROM_DIR:-$PWD}" - local check_dir="$current_dir" - - # Walk up directory tree - while [ "$check_dir" != "/" ]; do - if [ -d "$check_dir/$target_path" ]; then - echo "$check_dir/$target_path" - return 0 - fi - check_dir="$(dirname "$check_dir")" - done - - # Check base directories - for base in "${search_bases[@]}"; do - if [ -d "$base/$target_path" ]; then - echo "$base/$target_path" - return 0 - fi - done - - echo "$fallback" -} - -detect_pitrac_root() { - detect_directory \ - "Software/LMSourceCode" \ - "$HOME/Dev/PiTrac/Software/LMSourceCode" \ - "/work" \ - "$HOME/dev/personal/PiTrac" \ - "$HOME/Dev/PiTrac" \ - "/home/$(whoami)/Dev/PiTrac" -} - -detect_lm_shares_dir() { - local subdir="${1:-Images}" - - # Check relative to PiTrac - local pitrac_source="$(detect_pitrac_root)" - if [ -n "$pitrac_source" ] && [ -d "$pitrac_source" ]; then - local pitrac_base="$(dirname "$(dirname "$pitrac_source")")" - local parent="$(dirname "$pitrac_base")" - - if [ -d "$parent/LM_Shares/$subdir" ]; then - echo "$parent/LM_Shares/$subdir" - return 0 - fi - fi - - detect_directory \ - "LM_Shares/$subdir" \ - "$HOME/LM_Shares/$subdir" \ - "/work" \ - "$HOME" \ - "/home/$(whoami)" -} - -# Detect Raspberry Pi model -detect_pi_model() { - if grep -q "Raspberry Pi 5" /proc/cpuinfo 2>/dev/null; then - echo "5" - elif grep -q "Raspberry Pi 4" /proc/cpuinfo 2>/dev/null; then - echo "4" - else - echo "unknown" - fi -} - -# Get CPU cores for compilation -get_cpu_cores() { - local cores - cores=$(nproc 2>/dev/null || echo 1) - # Limit to avoid memory issues on Pi - if [ "$cores" -gt 4 ]; then - cores=4 - fi - echo "$cores" -} - -# Load defaults from YAML file -load_defaults() { - local script_name="$1" - local defaults_file="${SCRIPT_DIR}/defaults/${script_name}.yaml" - - # Always load defaults (for both interactive and non-interactive) - if [ -f "$defaults_file" ]; then - # Check if running in non-interactive mode - if [[ " $* " =~ " --non-interactive " ]] || [ "${NON_INTERACTIVE:-0}" = "1" ]; then - export NON_INTERACTIVE=1 - log_info "Running in non-interactive mode, using defaults from $defaults_file" - fi - - # Parse simple YAML (key: value format) - while IFS=': ' read -r key value || [ -n "$key" ]; do - # Skip comments and empty lines - [[ "$key" =~ ^#.*$ ]] && continue - [ -z "$key" ] && continue - - # Clean up the value (remove quotes and leading/trailing spaces) - value="${value#\"}" - value="${value%\"}" - value="${value#\'}" - value="${value%\'}" - value="$(echo "$value" | xargs)" - - # Convert key to uppercase and replace - with _ - var_name="${key^^}" - var_name="${var_name//-/_}" - - # Export as environment variable if not already set - # This provides defaults for both interactive and non-interactive modes - if [ -z "${!var_name:-}" ]; then - export "$var_name=$value" - [ "${NON_INTERACTIVE:-0}" = "1" ] && log_info "Using default: $var_name=$value" - fi - done < "$defaults_file" || true - else - if [ "${NON_INTERACTIVE:-0}" = "1" ]; then - log_error "Non-interactive mode requires defaults file: $defaults_file" - return 1 - fi - fi -} - -# Check if running non-interactively -is_non_interactive() { - [ "${NON_INTERACTIVE:-0}" = "1" ] -} - -# Prompt with fallback for non-interactive mode -prompt_or_default() { - local prompt="$1" - local default="$2" - local var_name="$3" - - if is_non_interactive; then - # In non-interactive mode, use the default - echo "${!var_name:-$default}" - else - # Interactive mode - prompt user - read -p "$prompt [$default]: " result - echo "${result:-$default}" - fi -} \ No newline at end of file diff --git a/archived/Dev/scripts/config/install_camera_config.sh b/archived/Dev/scripts/config/install_camera_config.sh deleted file mode 100755 index 083a6ba1..00000000 --- a/archived/Dev/scripts/config/install_camera_config.sh +++ /dev/null @@ -1,265 +0,0 @@ -#!/usr/bin/env bash -set -euo pipefail - -# Camera Configuration Script for PiTrac -# Handles libcamera timeouts, IPA files, and camera-specific setup - -# Configuration paths -SCRIPT_DIR="$(cd -- "$(dirname "$0")" >/dev/null 2>&1 && pwd)" -source "${SCRIPT_DIR}/../common.sh" - -# Load defaults from config file -load_defaults "camera-config" "$@" - -ASSETS_DIR="${ASSETS_DIR:-${SCRIPT_DIR}/assets}" -CAMERA_TIMEOUT_VALUE_MS="${CAMERA_TIMEOUT_VALUE_MS:-1000000}" -INSTALL_IPA_FILES="${INSTALL_IPA_FILES:-1}" -TUNING_FILE="${TUNING_FILE:-}" -ENABLE_DEBUG="${ENABLE_DEBUG:-0}" -FORCE="${FORCE:-0}" - -# Get libcamera pipeline path based on Pi model -get_libcamera_pipeline_path() { - local pi_model="$1" - case "$pi_model" in - "5") - echo "/usr/share/libcamera/pipeline/rpi/pisp" - ;; - "4") - echo "/usr/share/libcamera/pipeline/rpi/vc4" - ;; - *) - # Default to vc4 for unknown models - echo "/usr/share/libcamera/pipeline/rpi/vc4" - ;; - esac -} - -# Get IPA path based on Pi model -get_libcamera_ipa_path() { - local pi_model="$1" - case "$pi_model" in - "5") - echo "/usr/share/libcamera/ipa/rpi/pisp" - ;; - "4") - echo "/usr/share/libcamera/ipa/rpi/vc4" - ;; - *) - # Default to vc4 for unknown models - echo "/usr/share/libcamera/ipa/rpi/vc4" - ;; - esac -} - -# Configure libcamera timeouts -configure_libcamera_timeouts() { - local pi_model="$1" - local pipeline_path - pipeline_path="$(get_libcamera_pipeline_path "$pi_model")" - - echo "Configuring libcamera timeouts for Pi $pi_model..." - - # Check if pipeline directory exists - if [ ! -d "$pipeline_path" ]; then - log_info "libcamera pipeline path $pipeline_path does not exist" - log_info "Not on Raspberry Pi hardware - skipping camera hardware configuration" - return 0 - fi - - local config_file="$pipeline_path/rpi_apps.yaml" - - # Check if config file exists, if not try to find example - if [ ! -f "$config_file" ]; then - if [ -f "$pipeline_path/example.yaml" ]; then - echo "Creating rpi_apps.yaml from example.yaml" - $SUDO cp "$pipeline_path/example.yaml" "$config_file" - else - echo "Creating new rpi_apps.yaml configuration file" - $SUDO tee "$config_file" >/dev/null << 'EOF' -# libcamera configuration for PiTrac -# Extended timeout for external trigger applications - -%YAML 1.1 ---- -pipeline: - camera_timeout_value_ms: 1000000, -EOF - fi - fi - - # Backup original if not already done - if [ ! -f "${config_file}.ORIGINAL" ]; then - $SUDO cp "$config_file" "${config_file}.ORIGINAL" - fi - - # Check if timeout is already configured - if grep -q "camera_timeout_value_ms.*1000000" "$config_file"; then - echo "libcamera timeout already configured" - else - echo "Adding extended timeout to libcamera configuration" - - # Add timeout configuration to pipeline section - if grep -q "^pipeline:" "$config_file"; then - # Pipeline section exists, add timeout under it - $SUDO sed -i '/^pipeline:/a\ camera_timeout_value_ms: 1000000,' "$config_file" - else - # No pipeline section, add it - echo "pipeline:" | $SUDO tee -a "$config_file" >/dev/null - echo " camera_timeout_value_ms: 1000000," | $SUDO tee -a "$config_file" >/dev/null - fi - fi - - echo "libcamera timeout configuration completed" -} - -# Install IPA camera sensor files -install_ipa_files() { - local pi_model="$1" - local ipa_path - ipa_path="$(get_libcamera_ipa_path "$pi_model")" - - log_info "Installing IPA sensor files for Pi $pi_model..." - - # Check if IPA directory exists - if [ ! -d "$ipa_path" ]; then - echo "Warning: IPA path $ipa_path does not exist" - echo "libcamera may not be installed or Pi model detection may be incorrect" - return 1 - fi - - # Install IMX296 NOIR sensor file if available - local ipa_file="" - case "$pi_model" in - "5") - ipa_file="$ASSETS_DIR/imx296_noir.json.PI_5_FOR_PISP_DIRECTORY" - ;; - "4") - ipa_file="$ASSETS_DIR/imx296_noir.json.PI_4_FOR_VC4_DIRECTORY" - ;; - esac - - if [ -n "$ipa_file" ] && [ -f "$ipa_file" ]; then - echo "Installing IMX296 NOIR sensor configuration..." - $SUDO cp "$ipa_file" "$ipa_path/imx296_noir.json" - echo "IMX296 NOIR sensor file installed" - else - echo "Note: IMX296 NOIR sensor file not found at $ipa_file" - echo "This is only needed if using IMX296 NOIR cameras" - fi -} - -# Set up libcamera environment variable -setup_libcamera_environment() { - local pi_model="$1" - local pipeline_path - pipeline_path="$(get_libcamera_pipeline_path "$pi_model")" - - local config_file="$pipeline_path/rpi_apps.yaml" - - echo "Setting up libcamera environment variables..." - - # Check if config file exists - if [ ! -f "$config_file" ]; then - log_info "libcamera config file $config_file does not exist" - log_info "Not on Raspberry Pi hardware - skipping environment configuration" - return 0 - fi - - # This will be added to the shell profile by the environment script - # For now, just export it for the current session - export LIBCAMERA_RPI_CONFIG_FILE="$config_file" - - echo "libcamera environment configured" - echo "LIBCAMERA_RPI_CONFIG_FILE will be set to: $config_file" -} - -# Verify camera detection -verify_camera_setup() { - echo "Verifying camera setup..." - - # Check if libcamera tools are available - if need_cmd libcamera-hello; then - echo "Testing camera detection with libcamera-hello..." - - # Run camera detection (timeout after 10 seconds) - if timeout 10s libcamera-hello --list-cameras >/dev/null 2>&1; then - echo "Camera detection successful" - - # Show detected cameras - echo "Detected cameras:" - libcamera-hello --list-cameras 2>/dev/null || true - else - log_warn "Camera detection test timed out or failed" - echo "This may be normal if no cameras are currently connected" - fi - else - echo "Note: libcamera-hello not found. Camera verification skipped." - echo "Install rpicam-apps package to enable camera testing" - fi -} - -# Check if camera is configured -is_camera_config_installed() { - # In non-Pi environments, check for marker - if [ ! -d "/usr/share/libcamera" ] && [ ! -d "/boot/firmware" ]; then - [ -f "$HOME/.pitrac_camera_configured" ] && return 0 - return 1 - fi - - local pi_model - pi_model="$(detect_pi_model)" - local pipeline_path - pipeline_path="$(get_libcamera_pipeline_path "$pi_model")" - local config_file="$pipeline_path/rpi_apps.yaml" - - # Check if timeout configuration exists - [ -f "$config_file" ] && grep -q "camera_timeout_value_ms.*1000000" "$config_file" && return 0 - return 1 -} - -# Main configuration -configure_camera() { - local pi_model - pi_model="$(detect_pi_model)" - - if [ "$pi_model" = "unknown" ]; then - echo "Warning: Could not detect Pi model. Using Pi 4 defaults." - pi_model="4" - else - echo "Detected Raspberry Pi $pi_model" - fi - - echo "Configuring camera system for PiTrac..." - - # Check if we're in a non-Pi environment (Docker, etc) - if [ ! -d "/usr/share/libcamera" ] && [ ! -d "/boot/firmware" ]; then - log_info "Not running on Raspberry Pi hardware. Skipping camera hardware configurations." - # Create marker for non-Pi environments - touch "$HOME/.pitrac_camera_configured" - echo "Camera configuration completed (non-Pi environment)." - return 0 - fi - - # Configure libcamera timeouts for external triggers - configure_libcamera_timeouts "$pi_model" - - # Install camera sensor IPA files if available - install_ipa_files "$pi_model" - - # Set up environment variables - setup_libcamera_environment "$pi_model" - - # Verify camera setup - verify_camera_setup - - echo "Camera configuration completed!" - echo "" - echo "Note: The LIBCAMERA_RPI_CONFIG_FILE environment variable will be" - echo "configured permanently when you run the PiTrac environment setup." -} - -# Run if called directly -if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then - configure_camera -fi \ No newline at end of file diff --git a/archived/Dev/scripts/config/install_dev_environment.sh b/archived/Dev/scripts/config/install_dev_environment.sh deleted file mode 100644 index 273222b7..00000000 --- a/archived/Dev/scripts/config/install_dev_environment.sh +++ /dev/null @@ -1,413 +0,0 @@ -#!/usr/bin/env bash -set -euo pipefail - -# Development Environment Setup Script for PiTrac -# Installs and configures ZSH, Oh-My-ZSH, Neovim, and useful development tools -SCRIPT_DIR="$(cd -- "$(dirname "$0")" >/dev/null 2>&1 && pwd)" -source "${SCRIPT_DIR}/../common.sh" - -# Load defaults from config file -load_defaults "dev-environment" "$@" - -# Configuration -FORCE="${FORCE:-0}" -INSTALL_ZSH="${INSTALL_ZSH:-1}" -SET_ZSH_DEFAULT="${SET_ZSH_DEFAULT:-1}" -OMZ_THEME="${OMZ_THEME:-robbyrussell}" -OMZ_PLUGINS="${OMZ_PLUGINS:-git,docker,kubectl,npm,python,pip,sudo,command-not-found}" -INSTALL_NEOVIM="${INSTALL_NEOVIM:-1}" -NVIM_CONFIG="${NVIM_CONFIG:-basic}" -INSTALL_DEV_TOOLS="${INSTALL_DEV_TOOLS:-1}" -DEV_TOOLS="${DEV_TOOLS:-htop,ncdu,tree,jq,ripgrep,fd-find,bat,fzf,tmux}" -INSTALL_DOCKER="${INSTALL_DOCKER:-0}" -DOCKER_USER_GROUP="${DOCKER_USER_GROUP:-1}" -INSTALL_VSCODE_SERVER="${INSTALL_VSCODE_SERVER:-0}" -CONFIGURE_GIT="${CONFIGURE_GIT:-1}" -GIT_USER_NAME="${GIT_USER_NAME:-}" -GIT_USER_EMAIL="${GIT_USER_EMAIL:-}" -GIT_DEFAULT_BRANCH="${GIT_DEFAULT_BRANCH:-main}" -INSTALL_PYTHON_DEV="${INSTALL_PYTHON_DEV:-1}" -PYTHON_PACKAGES="${PYTHON_PACKAGES:-pip,setuptools,wheel,virtualenv,ipython,black,pylint}" -INSTALL_NODEJS="${INSTALL_NODEJS:-0}" -NODEJS_VERSION="${NODEJS_VERSION:-lts}" - -# Prompt for yes/no with default -prompt_yes_no() { - local prompt="$1" - local default="${2:-n}" - local result - - read -p "$prompt [y/N]: " result - result="${result:-$default}" - [[ "$result" =~ ^[Yy]$ ]] -} - -# Install and configure ZSH with Oh-My-ZSH -install_zsh() { - echo "=== ZSH and Oh-My-ZSH Installation ===" - - if need_cmd zsh && [ -d "$HOME/.oh-my-zsh" ]; then - echo "ZSH and Oh-My-ZSH already installed" - return 0 - fi - - log_info "Installing ZSH..." - apt_ensure zsh curl - - # Install Oh-My-ZSH if not present - if [ ! -d "$HOME/.oh-my-zsh" ]; then - echo "Installing Oh-My-ZSH..." - - # Download and run Oh-My-ZSH installer - sh -c "$(curl -fsSL https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh)" "" --unattended - - # Configure .zshrc with PiTrac-friendly settings - setup_zshrc - fi - - # Offer to change default shell - if [ "$SHELL" != "$(which zsh)" ]; then - echo "" - if prompt_yes_no "Change default shell to ZSH? (requires logout/login to take effect)"; then - echo "Changing default shell to ZSH..." - chsh -s "$(which zsh)" - echo "Default shell changed to ZSH" - echo "Please logout and login for the change to take effect" - fi - fi - - echo "ZSH configuration completed" -} - -# Set up ZSH configuration with PiTrac-friendly settings -setup_zshrc() { - local zshrc="$HOME/.zshrc" - - # Backup original if it exists - if [ -f "$zshrc" ] && [ ! -f "${zshrc}.ORIGINAL" ]; then - cp "$zshrc" "${zshrc}.ORIGINAL" - fi - - # Create comprehensive .zshrc - cat > "$zshrc" << 'EOF' -# PiTrac ZSH Configuration -# PiTrac development environment - -# Path configuration -export PATH=.:$HOME/bin:/usr/local/bin:$PATH - -# Oh-My-ZSH configuration -export ZSH="$HOME/.oh-my-zsh" -ZSH_THEME="robbyrussell" - -# Plugins -plugins=(git) - -source $ZSH/oh-my-zsh.sh - -# PiTrac-specific aliases and functions -alias ll='ls -al' -alias la='ls -la' -alias l='ls -l' - -# Navigation aliases with directory stack -alias pushdd="pushd \$PWD > /dev/null" -alias cd='pushdd;cd' -alias popdd='popd >/dev/null' -alias cd.='popdd' -alias cd..='popdd;popdd' -alias cd...='popdd;popdd;popdd' -alias cd....='popdd;popdd;popdd;popdd' - -# Remove directories from stack without changing location -alias .cd='popd -n +0' -alias ..cd='popd -n +0;popd -n +0;popd -n +0' - -# PiTrac development aliases -alias cdlm='cd $PITRAC_ROOT/ImageProcessing 2>/dev/null || echo "PITRAC_ROOT not set"' -alias cddev='cd ~/Dev' - -# Useful development functions -function findtext() { - grep -rni "$1" . -} - -function findfile() { - find . -name "*$1*" -type f -} - -# Git aliases -alias gst='git status' -alias glog='git log --oneline' -alias gdiff='git diff' - -# System aliases -alias soc='source ~/.zshrc' -alias zshconfig='nano ~/.zshrc' - -# Enable vi mode in ZSH -bindkey -v - -# Improved history -HISTSIZE=10000 -SAVEHIST=10000 -setopt HIST_IGNORE_DUPS -setopt HIST_FIND_NO_DUPS -setopt SHARE_HISTORY - -# Auto-completion improvements -autoload -U compinit -compinit - -# Disable git status in large repositories (performance) -# Run this in PiTrac directories: git config --add oh-my-zsh.hide-status 1 -EOF - - echo "ZSH configuration created" -} - -# Install and configure Neovim -install_neovim() { - echo "=== Neovim Installation ===" - - if need_cmd nvim && [ -d "$HOME/.config/nvim" ]; then - echo "Neovim already installed and configured" - return 0 - fi - - log_info "Installing Neovim and dependencies..." - apt_ensure neovim python3-neovim git - - # Create Neovim config directory - mkdir -p "$HOME/.config/nvim" - - # Install Vundle for plugin management - if [ ! -d "$HOME/.config/nvim/bundle/Vundle.vim" ]; then - echo "Installing Vundle plugin manager..." - git clone https://github.com/VundleVim/Vundle.vim.git "$HOME/.config/nvim/bundle/Vundle.vim" - - # Fix Vundle path for Neovim - sed -i 's|$HOME/.vim/bundle|$HOME/.config/nvim/bundle|g' "$HOME/.config/nvim/bundle/Vundle.vim/autoload/vundle.vim" - fi - - # Create Neovim configuration - setup_neovim_config - - echo "Neovim configuration completed" - echo "To install plugins, run: nvim +PluginInstall +qall" -} - -# Set up Neovim configuration -setup_neovim_config() { - local nvim_config="$HOME/.config/nvim/init.vim" - - cat > "$nvim_config" << 'EOF' -" PiTrac Neovim Configuration -" PiTrac Neovim configuration - -set nocompatible " be iMproved, required -filetype off " required - -" set the runtime path to include Vundle and initialize -set rtp+=~/.config/nvim/bundle/Vundle.vim -call vundle#begin() " required - -" Let Vundle manage Vundle, required -Plugin 'VundleVim/Vundle.vim' - -" =================== -" Development plugins -" =================== -Plugin 'scrooloose/nerdtree' " File explorer -Plugin 'tpope/vim-fugitive' " Git integration -Plugin 'airblade/vim-gitgutter' " Git diff in gutter -Plugin 'vim-airline/vim-airline' " Status line -Plugin 'vim-airline/vim-airline-themes' -Plugin 'ctrlpvim/ctrlp.vim' " Fuzzy file finder - -" Language support -Plugin 'sheerun/vim-polyglot' " Language pack - -" =================== -" end of plugins -" =================== -call vundle#end() " required -filetype plugin indent on " required - -" =================== -" Basic editor settings -" =================== -set number " Line numbers -set relativenumber " Relative line numbers -set mouse=a " Enable mouse -set clipboard=unnamedplus " Use system clipboard -set ignorecase " Case insensitive search -set smartcase " Case sensitive if uppercase present -set hlsearch " Highlight search results -set incsearch " Incremental search -set expandtab " Use spaces instead of tabs -set shiftwidth=2 " Indentation width -set tabstop=2 " Tab width -set autoindent " Auto indentation -set smartindent " Smart indentation -set wrap " Wrap long lines -set scrolloff=8 " Keep 8 lines above/below cursor -set colorcolumn=80 " Show column at 80 characters -set updatetime=300 " Faster completion - -" =================== -" Key mappings -" =================== -" Leader key -let mapleader = " " - -" NERDTree -map :NERDTreeToggle -map n :NERDTreeFind - -" Easy window navigation -nnoremap h -nnoremap j -nnoremap k -nnoremap l - -" Clear search highlighting -nnoremap h :nohlsearch - -" Quick save and quit -nnoremap w :w -nnoremap q :q - -" =================== -" Theme and appearance -" =================== -syntax enable -set termguicolors -colorscheme default - -" Airline configuration -let g:airline#extensions#tabline#enabled = 1 -let g:airline_powerline_fonts = 1 - -" =================== -" NERDTree settings -" =================== -let NERDTreeShowHidden=1 -let NERDTreeIgnore=['\.git$', '\.swp$', '\.DS_Store$'] - -" =================== -" Auto commands -" =================== -" Auto-close NERDTree if it's the only window left -autocmd BufEnter * if winnr('$') == 1 && exists('b:NERDTree') && b:NERDTree.isTabTree() | quit | endif - -" Remember cursor position -autocmd BufReadPost * if line("'\"") > 1 && line("'\"") <= line("$") | exe "normal! g'\"" | endif -EOF - - echo "Neovim configuration created" -} - -# Install additional development tools -install_dev_tools() { - echo "=== Additional Development Tools ===" - - log_info "Installing useful development tools..." - apt_ensure tree htop git-extras ripgrep fd-find bat - - # Create symlinks for fd and bat (they have different names on Debian) - if [ ! -f /usr/local/bin/fd ] && [ -f /usr/bin/fdfind ]; then - $SUDO ln -sf /usr/bin/fdfind /usr/local/bin/fd - fi - - if [ ! -f /usr/local/bin/bat ] && [ -f /usr/bin/batcat ]; then - $SUDO ln -sf /usr/bin/batcat /usr/local/bin/bat - fi - - echo "Development tools installed" -} - -# Set up Git configuration helpers -setup_git_config() { - echo "=== Git Configuration ===" - - # Check if git is already configured - if git config --global user.name >/dev/null 2>&1; then - echo "Git already configured for user: $(git config --global user.name)" - return 0 - fi - - if prompt_yes_no "Configure Git user settings?"; then - read -p "Git username: " git_name - read -p "Git email: " git_email - - if [ -n "$git_name" ] && [ -n "$git_email" ]; then - git config --global user.name "$git_name" - git config --global user.email "$git_email" - git config --global init.defaultBranch main - git config --global pull.rebase false - echo "Git configuration completed" - fi - fi -} - -# Check if dev environment is installed -is_dev_environment_installed() { - # Check if ZSH and Oh-My-ZSH are installed - need_cmd zsh && [ -d "$HOME/.oh-my-zsh" ] && return 0 - return 1 -} - -# Main setup -setup_dev_environment() { - echo "=== Development Environment Setup ===" - echo "Install and configure development tools for easier PiTrac development" - echo "" - - # Check if already configured - if is_dev_environment_installed && [ "$FORCE" != "1" ]; then - echo "Development environment appears to already be configured." - echo "Set FORCE=1 to reconfigure" - return 0 - fi - - echo "This will install and configure:" - echo "- ZSH with Oh-My-ZSH (improved shell)" - echo "- Neovim with plugins (enhanced editor)" - echo "- Development tools (ripgrep, fd, bat, etc.)" - echo "- Git configuration" - echo "- Useful aliases and functions" - echo "" - - if ! prompt_yes_no "Continue with development environment setup?"; then - echo "Development environment setup cancelled" - return 0 - fi - - # Run setup steps - install_zsh - install_neovim - install_dev_tools - setup_git_config - - echo "" - echo "Development environment setup completed!" - echo "" - echo "Installed components:" - echo "- ZSH with Oh-My-ZSH: $(need_cmd zsh && echo "YES" || echo "NO")" - echo "- Neovim: $(need_cmd nvim && echo "YES" || echo "NO")" - echo "- Development tools: $(need_cmd rg && echo "YES" || echo "NO")" - echo "" - echo "Useful commands:" - echo "- Switch to ZSH: zsh" - echo "- Edit with Neovim: nvim filename" - echo "- Install Neovim plugins: nvim +PluginInstall +qall" - echo "- Reload ZSH config: source ~/.zshrc" - echo "" - echo "If you changed your default shell to ZSH, logout and login for it to take effect." -} - -# Run if called directly -if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then - setup_dev_environment -fi \ No newline at end of file diff --git a/archived/Dev/scripts/config/install_network_services.sh b/archived/Dev/scripts/config/install_network_services.sh deleted file mode 100644 index 0fae21a5..00000000 --- a/archived/Dev/scripts/config/install_network_services.sh +++ /dev/null @@ -1,394 +0,0 @@ -#!/usr/bin/env bash -set -euo pipefail - -# Network Services Configuration Script for PiTrac -# Handles NAS mounting, Samba server setup, and SSH key configuration -SCRIPT_DIR="$(cd -- "$(dirname "$0")" >/dev/null 2>&1 && pwd)" -source "${SCRIPT_DIR}/../common.sh" - -# Load defaults from config file -load_defaults "network-services" "$@" - -# Configuration -FORCE="${FORCE:-0}" -FSTAB_FILE="/etc/fstab" -SAMBA_CONFIG="/etc/samba/smb.conf" - -# NAS defaults -ENABLE_NAS="${ENABLE_NAS:-0}" -NAS_SERVER="${NAS_SERVER:-}" -NAS_SHARE="${NAS_SHARE:-PiTrac}" -NAS_MOUNT_POINT="${NAS_MOUNT_POINT:-/mnt/nas}" -NAS_USERNAME="${NAS_USERNAME:-}" -NAS_PASSWORD="${NAS_PASSWORD:-}" -NAS_MOUNT_OPTIONS="${NAS_MOUNT_OPTIONS:-vers=3.0,uid=1000,gid=1000,iocharset=utf8}" - -# Samba defaults -ENABLE_SAMBA="${ENABLE_SAMBA:-0}" -SAMBA_SHARE_NAME="${SAMBA_SHARE_NAME:-PiTrac}" -SAMBA_SHARE_PATH="${SAMBA_SHARE_PATH:-/home/pi/LM_Shares}" -SAMBA_USER="${SAMBA_USER:-}" -SAMBA_GUEST_OK="${SAMBA_GUEST_OK:-0}" - -# SSH defaults -SETUP_SSH_KEYS="${SETUP_SSH_KEYS:-0}" -GITHUB_USERNAME="${GITHUB_USERNAME:-}" -GENERATE_SSH_KEY="${GENERATE_SSH_KEY:-1}" -SSH_KEY_TYPE="${SSH_KEY_TYPE:-ed25519}" - - -# Prompt for user input with default -prompt_with_default() { - local prompt="$1" - local default="$2" - local result - - read -p "$prompt [$default]: " result - echo "${result:-$default}" -} - -# Prompt for yes/no with default -prompt_yes_no() { - local prompt="$1" - local default="${2:-n}" - local result - - read -p "$prompt [y/N]: " result - result="${result:-$default}" - [[ "$result" =~ ^[Yy]$ ]] -} - -# Configure NAS mounting -configure_nas_mounting() { - echo "" - echo "=== NAS Drive Configuration ===" - echo "Configure remote storage mounting (optional but recommended)" - echo "" - - if ! prompt_yes_no "Do you want to configure NAS/remote storage mounting?"; then - echo "Skipping NAS configuration" - return 0 - fi - - # Detect local network - local local_ip - local_ip=$(hostname -I | awk '{print $1}' 2>/dev/null || echo "10.0.0.100") - local subnet - subnet=$(echo "$local_ip" | sed 's/\.[0-9]*$//') - - echo "" - echo "Configure your NAS connection:" - - # Get NAS configuration - local nas_ip - local nas_share - local mount_point - local username - local password - local mount_type - - nas_ip=$(prompt_with_default "NAS IP address" "${subnet}.100") - nas_share=$(prompt_with_default "NAS share name" "PiTracShare") - mount_point=$(prompt_with_default "Local mount point" "/mnt/PiTracShare") - - echo "" - echo "Choose mounting method:" - echo " 1) NFS (recommended - simpler, no credentials needed)" - echo " 2) CIFS/SMB (requires username/password)" - - read -p "Select method [1]: " method_choice - method_choice="${method_choice:-1}" - - case "$method_choice" in - "2") - mount_type="cifs" - username=$(prompt_with_default "Username" "$(whoami)") - read -s -p "Password: " password - echo "" - ;; - *) - mount_type="nfs" - ;; - esac - - # Create mount point - echo "Creating mount point: $mount_point" - $SUDO mkdir -p "$mount_point" - - # Backup fstab - if [ ! -f "${FSTAB_FILE}.ORIGINAL" ]; then - $SUDO cp "$FSTAB_FILE" "${FSTAB_FILE}.ORIGINAL" - fi - - # Remove any existing entry for this mount point - $SUDO sed -i "\|$mount_point|d" "$FSTAB_FILE" - - # Add new mount entry - local fstab_entry - case "$mount_type" in - "nfs") - fstab_entry="$nas_ip:/$nas_share $mount_point nfs _netdev,auto 0 0" - ;; - "cifs") - fstab_entry="//$nas_ip/$nas_share $mount_point cifs username=$username,password=$password,workgroup=WORKGROUP,users,exec,auto,rw,file_mode=0777,dir_mode=0777,user_xattr 0 0" - # Set restrictive permissions on fstab for password security - $SUDO chmod 600 "$FSTAB_FILE" - ;; - esac - - echo "Adding mount entry to fstab..." - echo "$fstab_entry" | $SUDO tee -a "$FSTAB_FILE" >/dev/null - - # Install required packages - case "$mount_type" in - "nfs") - apt_ensure nfs-common - ;; - "cifs") - apt_ensure cifs-utils - ;; - esac - - # Test the mount - echo "Testing NAS connection..." - $SUDO systemctl daemon-reload - - if $SUDO mount -a 2>/dev/null; then - if mountpoint -q "$mount_point"; then - echo "NAS mounted successfully at $mount_point" - ls -la "$mount_point" | head -5 - else - log_warn "Mount command succeeded but mount point is not active" - fi - else - log_warn "Mount test failed. Please check:" - echo " - NAS IP address and share name are correct" - echo " - Network connectivity to NAS" - echo " - NAS permissions allow access from this Pi" - echo " - For CIFS: username and password are correct" - fi - - echo "NAS configuration completed" -} - -# Configure Samba server for inter-Pi sharing -configure_samba_server() { - echo "" - echo "=== Samba Server Configuration ===" - echo "Configure file sharing between Pis (recommended for multi-Pi setups)" - echo "" - - if ! prompt_yes_no "Do you want to configure Samba file sharing?"; then - echo "Skipping Samba configuration" - return 0 - fi - - # Install Samba - log_info "Installing Samba packages..." - apt_ensure samba samba-common-bin - - # Get configuration - local share_name - local share_path - local username - - username="$(whoami)" - share_name=$(prompt_with_default "Share name" "LM_Shares") - share_path=$(prompt_with_default "Directory to share" "/home/$username/LM_Shares") - - # Create shared directory structure - echo "Creating shared directories..." - mkdir -p "$share_path/WebShare" - mkdir -p "$share_path/Images" - - # Backup Samba config - if [ ! -f "${SAMBA_CONFIG}.ORIGINAL" ]; then - $SUDO cp "$SAMBA_CONFIG" "${SAMBA_CONFIG}.ORIGINAL" - fi - - # Remove existing share configuration if present - $SUDO sed -i "/^\[$share_name\]/,/^$/d" "$SAMBA_CONFIG" - - # Add new share configuration - echo "Adding Samba share configuration..." - cat << EOF | $SUDO tee -a "$SAMBA_CONFIG" >/dev/null - -[$share_name] -path = $share_path -writeable = Yes -create mask = 0777 -directory mask = 0777 -public = no -EOF - - # Set up Samba user - echo "Setting up Samba user: $username" - echo "Please enter a password for Samba access (can be same as login password):" - $SUDO smbpasswd -a "$username" - - # Start and enable Samba service - echo "Starting Samba service..." - $SUDO systemctl restart smbd - $SUDO systemctl enable smbd - - # Verify service - if $SUDO systemctl is-active smbd >/dev/null; then - echo "Samba service is running" - - # Show connection information - local pi_ip - pi_ip=$(hostname -I | awk '{print $1}') - echo "" - echo "Samba share configured successfully!" - echo "Share path: $share_path" - echo "Access from other Pi: //$pi_ip/$share_name" - echo "Username: $username" - echo "" - echo "To mount from another Pi, add to /etc/fstab:" - echo "//$pi_ip/$share_name /home//LM_Shares cifs username=$username,password=,workgroup=WORKGROUP,users,exec,auto,rw,file_mode=0777,dir_mode=0777,user_xattr 0 0" - else - log_warn "Samba service failed to start" - echo "Check logs with: sudo systemctl status smbd" - fi - - echo "Samba configuration completed" -} - -# Configure SSH key authentication -configure_ssh_keys() { - echo "" - echo "=== SSH Key Configuration ===" - echo "Configure SSH key authentication for password-less login" - echo "" - - if ! prompt_yes_no "Do you want to configure SSH key authentication?"; then - echo "Skipping SSH key configuration" - return 0 - fi - - # Create SSH directory - local ssh_dir="$HOME/.ssh" - mkdir -p "$ssh_dir" - chmod 700 "$ssh_dir" - - local authorized_keys="$ssh_dir/authorized_keys" - - echo "" - echo "SSH Key Setup Options:" - echo " 1) Paste public key manually" - echo " 2) Generate new key pair" - echo " 3) Copy from existing file" - - read -p "Select option [1]: " key_option - key_option="${key_option:-1}" - - case "$key_option" in - "2") - # Generate new key pair - local key_file="$ssh_dir/pitrac_key" - if [ ! -f "$key_file" ]; then - echo "Generating new SSH key pair..." - ssh-keygen -t rsa -b 4096 -f "$key_file" -N "" -C "pitrac@$(hostname)" - echo "Key pair generated:" - echo " Private key: $key_file" - echo " Public key: $key_file.pub" - echo "" - echo "Public key to share with remote machines:" - cat "$key_file.pub" - else - echo "Key pair already exists at $key_file" - fi - ;; - - "3") - # Copy from existing file - read -p "Path to public key file: " pub_key_file - if [ -f "$pub_key_file" ]; then - echo "Adding public key from $pub_key_file" - cat "$pub_key_file" >> "$authorized_keys" - echo "Public key added" - else - log_warn "File not found: $pub_key_file" - fi - ;; - - *) - # Manual paste - echo "Paste your public key (starts with ssh-rsa, ssh-ed25519, etc.):" - echo "Press Enter when done, Ctrl+D to finish:" - - # Read public key from stdin - local public_key - public_key=$(cat) - - if [ -n "$public_key" ]; then - echo "$public_key" >> "$authorized_keys" - echo "Public key added" - else - echo "No key provided" - fi - ;; - esac - - # Set proper permissions - if [ -f "$authorized_keys" ]; then - chmod 644 "$authorized_keys" - echo "SSH key configuration completed" - echo "Authorized keys file: $authorized_keys" - fi -} - -# Check if network services are configured -is_network_services_installed() { - # Check if at least one network service is configured - # (This is a basic check - more sophisticated detection could be added) - systemctl is-enabled smbd >/dev/null 2>&1 && return 0 - grep -q "/mnt/" /etc/fstab 2>/dev/null && return 0 - [ -f "$HOME/.ssh/authorized_keys" ] && return 0 - return 1 -} - -# Main configuration -configure_network_services() { - echo "=== Network Services Configuration ===" - echo "Configure network services for PiTrac multi-Pi setup" - echo "" - - # Check if already configured - if is_network_services_installed && [ "$FORCE" != "1" ]; then - echo "Network services appear to already be configured." - echo "Set FORCE=1 to reconfigure" - echo "" - - if prompt_yes_no "Show current configuration?"; then - echo "" - echo "Current mount points:" - mount | grep -E "(nfs|cifs)" || echo " None found" - echo "" - echo "Samba service status:" - systemctl is-active smbd >/dev/null 2>&1 && echo " Active" || echo " Inactive" - echo "" - echo "SSH authorized keys:" - [ -f "$HOME/.ssh/authorized_keys" ] && echo " Configured" || echo " Not configured" - fi - return 0 - fi - - # Run configuration steps - configure_nas_mounting - configure_samba_server - configure_ssh_keys - - echo "" - echo "Network services configuration completed!" - echo "" - echo "Services configured:" - echo "- NAS mounting: $(grep -q "/mnt/" /etc/fstab && echo "Yes" || echo "No")" - echo "- Samba server: $(systemctl is-enabled smbd >/dev/null 2>&1 && echo "Yes" || echo "No")" - echo "- SSH keys: $([ -f "$HOME/.ssh/authorized_keys" ] && echo "Yes" || echo "No")" -} - -# Run if called directly -if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then - configure_network_services -fi \ No newline at end of file diff --git a/archived/Dev/scripts/config/install_pitrac_environment.sh b/archived/Dev/scripts/config/install_pitrac_environment.sh deleted file mode 100755 index f6b1d4bb..00000000 --- a/archived/Dev/scripts/config/install_pitrac_environment.sh +++ /dev/null @@ -1,357 +0,0 @@ -#!/usr/bin/env bash -set -euo pipefail - -# PiTrac Environment Configuration Script -# Sets up environment variables, directories, and shell configuration -SCRIPT_DIR="$(cd -- "$(dirname "$0")" >/dev/null 2>&1 && pwd)" -source "${SCRIPT_DIR}/../common.sh" - -# Load defaults from config file -load_defaults "pitrac-environment" "$@" - -# Configuration with loaded defaults -FORCE="${FORCE:-0}" - -# Use detection from common.sh, prioritize actual directories over defaults -DETECTED_ROOT="$(detect_pitrac_root)" -if [ -d "$DETECTED_ROOT" ] && [ "$DETECTED_ROOT" != "/home/$(whoami)/Dev/PiTrac/Software/LMSourceCode" ]; then - DEFAULT_PITRAC_ROOT="$DETECTED_ROOT" -else - DEFAULT_PITRAC_ROOT="${PITRAC_ROOT:-$DETECTED_ROOT}" -fi - -if [ -d "$DETECTED_ROOT" ] && [ "$DETECTED_ROOT" != "/home/$(whoami)/Dev/PiTrac/Software/LMSourceCode" ]; then - PITRAC_BASE="$(dirname "$(dirname "$DETECTED_ROOT")")" - # If PiTrac is at /work or similar root, put LM_Shares there too - if [ "$PITRAC_BASE" = "/work" ] || [ "$PITRAC_BASE" = "/PiTrac" ]; then - DEFAULT_IMAGE_DIR="${PITRAC_IMAGE_DIR:-$PITRAC_BASE/LM_Shares/Images}" - DEFAULT_WEB_DIR="${PITRAC_WEB_DIR:-$PITRAC_BASE/LM_Shares/WebShare}" - else - # Otherwise put LM_Shares at same level as PiTrac - PARENT_DIR="$(dirname "$PITRAC_BASE")" - DEFAULT_IMAGE_DIR="${PITRAC_IMAGE_DIR:-$PARENT_DIR/LM_Shares/Images}" - DEFAULT_WEB_DIR="${PITRAC_WEB_DIR:-$PARENT_DIR/LM_Shares/WebShare}" - fi -else - DETECTED_IMAGE_DIR="$(detect_lm_shares_dir "Images")" - DEFAULT_IMAGE_DIR="${PITRAC_IMAGE_DIR:-$DETECTED_IMAGE_DIR}" - - DETECTED_WEB_DIR="$(detect_lm_shares_dir "WebShare")" - DEFAULT_WEB_DIR="${PITRAC_WEB_DIR:-$DETECTED_WEB_DIR}" -fi -DEFAULT_MSG_BROKER_IP="${PITRAC_MSG_BROKER_IP:-127.0.0.1}" -DEFAULT_E6_HOST="${PITRAC_E6_HOST:-}" -DEFAULT_GSPRO_HOST="${PITRAC_GSPRO_HOST:-}" -DEFAULT_SLOT1_CAMERA="${PITRAC_SLOT1_CAMERA:-4}" -DEFAULT_SLOT2_CAMERA="${PITRAC_SLOT2_CAMERA:-4}" -UPDATE_SHELL_RC="${UPDATE_SHELL_RC:-1}" - -# Get current shell config file -get_shell_config_file() { - local shell_name - shell_name="$(basename "$SHELL")" - - case "$shell_name" in - "zsh") - echo "$HOME/.zshrc" - ;; - "bash") - echo "$HOME/.bashrc" - ;; - *) - # Default to bashrc - echo "$HOME/.bashrc" - ;; - esac -} - -# Prompt for user input with default -prompt_with_default() { - local prompt="$1" - local default="$2" - local result - - read -p "$prompt [$default]: " result - echo "${result:-$default}" -} - -# Prompt for network configuration -prompt_network_config() { - echo "" - echo "=== Network Configuration ===" - echo "Enter network settings for your PiTrac installation." - echo "" - - # Detect local network - local local_ip - local_ip=$(hostname -I | awk '{print $1}' 2>/dev/null || echo "127.0.0.1") - - echo "Detected local IP: $local_ip" - - # ActiveMQ Broker Address - # Default to localhost for single-machine setups - local default_broker="127.0.0.1" - - echo "" - echo "For single-machine setup (most common): use '127.0.0.1'" - echo "For multi-machine setup: use the broker machine's IP address" - - PITRAC_MSG_BROKER_IP=$(prompt_with_default "ActiveMQ Broker IP address" "$default_broker") - - # Golf Simulator Addresses (optional) - echo "" - echo "Golf simulator integration (optional - leave blank to skip):" - PITRAC_E6_HOST=$(prompt_with_default "E6/TruGolf host IP (optional)" "") - PITRAC_GSPRO_HOST=$(prompt_with_default "GSPro host IP (optional)" "") -} - -# Prompt for camera configuration -prompt_camera_config() { - echo "" - echo "=== Camera Configuration ===" - echo "Select camera types for your setup:" - echo " 4 = Official Pi Global Shutter cameras with 6mm lenses (recommended)" - echo " 6 = Innomaker Global Shutter cameras with 3.6mm lenses" - echo "" - - PITRAC_SLOT1_CAMERA=$(prompt_with_default "Camera Slot 1 type" "4") - PITRAC_SLOT2_CAMERA=$(prompt_with_default "Camera Slot 2 type" "4") -} - -# Prompt for directory configuration -prompt_directory_config() { - echo "" - echo "=== Directory Configuration ===" - echo "Configure PiTrac directories:" - echo "" - - PITRAC_ROOT=$(prompt_with_default "PiTrac source code directory" "$DEFAULT_PITRAC_ROOT") - PITRAC_IMAGE_DIR=$(prompt_with_default "Image storage directory" "$DEFAULT_IMAGE_DIR") - PITRAC_WEB_DIR=$(prompt_with_default "Web server directory" "$DEFAULT_WEB_DIR") -} - -# Create necessary directories -create_directories() { - echo "Creating PiTrac directories..." - - # Create base directories - mkdir -p "$(dirname "$PITRAC_IMAGE_DIR")" - mkdir -p "$PITRAC_IMAGE_DIR" - mkdir -p "$PITRAC_WEB_DIR" - - # Create LM_Shares structure if using default paths - if [[ "$PITRAC_IMAGE_DIR" == *"/LM_Shares/"* ]]; then - local shares_base - shares_base="$(dirname "$PITRAC_IMAGE_DIR")" - mkdir -p "$shares_base/Images" - mkdir -p "$shares_base/WebShare" - echo "Created LM_Shares directory structure at $shares_base" - fi - - echo "Directories created successfully" -} - -# Generate environment configuration -generate_environment_config() { - local pi_model - pi_model="$(detect_pi_model)" - - # Get libcamera config path - local libcamera_config="" - case "$pi_model" in - "5") - libcamera_config="/usr/share/libcamera/pipeline/rpi/pisp/rpi_apps.yaml" - ;; - "4") - libcamera_config="/usr/share/libcamera/pipeline/rpi/vc4/rpi_apps.yaml" - ;; - *) - libcamera_config="" - ;; - esac - - # Generate environment variables - cat << EOF -# PiTrac Environment Configuration -# PiTrac environment variables - configured $(date) - -# Core PiTrac paths -export PITRAC_ROOT="$PITRAC_ROOT" -export PITRAC_BASE_IMAGE_LOGGING_DIR="$PITRAC_IMAGE_DIR/" -export PITRAC_WEBSERVER_SHARE_DIR="$PITRAC_WEB_DIR/" - -# Network configuration -export PITRAC_MSG_BROKER_FULL_ADDRESS="tcp://$PITRAC_MSG_BROKER_IP:61616" -EOF - - # Add golf sim hosts if specified - if [ -n "$PITRAC_E6_HOST" ]; then - echo "export PITRAC_E6_HOST_ADDRESS=\"$PITRAC_E6_HOST\"" - fi - - if [ -n "$PITRAC_GSPRO_HOST" ]; then - echo "export PITRAC_GSPRO_HOST_ADDRESS=\"$PITRAC_GSPRO_HOST\"" - fi - - cat << EOF - -# Camera configuration -export PITRAC_SLOT1_CAMERA_TYPE=$PITRAC_SLOT1_CAMERA -export PITRAC_SLOT2_CAMERA_TYPE=$PITRAC_SLOT2_CAMERA - -# libcamera configuration (only on Raspberry Pi) -$([ -n "$libcamera_config" ] && echo "export LIBCAMERA_RPI_CONFIG_FILE=\"$libcamera_config\"") - -# Additional PiTrac environment settings -export PITRAC_ENV_CONFIGURED=1 -EOF -} - -# Update shell configuration -update_shell_config() { - local config_file - config_file="$(get_shell_config_file)" - - echo "Updating shell configuration: $config_file" - - # Backup original if not already done - if [ ! -f "${config_file}.ORIGINAL" ] && [ -f "$config_file" ]; then - cp "$config_file" "${config_file}.ORIGINAL" - fi - - # Remove any existing PiTrac configuration - if [ -f "$config_file" ]; then - # Remove lines between PiTrac markers - sed -i '/# PiTrac Environment Configuration/,/# End PiTrac Environment/d' "$config_file" - else - # Create config file if it doesn't exist - touch "$config_file" - fi - - # Add new PiTrac configuration - echo "" >> "$config_file" - generate_environment_config >> "$config_file" - echo "# End PiTrac Environment" >> "$config_file" - - echo "Shell configuration updated" -} - -# Create PiTrac configuration summary -create_config_summary() { - local summary_file="$HOME/.pitrac_config_summary" - - cat > "$summary_file" << EOF -PiTrac Configuration Summary -Generated: $(date) - -Directories: - Source Code: $PITRAC_ROOT - Images: $PITRAC_IMAGE_DIR - Web Content: $PITRAC_WEB_DIR - -Network: - ActiveMQ Broker: $PITRAC_MSG_BROKER_IP:61616 - E6/TruGolf Host: ${PITRAC_E6_HOST:-"Not configured"} - GSPro Host: ${PITRAC_GSPRO_HOST:-"Not configured"} - -Cameras: - Slot 1: Type $PITRAC_SLOT1_CAMERA - Slot 2: Type $PITRAC_SLOT2_CAMERA - -Shell Configuration: $(get_shell_config_file) -EOF - - echo "Configuration summary saved to: $summary_file" -} - -# Interactive configuration setup -run_interactive_setup() { - echo "=== PiTrac Environment Setup ===" - echo "This will configure environment variables and directories for PiTrac." - echo "" - - # Check if already configured - if [ "${PITRAC_ENV_CONFIGURED:-}" = "1" ] && [ "$FORCE" != "1" ]; then - echo "PiTrac environment appears to already be configured." - echo "Current PITRAC_ROOT: ${PITRAC_ROOT:-Not set}" - echo "" - echo "Set FORCE=1 to reconfigure, or run with --force flag" - return 0 - fi - - # Gather configuration - prompt_network_config - prompt_camera_config - prompt_directory_config - - echo "" - echo "=== Configuration Summary ===" - echo "PiTrac Root: $PITRAC_ROOT" - echo "Images: $PITRAC_IMAGE_DIR" - echo "Web Content: $PITRAC_WEB_DIR" - echo "ActiveMQ Broker: $PITRAC_MSG_BROKER_IP:61616" - echo "Camera Slot 1: Type $PITRAC_SLOT1_CAMERA" - echo "Camera Slot 2: Type $PITRAC_SLOT2_CAMERA" - echo "" - - read -p "Apply this configuration? [y/N]: " confirm - if [[ ! "$confirm" =~ ^[Yy]$ ]]; then - echo "Configuration cancelled." - return 1 - fi - - # Apply configuration - create_directories - update_shell_config - create_config_summary - - echo "" - echo "PiTrac environment configuration completed!" - echo "" - echo "To use the new environment variables, either:" - echo "1. Restart your shell session (logout and login)" - echo "2. Run: source $(get_shell_config_file)" - echo "" - echo "Configuration summary: $HOME/.pitrac_config_summary" -} - -# Check if environment is configured -is_pitrac_environment_installed() { - # Check if environment is configured - local config_file - config_file="$(get_shell_config_file)" - - [ -f "$config_file" ] && grep -q "PITRAC_ROOT=" "$config_file" && return 0 - return 1 -} - -# Non-interactive setup with defaults (for automated installs) -setup_default_environment() { - echo "Setting up default PiTrac environment..." - - # Use defaults - PITRAC_ROOT="$DEFAULT_PITRAC_ROOT" - PITRAC_IMAGE_DIR="$DEFAULT_IMAGE_DIR" - PITRAC_WEB_DIR="$DEFAULT_WEB_DIR" - PITRAC_MSG_BROKER_IP="127.0.0.1" - PITRAC_E6_HOST="" - PITRAC_GSPRO_HOST="" - PITRAC_SLOT1_CAMERA="4" - PITRAC_SLOT2_CAMERA="4" - - create_directories - update_shell_config - create_config_summary - - echo "Default PiTrac environment configured" -} - -# Run if called directly -if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then - # Check for command line arguments - if [[ "${1:-}" == "--default" ]] || [[ "${1:-}" == "--non-interactive" ]]; then - setup_default_environment - else - run_interactive_setup - fi -fi \ No newline at end of file diff --git a/archived/Dev/scripts/config/install_system_config.sh b/archived/Dev/scripts/config/install_system_config.sh deleted file mode 100755 index 34bb6f36..00000000 --- a/archived/Dev/scripts/config/install_system_config.sh +++ /dev/null @@ -1,263 +0,0 @@ -#!/usr/bin/env bash -set -euo pipefail - -# System Configuration Script for PiTrac -# Handles Pi-specific hardware and OS configuration -SCRIPT_DIR="$(cd -- "$(dirname "$0")" >/dev/null 2>&1 && pwd)" -source "${SCRIPT_DIR}/../common.sh" - -# Load defaults from config file -load_defaults "system-config" "$@" - -# Configuration -CONFIG_FILE="${CONFIG_FILE:-/boot/firmware/config.txt}" -FORCE_TURBO="${FORCE_TURBO:-1}" -ARM_BOOST="${ARM_BOOST:-1}" -ENABLE_SPI="${ENABLE_SPI:-1}" -ENABLE_I2C="${ENABLE_I2C:-0}" -ENABLE_NVME="${ENABLE_NVME:-1}" -GPU_MEM="${GPU_MEM:-128}" -CAMERA_AUTO_DETECT="${CAMERA_AUTO_DETECT:-1}" -DISPLAY_AUTO_DETECT="${DISPLAY_AUTO_DETECT:-1}" -OVER_VOLTAGE="${OVER_VOLTAGE:-0}" -SWAP_SIZE="${SWAP_SIZE:-2048}" -FORCE="${FORCE:-0}" - -# Check if NVME hardware is present -detect_nvme_hardware() { - # Check if PCIe NVME device is present - lsblk | grep -q "nvme" 2>/dev/null && return 0 - # Check if PCIe is available but not configured - [ -d "/sys/class/pci_bus" ] && return 0 - return 1 -} - -# Check current config.txt settings -check_config_setting() { - local setting="$1" - if [ -f "$CONFIG_FILE" ]; then - grep -q "^$setting" "$CONFIG_FILE" 2>/dev/null && return 0 - grep -q "^#.*$setting" "$CONFIG_FILE" 2>/dev/null && return 1 - fi - return 1 -} - -# Add or update config.txt setting -update_config_setting() { - local setting="$1" - local value="$2" - local full_setting="${setting}=${value}" - - if [ ! -f "$CONFIG_FILE" ]; then - # Not on Raspberry Pi, skip silently - return 0 - fi - - echo "Updating $CONFIG_FILE: $full_setting" - - # Backup original if not already done - if [ ! -f "${CONFIG_FILE}.ORIGINAL" ]; then - $SUDO cp "$CONFIG_FILE" "${CONFIG_FILE}.ORIGINAL" - fi - - # Remove existing setting (commented or not) - $SUDO sed -i "/^#*${setting}=/d" "$CONFIG_FILE" - - # Add new setting before the final [all] section - if grep -q "^\[all\]" "$CONFIG_FILE"; then - $SUDO sed -i "/^\[all\]/i\\ -# PiTrac configuration\\ -$full_setting\\ -" "$CONFIG_FILE" - else - # No [all] section, append to end - echo "" | $SUDO tee -a "$CONFIG_FILE" >/dev/null - echo "# PiTrac configuration" | $SUDO tee -a "$CONFIG_FILE" >/dev/null - echo "$full_setting" | $SUDO tee -a "$CONFIG_FILE" >/dev/null - fi -} - -# Configure clock settings for consistent timing -configure_clock() { - local pi_model - pi_model="$(detect_pi_model)" - - echo "Configuring clock settings for Pi $pi_model..." - - # Force turbo mode for consistent timing (required for both Pi 4 and 5) - if ! check_config_setting "force_turbo"; then - echo "Enabling force_turbo for consistent timing" - update_config_setting "force_turbo" "1" - else - echo "force_turbo already configured" - fi - - # Pi 5 specific: arm_boost - if [ "$pi_model" = "5" ]; then - if ! check_config_setting "arm_boost"; then - echo "Enabling arm_boost for Pi 5" - update_config_setting "arm_boost" "1" - else - echo "arm_boost already configured" - fi - fi -} - -# Configure PCIe/NVME if hardware is detected -configure_nvme() { - if ! detect_nvme_hardware; then - echo "No NVME hardware detected, skipping PCIe configuration" - return 0 - fi - - echo "NVME hardware detected, configuring PCIe..." - - # Enable PCIe interface - if ! check_config_setting "dtparam=pciex1" && ! check_config_setting "dtparam=nvme"; then - echo "Enabling PCIe interface for NVME" - update_config_setting "dtparam" "nvme" - else - echo "PCIe already configured for NVME" - fi - - # Check if boot order configuration is needed - if ! $SUDO test -f /etc/default/rpi-eeprom-update; then - echo "Note: For NVME boot, you may need to configure boot order with 'sudo raspi-config'" - echo "Go to Advanced Options → Boot Order → NVMe/USB Boot" - fi -} - -# Enable SPI interface (required for LGPIO) -configure_spi() { - echo "Configuring SPI interface for GPIO access..." - - local spi_setting="dtparam=spi" - if ! check_config_setting "$spi_setting"; then - echo "Enabling SPI interface" - update_config_setting "dtparam" "spi=on" - else - echo "SPI already configured" - fi - - # Verify SPI devices exist (may require reboot) - if [ -e /dev/spidev0.0 ] && [ -e /dev/spidev0.1 ]; then - echo "SPI devices found: /dev/spidev0.0 and /dev/spidev0.1" - else - echo "SPI devices not found yet. You may need to reboot for SPI to become available." - fi -} - -# Configure swap space for compilation (if needed) -configure_swap() { - local current_swap - current_swap=$(free -m | awk '/^Swap:/ {print $2}') - - # If less than 2GB swap and less than 8GB total memory, increase swap - local total_memory - total_memory=$(free -m | awk '/^Mem:/ {print $2}') - - if [ "$current_swap" -lt 2048 ] && [ "$total_memory" -lt 8192 ]; then - echo "Increasing swap space for compilation (current: ${current_swap}MB, total memory: ${total_memory}MB)" - - # Check if dphys-swapfile is available - if [ -f /etc/dphys-swapfile ] && [ -f /sbin/dphys-swapfile ]; then - echo "Configuring swap via dphys-swapfile..." - - # Backup original - if [ ! -f /etc/dphys-swapfile.ORIGINAL ]; then - $SUDO cp /etc/dphys-swapfile /etc/dphys-swapfile.ORIGINAL - fi - - # Set swap size to 4GB for compilation - $SUDO sed -i 's/^CONF_SWAPSIZE=.*/CONF_SWAPSIZE=4096/' /etc/dphys-swapfile - - # Also update max swap if needed - if [ -f /sbin/dphys-swapfile ]; then - $SUDO sed -i 's/^CONF_MAXSWAP=.*/CONF_MAXSWAP=4096/' /sbin/dphys-swapfile 2>/dev/null || true - fi - - echo "Swap configuration updated. Restart dphys-swapfile service..." - $SUDO systemctl restart dphys-swapfile - else - echo "dphys-swapfile not available, skipping swap configuration" - fi - else - echo "Sufficient swap space available (${current_swap}MB) for compilation" - fi -} - -# Check if system is configured -is_system_config_installed() { - # In non-Pi environments, consider it "installed" if we've run before - if [ ! -f "$CONFIG_FILE" ]; then - # Not on Pi, check for marker file - [ -f "$HOME/.pitrac_system_configured" ] && return 0 - return 1 - fi - # On Pi, check actual config - check_config_setting "force_turbo" && return 0 - return 1 -} - -# Main configuration -configure_system() { - local pi_model - pi_model="$(detect_pi_model)" - - if [ "$pi_model" = "unknown" ]; then - echo "Warning: Could not detect Pi model. Some configurations may not apply." - else - echo "Detected Raspberry Pi $pi_model" - fi - - echo "Configuring system settings for PiTrac..." - - # Check if we're on a Raspberry Pi - if [ ! -f "$CONFIG_FILE" ]; then - log_info "Not running on Raspberry Pi OS. Skipping hardware-specific configurations." - # Create marker for non-Pi environments - touch "$HOME/.pitrac_system_configured" - echo "System configuration completed (non-Pi environment)." - return 0 - fi - - # Configure clock settings for consistent timing - configure_clock - - # Configure NVME if hardware is present - configure_nvme - - # Enable SPI for GPIO access - configure_spi - - # Configure swap space if needed for compilation - configure_swap - - echo "System configuration completed!" - - # Check if reboot is recommended - local needs_reboot=false - if ! [ -e /dev/spidev0.0 ] && check_config_setting "dtparam=spi"; then - needs_reboot=true - fi - if detect_nvme_hardware && check_config_setting "dtparam=nvme"; then - if ! lsblk | grep -q "nvme" 2>/dev/null; then - needs_reboot=true - fi - fi - - if [ "$needs_reboot" = true ]; then - echo "" - echo "*** REBOOT RECOMMENDED ***" - echo "Some hardware changes require a reboot to take effect:" - echo "- SPI interface for GPIO access" - echo "- PCIe/NVME interface" - echo "" - echo "Run 'sudo reboot' when convenient to complete the configuration." - fi -} - -# Run if called directly -if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then - configure_system -fi \ No newline at end of file diff --git a/archived/Dev/scripts/defaults/activemq-broker.yaml b/archived/Dev/scripts/defaults/activemq-broker.yaml deleted file mode 100644 index a2527b27..00000000 --- a/archived/Dev/scripts/defaults/activemq-broker.yaml +++ /dev/null @@ -1,13 +0,0 @@ -# ActiveMQ Broker installation defaults -# These values are used as: -# - Default suggestions in interactive mode (shown in prompts) -# - Automatic values in non-interactive mode (--non-interactive flag) - -# Version of ActiveMQ to install -activemq_version: "6.1.7" - -# Installation directory -install_dir: "/opt/apache-activemq" - -# Force reinstall/upgrade even if already installed (0=no, 1=yes) -force: 0 \ No newline at end of file diff --git a/archived/Dev/scripts/defaults/activemq-cpp.yaml b/archived/Dev/scripts/defaults/activemq-cpp.yaml deleted file mode 100644 index e7e24d9a..00000000 --- a/archived/Dev/scripts/defaults/activemq-cpp.yaml +++ /dev/null @@ -1,22 +0,0 @@ -# ActiveMQ C++ CMS installation defaults -# These values are used as: -# - Default suggestions in interactive mode (shown in prompts) -# - Automatic values in non-interactive mode (--non-interactive flag) - -# Git repository URL -git_repo: "https://gitbox.apache.org/repos/asf/activemq-cpp.git" - -# Build directory -build_dir: "/tmp/activemq-cpp-build" - -# Number of CPU cores for compilation -cpu_cores: 4 - -# Run unit tests after build (0=no, 1=yes) -run_tests: 0 - -# Install prefix -install_prefix: "/usr/local" - -# Force rebuild (0=no, 1=yes) -force: 0 \ No newline at end of file diff --git a/archived/Dev/scripts/defaults/camera-config.yaml b/archived/Dev/scripts/defaults/camera-config.yaml deleted file mode 100644 index 467b47c5..00000000 --- a/archived/Dev/scripts/defaults/camera-config.yaml +++ /dev/null @@ -1,22 +0,0 @@ -# Camera configuration defaults -# These values are used as: -# - Default suggestions in interactive mode (shown in prompts) -# - Automatic values in non-interactive mode (--non-interactive flag) - -# Libcamera timeout in milliseconds -camera_timeout_value_ms: 1000000 - -# Install IPA sensor files (0=no, 1=yes) -install_ipa_files: 1 - -# IPA file source directory (relative to script dir) -assets_dir: "assets" - -# Force configuration even if already set (0=no, 1=yes) -force: 0 - -# Camera tuning file to use (empty for default) -tuning_file: "" - -# Enable camera debugging (0=no, 1=yes) -enable_debug: 0 \ No newline at end of file diff --git a/archived/Dev/scripts/defaults/dev-environment.yaml b/archived/Dev/scripts/defaults/dev-environment.yaml deleted file mode 100644 index 75ebe57c..00000000 --- a/archived/Dev/scripts/defaults/dev-environment.yaml +++ /dev/null @@ -1,64 +0,0 @@ -# Development environment configuration defaults -# These values are used as: -# - Default suggestions in interactive mode (shown in prompts) -# - Automatic values in non-interactive mode (--non-interactive flag) - -# Install ZSH and Oh-My-ZSH (0=no, 1=yes) -install_zsh: 1 - -# Set ZSH as default shell (0=no, 1=yes) -set_zsh_default: 1 - -# Oh-My-ZSH theme -omz_theme: "robbyrussell" - -# Oh-My-ZSH plugins (comma-separated) -omz_plugins: "git,docker,kubectl,npm,python,pip,sudo,command-not-found" - -# Install Neovim (0=no, 1=yes) -install_neovim: 1 - -# Neovim configuration (none, basic, lazyvim, nvchad) -nvim_config: "basic" - -# Install development tools (0=no, 1=yes) -install_dev_tools: 1 - -# Development tools to install (comma-separated) -dev_tools: "htop,ncdu,tree,jq,ripgrep,fd-find,bat,fzf,tmux" - -# Install Docker (0=no, 1=yes) -install_docker: 0 - -# Add user to docker group (0=no, 1=yes) -docker_user_group: 1 - -# Install VS Code server (0=no, 1=yes) -install_vscode_server: 0 - -# Configure Git (0=no, 1=yes) -configure_git: 1 - -# Git user name (empty to skip) -git_user_name: "" - -# Git user email (empty to skip) -git_user_email: "" - -# Git default branch -git_default_branch: "main" - -# Install Python development tools (0=no, 1=yes) -install_python_dev: 1 - -# Python packages to install (comma-separated) -python_packages: "pip,setuptools,wheel,virtualenv,ipython,black,pylint" - -# Install Node.js via NVM (0=no, 1=yes) -install_nodejs: 0 - -# Node.js version to install -nodejs_version: "lts" - -# Force reconfiguration (0=no, 1=yes) -force: 0 \ No newline at end of file diff --git a/archived/Dev/scripts/defaults/fmt.yaml b/archived/Dev/scripts/defaults/fmt.yaml deleted file mode 100644 index f341bc43..00000000 --- a/archived/Dev/scripts/defaults/fmt.yaml +++ /dev/null @@ -1,7 +0,0 @@ -fmt-version: 9.1.0 -force: 0 -build-from-source: 0 -build-type: Release -install-prefix: /usr/local -build-shared-libs: 1 -build-cores: 0 \ No newline at end of file diff --git a/archived/Dev/scripts/defaults/lgpio.yaml b/archived/Dev/scripts/defaults/lgpio.yaml deleted file mode 100644 index 9c54d915..00000000 --- a/archived/Dev/scripts/defaults/lgpio.yaml +++ /dev/null @@ -1,22 +0,0 @@ -# LGPIO library installation defaults -# These values are used as: -# - Default suggestions in interactive mode (shown in prompts) -# - Automatic values in non-interactive mode (--non-interactive flag) - -# Configuration file paths -config_file: "/boot/firmware/config.txt" - -# Enable SPI interface -enable_spi: 1 - -# LGPIO download URL -lgpio_url: "http://abyz.me.uk/lg/lg.zip" - -# Build directory -build_dir: "/tmp/lgpio-build" - -# Force reinstall (0=no, 1=yes) -force: 0 - -# Install location -install_prefix: "/usr/local" \ No newline at end of file diff --git a/archived/Dev/scripts/defaults/libcamera.yaml b/archived/Dev/scripts/defaults/libcamera.yaml deleted file mode 100644 index 7a729a48..00000000 --- a/archived/Dev/scripts/defaults/libcamera.yaml +++ /dev/null @@ -1,19 +0,0 @@ -# Libcamera and RpiCam Apps installation defaults -# These values are used as: -# - Default suggestions in interactive mode (shown in prompts) -# - Automatic values in non-interactive mode (--non-interactive flag) - -# Required rpicam-apps version -required_rpicam_apps_version: "1.5.3" - -# Build from source if version not met (0=no, 1=yes) -build_from_source: 1 - -# Build directory for compilation -build_dir: "/tmp/rpicam_build" - -# Number of CPU cores to use for compilation -cpu_cores: 4 - -# Enable proprietary GPU libraries -enable_proprietary: 0 \ No newline at end of file diff --git a/archived/Dev/scripts/defaults/msgpack.yaml b/archived/Dev/scripts/defaults/msgpack.yaml deleted file mode 100644 index b3a20056..00000000 --- a/archived/Dev/scripts/defaults/msgpack.yaml +++ /dev/null @@ -1,19 +0,0 @@ -# MessagePack C++ installation defaults -# These values are used as: -# - Default suggestions in interactive mode (shown in prompts) -# - Automatic values in non-interactive mode (--non-interactive flag) - -# MessagePack version -msgpack_version: "6.1.1" - -# Installation method (apt or source) -install_method: "apt" - -# Force reinstall (0=no, 1=yes) -force: 0 - -# Build directory if building from source -build_dir: "/tmp/msgpack_build" - -# Install prefix -install_prefix: "/usr/local" \ No newline at end of file diff --git a/archived/Dev/scripts/defaults/network-services.yaml b/archived/Dev/scripts/defaults/network-services.yaml deleted file mode 100644 index 76e86eb0..00000000 --- a/archived/Dev/scripts/defaults/network-services.yaml +++ /dev/null @@ -1,58 +0,0 @@ -# Network services configuration defaults -# These values are used as: -# - Default suggestions in interactive mode (shown in prompts) -# - Automatic values in non-interactive mode (--non-interactive flag) - -# NAS Configuration -# Enable NAS mounting (0=no, 1=yes) -enable_nas: 0 - -# NAS server address (IP or hostname) -nas_server: "" - -# NAS share name -nas_share: "PiTrac" - -# Local mount point -nas_mount_point: "/mnt/nas" - -# NAS username (empty for guest access) -nas_username: "" - -# NAS password (empty for no password) -nas_password: "" - -# Mount options -nas_mount_options: "vers=3.0,uid=1000,gid=1000,iocharset=utf8" - -# Samba Server Configuration -# Enable Samba server (0=no, 1=yes) -enable_samba: 0 - -# Samba share name -samba_share_name: "PiTrac" - -# Samba share path -samba_share_path: "~/LM_Shares" - -# Samba user (empty to use current user) -samba_user: "" - -# Allow guest access (0=no, 1=yes) -samba_guest_ok: 0 - -# SSH Configuration -# Enable SSH key setup (0=no, 1=yes) -setup_ssh_keys: 0 - -# GitHub username for SSH keys -github_username: "" - -# Generate new SSH key if none exists (0=no, 1=yes) -generate_ssh_key: 1 - -# SSH key type (rsa, ed25519) -ssh_key_type: "ed25519" - -# Force reconfiguration (0=no, 1=yes) -force: 0 \ No newline at end of file diff --git a/archived/Dev/scripts/defaults/opencv.yaml b/archived/Dev/scripts/defaults/opencv.yaml deleted file mode 100644 index 0061ce55..00000000 --- a/archived/Dev/scripts/defaults/opencv.yaml +++ /dev/null @@ -1,19 +0,0 @@ -# OpenCV installation defaults -# These values are used as: -# - Default suggestions in interactive mode (shown in prompts) -# - Automatic values in non-interactive mode (--non-interactive flag) - -# Version of OpenCV to install -required_opencv_version: "4.11.0" - -# Force rebuild even if already installed (0=no, 1=yes) -force: 0 - -# OpenCV installer script URL -opencv_script_url: "https://github.com/Qengineering/Install-OpenCV-Raspberry-Pi-64-bits/raw/main/OpenCV-4-11-0.sh" - -# Build directory for compilation -build_dir: "/tmp/opencv_build" - -# Installation prefix -install_prefix: "/usr/local" \ No newline at end of file diff --git a/archived/Dev/scripts/defaults/pitrac-build.yaml b/archived/Dev/scripts/defaults/pitrac-build.yaml deleted file mode 100644 index ed6eb824..00000000 --- a/archived/Dev/scripts/defaults/pitrac-build.yaml +++ /dev/null @@ -1,19 +0,0 @@ -# PiTrac Build Configuration -pitrac-repo: https://github.com/pitraclm/pitrac.git -# Branch to checkout (main, develop, feature/xxx, etc) -pitrac-branch: main -# Pull request number to checkout (overrides branch if set) -pitrac-pr: 0 -build-dir: ~/Dev -# Set to 1 to delete existing repo and re-clone -force-clone: 0 -# Build and deploy web GUI to TomEE -setup-gui: 1 -# Add environment vars to shell (0=no since pitrac-environment already does this) -configure-shell: 0 -# 0 = auto-detect optimal core count -build-cores: 0 -# Set to 1 to clean build directory before building -clean-build: 0 - -# Note: Camera types and paths are read from environment variables set by pitrac-environment diff --git a/archived/Dev/scripts/defaults/pitrac-environment.yaml b/archived/Dev/scripts/defaults/pitrac-environment.yaml deleted file mode 100644 index 78e5fb7c..00000000 --- a/archived/Dev/scripts/defaults/pitrac-environment.yaml +++ /dev/null @@ -1,37 +0,0 @@ -# PiTrac environment configuration defaults -# These values are used as: -# - Default suggestions in interactive mode (shown in prompts) -# - Automatic values in non-interactive mode (--non-interactive flag) - -# PiTrac source code directory -pitrac_root: "~/Dev/PiTrac/Software/LMSourceCode" - -# Image storage directory -pitrac_image_dir: "~/LM_Shares/Images" - -# Web server directory -pitrac_web_dir: "~/LM_Shares/WebShare" - -# ActiveMQ broker IP address (use 10.0.0.41 for default network setup) -pitrac_msg_broker_ip: "10.0.0.41" - -# E6/TruGolf host IP (empty to skip) -pitrac_e6_host: "" - -# GSPro host IP (empty to skip) -pitrac_gspro_host: "" - -# Camera slot 1 type (4=Pi Global Shutter 6mm, 6=Innomaker 3.6mm) -pitrac_slot1_camera: 4 - -# Camera slot 2 type (4=Pi Global Shutter 6mm, 6=Innomaker 3.6mm) -pitrac_slot2_camera: 4 - -# Libcamera config path (auto-detected based on Pi model if empty) -libcamera_cfg_file: "" - -# Add to shell RC file (0=no, 1=yes) -update_shell_rc: 1 - -# Force reconfiguration (0=no, 1=yes) -force: 0 diff --git a/archived/Dev/scripts/defaults/run-pitrac.yaml b/archived/Dev/scripts/defaults/run-pitrac.yaml deleted file mode 100644 index ca19a325..00000000 --- a/archived/Dev/scripts/defaults/run-pitrac.yaml +++ /dev/null @@ -1,53 +0,0 @@ -# PiTrac runtime configuration defaults -# These values are used for running the PiTrac launch monitor - -# Pi configuration mode (single or dual) -pi_mode: "single" - -# Logging level (trace, debug, info, warning, error) -logging_level: "info" - -# System mode (kNormal, kTest, kCalibration) -system_mode: "kNormal" - -# Artifact save level (none, minimal, all) -artifact_save_level: "minimal" - -# Test mode timeout in seconds -test_timeout: 30 - -# Camera indices for dual-pi mode -camera1_index: 1 -camera2_index: 2 - -# Run scripts directory (relative to ImageProcessing) -run_scripts_dir: "RunScripts" - -# Enable web server (0=no, 1=yes) -enable_web_server: 1 - -# Web server port -web_server_port: 8080 - -# Enable message broker connection (0=no, 1=yes) -enable_msg_broker: 1 - -# Enable golf simulator connections (0=no, 1=yes) -enable_e6: 0 -enable_gspro: 0 - -# Strobe test parameters -strobe_test_duration: 10 -strobe_test_frequency: 50 - -# Camera trigger test mode -trigger_test_mode: "external" - -# Auto-restart on failure (0=no, 1=yes) -auto_restart: 0 - -# Max restart attempts -max_restarts: 3 - -# Restart delay in seconds -restart_delay: 5 \ No newline at end of file diff --git a/archived/Dev/scripts/defaults/system-config.yaml b/archived/Dev/scripts/defaults/system-config.yaml deleted file mode 100644 index 3c571fad..00000000 --- a/archived/Dev/scripts/defaults/system-config.yaml +++ /dev/null @@ -1,40 +0,0 @@ -# System configuration defaults -# These values are used as: -# - Default suggestions in interactive mode (shown in prompts) -# - Automatic values in non-interactive mode (--non-interactive flag) - -# Configuration file location -config_file: "/boot/firmware/config.txt" - -# Force turbo mode for consistent timing (0=no, 1=yes) -force_turbo: 1 - -# ARM boost for Pi 5 (0=no, 1=yes) -arm_boost: 1 - -# Enable SPI interface (0=no, 1=yes) -enable_spi: 1 - -# Enable I2C interface (0=no, 1=yes) -enable_i2c: 0 - -# Enable PCIe/NVME support if hardware detected (0=no, 1=yes) -enable_nvme: 1 - -# GPU memory split (MB) -gpu_mem: 128 - -# Camera auto-detect (0=disabled, 1=enabled) -camera_auto_detect: 1 - -# Display auto-detect (0=disabled, 1=enabled) -display_auto_detect: 1 - -# Over-voltage setting (0-6, 0=default) -over_voltage: 0 - -# Swap file size (MB, 0=disable swap) -swap_size: 2048 - -# Force configuration even if already set (0=no, 1=yes) -force: 0 \ No newline at end of file diff --git a/archived/Dev/scripts/defaults/test-processor.yaml b/archived/Dev/scripts/defaults/test-processor.yaml deleted file mode 100644 index 9188e575..00000000 --- a/archived/Dev/scripts/defaults/test-processor.yaml +++ /dev/null @@ -1,50 +0,0 @@ -# Test Processor defaults -# Settings for running image processing tests without camera hardware - -# Test directories (relative to PITRAC_ROOT) -test_base_dir: "TestImages" -test_results_dir: "TestImages/results" -test_default_dir: "TestImages/default" -test_custom_dir: "TestImages/custom" - -# Test image names -default_teed_image: "test_teed_ball.png" -default_strobed_image: "test_strobed_ball.png" - -# Custom image defaults (for dialog input boxes) -custom_teed_default: "custom/teed.png" -custom_strobed_default: "custom/strobed.png" - -# Web server configuration -web_server_port: 8080 -web_server_host: "0.0.0.0" -web_auto_open_browser: 0 - -# Processing settings -test_timeout_seconds: 30 -test_log_level: "info" -test_artifact_level: "all" -test_system_mode: "kTest" - -# Test image generation (for creating default test images) -test_image_width: 1440 -test_image_height: 1080 -test_ball_radius: 60 -test_ball_color: "white" -test_background_color: "black" -test_blur_sigma: 2 - -# Performance thresholds -perf_warn_threshold_ms: 1000 -perf_fail_threshold_ms: 5000 - -# Results retention -results_retention_days: 7 -max_results_to_display: 10 - -# Expected results tolerances (for validation) -tolerance_ball_speed_mph: 4 -tolerance_hla_degrees: 3 -tolerance_vla_degrees: 2 -tolerance_backspin_rpm: 250 -tolerance_sidespin_rpm: 300 \ No newline at end of file diff --git a/archived/Dev/scripts/dep_resolver.sh b/archived/Dev/scripts/dep_resolver.sh deleted file mode 100755 index ca0b8a27..00000000 --- a/archived/Dev/scripts/dep_resolver.sh +++ /dev/null @@ -1,422 +0,0 @@ -#!/usr/bin/env bash -# PiTrac Dependency Resolution System -# Provides centralized dependency management with proper ordering and rollback -set -euo pipefail - -# Configuration -SCRIPT_DIR="$(cd -- "$(dirname "$0")" >/dev/null 2>&1 && pwd)" -source "${SCRIPT_DIR}/common.sh" - -DEPS_CONFIG="${SCRIPT_DIR}/deps.conf" -INSTALL_LOG="${SCRIPT_DIR}/.install.log" -ROLLBACK_LOG="${SCRIPT_DIR}/.rollback.log" - -# Initialize logs -init_logs() { - echo "# PiTrac installation log - $(date)" > "$INSTALL_LOG" - echo "# PiTrac rollback log - $(date)" > "$ROLLBACK_LOG" -} - -# Parse dependency configuration -parse_deps_config() { - local package="$1" - if ! grep -q "^${package}:" "$DEPS_CONFIG"; then - log_error "Package '$package' not found in deps.conf" - return 1 - fi - - local line - line=$(grep "^${package}:" "$DEPS_CONFIG" | head -n1) - - # Split the line: package:deps:detection:script - IFS=':' read -r pkg_name deps detection script <<< "$line" - - echo "PKG_NAME=$pkg_name" - echo "DEPS=$deps" - echo "DETECTION=$detection" - echo "SCRIPT=$script" -} - -# Load install script functions - removed broken function extraction -# Detection functions are loaded on-demand in is_package_installed() - -# Check if a package is already installed -is_package_installed() { - local package="$1" - local config - config=$(parse_deps_config "$package") || return 1 - - eval "$config" - - case "$DETECTION" in - "cmd") - local cmd_name="${SCRIPT##*/}" # Extract command from script name - cmd_name="${cmd_name#install_}" - cmd_name="${cmd_name%.sh}" - - case "$cmd_name" in - "mq_broker") command -v java >/dev/null 2>&1 && [ -d "/opt/apache-activemq" ] ;; - "tomee") command -v java >/dev/null 2>&1 && [ -d "/opt/tomee" ] ;; - *) command -v "$cmd_name" >/dev/null 2>&1 ;; - esac - ;; - "pkg-config") - pkg-config --exists "$PKG_NAME" 2>/dev/null - ;; - "file") - [ -f "$SCRIPT" ] - ;; - "function") - # Load script in subshell to avoid pollution - local script_path="${SCRIPT_DIR}/${SCRIPT}" - - if [ ! -f "$script_path" ]; then - log_warn "Script not found: $script_path" - return 1 - fi - - # Standard naming: is__installed - local func_name="is_${package//-/_}_installed" - - # Run detection in subshell to avoid side effects - ( - source "$script_path" 2>/dev/null || exit 1 - if declare -F "$func_name" >/dev/null 2>&1; then - "$func_name" - else - exit 1 - fi - ) - ;; - "apt") - if [ "$DEPS" = "SYSTEM" ]; then - # For SYSTEM packages, use SCRIPT field for actual package names - if [ -n "$SCRIPT" ]; then - local all_installed=true - local pkg_item - IFS=',' read -ra PACKAGES <<< "$SCRIPT" - for pkg_item in "${PACKAGES[@]}"; do - if ! dpkg -s "$pkg_item" >/dev/null 2>&1; then - all_installed=false - break - fi - done - $all_installed - else - dpkg -s "$PKG_NAME" >/dev/null 2>&1 - fi - else - # For apt packages with dependencies, check all packages in SCRIPT field - local all_installed=true - local pkg_item - IFS=',' read -ra PACKAGES <<< "${SCRIPT:-$PKG_NAME}" - for pkg_item in "${PACKAGES[@]}"; do - if ! dpkg -s "$pkg_item" >/dev/null 2>&1; then - all_installed=false - break - fi - done - $all_installed - fi - ;; - *) - log_error "Unknown detection method: $DETECTION" - return 1 - ;; - esac -} - -# Check for circular dependencies -check_circular_deps() { - local package="$1" - local -A visited - local -A in_stack - - _check_cycle() { - local pkg="$1" - local path="$2" - - if [[ -n "${in_stack[$pkg]:-}" ]]; then - log_error "Circular dependency detected: ${path} -> ${pkg}" - return 1 - fi - - if [[ -n "${visited[$pkg]:-}" ]]; then - return 0 - fi - - in_stack[$pkg]=1 - visited[$pkg]=1 - - local config - config=$(parse_deps_config "$pkg") 2>/dev/null || { - unset in_stack[$pkg] - return 0 - } - eval "$config" - - if [ "$DEPS" != "SYSTEM" ] && [ -n "$DEPS" ]; then - local dep - IFS=',' read -ra DEP_ARRAY <<< "$DEPS" - for dep in "${DEP_ARRAY[@]}"; do - dep=$(echo "$dep" | xargs) - if [ -n "$dep" ]; then - if ! _check_cycle "$dep" "${path} -> ${pkg}"; then - return 1 - fi - fi - done - fi - - unset in_stack[$pkg] - return 0 - } - - _check_cycle "$package" "$package" -} - -# Resolve dependencies recursively -resolve_dependencies() { - local package="$1" - local -A visited - local -a install_order - - # Check for cycles first - if ! check_circular_deps "$package"; then - return 1 - fi - - _resolve_recursive() { - local pkg="$1" - - # Skip if already visited - if [[ -n "${visited[$pkg]:-}" ]]; then - return 0 - fi - - visited[$pkg]=1 - - # Parse package config - local config - config=$(parse_deps_config "$pkg") || return 1 - eval "$config" - - # Skip system packages or packages with no dependencies - if [ "$DEPS" = "SYSTEM" ] || [ -z "$DEPS" ]; then - install_order+=("$pkg") - return 0 - fi - - # Process dependencies first - local dep - IFS=',' read -ra DEP_ARRAY <<< "$DEPS" - for dep in "${DEP_ARRAY[@]}"; do - dep=$(echo "$dep" | xargs) # trim whitespace - if [ -n "$dep" ]; then - _resolve_recursive "$dep" - fi - done - - install_order+=("$pkg") - } - - _resolve_recursive "$package" - printf '%s\n' "${install_order[@]}" -} - -# Install a single package -install_package() { - local package="$1" - - log_info "Installing package: $package" - - if is_package_installed "$package"; then - log_success "$package already installed, skipping" - return 0 - fi - - local config - config=$(parse_deps_config "$package") || return 1 - eval "$config" - - case "$DETECTION" in - "apt") - if [ "$DEPS" = "SYSTEM" ]; then - # For SYSTEM packages, use SCRIPT field for actual package names - if [ -n "$SCRIPT" ]; then - IFS=',' read -ra PACKAGES <<< "$SCRIPT" - apt_ensure "${PACKAGES[@]}" - else - apt_ensure "$PKG_NAME" - fi - else - # Install packages listed in SCRIPT field - IFS=',' read -ra PACKAGES <<< "$SCRIPT" - apt_ensure "${PACKAGES[@]}" - fi - ;; - *) - if [ -n "$SCRIPT" ] && [ -f "${SCRIPT_DIR}/${SCRIPT}" ]; then - log_info "Running installation script: $SCRIPT" - # Run with TTY if available, otherwise run normally - local script_success=false - if [ -t 0 ] && [ -t 1 ]; then - # TTY available - run with TTY access - bash "${SCRIPT_DIR}/${SCRIPT}" < /dev/tty && script_success=true - elif tty -s 2>/dev/null; then - # TTY available via tty command - bash "${SCRIPT_DIR}/${SCRIPT}" < $(tty) && script_success=true - else - # No TTY - run in non-interactive mode - log_warn "No TTY available - running $SCRIPT in non-interactive mode" - bash "${SCRIPT_DIR}/${SCRIPT}" --non-interactive && script_success=true - fi - - if $script_success; then - echo "script:${SCRIPT}" >> "$INSTALL_LOG" - log_success "$package installed successfully" - else - log_error "Failed to install $package" - return 1 - fi - else - log_error "No installation method found for $package" - return 1 - fi - ;; - esac -} - -# Install packages with dependency resolution -install_with_deps() { - local target_package="$1" - - log_info "Resolving dependencies for: $target_package" - - local install_order - mapfile -t install_order < <(resolve_dependencies "$target_package") - - log_info "Installation order: ${install_order[*]}" - - # Install packages in dependency order - local package - for package in "${install_order[@]}"; do - if ! install_package "$package"; then - log_error "Failed to install $package, aborting" - return 1 - fi - done - - log_success "All dependencies for $target_package installed successfully" -} - -# Rollback installation -rollback() { - if [ ! -f "$INSTALL_LOG" ]; then - log_warn "No installation log found, cannot rollback" - return 0 - fi - - log_info "Rolling back installation..." - - # Process rollback in reverse order - tac "$INSTALL_LOG" | while IFS=':' read -r type details; do - case "$type" in - "apt") - log_info "Would remove packages: $details" - # Uncomment to actually remove packages - # $SUDO apt-get remove -y $details - ;; - "script") - log_info "Installed by script: $details" - # Script-based installations would need custom rollback logic - ;; - esac - done - - log_info "Rollback completed" -} - -# Verify all installations -verify_installation() { - local package="$1" - - log_info "Verifying installation: $package" - - local order - mapfile -t order < <(resolve_dependencies "$package") - - local all_good=true - local pkg - for pkg in "${order[@]}"; do - if is_package_installed "$pkg"; then - log_success "$pkg: OK" - else - log_error "$pkg: MISSING" - all_good=false - fi - done - - if $all_good; then - log_success "All components verified successfully" - else - log_error "Some components are missing" - return 1 - fi -} - -# Main -main() { - local action="${1:-install}" - local package="${2:-}" - - # Initialize - init_logs - - case "$action" in - "install") - if [ -z "$package" ]; then - log_error "Usage: $0 install " - exit 1 - fi - install_with_deps "$package" - ;; - "verify") - if [ -z "$package" ]; then - log_error "Usage: $0 verify " - exit 1 - fi - verify_installation "$package" - ;; - "rollback") - rollback - ;; - "list") - log_info "Available packages:" - grep -v '^#' "$DEPS_CONFIG" | cut -d: -f1 | sort - ;; - "deps") - if [ -z "$package" ]; then - log_error "Usage: $0 deps " - exit 1 - fi - resolve_dependencies "$package" - ;; - *) - echo "Usage: $0 {install|verify|rollback|list|deps} [package]" - echo "" - echo "Commands:" - echo " install - Install package with dependencies" - echo " verify - Verify package installation" - echo " rollback - Rollback last installation" - echo " list - List available packages" - echo " deps - Show dependency resolution order" - exit 1 - ;; - esac -} - -# Run if called directly -if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then - main "$@" -fi \ No newline at end of file diff --git a/archived/Dev/scripts/deps.conf b/archived/Dev/scripts/deps.conf deleted file mode 100644 index c07eab5e..00000000 --- a/archived/Dev/scripts/deps.conf +++ /dev/null @@ -1,79 +0,0 @@ -# PiTrac Dependency Configuration -# Format: package_name:dependencies:detection_method:install_script -# -# Dependencies are comma-separated, use SYSTEM for apt packages -# Detection methods: cmd, pkg-config, file, function, apt -# Install scripts are relative to scripts/ directory - -# System packages (installed via apt) -build-essential:SYSTEM:apt: -cmake:SYSTEM:apt: -git:SYSTEM:apt: -wget:SYSTEM:apt: -curl:SYSTEM:apt: -unzip:SYSTEM:apt: -ca-certificates:SYSTEM:apt: -dialog:SYSTEM:apt: -vim:SYSTEM:apt: -python3:SYSTEM:apt: -python3-pip:SYSTEM:apt: -meson:SYSTEM:apt: -ninja-build:SYSTEM:apt: - -# Java stack (legacy - no longer used) -# java:SYSTEM:apt:openjdk-17-jdk,openjdk-17-jre -# maven:java:apt:maven - -# Base libraries needed by multiple components -boost:SYSTEM:apt:libboost1.81-all-dev -libssl-dev:SYSTEM:apt: -libapr1-dev:SYSTEM:apt: -libaprutil1-dev:SYSTEM:apt: -uuid-dev:SYSTEM:apt: - -# Message queue stack (order matters!) -activemq-broker::function:install_mq_broker.sh -activemq-cpp:activemq-broker,libssl-dev,libapr1-dev,libaprutil1-dev,uuid-dev:function:install_activemq_cpp_cms.sh - -# Serialization -msgpack:build-essential,cmake:function:install_msgpack.sh - -# Formatting library -fmt:build-essential,cmake:function:install_fmt.sh - -# GPIO libraries -lgpio:build-essential:function:install_lgpio.sh - -# Computer vision stack -opencv:build-essential,cmake:function:install_opencv.sh - -# Camera stack (depends on opencv for some features) -libcamera:build-essential,cmake,python3,python3-pip,meson,ninja-build:function:install_libcamera.sh - -# Application server (legacy - replaced by Python web server) -# tomee:java:function:install_tomee.sh - -# PiTrac specific packages -pitrac-deps:boost,cmake:apt:raspberrypi-kernel-headers - -# System Configuration (Pi-specific hardware and OS setup) -system-config:SYSTEM:function:config/install_system_config.sh -camera-config:system-config,libcamera:function:config/install_camera_config.sh -pitrac-environment:camera-config:function:config/install_pitrac_environment.sh - -# Network Services (NAS, Samba, SSH keys) -network-services:SYSTEM:function:config/install_network_services.sh - -# Development Environment (optional productivity tools) -dev-environment:SYSTEM:function:config/install_dev_environment.sh - -# Test processor for running tests without camera -test-processor:SYSTEM:apt:python3,python3-yaml,jq - -# PiTrac Build (builds the actual launch monitor) -# Depends on: software packages + system config + camera config + environment setup -pitrac-build:opencv,libcamera,msgpack,fmt,lgpio,activemq-cpp,system-config,camera-config,pitrac-environment:function:build_pitrac.sh - -# PiTrac Runtime (runs the launch monitor) -# Depends on: built pitrac + optional services -run-pitrac:pitrac-build:function:run_pitrac.sh \ No newline at end of file diff --git a/archived/Dev/scripts/install_activemq_cpp_cms.sh b/archived/Dev/scripts/install_activemq_cpp_cms.sh deleted file mode 100644 index dfdece95..00000000 --- a/archived/Dev/scripts/install_activemq_cpp_cms.sh +++ /dev/null @@ -1,96 +0,0 @@ -#!/usr/bin/env bash -set -euo pipefail - -# ActiveMQ C++ CMS Installation Script -SCRIPT_DIR="$(cd -- "$(dirname "$0")" >/dev/null 2>&1 && pwd)" -source "${SCRIPT_DIR}/common.sh" - -# Load defaults from config file -load_defaults "activemq-cpp" "$@" - -GIT_REPO="${GIT_REPO:-https://gitbox.apache.org/repos/asf/activemq-cpp.git}" -BUILD_DIR="${BUILD_DIR:-/tmp/activemq-cpp-build}" -CPU_CORES="${CPU_CORES:-$(get_cpu_cores)}" -RUN_TESTS="${RUN_TESTS:-0}" -INSTALL_PREFIX="${INSTALL_PREFIX:-/usr/local}" -FORCE="${FORCE:-0}" - - -# Check if activemq cpp is installed -is_activemq_cpp_installed() { - # Check if libactivemq-cpp is available via ldconfig - if ldconfig -p 2>/dev/null | grep "libactivemq-cpp" >/dev/null 2>&1; then - return 0 - fi - - # Fallback: check if the header exists (with version in path) - if [ -f "/usr/local/include/activemq/library/ActiveMQCPP.h" ] || \ - [ -f "/usr/include/activemq/library/ActiveMQCPP.h" ] || \ - ls /usr/local/include/activemq-cpp-*/activemq/library/ActiveMQCPP.h >/dev/null 2>&1 || \ - ls /usr/include/activemq-cpp-*/activemq/library/ActiveMQCPP.h >/dev/null 2>&1; then - return 0 - fi - - return 1 -} - -# Install ActiveMQ C++ CMS -install_activemq_cpp() { - # Run pre-flight checks - run_preflight_checks "activemq_cpp_cms" || return 1 - - if is_activemq_cpp_installed && [ "${FORCE:-0}" != "1" ]; then - echo "ActiveMQ-CPP already installed. Skipping build." - return 0 - fi - - log_info "Installing prerequisites..." - apt_ensure \ - autoconf \ - automake \ - libtool \ - pkg-config \ - build-essential \ - libssl-dev \ - libapr1-dev \ - libaprutil1-dev \ - libcppunit-dev \ - uuid-dev \ - doxygen \ - git - - # Build ActiveMQ-CPP - local WORK_DIR - WORK_DIR="$(create_temp_dir "activemq-cpp")" - cd "$WORK_DIR" - - echo "Cloning ActiveMQ-CPP..." - git clone https://gitbox.apache.org/repos/asf/activemq-cpp.git - cd activemq-cpp/activemq-cpp - - echo "Configuring..." - ./autogen.sh - ./configure - - log_info "Building..." - run_with_progress "make -j$(get_cpu_cores)" "Building activemq-cpp" "/tmp/activemq_cpp_build.log" - - log_info "Installing..." - $SUDO make install - $SUDO ldconfig 2>/dev/null || true - - log_info "Generating Doxygen docs..." - make doxygen-run || echo "Doxygen documentation generation skipped." - - log_info "Running unit tests..." - make check || echo "Unit tests skipped or failed." - - echo "ActiveMQ-CPP installation complete." - return 0 -} - -# Run if called directly -if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then - install_activemq_cpp - exit $? -fi diff --git a/archived/Dev/scripts/install_fmt.sh b/archived/Dev/scripts/install_fmt.sh deleted file mode 100644 index 28f991df..00000000 --- a/archived/Dev/scripts/install_fmt.sh +++ /dev/null @@ -1,192 +0,0 @@ -#!/usr/bin/env bash -set -euo pipefail - -SCRIPT_DIR="$(cd -- "$(dirname "$0")" >/dev/null 2>&1 && pwd)" -source "${SCRIPT_DIR}/common.sh" - -load_defaults "fmt" "$@" - -FMT_VERSION="${FMT_VERSION:-${fmt_version:-9.1.0}}" -FORCE="${FORCE:-${force:-0}}" -BUILD_FROM_SOURCE="${BUILD_FROM_SOURCE:-${build_from_source:-0}}" -BUILD_TYPE="${BUILD_TYPE:-${build_type:-Release}}" -INSTALL_PREFIX="${INSTALL_PREFIX:-${install_prefix:-/usr/local}}" -BUILD_SHARED_LIBS="${BUILD_SHARED_LIBS:-${build_shared_libs:-1}}" -BUILD_CORES="${BUILD_CORES:-${build_cores:-0}}" - -is_fmt_installed() { - if pkg-config --exists fmt 2>/dev/null; then - return 0 - fi - - if [ -f "$INSTALL_PREFIX/lib/libfmt.a" ] || [ -f "/usr/lib/libfmt.a" ] || \ - [ -f "$INSTALL_PREFIX/lib/libfmt.so" ] || [ -f "/usr/lib/x86_64-linux-gnu/libfmt.so" ] || \ - [ -f "/usr/lib/aarch64-linux-gnu/libfmt.so" ]; then - return 0 - fi - - return 1 -} - -precheck() { - if is_fmt_installed && [ "$FORCE" != "1" ]; then - local version="" - if pkg-config --exists fmt 2>/dev/null; then - version=$(pkg-config --modversion fmt 2>/dev/null || echo "") - [ -n "$version" ] && version=" (version $version)" - fi - log_info "fmt is already installed${version}" - return 1 - fi - return 0 -} - -install_from_package() { - log_info "Installing fmt from package manager..." - ensure_package libfmt-dev -} - -build_from_source() { - log_info "Building fmt from source (version $FMT_VERSION)..." - - ensure_package cmake - ensure_package build-essential - - local build_dir="/tmp/fmt_build_$$" - mkdir -p "$build_dir" - cd "$build_dir" - - log_info "Downloading fmt v${FMT_VERSION}..." - local url="https://github.com/fmtlib/fmt/archive/refs/tags/${FMT_VERSION}.tar.gz" - - if ! download_with_progress "$url" "fmt-${FMT_VERSION}.tar.gz"; then - log_error "Failed to download fmt source" - cd / - rm -rf "$build_dir" - return 1 - fi - - log_info "Extracting source..." - tar -xzf "fmt-${FMT_VERSION}.tar.gz" - cd "fmt-${FMT_VERSION}" - - mkdir -p build - cd build - - log_info "Configuring with CMake..." - local shared_libs_flag="OFF" - [ "$BUILD_SHARED_LIBS" = "1" ] && shared_libs_flag="ON" - - cmake .. \ - -DCMAKE_BUILD_TYPE="$BUILD_TYPE" \ - -DFMT_DOC=OFF \ - -DFMT_TEST=OFF \ - -DBUILD_SHARED_LIBS="$shared_libs_flag" \ - -DCMAKE_INSTALL_PREFIX="$INSTALL_PREFIX" \ - -DCMAKE_POSITION_INDEPENDENT_CODE=ON - - local cores="$BUILD_CORES" - [ "$cores" = "0" ] && cores=$(get_cpu_cores) - - log_info "Building with $cores cores..." - if run_with_progress "make -j$cores" "Building fmt" "/tmp/fmt_build.log"; then - log_success "Build completed" - else - log_error "Build failed. Check /tmp/fmt_build.log for details" - cd / - rm -rf "$build_dir" - return 1 - fi - - log_info "Installing fmt to $INSTALL_PREFIX..." - $SUDO make install - - if [ -f /etc/ld.so.conf ]; then - $SUDO ldconfig - fi - - if ! pkg-config --exists fmt 2>/dev/null; then - create_pkgconfig_file - fi - - cd / - rm -rf "$build_dir" - - log_success "fmt ${FMT_VERSION} built and installed from source" - return 0 -} - -create_pkgconfig_file() { - log_info "Creating pkg-config file for fmt..." - - local pc_dir="$INSTALL_PREFIX/lib/pkgconfig" - $SUDO mkdir -p "$pc_dir" - - cat << EOF | $SUDO tee "$pc_dir/fmt.pc" > /dev/null -prefix=$INSTALL_PREFIX -exec_prefix=\${prefix} -libdir=\${exec_prefix}/lib -includedir=\${prefix}/include - -Name: fmt -Description: A modern formatting library -Version: $FMT_VERSION -Libs: -L\${libdir} -lfmt -Cflags: -I\${includedir} -EOF - - export PKG_CONFIG_PATH="$pc_dir:${PKG_CONFIG_PATH:-}" - - log_success "pkg-config file created at $pc_dir/fmt.pc" -} - -install_fmt() { - log_info "=== fmt Library Installation ===" - - if ! run_preflight_checks "fmt"; then - return 1 - fi - - if ! precheck; then - log_info "Skipping fmt installation" - return 0 - fi - - if [ "$BUILD_FROM_SOURCE" != "1" ]; then - if install_from_package; then - if is_fmt_installed; then - log_success "fmt successfully installed from package manager" - return 0 - fi - else - log_info "Package installation failed or not available, will build from source" - fi - fi - - if build_from_source; then - if is_fmt_installed; then - log_success "fmt installation completed successfully" - - if pkg-config --exists fmt 2>/dev/null; then - local version=$(pkg-config --modversion fmt) - local cflags=$(pkg-config --cflags fmt) - local libs=$(pkg-config --libs fmt) - log_info "Installed version: $version" - log_info "Compile flags: $cflags" - log_info "Link flags: $libs" - fi - return 0 - else - log_error "fmt installation verification failed" - return 1 - fi - else - log_error "Failed to install fmt" - return 1 - fi -} - -if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then - install_fmt - exit $? -fi \ No newline at end of file diff --git a/archived/Dev/scripts/install_lgpio.sh b/archived/Dev/scripts/install_lgpio.sh deleted file mode 100644 index 523baa47..00000000 --- a/archived/Dev/scripts/install_lgpio.sh +++ /dev/null @@ -1,142 +0,0 @@ -#!/usr/bin/env bash -set -euo pipefail - -# LGPIO Library Installation Script -SCRIPT_DIR="$(cd -- "$(dirname "$0")" >/dev/null 2>&1 && pwd)" -source "${SCRIPT_DIR}/common.sh" - -# Load defaults from config file -load_defaults "lgpio" "$@" - -CONFIG_FILE="${CONFIG_FILE:-/boot/firmware/config.txt}" -LGPIO_URL="${LGPIO_URL:-http://abyz.me.uk/lg/lg.zip}" -BUILD_DIR="${BUILD_DIR:-/tmp/lgpio-build}" -INSTALL_PREFIX="${INSTALL_PREFIX:-/usr/local}" -ENABLE_SPI="${ENABLE_SPI:-1}" -FORCE="${FORCE:-0}" - -SPI_LINE_ON="dtparam=spi=on" -SPI_LINE_OFF="dtparam=spi=off" -ASSETS_DIR="${SCRIPT_DIR}/assets" - -# Check if lgpio is installed -is_lgpio_installed() { - # Check if library is available via ldconfig - if ldconfig -p 2>/dev/null | grep -q 'liblgpio\.so'; then - return 0 - fi - - # Check for pkg-config file or header - [ -f /usr/lib/pkgconfig/lgpio.pc ] && return 0 - [ -f /usr/local/lib/pkgconfig/lgpio.pc ] && return 0 - [ -f /usr/include/lgpio.h ] && return 0 - [ -f /usr/local/include/lgpio.h ] && return 0 - - return 1 -} - -# Check if SPI is enabled -spi_already_enabled() { - [ -f "$CONFIG_FILE" ] && grep -q "^${SPI_LINE_ON}" "$CONFIG_FILE" -} - -# Install LGPIO library -install_lgpio() { - # Run pre-flight checks - run_preflight_checks "lgpio" || return 1 - - if is_lgpio_installed; then - echo "LGPIO already installed; skipping build/install." - return 0 - fi - - # Ensure required packages are installed - apt_ensure wget unzip build-essential ca-certificates - - WORK_DIR="$(create_temp_dir "lgpio")" - - log_info "Download LGPIO into: $WORK_DIR" - cd "$WORK_DIR" - - download_with_progress "http://abyz.me.uk/lg/lg.zip" "lg.zip" "Downloading LGPIO" - - echo "Unpacking LGPIO..." - unzip -q lg.zip - cd lg - - echo "Building LGPIO..." - make - $SUDO make install - - # Update library cache - $SUDO ldconfig 2>/dev/null || true - - echo "LGPIO installed." -} - -copy_lgpio_pc() { - local target_dir="/usr/lib/pkgconfig" - local src_pc="${ASSETS_DIR}/lgpio.pc" - - # If pkg-config already sees lgpio, skip copying - if pkg-config --exists lgpio 2>/dev/null; then - echo "lgpio.pc already available via pkg-config; skipping copy." - return 0 - fi - - echo "Copying lgpio.pc to ${target_dir}..." - if [ ! -f "$src_pc" ]; then - log_warn "${src_pc} not found. Skipping lgpio.pc copy." - return 0 - fi - - $SUDO mkdir -p "$target_dir" - $SUDO cp "$src_pc" "${target_dir}/" - - if [ -f "${target_dir}/lgpio.pc" ]; then - log_success "Successfully copied lgpio.pc to ${target_dir}" - else - log_error "Issue copying lgpio.pc to ${target_dir}" - return 1 - fi -} - -enable_spi() { - if [ ! -f "$CONFIG_FILE" ]; then - log_warn "${CONFIG_FILE} not found. Are you on Raspberry Pi OS? Skipping SPI enable." - return 0 - fi - - if spi_already_enabled; then - echo "SPI already enabled in $CONFIG_FILE" - else - echo "Enabling SPI pins in $CONFIG_FILE..." - if grep -q "^${SPI_LINE_OFF}" "$CONFIG_FILE"; then - $SUDO sed -i "s/^${SPI_LINE_OFF}/${SPI_LINE_ON}/" "$CONFIG_FILE" - else - echo "$SPI_LINE_ON" | $SUDO tee -a "$CONFIG_FILE" >/dev/null - fi - fi - - # Validate device nodes (may require reboot on real hardware) - if [ -e /dev/spidev0.0 ] && [ -e /dev/spidev0.1 ]; then - echo "SPI devices found: /dev/spidev0.0 and /dev/spidev0.1" - else - echo "SPI devices not found yet. You may need to reboot on Pi hardware." - fi -} - -# Main installation -install_lgpio_full() { - # Run pre-flight checks - run_preflight_checks "lgpio" || return 1 - - install_lgpio - copy_lgpio_pc - enable_spi -} - -# Run if called directly -if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then - install_lgpio_full -fi diff --git a/archived/Dev/scripts/install_libcamera.sh b/archived/Dev/scripts/install_libcamera.sh deleted file mode 100755 index 905a75a9..00000000 --- a/archived/Dev/scripts/install_libcamera.sh +++ /dev/null @@ -1,196 +0,0 @@ -#!/usr/bin/env bash -set -euo pipefail - -# Libcamera and RpiCam Apps Installation Script -SCRIPT_DIR="$(cd -- "$(dirname "$0")" >/dev/null 2>&1 && pwd)" -source "${SCRIPT_DIR}/common.sh" - -# Load defaults from config file -load_defaults "libcamera" "$@" - -REQUIRED_RPICAM_APPS_VERSION="${REQUIRED_RPICAM_APPS_VERSION:-1.5.3}" -BUILD_FROM_SOURCE="${BUILD_FROM_SOURCE:-1}" -BUILD_DIR="${BUILD_DIR:-/tmp/rpicam_build}" -CPU_CORES="${CPU_CORES:-$(get_cpu_cores)}" - - -# Check if libcamera is installed -is_libcamera_installed() { - # Try common pkg-config names - if pkg-config --exists libcamera 2>/dev/null; then - return 0 - fi - if pkg-config --exists libcamera-base 2>/dev/null; then - return 0 - fi - # Fallback: look for headers as a last resort - [ -e /usr/include/libcamera/libcamera.h ] || [ -e /usr/local/include/libcamera/libcamera.h ] -} - -rpicam_apps_meet_requirement() { - if ! need_cmd rpicam-still; then - return 1 - fi - local installed ver - installed="$(rpicam-still --version 2>/dev/null | awk '/rpicam-apps build/ {print $3}')" - ver="${installed#v}" - [ -n "$ver" ] && version_ge "$ver" "$REQUIRED_RPICAM_APPS_VERSION" -} - -# Installation functions -install_libraries() { - # Run pre-flight checks - run_preflight_checks "libcamera" || return 1 - - echo "Ensuring prerequisite libraries..." - apt_ensure \ - git \ - python3 \ - python3-pip \ - python3-graphviz \ - python3-sphinx \ - python3-yaml \ - python3-ply \ - python3-jinja2 \ - doxygen \ - libevent-dev \ - pybind11-dev \ - libavdevice-dev \ - qtbase5-dev libqt5core5a libqt5gui5 libqt5widgets5 \ - meson \ - cmake \ - ninja-build \ - pkg-config \ - build-essential \ - libglib2.0-dev \ - libgstreamer-plugins-base1.0-dev \ - unzip \ - wget \ - ca-certificates -} - -install_libcamera() { - # Run pre-flight checks - run_preflight_checks "libcamera" || return 1 - - if have_libcamera; then - echo "libcamera already present (pkg-config found it). Skipping build." - return 0 - fi - - echo "Downloading and building libcamera..." - local WORK - WORK="$(create_temp_dir "rpi-build")" - cd "$WORK" - - git clone https://github.com/raspberrypi/libcamera.git - cd libcamera - - export PKEXEC_UID="${PKEXEC_UID:-99999}" - - echo "Meson setup..." - meson setup build \ - --buildtype=release \ - -Dpipelines=rpi/vc4,rpi/pisp \ - -Dipas=rpi/vc4,rpi/pisp \ - -Dv4l2=enabled \ - -Dgstreamer=enabled \ - -Dtest=false \ - -Dlc-compliance=disabled \ - -Dcam=disabled \ - -Dqcam=disabled \ - -Ddocumentation=disabled \ - -Dpycamera=enabled - - echo "Ninja build..." - ninja -C build - - log_info "Installing libcamera..." - $SUDO ninja -C build install - echo "libcamera installed." -} - -install_rpicam_apps() { - # Run pre-flight checks - run_preflight_checks "libcamera" || return 1 - - if rpicam_apps_meet_requirement; then - echo "rpicam-apps already meets requirement (>= ${REQUIRED_RPICAM_APPS_VERSION}). Skipping build." - return 0 - fi - - log_info "Installing rpicam pre-required libraries..." - # Ensure we use the same Boost version as defined in deps.conf (1.81) - apt_ensure libboost-program-options1.81-dev libdrm-dev libexif-dev - - echo "Downloading and building rpicam-apps..." - local WORK - WORK="$(create_temp_dir "rpi-build")" - cd "$WORK" - - git clone https://github.com/raspberrypi/rpicam-apps.git - cd rpicam-apps - - # Ensure pkg-config can find OpenCV if installed in /usr/local - export PKG_CONFIG_PATH="/usr/local/lib/pkgconfig:/usr/local/lib64/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}" - - echo "Meson setup for rpicam-apps..." - meson setup build \ - -Denable_libav=enabled \ - -Denable_drm=enabled \ - -Denable_egl=enabled \ - -Denable_qt=enabled \ - -Denable_opencv=enabled \ - -Denable_tflite=disabled \ - -Denable_hailo=disabled - - echo "Compiling rpicam-apps..." - meson compile -C build - - log_info "Installing rpicam-apps..." - $SUDO meson install -C build - $SUDO ldconfig 2>/dev/null || true - - echo "rpicam-apps installed." -} - -verify_installation() { - log_info "Verifying rpicam-apps installation..." - if ! need_cmd rpicam-still; then - log_error "rpicam-still not found on PATH." - return 2 - fi - - local installed ver - installed="$(rpicam-still --version 2>/dev/null | awk '/rpicam-apps build/ {print $3}')" - ver="${installed#v}" - - if [ -z "$ver" ]; then - log_warn "Could not determine rpicam-apps version." - return 0 - fi - - if version_ge "$ver" "$REQUIRED_RPICAM_APPS_VERSION"; then - log_success "OK: rpicam-apps $ver >= required $REQUIRED_RPICAM_APPS_VERSION" - return 0 - else - log_error "rpicam-apps $ver < required $REQUIRED_RPICAM_APPS_VERSION" - return 1 - fi -} - -# Main installation -install_libcamera_full() { - # Run pre-flight checks - run_preflight_checks "libcamera" || return 1 - - install_libraries - install_libcamera - install_rpicam_apps - verify_installation -} - -# Run if called directly -if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then - install_libcamera_full -fi diff --git a/archived/Dev/scripts/install_mq_broker.sh b/archived/Dev/scripts/install_mq_broker.sh deleted file mode 100755 index eec6cd97..00000000 --- a/archived/Dev/scripts/install_mq_broker.sh +++ /dev/null @@ -1,292 +0,0 @@ -#!/usr/bin/env bash -set -euo pipefail - -# ActiveMQ Broker Installation Script -SCRIPT_DIR="$(cd -- "$(dirname "$0")" >/dev/null 2>&1 && pwd)" -source "${SCRIPT_DIR}/common.sh" - -# Load defaults from config file -load_defaults "activemq-broker" "$@" - -# Use loaded defaults or environment overrides -ACTIVEMQ_VERSION="${ACTIVEMQ_VERSION:-6.1.7}" -INSTALL_DIR="${INSTALL_DIR:-/opt/apache-activemq}" -FILENAME="apache-activemq-${ACTIVEMQ_VERSION}-bin.tar.gz" -URL="https://www.apache.org/dyn/closer.cgi?filename=/activemq/${ACTIVEMQ_VERSION}/${FILENAME}&action=download" -FORCE="${FORCE:-0}" - - -get_installed_version() { - # Try the activemq script - if [ -x "${INSTALL_DIR}/bin/activemq" ]; then - local out ver - out="$("${INSTALL_DIR}/bin/activemq" --version 2>/dev/null || true)" - ver="$(grep -Eo '[0-9]+(\.[0-9]+)+' <<<"$out" | head -n1 || true)" - [ -n "$ver" ] && { echo "$ver"; return 0; } - fi - # Fallback: try to infer from directory contents/jars (best-effort) - ver="$(basename "${INSTALL_DIR}" | grep -Eo '[0-9]+(\.[0-9]+)+' || true)" - [ -n "$ver" ] && { echo "$ver"; return 0; } - echo "" - return 1 -} - -# Check if activemq is installed -is_activemq_broker_installed() { - local ver - ver="$(get_installed_version)" - [ -n "$ver" ] && return 0 - return 1 -} - - -# Backup existing installation -backup_existing() { - local ts backup - ts="$(date +%Y%m%d-%H%M%S)" - backup="${INSTALL_DIR}.bak.${ts}" - echo "Backing up existing install to: ${backup}" - $SUDO mv "$INSTALL_DIR" "$backup" -} - -# Pre-installation checks -precheck() { - if [ -d "$INSTALL_DIR" ]; then - local cur - cur="$(get_installed_version || true)" - if [ -n "$cur" ]; then - if version_ge "$cur" "$ACTIVEMQ_VERSION"; then - echo "ActiveMQ ${cur} already installed at ${INSTALL_DIR} (>= ${ACTIVEMQ_VERSION}). Skipping." - return 1 # Return 1 to indicate skip - else - if [ "$FORCE" = "1" ]; then - echo "ActiveMQ ${cur} found (< ${ACTIVEMQ_VERSION}). Will upgrade (FORCE=1)." - backup_existing - return 0 # Return 0 to indicate proceed - else - echo "ActiveMQ ${cur} found at ${INSTALL_DIR}. Set FORCE=1 to upgrade to ${ACTIVEMQ_VERSION}." - return 1 # Return 1 to indicate skip - fi - fi - else - echo "ActiveMQ present at ${INSTALL_DIR}, but version unknown." - if [ "$FORCE" = "1" ]; then - backup_existing - return 0 # Return 0 to indicate proceed - else - echo "Set FORCE=1 to overwrite. Aborting." - return 1 # Return 1 to indicate skip - fi - fi - fi - return 0 # No existing installation, proceed -} - -# Install ActiveMQ broker -install_activemq_broker() { - # Run pre-flight checks - run_preflight_checks "mq_broker" || return 1 - - log_info "Installing prerequisite packages..." - apt_ensure wget ca-certificates tar file - - local WORK - WORK="$(create_temp_dir "activemq")" - cd "$WORK" - - echo "Downloading ${FILENAME}..." - download_with_progress ""$URL"" ""$FILENAME"" - - echo "Verifying archive..." - file "$FILENAME" | grep -qi 'gzip compressed data' || { - log_error "Downloaded file isn't a gzip tarball (mirror may have returned HTML)." - return 1 - } - - echo "Extracting ActiveMQ ${ACTIVEMQ_VERSION}..." - tar -xzf "$FILENAME" - - local SRC_DIR="apache-activemq-${ACTIVEMQ_VERSION}" - [ -d "$SRC_DIR" ] || { - log_error "'${SRC_DIR}' not found after extract." - return 1 - } - - log_info "Installing to ${INSTALL_DIR}..." - $SUDO mkdir -p "$(dirname "$INSTALL_DIR")" - $SUDO mv "$SRC_DIR" "$INSTALL_DIR" - - # Verify installation - if [ -x "${INSTALL_DIR}/bin/activemq" ]; then - echo "ActiveMQ installed at: ${INSTALL_DIR}" - echo "Start: ${INSTALL_DIR}/bin/activemq start" - echo "Stop : ${INSTALL_DIR}/bin/activemq stop" - else - log_error "activemq script not found/executable in ${INSTALL_DIR}/bin" - return 1 - fi -} - -# Configure ActiveMQ for remote access -configure_remote_access() { - local jetty_config="${INSTALL_DIR}/conf/jetty.xml" - - if [ ! -f "$jetty_config" ]; then - echo "Warning: jetty.xml not found at $jetty_config" - return 0 - fi - - echo "Configuring ActiveMQ for remote access..." - - # Backup original - if [ ! -f "${jetty_config}.ORIGINAL" ]; then - $SUDO cp "$jetty_config" "${jetty_config}.ORIGINAL" - fi - - # Get Pi IP address - local pi_ip - pi_ip=$(hostname -I | awk '{print $1}' 2>/dev/null || echo "0.0.0.0") - - echo "Configuring ActiveMQ to listen on: $pi_ip" - - # Replace 127.0.0.1 with actual IP or 0.0.0.0 for all interfaces - $SUDO sed -i "s/127\.0\.0\.1/$pi_ip/g" "$jetty_config" - - # Enable HTTPS connector if not already enabled - if grep -q "Enable this connector if you wish to use https" "$jetty_config"; then - echo "Enabling HTTPS connector..." - # This is a more complex sed operation to uncomment the HTTPS section - # For now, we'll just note it needs manual configuration - echo "Note: HTTPS connector may need manual configuration in $jetty_config" - fi - - echo "Remote access configuration completed" -} - -# Set up systemctl service -setup_systemctl_service() { - local service_file="/etc/systemd/system/activemq.service" - - echo "Setting up ActiveMQ systemctl service..." - - # Create service file - $SUDO tee "$service_file" >/dev/null << EOF -[Unit] -Description=ActiveMQ Message Broker -After=network.target - -[Service] -User=root -Type=forking -Restart=on-failure -RestartSec=10 -ExecStart=${INSTALL_DIR}/bin/activemq start -ExecStop=${INSTALL_DIR}/bin/activemq stop -KillSignal=SIGTERM -TimeoutStopSec=30 - -# Ensure ActiveMQ starts in its own directory -WorkingDirectory=${INSTALL_DIR} - -[Install] -WantedBy=multi-user.target -EOF - - # Reload systemd and enable service - $SUDO systemctl daemon-reload - - echo "Starting and enabling ActiveMQ service..." - $SUDO systemctl enable activemq - - # Start the service - if $SUDO systemctl start activemq; then - echo "ActiveMQ service started successfully" - - # Wait a moment and check status - sleep 3 - if $SUDO systemctl is-active activemq >/dev/null; then - echo "ActiveMQ service is running" - - # Show connection information - local pi_ip - pi_ip=$(hostname -I | awk '{print $1}') - echo "" - echo "ActiveMQ Web Console: http://$pi_ip:8161/admin" - echo "Default login: admin/admin" - echo "ActiveMQ Broker URL: tcp://$pi_ip:61616" - else - log_warn "ActiveMQ service started but may not be healthy" - echo "Check status with: sudo systemctl status activemq" - fi - else - log_warn "Failed to start ActiveMQ service" - echo "Check logs with: sudo journalctl -u activemq" - fi -} - -# Verify ActiveMQ installation and service -verify_activemq_service() { - echo "Verifying ActiveMQ installation..." - - # Check if ActiveMQ binary is executable - if [ -x "${INSTALL_DIR}/bin/activemq" ]; then - echo "ActiveMQ binary is executable" - else - log_error "ActiveMQ binary not found or not executable" - return 1 - fi - - # Check service status - if systemctl is-enabled activemq >/dev/null 2>&1; then - echo "ActiveMQ service is enabled" - else - log_warn "ActiveMQ service is not enabled" - fi - - # Check if ActiveMQ is listening on expected ports - if netstat -an 2>/dev/null | grep -q ":61616.*LISTEN"; then - echo "ActiveMQ broker listening on port 61616" - else - log_warn "ActiveMQ broker not listening on port 61616" - fi - - if netstat -an 2>/dev/null | grep -q ":8161.*LISTEN"; then - echo "ActiveMQ web console listening on port 8161" - else - log_warn "ActiveMQ web console not listening on port 8161" - fi - - echo "ActiveMQ verification completed" -} - -# Main installation -install_activemq_full() { - # Run pre-flight checks - run_preflight_checks "mq_broker" || return 1 - - if precheck; then - # precheck returned 0, meaning we should proceed with installation - install_activemq_broker - configure_remote_access - setup_systemctl_service - verify_activemq_service - - echo "" - echo "ActiveMQ installation and configuration completed!" - echo "" - echo "Service Management:" - echo "- Start: sudo systemctl start activemq" - echo "- Stop: sudo systemctl stop activemq" - echo "- Status: sudo systemctl status activemq" - echo "- Logs: sudo journalctl -u activemq -f" - else - # precheck returned 1, meaning we should skip installation - echo "Installation skipped based on precheck." - return 0 - fi -} - -# Run if called directly -if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then - install_activemq_full -fi diff --git a/archived/Dev/scripts/install_msgpack.sh b/archived/Dev/scripts/install_msgpack.sh deleted file mode 100755 index 6017febd..00000000 --- a/archived/Dev/scripts/install_msgpack.sh +++ /dev/null @@ -1,110 +0,0 @@ -#!/usr/bin/env bash -set -euo pipefail - -# MessagePack C++ Installation Script -SCRIPT_DIR="$(cd -- "$(dirname "$0")" >/dev/null 2>&1 && pwd)" -source "${SCRIPT_DIR}/common.sh" - -# Load defaults from config file -load_defaults "msgpack" "$@" - -MSGPACK_VERSION="${MSGPACK_VERSION:-6.1.1}" -INSTALL_METHOD="${INSTALL_METHOD:-apt}" -BUILD_DIR="${BUILD_DIR:-/tmp/msgpack_build}" -INSTALL_PREFIX="${INSTALL_PREFIX:-/usr/local}" -FORCE="${FORCE:-0}" - - -is_msgpack_installed() { - # header-only lib usually installs these headers - [ -f /usr/local/include/msgpack.hpp ] || [ -f /usr/include/msgpack.hpp ] && return 0 - # some distros lay out headers under msgpack/… only - [ -f /usr/local/include/msgpack/msgpack.hpp ] || [ -f /usr/include/msgpack/msgpack.hpp ] && return 0 - return 1 -} - -verify_msgpack() { - # Compile a tiny test that prints: [1,true,"example"] - local tmpdir; tmpdir="$(create_temp_dir "msgpack.verify")" - cat > "${tmpdir}/test.cpp" <<'CPP' -#include -#include -#include -#include -int main() { - std::vector v; - v.emplace_back(1); - v.emplace_back(true); - v.emplace_back(std::string("example")); - msgpack::sbuffer sbuf; - msgpack::pack(sbuf, v); - msgpack::object_handle oh = msgpack::unpack(sbuf.data(), sbuf.size()); - std::cout << oh.get() << std::endl; // prints as JSON-ish - return 0; -} -CPP - g++ -std=c++20 -O2 -Wall -Wextra "${tmpdir}/test.cpp" -o "${tmpdir}/test" - local out; out="$("${tmpdir}/test")" - rm -rf "$tmpdir" - [ "$out" = '[1,true,"example"]' ] -} - -# Install MessagePack C++ -install_msgpack() { - # Run pre-flight checks - run_preflight_checks "msgpack" || return 1 - - # Check if already installed and skip if FORCE not set - if [ "$FORCE" != "1" ] && have_msgpack; then - echo "msgpack headers already present. Verifying..." - if verify_msgpack; then - echo "msgpack already installed and working — skipping." - return 0 - else - echo "msgpack headers found but verification failed; will rebuild." - fi - fi - - echo "Ensuring prerequisite build tools..." - apt_ensure build-essential cmake unzip wget ca-certificates g++ - - # Build from source - local WORK - WORK="$(create_temp_dir "msgpack")" - cd "$WORK" - - echo "Fetching msgpack-c (cpp_master)..." - download_with_progress "https://github.com/msgpack/msgpack-c/archive/refs/heads/cpp_master.zip" "cpp_master.zip" - - echo "Extracting source..." - unzip -q cpp_master.zip - local SRC_DIR="${WORK}/msgpack-c-cpp_master" - - if [ ! -d "$SRC_DIR" ]; then - log_error "expected source dir not found." - return 1 - fi - - echo "Configuring with CMake..." - cmake -S "$SRC_DIR" -B "$SRC_DIR/build" -DMSGPACK_CXX20=ON - - echo "Building..." - cmake --build "$SRC_DIR/build" -j"$(nproc)" - - log_info "Installing to /usr/local..." - $SUDO cmake --install "$SRC_DIR/build" - $SUDO ldconfig 2>/dev/null || true - - echo "Verifying installation..." - if verify_msgpack; then - echo "MessagePack C++ successfully installed and verified!" - else - log_error "MessagePack C++ install/verify failed." - return 1 - fi -} - -# Run if called directly -if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then - install_msgpack -fi diff --git a/archived/Dev/scripts/install_opencv.sh b/archived/Dev/scripts/install_opencv.sh deleted file mode 100755 index 8a69e174..00000000 --- a/archived/Dev/scripts/install_opencv.sh +++ /dev/null @@ -1,276 +0,0 @@ -#!/usr/bin/env bash -set -euo pipefail - -# OpenCV Installation Script -SCRIPT_DIR="$(cd -- "$(dirname "$0")" >/dev/null 2>&1 && pwd)" -source "${SCRIPT_DIR}/common.sh" - -# Load defaults from config file -load_defaults "opencv" "$@" - -REQUIRED_OPENCV_VERSION="${REQUIRED_OPENCV_VERSION:-4.11.0}" -FORCE="${FORCE:-0}" - - -detect_opencv_version() { - # Prefer C/C++ pkg-config - if need_cmd pkg-config && pkg-config --exists opencv4 2>/dev/null; then - pkg-config --modversion opencv4 2>/dev/null || true - return - fi - - # Fallback to Python cv2 - if need_cmd python3; then - python3 - <<'PY' 2>/dev/null || true -import sys -try: - import cv2 - print(cv2.__version__) -except Exception: - pass -PY - return - fi - - echo "" -} - -# Check if opencv is installed -is_opencv_installed() { - local ver - ver="$(detect_opencv_version)" - [ -n "$ver" ] && return 0 - return 1 -} - -# Ensure all OpenCV build dependencies are available -ensure_opencv_dependencies() { - log_info "Installing OpenCV build dependencies..." - - # Core build tools - apt_ensure build-essential cmake git pkg-config wget ca-certificates sed - - # Base OpenCV dependencies - apt_ensure libgtk-3-dev libavcodec-dev libavformat-dev libswscale-dev \ - libv4l-dev libxvidcore-dev libx264-dev libjpeg-dev libpng-dev libtiff-dev \ - gfortran openexr libatlas-base-dev python3-dev python3-numpy \ - libtbb-dev libdc1394-dev libopenexr-dev \ - libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev - - # Install TBB runtime - check for installable candidates - if apt-cache policy libtbb2 2>/dev/null | grep -q "Candidate:.*[0-9]"; then - apt_ensure libtbb2 - elif apt-cache policy libtbbmalloc2 2>/dev/null | grep -q "Candidate:.*[0-9]"; then - apt_ensure libtbbmalloc2 - else - echo "Warning: No installable TBB runtime package found, OpenCV will build without TBB support" - fi -} - -# Download OpenCV installation script to specified directory -download_opencv_script_to() { - local work_dir="$1" - ensure_opencv_dependencies - - echo "Downloading to: $work_dir" - cd "$work_dir" - - local url="https://github.com/Qengineering/Install-OpenCV-Raspberry-Pi-64-bits/raw/main/OpenCV-4-11-0.sh" - - if ! download_with_progress "$url" "OpenCV-4-11-0.sh" "Downloading OpenCV installer"; then - log_error "Failed to download OpenCV script" - return 1 - fi - - if [ ! -f "OpenCV-4-11-0.sh" ]; then - log_error "OpenCV script not found after download" - return 1 - fi - - chmod +x OpenCV-4-11-0.sh - echo "Download completed successfully" -} - -modify_opencv() { - local script_path="$1" - - if [ ! -f "$script_path" ]; then - log_error "OpenCV script not found: $script_path" - return 1 - fi - - echo "Editing OpenCV script at: $script_path" - - # Only touch lines if the flags exist - if grep -q 'INSTALL_C_EXAMPLES=OFF' "$script_path"; then - echo "Enable INSTALL_C_EXAMPLES..." - sed -i 's/-D INSTALL_C_EXAMPLES=OFF/-D INSTALL_C_EXAMPLES=ON/' "$script_path" - fi - - if grep -q 'INSTALL_PYTHON_EXAMPLES=OFF' "$script_path"; then - echo "Enable INSTALL_PYTHON_EXAMPLES..." - sed -i 's/-D INSTALL_PYTHON_EXAMPLES=OFF/-D INSTALL_PYTHON_EXAMPLES=ON/' "$script_path" - fi -} - -# Standard OpenCV build for x86_64 platforms -build_opencv_standard() { - local WORK - WORK="$(create_temp_dir "opencv-build")" - cd "$WORK" - - log_info "Downloading OpenCV $REQUIRED_OPENCV_VERSION source..." - download_with_progress "https://github.com/opencv/opencv/archive/refs/tags/$REQUIRED_OPENCV_VERSION.tar.gz" "opencv.tar.gz" - download_with_progress "https://github.com/opencv/opencv_contrib/archive/refs/tags/$REQUIRED_OPENCV_VERSION.tar.gz" "opencv_contrib.tar.gz" - - log_info "Extracting OpenCV source..." - tar -xzf opencv.tar.gz - tar -xzf opencv_contrib.tar.gz - - cd "opencv-$REQUIRED_OPENCV_VERSION" - mkdir -p build && cd build - - log_info "Configuring OpenCV build..." - cmake -D CMAKE_BUILD_TYPE=RELEASE \ - -D CMAKE_INSTALL_PREFIX=/usr/local \ - -D INSTALL_PYTHON_EXAMPLES=ON \ - -D INSTALL_C_EXAMPLES=ON \ - -D OPENCV_ENABLE_NONFREE=ON \ - -D OPENCV_EXTRA_MODULES_PATH="../../opencv_contrib-$REQUIRED_OPENCV_VERSION/modules" \ - -D PYTHON_EXECUTABLE="/usr/bin/python3" \ - -D BUILD_EXAMPLES=ON .. - - log_info "Building OpenCV (this will take a while)..." - run_with_progress "make -j$(get_cpu_cores)" "Building OpenCV" "/tmp/opencv_build.log" - - log_info "Installing OpenCV..." - $SUDO make install - $SUDO ldconfig - - # Create pkg-config file - create_opencv_pkgconfig -} - -run_opencv_script() { - local script_path="$1" - local arch - arch="$(uname -m)" - - echo "Running OpenCV installer for architecture: $arch" - - # Check if we're on ARM (where Qengineering script works) - if [[ "$arch" == "arm"* ]] || [[ "$arch" == "aarch64" ]]; then - echo "ARM architecture detected - using Qengineering optimized script" - - # The Qengineering script expects sudo - if ! need_cmd sudo; then - echo "sudo not found; creating a no-op shim (you may be root)..." - $SUDO ln -sf /bin/true /usr/local/bin/sudo - hash -r || true - fi - - # Clean up any previous OpenCV source and build directories - echo "Cleaning previous OpenCV installation artifacts..." - rm -rf /root/opencv /root/opencv_contrib - - bash "$script_path" - else - echo "x86_64 architecture detected - using standard OpenCV build" - build_opencv_standard - fi -} - -create_opencv_pkgconfig() { - log_info "Creating/updating OpenCV pkg-config file..." - $SUDO mkdir -p /usr/local/lib/pkgconfig - - # Generate opencv4.pc - cat << 'EOF' | $SUDO tee /usr/local/lib/pkgconfig/opencv4.pc > /dev/null -prefix=/usr/local -exec_prefix=${prefix} -libdir=${exec_prefix}/lib -includedir=${prefix}/include/opencv4 - -Name: OpenCV -Description: Open Source Computer Vision Library -Version: 4.11.0 -Libs: -L${libdir} -lopencv_gapi -lopencv_stitching -lopencv_aruco -lopencv_bgsegm -lopencv_bioinspired -lopencv_ccalib -lopencv_dnn_objdetect -lopencv_dnn_superres -lopencv_dpm -lopencv_face -lopencv_freetype -lopencv_fuzzy -lopencv_hfs -lopencv_img_hash -lopencv_intensity_transform -lopencv_line_descriptor -lopencv_mcc -lopencv_quality -lopencv_rapid -lopencv_reg -lopencv_rgbd -lopencv_saliency -lopencv_stereo -lopencv_structured_light -lopencv_phase_unwrapping -lopencv_superres -lopencv_optflow -lopencv_surface_matching -lopencv_tracking -lopencv_highgui -lopencv_datasets -lopencv_text -lopencv_plot -lopencv_videostab -lopencv_videoio -lopencv_wechat_qrcode -lopencv_xfeatures2d -lopencv_shape -lopencv_ml -lopencv_ximgproc -lopencv_video -lopencv_xobjdetect -lopencv_objdetect -lopencv_calib3d -lopencv_imgcodecs -lopencv_features2d -lopencv_dnn -lopencv_flann -lopencv_xphoto -lopencv_photo -lopencv_imgproc -lopencv_core -Libs.private: -ldl -lm -lpthread -lrt -Cflags: -I${includedir} -EOF - - log_success "OpenCV pkg-config file created/updated" -} - -verify_installed() { - local v - v="$(detect_opencv_version)" - if [ -z "$v" ]; then - echo "OpenCV not detected after install." - return 1 - fi - echo "Detected OpenCV version: $v" - if version_ge "$v" "$REQUIRED_OPENCV_VERSION"; then - echo "OK: OpenCV $v ≥ required $REQUIRED_OPENCV_VERSION" - return 0 - else - log_error "OpenCV $v < required $REQUIRED_OPENCV_VERSION" - return 1 - fi -} - -# Install OpenCV -install_opencv() { - # Run pre-flight checks - run_preflight_checks "opencv" || return 1 - - # Check if already installed (unless FORCE=1) - local current - current="$(detect_opencv_version)" - if [ -n "$current" ] && [ "$FORCE" != "1" ]; then - if version_ge "$current" "$REQUIRED_OPENCV_VERSION"; then - log_success "OpenCV already installed (version $current ≥ $REQUIRED_OPENCV_VERSION)." - - # Check if pkg-config file exists, create if missing - if ! pkg-config --exists opencv4 2>/dev/null; then - log_warn "OpenCV installed but pkg-config file missing. Creating it..." - create_opencv_pkgconfig - else - log_success "OpenCV pkg-config file already exists." - fi - return 0 - else - log_info "OpenCV $current found (< $REQUIRED_OPENCV_VERSION). Will install/upgrade." - fi - elif [ "$FORCE" = "1" ]; then - log_info "FORCE=1 set — proceeding with installation regardless of current version." - fi - - # Create temp directory using common function - local WORK - WORK="$(create_temp_dir "opencv")" - - local script_path="${WORK}/OpenCV-4-11-0.sh" - - # Download script - download_opencv_script_to "$WORK" - - # Modify and run - modify_opencv "$script_path" - run_opencv_script "$script_path" - - echo "Verifying OpenCV installation..." - if verify_installed; then - echo "OpenCV installation completed successfully." - return 0 - else - echo "OpenCV installation completed but version check failed." - return 1 - fi -} - -# Run if called directly -if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then - install_opencv - exit $? -fi diff --git a/archived/Dev/scripts/lgpio_stubs.c b/archived/Dev/scripts/lgpio_stubs.c deleted file mode 100644 index 1b3e3697..00000000 --- a/archived/Dev/scripts/lgpio_stubs.c +++ /dev/null @@ -1,43 +0,0 @@ -// Stub implementations for lgpio functions on x86_64 -// These allow the code to compile but GPIO operations will be no-ops - -#include - -// Use __attribute__((unused)) to suppress unused parameter warnings -int lgGpiochipOpen(int gpiochip __attribute__((unused))) { - return 0; -} - -int lgGpiochipClose(int handle __attribute__((unused))) { - return 0; -} - -int lgGpioClaimOutput(int handle __attribute__((unused)), - int flags __attribute__((unused)), - int gpio __attribute__((unused)), - int level __attribute__((unused))) { - return 0; -} - -int lgGpioWrite(int handle __attribute__((unused)), - int gpio __attribute__((unused)), - int level __attribute__((unused))) { - return 0; -} - -int lgSpiOpen(int spiDev __attribute__((unused)), - int spiChan __attribute__((unused)), - int spiBaud __attribute__((unused)), - int spiFlags __attribute__((unused))) { - return 0; -} - -int lgSpiClose(int handle __attribute__((unused))) { - return 0; -} - -int lgSpiWrite(int handle __attribute__((unused)), - const char *txBuf __attribute__((unused)), - int count) { - return count; -} \ No newline at end of file diff --git a/archived/Dev/scripts/patch_meson_x86.sh b/archived/Dev/scripts/patch_meson_x86.sh deleted file mode 100755 index d37ed961..00000000 --- a/archived/Dev/scripts/patch_meson_x86.sh +++ /dev/null @@ -1,241 +0,0 @@ -#!/usr/bin/env bash -set -euo pipefail - -# Patch meson.build for x86_64 compatibility - -if [ -n "${BASH_SOURCE[0]}" ]; then - SCRIPT_DIR="$(cd -- "$(dirname "${BASH_SOURCE[0]}")" >/dev/null 2>&1 && pwd)" -else - SCRIPT_DIR="$(cd -- "$(dirname "$0")" >/dev/null 2>&1 && pwd)" -fi -source "${SCRIPT_DIR}/common.sh" - -patch_meson_for_x86() { - local meson_file="${1:-meson.build}" - - if [ ! -f "$meson_file" ]; then - log_error "meson.build not found at: $meson_file" - return 1 - fi - - local arch=$(uname -m) - if [ "$arch" = "armv7l" ] || [ "$arch" = "aarch64" ]; then - log_info "ARM architecture detected ($arch), no patching needed" - return 0 - fi - - log_info "Detected non-ARM architecture ($arch), patching for x86_64 compatibility..." - - if [ ! -f "${meson_file}.original" ]; then - cp "$meson_file" "${meson_file}.original" - log_info "Created backup: ${meson_file}.original" - else - cp "${meson_file}.original" "$meson_file" - log_info "Restored from backup for clean patching" - fi - - cat > /tmp/patch_meson_x86.py << 'EOF' -#!/usr/bin/env python3 -import re -import sys - -if len(sys.argv) > 1: - meson_file = sys.argv[1] -else: - meson_file = 'meson.build' - -with open(meson_file, 'r') as f: - content = f.read() - -# Check if already patched -if 'Building for x86_64' in content: - print("Already patched for x86_64") - sys.exit(0) - -# First check if neon is used but not defined -if 'neon' in content and 'neon = [' not in content: - # Need to define neon - print("Found undefined neon variable, adding definition...") - # Add definition at the beginning after project declaration - content = re.sub(r"(project\([^)]+\))", r"\1\n\n# Define neon for x86_64 compatibility\nneon = []\nuse_neon = false", content) - modified = True - with open(meson_file, 'w') as f: - f.write(content) - print("Successfully added neon definition for x86_64 compatibility") - sys.exit(0) - -# Fix line 45 where neon is referenced but not defined for x86_64 -# The pattern is looking for where host_machine.cpu() is compared with 'arm64' -pattern = r"if\s+host_machine\.cpu_family\(\)\s*==\s*'aarch64'\s+or\s+host_machine\.cpu\(\)\s*==\s*'arm64'" -replacement = """# Handle different architectures for PiTrac -if host_machine.cpu_family() == 'x86_64' or host_machine.cpu_family() == 'x86' - neon = [] - use_neon = false - message('Building for x86_64 - NEON optimizations disabled') -elif host_machine.cpu_family() == 'aarch64' or host_machine.cpu() == 'arm64'""" - -modified = False -if re.search(pattern, content): - content = re.sub(pattern, replacement, content) - modified = True - print("Patched ARM architecture detection") - -# Also ensure neon is defined before any usage if not already handled -if 'neon' in content and 'neon = []' not in content and not modified: - # Add a fallback definition after the compiler setup - pattern2 = r"(cpp = meson\.get_compiler\('cpp'\))" - if re.search(pattern2, content): - content = re.sub(pattern2, - r"\1\n\n# Initialize neon for non-ARM builds\nif host_machine.cpu_family() == 'x86_64' or host_machine.cpu_family() == 'x86'\n neon = []\n use_neon = false\nelse\n neon = [] # Define empty for other architectures\n use_neon = false\nendif", - content) - modified = True - print("Added neon initialization for x86_64") - -if modified: - with open(meson_file, 'w') as f: - f.write(content) - print("Successfully patched meson.build for x86_64 compatibility") -else: - print("No modifications needed") -EOF - - log_info "Applying patch to define neon variable..." - - if grep -q "neon = \[\]" "$meson_file"; then - log_info "neon already defined, skipping patch" - else - - awk ' - /^project\(/ { in_project = 1 } - in_project && /\)/ { - print $0 - print "" - print "# Define neon for x86_64 compatibility" - print "neon = []" - print "use_neon = false" - print "" - in_project = 0 - next - } - { print } - ' "$meson_file" > "${meson_file}.tmp" && mv "${meson_file}.tmp" "$meson_file" - - log_success "Added neon definition after project declaration" - fi - - log_info "Fixing array/string comparisons..." - - sed -i "s/neon == 'arm64'/false/g" "$meson_file" - sed -i "s/'arm64' == neon/false/g" "$meson_file" - sed -i "s/neon == 'armv8-neon'/false/g" "$meson_file" - sed -i "s/'armv8-neon' == neon/false/g" "$meson_file" - - sed -i "s/neon == '[^']*'/false/g" "$meson_file" - sed -i "s/'[^']*' == neon/false/g" "$meson_file" - - sed -i "s/host_machine\.cpu() == 'arm64'/host_machine.cpu_family() == 'aarch64'/g" "$meson_file" - sed -i "s/host_machine\.cpu() == 'armv8'/host_machine.cpu_family() == 'aarch64'/g" "$meson_file" - - sed -i "s/if neon != \[\]/if use_neon/g" "$meson_file" - sed -i "s/if neon == \[\]/if not use_neon/g" "$meson_file" - - sed -i "50s/elif.*neon.*==.*'armv8-neon'/elif false # x86_64: disabled ARM check/g" "$meson_file" - sed -i "50s/if.*neon.*==.*'armv8-neon'/if false # x86_64: disabled ARM check/g" "$meson_file" - - log_success "Fixed array/string comparisons" - - log_info "Making lgpio dependency optional for x86_64..." - - sed -i "64s/dependency('lgpio')/dependency('lgpio', required: false)/g" "$meson_file" - - sed -i "/lgpio_dep = dependency('lgpio'/c\\ -lgpio_dep = dependency('lgpio', required: false)" "$meson_file" - - sed -i "s/find_library('lgpio')/find_library('lgpio', required: false)/g" "$meson_file" - - awk ' - /lgpio_dep =/ { - print $0 - print "if lgpio_dep.found()" - print " add_project_arguments('\''-DHAS_LGPIO=1'\'', language: '\''cpp'\'')" - print " lgpio_available = true" - print "else" - print " add_project_arguments('\''-DHAS_LGPIO=0'\'', language: '\''cpp'\'')" - print " add_project_arguments('\''-DNO_LGPIO'\'', language: '\''cpp'\'')" - print " lgpio_available = false" - print " lgpio_dep = []" - print "endif" - next - } - /dependencies.*lgpio_dep/ { - gsub(/lgpio_dep/, "lgpio_available ? lgpio_dep : []") - } - { print } - ' "$meson_file" > "${meson_file}.tmp" && mv "${meson_file}.tmp" "$meson_file" - - sed -i "s/required: false, required: false/required: false/g" "$meson_file" - - log_success "Made Pi-specific dependencies optional" - - log_info "Handling ARM object files in meson.build..." - - - if grep -q "closed_source_target = custom_target" "$meson_file"; then - log_info "Replacing closed source object with source compilation for x86_64..." - - perl -i -0pe "s/closed_source_target = custom_target\([^)]*\)/closed_source_target = []/gs" "$meson_file" - - if ! sed -n '/pitrac_lm_sources += \[/,/\]/p' "$meson_file" | grep -q "'gs_e6_response.cpp'," 2>/dev/null; then - sed -i "/'gs_e6_results.cpp',/a\\ 'gs_e6_response.cpp'," "$meson_file" - log_info "Added gs_e6_response.cpp to source files after gs_e6_results.cpp" - else - log_info "gs_e6_response.cpp already in main source files" - fi - fi - - sed -i "s/'gs_e6_response\.cpp\.o',//g" "$meson_file" - sed -i "s/, 'gs_e6_response\.cpp\.o'//g" "$meson_file" - sed -i "s/'gs_e6_response\.cpp\.o'//g" "$meson_file" - - sed -i "s/closed_source_target,//g" "$meson_file" - sed -i "s/, closed_source_target//g" "$meson_file" - - log_success "Handled ARM object files in build configuration" - - if [ "$arch" = "x86_64" ] || [ "$arch" = "x86" ]; then - log_info "Creating lgpio stub file for x86_64..." - if [ -f "${SCRIPT_DIR}/lgpio_stubs.c" ]; then - cp "${SCRIPT_DIR}/lgpio_stubs.c" lgpio_stubs.c - log_info "Copied lgpio_stubs.c from scripts directory" - else - cat > lgpio_stubs.c << 'EOF' -// Stub implementations for lgpio functions on x86_64 -#include -int lgGpiochipOpen(int gpiochip __attribute__((unused))) { return 0; } -int lgGpiochipClose(int handle __attribute__((unused))) { return 0; } -int lgGpioClaimOutput(int handle __attribute__((unused)), int flags __attribute__((unused)), - int gpio __attribute__((unused)), int level __attribute__((unused))) { return 0; } -int lgGpioWrite(int handle __attribute__((unused)), int gpio __attribute__((unused)), - int level __attribute__((unused))) { return 0; } -int lgSpiOpen(int spiDev __attribute__((unused)), int spiChan __attribute__((unused)), - int spiBaud __attribute__((unused)), int spiFlags __attribute__((unused))) { return 0; } -int lgSpiClose(int handle __attribute__((unused))) { return 0; } -int lgSpiWrite(int handle __attribute__((unused)), const char *txBuf __attribute__((unused)), - int count) { return count; } -EOF - fi - - if ! grep -q "lgpio_stubs.c" "$meson_file"; then - sed -i "/'pulse_strobe.cpp',/a\\ 'lgpio_stubs.c'," "$meson_file" - log_info "Added lgpio_stubs.c to source files" - fi - fi - - rm -f /tmp/patch_meson_x86.py - - return 0 -} - -if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then - patch_meson_for_x86 "${1:-meson.build}" -fi \ No newline at end of file diff --git a/archived/Dev/scripts/run_pitrac.sh b/archived/Dev/scripts/run_pitrac.sh deleted file mode 100755 index 00e9cc58..00000000 --- a/archived/Dev/scripts/run_pitrac.sh +++ /dev/null @@ -1,366 +0,0 @@ -#!/usr/bin/env bash -set -euo pipefail - -# PiTrac Launch Monitor Run Script -SCRIPT_DIR="$(cd -- "$(dirname "$0")" >/dev/null 2>&1 && pwd)" -source "${SCRIPT_DIR}/common.sh" - -# Load defaults from config file -load_defaults "run-pitrac" "$@" - -# Get build directory from pitrac-build configuration -BUILD_DIR="${BUILD_DIR:-$HOME/Dev}" -BUILD_DIR="${BUILD_DIR/#\~/$HOME}" -PITRAC_DIR="${BUILD_DIR}/PiTrac" - -# Set PITRAC_ROOT - try detection first, fall back to built location -detected_root="$(detect_pitrac_root)" -if [ -d "$detected_root" ]; then - export PITRAC_ROOT="$detected_root" -else - export PITRAC_ROOT="${PITRAC_DIR}/Software/LMSourceCode" -fi -PITRAC_BINARY="${PITRAC_ROOT}/ImageProcessing/build/pitrac_lm" - -# Runtime configuration from defaults -PI_MODE="${pi_mode:-single}" -LOGGING_LEVEL="${logging_level:-info}" -SYSTEM_MODE="${system_mode:-kNormal}" -ARTIFACT_SAVE_LEVEL="${artifact_save_level:-minimal}" -TEST_TIMEOUT="${test_timeout:-30}" -CAMERA1_INDEX="${camera1_index:-1}" -CAMERA2_INDEX="${camera2_index:-2}" -RUN_SCRIPTS_DIR="${run_scripts_dir:-RunScripts}" -ENABLE_WEB_SERVER="${enable_web_server:-1}" -WEB_SERVER_PORT="${web_server_port:-8080}" -ENABLE_MSG_BROKER="${enable_msg_broker:-1}" -ENABLE_E6="${enable_e6:-0}" -ENABLE_GSPRO="${enable_gspro:-0}" -STROBE_TEST_DURATION="${strobe_test_duration:-10}" -STROBE_TEST_FREQUENCY="${strobe_test_frequency:-50}" -TRIGGER_TEST_MODE="${trigger_test_mode:-external}" -AUTO_RESTART="${auto_restart:-0}" -MAX_RESTARTS="${max_restarts:-3}" -RESTART_DELAY="${restart_delay:-5}" - -# Check if PiTrac is built -is_pitrac_built() { - [ -f "$PITRAC_BINARY" ] && [ -x "$PITRAC_BINARY" ] -} - -# Check if PiTrac is installed (following naming convention) -is_run_pitrac_installed() { - is_pitrac_built -} - -# Load environment variables from shell RC files -load_environment() { - local loaded=false - - if [ -f "$HOME/.bashrc" ] && grep -q "PITRAC_ROOT" "$HOME/.bashrc"; then - source "$HOME/.bashrc" - loaded=true - elif [ -f "$HOME/.zshrc" ] && grep -q "PITRAC_ROOT" "$HOME/.zshrc"; then - source "$HOME/.zshrc" - loaded=true - fi - - if [ "$loaded" = false ]; then - log_warn "PiTrac environment variables not found in shell RC files" - log_info "Using defaults from build configuration" - - # Set critical environment variables if not set - export PITRAC_BASE_IMAGE_LOGGING_DIR="${PITRAC_BASE_IMAGE_LOGGING_DIR:-$HOME/LM_Shares/Images/}" - export PITRAC_WEBSERVER_SHARE_DIR="${PITRAC_WEBSERVER_SHARE_DIR:-$HOME/LM_Shares/WebShare/}" - export PITRAC_MSG_BROKER_FULL_ADDRESS="${PITRAC_MSG_BROKER_FULL_ADDRESS:-tcp://127.0.0.1:61616}" - fi -} - -# Check dependencies (non-blocking) -check_runtime_dependencies() { - local warnings="" - local critical=false - - # Check if ActiveMQ is running - if [ "$ENABLE_MSG_BROKER" = "1" ]; then - if ! systemctl is-active --quiet activemq 2>/dev/null && \ - ! pgrep -f activemq >/dev/null 2>&1; then - warnings="${warnings} - ActiveMQ Broker not running\n" - fi - fi - - # Check if web server is running for web interface - if [ "$ENABLE_WEB_SERVER" = "1" ]; then - if ! systemctl is-active --quiet pitrac-web 2>/dev/null && \ - ! pgrep -f "python.*main.py" >/dev/null 2>&1; then - warnings="${warnings} - PiTrac web server not running\n" - fi - fi - - # Check for camera devices - if ! ls /dev/video* >/dev/null 2>&1; then - warnings="${warnings} - No camera devices found\n" - critical=true - fi - - # Check required directories exist - if [ ! -d "$PITRAC_BASE_IMAGE_LOGGING_DIR" ]; then - mkdir -p "$PITRAC_BASE_IMAGE_LOGGING_DIR" || { - warnings="${warnings} - Cannot create image logging directory\n" - } - fi - - if [ ! -d "$PITRAC_WEBSERVER_SHARE_DIR" ]; then - mkdir -p "$PITRAC_WEBSERVER_SHARE_DIR" || { - warnings="${warnings} - Cannot create web share directory\n" - } - fi - - if [ -n "$warnings" ]; then - log_warn "Runtime dependency issues detected:" - echo -e "$warnings" - - if [ "$critical" = true ]; then - log_error "Critical issues found" - if ! is_non_interactive; then - read -p "Continue anyway? (y/N): " -n 1 -r - echo - [[ ! $REPLY =~ ^[Yy]$ ]] && return 1 - else - return 1 - fi - else - log_info "Non-critical issues - PiTrac may still run" - fi - else - log_success "All runtime dependencies OK" - fi - - return 0 -} - -# Run single-Pi setup -run_single_pi() { - log_info "Starting PiTrac in Single-Pi mode" - log_info "Logging level: $LOGGING_LEVEL" - log_info "System mode: $SYSTEM_MODE" - - cd "$PITRAC_ROOT/ImageProcessing" - - # Check for specific run script - local run_script="$RUN_SCRIPTS_DIR/runSinglePi.sh" - if [ -f "$run_script" ] && [ -x "$run_script" ]; then - log_info "Using run script: $run_script" - exec "$run_script" - else - log_info "Running with command-line parameters" - exec "$PITRAC_BINARY" \ - --logging_level="$LOGGING_LEVEL" \ - --system_mode="$SYSTEM_MODE" \ - --artifact_save_level="$ARTIFACT_SAVE_LEVEL" - fi -} - -# Run Camera 1 (primary Pi in dual setup) -run_camera1() { - log_info "Starting Camera 1 (Primary Pi)" - log_warn "Make sure Camera 2 is running on the secondary Pi first!" - - cd "$PITRAC_ROOT/ImageProcessing" - - local run_script="$RUN_SCRIPTS_DIR/runCam1.sh" - if [ -f "$run_script" ] && [ -x "$run_script" ]; then - log_info "Using run script: $run_script" - exec "$run_script" - else - log_info "Running with command-line parameters" - exec "$PITRAC_BINARY" \ - --logging_level="$LOGGING_LEVEL" \ - --camera_index="$CAMERA1_INDEX" - fi -} - -# Run Camera 2 (secondary Pi in dual setup) -run_camera2() { - log_info "Starting Camera 2 (Secondary Pi)" - log_info "This should be started BEFORE Camera 1" - - cd "$PITRAC_ROOT/ImageProcessing" - - local run_script="$RUN_SCRIPTS_DIR/runCam2.sh" - if [ -f "$run_script" ] && [ -x "$run_script" ]; then - log_info "Using run script: $run_script" - exec "$run_script" - else - log_info "Running with command-line parameters" - exec "$PITRAC_BINARY" \ - --logging_level="$LOGGING_LEVEL" \ - --camera_index="$CAMERA2_INDEX" - fi -} - -# Test strobe light -test_strobe() { - log_info "Testing strobe light" - log_warn "You should see dark-reddish pulses in the LED lens" - log_warn "Duration: ${STROBE_TEST_DURATION} seconds" - - cd "$PITRAC_ROOT/ImageProcessing" - - local pulse_script="$RUN_SCRIPTS_DIR/runPulseTest.sh" - if [ -f "$pulse_script" ] && [ -x "$pulse_script" ]; then - log_info "Using pulse test script" - timeout "$STROBE_TEST_DURATION" "$pulse_script" || true - else - log_error "Pulse test script not found: $pulse_script" - return 1 - fi - - log_success "Strobe test completed" -} - -# Test camera trigger -test_camera_trigger() { - log_info "Camera Trigger Test Setup" - echo "" - echo "For dual-Pi setup:" - echo "1. On Pi 2, set external trigger mode:" - echo " sudo $PITRAC_ROOT/ImageProcessing/CameraTools/setCameraTriggerExternal.sh" - echo "" - echo "2. On Pi 2, run camera test:" - echo " rpicam-hello" - echo "" - echo "3. On Pi 1, run pulse test:" - echo " $PITRAC_ROOT/ImageProcessing/RunScripts/runPulseTest.sh" - echo "" - echo "Camera 2 should capture when Camera 1 triggers" - echo "" - echo "4. After testing, restore internal trigger on Pi 2:" - echo " sudo $PITRAC_ROOT/ImageProcessing/CameraTools/setCameraTriggerInternal.sh" -} - -# Run with restart capability -run_with_restart() { - local mode="$1" - local restart_count=0 - - while [ "$restart_count" -lt "$MAX_RESTARTS" ]; do - log_info "Starting PiTrac (attempt $((restart_count + 1))/$MAX_RESTARTS)" - - case "$mode" in - single) run_single_pi ;; - cam1) run_camera1 ;; - cam2) run_camera2 ;; - *) - log_error "Invalid mode: $mode" - return 1 - ;; - esac - - local exit_code=$? - - if [ "$exit_code" -eq 0 ]; then - log_success "PiTrac exited normally" - break - elif [ "$AUTO_RESTART" = "1" ]; then - restart_count=$((restart_count + 1)) - if [ "$restart_count" -lt "$MAX_RESTARTS" ]; then - log_warn "PiTrac exited with code $exit_code, restarting in $RESTART_DELAY seconds..." - sleep "$RESTART_DELAY" - else - log_error "Maximum restart attempts reached" - return 1 - fi - else - log_error "PiTrac exited with code $exit_code" - return $exit_code - fi - done -} - -# Main function -main() { - local action="${1:-run}" - - # Check if PiTrac is built - if ! is_pitrac_built; then - log_error "PiTrac is not built!" - log_info "Binary not found: $PITRAC_BINARY" - log_info "Please build PiTrac first using the build script" - return 1 - fi - - # Load environment - load_environment - - # Check dependencies (non-blocking) - check_runtime_dependencies - - case "$action" in - run) - # Default run based on PI_MODE - if [ "$PI_MODE" = "single" ]; then - run_single_pi - else - log_info "Dual-Pi mode - please specify cam1 or cam2" - echo "Usage: $0 [run|cam1|cam2|test-strobe|test-trigger|help]" - return 1 - fi - ;; - cam1) - run_camera1 - ;; - cam2) - run_camera2 - ;; - test-strobe) - test_strobe - ;; - test-trigger) - test_camera_trigger - ;; - restart-single) - AUTO_RESTART=1 - run_with_restart single - ;; - restart-cam1) - AUTO_RESTART=1 - run_with_restart cam1 - ;; - restart-cam2) - AUTO_RESTART=1 - run_with_restart cam2 - ;; - help) - echo "PiTrac Launch Monitor Runtime" - echo "" - echo "Usage: $0 [command]" - echo "" - echo "Commands:" - echo " run - Run based on configured mode (default)" - echo " cam1 - Run Camera 1 (dual-Pi primary)" - echo " cam2 - Run Camera 2 (dual-Pi secondary)" - echo " test-strobe - Test strobe light" - echo " test-trigger - Show camera trigger test instructions" - echo " restart-single - Run single-Pi with auto-restart" - echo " restart-cam1 - Run Camera 1 with auto-restart" - echo " restart-cam2 - Run Camera 2 with auto-restart" - echo " help - Show this help message" - echo "" - echo "Configuration:" - echo " PI_MODE=$PI_MODE" - echo " LOGGING_LEVEL=$LOGGING_LEVEL" - echo " PITRAC_ROOT=$PITRAC_ROOT" - ;; - *) - log_error "Unknown command: $action" - echo "Use '$0 help' for usage information" - return 1 - ;; - esac -} - -# Run if executed directly -if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then - main "$@" -fi \ No newline at end of file diff --git a/archived/Dev/scripts/test_image_processor.sh b/archived/Dev/scripts/test_image_processor.sh deleted file mode 100755 index c8036281..00000000 --- a/archived/Dev/scripts/test_image_processor.sh +++ /dev/null @@ -1,283 +0,0 @@ -#!/usr/bin/env bash -set -euo pipefail - -# PiTrac Image Processing Test Runner -# Runs image processing pipeline on test images without camera hardware - -SCRIPT_DIR="$(cd -- "$(dirname "$0")" >/dev/null 2>&1 && pwd)" -source "${SCRIPT_DIR}/common.sh" - -# Load defaults from YAML config -load_defaults "test-processor" "$@" - -# Set up paths using detection or environment -if [ -z "${PITRAC_ROOT:-}" ]; then - PITRAC_ROOT="$(detect_pitrac_root)" -fi -# For test images, go to the base PiTrac directory -PITRAC_BASE="$(dirname $(dirname "$PITRAC_ROOT"))" -TEST_DIR="${PITRAC_BASE}/${test_base_dir:-TestImages}" -RESULTS_DIR="${TEST_DIR}/results" -CONFIG_FILE="${PITRAC_ROOT}/ImageProcessing/golf_sim_config.json" -PITRAC_BINARY="${PITRAC_ROOT}/ImageProcessing/build/pitrac_lm" - -# Test mode from command line or default -TEST_MODE="${1:-quick}" -TEED_IMAGE="${2:-}" -STROBED_IMAGE="${3:-}" - -# Create necessary directories -setup_directories() { - log_info "Setting up test directories..." - mkdir -p "$TEST_DIR"/{default,custom,results} - mkdir -p "$RESULTS_DIR"/{images,logs,data} -} - -is_test_processor_installed() { - local packages=("python3" "python3-yaml" "jq") - for pkg in "${packages[@]}"; do - if ! dpkg -s "$pkg" >/dev/null 2>&1; then - return 1 - fi - done - - [ -d "${TEST_DIR}/default" ] && [ -d "${TEST_DIR}/results" ] -} - -check_binary() { - if [ ! -f "$PITRAC_BINARY" ]; then - log_error "PiTrac binary not found at: $PITRAC_BINARY" - log_info "Please build PiTrac first using the main menu option 3" - return 1 - fi - log_success "Found PiTrac binary" -} - -check_test_images() { - local teed="${1:-${TEST_DIR}/default/${default_teed_image:-test_teed_ball.png}}" - local strobed="${2:-${TEST_DIR}/default/${default_strobed_image:-test_strobed_ball.png}}" - - if [ ! -f "$teed" ]; then - log_error "Teed ball image not found: $teed" - if is_non_interactive; then - return 1 - else - read -p "Continue anyway? (y/N): " -n 1 -r - echo - [[ $REPLY =~ ^[Yy]$ ]] || return 1 - fi - fi - - if [ ! -f "$strobed" ]; then - log_error "Strobed image not found: $strobed" - if is_non_interactive; then - return 1 - else - read -p "Continue anyway? (y/N): " -n 1 -r - echo - [[ $REPLY =~ ^[Yy]$ ]] || return 1 - fi - fi - - log_success "Test images found" - return 0 -} - -update_config() { - local teed_image="$1" - local strobed_image="$2" - local temp_config="${CONFIG_FILE}.test" - - log_info "Updating configuration with test image paths..." - - # Use jq if available, otherwise use sed - if command -v jq >/dev/null 2>&1; then - jq --arg teed "$teed_image" --arg strobed "$strobed_image" \ - '.gs_config.testing.kTwoImageTestTeedBallImage = $teed | - .gs_config.testing.kTwoImageTestStrobedImage = $strobed' \ - "$CONFIG_FILE" > "$temp_config" - else - # Fallback to sed - cp "$CONFIG_FILE" "$temp_config" - sed -i "s|\"kTwoImageTestTeedBallImage\":.*|\"kTwoImageTestTeedBallImage\": \"$teed_image\",|" "$temp_config" - sed -i "s|\"kTwoImageTestStrobedImage\":.*|\"kTwoImageTestStrobedImage\": \"$strobed_image\",|" "$temp_config" - fi - - # Backup original and use test config - cp "$CONFIG_FILE" "${CONFIG_FILE}.backup" - mv "$temp_config" "$CONFIG_FILE" -} - -restore_config() { - if [ -f "${CONFIG_FILE}.backup" ]; then - mv "${CONFIG_FILE}.backup" "$CONFIG_FILE" - log_info "Restored original configuration" - fi -} - -run_test() { - local teed_image="$1" - local strobed_image="$2" - local test_name="${3:-test}" - local timestamp=$(date +"%Y%m%d_%H%M%S") - local log_file="${RESULTS_DIR}/logs/test_${test_name}_${timestamp}.log" - local timing_file="${RESULTS_DIR}/data/timing_${test_name}_${timestamp}.txt" - - log_info "Running test: $test_name" - log_info "Teed ball image: $(basename "$teed_image")" - log_info "Strobed image: $(basename "$strobed_image")" - - update_config "$teed_image" "$strobed_image" - - log_info "Starting image processing pipeline..." - - start_time=$(date +%s.%N) - - if timeout "${test_timeout_seconds:-30}" "$PITRAC_BINARY" \ - --system_mode="${test_system_mode:-kTest}" \ - --logging_level="${test_log_level:-info}" \ - --artifact_save_level="${test_artifact_level:-all}" \ - --base_image_logging_dir="$RESULTS_DIR/images" \ - > "$log_file" 2>&1; then - - end_time=$(date +%s.%N) - - # Calculate duration (using awk instead of bc which may not be installed) - duration=$(awk "BEGIN {printf \"%.2f\", $end_time - $start_time}") - - log_success "Test completed in ${duration} seconds" - - echo "Test: $test_name" > "$timing_file" - echo "Timestamp: $timestamp" >> "$timing_file" - echo "Duration: ${duration} seconds" >> "$timing_file" - echo "Teed Image: $teed_image" >> "$timing_file" - echo "Strobed Image: $strobed_image" >> "$timing_file" - - extract_results "$log_file" "$timing_file" - - echo "" - echo "============================================" - cat "$timing_file" - echo "============================================" - - else - log_error "Test failed or timed out" - restore_config - return 1 - fi - - restore_config - - return 0 -} - -extract_results() { - local log_file="$1" - local output_file="$2" - - echo "" >> "$output_file" - echo "=== Results ===" >> "$output_file" - - grep -i "ball.*speed\|launch.*angle\|spin\|rotation" "$log_file" >> "$output_file" 2>/dev/null || true - - if grep -q "ERROR" "$log_file"; then - echo "" >> "$output_file" - echo "=== Errors ===" >> "$output_file" - grep "ERROR" "$log_file" >> "$output_file" - fi -} - -list_test_images() { - log_info "Available test images:" - echo "" - - if [ -d "$TEST_DIR/default" ]; then - echo "Default images ($TEST_DIR/default/):" - ls -la "$TEST_DIR/default/"*.png 2>/dev/null || echo " No images found" - fi - - echo "" - - if [ -d "$TEST_DIR/custom" ]; then - echo "Custom images ($TEST_DIR/custom/):" - ls -la "$TEST_DIR/custom/"*.png 2>/dev/null || echo " No images found" - fi -} - -view_latest_results() { - if [ -d "$RESULTS_DIR/data" ]; then - local latest_result - latest_result=$(ls -t "$RESULTS_DIR/data/timing_"*.txt 2>/dev/null | head -1) - - if [ -n "$latest_result" ] && [ -f "$latest_result" ]; then - log_success "Latest results from: $(basename "$latest_result")" - echo "============================================" - cat "$latest_result" - echo "============================================" - else - log_warn "No test results found" - return 1 - fi - else - log_warn "Results directory not found" - return 1 - fi -} - -# Main function -main() { - # Setup directories first - setup_directories - - case "$TEST_MODE" in - quick|custom) - run_preflight_checks "test-processor" || return 1 - ;; - esac - - case "$TEST_MODE" in - quick) - check_binary || return 1 - - local teed="${TEST_DIR}/default/${default_teed_image:-test_teed_ball.png}" - local strobed="${TEST_DIR}/default/${default_strobed_image:-test_strobed_ball.png}" - - if check_test_images "$teed" "$strobed"; then - run_test "$teed" "$strobed" "quick" - else - return 1 - fi - ;; - - custom) - check_binary || return 1 - - if [ -z "$TEED_IMAGE" ] || [ -z "$STROBED_IMAGE" ]; then - log_error "Usage: $0 custom " - return 1 - fi - - if check_test_images "$TEED_IMAGE" "$STROBED_IMAGE"; then - run_test "$TEED_IMAGE" "$STROBED_IMAGE" "custom" - else - return 1 - fi - ;; - - list) - list_test_images - ;; - - results) - view_latest_results - ;; - - *) - log_error "Unknown test mode: $TEST_MODE" - echo "Usage: $0 [quick|custom |list|results]" - return 1 - ;; - esac -} - -main "$@" \ No newline at end of file diff --git a/archived/Dev/scripts/test_results_server.py b/archived/Dev/scripts/test_results_server.py deleted file mode 100755 index bde6014f..00000000 --- a/archived/Dev/scripts/test_results_server.py +++ /dev/null @@ -1,381 +0,0 @@ -#!/usr/bin/env python3 -#!/usr/bin/env python3 - -import os -import sys -import json -from pathlib import Path -from http.server import HTTPServer, SimpleHTTPRequestHandler -import socket - -def load_config(): - config = {} - script_dir = Path(__file__).parent - defaults_file = script_dir / "defaults" / "test-processor.yaml" - - if defaults_file.exists(): - try: - import yaml - with open(defaults_file) as f: - config = yaml.safe_load(f) - except ImportError: - with open(defaults_file) as f: - for line in f: - if ':' in line and not line.strip().startswith('#'): - key, value = line.split(':', 1) - config[key.strip()] = value.strip().strip('"') - - return config - -class TestResultsHandler(SimpleHTTPRequestHandler): - - def __init__(self, *args, results_dir=None, **kwargs): - self.results_dir = results_dir - super().__init__(*args, **kwargs) - - def do_GET(self): - if self.path == '/': - self.serve_index() - elif self.path == '/api/results': - self.serve_results_json() - elif self.path.startswith('/images/'): - self.serve_static_file(self.path[8:], 'images') - elif self.path.startswith('/logs/'): - self.serve_static_file(self.path[6:], 'logs') - else: - self.send_error(404) - - def serve_index(self): - html = """ - - - - - PiTrac Test Results - - - -
-

PiTrac Test Results

-
- - Auto-refresh: 10s -
-
-
Loading results...
-
-
- - - -""" - - self.send_response(200) - self.send_header('Content-Type', 'text/html; charset=utf-8') - self.end_headers() - self.wfile.write(html.encode()) - - def serve_results_json(self): - try: - results = [] - results_dir = Path(self.results_dir) - - # Find all timing files - timing_files = sorted( - results_dir.glob("data/timing_*.txt"), - key=lambda x: x.stat().st_mtime, - reverse=True - )[:10] # Last 10 results - - for timing_file in timing_files: - result = self.parse_timing_file(timing_file) - - # Find associated log file - test_name = timing_file.stem.replace('timing_', '') - log_files = list(results_dir.glob(f"logs/test_{test_name}.log")) - if log_files: - result['log_file'] = log_files[0].name - - results.append(result) - - response = {'results': results} - - except Exception as e: - response = {'error': str(e)} - - self.send_response(200) - self.send_header('Content-Type', 'application/json') - self.end_headers() - self.wfile.write(json.dumps(response).encode()) - - def parse_timing_file(self, timing_file): - result = { - 'name': 'Unknown', - 'timestamp': 'Unknown', - 'duration': 'N/A', - 'status': 'unknown' - } - - try: - with open(timing_file, 'r') as f: - content = f.read() - - for line in content.split('\n'): - if line.startswith('Test:'): - result['name'] = line.split(':', 1)[1].strip() - elif line.startswith('Timestamp:'): - result['timestamp'] = line.split(':', 1)[1].strip() - elif line.startswith('Duration:'): - duration = line.split(':', 1)[1].strip() - # Format duration nicely - if 'seconds' in duration: - try: - seconds = float(duration.split()[0]) - result['duration'] = f"{seconds:.2f}s" - except: - result['duration'] = duration - else: - result['duration'] = duration - elif 'ball speed' in line.lower(): - parts = line.split(':') - if len(parts) > 1: - result['ball_speed'] = parts[1].strip().split()[0] - elif 'launch angle' in line.lower(): - parts = line.split(':') - if len(parts) > 1: - result['launch_angle'] = parts[1].strip().split()[0] - - if 'ERROR' in content or 'FAILED' in content: - result['status'] = 'error' - elif result['duration'] != 'N/A': - result['status'] = 'success' - else: - result['status'] = 'unknown' - - except Exception as e: - print(f"Error parsing timing file {timing_file}: {e}", file=sys.stderr) - - return result - - def serve_static_file(self, filename, subdir): - file_path = Path(self.results_dir) / subdir / filename - - if file_path.exists() and file_path.is_file(): - if file_path.suffix == '.png': - content_type = 'image/png' - elif file_path.suffix in ['.jpg', '.jpeg']: - content_type = 'image/jpeg' - elif file_path.suffix == '.log': - content_type = 'text/plain; charset=utf-8' - else: - content_type = 'application/octet-stream' - - self.send_response(200) - self.send_header('Content-Type', content_type) - self.end_headers() - with open(file_path, 'rb') as f: - self.wfile.write(f.read()) - else: - self.send_error(404, f"File not found: {filename}") - - def log_message(self, format, *args): - if '/api/results' not in args[0]: # Don't log API calls - super().log_message(format, *args) - - -def get_local_ip(): - try: - s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) - s.connect(("8.8.8.8", 80)) - ip = s.getsockname()[0] - s.close() - return ip - except: - return "localhost" - - -def main(): - config = load_config() - - # Get settings from environment or config - port = int(os.environ.get('TEST_WEB_PORT', - config.get('web_server_port', 8080))) - - pitrac_root = os.environ.get('PITRAC_ROOT', os.path.expanduser('~/PiTrac')) - test_base_dir = config.get('test_base_dir', 'TestImages') - results_dir = Path(pitrac_root) / test_base_dir / "results" - - # Ensure results directory exists - results_dir.mkdir(parents=True, exist_ok=True) - - # Create handler with results directory - handler = lambda *args, **kwargs: TestResultsHandler( - *args, results_dir=results_dir, **kwargs - ) - - # Start server - local_ip = get_local_ip() - httpd = HTTPServer(('', port), handler) - - print(f"\nPiTrac Test Results Server") - print(f"{'=' * 50}") - print(f"Results directory: {results_dir}") - print(f"Local access: http://localhost:{port}") - print(f"Network access: http://{local_ip}:{port}") - - if 'SSH_CONNECTION' in os.environ: - print(f"\nSSH tunnel: ssh -L {port}:localhost:{port} @") - - print(f"{'=' * 50}") - print(f"Press Ctrl+C to stop the server\n") - - try: - httpd.serve_forever() - except KeyboardInterrupt: - print("\nServer stopped") - sys.exit(0) - - -if __name__ == '__main__': - main() \ No newline at end of file diff --git a/archived/docs/software/configuration.md b/archived/docs/software/configuration.md deleted file mode 100644 index 1af0a700..00000000 --- a/archived/docs/software/configuration.md +++ /dev/null @@ -1,176 +0,0 @@ ---- -title: Configuration -layout: default -nav_order: 3 -parent: Software ---- - -# Configuration - -This document covers configuration files and environment variables for PiTrac. - -## Environment Variables - -PiTrac requires several environment variables to be set. Add these to your shell configuration file (`.zshrc`, `.bashrc`, etc.): - -### Required Variables - -```bash -# Core paths -export PITRAC_ROOT=/Dev/PiTrac/Software/LMSourceCode -export PITRAC_BASE_IMAGE_LOGGING_DIR=~/LM_Shares/Images/ -export PITRAC_WEBSERVER_SHARE_DIR=~/LM_Shares/WebShare/ -export PITRAC_MSG_BROKER_FULL_ADDRESS=tcp://10.0.0.41:61616 - -# Camera configuration -export LIBCAMERA_RPI_CONFIG_FILE=/usr/share/libcamera/pipeline/rpi/pisp/rpi_apps.yaml - -# Camera types (choose based on your hardware) -export PITRAC_SLOT1_CAMERA_TYPE=4 # Official Pi GS cameras with 6mm lenses -export PITRAC_SLOT2_CAMERA_TYPE=4 - -# Alternative: Innomaker GS cameras with 3.6mm lenses -#export PITRAC_SLOT1_CAMERA_TYPE=6 -#export PITRAC_SLOT2_CAMERA_TYPE=6 -``` - -### Optional Variables - -```bash -# Golf simulator integration (uncomment as needed) -#export PITRAC_E6_HOST_ADDRESS=10.0.0.29 -#export PITRAC_GSPRO_HOST_ADDRESS=10.0.0.29 -``` - -## Configuration Files - -### golf_sim_config.json - -The main configuration file located at `$PITRAC_ROOT/ImageProcessing/golf_sim_config.json`. - -#### Key Sections - -##### Golf Simulator Interfaces - -```json -{ - "golf_simulator_interfaces": { - "E6": { - "kE6ConnectAddress": "10.0.0.10", - "kE6ConnectPort": "2483", - "kE6InterMessageDelayMs": 50 - } - } -} -``` - -##### Camera Configuration - -The configuration file contains camera-specific settings for: -- Image processing parameters -- Calibration values -- Trigger timing -- Image capture settings - -##### Web Server Settings - -```json -{ - "kWebServerTomcatShareDirectory": "/home/username/LM_Shares/WebShare/" -} -``` - -## Camera Configuration Files - -### rpi_apps.yaml - -Location: `/usr/share/libcamera/pipeline/rpi/pisp/rpi_apps.yaml` (Pi 5) or `/usr/share/libcamera/pipeline/rpi/vc4/rpi_apps.yaml` (Pi 4) - -Add extended timeout configuration: - -```yaml -"camera_timeout_value_ms": 1000000, -``` - -### Camera Calibration Files - -- Camera-specific JSON files with distortion correction parameters -- Generated during the calibration process -- Located in the camera calibration directory - -## System Configuration - -### ActiveMQ Configuration - -ActiveMQ configuration files are located in `/opt/apache-activemq/conf/`: - -- `activemq.xml` - Main broker configuration -- `jetty.xml` - Web console configuration - -### TomEE Configuration - -TomEE configuration files in `/opt/tomee/conf/`: - -- `server.xml` - Server and context configuration -- `tomcat-users.xml` - User authentication -- `context.xml` - Application context settings - -## Network Configuration - -### IP Address Requirements - -- **Pi 1:** Primary processing computer -- **Pi 2:** Camera computer (if using two-Pi setup) -- **Simulator PC:** Computer running golf simulator software -- **Network:** All devices should be on the same subnet - -### Port Configuration - -- **ActiveMQ:** 61616 (message broker) -- **TomEE:** 8080 (web interface) -- **E6/TruGolf:** 2483 (simulator interface) - -## Logging Configuration - -### Log Levels - -Available logging levels (in order of verbosity): -- `error` -- `warning` -- `info` -- `debug` -- `trace` - -### Usage - -```bash -# Recommended for normal operation -./build/pitrac_lm --logging_level=info - -# For troubleshooting -./build/pitrac_lm --logging_level=trace -``` - -## Troubleshooting Configuration - -### Common Issues - -1. **Environment variables not set:** Ensure variables are exported in shell config -2. **Wrong IP addresses:** Verify network configuration and device IPs -3. **Port conflicts:** Check that required ports are not in use by other services -4. **File permissions:** Ensure PiTrac user has access to all required directories - -### Verification Commands - -```bash -# Check environment variables -env | grep PITRAC - -# Test network connectivity -ping $PITRAC_MSG_BROKER_FULL_ADDRESS - -# Verify file access -ls -la $PITRAC_ROOT -``` - -For additional configuration help, see the [Troubleshooting Guide]({% link troubleshooting.md %}). diff --git a/archived/docs/software/running-pitrac.md b/archived/docs/software/running-pitrac.md deleted file mode 100644 index 7b5efb02..00000000 --- a/archived/docs/software/running-pitrac.md +++ /dev/null @@ -1,285 +0,0 @@ ---- -title: Running PiTrac -layout: default -nav_order: 3 -parent: Software -description: How to run the PiTrac launch monitor after setup and building - single-Pi, dual-Pi modes, and testing -keywords: pitrac run, launch monitor, single pi, dual pi, camera setup, testing -toc: true ---- - -# Running PiTrac Launch Monitor - -So you've built PiTrac. Time to see it in action. This guide covers everything from basic single-Pi operation to dual-Pi setups and testing without hardware. - -## Prerequisites - -Before running PiTrac, make sure you've completed: -1. [Automated Setup]({% link software/automated-setup.md %}) - All dependencies installed -2. Build PiTrac (option 3 in the menu) - The launch monitor is compiled - -## The Easy Way: Using the Menu - -The simplest way to run PiTrac is through the Dev menu: - -```bash -cd ~/Dev -./run.sh -# Choose option 4: Run PiTrac Launch Monitor -``` - -You'll see a submenu with all the runtime options: -``` -1) Run Single-Pi Setup -2) Run Two-Pi Setup (Camera 1) -3) Run Two-Pi Setup (Camera 2) -4) Start Camera 1 (Background) -5) Start Camera 2 (Background) -6) View Running Processes -7) View Background Logs -8) Stop All PiTrac Processes -9) Test Strobe Light -10) Test Camera Trigger -11) Configure Run Settings -12) Show Command-Line Help -``` - -## Single-Pi Setup - -The simplest configuration - everything runs on one Pi with one camera. - -### Quick Start -From the menu, choose option 1 "Run Single-Pi Setup". That's it. - -### What Happens -The system: -1. Checks for required services (ActiveMQ, TomEE) -2. Loads your environment variables -3. Verifies camera devices exist -4. Starts the launch monitor - -You'll see output like: -``` -[INFO] Starting PiTrac in Single-Pi mode -[INFO] Logging level: info -[INFO] System mode: kNormal -[SUCCESS] All runtime dependencies OK -``` - -Press Ctrl+C to stop. - -### Command Line -Want to skip the menu? -```bash -~/Dev/scripts/run_pitrac.sh run -``` - -## Dual-Pi Setup - -Got two Pis? This gives you two camera angles for better ball tracking. - -### How It Works -- **Pi 1 (Primary)**: Runs Camera 1, controls triggering, sends requests -- **Pi 2 (Secondary)**: Runs Camera 2, responds to Camera 1 requests -- **Communication**: Via ActiveMQ message broker (not SSH) - -### Setting Up Pi 2 (Camera 2) -On your secondary Pi: -```bash -cd ~/Dev -./run.sh -# Choose option 4, then option 3: "Run Two-Pi Setup (Camera 2)" -``` - -Or directly: -```bash -~/Dev/scripts/run_pitrac.sh cam2 -``` - -**Important**: Start Camera 2 FIRST. It needs to be listening before Camera 1 starts. - -### Setting Up Pi 1 (Camera 1) -On your primary Pi: -```bash -cd ~/Dev -./run.sh -# Choose option 4, then option 2: "Run Two-Pi Setup (Camera 1)" -``` - -Or directly: -```bash -~/Dev/scripts/run_pitrac.sh cam1 -``` - -### Running Both on One Pi (Testing) -Need to test dual-Pi logic on a single machine? Use background mode: - -1. Start Camera 2 in background (menu option 5) -2. Start Camera 1 in background (menu option 4) -3. View running processes (option 6) -4. Check logs (option 7) -5. Stop all when done (option 8) - -The system manages PIDs and logs for you: -- Camera 1 log: `/tmp/pitrac_cam1.log` -- Camera 2 log: `/tmp/pitrac_cam2.log` - -## Configuration - -All runtime settings are in `~/Dev/scripts/defaults/run-pitrac.yaml`: - -```yaml -# Pi configuration mode -pi_mode: "single" # or "dual" - -# Logging level -logging_level: "info" # trace, debug, info, warning, error - -# System mode -system_mode: "kNormal" # kNormal, kTest, kCalibration - -# Auto-restart on failure -auto_restart: 0 # 0=no, 1=yes -max_restarts: 3 -restart_delay: 5 - -# Enable services -enable_web_server: 1 # Web interface -enable_msg_broker: 1 # ActiveMQ messaging -enable_e6: 0 # E6 simulator -enable_gspro: 0 # GSPro simulator -``` - -Edit this file to change behavior, or choose option 11 in the menu for guided editing. - -## Hardware Testing - -### Test Strobe Light -Make sure your strobe is working: -```bash -~/Dev/scripts/run_pitrac.sh test-strobe -``` - -You should see dark-reddish pulses in the LED lens for 10 seconds. - -### Test Camera Trigger -For dual-Pi setups, test camera synchronization: -```bash -~/Dev/scripts/run_pitrac.sh test-trigger -``` - -This shows instructions for: -1. Setting Camera 2 to external trigger mode -2. Running camera test on Camera 2 -3. Running pulse test on Camera 1 -4. Verifying Camera 2 captures when Camera 1 triggers - -## Environment Variables - -PiTrac needs several environment variables set. The run script loads these from your shell config (`.bashrc` or `.zshrc`): - -- `PITRAC_ROOT` - Base directory for PiTrac software -- `PITRAC_BASE_IMAGE_LOGGING_DIR` - Where images are saved -- `PITRAC_WEBSERVER_SHARE_DIR` - Web server share directory -- `PITRAC_MSG_BROKER_FULL_ADDRESS` - ActiveMQ connection - -If these aren't set, the script uses defaults but warns you. - -## Using Existing Run Scripts - -If you have custom run scripts in `RunScripts/`, the system uses those instead of command-line parameters: - -- `runSinglePi.sh` - For single-Pi mode -- `runCam1.sh` - For Camera 1 in dual-Pi -- `runCam2.sh` - For Camera 2 in dual-Pi -- `runPulseTest.sh` - For strobe testing - -## Auto-Restart Feature - -Enable automatic restart on crashes: - -```yaml -# In run-pitrac.yaml -auto_restart: 1 -max_restarts: 3 -restart_delay: 5 -``` - -Or use restart commands: -```bash -~/Dev/scripts/run_pitrac.sh restart-single -~/Dev/scripts/run_pitrac.sh restart-cam1 -~/Dev/scripts/run_pitrac.sh restart-cam2 -``` - -## Troubleshooting Runtime Issues - -### PiTrac Won't Start - -**"PiTrac is not built!"** -- Run build from menu (option 3) -- Check binary exists: `ls $PITRAC_ROOT/ImageProcessing/build/pitrac_lm` - -**"No camera devices found"** -- Check cameras: `ls /dev/video*` -- Run `rpicam-hello` to test -- Reconfigure cameras in menu option 2 - -### Services Not Running - -**"ActiveMQ Broker not running"** -- Non-critical for basic operation -- Start manually: `sudo systemctl start activemq` -- Only needed for dual-Pi or simulators - -**"TomEE web server not running"** -- Non-critical for basic operation -- Start manually: `sudo systemctl start tomee` -- Only needed for web interface - -### Process Management - -View all PiTrac processes: -```bash -pgrep -a pitrac_lm -``` - -Kill stuck processes: -```bash -pkill -f pitrac_lm -``` - -Check background logs: -```bash -tail -f /tmp/pitrac_cam1.log -tail -f /tmp/pitrac_cam2.log -``` - -## Command-Line Options - -For direct control without the menu: - -```bash -# Show all options -~/Dev/scripts/run_pitrac.sh help - -# Basic commands -run - Run based on configured mode -cam1 - Run Camera 1 (dual-Pi primary) -cam2 - Run Camera 2 (dual-Pi secondary) -test-strobe - Test strobe light -test-trigger - Show camera trigger test instructions - -# With auto-restart -restart-single - Run single-Pi with auto-restart -restart-cam1 - Run Camera 1 with auto-restart -restart-cam2 - Run Camera 2 with auto-restart -``` - -## Next Steps - -PiTrac running? Great! Now: -1. [Camera Calibration]({% link camera/camera-calibration.md %}) - Get accurate measurements -2. [Simulator Integration]({% link simulator-integration.md %}) - Connect to GSPro or E6 - -Having issues? Check the [Troubleshooting Guide]({% link troubleshooting.md %}). \ No newline at end of file diff --git a/archived/docs/software/startup-guide.md b/archived/docs/software/startup-guide.md deleted file mode 100644 index 7bfab306..00000000 --- a/archived/docs/software/startup-guide.md +++ /dev/null @@ -1,161 +0,0 @@ ---- -title: Startup Guide -layout: default -nav_order: 2 -parent: Software ---- - -# PiTrac Testing and Start-Up Documentation - -If you are at this point, you should have PiTrac compiled on both Pi's, your enclosure built, and your cameras calibrated. If that's not quite done yet, see the [Automated Setup]({% link software/automated-setup.md %}) for the quickest path, or the [Raspberry Pi Setup]({% link software/pi-setup.md %}) for manual installation. - -## Environment Setup - -### Required Environment Variables - -Ensure each account you will run PiTrac from has the following environment variables set. Add these to your `.zshrc` file in your user's root directory: - -```bash -export PITRAC_ROOT=/Dev/PiTrac/Software -# Note: The ~ symbol is only expanded by the shell, so -# may not work if pulled directly into PiTrac code. However, -# these variables are expanded before being injected into PiTrac -# via command-line parameters -export PITRAC_ROOT=/mnt/PiTracShare/Dev/PiTrac/Software/LMSourceCode -export PITRAC_BASE_IMAGE_LOGGING_DIR=~/LM_Shares/Images/ -export PITRAC_WEBSERVER_SHARE_DIR=~/LM_Shares/WebShare/ -export PITRAC_MSG_BROKER_FULL_ADDRESS=tcp://10.0.0.41:61616 - -# Only uncomment and set the following if connecting to the -# respective golf sim (e.g., E6/TruGolf, GSPro, etc.) -#export PITRAC_E6_HOST_ADDRESS=10.0.0.29 -#export PITRAC_GSPRO_HOST_ADDRESS=10.0.0.29 -``` - -### Configuration File - -Ensure the `golf_sim_config.json` file is correctly set up. If unsure, follow the [Configuration File documentation]({% link software/configuration.md %}). - -### Basic Executable Test - -Check that the executable runs by itself: - -```bash -cd $PITRAC_ROOT/ImageProcessing -build/pitrac_lm --help -``` - -The executable should show the command-line parameters. - -## Hardware Testing - -### Strobe Light and Camera Triggering Test - -Problems can sometimes exist in the pathway from Pi 1 to Pi 2 Camera and the Strobe Assembly through the Connector Board. Perform these initial checks: - -1. **Position PiTrac** so you can see into the IR LEDs through the LED lens (small array of square LEDs should be visible) - -2. **Run strobe-light test:** - ```bash - cd $PITRAC_ROOT/ImageProcessing - ./RunScripts/runPulseTest.sh - ``` - -3. **Observe the test:** The script sends short "on" pulses to the LED strobe light. Due to the IR wavelengths used, you should see very short groups of dark-reddish pulses in the LED lens. - - {: .warning } - **Safety:** Look at the LED from at least a couple feet away, especially with higher-power LEDs. - -4. **Troubleshoot if no pulsing:** - - Check runPulseTest script output - - Verify connections from Pi 1 (top of LM) to Connector Board - - If you can't see red pulses: - - Check if small red LED on Connector Board is pulsing - - If Connector Board LED pulses but no strobe light pulses: - - Verify power supply to Connector Board connection - - Check wiring from Connector Board output to LED strobe assembly - -5. **Stop the test:** Hit `Ctrl-C` to stop the pulse test - - {: .danger } - **WARNING:** Double-check after stopping that the LED is OFF (showing no red color)! - -### Camera 2 Shutter Triggering Test - -When running normally, Pi 1 triggers Camera 2's shutter. Confirm this signal pathway works: - -1. **Set external triggering mode:** - ```bash - # On Pi 2: - cd $PITRAC_ROOT/ImageProcessing - sudo ./CameraTools/setCameraTriggerExternal.sh - ``` - -2. **Test camera response:** - ```bash - rpicam-hello - ./RunScripts/runCam2Still.sh - ``` - - Normally, the camera won't take a picture because it's waiting for Pi 1's signal. The `rpicam-hello` should hang and do nothing while external triggering is set. - -3. **Trigger from Pi 1:** - ```bash - # On Pi 1: - ./RunScripts/runPulseTest.sh - ``` - - As soon as Pi 1 starts sending pulses to Camera 2 (and LED strobe), Camera 2 should take a picture. The resulting picture will likely be dark if you have the IR filter installed. - -4. **Return to internal triggering:** - ```bash - # On Pi 2: - $PITRAC_ROOT/CameraTools/setCameraTriggerInternal.sh - ``` - -## Full System Startup - -### Running PiTrac - -For the easiest way to run PiTrac, see the [Running PiTrac]({% link software/running-pitrac.md %}) guide which covers the menu system, background processes, and all runtime options. - -To run PiTrac manually, start both camera scripts: - -1. **Start Pi 2 first:** - ```bash - # On Pi 2: - ./RunScripts/runCam2.sh - ``` - -2. **Then start Pi 1:** - ```bash - # On Pi 1: - ./RunScripts/runCam1.sh - ``` - -Start Pi 2 executable first so it's ready to take pictures as soon as Pi 1 determines a ball has appeared. - -### Logging Levels - -- Run executables with `--logging_level=info` or higher (e.g., `warning`) -- Setting to `DEBUG` or `TRACE` may slow the system so much it won't reliably catch golf ball flight -- However, trace-level information is often useful for debugging - -### Troubleshooting - -For problems, see the [Troubleshooting Guide]({% link troubleshooting.md %}). - -## Performance Tips - -- **Memory:** Ensure adequate swap space for compilation (see [Pi Setup Guide]({% link software/pi-setup.md %})) -- **Network:** Use wired Ethernet for stability during operation -- **Storage:** NVMe drives significantly improve performance over SD cards -- **Cooling:** Active cooling helps maintain consistent performance during long sessions - -## Next Steps - -Once the system is running reliably: - -1. **Calibration:** Fine-tune camera calibration if needed ([Camera Calibration]({% link camera/camera-calibration.md %})) -2. **Integration:** Set up simulator connections ([Integration]({% link simulator-integration.md %})) -3. **Optimization:** Adjust settings for your specific setup and environment diff --git a/detect_pi_cameras.sh b/detect_pi_cameras.sh index f2c74f12..6966a23b 100755 --- a/detect_pi_cameras.sh +++ b/detect_pi_cameras.sh @@ -2,7 +2,7 @@ # # PiTrac Camera Detection Tool # Purpose: Detect and validate Raspberry Pi cameras for PiTrac configuration -# +# # Detects: # - Camera model and sensor type # - PiTrac type ID (4 or 5 for supported cameras) @@ -47,11 +47,11 @@ declare -A CAMERA_MODELS=( # PiTrac type mappings (from camera_hardware.h) declare -A PITRAC_TYPES=( - ["ov5647"]=1 # Deprecated - not recommended - ["imx219"]=2 # Deprecated - not recommended - ["imx477"]=3 # Deprecated - not recommended - ["imx296"]=4 # Default for IMX296 (Pi GS) - ["imx708"]=0 # Unsupported + ["ov5647"]=1 # Deprecated - not recommended + ["imx219"]=2 # Deprecated - not recommended + ["imx477"]=3 # Deprecated - not recommended + ["imx296"]=4 # Default for IMX296 (Pi GS) + ["imx708"]=0 # Unsupported ) # Camera support status @@ -64,8 +64,8 @@ declare -A CAMERA_STATUS=( ) # IMX296 specific types -PITRAC_TYPE_PI_GS=4 # Raspberry Pi Global Shutter (color) -PITRAC_TYPE_INNOMAKER=5 # InnoMaker IMX296 (mono) +PITRAC_TYPE_PI_GS=4 # Raspberry Pi Global Shutter (color) +PITRAC_TYPE_INNOMAKER=5 # InnoMaker IMX296 (mono) # Device tree root paths DT_ROOT="/sys/firmware/devicetree/base" @@ -84,31 +84,31 @@ QUIET=0 parse_args() { while [[ $# -gt 0 ]]; do case "$1" in - -v|--verbose) - VERBOSE=1 - ;; - -q|--quiet) - QUIET=1 - ;; - --no-color) - export NO_COLOR=1 - ;; - -h|--help) - show_help - exit 0 - ;; - *) - echo "Unknown option: $1" - show_help - exit 1 - ;; + -v | --verbose) + VERBOSE=1 + ;; + -q | --quiet) + QUIET=1 + ;; + --no-color) + export NO_COLOR=1 + ;; + -h | --help) + show_help + exit 0 + ;; + *) + echo "Unknown option: $1" + show_help + exit 1 + ;; esac shift done } show_help() { - cat << EOF + cat </dev/null; then model=$(grep -m1 "Model" /proc/cpuinfo 2>/dev/null | cut -d: -f2- | sed 's/^ *//') else model="Unknown" fi - + case "$model" in - *"Raspberry Pi 5"*|*"Raspberry Pi Compute Module 5"*) echo "pi5" ;; - *"Raspberry Pi 4"*|*"Raspberry Pi Compute Module 4"*) echo "pi4" ;; - *"Raspberry Pi 3"*|*"Raspberry Pi Compute Module 3"*) echo "pi3" ;; - *"Raspberry Pi 2"*) echo "pi2" ;; - *"Raspberry Pi"*) echo "pi_other" ;; - *) echo "unknown" ;; + *"Raspberry Pi 5"* | *"Raspberry Pi Compute Module 5"*) echo "pi5" ;; + *"Raspberry Pi 4"* | *"Raspberry Pi Compute Module 4"*) echo "pi4" ;; + *"Raspberry Pi 3"* | *"Raspberry Pi Compute Module 3"*) echo "pi3" ;; + *"Raspberry Pi 2"*) echo "pi2" ;; + *"Raspberry Pi"*) echo "pi_other" ;; + *) echo "unknown" ;; esac } @@ -173,13 +173,13 @@ get_camera_cmd() { "libcamera-still" "raspistill" ) - + for cmd in "${commands[@]}"; do if command -v "$cmd" >/dev/null 2>&1; then echo "$cmd" return 0 fi - + # Also check common installation paths for path in /usr/bin /usr/local/bin /opt/vc/bin; do if [ -x "$path/$cmd" ]; then @@ -188,7 +188,7 @@ get_camera_cmd() { fi done done - + return 1 } @@ -196,7 +196,7 @@ get_camera_cmd() { check_dependencies() { local camera_cmd camera_cmd=$(get_camera_cmd || true) - + if [ -z "$camera_cmd" ]; then echo -e "${RED}Error: No camera detection tool found${NC}" echo @@ -227,29 +227,32 @@ dt_read_u32() { dt_find_node_by_phandle() { local target="$1" local base - + for base in "$DT_ROOT" "$DT_ROOT_ALT"; do [ -d "$base" ] || continue - + while IFS= read -r -d '' phandle_file; do local val val=$(dt_read_u32 "$phandle_file") - + if [ -n "${val:-}" ] && [ "$val" = "$target" ]; then dirname "$phandle_file" return 0 fi done < <(find "$base" -type f -name phandle -print0 2>/dev/null || true) done - + return 1 } # Determine physical CSI port from device tree dt_sensor_to_cam_port() { local sensor_node="$1" - [ -d "$sensor_node" ] || { echo "UNKNOWN"; return; } - + [ -d "$sensor_node" ] || { + echo "UNKNOWN" + return + } + # Look for port or ports directory local ports_dir="$sensor_node/port" if [ -d "$sensor_node/ports" ]; then @@ -257,35 +260,44 @@ dt_sensor_to_cam_port() { elif [ ! -d "$ports_dir" ]; then ports_dir="$sensor_node" fi - + # Find endpoint and trace to CSI port while IFS= read -r -d '' endpoint; do local remote_endpoint="$endpoint/remote-endpoint" [ -f "$remote_endpoint" ] || continue - + local phandle phandle=$(dt_read_u32 "$remote_endpoint") [ -n "${phandle:-}" ] || continue - + local remote_node remote_node=$(dt_find_node_by_phandle "$phandle" || true) [ -n "${remote_node:-}" ] || continue - + local parent_port parent_port=$(dirname "$remote_node") local port_name port_name=$(basename "$parent_port") - + if [[ "$port_name" =~ port@([0-9]+) ]]; then local port_idx="${BASH_REMATCH[1]}" case "$port_idx" in - 0) echo "CAM0"; return ;; - 1) echo "CAM1"; return ;; - *) echo "CSI$port_idx"; return ;; + 0) + echo "CAM0" + return + ;; + 1) + echo "CAM1" + return + ;; + *) + echo "CSI$port_idx" + return + ;; esac fi done < <(find "$ports_dir" -maxdepth 2 -type d -name 'endpoint@*' -print0 2>/dev/null || true) - + echo "UNKNOWN" } @@ -293,11 +305,11 @@ dt_sensor_to_cam_port() { extract_dt_path_from_info() { local info="$1" local suffix - + if [[ "$info" =~ \((/base/.*)\) ]]; then suffix="${BASH_REMATCH[1]}" suffix="${suffix#/base}" - + # Try both DT roots for root in "$DT_ROOT" "$DT_ROOT_ALT"; do local candidate="${root}${suffix}" @@ -307,14 +319,14 @@ extract_dt_path_from_info() { fi done fi - + echo "" } # Heuristic port detection for Pi 5 RP1 chip heuristic_port_from_path() { local info="$1" - + # Pi 5 RP1 I2C addresses if echo "$info" | grep -q "i2c@88000"; then echo "CAM0" @@ -349,51 +361,51 @@ declare -A CAMERA_STATUS=() detect_cameras() { local camera_cmd camera_cmd=$(get_camera_cmd) - + if [ -z "$camera_cmd" ]; then echo -e "${RED}Error: Camera detection command not found${NC}" return 1 fi - + local libcamera_output - + # Different commands need different arguments case "$(basename "$camera_cmd")" in - rpicam-hello|libcamera-hello) - libcamera_output=$($camera_cmd --list-cameras 2>&1 || true) - ;; - rpicam-still|libcamera-still) - libcamera_output=$($camera_cmd --list-cameras 2>&1 || true) - ;; - raspistill) - # raspistill doesn't have --list-cameras, use vcgencmd - if command -v vcgencmd >/dev/null 2>&1; then - local supported - supported=$(vcgencmd get_camera 2>&1 || true) - if echo "$supported" | grep -q "supported=1"; then - # Try to detect camera model through other means - libcamera_output="0 : Legacy camera detected (check with libcamera tools for details)" - else - libcamera_output="No cameras available" - fi + rpicam-hello | libcamera-hello) + libcamera_output=$($camera_cmd --list-cameras 2>&1 || true) + ;; + rpicam-still | libcamera-still) + libcamera_output=$($camera_cmd --list-cameras 2>&1 || true) + ;; + raspistill) + # raspistill doesn't have --list-cameras, use vcgencmd + if command -v vcgencmd >/dev/null 2>&1; then + local supported + supported=$(vcgencmd get_camera 2>&1 || true) + if echo "$supported" | grep -q "supported=1"; then + # Try to detect camera model through other means + libcamera_output="0 : Legacy camera detected (check with libcamera tools for details)" else libcamera_output="No cameras available" fi - ;; - *) - libcamera_output=$($camera_cmd --list-cameras 2>&1 || true) - ;; + else + libcamera_output="No cameras available" + fi + ;; + *) + libcamera_output=$($camera_cmd --list-cameras 2>&1 || true) + ;; esac - + # Parse libcamera output while IFS= read -r line; do if [[ $line =~ ^[[:space:]]*([0-9]+)[[:space:]]*:[[:space:]]*(.*) ]]; then local idx="${BASH_REMATCH[1]}" local info="${BASH_REMATCH[2]}" - + CAMERA_INDEXES+=("$idx") CAMERA_INFO["$idx"]="$info" - + # Detect sensor type local sensor="" for model in "${!CAMERA_MODELS[@]}"; do @@ -402,11 +414,11 @@ detect_cameras() { break fi done - + CAMERA_SENSOR["$idx"]="$sensor" CAMERA_MODEL_NAME["$idx"]="${CAMERA_MODELS[$sensor]:-Unknown}" CAMERA_STATUS["$idx"]="${CAMERA_STATUS[$sensor]:-UNKNOWN}" - + # Detect CFA (Color Filter Array) local cfa="" if echo "$info" | grep -qi "MONO"; then @@ -415,11 +427,11 @@ detect_cameras() { cfa="COLOR" fi CAMERA_CFA["$idx"]="$cfa" - + # Determine PiTrac type local pitrac_type="${PITRAC_TYPES[$sensor]:-0}" local description="${CAMERA_MODELS[$sensor]:-Unknown}" - + # Special handling for IMX296 if [[ "$sensor" == "imx296" ]]; then if [[ "$cfa" == "COLOR" ]]; then @@ -439,29 +451,29 @@ detect_cameras() { description="IMX296 (Unknown variant)" fi fi - + CAMERA_PITRAC_TYPE["$idx"]="$pitrac_type" CAMERA_DESCRIPTION["$idx"]="$description" - + # Detect physical port local dt_path dt_path=$(extract_dt_path_from_info "$info") CAMERA_DT_PATH["$idx"]="$dt_path" - + local port="UNKNOWN" if [ -n "$dt_path" ] && [ -d "$dt_path" ]; then port=$(dt_sensor_to_cam_port "$dt_path") fi - + # Fallback to heuristic detection for Pi 5 if [ "$port" = "UNKNOWN" ]; then port=$(heuristic_port_from_path "$info") fi - + CAMERA_PORT["$idx"]="$port" fi - done <<< "$libcamera_output" - + done <<<"$libcamera_output" + return 0 } @@ -479,10 +491,10 @@ print_header() { print_system_info() { local pi_model pi_model=$(detect_pi_model) - + echo -e "${BLUE}System Information:${NC}" echo " Raspberry Pi Model: $pi_model" - + local camera_cmd camera_cmd=$(get_camera_cmd) echo " Detection Tool: $camera_cmd" @@ -500,10 +512,10 @@ print_summary() { echo " 4. Check dmesg for camera probe errors" return fi - + echo -e "${BOLD}Detected Cameras:${NC}" echo - + for idx in "${CAMERA_INDEXES[@]}"; do local sensor="${CAMERA_SENSOR[$idx]}" local model="${CAMERA_MODEL_NAME[$idx]}" @@ -512,15 +524,15 @@ print_summary() { local port="${CAMERA_PORT[$idx]}" local cfa="${CAMERA_CFA[$idx]}" local status="${CAMERA_STATUS[$idx]}" - + # Status color local status_color="$YELLOW" case "$status" in - SUPPORTED) status_color="$GREEN" ;; - DEPRECATED) status_color="$YELLOW" ;; - UNSUPPORTED) status_color="$RED" ;; + SUPPORTED) status_color="$GREEN" ;; + DEPRECATED) status_color="$YELLOW" ;; + UNSUPPORTED) status_color="$RED" ;; esac - + echo -e " ${BOLD}Camera $idx:${NC}" echo -e " Model: $model" echo -e " Sensor: $sensor" @@ -529,7 +541,7 @@ print_summary() { echo -e " CFA: ${cfa:-Unknown}" echo -e " PiTrac Type: $type" echo -e " Status: ${status_color}$status${NC}" - + if [[ "$status" == "DEPRECATED" ]]; then echo -e " ${YELLOW}⚠ Warning: This camera is deprecated and may not work properly${NC}" elif [[ "$status" == "UNSUPPORTED" ]]; then @@ -543,11 +555,11 @@ print_configuration() { if [ ${#CAMERA_INDEXES[@]} -eq 0 ]; then return fi - + # Get types for slot1 and slot2 local slot1_type="${CAMERA_PITRAC_TYPE[0]:-4}" local slot2_type="${CAMERA_PITRAC_TYPE[1]:-4}" - + # Check if cameras are supported local all_supported=1 for idx in "${CAMERA_INDEXES[@]}"; do @@ -556,13 +568,13 @@ print_configuration() { break fi done - + if [ $all_supported -eq 0 ]; then echo -e "${RED}⚠ Warning: Unsupported cameras detected!${NC}" echo "PiTrac requires IMX296-based Global Shutter cameras." echo fi - + echo -e "${BOLD}PiTrac Configuration:${NC}" echo echo "YAML Configuration (/etc/pitrac/pitrac.yaml):" @@ -574,7 +586,7 @@ print_configuration() { echo " export PITRAC_SLOT1_CAMERA_TYPE=$slot1_type" echo " export PITRAC_SLOT2_CAMERA_TYPE=$slot2_type" echo - + # Recommendations if [[ "${CAMERA_STATUS[0]}" == "DEPRECATED" ]] || [[ "${CAMERA_STATUS[1]}" == "DEPRECATED" ]]; then echo -e "${YELLOW}Note: Deprecated cameras detected.${NC}" @@ -585,17 +597,17 @@ print_configuration() { print_verbose_info() { [ $VERBOSE -eq 0 ] && return - + echo -e "${BOLD}Detailed Detection Information:${NC}" echo "━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━" - + for idx in "${CAMERA_INDEXES[@]}"; do echo -e "\n${BOLD}Camera $idx Full Details:${NC}" echo " Raw Info: ${CAMERA_INFO[$idx]}" echo " DT Path: ${CAMERA_DT_PATH[$idx]:-Not found}" echo done - + # Check for InnoMaker trigger tool echo -e "${BOLD}InnoMaker Support:${NC}" if [ -x "$INNOMAKER_TRIGGER" ]; then @@ -604,12 +616,12 @@ print_verbose_info() { echo -e " ${YELLOW}✗${NC} InnoMaker trigger tool not found" fi echo - + # Device tree information if [ -d "$DT_ROOT" ]; then echo -e "${BOLD}Device Tree Information:${NC}" echo " DT Root: $DT_ROOT" - + # Look for camera-related nodes local cam_nodes cam_nodes=$(find "$DT_ROOT" -name "*cam*" -o -name "*imx*" -o -name "*ov*" 2>/dev/null | head -5 || true) @@ -623,11 +635,11 @@ print_verbose_info() { print_help_footer() { [ $QUIET -eq 1 ] && return - + echo "━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━" echo echo "For more information:" - echo " - PiTrac Documentation: https://pitraclm.github.io/PiTrac/" + echo " - PiTrac Documentation: https://docs.pitrac.org/" echo " - Discord Community: https://discord.gg/j9YWCMFVHN" } @@ -638,27 +650,27 @@ print_help_footer() { main() { parse_args "$@" setup_colors - + if [ $QUIET -eq 0 ]; then print_header fi - + check_dependencies - + if [ $QUIET -eq 0 ]; then print_system_info fi - + detect_cameras - + print_summary print_configuration print_verbose_info - + if [ $QUIET -eq 0 ]; then print_help_footer fi - + # Exit with error if no supported cameras found local has_supported=0 for idx in "${CAMERA_INDEXES[@]}"; do @@ -667,15 +679,15 @@ main() { break fi done - + if [ ${#CAMERA_INDEXES[@]} -eq 0 ]; then exit 1 elif [ $has_supported -eq 0 ]; then exit 2 fi - + exit 0 } # Run main function -main "$@" \ No newline at end of file +main "$@" diff --git a/docs/.ruby-version b/docs/.ruby-version deleted file mode 100644 index 15a27998..00000000 --- a/docs/.ruby-version +++ /dev/null @@ -1 +0,0 @@ -3.3.0 diff --git a/docs/.tool-versions b/docs/.tool-versions deleted file mode 100644 index 041df9aa..00000000 --- a/docs/.tool-versions +++ /dev/null @@ -1 +0,0 @@ -ruby 3.4.1 diff --git a/docs/Gemfile b/docs/Gemfile deleted file mode 100644 index 7e6767dd..00000000 --- a/docs/Gemfile +++ /dev/null @@ -1,9 +0,0 @@ -source 'https://rubygems.org' - -gem "jekyll", "~> 4.4.1" # installed by `gem jekyll` -#gem "webrick" # required when using Ruby >= 3 and Jekyll <= 4.2.2 -#gem "minimal-mistakes-jekyll" # Getting Latest -#gem "minimal-mistakes", "0.10.1" # pinned to the current release -gem "just-the-docs" # always download the latest release -gem "jekyll-sitemap" -gem "jekyll-feed" diff --git a/docs/Gemfile.lock b/docs/Gemfile.lock deleted file mode 100644 index da65c769..00000000 --- a/docs/Gemfile.lock +++ /dev/null @@ -1,170 +0,0 @@ -GEM - remote: https://rubygems.org/ - specs: - addressable (2.8.7) - public_suffix (>= 2.0.2, < 7.0) - base64 (0.2.0) - bigdecimal (3.1.9) - colorator (1.1.0) - concurrent-ruby (1.3.5) - csv (3.3.2) - em-websocket (0.5.3) - eventmachine (>= 0.12.9) - http_parser.rb (~> 0) - eventmachine (1.2.7) - ffi (1.17.1) - ffi (1.17.1-aarch64-linux-gnu) - ffi (1.17.1-aarch64-linux-musl) - ffi (1.17.1-arm-linux-gnu) - ffi (1.17.1-arm-linux-musl) - ffi (1.17.1-arm64-darwin) - ffi (1.17.1-x86-linux-gnu) - ffi (1.17.1-x86-linux-musl) - ffi (1.17.1-x86_64-darwin) - ffi (1.17.1-x86_64-linux-gnu) - ffi (1.17.1-x86_64-linux-musl) - forwardable-extended (2.6.0) - google-protobuf (4.29.3) - bigdecimal - rake (>= 13) - google-protobuf (4.29.3-aarch64-linux) - bigdecimal - rake (>= 13) - google-protobuf (4.29.3-arm64-darwin) - bigdecimal - rake (>= 13) - google-protobuf (4.29.3-x86-linux) - bigdecimal - rake (>= 13) - google-protobuf (4.29.3-x86_64-darwin) - bigdecimal - rake (>= 13) - google-protobuf (4.29.3-x86_64-linux) - bigdecimal - rake (>= 13) - http_parser.rb (0.8.0) - i18n (1.14.7) - concurrent-ruby (~> 1.0) - jekyll (4.4.1) - addressable (~> 2.4) - base64 (~> 0.2) - colorator (~> 1.0) - csv (~> 3.0) - em-websocket (~> 0.5) - i18n (~> 1.0) - jekyll-sass-converter (>= 2.0, < 4.0) - jekyll-watch (~> 2.0) - json (~> 2.6) - kramdown (~> 2.3, >= 2.3.1) - kramdown-parser-gfm (~> 1.0) - liquid (~> 4.0) - mercenary (~> 0.3, >= 0.3.6) - pathutil (~> 0.9) - rouge (>= 3.0, < 5.0) - safe_yaml (~> 1.0) - terminal-table (>= 1.8, < 4.0) - webrick (~> 1.7) - jekyll-feed (0.17.0) - jekyll (>= 3.7, < 5.0) - jekyll-include-cache (0.2.1) - jekyll (>= 3.7, < 5.0) - jekyll-sass-converter (3.1.0) - sass-embedded (~> 1.75) - jekyll-seo-tag (2.8.0) - jekyll (>= 3.8, < 5.0) - jekyll-sitemap (1.4.0) - jekyll (>= 3.7, < 5.0) - jekyll-watch (2.2.1) - listen (~> 3.0) - json (2.10.1) - just-the-docs (0.10.1) - jekyll (>= 3.8.5) - jekyll-include-cache - jekyll-seo-tag (>= 2.0) - rake (>= 12.3.1) - kramdown (2.5.1) - rexml (>= 3.3.9) - kramdown-parser-gfm (1.1.0) - kramdown (~> 2.0) - liquid (4.0.4) - listen (3.9.0) - rb-fsevent (~> 0.10, >= 0.10.3) - rb-inotify (~> 0.9, >= 0.9.10) - mercenary (0.4.0) - pathutil (0.16.2) - forwardable-extended (~> 2.6) - public_suffix (6.0.1) - rake (13.2.1) - rb-fsevent (0.11.2) - rb-inotify (0.11.1) - ffi (~> 1.0) - rexml (3.4.1) - rouge (4.5.1) - safe_yaml (1.0.5) - sass-embedded (1.85.1) - google-protobuf (~> 4.29) - rake (>= 13) - sass-embedded (1.85.1-aarch64-linux-android) - google-protobuf (~> 4.29) - sass-embedded (1.85.1-aarch64-linux-gnu) - google-protobuf (~> 4.29) - sass-embedded (1.85.1-aarch64-linux-musl) - google-protobuf (~> 4.29) - sass-embedded (1.85.1-arm-linux-androideabi) - google-protobuf (~> 4.29) - sass-embedded (1.85.1-arm-linux-gnueabihf) - google-protobuf (~> 4.29) - sass-embedded (1.85.1-arm-linux-musleabihf) - google-protobuf (~> 4.29) - sass-embedded (1.85.1-arm64-darwin) - google-protobuf (~> 4.29) - sass-embedded (1.85.1-riscv64-linux-android) - google-protobuf (~> 4.29) - sass-embedded (1.85.1-riscv64-linux-gnu) - google-protobuf (~> 4.29) - sass-embedded (1.85.1-riscv64-linux-musl) - google-protobuf (~> 4.29) - sass-embedded (1.85.1-x86_64-darwin) - google-protobuf (~> 4.29) - sass-embedded (1.85.1-x86_64-linux-android) - google-protobuf (~> 4.29) - sass-embedded (1.85.1-x86_64-linux-gnu) - google-protobuf (~> 4.29) - sass-embedded (1.85.1-x86_64-linux-musl) - google-protobuf (~> 4.29) - terminal-table (3.0.2) - unicode-display_width (>= 1.1.1, < 3) - unicode-display_width (2.6.0) - webrick (1.9.1) - -PLATFORMS - aarch64-linux-android - aarch64-linux-gnu - aarch64-linux-musl - arm-linux-androideabi - arm-linux-gnu - arm-linux-gnueabihf - arm-linux-musl - arm-linux-musleabihf - arm64-darwin - riscv64-linux-android - riscv64-linux-gnu - riscv64-linux-musl - ruby - x86-linux - x86-linux-gnu - x86-linux-musl - x86_64-darwin - x86_64-linux - x86_64-linux-android - x86_64-linux-gnu - x86_64-linux-musl - -DEPENDENCIES - jekyll (~> 4.4.1) - jekyll-feed - jekyll-sitemap - just-the-docs - -BUNDLED WITH - 2.6.5 diff --git a/docs/_config.yml b/docs/_config.yml deleted file mode 100644 index 601d4157..00000000 --- a/docs/_config.yml +++ /dev/null @@ -1,80 +0,0 @@ -title: PiTrac - DIY Golf Launch Monitor -description: Complete documentation for PiTrac, the open-source DIY golf launch monitor built with Raspberry Pi. Get ball speed, launch angles, spin rates, and golf simulator integration. -theme: just-the-docs - -url: https://pitraclm.github.io -baseurl: /PiTrac - -# Logo -logo: "/assets/images/logos/PiTrac.svg" - -aux_links: - Edit Me: https://github.com/pitraclm/pitrac/tree/main/docs - -search_enabled: true - -nav_enabled: true - -heading_anchors: true - -favicon_ico: "/assets/images/favicon.ico" - -# For copy button on code -enable_copy_code_button: true - -# Back to top link -back_to_top: true -back_to_top_text: "Back to top" - -# Footer last edited timestamp -last_edit_timestamp: true # show or hide edit time - page must have `last_modified_date` defined in the frontmatter -last_edit_time_format: "%b %e %Y at %I:%M %p" # uses ruby's time format: https://ruby-doc.org/stdlib-2.7.0/libdoc/time/rdoc/Time.html - -plugins: -- jekyll-seo-tag -- jekyll-sitemap -- jekyll-feed - -# RSS feed -feed: - excerpt_only: true - -# SEO and Social Media -author: PiTrac Community -social: - name: PiTrac - links: - - https://github.com/pitraclm/pitrac - - https://discord.gg/j9YWCMFVHN - - https://www.youtube.com/@PiTrac - -# Default front matter -defaults: - - scope: - path: "" - values: - image: /assets/images/logos/PiTrac_Square.png - author: PiTrac Community - -search: - # Split pages into sections that can be searched individually - # Supports 1 - 6, default: 2 - heading_level: 3 - # Maximum amount of previews per search result - # Default: 3 - previews: 5 - # Maximum amount of words to display before a matched word in the preview - # Default: 5 - preview_words_before: 8 - # Maximum amount of words to display after a matched word in the preview - # Default: 10 - preview_words_after: 15 - # Set the search token separator - optimized for technical terms - tokenizer_separator: /[\s\-_/\.]+/ - # Display the relative url in search results - # Supports true (default) or false - rel_url: true - # Enable search button in bottom right corner for better UX - button: true - # Focus the search input by 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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 70 - - - - - - - - - - - - 22,35 - - - - - - - - - - - - - diff --git a/docs/build-guide.md b/docs/build-guide.md deleted file mode 100644 index 4acd69d8..00000000 --- a/docs/build-guide.md +++ /dev/null @@ -1,158 +0,0 @@ ---- -title: Build Your PiTrac -layout: default -nav_order: 2 -description: Complete step-by-step guide to building your PiTrac DIY golf launch monitor from ordering parts to tracking your first shot. Hardware assembly, software installation, and camera calibration included. -keywords: build golf launch monitor, DIY launch monitor tutorial, raspberry pi golf setup, launch monitor assembly guide, golf tracker build instructions -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -# Build Your PiTrac - -Welcome to PiTrac! This guide will walk you through the complete process of building your own DIY golf launch monitor. - -## Build Process - -Building a PiTrac system involves three main phases: - -1. **Hardware Assembly** - Gather parts, assemble PCB, 3D print enclosure -2. **Raspberry Pi Setup** - Install and configure Raspberry Pi OS -3. **Software Installation** - Install PiTrac software and calibrate cameras - -Each phase builds on the previous one, so follow them in order for the best experience. - -## Supporting Tutorial Videos - -We're developing companion videos to the written documentation to better visually show how to build your PiTrac. Here's what we have so far (no link means this video is still in the works): - -- Part 1 - Introduction to PiTrac -- Part 2A - 3D Printing the PiTrac Tower -- Part 2B - [3D Printing the BaseBox] (https://youtu.be/DwA4mXsMMAY) -- Part 3B - [Tower Build] (https://youtu.be/8COCvxQgKR8) -- Part 4A - [Component Installation] (https://youtu.be/93e-ukvGhJ0) -- Part 4B - [PiTrac Software Setup] (https://youtu.be/M0pMmwSKbK4) -- Part 4C - [Optional Software] (https://youtu.be/0mW1fRwRDdU) -- Part 4D - [Final Assembly] (https://youtu.be/sgJq0n0NwYA) -- Part 5A - De-Distortion Configuration -- Part 5B - Calibration - -Please note that the written documentation is meant to be the most up-to-date and accurate information on building PiTrac systems. If there's a discrepancy between that documentation nand the vidoes, rely on the documents. Or, ask a question on the Discord server! - ---- - -## Phase 1: Hardware Assembly - -Before you can run PiTrac, you'll need to build the physical hardware. - -### Step 1: Gather Parts - -Review the complete parts list and order all required components. - -**→ [Parts List]({% link hardware/parts-list.md %})** - -You'll need: -- Raspberry Pi 5 (8GB recommended) -- Dual Pi cameras (Global Shutter or IMX296) -- PCB components and enclosure materials -- Power supplies and cables - -### Step 2: PCB Assembly - -Order and assemble the custom PCB that controls the IR strobes and camera triggers. - -**→ [PCB Assembly Guide]({% link hardware/pcb-assembly.md %})** - -Learn where to get the PCB files, how to order from manufacturers, and assembly instructions. - -### Step 3: 3D Print Enclosure - -Print the enclosure and mounting hardware for your PiTrac. - -**→ [3D Printing Guide]({% link hardware/3d-printing.md %})** - -Download the STL files and get recommendations for print settings. - -### Step 4: Final Assembly - -Put all the pieces together to complete your PiTrac hardware. - -**→ [Assembly Guide]({% link hardware/assembly-guide.md %})** - -Follow step-by-step instructions to assemble cameras, PCB, enclosure, and wiring. - ---- - -## Phase 2: Raspberry Pi Setup - -With hardware complete, prepare your Raspberry Pi. - -### Install Raspberry Pi OS - -Install the operating system and configure basic settings like SSH, WiFi, and user accounts. - -**→ [Pi Setup Guide]({% link software/pi-setup.md %})** - -This guide covers: -- Using Raspberry Pi Imager -- Choosing between Desktop and Lite versions (64-bit only) -- Configuring SSH and network access -- Initial system updates - -**Time Required:** 30-45 minutes (including OS imaging) - ---- - -## Phase 3: Software Installation - -Install the PiTrac software on your configured Raspberry Pi. - -### Install PiTrac - -Choose your installation method and get PiTrac running. - -**→ [Installation Guide]({% link software/pitrac-install.md %})** - -Options: -- **Build from Source** - Clone the repository and compile (recommended for now) -- **APT Package** - Simple package installation (coming soon) - -This includes: -- Installing all dependencies -- Building the launch monitor binary -- Setting up the web dashboard -- Configuring services - -**Time Required:** 5-10 minutes (build from source) - -### Calibrate Cameras - -Fine-tune your camera setup for accurate shot tracking. - -**→ [Camera Calibration]({% link camera/cameras.md %})** - -Use the built-in calibration wizard to: -- Verify camera detection -- Calibrate lens distortion -- Set up ball detection parameters -- Test shot tracking - ---- - -## Quick Reference - -Once you're up and running, these guides will help you use and maintain PiTrac: - -- **[Using PiTrac]({% link software/using-pitrac.md %})** - Operating the system day-to-day -- **[Troubleshooting]({% link troubleshooting.md %})** - Common issues and solutions -- **[Hardware Overview]({% link hardware/hardware.md %})** - Detailed hardware documentation - ---- - -## Need Help? - -- **Discord Community**: [Join the PiTrac Discord](https://discord.gg/j9YWCMFVHN) -- **GitHub Issues**: [Report bugs or request features](https://github.com/PiTracLM/PiTrac/issues) -- **Documentation**: Browse the navigation menu for detailed guides - -Ready to start? Head to the [Parts List]({% link hardware/parts-list.md %}) to begin your build! diff --git a/docs/camera/auto-calibration.md b/docs/camera/auto-calibration.md deleted file mode 100755 index 30f74f6a..00000000 --- a/docs/camera/auto-calibration.md +++ /dev/null @@ -1,444 +0,0 @@ ---- -title: Auto-Calibration -layout: default -nav_order: 2 -parent: Cameras -description: Automatic camera calibration guide for PiTrac using the built-in calibration wizard to determine focal length and camera angles for accurate ball tracking. -keywords: automatic camera calibration, golf camera calibration wizard, focal length calibration, camera angle setup, launch monitor calibration -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -# Auto-Calibration - -Auto-calibration is the recommended way to calibrate PiTrac cameras. It automatically determines focal lengths and camera angles through a 4-step web wizard - no tape measures, no manual JSON editing, no shell scripts. These measurements are used by PiTrac during operation to determine the location of the ball in real space relative to the unit. - -## What Auto-Calibration Does - -**Calculates automatically**: -- **Focal length** for each camera (in pixels, typically 800-1200 for 6mm lens) -- **Camera angles** (X and Y tilt in degrees) - -**Writes to configuration**: -- Updates `~/.pitrac/config/calibration_data.json` with results -- Preserves these values across config resets -- No manual file editing required - -**Previous method** (deprecated): Manual measurements, Excel spreadsheets, tape measures, angle calculations by hand. If you're still doing that, stop. Use this instead. - -## Physical Setup - -Before you can run auto-calibration in the web UI, you need a calibration rig to hold golf balls at known positions. - -### 1. Print the Calibration Rig - -**Files**: [GitHub - Calibration Rig STL files](https://github.com/PiTracLM/PiTrac/tree/main/3D%20Printed%20Parts/Enclosure%20Version%202/Calibration%20Rig) - -The rig works with both V1.0, 2.0, and StefanF's 3.0 enclosures, though V1 is not as well-supported and may need custom measurements (ask on Discord). Only difference is the measurement values you'll configure. Because V3.0 is still under development, these values may need to be updated from time to time. - -**Print Settings**: -- Material: PETG preferred (less warping), PLA works fine -- Infill: 15% standard -- Supports: Only on the Ball 1 floor mount (green area in STL) -- Filament: < 100 grams - -**Assembly**: -- The assembly process will depend on whether your PiTrac has both cameras pointed straight forward, or if Camera 1 (the "Teed Ball Camera") is angled over to the side to accomodate faster shots. -- The skewed version looks like this: -- [Skewed Camera Calibration Rig]({{ '/assets/images/enclosure_assembly/Autocalibration_Skewed_Cam1_Option.jpeg' | relative_url }}){: width="300"} -- The cameras-straight-out version replaces the long arm with two short pieces and looks like this: -- [Straight-out Camera Calibration Rig]({{ '/assets/images/enclosure_assembly/Autocalibration_Straight-Out_Option.jpeg' | relative_url }}){: width="300"} -- Push pieces together snugly (can be tight - that's normal) -- Make sure connections are fully seated for accurate dimensions -- Ball 1 (right-most) sits on floor, Ball 2 (mid-air). NOTE - only place *one* ball at a time during calibration or the system will get confused. - -### 2. Position the Rig - -**Version 2.0 and 3.0 Enclosure**: -- Insert the square tab into the square hole in bottom front of enclosure. You may need to nudge the LED light strip to get at the hole. -- Check that rig is square to the enclosure and that the arm for the ball on the floor is 90° to the other leg. Also ensure the ball in the air is held straight up. - -**Version 1.0 Enclosure (Deprecated)**: -- Center tab underneath lowest camera -- Place tab on diagonal part of enclosure -- Align end edge of rear part with outside of lower enclosure section - -**Use a carpenter's square or similar** to ensure rig is perpendicular to the enclosure. Precision here improves calibration accuracy. - -### 3. Aim the Cameras - -**Camera 1** (Tee Camera): -- Point directly at Ball 1 (on floor). For straight-out camera, then move the camera slightly so it is still aimed down, but is aimed straight out along the leg of the rig that attachs to the PiTrac. -- Doesn't need to be perfect - calibration figures out exact angle. Just get it close. - -**Camera 2** (Flight Camera): -- Point straight out from monitor -- Aim slightly below Ball 2 (mid-air ball) -- Again, close is fine - -**Tighten camera mount screws** once aimed. Cameras moving after calibration = need to recalibrate. - -### 4. Configure Ball Positions - -The calibration wizard needs to know where the balls are relative to the cameras. These measurements (for each of the "standard" rig setups) are already store in the system settings for each camera, and can be selected (or modified) in the Configuration page under "Calibration" settings. - -Use the UI to select one of the three calibration rig options: - -**For Version 1.0 Enclosure** (with "skewed" rig where the teed ball is out to one side): - -``` -kAutoCalibrationBallPositionFromCamera1Meters: [-0.525, -0.275, 0.45] -kAutoCalibrationBallPositionFromCamera2Meters: [0.0, 0.095, 0.435] -``` - -**For Version 2.0 Enclosure** (with skewed rig): - -``` -kAutoCalibrationBallPositionFromCamera1Meters: [-0.504, -0.234, 0.491] -kAutoCalibrationBallPositionFromCamera2Meters: [0.0, 0.088, 0.466] -``` -**For Version 3.0 Enclosure** (with skewed rig): - -``` -kAutoCalibrationBallPositionFromCamera1Meters: [-0.521, -0.243, 0.481] -kAutoCalibrationBallPositionFromCamera2Meters: [0.0, 0.109, 0.472] -``` - - -**Coordinate system**: -- X: Positive = right (from camera view) -- Y: Positive = up -- Z: Positive = outward (away from camera) -- Units: Meters - -If you built your own rig, measure from camera lens center to ball center and enter those values. - -**These settings are in the web Configuration page** - you don't need to edit JSON files manually. - ---- - -## Running Auto-Calibration (Web UI) - -### Step 1: Open Calibration Wizard - -1. Select the type of calibration rig you will be using (depending on the camera arrangement and enclosure version) in Configuration → Calibration → kCalibrationRigType: -[Calibration Rig Selection]({{ '/assets/images/enclosure_assembly/AutoCalibration_Rig_Type_Selection.png' | relative_url }}){: width="300"} -3. Navigate to the PiTrac web dashboard (usually `http://raspberrypi.local:8080`) where raspberrypi is the name of your pi on the network, e.g. 'http://192.168.0.20.local:8080'. -4. Click menu (3 dots) → **Calibration** -5. Select which camera(s) to calibrate: - - **Camera 1** - Recommended starting point (~30 seconds) - - **Camera 2** - Do this second (~2 minutes, yes really) - - **Both** - Only after you've done each individually - -**Calibrate Camera 1 first.** It's faster and gives you immediate feedback if something's wrong. - -Click **Next**. - -### Step 2: Verify Ball Placement - -This step confirms PiTrac can actually see the ball before trying to calibrate. - -**For each camera**: - -1. Click **Check Ball Location** - - Green checkmark = Ball found at (X, Y) pixel coordinates - - Red X = Ball not detected - -2. Click **Capture Still Image** - - Shows what camera sees (not quite finished yet) - - Ball should be visible and roughly centered - - Focus should be good (twist M12 lens if not) - -**If ball detection fails**: -- Check the images that the process captures (usually at ~/LM_Shares/Images) -- Check the latest log files for errors (~/.pitrac/logs) -- - Check lighting (turn on strobes, adjust camera gain in Configuration) -- Verify ball is actually on the rig -- Make sure camera is aimed at ball -- Check focus - -Once both buttons show success, click **Next**. - -### Step 3: Run Calibration - -Pick calibration method: - -**Auto Calibration** (Recommended) -- Fully automatic -- Click "Start Auto Calibration" -- Watch progress bar -- Wait for completion - -**Manual Calibration** (Advanced) -- For troubleshooting when auto fails -- Same process but longer timeout (3 minutes vs 30-120 seconds) -- Rarely needed - -**What happens during calibration**: - -**Camera 1** (~30 seconds): -1. Captures 10 images of the ball (configurable) -2. Detects ball center in each image using Hough Circle Transform -3. Calculates focal length from: `f = (distance × sensor_width × (2 × radius_px / resolution_x)) / (2 × ball_radius_m)` -4. Averages focal lengths across all successful samples -5. Validates result (focal length must be 2.0-50.0mm, radius 0-10k pixels) -6. Computes camera X and Y angles using final focal length -7. Sends results to web server via HTTP API -8. Updates configuration files - -**Camera 2** (~90-120 seconds): -- Same algorithm as Camera 1 -- Takes longer due to two-process workflow in single-Pi mode: - - Background process captures images from Camera 2 - - Foreground process performs calibration - - Background must initialize before foreground starts (adds ~30 seconds) - -**Completion Detection**: -The system uses a hybrid approach to detect when calibration finishes: - -1. **API Callbacks** (Primary) - C++ binary sends HTTP PUT requests when successful: - - `PUT /api/config/gs_config.cameras.kCamera1FocalLength` (focal length value) - - `PUT /api/config/gs_config.cameras.kCamera1Angles` (X, Y angles array) - - Both must be received for success - -2. **Process Exit** (Secondary) - Monitors C++ process exit code - - Code 0 = potential success (but may have failed internally) - - Non-zero = definite failure - -3. **Output Parsing** (Validation) - Checks for failure strings in output: - - "Failed to AutoCalibrateCamera" - - "ONNX detection failed - no balls found" - - "GetBall() failed to get a ball" - - "Could not DetermineFocalLengthForAutoCalibration" - -4. **Timeout** (Safety Net) - - Camera 1: 30 seconds - - Camera 2: 120 seconds - - Prevents hanging forever if process stalls - -**Progress Indicators**: -- **API Callbacks Received** - Best outcome, all data received -- **Process Exit** - Process finished but may not have sent API callbacks -- **Timeout** - Process didn't complete in time, check logs - -**Don't**: -- Move the ball -- Move the cameras -- Close the browser -- Stop PiTrac while calibrating - -### Step 4: Review Results - -You'll see results for each camera: - -**Status**: Success or Failed - -**Completion Method**: How calibration finished -- "api" - API callbacks received (best) -- "process" - Process exited cleanly -- "timeout" - Took too long (check logs) - -**Focal Length**: Number in pixels (e.g., "1025.347") -- Typical range for 6mm lens: 800-1200 -- If way outside this range, something's wrong - -**Camera Angles**: `[X_angle, Y_angle]` in degrees (e.g., "[12.45, -6.78]") -- X angle: Horizontal tilt -- Y angle: Vertical tilt -- Typical range: -20° to +20° - -**What to do**: -- Success? Click "Return to Dashboard" and test it out -- Failed? Check troubleshooting section below - ---- - -## Verification - -After calibration, verify it worked: - -### Ball Location Check - -**From web UI** (Testing Tools): -1. Leave ball on rig -2. Navigate to Testing Tools -3. Click "Check Ball Location" for Camera 1 - -**Expected**: Ball position in 3D should match your configured calibration position (within ~10mm) - -**Example**: -- Configured: [-0.525, -0.275, 0.45] meters -- Detected: [-0.523, -0.271, 0.448] meters -- Difference: ~7mm - Good! - -If detected position is way off (>50mm difference), calibration likely failed even if it said success. - -### Test Shots - -Hit some balls and check if speeds and angles look reasonable: -- Driver swing: 80-120 mph ball speed -- 7-iron swing: 60-90 mph ball speed -- Launch angles: 5-20° depending on club - -If you're getting 300 mph or 5 mph, calibration is wrong. Recalibrate. - ---- - -## Troubleshooting - -### Ball Not Detected in Step 2 - -**Lighting Issues**: -- Turn on strobes (you should hear them click) -- Increase camera gain in Configuration → Cameras → kCamera1Gain (try 8-12) -- Make sure room isn't too bright (IR strobes work better in darker rooms) - -**Focus Issues**: -- Twist M12 lens focus ring -- Capture still images to check focus -- Ball should have sharp edges, not blurry - -**Positioning Issues**: -- Verify ball is actually on rig -- Check camera is aimed at ball -- Make sure nothing is blocking camera view - -### Calibration Times Out - -**Camera 1** (should take ~30 seconds): -- Ball moved during calibration? Try again, keep it still -- Camera type set wrong? Check Configuration → Cameras → Auto Detect -- Check logs (Logging page) for errors - -**Camera 2** (should take 90-120 seconds): -- **This is normal.** Camera 2 legitimately takes 2 minutes. Be patient. -- Background process needs time to initialize and capture images -- If it goes past 2 minutes, check logs for errors - -**Both Cameras**: -- System overloaded? Check `top` on Pi - CPU should not be at 100% -- Try manual calibration mode (longer timeout, may succeed) - -### Results Look Wrong - -**Focal length way off** (< 800 or > 1200 for 6mm lens): -- Wrong lens type configured? Check Configuration → Cameras → Lens Choice -- Measured ball positions wrong? Verify rig measurements -- Ball detection failing? Check captured images in Testing Tools - -**Angles look weird** (> 30° off from expected): -- Cameras moved during calibration -- Rig not square to enclosure -- Wrong enclosure version measurements (V1.0 vs V2.0) - -**Speed readings wrong after calibration**: -- Ball position measurements incorrect -- Try recalibrating with verified measurements -- Check if ball moved between calibration attempts - -### Calibration Succeeds But Doesn't Apply - -**Check**: -- Calibration data should be in `~/.pitrac/config/calibration_data.json` -- Restart PiTrac LM (Stop/Start in web UI) -- Configuration → show focal length/angles - should match calibration results - -**If still using old values**: -- User settings may be overriding calibration data -- Check Configuration → Show Diff to see what's overridden -- Remove camera angle/focal length entries from user settings if present - ---- - -## Configuration Files - -Auto-calibration writes to these locations: - -**Calibration Results**: `~/.pitrac/config/calibration_data.json` -```json -{ - "gs_config": { - "cameras": { - "kCamera1FocalLength": 1025.347, - "kCamera1Angles": [12.45, -6.78], - "kCamera2FocalLength": 1050.123, - "kCamera2Angles": [8.7, -3.1] - } - } -} -``` - -**Backups**: Old config backed up to: -- `~/.pitrac/config/calibration_data.json.backup.` - -**Runtime Config**: Results merged into: -- `~/.pitrac/config/generated_golf_sim_config.json` (what C++ binary reads) - -**You never need to edit these manually.** The web UI handles everything. - ---- - -## Advanced Topics - -### Number of Samples - -**Default**: 10 images per camera - -**Adjust**: Configuration → Calibration → kNumberPicturesForFocalLengthAverage - -**Trade-off**: -- More samples = more accurate but slower -- Fewer samples = faster but may be less accurate -- 10 is a good balance - -### Custom Calibration Rigs - -If you built your own rig: - -1. Measure from camera lens center to ball center (X, Y, Z in meters) -2. Enter in Configuration → Calibration: - - `kAutoCalibrationBallPositionFromCamera1Meters` - - `kAutoCalibrationBallPositionFromCamera2Meters` -3. Run calibration wizard - -**Measurement tips**: -- Use CAD software (FreeCAD, Fusion 360) for precision -- Measure to center of ball, not edge -- Measure from lens center, not camera front -- Use meters, not inches or millimeters - -### Lens Distortion - -Auto-calibration handles minor lens distortion automatically. For severe distortion (fisheye lenses), you may need additional undistortion steps. - -Current calibration assumes reasonable lens quality. The 6mm M12 lenses that come with cameras work fine. - ---- - -## When to Recalibrate - -**Required**: -- First time setup -- After moving cameras -- After changing lenses -- After dropping/bumping enclosure - -**Not required**: -- Every time you use PiTrac -- After adjusting camera gain -- After tweaking ball detection settings -- After software updates - -Calibration data persists across reboots and config changes. Don't recalibrate unless you have a reason. - ---- - -## Next Steps - -1. **Calibrate Camera 1** - Takes 30 seconds -2. **Calibrate Camera 2** - Takes 2 minutes -3. **Verify results** - Check ball location matches expected position -4. **Test shots** - Hit some balls, verify speeds look reasonable -5. **Fine-tune** - Adjust gain, search center, etc. as needed - -Good calibration is the foundation of accurate ball tracking. Take your time with the physical setup - it's worth it. diff --git a/docs/camera/camera-calibration.md b/docs/camera/camera-calibration.md deleted file mode 100644 index 81310256..00000000 --- a/docs/camera/camera-calibration.md +++ /dev/null @@ -1,238 +0,0 @@ ---- -title: Camera Calibration -layout: default -nav_order: 1 -parent: Cameras -description: Manual camera calibration guide for PiTrac including tape measure method, manual focal length calculation, and advanced calibration techniques for accurate ball tracking. -keywords: manual camera calibration golf, tape measure calibration, focal length calculation, camera angle measurement, calibration troubleshooting -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -# PiTrac - Camera Calibration - -![][image1] ![][image2] -(the above pictures feature PiTrac in its early incarnation using 2x4s for its enclosure) - -Camera 2 Calibration Setup: -![][image3]![][image4]![][image5] - -**Camera Setup & Calibration Guide** - -{: .warning } -**Difficulty:** Camera calibration is noted in the project errata as being "too difficult and takes too much time." Consider using the [Auto-Calibration]({% link camera/auto-calibration.md %}) process instead for a more streamlined experience. - -NOTE: As of May 6, 2025, the portion of this guide that deals with measuring the focal length and camera angles is deprecated. The focusing and de-distortion information is still correct (and necessary). However, once the cameras are focused and you have generated the de-distortion matrices and entered them into your golf_sim_config.json file, please perform the rest of the calibration by following the [Auto-Calibration Instructions]({% link camera/auto-calibration.md %}). -1. Overview - 1. The PiTrac system needs to know the angles of the cameras and the relative distances between them in order to locate the ball in space. Camera calibration helps establish these values. - 2. During this calibration, various distances are measured from each camera to a test point in front of the camera. Those values are used, along with the calibration spreadsheet (which computes additional, derived values) to determine a set of calibration values. Those values are then given to the PiTrac monitor by entering them in the golf\_sim\_config.json configuration file, which PiTrac reads when it starts up. - - **[Download Calibration Spreadsheet](../assets/PiTrac-Camera-Calibration-Worksheet.xlsx)** - Excel worksheet for calibration calculations - 3. The basic idea is to center a known point in 3D space in the camera lens and then measure the distances to that point. That in turn determines the camera’s angles. This process also establishes the effective focal distance of the camera, which in turn is used to establish the distance of the ball from the cameras. - 4. After the marker points are used to aim the cameras, an actual golf-ball is used to calibrate focus and focal length. - 5. It’s best to calibrate the cameras in the environment in which you expect to use the LM. - 6. As part of the calibration process, the fish-eye-like distortions that are caused by most lenses need to be accounted for. These distortions are particularly evident around the edges of an image. Multiple images of a hand-held checker-board pattern are used to determine a couple of matrices that are used by the PiTrac to essentially “undistort” the images taken by the cameras. - 7. The distances in this guide are in meters unless otherwise specified. - 8. Note that “calibration” as used in this document is a broader process than just the intrinsic/extrinsic calibration that sets up matrices to perform de-distortion on cameras (although undistortion is a part of it). -2. Initial Setup - 1. Use a lens-cleaning cloth and appropriate cleaning liquid to make sure the lens are spotless. - 2. If possible, make sure the Pi computers are hard-wired into the network and the network switch (if any) is turned on. - 3. Before doing anything, log into the system remotely and perform a sanity check to make sure the camera is up and running correctly. For example, take a picture using: - 1. PiTracCameraTools/lcGS.sh test.jpg - 2. So long as a picture is taken, things are probably operating correctly. - 4. Attach a keyboard, mouse and monitor to whatever Pi Camera is being calibrated using the front and side Pi Access ports on the monitor’s walls. - 1. If your Pi is set up to display a terminal clearly on a different computer (such as using VNC viewer), you may be able to avoid this connection. - 5. If the monitor does not come up with an image after the mouse is wriggled, it may be that the system was booted at a time that the monitor was not present. In that case, reboot. - 6. Place a small piece of transparent tape onto your monitor screen, with a dot on it so that the dot is positioned to be at the exact center of the screen. This dot will be referred to as the “marker dot”, and its role is simply to indicate where the center of the image is. If this dot is at the same point as some feature that the camera sees, that feature is in the center of the camera’s view. Some people will use a remote terminal program like VNC Viewer instead of connecting a monitor directly to the Pi. In this case, just make sure that you monitor aspect ratio and any window borders will not skew the true center calibration spot. - 7. Loosen the thumb screws on the lenses (if necessary) and rotate the lens to the full-open aperture position. For the 6mm lens in the parts list, the aperture screw is the one furthest from the camera. Tighten the aperture screw back down and loosen the focus screw. -3. Camera 2 - 1. Note \- Camera 2 closely follows the Camera 1 calibration - 2. Lens Un-Distortion - 1. - 3. Measuring Distances and Angles - 1. Remove the visible-light cut (long pass) filter from the front of the camera for now. It’s easier to calibrate the camera in the visible light spectrum. - 2. Ensure that the triggering for the camera is not in external mode (where it usually will be when the camera2 system is running). - 1. If necessary, do: sudo \~/CameraTools/setCameraTriggerInternal.sh - 3. Set up a marker point (such as a cross hairs) on a piece of paper attached to an object or stand so that the point is about 15 cm above the ground and roughly centered in the view of the camera with the camera at a slight upward tilt and facing straight out. The point should be a shape that will be crisp, sharp, and useful for focusing the camera. - 4. Follow the instructions for Camera 1 (read that first), below, but use the following modifications when recording the various measurements: - 5. ![][image6] - 6. Camera 2 Measurements (values are typical/exemplary) - 7. \-X (the negative value of X) is the distance to the left (looking at the monitor) from the point on the floor directly under the center of *camera 2* (facing the LM as a right-handed golfer) to the marker dot. ***It’s usually 0*** because the point will be centered (horizontally) in the camera’s view. Because this is relative to the OTHER camera, X will usually effectively be \~-3 or –4 centimeters away from the other camera because the camera 1 is offset because it is twisted. - 1. This will be made up later when we set the "kCamera2OffsetFromCamera1OriginMeters" parameter: \[ **0.03**, \-0.19, 0.0 \], - 2. X \= 0.0 (typical) - 8. Y is the distance from the center of the camera 2 lens to the level of the hitting mat (for camera1) - 1. Y \= .109 (typical) - 9. Z is the distance ***straight out horizontally-level*** from the front of the lens to the vertical plane of the marker. This measurement is ***not*** “as the crow flies” in a straight line from the lens to the marker point. See pictures. The front of the camera lens is \~1cm back from the bottom of the base, which may be helpful if you are measuring from the bottom of the base. - 1. Z \= .55 (typical) - 10. E1 is the elevation from the floor/mat to the marker point in the air. Somewhat above the Y value. - 1. E1 \= 0.16 - 11. E2 is the elevation from camera 2 to the marker point in the air. E2 will be entered into the PiTrac JSON configuration file as the 2nd parameter for e.g., "kCamera2PositionsFromOriginMeters": \[ 0.0, **\-0.051,** 0.46 \] - 1. E2 \= E1 \- Y \= 0.051. - 2. This will help calculate the YDeg angle. However, because of measurement inaccuracy, it may still be necessary to manually adjust that angle. \[TBD\] - 12. H is the distance from the camera lens directly (as the crow flies) to the marker point. - 1. H \= .56 - 13. In the Calibration Spreadsheet, X\_Degrees will normally be 0 (camera facing straight out). Conversely, Y\_Degrees \= ATAN(E-Y) and will usually be around 5 degrees (camera tilted slightly upward in order to catch fast-rising balls) (5.3 degrees for the above example values) - 14. Otherwise, this process same as for camera 1, but due to the (typical) either horizontal or up-facing camera, will have to create a marker-aiming spot in mid-air by drawing on a box or something that can be propped up in front of the camera2 - 15. Enter the following data into the JSON file: - 1. "calibration.kCamera2CalibrationDistanceToBall": \ (e.g., 0.55) - 2. "cameras.kCamera2PositionsFromOriginMeters": \[ \, \-\, \ \] - 3. "kCamera2Angles": \[ \, \ \], (from spreadsheet) - 4. Calibrate Camera Focal Length - 1. Calibration requires that the LM be turned on. When you do so, first check to make sure that the LED strobe is not on. You can tell if it is on because the LEDs will glow a dull red (even for IR LEDs, there’s a little light on the high-frequency end of the visible spectrum). - 2. Next we will calibrate the focal length of the camera 2 by using the known diameter of a golf ball and the diameter of the ball as seen by the camera in terms of pixels. - 1. Use the “Determine the camera’s focal length” process for camera 1, below - 3. Run “runCam2BallCalibration.sh” script and take the resulting average focal length. Make sure the ball is well lit with a good contrasting color behind it (use the preview function if necessary) - 1. Certain types of black felt also show up black behind the ball and create great contrast. - 2. If you get errors, such as “Attempted to draw mask area outside image”, check to ensure the golf ball is in the middle of the camera image. - 3. Check for the images in the “logging.kLinuxBaseImageLoggingDir” directory. Can also try \--logging\_level=trace instead of info in the script. - 4. After the final average value has been computed, you may have to hit Ctrl-C to stop the program - 5. Also, the “Calibrated focal length” measurement that is output by the program should remain pretty close to the same number from measurement to measurement. So, for example (ignore the “mm”), - 1. \[2024-12-05 15:50:42.048685\] (0x0000007fb6135040) \[info\] Calibrated focal length for distance 0.550000 and Radius: 67.788940 is **6.094049**mm. - 2. \[2024-12-05 15:50:42.048996\] (0x0000007fb6135040) \[info\] Focal Length \= **6.094049**. - 3. \[2024-12-05 15:50:43.441564\] (0x0000007fb6135040) \[info\] Calibrated focal length for distance 0.550000 and Radius: 67.803833 is 6.095388mm - 4. If the value is varying largely, the lighting may not be sufficient. - 4. Enter this value into the JSON file, e.g., "kCamera2FocalLength": 6.155454 (or whatever the value is). - 5. Confirm Correct Camera Calibration - 1. Keep the ball in the spot it was in when the focal length was calibrated for now, as the location is known. We want to ensure the system is ‘finding’ the ball at that location. - 2. Run “runCam2BallLocation.sh” script on the Pi connected to the camera being calibrated to make sure the angles and distances and processing are correct - 1. Generally, the IR filter should be removed if the ball does not have good contrast with the background. - 2. The ball-search location should work in the center: \--search\_center\_x 723 \--search\_center\_y 544 . If the script doesn’t return values, check the log\_view\_final\_search\_image\_for\_Hough.png file. - 3. Remember, that the distances will be approximately to the center of the ball FROM THE CAMERA, so will be a little shorter than the distance to the LM in the X direction. - 4. Check to make sure that the X, Y , and Z values (in meters) are correct. - 5. Also, the “Radius” measurement that is output by the program should remain pretty close to the same number from measurement to measurement. So, for example, - 1. \[2024-12-05 15:43:57.884875\] (0x0000007f8ea3d040) \[info\] Found Ball \- (X, Y, Z) (in cm): 0.013771, 0.060536, 0.552454. **Radius: 67.741455** - 2. \[2024-12-05 15:44:00.758463\] (0x0000007f8ea3d040) \[info\] Found Ball \- (X, Y, Z) (in cm): 0.013772, 0.060538, 0.552480. **Radius: 67.738266** - 3. \[2024-12-05 15:44:03.616166\] (0x0000007f8ea3d040) \[info\] Found Ball \- (X, Y, Z) (in cm): 0.013772, 0.060539, 0.552489. **Radius: 67.737129** - 6. To ensure everything is working correctly, trying moving the ball 10cm up and/or left or right and/or closer or further from the camera and then ensure that the runCam2BallLocation program responds with correct position information. Accuracy should be at least within a centimeter for most measurements. - - - -4. Camera 1 distances and angles (also referenced by and relevant for Camera 2 process, above) - 1. Only for Camera 1, plug in the exterior LED strip at the bottom of the launch monitor. For these calibration steps, the more light the better. - 2. Start the previewGS.sh script (which runs libcamera.hello) for cam1, or previewGS\_noir.sh script for cam2. This will allow you to see the marker in real time as the camera is positioned and focused. - 3. Pick an appropriate nominal tee-up spot to use as the calibration marker point for camera 2\. The exact placement is not important, but positioning the ball near where it will be teed should help make the calibration more accurate. - 1. Typical is 60cm to the right and around 50-60 cm in front of the LM (looking at the LM from where the player would stand, looking down into its cameras). Other distances can work as well, but the balance is between being close enough to get a good view of the ball, and far enough that the field of view is sufficiently broad to capture enough (at least 4) image imprints as the strobe light fires. - 4. Use a tape measure to accurately determine the position from the front-center of the LM to the point where the ball will be expected to be teed up as follows: - 1. Note \- The ball will likely be right in front of camera2 (and a 10-20 centimeters in the air), but for camera 1, it will be a couple feet to the right of camera1 and on the ground. - 2. Further back (to the right of the LM for right-handed golfers) gives more time for the LM to “see” a fast ball in the camera2 before it goes too far. The LM should be able to operate regardless of exactly where the marker point is, but a point close to the typical tee-off makes the calibration in that area more accurate. - 3. Place a marker (e.g., a sticky-note with a 3mm dot or crosshair) at the point on the ground where the nominal tee point will be. If you are calibrating on a hitting mat. A short bit of wire insulation pushed into the hitting mat works well, too. The point just has to be well enough marked to be able to see it in the center of the preview screen. - 4. Camera 1 Example Setup: - 1. ![][image7] - 5. Loosen and then move the camera mount until the preview screen on the monitor shows the marker dot directly behind the taped-on dot on the monitor. The idea is to center the marker in the camera view so that the camera is known to be aimed directly at the spot. Continue to keep the point centered as you tighten the gimbal screws (a small 90-degree M4 hex wrench makes this easier). - 1. **NOTE** \- Sometimes the mount is sticky and only wants to point to a particular point near, but not at the marker. In that case, let the camera do what it wants to do, and just re-measure where the point is (it might be a few millimeters one way or the other), and then use those measurements, below. - 2. When tightening the base of the Pi Camera 1 (top floor), you may have to loosen and move the strobe light that is immediately below the camera to get room to use a needle-nose pliers to tighten the bold. - 6. Measure the following distances from the camera being calibrated to the marker. **NOTE** \- these values have slightly different definitions for camera 2 \- reference that process elsewhere in this document when calibrating that camera. - 1. Refer to the following diagram regarding the necessary calibration measurements for Camera 1: - 2. ![][image8] - 3. X is distance to the right of the LM (facing the LM as a right-handed golfer) to the marker point - 1. X \= .60 (typical) (distances here are in meters) - 2. For camera 2, the X should reflect the effective X-axis difference between the two cameras (because camera 1 is twisted to one side from center). So, even if the camera 2 is centered, it’s X is likely to be 3 or 4 cm. - 3. The “Origin” referenced in the .json file (e.g., kCamera1PositionsFromOriginMeters is technically arbitrary, but this system considers it as the point on the floor directly below where the camera 1 (or 2\) is focused. - 4. Y is the distance from the middle of the camera1 lens to the level of the hitting mat (for camera1) or the aiming point (for camera2). - 1. Y \= .275 (typical) - 5. Z is the distance straight out from the front of the LM unit to the plane of the marker - 1. Z \= .56 - 6. R is the distance from the point on the floor directly below the front center of the camera lens to the marker point on the floor (see diagram above). This is one side of a triangle, with the other two sides being the line from the camera to the point on the floor, and the third side as “H”, below. - 1. R \= .83 - 2. NOTE \- because of the tilt angle of Camera 1, the point on the floor will technically be hidden below the base of the LM. Usually, we just measure from the edge of the base and add the additional couple of centimeters to make up for the offset. For the same reason, the X distance on the floor for that camera will be a few centimeters less than the same point would be for camera 2 - 7. H is the distance from the camera lens direct (as the crow flies) to the marker point - 1. H \= .87 - 8. Set the X, Y and Z values in the configuration .JSON file: (below values are typical) - 1. (in “cameras” section) "kCamera1PositionsFromOriginMeters": \[ \, \, \ \] for example, \[0.60, 0.275, 0.56 \], (x,y and z in cm), and - 2. "kCamera1Angles": \[ \, \ \], for example, \[46.97, \-17.44\] (from spreadsheet) - 7. Determine the camera’s focal length - 1. Place a ball on or at the marker. - 1. For Camera 1, the ball will be immediately above the marker. - 2. For Camera 2, create a support that will hold the ball so that its center in space is where the marker point existed in space before it was replaced by an actual ball. Put the - 3. Example setups: Camera 2: - 4. ![][image9] - 5. Camera 1: - 6. ![][image10] - 2. Ensure that the area around the ball has good contrast. For example, put down some black felt around the ball or use a white ball on a green hitting mat. - 3. For Camera 1, turn the LED strip on the LM base on to make sure there’s sufficient light for good exposures. - 4. Re-Measure H to ensure it’s correct \- it is the distance on a line straight out from the camera lens to the ball center (at or near where the marker point was) - 5. Set the H distance into the appropriate parameter in the “calibration” section of the golf\_sim\_config.json file: - 1. For camera 1, "kCamera1CalibrationDistanceToBall". \~87cm is typical - 2. For camera 2, "kCamera2CalibrationDistanceToBall". \~55cm is typical - 6. For camera 2, install the light filter and holder on the lens. - 7. Focus the lens as well as possible and lock in the focus by tightening the thumb screw closest to the camera (the other screw should already have been tightened). Using the brand-marking or number printed on the ball can help this process. This will establish the focal distance in the next step. - 8. IF NOT ALREADY DONE AT LEAST ONCE, PERFORM CAMERA LENS UNDISTORTION PROCESS (bottom of this document) - 9. Ensure the ball is well-lit, especially near its bottom. - 1. For camera 2, getting as much sunlight in as possible can help provide sufficient IR to see well, or an incandescent light can also help. - 10. Run the “runCam1Calibration.sh” or “runCam2Calibration.sh” script to get the focal length. - 1. It will take multiple measurements and average them. - - **Time estimate:** About 1 minute for measurement averaging - 11. Set the resulting focal length into the .JSON file. - 1. E.g., "kCamera1FocalLength": 5.216 would be typical - 8. Determine the x & y (pan and tilt) camera1 angles for the configuration .JSON file - 1. \[See [https://docs.google.com/spreadsheets/d/1igc2V7oq-hGpFP5AKGjyzc2osLVpYHp969iPyHGttJ8/edit\#gid=423758471](https://docs.google.com/spreadsheets/d/1igc2V7oq-hGpFP5AKGjyzc2osLVpYHp969iPyHGttJ8/edit#gid=423758471) for automatic calculations\] - 2. X/pan is positive as the camera twists to face back to where the ball is teed (as the camera goes counter-clockwise viewed from above the LM). - 3. Y/tilt is negative as the camera starts to face down. - 4. The angles are measured from the bore of the camera if it were facing straight out at no angle and level with the ground - 5. XDeg \= 90 \- atan(Z/X) YDeg \= \-(90 \- asin(R/H)) OR, for camera2, YDeg \= ATan(Y/R), e.g, atan(4.5/40) \= 6.42. - 1. For example, for camera 1: - 1. XDeg \= 56.31 , YDeg \= \-24.46 - 2. For example, for camera 2: - 1. X \= \-0.03 Y \= 0.13 Z \= 0.40 H \= 0.42 R \= - 6. Set the values in the configuration .JSON file: - 1. (in “cameras” section) "kCamera1Angles": \[ 54.7, \-22.2 \], (x,y or pan, tilt) - 9. Place a ball ball near the mark on the tee-up spot so that there is a straight line from the camera to the mark that runs through the center of the ball (thus the ball will be slightly in front of the marker) - 10. Measure the distances to the center of the ball - 11. In the JSON file, set calibration.kCamera1CalibrationDistanceToBall to the distance to the ball in meters, e.g,. 0.81 - 12. Run “runCam1BallLocation.sh” script to make sure the angles and distances and processing are correct - 1. The ball-search location should work in the center: \--search\_center\_x 723 \--search\_center\_y 544 . If the script doesn’t return values, check the log\_view\_final\_search\_image\_for\_Hough.png file. - 2. Remember, that the distances will be approximately to the center of the ball FROM THE CAMERA, so will be a little shorter than the distance to the LM in the X direction. - -**Camera Lens “Undistortion” Process** - -1. See, for example, [here](https://www.youtube.com/watch?v=H5qbRTikxI4) and [here](https://www.youtube.com/watch?v=_-BTKiamRTg) for background on this process. -2. The undistortion code and scripts are under the CalibrateCameraDistortions folder. The scripts rely upon the libcamera-still utility, so make sure that is working first. -3. Print out a copy of the 7x10 square checker board included in that directory on a sheet of paper. Note that you want to print it to scale. Mount the checkerboard on a piece of cardboard or slip it into a binder so that you can easily hold it and it will stay flat. -4. When calibrating Camera 2, adding a bright incandescent light can provide additional IR light to help make the images clearer. Also, change the tuning file in the take\_calibration\_shots.sh script from: - 1. \--tuning-file=/usr/share/libcamera/ipa/rpi/pisp/imx296.json to - 2. \--tuning-file=/usr/share/libcamera/ipa/rpi/vc4/imx296\_noir.json (the \_noir is only applicable for Camera 2\) -5. When calibrating Camera 1, ensure the room is well lit. Turning on the LED strips on the LM often produces too much light and reflection. -6. To take the pictures, make sure your camera is focused at the distance of where the ball will be. It’s best to have the Pi console window visible so that you can see when to move the board and avoid blurs. -7. Next, we need a bunch of images of the checkerboard at about the distance we expect the golf ball to be imaged by the cameras. These images should include the board in the middle and nearer the edges of the images, and must each include all of the checkerboard, not just a part of it. -8. Sample setup - 1. ![][image11] -9. Then, run the take\_calibration\_shots.sh script, specifying, for example, ./images/cam1 as the output directory. Twenty pictures is usually sufficient. - 1. → mkdir images/cam2 - 2. → take\_calibration\_shots.sh ./images/cam2/gs\_calibation\_ 20 -10. The script will repeatedly pause and take a picture and save it to the output directory. Each time the script says “READY”, quickly move the checkerboard to a new location. Each move, try to rotate the board a little bit about the image plane so that it is in a different orientation each time. Also, try tilting the board a little forward and back randomly. This should result in a set of images that are named gs\_calibrate\_\, where nn is an increasing number. The images should look like: -11. ![][image12]![][image13]![][image14]![][image15] -12. Look through the images and delete any where the checkerboard is not fully visible. Partially-visible board can stall the next step of this process. -13. Now that the pictures are ready, run the python processing script on those pictures to come up with the matrices that will be necessary to setup the PiTrac configuration .json file. To run, do: - 1. First, edit the python script to point to the images just gathered, for example: - 1. images \= glob.glob('./images/cam1/\*.png') - 2. → rm caliResult\*.png (to remove any earlier calibration sanity-check files) - 3. Pick an output image to use as a test case: - 1. cp images/cam2/gs\_calibation\_1.png test\_image\_for\_undistortion.png - 4. → python CameraCalibration.py - 5. Alternatively, there is a Visual Studio .sln solution file that you can open up in Studio to step through the code if there is a problem. -14. After processing, there will be several files output to the current working directory. If you compare test\_image\_for\_undistortion and caliResult2.png, you can see the before and after results of applying the computed un-distortion matrices. The un-distorted picture should have each checkerboard square look the same size and they should look square, not rounded. The lines of rows and columns should be straight in the undistorted image. caliResult1.png shows how the original image is “warped” to un-distort it -15. If that looks good, take the information in the files distortion.txt and cameraMatrix.txt and copy the values into the two parameters below (changing ‘Camera2’ for ‘Camera1’ if this is for camera 2). These parameters are in the “cameras” subsection of golf\_sim\_config.json: - 1. "kCamera1CalibrationMatrix": \[ - 2. \[ 1.748506644661262953e+03, 0.000000000000000000e+00, 6.325374407393054526e+02 \], - 3. \[ 0.000000000000000000e+00, 1.743341748687922745e+03, 4.075677927449370941e+02 \], - 4. \[ 0.000000000000000000e+00, 0.000000000000000000e+00, 1.000000000000000000e+00 \] \], - 5. "kCamera1DistortionVector": \[ \-0.504763 0.173410 0.001554 0.000916 0.355220 \], -16. Do the same for camera 1 and camera 2 - -[image1]: {{ '/assets/images/camera/image1.jpg' | relative_url }} -[image2]: {{ '/assets/images/camera/image2.jpg' | relative_url }} -[image3]: {{ '/assets/images/camera/image3.jpg' | relative_url }} -[image4]: {{ '/assets/images/camera/image4.jpg' | relative_url }} -[image5]: {{ '/assets/images/camera/image5.jpg' | relative_url }} -[image6]: {{ '/assets/images/camera/image6.png' | relative_url }} -[image7]: {{ '/assets/images/camera/image7.jpg' | relative_url }} -[image8]: {{ '/assets/images/camera/image8.png' | relative_url }} -[image9]: {{ '/assets/images/camera/image9.jpg' | relative_url }} -[image10]: {{ '/assets/images/camera/image10.png' | relative_url }} -[image11]: {{ '/assets/images/camera/image11.jpg' | relative_url }} -[image12]: {{ '/assets/images/camera/image12.png' | relative_url }} -[image13]: {{ '/assets/images/camera/image13.png' | relative_url }} -[image14]: {{ '/assets/images/camera/image14.png' | relative_url }} -[image15]: {{ '/assets/images/camera/image15.png' | relative_url }} - diff --git a/docs/camera/cameras.md b/docs/camera/cameras.md deleted file mode 100644 index f4c7457d..00000000 --- a/docs/camera/cameras.md +++ /dev/null @@ -1,206 +0,0 @@ ---- -title: Cameras -layout: default -nav_order: 6 -has_children: true -description: Complete guide to camera selection, configuration, and calibration for PiTrac golf launch monitor including global shutter cameras, IMX296 sensors, and camera setup. -keywords: raspberry pi global shutter camera, IMX296 camera golf, pi camera setup, camera configuration launch monitor, libcamera golf, golf camera calibration -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -# Camera System - -PiTrac uses two Raspberry Pi cameras to track golf balls in 3D. One camera watches the teed ball, the other tracks the ball in flight. Both cameras capture high-speed images synchronized with IR strobes to freeze the ball mid-motion. - -## Supported Cameras - -### Recommended (Current Generation) - -**InnoMaker CAM-MIPI327RAW (IMX296 Mono)** -- Same IMX296 sensor, monochrome version -- Slightly better light sensitivity -- Same resolution and frame rate -- Requires special trigger tool for synchronization -- Good for low-light setups - -**Pi Global Shutter Camera (IMX296 Color)** - Alternative -- Sony IMX296 sensor with global shutter (no rolling shutter artifacts) -- 1456 x 1088 resolution -- Native 232 fps capability -- Perfect for high-speed ball tracking -- Widely available, official Pi product - -Both cameras use the same 5.077mm x 3.789mm sensor size and work identically once configured. - -### Deprecated (Still Work, Not Recommended) - -These older cameras work but aren't ideal for ball tracking: -- **Pi Camera v1.3** (OV5647) - Rolling shutter, motion blur issues -- **Pi Camera v2** (IMX219) - Rolling shutter, motion blur issues -- **Pi HQ Camera** (IMX477) - Expensive, overkill, still has rolling shutter - -If you already have these, they'll work. But if buying new, get the Global Shutter camera. - -### Not Supported - -- **Pi Camera v3** (IMX708) - Newer sensor but lacks high FPS mode needed for ball tracking - -## Lens Options - -PiTrac supports standard M12 mount lenses: - -**6mm M12 Lens** (Default) -- 60° field of view -- Best all-around choice -- Good balance of coverage and detail - -**3.6mm M12 Lens** (Wide Angle) -- 90° field of view -- Useful for confined spaces -- May need adjusted calibration - -**8mm or 12mm M12 Lenses** -- Narrower field of view -- Experimental support -- Check configuration options before buying - -The 6mm lens is what most enclosures are designed for. Use it unless you have a specific reason not to. - -## Dual Camera Setup - -### Camera 1 (Tee Camera) -- Watches the ball at address -- Usually mounted horizontally or slightly angled -- Captures ball at impact and initial flight -- Calibration takes ~30 seconds - -### Camera 2 (Flight Camera) -- Positioned at an offset from Camera 1 -- Tracks ball during flight -- Provides depth/distance data -- Calibration takes 90-120 seconds (yes, really - it's a two-process workflow in single-Pi mode) - -You can run with just Camera 1 for basic ball speed and launch angle, but you need both cameras for full 3D tracking and spin detection. - -## Physical Installation - -Cameras mount in the enclosure via: -- CSI ribbon cables to Pi (CAM0 and CAM1 ports) -- 3D printed mounts (hardware section has STL files) -- Precise positioning is critical - calibration corrects for small variations, but get as close as you can to the reference design - -Make sure: -- Cameras have clear view of ball position -- No obstructions in camera view -- Cables aren't too tight or pulling on connectors -- Lenses are focused (manual focus ring on M12 lenses) - -## Camera Detection - -PiTrac auto-detects cameras if your Pi is configured correctly. - -Required in `/boot/firmware/config.txt` (Pi 5) or `/boot/config.txt` (Pi 4): -``` -camera_auto_detect=1 -``` - -Test detection: -```bash -# Pi 5 -rpicam-hello --list-cameras - -# Pi 4 -libcamera-hello --list-cameras -``` - -You should see 2 cameras listed. If not, check connections and boot config. - -The web interface has an "Auto Detect" button that identifies your cameras and sets the correct types automatically. Use it. - -## Configuration - -Camera settings are managed in the web interface under Configuration → Cameras: - -**Critical Settings**: -- **Camera 1 Type / Camera 2 Type** - Must match your actual hardware (use Auto Detect) -- **Lens Choice** - 6mm or 3.6mm -- **Camera Gain** - Controls brightness (higher = brighter but noisier) - -**Advanced Settings**: -- Exposure times -- Contrast -- Search center coordinates (where to look for ball) -- Calibration matrices (set by calibration wizard, don't touch manually) - -Most settings have good defaults. The main things you'll adjust are camera types (once) and gain (as needed for your lighting). - -## Calibration - -Cameras must be calibrated before PiTrac can accurately measure ball flight. Calibration determines: -- **Focal length** - Specific to your lens and camera -- **Camera angles** - How each camera is tilted/positioned -- **Distortion corrections** - Lens aberrations - -See the [Auto-Calibration]({% link camera/auto-calibration.md %}) guide for the recommended calibration method. It's a 4-step wizard that takes about 3 minutes total. - -For historical reference or troubleshooting, see [Manual Calibration]({% link camera/camera-calibration.md %}) (legacy method, not needed for normal use). - -## Troubleshooting - -**Cameras not detected?** -- Check camera_auto_detect=1 in boot config -- Verify CSI cable connections -- Reboot after connecting cameras -- Try rpicam-hello --list-cameras to see what Pi sees - -**Images too dark?** -- Increase camera gain in Configuration -- Check strobe power -- Verify strobes are firing (you'll hear them click) - -**Images too bright/washed out?** -- Decrease camera gain -- Reduce strobe intensity if adjustable - -**Ball detection fails?** -- Check focus (twist M12 lens slightly) -- Adjust search center coordinates -- Try different gain settings -- Make sure ball is actually in frame (use Testing Tools → Capture Still Image) - -**One camera works, other doesn't?** -- Verify both camera types are set correctly -- Camera 2 needs Camera 1 to be working first in single-Pi mode -- Check if you actually need Camera 2 (some setups work fine with just Camera 1) - -For detailed troubleshooting, see [Camera Troubleshooting]({% link troubleshooting.md %}). - -## Hardware Considerations - -**Pi 4 vs Pi 5**: -- Both work fine -- Pi 5 is faster, handles dual cameras better -- Boot config location differs (see above) -- GPIO chip numbers differ (PiTrac handles this automatically) - -**Lighting**: -- IR strobes are essential for freezing ball motion -- Higher strobe power = better image quality = lower gain needed -- Good lighting >> high camera gain for image quality - -**Cables**: -- Use the shortest CSI cables that work for your enclosure -- Longer cables can cause signal degradation -- Pi 5 can handle longer cables better than Pi 4 - -## Next Steps - -1. **Install cameras** in enclosure -2. **Test detection** with rpicam-hello or Auto Detect button -3. **Set camera types** in Configuration -4. **Run calibration** wizard (Auto-Calibration) -5. **Test ball detection** in Testing Tools -6. **Start hitting balls** - -The calibration wizard is the most important step - don't skip it. Without calibration, speed/angle measurements will be completely wrong. diff --git a/docs/contributors.md b/docs/contributors.md deleted file mode 100644 index 7fd8738d..00000000 --- a/docs/contributors.md +++ /dev/null @@ -1,68 +0,0 @@ ---- -title: Contributors -layout: default -nav_order: 1.4 -parent: Home -description: PiTrac project contributors and attribution for open-source technologies including OpenCV, libcamera, ActiveMQ, and other software used in the golf launch monitor. -keywords: pitrac contributors, open source attribution, golf project team, technology credits, opensource golf -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -# Contributors and Attribution - -The PiTrac team is grateful for everyone who has authored, supported, maintained and hosted the open-source technology that the system uses. PiTrac works using, in conjunction with, or at least inspired by the following projects and technologies. We especially thank the individual developers of these great technologies for their contributions to the community. - -## Open Source Technologies - -1. [Active-MQ](https://activemq.apache.org/) (multi-protocol messaging middleware) -2. Apache [Jakarta](https://jakarta.ee/) Server Pages (serves the web-based default system GUI) -3. [Boost](https://www.boost.org/) (various foundational libraries for logging, multi-threading, thread-safe data structures, command line processing, etc.) -4. [Debian](https://www.raspbian.org/) (Raspbian) Linux (OS) -5. [ED_Lib](https://github.com/CihanTopal/ED_Lib) (Edge detection) -6. [fmtlib/fmt](https://fmt.dev/11.0/) (Formatting library that provides c++20 style formatting) -7. [FreeCad](https://www.freecad.org/downloads.php) (Parametric 3D CAD/CAM software) -8. [JSON](https://github.com/google/gson) (serialization) -9. [JMS](https://www.oracle.com/java/technologies/java-message-service.html#:~:text=The%20Java%20Message%20Service%20\(JMS,coupled%2C%20reliable%2C%20and%20asynchronous.) (messaging) -10. [KiCad](https://www.kicad.org/) (schematic capture and PCB layout) -11. [Libcamera](https://libcamera.org/) and [Libcamera/rpicam-apps](https://github.com/raspberrypi/rpicam-apps) App (open-source camera stack & framework) -12. [Maven](https://maven.apache.org/guides/getting-started/maven-in-five-minutes.html) (java build automation) -13. [Meson](https://mesonbuild.com/) & [Ninja](https://ninja-build.org/) (build tools) -14. [Msgpack](https://msgpack.org/index.html) (efficient architecture-independent serialization) -15. [OpenCV](https://opencv.org/) (image processing & filtering, matrix math) -16. [libgpiod](https://github.com/brgl/libgpiod) (GPIO and SPI library) -17. [Prusa MK4S](https://www.prusa3d.com/product/original-prusa-mk4s-3d-printer-kit/) and [PrusaSlicer](https://www.prusa3d.com/page/prusaslicer_424/)(3D Printer and Slicer) -18. [Raspberry Pi](https://www.raspberrypi.com/) Single-Board Computers -19. [Shedskin](https://shedskin.readthedocs.io/en/latest/index.html) (Certain colorsys elements) -20. [Tomee and other Apache products](https://tomee.apache.org/) (hosts the web-based interface) - -## Individual Contributors - -We are also thankful for individual contributors who—even if we haven't used their code—have answered questions, supported us, and who have spent a lot of their time making groups such as the Raspberry Pi community a smarter, better place. In particular: - -1. Each person who has supported us through Ko-Fi/PiTrac. We really appreciate it! -2. [Hermann Stamm-Wilbrandt](https://stamm-wilbrandt.de/en/) (@HermannSW) -3. Jake Hauck and jRhodes95 @ github -4. David Lafreniere -5. Senior Principal Engineer Naushir Patuck and his colleagues at Raspberry Pi -6. @Arnold Palmer, @mca312, @DJ, @Hank, @kallikarls and others on the GSPro Country Club Discord Server -7. Professor Shingo W. Kagami, Ph.D., Graduate School of Information Sciences, Tohoku University -8. Michele Fornaciari, Andrea Prati, Rita Cucchiara -9. Ben Halpern -10. Jesse Hernandez -11. The many supportive folks on the Hackaday site, including @Ometry and @melaby -12. Phillip Mayhew -13. Mark Harman (@Speci on Discord) -14. @[broschb](https://github.com/pitraclm/pitrac/commits?author=broschb) and others on GitHub -15. Merrygrin, Scuzzy On Discord -16. Ron Heywood -17. Connor Gallopo (@gallapagos on Discord) -18. Ronald Muñoz - -## Golf Simulator Interface Support - -We would not have been able to create the golf simulator interfaces without the help of the following folks: - -1. The very supportive GSPro business development people. -2. The folks at TruGolf, especially Eric, Melissa and Ryan. -3. Innomaker engineers and support folks. diff --git a/docs/development/cli-interface.md b/docs/development/cli-interface.md deleted file mode 100644 index 0b5eb566..00000000 --- a/docs/development/cli-interface.md +++ /dev/null @@ -1,140 +0,0 @@ ---- -layout: default -title: CLI Interface -parent: Development Guide -nav_order: 5 ---- - -# PiTrac CLI Interface - -The `pitrac` command provides minimal service management capabilities. **All PiTrac operations including process control, configuration, testing, and calibration are now performed through the web UI at port 8080.** -## CLI Architecture - -### Bashly Framework - -PiTrac uses Bashly to generate its CLI from a YAML specification: - -``` -bashly.yml (specification) - ↓ -bashly generate - ↓ -pitrac (generated script) - ↓ -src/*.sh (command implementations) -``` - -The current version is **1.0.0** (generated by bashly 1.3.1). - -### Global Options - -```bash -pitrac [global options] [command options] - -Global Options: - --help, -h Show help message - --version, -v Show version - --config, -c Use alternate configuration file - --verbose, -v Enable verbose output - --debug Enable debug mode -``` - -## Web UI - -- **PiTrac Process Management** - Start/stop the launch monitor -- **Configuration Management** - All settings through a graphical interface -- **Testing Suite** - Hardware tests, camera tests, and calibration -- **Shot Monitoring** - Real-time shot display and history -- **System Status** - View logs, diagnostics, and system health -- **Calibration Wizard** - Step-by-step camera calibration - -Access the web interface at: `http://your-pi-ip:8080` - -## Essential CLI Commands - -The CLI provides only basic service management: - -### Web Server Commands (Primary Usage) - -```bash -# Start the web server - THIS IS THE MAIN COMMAND YOU NEED -pitrac web start - -# Stop the web server -pitrac web stop - -# Check web server status -pitrac web status - -# View web server logs -pitrac web logs - -# Get web UI URL -pitrac web url -``` - -**Note:** Once the web server is running, all PiTrac operations are performed through the web UI. - -### Supporting Service Commands - -Manage supporting services (rarely needed): - -```bash -# ActiveMQ message broker -pitrac activemq status - -# Version information -pitrac version -``` - -**Note:** ActiveMQ is typically managed automatically during installation. Manual control is rarely necessary. - -## Directory Structure - -Many CLI commands are deprecated as functionality moved to the web UI: - -``` -packaging/ -├── bashly.yml # CLI specification -├── pitrac # Generated CLI script -├── generate.sh # Script to regenerate CLI -├── src/ -│ ├── web.sh # Web server management (PRIMARY) -│ ├── activemq.sh # ActiveMQ management -│ ├── version.sh # Version info -│ └── lib/ -│ ├── environment.sh # Environment setup -│ ├── logging.sh # Logging functions -│ ├── process.sh # Process management -│ └── services.sh # Service functions -``` - -## Key Implementation Details - -### Binary Location -The PiTrac binary is located at `/usr/lib/pitrac/pitrac_lm` (defined in `src/lib/environment.sh`). - -### Configuration Files -- User config: `~/.pitrac/config/` - -### Environment Variables -The CLI sets up various environment variables including: -- `LD_LIBRARY_PATH` - Library paths -- `PITRAC_ROOT` - Installation directory -- Camera-specific environment variables based on configuration - -## Generating the CLI - -To regenerate the CLI after modifying `bashly.yml`: - -```bash -cd packaging - -# Using local bashly gem -./generate.sh - -# Or using Docker -docker run --rm -v "$PWD:/app" dannyben/bashly generate - -# The generated script will be: pitrac -``` \ No newline at end of file diff --git a/docs/development/configuration.md b/docs/development/configuration.md deleted file mode 100644 index e3e998be..00000000 --- a/docs/development/configuration.md +++ /dev/null @@ -1,173 +0,0 @@ ---- -layout: default -title: Configuration Management -parent: Development Guide -nav_order: 3 ---- - -# Configuration Management - -## Web UI Configuration Interface - -### Accessing Configuration - -1. Start the web server: `pitrac web start` -2. Navigate to `http://your-pi-ip:8080` -3. Click on the **Configuration** section - -### Configuration Features - -#### Organized Categories -Settings are organized into logical categories: -- **System** - Pi mode, golfer orientation, practice ball mode -- **Cameras** - Camera types, lens configurations, gain settings -- **Ball Detection** - Detection methods (HoughCircles, YOLO, YOLO+SAHI) -- **AI Detection** - ONNX model selection with auto-discovery -- **Simulators** - E6, GSPro, TruGolf connectivity settings -- **Storage** - Image logging, diagnostic levels -- **Network** - Broker addresses, port configurations -- **Logging** - Log levels, debug options -- **Strobing** - IR strobe timing and intensity -- **Spin Analysis** - Spin calculation parameters -- **Calibration** - Camera calibration data -- **Club Data** - Club selection and specifications -- **Display** - UI and output preferences - -#### User Interface Features -- **Search Functionality** - Real-time search across all settings -- **Basic/Advanced Views** - Simplified interface for basic users -- **Live Validation** - Real-time validation with error messages -- **Change Tracking** - Shows modified settings count -- **Save/Reset Options** - Batch save or reset to defaults -- **Import/Export** - Backup and restore configurations -- **Diff View** - Compare current settings with defaults -- **Restart Notifications** - Warns when changes require restart - -### Three-Tier Configuration System - -1. **System Defaults** - Built-in defaults from the application -2. **Calibration Data** - Persistent camera calibration parameters -3. **User Overrides** - User-specific customizations - -## Configuration Files (Backend) - -While configuration is managed through the web UI, understanding the file structure helps with debugging: - -### User Configuration -- **Location**: `~/.pitrac/config/` -- **Format**: YAML files for user overrides -- **Managed by**: Web UI automatically - -### Configuration Hierarchy - -Settings are resolved in priority order: -1. User overrides (via web UI) -2. Calibration data -3. System defaults - -## Web UI Configuration API - -The web server provides REST APIs for configuration: - -```javascript -// Get all configuration -GET /api/config - -// Get specific category -GET /api/config/cameras - -// Update settings -PUT /api/config -{ - "cameras.camera1_gain": 2.5, - "system.putting_mode": true -} - -// Get defaults -GET /api/config/defaults - -// Reset to defaults -POST /api/config/reset - -// Import configuration -POST /api/config/import - -// Export configuration -GET /api/config/export -``` - -## Development: ConfigurationManager (C++) - -For developers working on the core C++ code: - -```cpp -#include "configuration_manager.h" - -// Get singleton instance -ConfigurationManager& config = ConfigurationManager::GetInstance(); - -// Load configuration (auto-loads YAML overrides) -config.LoadConfigFile("golf_sim_config.json"); - -// Get values with defaults -float gain = config.GetFloat("gs_config.cameras.kCamera1Gain", 2.0f); -bool putting = config.GetBool("gs_config.modes.kStartInPuttingMode", false); - -// Values automatically include web UI overrides -``` - -## Environment Variables - -Environment variables can override configuration (rarely needed): - -```bash -# Override message broker address -export PITRAC_MSG_BROKER_FULL_ADDRESS=tcp://localhost:61616 - -# Override camera types -export PITRAC_SLOT1_CAMERA_TYPE=4 -export PITRAC_SLOT2_CAMERA_TYPE=4 -``` - -## Configuration Workflow - -1. **Access web UI** - Navigate to Configuration section -2. **Search or browse** - Find settings to modify -3. **Make changes** - Edit values with live validation -4. **Review changes** - See highlighted modifications -5. **Save changes** - Click Save to apply -6. **Restart if needed** - Web UI indicates if restart required - -## Best Practices - -1. **Use the web UI exclusively** - Don't edit files manually -2. **Test changes incrementally** - Make small changes and test -3. **Export before major changes** - Backup configuration -4. **Use Basic view for simple changes** - Advanced view can be overwhelming -5. **Check validation messages** - Web UI validates all inputs - -## Troubleshooting Configuration - -### Changes Not Taking Effect - -1. Check if restart is required (web UI will indicate) -2. Verify changes were saved (not just entered) -3. Check for validation errors in web UI -4. Review logs for configuration loading errors - -### Configuration Reset - -If configuration becomes corrupted: - -1. Use web UI "Reset to Defaults" button -2. Or manually: `rm -rf ~/.pitrac/config/*` -3. Restart web server: `pitrac web restart` - -### Viewing Active Configuration - -The web UI shows: -- Current values (with source indicator) -- Modified values (highlighted) -- Default values (in diff view) - -The web UI configuration system provides a superior user experience with validation, organization, and real-time feedback compared to manual file editing. \ No newline at end of file diff --git a/docs/development/dependencies.md b/docs/development/dependencies.md deleted file mode 100644 index 92548ac9..00000000 --- a/docs/development/dependencies.md +++ /dev/null @@ -1,177 +0,0 @@ ---- -layout: default -title: Dependencies Management -parent: Development Guide -nav_order: 8 ---- - -# Dependencies Management - -PiTrac relies on several external libraries, some requiring builds from source for compatibility with Raspberry Pi hardware and OS versions. - -## Core Dependencies - -PiTrac's dependencies as defined in `Software/LMSourceCode/ImageProcessing/meson.build`: - -| Dependency | Required Version | Source | Notes | -|------------|-----------------|--------|-------| -| OpenCV | ≥4.9.0 | Built from source | Debian provides 4.6.0 | -| Boost | ≥1.74.0 | System package | Threading, logging, filesystem modules | -| ActiveMQ-CPP | Any | Built from source | Not in Debian repos | -| lgpio | Any | Built from source | Pi 5 GPIO compatibility | -| libcamera | System | System package | Kernel-dependent | -| msgpack-cxx | Any | Built from source | Serialization library | -| yaml-cpp | Any | System package | Configuration parsing | -| fmt | Any | System package | String formatting | -| OpenSSL | Any | System package | Security/encryption | -| APR-1 | Any | System package | ActiveMQ dependency | - -## Build Scripts - -All dependency build scripts are located in `packaging/scripts/`: - -- `build-opencv.sh` - Builds OpenCV 4.11.0 for ARM64 -- `build-activemq.sh` - Builds ActiveMQ-CPP 3.9.5 -- `build-lgpio.sh` - Builds lgpio library -- `build-msgpack.sh` - Builds msgpack-cxx -- `build-all-deps.sh` - Orchestrates all dependency builds - -### Building All Dependencies - -```bash -cd packaging -./scripts/build-all-deps.sh -``` - -This creates artifacts in `packaging/deps-artifacts/`: -- `opencv-4.11.0-arm64.tar.gz` -- `activemq-cpp-3.9.5-arm64.tar.gz` -- `lgpio-0.2.2-arm64.tar.gz` -- `msgpack-cxx-6.1.1-arm64.tar.gz` - -## Docker-Based Build System - -PiTrac uses Docker containers to build dependencies reproducibly: - -### OpenCV Build -The `packaging/Dockerfile.opencv` builds OpenCV 4.11.0 with: -- DNN support for YOLO models -- TBB for parallelism -- V4L/libcamera support -- Selected modules: core, imgproc, imgcodecs, calib3d, features2d, highgui, videoio, photo, dnn, objdetect - -### ActiveMQ-CPP Build -The `packaging/Dockerfile.activemq` builds ActiveMQ-CPP 3.9.5 with APR dependencies. - -### lgpio Build -The `packaging/Dockerfile.lgpio` builds lgpio from the joan2937/lg repository for Pi 5 GPIO support. - -### msgpack-cxx Build -The `packaging/Dockerfile.msgpack` builds msgpack-cxx from the cpp_master branch as a header-only library. - -## Build System - -### Primary: Meson/Ninja -PiTrac uses Meson as its primary build system: - -```bash -cd Software/LMSourceCode/ImageProcessing -meson setup build --buildtype=release -ninja -C build pitrac_lm -``` - -### Package Building -The main packaging orchestrator: - -```bash -cd packaging -./build.sh build # Build PiTrac binary -./build.sh all # Build everything including dependencies -``` - -### APT Package Creation -```bash -cd packaging -./build-apt-package.sh -``` - -Creates a `.deb` file in `packaging/build/package/`. - -## Platform Differences - -### Raspberry Pi 4 vs Pi 5 - -| Aspect | Pi 4 | Pi 5 | -|--------|------|------| -| Config location | `/boot/config.txt` | `/boot/firmware/config.txt` | -| Camera tools | `libcamera-*` | `rpicam-*` | -| GPIO chip | 0 | 4 | -| Camera package | libcamera-apps | rpicam-apps | - -### Architecture Support -- Primary: ARM64 (aarch64) -- Secondary: ARMv7 (32-bit ARM) -- Development: x86_64 - -## Dependency Resolution - -### PKG-Config -Ensure libraries are discoverable: - -```bash -export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH -pkg-config --modversion opencv4 -``` - -### Library Loading -Runtime library path setup: - -```bash -export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH -ldd /usr/bin/pitrac_lm # Verify library linking -``` - -## Troubleshooting - -### OpenCV Not Found -```bash -# Check installation -pkg-config --modversion opencv4 - -# Set environment -export OpenCV_DIR=/opt/opencv/lib/cmake/opencv4 -export PKG_CONFIG_PATH=/opt/opencv/lib/pkgconfig:$PKG_CONFIG_PATH -sudo ldconfig -``` - -### Missing Dependencies -```bash -# Check what's missing -meson setup build # Will report missing dependencies - -# Debug library loading -LD_DEBUG=libs ./pitrac_lm 2>&1 | head -20 -``` - -### Build Failures -```bash -# Clean rebuild -rm -rf build -meson setup build --buildtype=release - -# Check for architecture mismatches -file build/*.o # Should all be same architecture -``` - -## Package Installation - -The APT package installs: -- Binary: `/usr/lib/pitrac/pitrac_lm` -- CLI: `/usr/bin/pitrac` -- Config: `/etc/pitrac/` -- Test images: `/usr/share/pitrac/test-images/` -- Services: systemd units for pitrac and tomee - -## Summary - -PiTrac's dependency management uses Docker for reproducible builds, creating reusable artifacts that speed up development. The combination of system packages and custom-built libraries ensures compatibility across different Raspberry Pi models while maintaining optimal performance. \ No newline at end of file diff --git a/docs/development/docker.md b/docs/development/docker.md deleted file mode 100644 index a7d21d2c..00000000 --- a/docs/development/docker.md +++ /dev/null @@ -1,191 +0,0 @@ ---- -layout: default -title: Docker Development -parent: Development Guide -nav_order: 7 ---- - -# Docker Development - -PiTrac uses Docker for building dependencies and creating reproducible builds for ARM64 architecture. - -## Overview - -The Docker build system is located in the `packaging/` directory and focuses on: -- Building complex dependencies from source (OpenCV, ActiveMQ-CPP, lgpio) -- Creating reusable artifacts for faster rebuilds -- Cross-platform compilation from x86 to ARM64 - -## Existing Docker Files - -### Dependency Builders - -Located in `packaging/`: - -1. **Dockerfile.opencv** - Builds OpenCV 4.11.0 from source - - Creates `/opencv-4.11.0-arm64.tar.gz` artifact - - Includes contrib modules and DNN support - - Configured for PiTrac requirements - -2. **Dockerfile.activemq** - Builds ActiveMQ-CPP 3.9.5 - - Creates `/activemq-cpp-3.9.5-arm64.tar.gz` artifact - - Required for message broker integration - -3. **Dockerfile.lgpio** - Builds lgpio 0.2.2 - - Creates `/lgpio-0.2.2-arm64.tar.gz` artifact - - GPIO library not available in Debian repos - -4. **Dockerfile.msgpack** - Builds MessagePack C++ 6.1.1 - - Creates `/msgpack-cxx-6.1.1-arm64.tar.gz` artifact - - Header-only serialization library - -5. **Dockerfile.pitrac** - Main application builder - - Uses pre-built artifacts from dependency builders - - Builds the PiTrac binary - - Configured for ARM64 target - -6. **Dockerfile.tomee** - TomEE web application server - - Builds the Java web interface component - -7. **Dockerfile.bashly** - Bashly CLI tool builder - - Used for generating the pitrac CLI - -### Web Application Docker - -Located in `Software/LMSourceCode/ImageProcessing/golfsim_tomee_webapp/`: - -- **Dockerfile** - TomEE web application container -- **docker-compose.yml** - Orchestrates TomEE with ActiveMQ - -## Build System - -### Main Build Script - -The `packaging/build.sh` script orchestrates the Docker build process: - -```bash -# Build dependency artifacts (one-time) -./build.sh deps - -# Build PiTrac using artifacts -./build.sh build - -# Build everything -./build.sh all - -# Interactive shell for development -./build.sh shell -``` - -### Dependency Build Scripts - -Located in `packaging/scripts/`: -- `build-all-deps.sh` - Builds all dependencies -- `build-opencv.sh` - OpenCV builder -- `build-activemq.sh` - ActiveMQ-CPP builder -- `build-lgpio.sh` - lgpio builder -- `build-msgpack.sh` - MessagePack builder -- `build-tomee.sh` - TomEE builder - -## Docker Compose - -The TomEE web application includes a docker-compose.yml that sets up: - -```yaml -services: - activemq: - image: apache/activemq-classic:6.1.4 - ports: - - "61616:61616" # ActiveMQ port - - "8161:8161" # Web console - - tomee: - build: - context: . - ports: - - "8080:8080" # TomEE port - environment: - - PITRAC_MSG_BROKER_FULL_ADDRESS=tcp://activemq:61616 -``` - -## Cross-Platform Building - -PiTrac targets ARM64 (Raspberry Pi 4/5) architecture. When building on x86_64: - -```bash -# Setup QEMU for ARM64 emulation -docker run --rm --privileged multiarch/qemu-user-static --reset -p yes - -# Build for ARM64 -docker build --platform linux/arm64 -f Dockerfile.pitrac . -``` - -## Artifacts Directory - -Pre-built dependencies are stored in `packaging/deps-artifacts/`: -- `opencv-4.11.0-arm64.tar.gz` - OpenCV libraries -- `activemq-cpp-3.9.5-arm64.tar.gz` - ActiveMQ libraries -- `lgpio-0.2.2-arm64.tar.gz` - GPIO library -- `msgpack-cxx-6.1.1-arm64.tar.gz` - MessagePack headers - -These artifacts are built once and reused for faster builds. - -## Building PiTrac - -### Quick Start - -```bash -cd packaging - -# First time: build all dependencies (~60 minutes) -./scripts/build-all-deps.sh - -# Build PiTrac (~2 minutes) -./build.sh build - -# Create APT package -./build-apt-package.sh -``` - -### Docker Build Process - -1. **Base Image**: Uses `debian:bookworm-slim` for ARM64 -2. **Raspberry Pi Repository**: Adds RPi archive for libcamera packages -3. **Pre-built Dependencies**: Extracts artifacts to `/opt/` -4. **System Dependencies**: Installs from Debian/RPi repos -5. **Build**: Compiles PiTrac using Meson/Ninja - -## Key Features - -### Build Optimization -- Separates heavy dependency builds from application builds -- Reuses pre-built artifacts to reduce build time from ~60min to ~2min -- Uses Docker layer caching - -### Platform Support -- Primary target: ARM64 (Raspberry Pi 4/5) -- Cross-compilation from x86_64 using QEMU -- Native ARM64 builds on Pi or ARM servers - -### Package Management -- Creates APT packages for easy installation -- Includes all custom-built dependencies -- System dependencies handled by APT - -## Limitations - -The current Docker implementation: -- Does not include a Dockerfile.dev (development container) -- Does not include Kubernetes or Docker Swarm configurations -- Does not include a docker-compose.prod.yml -- Does not include .devcontainer configuration -- Does not include automated Docker registry publishing - -## Future Improvements - -Potential enhancements to consider: -- Development container with debugging tools -- Multi-stage builds for smaller runtime images -- CI/CD integration with GitHub Actions -- Docker registry for pre-built images -- Production-ready docker-compose configurations \ No newline at end of file diff --git a/docs/development/index.md b/docs/development/index.md deleted file mode 100644 index 87f6916a..00000000 --- a/docs/development/index.md +++ /dev/null @@ -1,203 +0,0 @@ ---- -layout: default -title: Development Guide -nav_order: 10 -has_children: true -permalink: /development/ -description: Complete PiTrac development guide for contributors including build system, packaging, CLI interface, testing framework, and architecture documentation. -keywords: pitrac development, contribute to pitrac, build pitrac source, docker development, apt packaging, raspberry pi development -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -# PiTrac Development Guide - -Welcome to the PiTrac development documentation. This guide covers developing, building, packaging, and maintaining PiTrac. - -## Build System Features - -### Build Scripts - -**Primary Build Script (`packaging/build.sh`)** -- Supports multiple build modes: `deps`, `build`, `all`, `dev`, `shell`, `clean` -- Cross-compilation for ARM64 using Docker and QEMU -- Native development mode (`dev`) for Raspberry Pi -- Artifacts-based dependency management - -**APT Package Builder (`packaging/build-apt-package.sh`)** -- Creates complete Debian packages -- Bundles all required dependencies -- Generates proper control files -- Installs binaries, configs, and test resources - -**CLI Generator (`packaging/generate.sh`)** -- Generates `pitrac` CLI using Bashly -- Docker-based or local Ruby generation - -### Configuration System - -**Hierarchical Priority (lowest to highest)** -1. Default values in `golf_sim_config.json` -2. Environment variables -3. YAML configuration (`pitrac.yaml`) -4. CLI flags - -**Configuration Files** -- `/etc/pitrac/golf_sim_config.json` - JSON configuration -- `/etc/pitrac/pitrac.yaml` - YAML overrides -- `packaging/templates/pitrac.yaml` - Template file -- `packaging/parameter-mappings.yaml` - Parameter mapping definitions - -### CLI Interface - -**Bashly-powered `pitrac` Command** -Verified subcommands include: -- `run`, `stop`, `status` - Core operations -- `test hardware`, `test quick`, `test camera`, `test pulse`, `test spin`, `test gspro`, `test automated` -- `config`, `calibrate`, `camera` - Configuration -- `service`, `tomee`, `activemq` - Service management -- `logs`, `boot`, `version` - System utilities - -## Documentation Structure - -The following documentation pages are available: - -**[Overview]({% link development/overview.md %})** - Architecture and system components -**[Configuration Management]({% link development/configuration.md %})** - Configuration system details -**[Packaging Guide]({% link development/packaging.md %})** - Creating APT packages -**[CLI Interface]({% link development/cli-interface.md %})** - `pitrac` command reference -**[Testing Framework]({% link development/testing.md %})** - Test suite documentation -**[Dependencies Management]({% link development/dependencies.md %})** - Library management -**[Docker Development]({% link development/docker.md %})** - Docker build environment -**[Service Integration]({% link development/services.md %})** - SystemD and service management - -## Quick Start for Developers - -### Prerequisites - -- Raspberry Pi 4/5 with 8GB RAM (for native development) -- Ubuntu/Debian Linux (for cross-compilation) -- Docker installed (for containerized builds) -- Git -- Basic familiarity with C++, Bash, and Linux systems - -### Getting Started - -1. **Clone the repository:** - ```bash - git clone --recursive https://github.com/pitraclm/pitrac.git - cd PiTrac - ``` - -2. **Choose your development path:** - - **For Raspberry Pi development:** - ```bash - cd packaging - sudo ./build.sh dev # Build and install locally - pitrac test quick # Verify installation - ``` - - **For cross-platform development:** - ```bash - cd packaging - ./build.sh all # Build everything - ./build-apt-package.sh # Create installable package - ``` - -3. **Make changes and test:** - ```bash - # Edit source files in Software/LMSourceCode/ImageProcessing/ - sudo ./build.sh dev # Incremental rebuild - pitrac test hardware # Test your changes - ``` - -## Development Workflow - -### 1. Fork and Setup -- Fork the repository on GitHub -- Clone your fork with `--recursive` flag: - ```bash - git clone --recursive https://github.com/YOUR_USERNAME/PiTrac.git - cd PiTrac - ``` -- Add upstream remote: - ```bash - git remote add upstream https://github.com/pitraclm/pitrac.git - ``` - -### 2. Development -- Sync with upstream main: - ```bash - git fetch upstream - git checkout main - git merge upstream/main - ``` -- Create feature branch: - ```bash - git checkout -b feature/your-feature-name - ``` -- Follow existing code patterns -- Update tests as needed - -### 3. Testing -- Run `pitrac test quick` for basic validation -- Run `pitrac test hardware` on actual Pi -- Verify builds with `./build.sh build` - -### 4. Submission -- Push to your fork: - ```bash - git push origin feature/your-feature-name - ``` -- Create pull request from your fork to upstream `main` -- Ensure CI tests pass -- Address review feedback -- Maintainers will merge when approved - -## Key Components - -### Dependencies (verified from meson.build) -- **OpenCV**: >= 4.9.0 (built from source, Debian has 4.6.0) -- **Boost**: >= 1.74.0 (system package) -- **ActiveMQ-CPP**: 3.9.5 (built from source) -- **libcamera**: System package -- **lgpio**: Built from source (not in repos) -- **fmt, msgpack-cxx, yaml-cpp**: System packages - -### Project Structure -``` -PiTrac/ -├── Software/LMSourceCode/ImageProcessing/ # Core C++ code -├── packaging/ # Build scripts and packaging -│ ├── build.sh # Main build script -│ ├── build-apt-package.sh # APT package creator -│ ├── generate.sh # CLI generator -│ └── templates/ # Config templates -├── docs/development/ # This documentation -└── Hardware/ # 3D models and PCB designs -``` - -## Getting Help - -- **GitHub Issues**: https://github.com/pitraclm/pitrac/issues -- **Discord Community**: https://discord.gg/j9YWCMFVHN -- **Documentation**: This guide and source code - -### Common Issues -- **Camera not detected**: Check `/boot/config.txt` (Pi4) or `/boot/firmware/config.txt` (Pi5) for `camera_auto_detect=1` -- **Build failures**: Run `./scripts/build-all-deps.sh` first to build dependencies -- **Missing lgpio**: Must be built from source as it's not in Debian repos - -## Contributing - -Before submitting: -1. Test on actual Raspberry Pi hardware -2. Follow existing code patterns -3. Update relevant documentation -4. Keep commits focused - -## Next Steps - -- Review [Overview]({% link development/overview.md %}) for system architecture -- Check [Packaging Guide]({% link development/packaging.md %}) for APT package creation \ No newline at end of file diff --git a/docs/development/overview.md b/docs/development/overview.md deleted file mode 100644 index ceaf16de..00000000 --- a/docs/development/overview.md +++ /dev/null @@ -1,247 +0,0 @@ ---- -layout: default -title: System Overview -parent: Development Guide -nav_order: 1 ---- - -# PiTrac System Overview - -Understanding PiTrac's architecture is essential for effective development. This document provides a comprehensive overview of the system's components, their interactions, and the design decisions that shape the project. - -## Modern Architecture - -PiTrac uses a web-first architecture where all user interaction happens through a modern web interface. The system balances performance requirements with user experience through careful design choices. - -### High-Level Architecture - -``` -┌─────────────────────────────────────────────────────────┐ -│ User Interface Layer │ -│ ┌────────────────────────────────────────────────┐ │ -│ │ Web Dashboard (Port 8080) │ │ -│ │ - Configuration Management │ │ -│ │ - Process Control (Start/Stop PiTrac) │ │ -│ │ - Real-time Shot Display │ │ -│ │ - Testing & Calibration │ │ -│ │ - System Monitoring & Logs │ │ -│ └──────────────────┬─────────────────────────────┘ │ -│ │ │ -│ ┌──────────────────▼─────────────────────────────┐ │ -│ │ Python FastAPI Web Server │ │ -│ │ (WebSocket + REST API) │ │ -│ └──────────────────┬─────────────────────────────┘ │ -└────────────────────┼────────────────────────────────────┘ - │ -┌────────────────────┼────────────────────────────────────┐ -│ Service Layer │ -│ ┌──────────────────▼─────────────────────────────┐ │ -│ │ Message Broker (ActiveMQ) │ │ -│ └──────┬───────────┬──────────────┬──────────────┘ │ -│ │ │ │ │ -│ ┌──────▼────┐ │ ┌───────▼───────┐ │ -│ │ PiTrac │ │ │ Simulator │ │ -│ │ Core LM │◄────┘ │ Interface │ │ -│ │ (Managed │ │ (E6/GSPro) │ │ -│ │ by Web) │ └───────────────┘ │ -│ └──────┬────┘ │ -└─────────┼───────────────────────────────────────────────┘ - │ -┌─────────▼───────────────────────────────────────────────┐ -│ Hardware Layer │ -│ ┌─────────────┐ ┌─────────────┐ ┌─────────────┐ │ -│ │ Camera 1 │ │ Camera 2 │ │ GPIO/Strobe │ │ -│ │ (Global │ │ (Global │ │ Control │ │ -│ │ Shutter) │ │ Shutter) │ │ (lgpio) │ │ -│ └─────────────┘ └─────────────┘ └─────────────┘ │ -└─────────────────────────────────────────────────────────┘ -``` - -### Core Components - -#### Web Dashboard - -The modern Python-based web interface that replaces all CLI and manual operations: - -- **FastAPI Framework**: High-performance async web server -- **WebSocket Support**: Real-time updates without polling -- **Process Management**: Start/stop PiTrac processes dynamically -- **Configuration UI**: Graphical configuration with validation -- **Testing Suite**: Hardware and system tests with live feedback -- **Calibration Wizard**: Step-by-step camera calibration -- **Log Streaming**: Real-time log viewing and filtering - -Key files (`Software/web-server/`): -- `server.py` - FastAPI application and routes -- `listeners.py` - ActiveMQ message handlers -- `managers.py` - Shot and session management -- `static/js/` - Frontend JavaScript (vanilla JS, no framework) -- `templates/` - Jinja2 HTML templates - -#### PiTrac Launch Monitor Core (`pitrac_lm`) - -- **Image Acquisition**: Interfaces with Pi cameras through libcamera -- **Ball Detection**: Real-time computer vision using OpenCV -- **Physics Calculation**: 3D trajectory computation from stereo images -- **Message Publishing**: Sends results via ActiveMQ - -Key source files: -- `ball_image_proc.cpp` - Main image processing pipeline -- `gs_fsm.cpp` - Finite state machine for shot detection -- `pulse_strobe.cpp` - Hardware strobe synchronization -- `configuration_manager.cpp` - Configuration handling - -#### Configuration Management - -A three-tier configuration system managed through the web UI: - -1. **System Defaults** - Built into the application -2. **Calibration Data** - Camera-specific calibration parameters -3. **User Overrides** - Settings changed through web UI - -Configuration flow: -``` -Web UI Changes → REST API → YAML Files → ConfigurationManager → pitrac_lm -``` - -Key files: -- `~/.pitrac/config/` - User configuration (managed by web UI) -- `configuration_manager.cpp` - C++ configuration logic -- `Software/web-server/config_manager.py` - Python configuration handler - -#### Message Broker (ActiveMQ) - -Provides communication between components: - -- **Asynchronous Messaging** - Non-blocking communication -- **Topic-based Routing** - Publishers and subscribers -- **Shot Data Distribution** - From pitrac_lm to web UI -- **Status Updates** - System health and diagnostics - -Topics: -- `Golf.Sim` - Primary message topic for shot data -- `Golf.Status` - System status messages - -#### Process Architecture - -Unlike traditional service architectures, PiTrac uses dynamic process management: - -```python -# Web server manages PiTrac processes -class PiTracManager: - def start_camera(self, camera_num): - # Build command from web UI configuration - cmd = self.build_command(camera_num) - - # Spawn process (not a service) - process = subprocess.Popen(cmd) - - # Monitor health - self.monitor_process(process) - - def stop_camera(self, camera_num): - # Graceful shutdown via signals - self.send_shutdown_signal(camera_num) -``` - -## Data Flow - -### Shot Detection Flow - -``` -1. User starts PiTrac via web UI -2. Web server spawns pitrac_lm process -3. Cameras capture images at 232 fps -4. Ball detection triggers shot sequence -5. Image processing calculates metrics -6. Results published to ActiveMQ -7. Web server receives via listener -8. WebSocket broadcasts to browser -9. UI updates in real-time -``` - -### Configuration Update Flow - -``` -1. User modifies setting in web UI -2. Frontend validates input -3. REST API updates configuration -4. YAML file written to disk -5. User clicks "Restart PiTrac" if needed -6. Web server stops old process -7. New process started with updated config -``` - -## Development Workflow - -### Making Changes - -1. **Code Changes**: Edit source files -2. **Rebuild**: `sudo ./build.sh dev` in `packaging/` -3. **Web Server Auto-Updates**: Automatically uses new code -4. **Test via Web UI**: Use Testing section -5. **Monitor Logs**: View in web UI Logs section - -### Key Development Areas - -- **Web Interface**: `Software/web-server/` (Python/JavaScript) -- **Core Processing**: `Software/LMSourceCode/ImageProcessing/` (C++) -- **Build System**: `packaging/` (Bash/Docker) -- **Configuration**: Through web UI only - -## Design Principles - -### Web-First Approach - -- All user interaction through web UI -- No manual configuration file editing -- Real-time feedback and monitoring - -### Process Management - -- Dynamic process spawning (not services) -- User-initiated control -- Graceful error handling -- Health monitoring - -### Configuration Philosophy - -- GUI-based configuration only -- Live validation and feedback -- No manual YAML/JSON editing -- Settings organized by category - -## Technology Stack - -### Frontend -- **Vanilla JavaScript** - No framework dependencies -- **WebSocket** - Real-time updates -- **Responsive CSS** - Mobile-friendly -- **Jinja2 Templates** - Server-side rendering - -### Backend -- **Python 3.9+** - Web server -- **FastAPI** - Modern async framework -- **py-amqp-client** - ActiveMQ integration -- **subprocess** - Process management - -### Core Processing -- **C++20** - Modern C++ features -- **OpenCV** - Computer vision -- **libcamera** - Camera interface -- **Boost** - Utilities and testing - -### Infrastructure -- **ActiveMQ** - Message broker -- **systemd** - Service management -- **Meson/Ninja** - Build system - -## Best Practices - -1. **Always use web UI** for configuration and control -2. **Never edit config files** manually -3. **Monitor through web UI** for real-time status -4. **Test via web interface** for immediate feedback -5. **Check logs in web UI** for debugging - -The modern architecture prioritizes user experience while maintaining the high-performance core processing that makes PiTrac effective. \ No newline at end of file diff --git a/docs/development/packaging.md b/docs/development/packaging.md deleted file mode 100644 index e07cb4b9..00000000 --- a/docs/development/packaging.md +++ /dev/null @@ -1,273 +0,0 @@ ---- -layout: default -title: Packaging Guide -parent: Development Guide -nav_order: 4 ---- - -# PiTrac Packaging Guide - -This guide covers the PiTrac packaging system for creating distributable Debian packages. - -## Overview - -PiTrac uses Debian packaging (.deb) as its primary distribution format, providing: -- Single file installation: `sudo apt install ./pitrac_*.deb` -- Automatic dependency management -- SystemD service integration -- Clean uninstall via `apt remove` - -## Build Scripts - -### Main Build Script -```bash -cd packaging -./build.sh [action] -``` - -Actions: -- `deps` - Build dependency artifacts -- `build` - Build PiTrac binary (default) -- `all` - Build dependencies then PiTrac -- `dev` - Build and install on Pi -- `clean` - Remove artifacts - -### Package Build Script -```bash -./build-apt-package.sh -``` - -Creates `.deb` package in `build/packages/` using pre-built artifacts. - -## Package Structure - -``` -pitrac_1.0.0_arm64.deb -├── DEBIAN/ -│ ├── control # Package metadata -│ ├── postinst # Post-installation script -│ ├── prerm # Pre-removal script -│ └── conffiles # Config file list -├── usr/ -│ ├── bin/ -│ │ └── pitrac # CLI interface (bashly-generated) -│ ├── lib/ -│ │ └── pitrac/ -│ │ ├── pitrac_lm # Main binary -│ │ ├── libopencv_*.so.411 # OpenCV 4.11.0 -│ │ ├── libactivemq-cpp.so.19 # ActiveMQ 3.9.5 -│ │ ├── liblgpio.so.0 # GPIO library -│ │ ├── tomee-wrapper.sh # TomEE launcher -│ │ └── ImageProcessing/ -│ │ └── CameraTools/ # Camera scripts -│ └── share/ -│ └── pitrac/ -│ ├── webapp/ -│ │ └── golfsim.war # Web interface -│ └── test-images/ # Test images -├── etc/ -│ ├── pitrac/ -│ │ ├── pitrac.yaml # Main config -│ │ ├── golf_sim_config.json # Legacy config -│ │ └── config/ -│ │ ├── parameter-mappings.yaml # Parameter maps -│ │ └── settings-*.yaml # Setting templates -│ └── systemd/ -│ └── system/ -│ ├── pitrac.service # Main service -│ └── tomee.service # Web server -└── opt/ - └── tomee/ # TomEE server files -``` - -## Dependencies - -### Bundled Libraries (Built from Source) -- **OpenCV 4.11.0** - Computer vision (Debian has 4.6.0) -- **ActiveMQ-CPP 3.9.5** - Messaging (not in repos) -- **lgpio 0.2.2** - GPIO control (not in repos) -- **msgpack-cxx 6.1.1** - Serialization headers - -### System Dependencies (from APT) -``` -libboost-system1.74.0 -libboost-thread1.74.0 -libcamera0.0.3 -libcamera-dev -rpicam-apps-lite | libcamera-apps-lite -gpiod -default-jre-headless -``` - -## Service Configuration - -### pitrac.service -```ini -[Unit] -Description=PiTrac Launch Monitor -After=network.target activemq.service tomee.service - -[Service] -Type=simple -User=pi -WorkingDirectory=/home/pi -Environment="LD_LIBRARY_PATH=/usr/lib/pitrac" -ExecStart=/usr/bin/pitrac run --foreground --system_mode=camera1 -Restart=on-failure - -[Install] -WantedBy=multi-user.target -``` - -### tomee.service -```ini -[Unit] -Description=Apache TomEE for PiTrac -After=network.target - -[Service] -Type=forking -User=tomee -ExecStart=/usr/lib/pitrac/tomee-wrapper.sh start -ExecStop=/usr/lib/pitrac/tomee-wrapper.sh stop -Restart=on-failure - -[Install] -WantedBy=multi-user.target -``` - -## Installation Scripts - -### Post-Installation (postinst) -- Creates user directories (`~/.pitrac`, `~/LM_Shares`) -- Adds user to required groups (video, gpio, i2c, spi) -- Configures boot settings in `/boot/firmware/config.txt` -- Applies Boost 1.74 C++20 compatibility fix -- Sets up TomEE user and permissions - -### Pre-Removal (prerm) -- Stops and disables services -- Basic cleanup only (preserves user data) - -## Building Packages - -### Prerequisites -Build dependency artifacts first (one-time, ~60 min): -```bash -cd packaging -./scripts/build-all-deps.sh -``` - -This creates artifacts in `deps-artifacts/`: -- `opencv-4.11.0-arm64.tar.gz` -- `activemq-cpp-3.9.5-arm64.tar.gz` -- `lgpio-0.2.2-arm64.tar.gz` -- `msgpack-cxx-6.1.1-arm64.tar.gz` -- `tomee-10.1.0-plume-arm64.tar.gz` -- `golfsim-1.0.0-noarch.war` - -### Package Creation -```bash -# Build PiTrac binary -./build.sh build - -# Create .deb package -./build-apt-package.sh - -# Package output -ls build/packages/pitrac_*.deb -``` - -## CLI Commands - -The package includes a comprehensive CLI at `/usr/bin/pitrac`: - -### Core Commands -- `pitrac run` - Start launch monitor -- `pitrac stop` - Stop launch monitor -- `pitrac status` - Show system status -- `pitrac setup` - Initial setup wizard -- `pitrac version` - Version info - -### Configuration -- `pitrac config show` - Display config -- `pitrac config edit` - Edit config -- `pitrac config set KEY VALUE` - Set value -- `pitrac config get KEY` - Get value - -### Testing -- `pitrac test quick` - Test with included images -- `pitrac test pulse` - Test strobe lights -- `pitrac test camera` - Camera test -- `pitrac test gspro` - Simulator test - -### Camera Control -- `pitrac camera list` - List cameras -- `pitrac camera trigger external|internal` - Trigger mode -- `pitrac camera test` - Test camera - -### Service Management -- `pitrac service start|stop|restart|status` - Control service -- `pitrac tomee start|stop|status` - TomEE control -- `pitrac activemq start|stop|status` - ActiveMQ control - -## Testing Installation - -```bash -# Install package -sudo apt install ./pitrac_1.0.0_arm64.deb - -# Verify installation -dpkg -l | grep pitrac -pitrac version - -# Test functionality -pitrac test quick - -# Check services -systemctl status pitrac -systemctl status tomee -``` - -## Troubleshooting - -### Missing Dependencies -```bash -# Install missing system packages -sudo apt update -sudo apt --fix-broken install -``` - -### Service Issues -```bash -# View logs -journalctl -u pitrac -f - -# Check status -systemctl status pitrac -l -``` - -### Library Loading -```bash -# Update library cache -sudo ldconfig /usr/lib/pitrac - -# Check libraries -ldd /usr/lib/pitrac/pitrac_lm -``` - -## Version Information - -Current versions in use: -- Package Version: 1.0.0 (from control file) -- OpenCV: 4.11.0 -- ActiveMQ-CPP: 3.9.5 -- lgpio: 0.2.2 -- msgpack-cxx: 6.1.1 -- TomEE: 10.1.0-plume - -## Notes - -- Test images are copied from `Software/LMSourceCode/Images/` -- The CLI is generated using bashly from `packaging/src/` -- Architecture support: arm64 (primary), armhf, amd64 \ No newline at end of file diff --git a/docs/development/services.md b/docs/development/services.md deleted file mode 100644 index 7ede96e7..00000000 --- a/docs/development/services.md +++ /dev/null @@ -1,243 +0,0 @@ ---- -layout: default -title: Service Architecture -parent: Development Guide -nav_order: 9 ---- - -# Service Architecture - -PiTrac uses a modern service architecture where the launch monitor processes are managed through the web UI, not systemd. Only supporting services run as systemd services. - -## Service Components - -### 1. PiTrac Web Server (pitrac-web.service) - -The primary interface for all PiTrac operations: - -```ini -[Unit] -Description=PiTrac Web Dashboard -After=network.target activemq.service -Wants=activemq.service - -[Service] -Type=simple -User=@PITRAC_USER@ -WorkingDirectory=/usr/lib/pitrac/web-server -Environment="PATH=/usr/bin:/bin" -ExecStart=/usr/bin/python3 /usr/lib/pitrac/web-server/main.py -Restart=on-failure -RestartSec=5 - -[Install] -WantedBy=multi-user.target -``` - -**Management:** -```bash -# Start web server (primary command) -pitrac web start - -# Check status -pitrac web status - -# View logs -pitrac web logs -``` - -### 2. ActiveMQ Message Broker (activemq.service) - -Handles inter-process communication between PiTrac components: - -```ini -[Unit] -Description=Apache ActiveMQ -After=network.target - -[Service] -Type=forking -User=activemq -Environment="JAVA_HOME=/usr/lib/jvm/default-java" -ExecStart=/usr/share/activemq/bin/activemq start -ExecStop=/usr/share/activemq/bin/activemq stop -Restart=on-failure - -[Install] -WantedBy=multi-user.target -``` - -**Note:** ActiveMQ is typically managed automatically and doesn't require manual intervention. - -## Service Installation - -During installation (`sudo ./build.sh dev`), services are configured: - -```bash -# Web server service installation -/usr/lib/pitrac/web-service-install.sh install - -# ActiveMQ configuration -/usr/lib/pitrac/activemq-service-install.sh install activemq -``` - -## Service Dependencies - -``` -Network - ↓ -ActiveMQ (Message Broker) - ↓ -PiTrac Web Server - ↓ -PiTrac Launch Monitor (managed by web UI) -``` - -## Process Management Architecture - -### Web UI Process Control - -The web server manages PiTrac processes through: - -1. **Process Spawning** - Uses Python subprocess to start `pitrac_lm` -2. **Health Monitoring** - Checks process status via PID files -3. **Configuration Building** - Generates CLI arguments from web UI settings -4. **Log Management** - Captures and streams process output -5. **Graceful Shutdown** - Sends appropriate signals (SIGTERM/SIGKILL) - -### Process Lifecycle - -```python -# Simplified process management in web server -def start_pitrac(): - # Build command from configuration - cmd = build_pitrac_command(config) - - # Start process - process = subprocess.Popen(cmd, ...) - - # Store PID for monitoring - save_pid(process.pid) - - # Monitor health - schedule_health_check() - -def stop_pitrac(): - # Get PID - pid = load_pid() - - # Graceful shutdown - os.kill(pid, signal.SIGTERM) - - # Wait for termination - wait_for_process_exit(pid, timeout=30) -``` - -## Service File Locations - -- **Service Templates**: `/usr/share/pitrac/templates/` -- **Installed Services**: `/etc/systemd/system/` -- **Service Installers**: `/usr/lib/pitrac/*-service-install.sh` -- **PID Files**: `~/.pitrac/run/` -- **Log Files**: `~/.pitrac/logs/` - -## Systemd Commands (For Supporting Services Only) - -```bash -# Check service status -systemctl status pitrac-web -systemctl status activemq - -# View service logs -journalctl -u pitrac-web -f -journalctl -u activemq -f - -# Enable on boot -sudo systemctl enable pitrac-web -sudo systemctl enable activemq - -# Restart services -sudo systemctl restart pitrac-web -sudo systemctl restart activemq -``` - -## Development Considerations - -### Adding New Services - -If adding a new systemd service: - -1. Create template in `packaging/templates/` -2. Add installer script in `packaging/src/lib/` -3. Update `build.sh` to install service -4. Document in this guide - -### Process vs Service Decision - -Use a systemd service when: -- Process needs to run continuously -- Automatic startup on boot required -- No user interaction needed -- Simple start/stop semantics - -Manage via web UI when: -- Dynamic configuration needed -- User control required -- Complex startup sequences -- Real-time monitoring important - -## Troubleshooting Services - -### Web Server Issues - -```bash -# Check if running -systemctl status pitrac-web - -# Check port availability -netstat -tln | grep 8080 - -# View detailed logs -journalctl -u pitrac-web -n 100 -``` - -### ActiveMQ Issues - -```bash -# Verify ActiveMQ is running -systemctl status activemq - -# Check if listening -netstat -tln | grep 61616 - -# Test connection -telnet localhost 61616 -``` - -### PiTrac Process Issues - -Since PiTrac is managed by the web UI: - -1. Check web UI "PiTrac Process" section for status -2. View logs in web UI "Logs" section -3. Check for PID files: `ls ~/.pitrac/run/` -4. Look for running processes: `pgrep pitrac_lm` - -## Best Practices - -1. **Always use web UI for PiTrac control** - Don't try to run `pitrac_lm` manually -2. **Monitor through web UI** - Real-time status and logs -3. **Let services auto-start** - Enable systemd services for boot -4. **Check dependencies** - Ensure ActiveMQ starts before web server -5. **Use proper shutdown** - Stop via web UI before system shutdown - -## Migration Notes - -If upgrading from older PiTrac versions: - -- Old `pitrac.service` is removed during installation -- PiTrac process control moved to web UI -- TomEE replaced with Python web server -- Configuration now managed through web UI - -The service architecture prioritizes user control and monitoring through the web interface while maintaining system services only for infrastructure components. \ No newline at end of file diff --git a/docs/development/testing.md b/docs/development/testing.md deleted file mode 100644 index 55c5e713..00000000 --- a/docs/development/testing.md +++ /dev/null @@ -1,149 +0,0 @@ ---- -layout: default -title: Testing Framework -parent: Development Guide -nav_order: 6 ---- - -# PiTrac Testing Framework - -Testing in PiTrac is performed through the **web UI at port 8080**. The web interface provides a comprehensive testing suite with real-time feedback and logging. - -## Web UI Testing Interface - -### Access Testing Tools - -1. Start the web server: `pitrac web start` -2. Navigate to `http://your-pi-ip:8080` -3. Click on the **Testing** section in the navigation menu - -### Available Testing Categories - -The web UI organizes testing tools into categories: - -#### Hardware Tests -- **Strobe Pulse Test** - Test IR strobe functionality with configurable duration -- **Camera Still Capture** - Capture test images from Camera 1 or Camera 2 -- **Ball Location Tests** - Verify ball detection for each camera - -#### Calibration Tests -- **Ball Position Verification** - Check ball placement accuracy -- **Camera Alignment Tests** - Verify camera positioning and angles - -#### System Tests -- **Test Image Processing** - Run detection on sample images -- **Automated Test Suite** - Comprehensive system validation -- **Quick Test** - Fast image processing test without cameras - -#### Connectivity Tests -- **GSPro Connection Test** - Verify simulator connectivity -- **ActiveMQ Status Check** - Test message broker connection - -### Test Execution Features - -- **Real-time Output** - View test results as they execute -- **Background Execution** - Tests run without blocking the UI -- **Timeout Management** - Configurable test timeouts -- **Result Storage** - Test results saved with timestamps -- **Log Integration** - View detailed logs for each test - -## C++ Unit Tests (Development Only) - -For developers working on the core C++ codebase: - -### Framework -PiTrac uses the **Boost Test Framework** for C++ unit testing. - -### Test Locations -- `Software/LMSourceCode/ImageProcessing/Camera/tests/` -- `Software/LMSourceCode/ImageProcessing/ImageAnalysis/tests/` - -### Building Tests -```bash -# Using CMake (for test modules) -cd Software/LMSourceCode/ImageProcessing/Camera -mkdir build && cd build -cmake .. -make -ctest -``` - -### Approval Testing -The ImageAnalysis module uses approval testing for validating image processing results against known good outputs. - -## Python Web Server Tests - -The web server includes its own test suite: - -```bash -cd Software/web-server -# Install dev dependencies -pip install -r requirements-dev.txt -# Run tests -python -m pytest tests/ -``` - -Test coverage includes: -- API endpoint testing -- WebSocket functionality -- Configuration management -- Message parsing -- Process management - -## Test Image Library - -PiTrac includes sample test images at `/usr/share/pitrac/test-images/` for testing without hardware: -- Ball detection samples -- Spin calculation samples -- Various lighting conditions - -These images are automatically used by the web UI's testing tools. - -## Development Testing Workflow - -1. **Make code changes** -2. **Rebuild**: `sudo ./build.sh dev` (in packaging/) -3. **Access web UI**: `http://your-pi-ip:8080` -4. **Navigate to Testing section** -5. **Run relevant tests** -6. **View results and logs in real-time** - -## Best Practices - -1. **Use the web UI for all testing** - Better user experience and feedback -2. **Run tests after installation** - Verify system setup -3. **Test before calibration** - Ensure hardware is working -4. **Check logs for details** - Web UI Logs section shows test output -5. **Use test images for development** - Test without hardware setup - -## Troubleshooting Tests - -### Test Failures in Web UI - -1. Check the **Logs** section for detailed error messages -2. Verify hardware connections (cameras, GPIO) -3. Ensure ActiveMQ is running: Check status indicators -4. Confirm PiTrac process is not already running - -### Camera Test Issues - -- Verify camera is connected properly -- Check `/boot/firmware/config.txt` (Pi 5) for `camera_auto_detect=1` -- Use `rpicam-hello --list-cameras` to verify detection - -### Connectivity Test Failures - -- Check network configuration -- Verify firewall settings -- Ensure simulator software is running -- Check port availability (GSPro uses specific ports) - -## Test Result Interpretation - -The web UI provides clear pass/fail indicators: -- **Green checkmark** - Test passed -- **Red X** - Test failed -- **Yellow warning** - Test completed with warnings -- **Spinner** - Test in progress - -Detailed results and logs are available by clicking on each test result. \ No newline at end of file diff --git a/docs/errata.md b/docs/errata.md deleted file mode 100755 index c89c4bac..00000000 --- a/docs/errata.md +++ /dev/null @@ -1,64 +0,0 @@ ---- -title: Known Issues -layout: default -nav_order: 1.3 -parent: Home -description: Known issues, limitations, and future development hopes for PiTrac golf launch monitor including current errata and planned improvements. -keywords: pitrac known issues, launch monitor limitations, golf tracker problems, pitrac future features, development plans -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -# Errata and Future Hopes for the DIY LM - -**Errata:** - -* Very low, worm-burner shots are often not analyzed correctly, because the system loses the ball in the hitting mat background visual noise. -* Highly-angled shots that end up with the ball very close to or relatively far from the LM are often not processed correctly, as the ball is not well-focused. -* Need to get rid of all the compile warnings when building in Visual Studio. They're mostly long/int conversion type warnings. - -**New Features:** - -1. Slow-motion club impact (GitHub Issue #34) - -**Future Hopes:** - -* Reliability - * ~~The system is totally dependent on good circle detection~~ We now offer YOLO neural network ball detection as an alternative to the traditional Hough transform approach. YOLO is accessible via the web UI (Configuration → Ball Detection → Detection Method) and is generally faster and more robust, especially in challenging lighting conditions or with overlapping ball images. The Hough transform option is still available and works well for many setups, but when it's touchy it can hobble the system. The YOLO option should help significantly with reliability. - * The strobe-ball image processing is still complex and could use simplification and better documentation to make it easier to understand and maintain. -* Testing - * Complete automated regression testing in an extensible test suite, including against a static stash of images with known outcomes - * Manual QA testing checklist instructions for IRL swing testing accompanied by non-interfering third-party LMs - * Automated performance benchmarks - * Perform side-by-side testing with a good radar-based LM -* Power Supply - * The V2 Connector Board has made big improvements here—single +5V input (Meanwell LRS-75-5), integrated boost converter for LED voltage, adjustable current limiting, and hardware-enforced 10% duty cycle for thermal protection. This replaces multiple power supplies and the separate constant-current LED driver. -* Enclosure - * Easier-to-join enclosure halves. It's hard to get to the bolts to tighten the halves together - * The supports for the lower-power-side floor's overlap joint are a pain to remove. Maybe print at a different angle? - * The seams on the 3D printed enclosure are unsightly. Would be great to be able to print in a way that makes it look a little more professional. Maybe more lap joints? - * Access to the Pi's is difficult even with the ports. - * The inter-floor screws currently overhang into the layer interiors, which might present a safety issue. Perhaps add a little bump on the side of the inner wall that the screws can end into. - * Removing the supports on the power-side floor lap joint is painful. Is there a better design or way to print? - * Mount the Pi(s) to a tray we can slide them into the enclosure on rails, and use a screw to hold it in. Note - We'd need longer camera ribbons -* Cameras - * ~~Calibration is too difficult and takes too much time~~ Auto-calibration is now available through the web UI! It's a 4-step wizard that automatically calculates focal lengths and camera angles—no tape measures, no manual JSON editing, no shell scripts. Manual calibration is still supported for advanced users, but the auto-calibration wizard is the recommended approach and works well. - * As new, higher-resolution global shutters come onto the market, it will be great to integrate them into the system. Maybe we won't need the angled Camera 1 in order to watch the teed-up ball! - * The field of focus is too narrow. A better lens might help. - * Having a variant of PiTrac that uses a high frame-rate / low shutter time would be a great option for builders who don't mind paying a little more for the LM. This could obviate the need for a second camera and Pi, and would also make it a lot easier to switch between right and left-hand golfers. - * In fact, as GS cameras come down in price, this may be the direction the entire project heads to. -* Configuration - * ~~No easy way to configure the system without hand-editing massive JSON files~~ The web UI at `{PI-IP}:8080/config` now provides full configuration management! 283 settings organized into categories, search functionality, live validation, import/export, and proper diff view showing what you've changed from defaults. No more manual JSON editing for most users. This is a massive improvement. -* Documentation - * Switch to something like Doxygen for a lot of the project documents - * Create UML-like class structure definitions. - * Document the top 5 issues and see if we can get folks to fix them! - * An easy add would be to figure out the Carry value. -* Strobe: - * ~~The 12V power supply for the LEDs seems like overkill~~ The V2 Connector Board has adjustable voltage output (~15V to ~42V range) and current limiting via potentiometers, replacing the need for a separate constant-current supply. But the question remains: could we use even cheaper/simpler power for such short pulses? - * Could we over-drive the LEDs by a few volts to get brighter pulses? This would help with a number of things, including picture sharpness for fast balls. Most LED's can handle higher voltage for short periods of time without significantly shortening their lifespans. -* Hardware: - * ~~Must the Connector Board really have its own 5V power source?~~ The V2 board now uses a single +5V input that safely powers both Pi units without opto-coupler isolation (since they share power, no isolation needed). This is a significant simplification from V1. - * ~~A fail-safe for the strobe light~~ The V2 board includes dual 555 timer circuit that enforces a 10% maximum duty cycle, preventing thermal runaway. This is a hardware-enforced safety feature. -* Performance (Speed) - * The time between when the ball is hit and when the picture-taking and strobe-pulsing starts is too long. The ball has already moved halfway across the field of view. A faster FPS camera would help, of course. diff --git a/docs/glossary.md b/docs/glossary.md deleted file mode 100644 index 1f587280..00000000 --- a/docs/glossary.md +++ /dev/null @@ -1,128 +0,0 @@ ---- -title: Glossary -layout: default -nav_order: 100 -description: Technical terms and definitions used throughout PiTrac documentation including golf launch monitor terminology, camera concepts, and software components. -keywords: PiTrac glossary, technical terms, golf launch monitor terminology, golf tech definitions, launch monitor glossary -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -# Glossary - -This glossary defines technical terms used throughout the PiTrac documentation. All definitions are based on explanations found within the existing documentation. - -## A - -**ActiveMQ** -: Open source multi-protocol messaging platform used by PiTrac for inter-process communication. Provides message brokering, routing, subscriptions, and tracking between PiTrac components. - -**Auto-calibration** -: PiTrac feature that automatically determines focal length and camera angles empirically using a physical calibration rig with golf balls at known positions. - -## B - -**Ball Speed** -: One of the three primary measurements provided by PiTrac - the velocity of the golf ball as measured by the launch monitor system. - -## C - -**Camera Calibration** -: Process of determining camera angles, focal lengths, and distortion correction matrices needed for PiTrac to accurately locate balls in 3D space. - -**Calibration Rig** -: Physical device that positions golf balls at known, fixed distances and angles from PiTrac cameras for the auto-calibration process. - -## D - -**De-distortion** -: Process of correcting fish-eye-like lens distortions using matrices calculated during camera calibration. Particularly evident around image edges. - -**Distortion Matrix** -: Mathematical matrices used by PiTrac to correct lens distortions in camera images during calibration and operation. - -## E - -**E6/TruGolf** -: Golf simulator software that PiTrac can interface with. Uses port 2483 for communication. - -**Extrinsic Calibration** -: Camera calibration process that determines camera position and orientation in 3D space relative to the scene. - -## F - -**Flight Camera** -: Camera 2 in the PiTrac system - points straight ahead to capture the ball in flight after being hit. - -**Focal Length** -: Camera parameter that determines the field of view and magnification. Calculated during camera calibration process. - -## G - -**Global Shutter Camera** -: Type of camera sensor that captures the entire image simultaneously, avoiding rolling shutter artifacts. Required for PiTrac's high-speed ball tracking. - -**GsPro** -: Golf simulator software that PiTrac can interface with for golf course simulation. - -## H - -**Hough Transform** -: OpenCV algorithm used by PiTrac for circle detection in strobed ball images. Can be sensitive and may require tuning for reliable operation. - -**HSA (Horizontal Side Angle)** -: One of the launch angle measurements provided by PiTrac, indicating the ball's horizontal trajectory direction. - -## I - -**Intrinsic Calibration** -: Camera calibration process that determines internal camera parameters like focal length and lens distortion characteristics. - -## L - -**Launch Angle** -: Ball trajectory angle measurements provided by PiTrac, including both vertical and horizontal components. - -**libcamera** -: Open-source camera stack and framework used by PiTrac for camera control on Raspberry Pi systems. - -## M - -**MsgPack** -: Platform-independent message serialization standard used by PiTrac's Open Interface for encoding data payloads. - -## O - -**OpenCV** -: Computer vision library used by PiTrac for image processing, including circle detection via Hough transforms. - -**Open Interface (POI)** -: PiTrac's messaging interface built on ActiveMQ and MsgPack that allows third-party applications to communicate with the launch monitor. - -## S - -**Spin Rate** -: Measurement of golf ball rotation in three axes provided by PiTrac's analysis system. - -**Strobe Light** -: Infrared LED lighting system that provides short, high-intensity pulses to illuminate the golf ball for high-speed imaging. - -**Strobed Image** -: Photograph taken during strobe light pulse showing multiple ball positions for motion analysis. - -## T - -**Tee Camera** -: Camera 1 in the PiTrac system - angled to watch for the initial ball hit and teed-up ball position. - -**TomEE** -: Apache TomEE application server used by PiTrac for web interface hosting on port 8080. - -## V - -**VSA (Vertical Side Angle)** -: One of the launch angle measurements provided by PiTrac, indicating the ball's vertical trajectory angle. - ---- - -*All terms and definitions in this glossary are derived from explanations found within the existing PiTrac documentation.* \ No newline at end of file diff --git a/docs/hardware/3d-printing.md b/docs/hardware/3d-printing.md deleted file mode 100644 index 3a008b0a..00000000 --- a/docs/hardware/3d-printing.md +++ /dev/null @@ -1,58 +0,0 @@ ---- -title: 3D Printing -layout: default -nav_order: 3 -parent: Hardware -description: 3D printing guide for PiTrac enclosure components including STL file downloads, printer requirements, material recommendations, and printing tips for the launch monitor housing. -keywords: 3D print golf enclosure, launch monitor 3D printing, PLA golf project, DIY enclosure printing, STL files golf -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -# 3D Printing - -The PiTrac enclosure components require 3D printing. The 3D models and printing instructions are available in the main PiTrac repository. - -## 3D Models Location - -All 3D printable parts can be found in the main PiTrac GitHub repository under: -- `3D Printed Parts/` directory - -{: .highlight } -**[Download 3D Parts](https://github.com/pitraclm/pitrac/tree/main/3D%20Printed%20Parts)** - Access all STL files and 3D models on GitHub - -## Printing Requirements - -- **Printer bed size:** Designed for small-bed 3D printers (such as those available at public libraries) -- **Material:** PLA recommended -- **Print time:** Multi-day project due to part sizes -- **Assembly:** Some parts require post-processing and fitting - -## Enclosure Versions - -### Version 1 (Original) -- Bulky design -- Houses all OTS (off-the-shelf) parts and separate Pi SBCs -- May not work for larger power adapters (like U.K. bricks) - -### Version 2 (Current) -- More streamlined design -- Two variants: - 1. **Compute Board variant:** For future integrated compute board - 2. **Connector Board variant:** For current OTS parts build - -## Print Settings - -Refer to the individual part files for specific print settings. Generally: -- Standard resolution should be sufficient -- Support material may be required for some parts -- Pay attention to part orientation for optimal strength - -## Post-Processing - -- Remove printing supports carefully -- Test fit before final assembly -- Sand contact surfaces if needed (especially lap joints) -- Some parts may require drilling or trimming for proper fit - -For detailed printing and assembly instructions, see the [Assembly Guide]({% link hardware/assembly-guide.md %}). \ No newline at end of file diff --git a/docs/hardware/V2_Board_Modification.md b/docs/hardware/V2_Board_Modification.md deleted file mode 100755 index 70078d97..00000000 --- a/docs/hardware/V2_Board_Modification.md +++ /dev/null @@ -1,98 +0,0 @@ ---- -title: V2_Board_Modification -layout: default -nav_order: 5 -has_children: false -description: Describes how to modify the original V2 Connector Board to fix a problem with the strobe not shutting off fully and/or quickly. -keywords: DIY golf hardware, launch monitor parts, raspberry pi golf components, PCB assembly golf, Connector Board, V2 -og_image: /assets/images/hardware/v2_board_ball_exposure_candidates_before_mosfet_mod.png -last_modified_date: 2025-12-26 ---- - -# Modifying the V2 Connector Board to Fix the Strobe Not Shutting Off - -This document describes how to modify the original V2 Connector Board to fix a problem with the strobe not shutting off fully and/or quickly. It's pretty hack-y, and involves a bit of small hand-soldering. But, it does seem to work pretty well and is relatively inexpensive. - -In order for the V2 board to work correctly, there is also a second modification that will be included in this document, even though the mod is not strictly related to the shut-off problem. This second mod involves moving the resistor that is currently in the "R19" position to the previously-empty "R20" position. - -## The Problem -The initial version of the V2 Connector Board had an issue where the strobe light would not turn off completely or quickly enough after each pulse. This could lead to unwanted light exposure between pulses, which in turn created smearing and poor focus/sharpness of the individual ball images. This problem would then degrade the accuracy of the launch monitor, especially in regard to sPin analysis. - -A typical ball-exposure identification image when this problem happens looks like this: ![Slow strobe cutoff problem]({{ '/assets/images/hardware/v2_board_ball_exposure_candidates_before_mosfet_mod.png' | relative_url }}) - -Note that there is a completely different potential problem that looks very similar. This unrelated problem is caused by a missing or ineffective visible-light-cut filter on the ball-flight camera (cam 2). That sort of problem will also create some smear, but in this case the smear is much less pronounced, and is actually caused by visible light, not the IR light from the strobe. An example of this problem is shown here: ![Missing visible-light-cut filter problem]({{ '/assets/images/hardware/v2_board_ball_exposure_candidates_missing_filter.png' | relative_url }}). This second problem is usually a lot easier to solve and will not be addressed here. - -## Solution(s) -As a preface, the ultimate solution for this problem will probably be to retroactively modify the design of the V2 Connector Board itself, probably to include a MOSFET-based switching circuit for the strobe light. Also, the V3 Connector Board is in the works, and has a different design that should also take care of the issue. - -However, in order to support folks who have the *current* V2 boards (because we're all about supporting our community! :) ), a modification has been designed that adds a separate MOSFET module to the existing board. This module will provide better switching performance for the strobe light, ensuring it turns off fully and quickly after each pulse. - -This solution uses the same module that was a component part of the V1 Connector Board. In some countries, Amazon has that module on sale for around US$1 a piece. For example, [here](https://www.amazon.com/ANMBEST-High-Power-Adjustment-Electronic-Brightness/dp/B09KGDDS37/ref=sr_1_4?crid=1AZQ3YCT8KRTG&dib=eyJ2IjoiMSJ9.n1lkNUx_DfKx9fgfmBkKbQ9RhhGFyOIPvrQq8mt8uRj8Vh7j1CTZ2Su22d74O93d8avW9g0AeIHY-MF5LYIUMY9N8BhxiUQIO1hJnthTflVk3GnAg8dyryXjHjaV0q4IHXitXr0U74ST5NJMS1CPUWXjdMCzc9IgwARLmiVoer5J4t96V2lIHT0SB9Sdu-8zTZ6OpvGJ77JaL1KEr-PZlm6gwHTs7porBf5_mil6SsE.ko_jT8L5O0nJWc6HcHww7vEEEXERhlGQb9eNsbexamI&dib_tag=se&keywords=dual%2Bmosfet%2Bmodule&qid=1766787908&sprefix=dual%2Bmosfet%2Bmodule%2Caps%2C146&sr=8-4&th=1). - -![V2 Board Modification]({{ '/assets/images/hardware/Dual_MOSFET_Switching_Module.png' | relative_url }}) - -The solution described here essentially places a dual-MOSFET switching module in series with the existing strobe light output on the V2 Connector Board. The module is then triggered using a 5v signal that already exists on the V2 board. When the new inline module's input signal drops back to 0, the module will shutdown the pulse strobe very quickly, as the module is essentially a second switch in line with the strobe. When the module switches off, the power to the strobe will go off immediately even if the V2 board is still trying to push out some voltage. - -The schematic for the modification is shown here: ![V2 Board Modification Schematic]({{ '/assets/images/hardware/V2_Board_MOSFET_Module_Modification_Schematic.png' | relative_url }}) - -The completed modification will look like this: -![V2 Board Modification]({{ '/assets/images/hardware/V2_Connector_Board_MOSFET_module_addition.jpeg' | relative_url }}) - -Finally, an annotated image of the completed modification is shown here to help identify the various connections: ![V2 Board Modification Annotated]({{ '/assets/images/hardware/MOSFET_Module_Installation_Annotated.png' | relative_url }}) - -When completed, the test V2 board that we modified produced this ball-exposure identification image: ![Image from fixed V2 Connector Board]({{ '/assets/images/hardware/v2_board_ball_exposure_candidates_with_mosfet_mod.png' | relative_url }}). Note how the smear is gone and the ball images are now sharp and well-defined. - -The modification steps further below will guide you through the process of making this change. - -## Moving Resistor R19 to R20 - -Before detailing those steps for the MOSFET module, however, please note that it is also necessary to move the resistor from R19 to R20 on the board. The results of this mod are shown in the image below: -![V2 Board Resistor R19/R20 Modification]({{ '/assets/images/hardware/Moving_R19_To_R20.png' | relative_url }}) - - -A few suggestions when moving the resistor: - - 1. Using a knife-edge solder tip can make it easier to apply heat simultaneously to both of the terminals of the resistor when removing it. Just remember to have a good pair of tweezers handy to make sure the resistor doesn't end up stuck to and baking on the solder tip. - 2. When soldering the resistor into its new position, use some flux first to make sure the pads will accept the solder readily. It is often easier to flux just one pad, then apply a little blob of solder to that pad, and then use tweezers and the iron to get the resistor connected and positioned to just that first pad. After that is done, flux and solder the other end to the other pad. - 3. If you lose or damage the resistor during its relocation, you may also be able to get things working by simply bridging a small piece of wire across the R20 terminal pads. - - -## Modification Steps for Fixing the Strobe Shutoff Problem - - 1. Attach trigger + and trigger ground wires to the MOSFET module: - a. (This step is more easily done prior to mounting the MOSFET module onto your PiTrac.) - b. Cut and strip the ends of two small gauge wires (e.g., 22-24 AWG), preferably one black and the other not red. Both should be long enough to easily reach where they will terminate on the Connector Board, around 15cm. Strip about 7mm of insulation off the ends that will be soldered to the module so you can push them into their respective holes. You'll want even less bare wire (5mm at the most) for the wire that will be soldered to Pin 2 of chip U9. That solder joint will be very small in a crowded area, so you don't want too much excess. You don't want to be trying to strip the second ends of these wires after the first ends have already been soldered to the module. - c. Solder the black wire to the pad labeled "GND" on the MOSFET module (your labelling might be different). See the close-up image of the module here: ![MOSFET Module Closeup]({{ '/assets/images/hardware/MOSFET_Module_Closeup.jpeg' | relative_url }}). - d. Solder the other wire to the pad labeled "TRIG" on the MOSFET module. This is the positive trigger input. - 2. Prepare the wires to the strobe LED: - a. Next, you'll need to modify the existing wiring from the V2 board to the strobe LED. See the schematic above. If you just had two wires from the -/+ posts on the V2 board that go straight to the LED, this will likely involve cutting those wires so that you end up with two short wires from the Connector Board and two longer wires to the Strobe. - b. Consider marking the wires before you cut them to ensure you can keep track of which is + and which is -. - c. NOTE: Try to keep the wire lengths here as short as possible. The drive circuit is very sensitive to wiring length, and longer wires can cause ringing, interference and other issues. Aim for less than 15cm total length if possible for each of the two paths. - d. Strip 6-8mm of insulation off the four ends of the wires that will connect to the MOSFET module. Try to avoid too much bare wire. - 3. Mount the MOSFET module: - a. We found that the easiest way to mount the MOSFET module is to use an M2 melt-in insert and an M2 bolt through one or more corners of the module's PCB. The melt-in insert can be heated with a soldering iron and pressed into a small hole in the PiTrac tower, just above the Connector Board. Pre-drilling a hole for the insert will help ensure that the insert doesn't end up with melted plastic where the bolt was otehrwise supposed to go (!). Make sure to position the module so that the wires you soldered in step 1 will easily reach their respective solder points on the V2 board. - b. You could also try using (non-conducting) double-sided foam tape or hot glue to securely attach the MOSFET module to the V2 Connector Board, ensuring it is stable and won't move - c. Make sure the module is mounted in a way that avoids the USB-C cable that powers the Raspberry Pi and also allows easy access to the terminal blocks for wiring. - 4. Connect the strobe LED wires and Connector Board Outputs to the MOSFET Module - a. You'll have to open up (unscrew) the little screws in the 4 terminal blocks on the MOSFET module to insert the wires. Tighten things down firmly, but remember the posts are not that robust. - b. Double-check the wiring order here using the schematic above and the markings on the module and/or it's documentation. - c. You want to ensure that the Connector Board's strobe + output goes to the MOSFET module's "IN +" terminal, and that the Board's - output goes to the module's "IN -" terminal. Same with the module outputs to the strobe. - 5. Connect the Module's Trigger Wires to the Connector Board - a. This is probably the trickiest part of the modification, as the area around chip U9 is quite crowded and it's difficult soldering even a small wire to the tiny Pin on the chip. - b. First, solder the ground wire from the MOSFET module to any convenient ground point on the V2 Connector Board. A good place may be to one of the ground Pins of the USB cable connectors, as they are relatively large and easy to access. Just make sure that the connector's metal shell is actually connected to ground, however! - c. Next, solder the trigger wire from the MOSFET module to Pin 2 of chip U9 on the V2 Connector Board. This is the Pin that provides the 5v trigger signal for the strobe. You may need to use a magnifying glass or jeweler's loupe to see this area clearly. - d. A trick here is to exploit the fact that Pin 1 is an unused Pin on the chip and is not electrically connected to anything (at least for the component we've been using). So, you can solder the trigger wire to both Pins 1 and 2 (with the wire coming in from the right (edge) side of the board. - e. Use a little external solder flux on Pins 1 and 2 (making sure none of it gets near Pin 3) and heat it up a bit with your soldering iron before adding some solder at least Pin 2, but also maybe between Pins 1 and 2 to have more material to work with. Make sure you also put some flux on the trigger wire coming from the MOSFET module, and then heat up the blob on Pin 2 and insert the wire into the blob and then pull the iron out. - f. Lower-temperature solder (e.g., leaded solder) may help here to avoid damaging the chip with too much heat and just to make it easier generally. HOWEVER, be very careful if you use leaded solder, as it's dangerously toxic and absolutely requires good ventilation and proper handling/disposal. Lead-free solder is safer, but harder to work with. - g. Be very careful not to create any solder bridges to adjacent Pins on the chip. - h. For those with an oscilloscope, you can verify that the trigger wire is transferring the proper 5v signal when the strobe is supposed to be firing. To do so, trigger on an upward edge and run the Pulse Test from the PiTrac UI. - -Here is the soldering close up for the U9 chip: -![U9 Pin Soldering Closeup]({{ '/assets/images/hardware/Soldering_Trigger_Wire_To_U9.png' | relative_url }}) - -You should see something like this if you look at the signal from the wire connected to U9 Pin 2: -![Trigger Signal on Oscilloscope]({{ '/assets/images/hardware/U9_Chip_Trigger_Signal_From_Pin_2.jpeg' | relative_url }}) - - - - diff --git a/docs/hardware/V3 Enclosure.md b/docs/hardware/V3 Enclosure.md deleted file mode 100644 index fc482532..00000000 --- a/docs/hardware/V3 Enclosure.md +++ /dev/null @@ -1,150 +0,0 @@ ---- -title: V3 Enclosure -layout: default -nav_order: 5 -has_children: true -description: V3 Enclosure overview, assembly guide and part printing guide -keywords: DIY golf hardware, launch monitor parts, raspberry pi golf components, 3D print golf enclosure -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2026-03-30 ---- - -# V3 Enclosure -![PiTrac_V3-Enclosure](../assets/images/V3_Enclosure/PiTrac_V3-Enclosure.png) - -Folder overview: - -``` -PiTrac/3D Printed Parts /Enclosure Version 3/ -├─ Assembly/ # FreeCAD Assembly files - └─ Assembly4/ # .FCStd and .svg assembly files -├─ Assets/ # general supporting material -│ └─ Part Pictures/ # Images for buildplate-orientation -└─ Part/ - ├─ Misc/ # .FCStd files for CAD supporting material - ├─ Calibration Rig/# .stl, .stp and .FCStd files for the calibration rig - ├─ Purchase/ # .stp and .FCStd files for purchased parts - └─ Print/ # .stl, .stp and .FCStd files for preferred design - ├─ Legacy/ # .stl, .stp and .FCStd files for legacy parts - └─ Variants/ # .stl, .stp and .FCStd files for design variants and mods. - └─ Archive/ # .stl, .stp and .FCStd files for depreceated parts, likely to be deleted soon - -``` - ---- - -## Software - -- FeeCAD v1.0.2, designed mainly in the Part Design Workbench -- Fasteners v0.5.44, for standard parts in the Assembly -- Assembly4 v0.60.6, for the Assembly files - ---- - -## Safety Disclaimer - -**Important:** These 3D-printed parts are designed to house components connected to mains voltage (100–240V AC). Please observe the following safety precautions: - -- Only place the assembled unit on a **stable, non-flammable surface**. -- Never leave the unit **powered on and unattended**. -- Keep out of reach of **children and pets**. -- Ensure proper **ventilation** around the power supply to avoid overheating. (not bedded into artificial turf) -- Handle electrical connections **carefully** and only if you are confident with mains electricity. -- Avoid **cable damage**: do not pinch wires or run them over sharp edges. -- Use proper **fuses or circuit protection** in the IEC connector. -- Always verify **correct polarity and connections** before powering on. -- **Material choice matters**: PLA is flammable; consider PETG or ABS for better heat resistance, ideally UL94 V-0 certified. -- Ensure **print quality**: no gaps or thin walls that could expose live components. -- Do not operate the unit in **wet or humid environments**. -- Keep all small parts **secure and away from children or pets**. -- Use **appropriate tools** for assembly and avoid sharp edges. -- Clearly **mark modules and polarity** where relevant to prevent mistakes. -- Take care not to **drop screws or other components** into the power supply during assembly. -- Always install the **LinePower_Cover.stl** to minimize the risk of electric shock. - -Failure to follow these precautions can result in **fire, electric shock, or personal injury**. Print and use these parts at your own risk. - ---- - -## Main Informations -![Calibration Setup](../assets/images/V3_Enclosure/Calibration_setup.png) -Calibration coordinates for the calibration rig: -Camera1 (tee - far back / long rig) - X: "-0.522" m - Y: "-0.241" m - Z: "0.483" m -``` -["-0.522", "-0.241", "0.483"] -``` -Camera1 (tee - near / short rig) - X: "-0.117" m - Y: "-0.241" m - Z: "0.483" m -``` -["-0.117", "-0.241", "0.483"] -``` -Camera2 (flight) - X: "0" m - Y: "0.109" m - Z: "0.473" m -``` -["0", "0.109", "0.473"] -``` -Assumtion: eyeball screen to front plane has a Z-distance of 30 mm (acc. to the assembly readme and drawings) - ---- - -## Requirements & Design Checklist - -| Entry | Category | Requirement | Detail | Design-Action | Status | -|------:|-----------------|--------------------------------------------------------|------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------|--------| -| 1 | Structure | Adjustable feet | for leveling | M5 nut in foot, nominal is completely in, allows for a few mm adjustment | done | -| 2 | Optics | Reference interface to calibration rig | already established in V2 design | pocket in Stack_Module_PSU | done | -| 3 | Safety | UL94 V0 flame retardant filament | DIY PCB, mains voltage, high power LED, long runtimes | Cannot be controlled; pointed out in documentation / housing; *Do not leave unattended* label | - | -| 4 | Safety | IP40 IEC 60529 protection (ideally) | no fingers or tools should access critical areas | Rather IP20; all mains cables covered; no ventilation holes >5 mm near PSU; mains voltage not accessible → maybe IP40-ish | done | -| 5 | Safety | DIN VDE 0100 / 0701–0702 | min. 3 mm airgap, 5 mm structural gap on mains voltage | Safety margin between PSU and power socket for cables and airgaps | done | -| 6 | Safety | Cable strain relief | — | Not relevant for PSU due to housing design; peripheral and Pi cables uncritical | done | -| 7 | Safety | Ventilation holes (see IP40) | — | Holes in Stack_Module_PSU and Stack_Module_Cover | done | -| 8 | Safety | Mains voltage label | — | Already written on purchased power socket | done | -| 9 | Compatibility | Max footprint 175 × 175 mm | for small printers (e.g. Prusa Mini) | Largest part: 160 × 148 × 87.5 mm; room for brim or skirts | done | -|10 | Compatibility | 2× Pi 4 with heatsink | — | 100 × 265 × 32 mm electronics space; USB cables may be limiting | done | -|11 | Compatibility | 2× Pi 5 with heatsink | — | 100 × 265 × 32 mm electronics space; USB cables may be limiting | done | -|12 | Compatibility | V1–V3 PCB clearance | — | V2mod and V3 tested | done | -|13 | Compatibility | Compute Module | No longer applicable | — | — | -|14 | Compatibility | Further cameras | — | — | — | -|15 | Compatibility | Display | LCD / Pi display; HDMI interface required instead of Stack_Module_Cover | - | pending | -|16 | Compatibility | Innomaker Cam | — | IMX296-MPI Eyeball, 6 mm | done | -|17 | Compatibility | Pi Cam | — | PiCam Eyeball, 6 mm, 2.8 mm | done | -|18 | Compatibility | Different lenses | — | Tested with 6 mm; 2.8 mm wide-angle designed | done | -|19 | General | Pleasant to the eyes | — | Looks fine | done | -|20 | Structure | Short BOM | — | Multipurpose parts: stack modules, screens, clamps | done | -|21 | Structure | Easy assembly | — | To be confirmed by community | — | -|22 | Optics | Adjustable cameras (pan/tilt) | — | Pan ±30°, tilt ±20°; suitable for long calibration rig; field of view likely obstructed for wideangle + full pan setup | done | -|23 | Optics | Adjustable LED (pan/tilt) | — | Pan/tilt up to 30°; mostly unnecessary | done | -|24 | Thermal | Free airflow for hot components | — | Ventilation holes bottom + outlet in cover (TBC); ventilated Stack_Module_PSU available | — | -|25 | Optics | Stray light (shank shield) | reflections seen on one build | One-piece or 3-piece shield with separators; flush edges | done | -|26 | Compatibility | Cam1–Cam2 relative position | close to V2 | X within a few mm | done | -|27 | Compatibility | Floor–Cam2 position | close to V2 | X within a few mm; Z differs most | done | -|28 | Structure | Thread inserts optional | — | No inserts needed | done | -|29 | Optics | Rotation point at nodal point | — | Eyeball flange positions camera at rotation center; camera+lens specific | done | -|30 | Compatibility | Designed in FreeCAD | open source / GitHub / .stl, .stp and .FCStd | .stl, .stp and .FCStd available | done | -|31 | Compatibility | Parametric design | where relevant | | On hold | -|32 | Cost | ≤ 1 kg filament | secondary priority | ~1.3 kg | failed | -|33 | General | PiTrac logo | — | Large logo in Stack_Module_Cover; monochrome or insert available | done | -|34 | Safety | PSU housing wall thickness | — | 3 mm | done | -|35 | Liability | No official labels | no CE implication | — | done | -|36 | Compatibility | LED strip traces | — | Ambient_LED_Screen supports LED strip | done | -|37 | Structure | Shank shield thickness | 3/16″ or 1/4″ | 7 mm slot; 1/4″ fits; 3/16″ may need spacer | done | -|38 | Compatibility | Metric & imperial screws | — | Currently metric only | — | -|39 | Compatibility | Pi 5 with NVMe | — | Pi5_Carrier_3mmTroughHole: NVMe below Pi + brass studs | done | -|40 | Compatibility | External USB & HDMI | Requires inverted Pi carrier (Bagpack style) | validation pending | done | -|41 | Thermal | Optional fan in cover | Fan in Stack_Module_Cover | | On hold | -|42 | Optics | Ring light for camera 1 | Adafruit #4433 | | On hold | -|43 | Optics | Single COB LEDs (camera 1) | instead of LED strip; Focused illumination; avoid blinding | | pending | -|44 | Compatibility | Battery pack instead of PSU | Li-ion pack with power management | | On hold | -|45 | Compatibility | Status LEDs | RGB / NeoPixel-style indicators in cover | Design prepared with "Stack_Module_Cover_Insert, LED hw/sw integration pending | pending | -|46 | Compatibility | Conventional camera mounts | Similar to V2 design for more adjustability | pan-tilt design in .../Variants | done | -|47 | Compatibility | Fixed camera screens | Will allow for bigger field of view; saves material; only when a common best practice is established; lefty/righty specific | | pending | -|48 | Compatibility | Off center eyeball_screens | To allow for a bigger pan for fast balls; lefty/righty specific | | pending | -|49 | Compatibility | V3 Carrier | wire seperator for LED to avoid interference | design includes cable clips to sperate wires | done | -|50 | Optics | LED Anti glare | visor for the ambient LED screen| Ambient_LED_Visor.stl | done | diff --git a/docs/hardware/V3 Enclosure/3D-printing.md b/docs/hardware/V3 Enclosure/3D-printing.md deleted file mode 100644 index 83a8f9d0..00000000 --- a/docs/hardware/V3 Enclosure/3D-printing.md +++ /dev/null @@ -1,101 +0,0 @@ ---- -title: Enclosure Version 3 Printing -layout: default -nav_order: 1 -parent: V3 Enclosure -grand_parent: Hardware -description: Overview of the printable parts with slicer recommendations for preffered parts, variants and legacy parts. -keywords: DIY golf hardware, launch monitor parts, raspberry pi golf components, 3D print golf enclosure -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2026.03.30 ---- - -# Enclosure Version 3 / Printing - ---- - -## Parts List - -| Number | Maturity | Part | Amount | Build Plate Face* | Build Plate Adhesion | Support | Infill | Layer height | Wall Line Count | Top/Bottom Line Count | Mass Per Part | -|--------|-------------------------------|---------|----------------------|-------------------------|----------|----------|----------|----------|----------|----------|----------| -| 1 | R1 | EyeScreen.stl | 3 | inner plane face | none | none | 25 % | 0.2 | 3 | 7 | 33 g | -| 2 | R1 | 5x2IRLED_Eyeball.stl | 1 | bottom ring face | none | tree - everywhere | 25 % | 0.2 | 3 | 7 | ? | -| 3 | R1 | Stack_Module_PSU_vent.stl | 1 | bottom face | brim | tree - everywhere | 25 % | 0.3 | 3 | 7 | ? | -| 4 | R1 | Pi5_Carrier_vertical_3mm.stl | 1 | flat face | none | none | 25 % | 0.2 | 3 | 7 | ? | -| 5 | R1 | IMX296-MPI_Eyeball_6mm_camfered.stl | 2 | back ring face | none | tree - touching buildplate | 25 % | 0.2 | 3 | 7 | 62 | -| 6 | R1 | Carrier_Clamps.stl | 4 | plane face | none | none | 25 % | 0.2 | 3 | 7 | 2.5 g | -| 7 | R1 | ConnectorBoardv3_Carrier.stl | 1 | plane face | none | none | 25 % | 0.2 | 3 | 7 | ? | -| 8 | R1 | Foot.stl | 4 | bottom face | none | none | 25 % | 0.2 | 3 | 7 | 1 g | -| 9 | R1 | LinePower_Cover.stl | 1 | top face | none | normal - touching buildplate | 25 % | 0.2 | 3 | 7 | 10 g | -| 10 | R1 | Stack_Module.stl | 3 | bottom face | brim | none | 25 % | 0.3 | 3 | 7 | 185 g | -| 11 | R1 | EyeScreen_Clamp.stl | 3 | inner plane face | none | none | 25 % | 0.2 | 3 | 7 | 30 g | -| 12 | R1 | Ambient_LED_Screen.stl | 1 | top face | brim | none | 25 % | 0.2 | 3 | 7 | ? | -| 13 | R1 | Spacer.stl | 16 | bottom face | none | none | 25 % | 0.2 | 3 | 7 | 0.2 g | -| 14 | R1 | Stack_Module_Cover_forInserts.stl | 1 | bottom face | brim | tree - everywhere | 25 % | 0.3 | 3 | 7 | ? | -| 15 | R1 | Stack_Module_Cover_insert.stl | 1 | bottom face | none | tree - everywhere | 25 % | 0.2 | 3 | 7 | ? | -| 16 | R1 | Stack_Module_Cover_LogoTee.stl | 1 | flat face | none | none | 25 % | 0.2 | 3 | 7 | ? | -| 17 | R1 | Stack_Module_Cover_LogoBall.stl | 1 | flat face | none | none | 25 % | 0.2 | 3 | 7 | ? | -| 18 | R1 | Ambient_LED_Visor.stl | 1 | flat face | none | none | 25 % | 0.3 | 3 | 7 | 27 g | - -## Variants - -| Number | Maturity | Part | Amount | Build Plate Face | Build Plate Adhesion | Support | Infill | Layer height | Wall Line Count | Top/Bottom Line Count | Mass Per Part | -|--------|-------------------------------|---------|----------------------|-------------------------|----------|----------|----------|----------|----------|----------|----------| -| 1 | F2 | IRFilter_Mount_1inchround.stl | 1 | frontal face | none | none | 25 % | 0.2 | 3 | 7 | 3 g | -| 2 | A1 | Pi5_Carrier_3mmTroughHole.stl | 1 | plane face | none | none | 25 % | 0.2 | 3 | 7 | 13 g | -| 3 | P1 | Pi5_Carrier_9mm.stl | 1 | plane face | none | none | 25 % | 0.2 | 3 | 7 | 14 g | -| 4 | P1 | pan-tilt_base.stl | 3 | layed flat, hexagon facing up | none | normal | 25 % | 0.2 | 3 | 7 | ? | -| 5 | P1 | pan-tilt_Innomaker-mount.stl | 2 | large plane facing down | none | normal | 25 % | 0.2 | 3 | 7 | ? | -| 6 | P1 | pan-tilt_LED-mount.stl | 1 | large plane facing down | none | normal | 25 % | 0.2 | 3 | 7 | ? | -| 7 | D1 | IMX296-MPI_Eyeball_2p8mm.stl | 2 | back ring face | none | normal - touching buildplate | 25 % | 0.2 | 3 | 7 | ? | -| 8 | A1 | Pi5_Bagpack.stl | 1 | standing | none | normal - everywhere | 25 % | 0.2 | 3 | 7 | 40g | -| 9 | A1 | Pi5_Bagpack_bottom.stl | 1 | flat side down | none | normal - everywhere | 25 % | 0.2 | 3 | 7 | 12g | -| 10 | A1 | Pi5_Bagpack_top.stl | 1 | flat side down | none | normal - everywhere | 25 % | 0.2 | 3 | 7 | 13g | -| 11 | D1 | Stack_Module_Cover_light.stl | 1 | bottom face | brim | tree - everywhere | 25 % | 0.3 | 3 | 7 | 120 g | -| 12 | A1 | Pi5_Carrier_vertical_0p2mmTroughHole.stl | 1 | flat face | none | none | 25 % | 0.2 | 3 | 7 | ? | -| 13 | A1 | Back_Interface_Plate.FCStd | 1 | flat face | none | normal - everywhere | 25 % | 0.2 | 3 | 7 | ? | -| 14 | F2 | Stack_Module_PSU.stl | 1 | bottom face | brim | tree - everywhere | 25 % | 0.3 | 3 | 7 | 150 g | -| 15 | F2 | IMX296-MPI_Eyeball_6mm.stl | 2 | back ring face | none | tree - touching buildplate | 25 % | 0.2 | 3 | 7 | 65 g | -| 16 | D1 | IMX296-MPI_Eyeball_2p8mm_camfered.stl | 2 | back ring face | none | normal - touching buildplate | 25 % | 0.2 | 3 | 7 | ? | -| 17 | F2 | Stack_Module_Cover.stl | 1 | bottom face | brim | tree - everywhere | 25 % | 0.3 | 3 | 7 | 200 g | -| 18 | F2 | Pi5_Carrier_3mm.stl | 1 | plane face | none | none | 25 % | 0.2 | 3 | 7 | 13 g | -| 19 | P1 | Back_Interface_Plate_Type_D_Bulkhead.stl | 1 | flat, wider face | none | none | 15 % | 0.2 | 3 | 7 | 12g | - -## Legacy Parts List - -| Number | Maturity | Part | Amount | Build Plate Face | Build Plate Adhesion | Support | Infill | Layer height | Wall Line Count | Top/Bottom Line Count | Mass Per Part | -|--------|-------------------------------|---------|----------------------|-------------------------|----------|----------|----------|----------|----------|----------|----------| -| 1 | D1 | ConnectorBoardv0p2_Carrier.stl | 1 | plane face | none | none | 25 % | 0.2 | 3 | 7 | ? | -| 2 | D1 | PiCam_Eyeball_6mm.stl | 1 | back ring face | none | normal - touching buildplate | 25 % | 0.2 | 3 | 7 | ? | -| 3 | D1 | PiCam_Eyeball_2p8mm.stl | 1 | back ring face | none | normal - touching buildplate | 25 % | 0.2 | 3 | 7 | ? | -| 4 | F2 | LED_Eyeball.stl | 1 | frontal ring face | none | none | 25 % | 0.2 | 3 | 7 | 32 g | -| 5 | F2 | LED_Clamp.stl | 1 | back face | none | normal - touching buildplate | 25 % | 0.2 | 3 | 7 | 8 g | -| 6 | F2 | ConnectorBoardv2-mod_Carrier.stl | 1 | plane face | none | none | 25 % | 0.2 | 3 | 7 | ? | -| 7 | P1 | ConnectorBoardv2.stl | 1 | plane face | none | none | 25 % | 0.2 | 3 | 7 | ? | -| 8 | D1 | PiCam_Eyeball_6mm_camfered.stl | 1 | back ring face | none | normal - touching buildplate | 25 % | 0.2 | 3 | 7 | ? | - - ---- - -## Notes - -- **Build Plate Face:** The surface that should be placed on the print bed. In doubt refer to ```...\PiTrac\3D Printed Parts\Enclosure Version 3\Assets\Part pictures``` -- **Build Plate Adhesion:** e.g., *None*, *Skirt*, *Brim*, *Raft*. Only use if necessary, avoid if possible. Heavily depends on filament choice and printer. -- **Support:** e.g., *None*, *Tree*, *Normal*, *Touching Buildplate*, *Everywhere*. Tree-style seemingly is easier to remove. -- **Amount:** Number of required copies. -- **Material:** It is advised to use UL94 V-0 compliant filament. PETG preferred for toughness/impact resistance. PLA will work as a cheaper alternative. (UL94 V-0 Options: Prusament PETG V0, Sunlu ABS FR, Form Futura ABSpro - Flame Retardant, Fiberlogy PETG-V0, Spectrum Filaments FlameGuard PLA) -- **Stack_Module:** The stack module can be sectioned into three pieces if print duration per part is an issue. One horizontal cut 3mm above bottom, and one vertical cut in the center plane. - -## Part Maturity Levels - -Maturity classification for all 3D printed parts: - -| Level | Name | Description | -|-------|---------------------|------------| -| D0 | Concept | Initial idea or early design draft. Not finalized. | -| D1 | Designed | CAD model completed but not yet physically printed. | -| P1 | Print Verified | Successfully printed. Geometry confirmed. | -| A1 | Assembly Verified | Installed in assembly. Mechanical fit confirmed. | -| F1 | Function Tested | Tested under intended operating conditions. | -| F2 | Field Validated | Proven in real-world / extended use. | -| R1 | Release Stable | Considered stable, fully documented, and community proven. | diff --git a/docs/hardware/V3 Enclosure/Assembly.md b/docs/hardware/V3 Enclosure/Assembly.md deleted file mode 100644 index db6e32a7..00000000 --- a/docs/hardware/V3 Enclosure/Assembly.md +++ /dev/null @@ -1,431 +0,0 @@ ---- -title: Enclosure Version 3 Assembly -layout: default -nav_order: 2 -parent: V3 Enclosure -grand_parent: Hardware -description: Assembly instructions for the V3 Enclosure. -keywords: DIY golf hardware, launch monitor parts, raspberry pi golf components, 3D print golf enclosure -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2026.03.30 ---- - -# Enclosure Version 3 / Assembly - ---- - -## Bill Of Material -| Number | Part | Qty | Notes | Link | -|--------|---------|---------|--------|--------| -| **Printed Parts** ||||| -| 1 | EyeScreen | 3 | - |- | -| 2 | 5x2IRLED_Eyeball | 1 | - |- | -| 3 | Stack_Module_PSU_vent | 1 | version with less ventilation holes also available |- | -| 4 | Pi5_Carrier_vertical_3mm | 1 | choose height and hole version according to your setup (NVHe, HDMI access...) |- | -| 5 | IMX296-MPI_Eyeball_6mm_camfered | 2 | Print, choose correct variant for your camera |- | -| 6 | Carrier_Clamps | 4 | - |- | -| 7 | ConnectorBoardv3_Carrier | 1 | - |- | -| 8 | Foot | 4 | - |- | -| 9 | LinePower_Cover | 1 | - | - | -| 10 | Stack_Module | 3 | - |- | -| 11 | EyeScreen_Clamp | 3 | - |- | -| 12 | Stack_Module_Cover_forInserts | 1 | Variant/Stack_Module_Cover, if you prefer one simple part |- | -| 13 | Spacer | 16 | - |- | -| 14 | Ambient_LED_Screen | 1 | - | - | -| 15 | IRFilter_Mount_1inchround | 1 | only for 1" round filters, otherwise use mount from ...\3D Printed Parts\Enclosure Version 2\ ... | - | -| 16 | Calibration Rig| 1 | .../3D Printed Parts/Enclosure Version 3/Part/**Calibration Rig** | - | -| 17 | Stack_Module_Cover_insert | 1 | - | - | -| 18 | Stack_Module_Cover_LogoTee | 1 | - | - | -| 19 | Stack_Module_Cover_LogoBall | 1 | - | - | -| 20 | Ambient_LED_Visor | 1 | - | - | -| **Purchase Parts** ||||| -| 1 | Camera| 2 | - | - | -| 2 | 5x2 IR LED | 1 | or legacy 100 W COB IR LED with 60° Lens + reflector, need legacy 3D printed **LED_Eyeball** and **LED_clamp** | - | -| 4 | Meanwell LRS-75-5 | 1 | - | - | -| 5 | AC Power Inlet C14 with Fuse | 1 | - | - | -| 6 | USB COB LED Strip Lights 6.56 ft | 1 | roughly 60 cm required; 8mm widht | - | -| 7 | Wires | 3 | - | - | -| 8 | Pi5 | 1 | - | - | -| 9 | ConnectorBoardv3 | 1 | - | - | -| 10 | Acrylic Shankshield | 1 | 138 x 264 x 4 mm (or 1/4″) anything within 135-139.5 x 262.5-265 x 3-6.5 mm will work, "museum style" if possible to reduce reflections| - | -| 11 | Acrylic Backplate | 1 | 110 x 267 x 2 mm (or 1/4″) anything within 108-111 x 265-268 x 1.5-3 mm will work;if **Back_Interface_Plate** is used reduce length to 234.5-236.5 (including the D-type Back_Interface-Plate, which will need slighly shorter length because the plate is taller) | - | -| 12 | IR-Pass Filter| 1 | 1" | 1" round or 1" square | -| **Standard Parts** |||| -| 1 | ISO 4032 M5 nut| 20 | only 16 if you opt for sleeve nuts | - | -| 2 | ISO 10511 M5 lock nut| 4 | lock peferred, ISO 4032 will work as well | - | -| 3 | M5 washer | 4 | only if you do not opt for sleeve nuts | - | -| 4 | M5x318 mm rod | 4 | trim to 318 mm for washer and nut assembly; shorter (306 mm) for sleeve nuts | - | -| 5 | ISO 7380-2 M5x10 mm screw| 10 | 10-15 mm, four must be 10 mm; ISO 4762 optional | [-](https://accu-components.com/us/flanged-button-screws/8614-SSBF-M5-10-A2) | -| 6 | ISO 7380-2 M5x15 mm screw| 12 | 10–15 mm; ISO 4762 optional | [-](https://accu-components.com/us/flanged-button-screws/8616-SSBF-M5-14-A2) | -| 7 | ISO 7380-2 M5x20 mm screw| 12 | 20–25 mm; ISO 4762 optional | [-](https://accu-components.com/us/flanged-button-screws/8619-SSBF-M5-20-A2) | -| 8 | ISO 4762 M5x35 mm screw| 4 | -optional- alternative to the M5 trough rod design | - | -| 9 | ISO 4762 M3x6 mm screw | 4 | 6–15 mm; cylindrical head | - | -| 10 | M3x6 mm screw | 2 | - | [-](https://tinyurl.com/4y7m4uxr) | -| 11 | M2x10 mm self-tapping screw | 12 | - | [-](https://tinyurl.com/rj8hf3k6) | -| 12 | M3x5 mm self-tapping screw | 8 | - | [-](https://tinyurl.com/rj8hf3k6) | -| 13 | M3x10 mm self-tapping screw | 17 | - | [-](https://tinyurl.com/rj8hf3k6) | -| 14 | M5 x 12 mm sleeve nuts| 4 | provides a more aesthetic assembly | [-](https://tinyurl.com/3srvja7j) | - ---- - -## General Notes -The design is modular and intended to make it easy to swap between different stack configurations that may be introduced in future versions of the PiTrac Launch Monitor. - -As a result, there is some redundancy in the assembly. Each stack provides eight potential connection points: four inner holes used to fasten adjacent stacks together with short M5 screws, and four outer through-holes that allow all stacks to be clamped together at once using threaded rods. - -In most cases, using only one of these two fastening methods is sufficient. Threaded rods allow for easier assembly and disassembly, while short screws may be preferable for an initial prototype setup. - -For future changes to the overall stack height, the threaded rods may need to be shortened or replaced. If you choose to assemble the stacks using only short M5 screws, please note the M5×35 mm option described in the Stack_Module_PSU assembly section. - -The folling assembly instruction might be a hard read, so feel free to watch the video instead: -[![YouTube Video](https://img.youtube.com/vi/bVOIPczu9Nk/maxresdefault.jpg)](https://youtu.be/bVOIPczu9Nk?si=cu9BIsXWRHtM7RDG) - ---- - -## Camera Assembly -![Camera Assembly](../../assets/technicaldrawings/Assy_Camera_Eyeball-3D.svg) -[Camera Assembly Drawing](../../assets/technicaldrawings/Assy_Camera_Eyeball.svg) - -Tools: -- Cross-head screwdriver -- 2.5 mm Allen key -- Sandpaper (optional) - -| Number | Part | Qty | Notes | -|--------|---------|---------|--------| -| 1 | IMX296-MPI_Eyeball_6mm_camfered | 1 | Remove support material | -| 2 | ISO 4762 M3x6 mm screw | 2 | 6–15 mm; cylindrical head | -| 3 | M2x10 mm self-tapping screw | 4 | 6–12 mm | -| 4 | Camera| 1 | | - -1. Remove all support material. -2. Smooth spherical surfaces if needed. -3. Chamfer/prime the two horizontal holes for **M3×6 mm** using a cross-head screwdriver. -4. Install both **M3×6 mm** screws with the Allen key; ensure straight alignment. -5. Slightly loosen the aperture and focus screws on the **camera**; align them with the slot. The ribbon cable connector must align with the opening. -7. Attach the camera to the **eyeball** using four **M2×10 mm self-tapping screws**. - -Note: Choose the apropirate eyeball for your camera and lens. - ---- - -## LED Assembly (5x2 IR LED board) -![LED Assembly](../../assets/technicaldrawings/Assy_PiTracIRLED-3D.svg) -[LED Assembly Drawing](../../assets/technicaldrawings/Assy_PiTracIRLED.svg) - -Tools: -- Cross-head screwdriver - -| Number | Part | Qty | Notes | -|--------|---------|---------|--------| -| 1 | 5x2IRLED_Eyeball | 1 | - | -| 2 | 5x2 IR LED board | 1 | - | -| 5 | M3x10 mm self-tapping screw | 2 | 8-12 mm | - -1. Remove all support material. -2. Smooth spherical surfaces if needed. -3. Insert the already wired **5x2 IR LED board** in the **5x2IRLED_Eyeball**. Match electric polarity. -4. Install the four **M3x10 mm self-tapping screw**. Do not overtighten. -5. Clip the cables in place and ensure correct polarity. Make sure that the cables are as far apart as possible. - ---- - -## LED Assembly (legacy 100 W COB, can be skipped if 5x2 IR LED is used) -Tools: -- Cross-head screwdriver - -| Number | Part | Qty | Notes | -|--------|---------|---------|--------| -| 1 | LED_Eyeball | 1 | - | -| 2 | LED_Clamp | 1 | - | -| 3 | 100 W COB IR LED with wires | 1 | - | -| 4 | 60° LED Lens – 44 mm + Reflector | 1 | - | -| 5 | M3x10 mm self-tapping screw | 4 | 8-12 mm | - -1. Remove all support material. -2. Smooth spherical surfaces if needed. -3. Insert the **reflector** in the **LED_Eyeball**. -4. Insert the **COB LED** in the **reflector**. -5. Position the **LED_Clamp** on the **COB LED**. Ensure that the centering pins of the **LED_CLAMP** are engaged with the **COB LED** holes. Ensure that the LED cables are not squished. -6. Install the four **M3x10 mm self-tapping screw**. Do not overtighten. The clamp is designen with clearance, so that the LED is always preloaded. - ---- - -## Eyeball Assembly -![Tee-Cam Screen Assembly](../../assets/technicaldrawings/Assy_Tee_Cam-3D.svg) -![LED Screen Assembly](../../assets/technicaldrawings/Assy_Screen_PiTracIRLED-3D.svg) -![Flight-Cam Screen Assembly](../../assets/technicaldrawings/Assy_Flight_Cam-3D.svg) -[Flight-Cam Screen Assembly Drawing](../../assets/technicaldrawings/Assy_Flight_Cam.svg) - -Tools: -- 3 mm Allen key for ISO 7380-2 or 4 mm for ISO 4762 -- Sandpaper (optional) -- Superglue (optional) - -| Number | Part | Qty | Notes | -|--------|---------|---------|--------| -| 1 | Camera Assembly or LED Assembly | 1 | - | -| 2 | EyeScreen | 1 | - | -| 3 | EyeScreen_Clamp | 1 | - | -| 4 | ISO 4032 M5 nut| 4 | - | -| 5 | ISO 7380-2 M5x20 mm screw| 4 | 20–25 mm; ISO 4762 optional | - -1. Remove support material. -2. Smooth spherical surfaces if needed. -3. Insert **M5 nuts** into the **EyeScreen_Clamp** pockets (optional: secure with superglue). -4. Insert the **Camera Assembly** or **LED Assembly** into the **EyeScreen**. -5. Ensure correct orientation: notches must face upwards (toward the ribbon cable). -6. Install the **M5 screws** and tighten only lightly. - -Note: ISO 7380-2 button-head screws look nicer and provide more surface contact; ISO 4762 offers better tool access. - ---- - -## PSU Stack Module Assembly -![PSU Stack Module Assembly](../../assets/technicaldrawings/Assy_Stack_Module_PSU-3D.svg) -[PSU Stack Module Assembly Drawing](../../assets/technicaldrawings/Assy_Stack_Module_PSU.svg) -Tools: -- Cross-head screwdriver -- 3 mm Allen key for ISO 7380-2 or 4 mm for ISO 4762 - -| Number | Part | Qty | Notes | -|--------|---------|---------|--------| -| 1 | Stack_Module_PSU_vent | 1 | - | -| 2 | Ambient_LED_Screen | 1 | - | -| 3 | LinePower_Cover | 1 | - | -| 4 | Ambient_LED_Visor | 1 | - | - | -| 5 | Spacer | 4 | - | -| 6 | Meanwell LRS-75-5 | 1 | - | -| 7 | AC Power Inlet C14 with Fuse | 1 | - | -| 8 | USB COB LED Strip Lights 6.56 ft | 1 | roughly 60 cm required; 8mm widht | -| 9 | Wires | 3 | - | -| 10 | M3x6 mm screw | 2 | 5-6 mm | -| 11 | M3x5 mm self-tapping screw | 4 | 5-6 mm | -| 12 | M3x10 mm self-tapping screw | 4 | 5-16 mm | -| 13 | ISO 4762 M5x35 mm screw | 4 | -optional- alternative to the M5 trough rod design | -| 14 | ISO 10511 M5 lock nut | 4 | -optional- alternative to the M5 trough rod design; lock peferred, ISO 4032 will work as well | - - -1. Remove support material. -2. Mount the **Meanwell PSU** in the **Stack_Module_PSU_vent** with two **M3x6 mm screws** from the bottom side (in the center of the PSU). -3. Add two **M3x5 mm self-tapping screws** from the top side (in the corners of the PSU). 6 mm screws will also work, but will cause a slight bump in the bottom side surface. -4. Install the three **wires** on the screw terminals of the PSU. It is advised to use the standard color code for PE, L, N (US: G, N, H). -5. Install the **AC Power Inlet** in the **Stack_Module_PSU_vent** and plug in the wires on the right terminals. Fix the **AC Power Inlet** with two **M3x10 mm self-tapping screw**. -6. Get familiar with the right orientation of the **Ambient_LED_Screen** in the **Stack_Module_PSU_vent**. -7. Wrap the **USB COB LED Strip** on the **Ambient_LED_Screen**. Start in the lower left corner with roughly 2 cm after the USB cable. Stick the COB on the surface going horizontally rightwards. Wrap it arround the corner. Go diagonally upwars so you meet the first wrap on the left side. trim the Strip roughly 2 cm after the last front face wrap. The result should be four horizontal strips in the front and three diagonal ones in the back. -8. Install the wrapped **Ambient_LED_Screen** in the **Stack_Module_PSU_vent**. First thread the USB cable trough the left gap between housing and PSU. Stick the Screen in the slot and secure it with two **M3x10 mm self-tapping screws**. -9. Double check correct wiring and install the **LinePower_Cover** with two **M3x5 mm self-tapping screw**. -10. Slide on or clip on the **Ambient_LED_Visor**. -11. Place **spacers** in the four outermost holes on top. - -Note: This stack module is specifically designed for the Meanwell LRS-75-5. It is not recommended to use a different PSU. -Note: Four ISO 4762 M5x35 mm screws can be used in the Stack_Module_PSU if you do not want to opt for the trough rod variant. Insert four ISO 10511 M5 lock nuts in the base and install the four ISO 4762 M5x35 mm screws from the top. - ---- - -## Camera Stack Module Assembly -![Tee Camera Stack Module Assembly](../../assets/technicaldrawings/Assy_Stack_Module_Tee_Cam-3D.svg) -![Flight Camera Stack Module Assembly](../../assets/technicaldrawings/Assy_Stack_Module_Flight_Cam-3D.svg) -[Flight Camera Stack Module Assembly Drawing](../../assets/technicaldrawings/Assy_Stack_Module_Flight_Cam.svg) - -Tools: -- 3 mm Allen key for ISO 7380-2 or 4 mm for ISO 4762 - -| Number | Part | Qty | Notes | -|--------|---------|---------|--------| -| 1 | Camera Screen Assembly | 1 | - | -| 2 | Stack_Module | 1 | - | -| 3 | Spacer | 4 | - | -| 4 | IRFilter_Mount_1inchround | 1 | alternative square design from V2 Enclosure, only for flight cam | -| 5 | ISO 7380-2 M5x10 mm screw | 2 | 10–15 mm; ISO 4762 optional | -| 6 | IR-Pass Filter| 1 | 1" | 1" round or 1" square, only for flight cam | - -1. Remove support material. -2. Pre-tap the lower **EyeScreen** holes with a screw. -3. Mount the **Camera Screen Assembly** to the **Stack_Module**. Recommended front-plane distance: 30 mm (same left/right). -4. Place **spacers** in the four outermost holes on top. -5. Only for the flight camera: Place **IR-Pass Filter** onto the lens and clip **IRFilter_Mount_1inchround** on the lens. (Process may vary) - ---- - -## LED Stack Module Assembly -![LED Stack Module Assembly](../../assets/technicaldrawings/Assy_Stack_Module_LED-3D.svg) -Tools: -- 3 mm Allen key for ISO 7380-2 or 4 mm for ISO 4762 - -| Number | Part | Qty | Notes | -|--------|---------|---------|--------| -| 1 | LED Screen Assembly | 1 | - | -| 2 | Stack_Module | 1 | - | -| 3 | Spacer | 4 | - | -| 4 | ISO 7380-2 M5x10 mm screw| 2 | 10–15 mm; ISO 4762 optional | - - -1. Remove support material. -2. Pre-tap the lower **EyeScreen** holes with a screw. -3. Mount the **LED Screen Assembly** to the **Stack_Module**. Recommended front-plane distance: 30 mm (same left/right). -4. Place **spacers** in the four outermost holes on top. - ---- - -## Electronics -![Pi5 Assembly](../../assets/technicaldrawings/Assy_RaspberryPi5_carrier-3D.svg) -![V3Connector Board Assembly](../../assets/technicaldrawings/Assy_V3Connector_Board-3D.svg) -[Pi5 Assembly Drawing](../../assets/technicaldrawings/Assy_RaspberryPi5_carrier.svg) - -[V3Connector Board Assembly Drawing](../../assets/technicaldrawings/Assy_V3Connector_Board.svg) - -Tools: -- Cross-head screwdriver - -| Number | Part | Qty | Notes | -|--------|---------|---------|--------| -| 1 | Pi5_Carrier_vertical_3mm | 1 | choose height and hole version according to your setup (NVHe, HDMI access...) | -| 2 | ConnectorBoardv3_Carrier | 1 | - | -| 3 | Pi5 | 1 | - | -| 4 | ConnectorBoardv3 | 1 | - | -| 5 | M3x10 mm self-tapping screw | 4 | - | -| 6 | M2x10 mm self-tapping screw | 4 | alternative: M2.5 screws + risers, for trough hole variant | - -1. Mount the **ConnectorBoardv3** on its carrier with four **M3x10 mm self-tapping screws**. -2. Mount the **Pi5** on its carrier with four **M2x10 mm self-tapping screws**. Ensure right orientation: The SD card should align with the opening. - -Note: there are alternative **Pi5** mounts available. This version is meant for wireless Pi access only. If you need to access the pi with USB, Ethernet or HDMI regularly, it is recommended to print and use \Enclosure Version 3\Part\Print\Variants\Pi5_Bagpack, _top and _bottom. This will require additional cuts to the **Acrylic backplate**. - -If you only need Ethernet access, there are **Back_Interface_Plate** versions available. This will require additional cuts to the **Acrylic backplate**. - -Note: this assembly state is a good point to fire up the PiTrac for the first time as all parts are easily accessible. - ---- - -## Cover assembly -![Cover Assembly](../../assets/technicaldrawings/Assy_Stack_Module_Cover_forInserts-3D.svg) -[Cover Assembly Drawing](../../assets/technicaldrawings/Assy_Stack_Module_Cover_forInserts.svg) - -Tools: -- Cross-head screwdriver - -| Number | Part | Qty | Notes | -|--------|---------|---------|--------| -| 1 | Stack_Module_Cover_forInserts | 1 | - | -| 2 | Stack_Module_Cover_insert | 1 | - | -| 3 | Stack_Module_Cover_LogoTee | 1 | - | -| 4 | Stack_Module_Cover_LogoBall | 1 | - | -| 5 | M3x5 mm self-tapping screw | 4 | - | -| 6 | M3x10 mm self-tapping screw | 5 | - | - -1. Place and twist the **Stack_Module_Cover_insert** into the **Stack_Module_Cover_forInserts**. Ensure correct orientation -2. Push the **Stack_Module_Cover_LogoTee** in the **Stack_Module_Cover_forInserts**. Secure with a **M3x10 mm self-tapping screw** from below. -3. Push the **Stack_Module_Cover_LogoBall** in the **Stack_Module_Cover_insert**. Secure with four **M3x10 mm self-tapping screw** from below. -4. Ensure the logo sits flush and is not rotated. Clamp down the **Stack_Module_Cover_insert** slightly with four **M3x5 mm self-tapping screw** from below. - -Note: There are alternative **Stack_Module_Cover** available, providing a less complex and material intensive print. - ---- - -## Stack Module to Stack Module Assembly -![PiTrac Assembly](../../assets/technicaldrawings/Assy_PiTrac-3D.svg) -[PiTrac Assembly Drawing](../../assets/technicaldrawings/Assy_PiTrac.svg) - -Tools: -- 3 mm or 4 mm Allen key (ball-end preferred) - - -| Number | Part | Qty | Notes | -|--------|---------|---------|--------| -| 1 | Camera Stack Module Assembly | 2 | - | -| 2 | LED Stack Module Assembly | 1 | - | -| 3 | PSU Stack Module Assembly | 1 | - | -| 4 | ISO 7380-2 M5x15 mm screw | 8 | 10–15 mm; ISO 4762 optional | -| 5 | ISO 7380-2 M5x10 mm screw | 4 | 10 mm; ISO 4762 optional | - -**2nd on 1st stack** -1. Pre-tap the upper **Stack_Module** holes. -2. Mount the **Camera Stack Module Assembly** with 4× M5×10 mm screws. -WARNING: Use 10 mm screws only to ensure clearance above the **PSU**. - -**3rd on 2nd stack** -1. Pre-tap the upper **Stack_Module** holes. -2. Mount the **LED Stack Module Assembly** with 4× M5×15 mm screws. - -**4th on 3rd stack** -1. Pre-tap the upper **Stack_Module** holes. -2. Mount the **Camera Stack Module Assembly** with 4× M5×15 mm screws. - ---- - -## Electronics installation -Tools: -- - -| Number | Part | Qty | Notes | -|--------|---------|---------|--------| -| 1 | Pi5 Assembly | 1 | choose height and hole version according to your setup (NVHe, HDMI access...) | -| 2 | ConnectorBoardv3 Assembly | 1 | - | -| 3 | Carrier_Clamps | 4 | - | - -1. Slide the **ConnectorBoardv3 assembly** in the inner most slot and attach the Powersupply wires. Input terminals should face downwards toward the powersupply. -2. Plug in the USB cable from the LED strip and the USB C cable for the raspberry pi. -3. Connect the LED wires to the connector board terminals. Clip the cables in the **ConnectorBoardv3_Carrier** to ensure maximal distance between + and - wires. -4. Install the dupont-connector wires for the connector board. -5. Pinch the carrier clamps with two fingers and place them below and above the **ConnectorBoardv3 assembly** to fix its position. Ideally the board sits between the first and second stack. -6. Slide in the **Pi5 assembly** in the inner most slot. Optional: can be positioned in the small pocket behind the inner most slot for a static / non movable position. -7. Connect the USB-C powersupply, both camera ribbon cables, and the dupont-connector wires from the connector board and fligth cam to the Pi5. -8. Pinch the carrier clamps with two fingers and place them below and above the **Pi5 assembly** to fix its position. Ideally the board sits in the upper most stack. -9. Visually inspect the wiring. All cables in the right terminals? Nothing pinched or squeezed? Sufficient spacing between the LED cables? - -Note: there are alternative **Pi5** mounts available. This version is meant for wireless Pi access only. If you need to access the pi with wires regularly, it is recommended to print and use \Enclosure Version 3\Part\Print\Variants\Pi5_Bagpack, _top and _bottom. This will require additional cuts to the **Acrylic backplate**. -Note: this assembly state is a good point to fire up the PiTrac for the first time as all parts are easily accessible. - ---- - -## Cover installation - -Tools: -- 3 mm Allen key for ISO 7380-2 or 4 mm for ISO 4762 -- Saw for trimming the M5 rods -- File for deburring - -| Number | Part | Qty | Notes | -|--------|---------|---------|--------| -| 1 | Stack_Module_Cover_forInserts assembly | 1 | - | -| 2 | M5 x 12 mm sleeve nut | 4 | - | -| 3 | ISO 4032 M5 nut | 4 | alternative to sleeve nuts | -| 4 | ISO 10511 M5 lock nut | 4 | lock peferred, ISO 4032 will work as well | -| 5 | M5x306 mm rod | 4 | trim to 306 mm, or longer (318 mm) for normal nuts | -| 6 | Spacer | 4 | - | -| 7 | M5 washer | 4 | alternative to sleeve nuts | -| 8 | ISO 7380-2 M5x15 mm screw| 4 | 10–15 mm; ISO 4762 optional | -| 9 | Acrylic Shankshield | 1 | - | -| 10 | Acrylic Backplate | 1 | - | - -**Stack_Module_Cover on 4th stack** -1. Pre-tap the upper **Stack_Module** holes. -2. Insert four spacers into the **Camera Stack Module Assembly** (for alignment). -3. Mount the **Stack_Module_Cover** with **4× M5×15 mm screws**. -4. Slide in the **Acrylic Shankshield** and **Acrylic Backplate**. -5. Cut **rods** to 306 mm and deburr. (318 mm optional) -6. Thread **ISO 10511 M5 lock nuts** onto the **rods** and insert them from below into the **PSU Stack Module** (nuts must seat in the hex pockets). -7. Ensure the rods stand out ~ 2mm at the bottom of the **PSU Stack Module**. -8. Install **sleeve nuts** on the top end at the **Stack_Module_Cover**. -or: -8. Install washers and nuts on the top end at the **Stack_Module_Cover**. - -Note: Sleeve nuts on the cover are more aesthetic. --> needs shorter rods -Note: Alternative to the M5 rods, just four ISO 4762 M5x35 mm screws can be used in the Stack_Module_PSU. (more for a protype setup where regular disassembly is expected) - ---- - -## Feet - -Tools: -- Superglue - -| Number | Part | Qty | Notes | -|--------|---------|---------|--------| -| 1 | Foot | 4 | - | -| 2 | ISO 4032 M5 nut | 4 | - | - -1. Glue the nuts into the **feet**. -2. Wait for the glue to be fully cured. -3. Thread the **feet** onto the M5 rods of the full assembly. Turn them all the way up and adjust as needed. diff --git a/docs/hardware/assembly-guide.md b/docs/hardware/assembly-guide.md deleted file mode 100644 index edf0905b..00000000 --- a/docs/hardware/assembly-guide.md +++ /dev/null @@ -1,334 +0,0 @@ ---- -title: Assembly Guide -layout: default -nav_order: 2 -parent: Hardware -description: Complete step-by-step guide for assembling your PiTrac DIY golf launch monitor, including 3D printed parts, camera mounting, and electronics installation. -keywords: PiTrac assembly, DIY launch monitor build, 3D printed enclosure, camera installation, raspberry pi mounting -toc: true ---- - -# PiTrac Assembly Guide - -This document explains the process of building a typical PiTrac DIY Launch Monitor (LM). This process includes the assembly of all physical components, including the 3D-printed parts and hardware such as cameras and Raspberry Pi computers. - -NOTE: A new assembly guide that is directed at the Version 2 enclosure is in the works. Please go to the Discord Server to see how other folks have been assemblying their Version 2 system. This assembly guide is still relevant at a high level, but was directed to the older (and clunkier) Version 1 enclosure. Please also note there are some differences (and improvements) when using cameras such as the InnoMaker IMX296. In particular, most of the difficult modifications required for the "official" Raspberry Pi cameras are no longer necessary. - -{: .note } -**Important:** This document refers to the calibration steps for the camera sub-system, which should be consulted prior to building the enclosure. Calibration is most easily done *as the LM is being assembled* because it allows easier access to cameras and camera mounts before the LM is completed. See [Camera Calibration]({% link camera/camera-calibration.md %}) for details. However, for the Version 2 enclosure, the cameras are much more accessible, and you can probably do the calibration after everything is built. - -## Overview - -The LM is not a simple, complete kit that just requires attaching Part A to Part B. Instead, it's a general design that we hope builders will customize, adapt and improve depending on their goals and skills. The particular parts referenced here may not even be available when you build your LM. This document is a guide for building what is expected to be a 'typical' PiTrac LM. - -## Conventions - -- **Direction References:** Left/right/back/front refer to the LM as it faces the user, with the camera side toward the builder -- **Pi-side:** Right half where the Pi's, cameras, and Connector Board are placed -- **Power side:** Left side where power adapters and cables are contained -- **Terminology:** 3D parts use a house analogy - curved outside parts are "walls," flat horizontal parts are "floors" - -{: .note } -**Note:** Enclosure terminology diagram referenced in original documentation is missing from image files. - -## Tools Needed - -### Essential Tools -1. M2.5, M3, M4, and M5 hex wrenches (both right-angle and straight) -2. Needle-nose pliers -3. Medium-sized Phillips screwdriver (at least 6" length) -4. Soldering tools -5. Wiring tools (wire strippers, clippers, etc.) - -### Optional Tools -1. Magnifying, lighted headband and/or magnifying desk light -2. Dremel tool for trimming parts if needed -3. Soft/hard rubber hammer or mallet - -## Parts and Materials - -1. See the [Parts List]({% link hardware/parts-list.md %}) for complete component list -2. 3D-printed enclosure parts -3. Solder, flux, flux-cleaner -4. Wires (stereo-speaker wire recommended for higher-voltage portions) - -### Optional Materials -- Sandpaper and sanding block -- Non-IR-reflective cloth material (black felt) for backdrop -- **Note:** Some black cloth appears white under IR light - test first - -## Assembly Instructions - -### 1. Printing the Enclosure Components - -First, see the individual printing and assembly instructions for each 3D part. The 3D printing is a multi-day project due to part sizes. - -{: .tip } -**Pro Tip:** Having hardware components in hand *before* printing allows you to customize part models to fit your specific components. For example, different LED power supplies may require different mounting holes. - -### 2. Base Layer Assembly - -The base layer is the foundation that touches the ground. It consists of two wall halves that connect in the middle, with floors inserted into mounting risers. - -#### Wall Halves and Lower Component Bays - -1. **Prepare Pi-side half-join:** Place two M3 nuts into the indents on the Pi-side half-join pads. Use temporary bolts from outside to pull nuts into indents if tight. Tape helps hold nuts in place. - -2. **Install LED power supply:** Install before joining wall halves (it's heavy, so keep it low). - - Place in right-hand half - - Secure to floor risers with four M4 x 12mm screws - - Use [recommended supply](https://www.aliexpress.us/item/2251832563139779.html) or similar - - Add quick-connect to output wires with clear polarity markings - - Input should have 3-prong plug for utility strip - -3. **Install network switch:** If it fits and allows cable connections, place in Power-side bay now. Route cables: - - One cable out the back of LM - - Two cables to Pi's on right side - -4. **Join base halves:** Connect using two pairs of M3 x 16mm bolts and nuts. - -#### External (Tee-up) LED Lighting - -Install LED lighting under the base layer overhang for Camera 1 visibility: - -1. **Mount LED strips:** Using [recommended strips](https://www.amazon.com/Aclorol-Powered-Daylight-Flexible-Backlight/dp/B0D1FYV3LM/), create double brightness by using two layers -2. **Position first layer:** Tack down one end on left side, stick below overhang, push ~4 inches into right LED port -3. **Add second layer:** Stick second layer just below first for double LED rows - -![LED Strip Installation]({{ '/assets/images/enclosure_assembly/enclosure_light_strip.png' | relative_url }}) -![LED Strip Layer 2]({{ '/assets/images/enclosure_assembly/enclosure_light_strip_2.png' | relative_url }}) - -4. **Route power:** Pull USB power plug through left LED port, either to internal power strip or external power for independent control -5. **Secure strips:** Use zip-ties through small holes at base layer ends - -![LED Strip 3]({{ '/assets/images/enclosure_assembly/enclosure_light_strip_3.png' | relative_url }}) -![LED Strip 4]({{ '/assets/images/enclosure_assembly/enclosure_light_strip_4.png' | relative_url }}) -![LED Strip 5]({{ '/assets/images/enclosure_assembly/enclosure_light_strip_5.png' | relative_url }}) - -### 3. Camera 2 Assembly (Flight Camera) - -Camera 2 is the bottom camera that captures the ball in flight and requires modifications. - -#### Camera Modifications - -{: .warning } -**WARNING:** These modifications void the camera warranty and are delicate operations that can damage the camera if performed incorrectly. -Removing the IR filter is not necessary if using the InnoMaker IMX296 Mono camera, because it does not come with a IR filter. - -1. **Remove IR filter:** Use [official RPi instructions](https://www.raspberrypi.com/documentation/accessories/camera.html#filter-removal) - -NOTE - No modifications are necessary for the InnoMaker cameras. They come with 2 pins (Trigger+ and Trigger-), and so are ready to work with external triggering right out of the box. - -2. **Add external triggering:** Follow [RPi external trigger guide](https://github.com/raspberrypi/documentation/blob/develop/documentation/asciidoc/accessories/camera/external_trigger.adoc) - - Resistor removal is particularly difficult - use magnifying light and steady hands - - Practice on old surface-mount PCBs first - - Use quick-connect wires with jumper pins for easier connection/disconnection - -![Camera 2 Preparation]({{ '/assets/images/enclosure_assembly/enclosure_assembly_cam2_prep.png' | relative_url }}) - -3. **Strain relief:** Add thick glue drop over wire/solder junction. Run wires down from camera top and pinch between camera and gimbal backplate. - -#### Camera Mount Assembly - -NOTE - If you are using Innomaker cameras, make sure you use the Innomaker-specific camera mounts. - -1. **Mount selection:** Use shorter mount for Camera 2 (doesn't need to point downward like Camera 1) -2. **Cable first:** Attach CSI cable *before* bolting camera to backplate - lock cable securely -3. **Threading:** Carefully thread CSI cable out back of mount without pinching - -#### Add IR Filter - -1. **Filter holder assembly:** Glue two parts together using registration wings for alignment - -![Camera Filter]({{ '/assets/images/enclosure_assembly/camera_filter.png' | relative_url }}) - -2. **Install filter:** Insert visible light-cut filter, attach holder to lens with opening at top - -### 4. Pi-side Base Layer Floor - -1. **Mount Camera 2:** Use M5 bolt and nut with CSI cable and trigger wires in place -2. **Mount Pi 4/5:** Use 4x M2.5 x 12mm bolts and nuts (nuts on bottom). Insert MicroSD card before mounting -3. **Connect camera CSI cable** to Pi -4. **Connect camera GND** to Pi pin 9 -5. **Create Pi 2-to-Connector-Board ribbon cable:** - - Fashion 3-wire harness with female plugs each end - - Use black/red wires plus third wire for Camera 2 XTR - - See wiring diagram reference below - -![PCB Wiring Diagram]({{ '/assets/images/enclosure_assembly/pcb_wiring_diagram.png' | relative_url }}) - -{: .note } -**Quality matters:** Low-quality wiring harnesses can cause random, difficult-to-diagnose problems. Ensure firm connections and make cables slightly longer than necessary. - -Recommended: [Pre-crimped ribbon cable kit](https://www.amazon.com/Kidisoii-Dupont-Connector-Pre-Crimped-5P-10CM/dp/B0CCV1HVM9/) - -![Pi Base Example]({{ '/assets/images/enclosure_assembly/pi_base_example.png' | relative_url }}) - -### 5. Joining Base Layer Floor Halves - -The two base floor halves join with an overlapping lap joint: - -1. **Prepare power-side floor:** Remove printing supports and smooth lap joint area. Belt sanding may help. - -![Belt Sanding]({{ '/assets/images/enclosure_assembly/belt_sanding.png' | relative_url }}) - -2. **Pre-place screws:** Insert 6x M3 x 10mm screws a few turns into power-side holes and right-most Pi-side holes -3. **Join floors:** Slip power-side lap joint between camera base and Pi-side lap joint -4. **Install assembly:** Place joined floors into base walls, aligning lap joint in middle -5. **Secure floors:** Use M3 x 10mm screws into wall mounting pads - -![Join Two Bottom Layers]({{ '/assets/images/enclosure_assembly/join_two_bottom_layers.png' | relative_url }}) - -### 6. Complete Base Layer - -1. **Route power cable:** Thread from power strip down through support and out base hole (tight fit - do first) -2. **Connect Pi power:** Route from Pi power supply to Pi board -3. **Connect network cable:** Route one network cable to Pi - -![Base Layer One]({{ '/assets/images/enclosure_assembly/base_layer_one.png' | relative_url }}) -![Base Layer Two]({{ '/assets/images/enclosure_assembly/base_layer_two.png' | relative_url }}) - -### 7. Prepare for Middle Layer - -Route cables that will connect to Middle Layer components: -- Network cable from switch (to Pi 1 on middle layer upper floor) -- 3-wire harness from Pi 2 (to Connector Board on middle layer lower floor) -- LED strobe power cable (to LED strobe on middle layer lower floor) - -Route these cables to the right side for easier middle layer installation. - -### 8. Camera 2 Calibration - -**Important:** Calibrate Camera 2 now while easily accessible. See [Camera Calibration Guide]({% link camera/camera-calibration.md %}). - -## Middle Layer Assembly - -The Middle Layer has two wall halves and two floors on the Pi side: lower floor (strobe LED and Connector Board) and upper floor (Pi 1 computer and Camera 1). - -### 1. Build Strobe Assembly - -See [LED Strobe Mount instructions](https://github.com/pitraclm/pitrac/tree/main/3D%20Printed%20Parts/Enclosure%20Models/LED-Array-Strobe-Light-Mount). - -### 2. Build Connector Board - -See [Connector Board instructions](https://github.com/pitraclm/pitrac/tree/main/Hardware/Connector%20Board). - -{: .important } -**Critical:** Attach 12V IN/OUT wiring pairs and 4-wire harness to Connector Board screw terminals *before* mounting the floor. Access becomes difficult after upper floor installation. - -### 3. Join Middle Layer Wall Halves - -1. **Prepare nuts:** Place 4x M3 nuts in Pi-side half-join pad indents (use tape to hold) -2. **Join halves:** Use 4x pairs of M3 x 16mm bolts and nuts -3. **Check fit:** Sand half-join areas if gaps exist - -### 4. Middle Layer Lower Floor Assembly - -1. **Mount Connector Board:** Position with 4-pin header on left, writing upright. Secure with 4x M3 x 8/10mm self-tapping screws -2. **Mount strobe assembly:** Use M5 bolt from below through M5 nut in floor indent. Position LED power wires through side holders, face strobe straight out, tighten while accessible - -### 5. Install Lower Floors - -Mount both Pi-side and power-side lower floors to bottom of lower mounting pads using 4x M3 x 10mm self-tapping screws each. - -![Middle Layer]({{ '/assets/images/enclosure_assembly/middle_layer.png' | relative_url }}) - -Connect 5V micro-USB power to Connector Board from power adapter in left bay. - -### 6. Camera 1 Assembly - -Camera 1 is similar to Camera 2 but: -- Points downward steeply (uses taller riser mount) -- Uses visible light (no modifications needed) -- Requires different adapter cable for Pi 5 - -![Camera Mount Assembly]({{ '/assets/images/enclosure_assembly/camera_mount_assembly.png' | relative_url }}) - -### 7. Pi-side Middle Layer Upper Floor - -1. **Mount Camera 1:** Use M5 bolt and nut with CSI cable secured first -2. **Mount Pi 5:** Use 4x M2.5 x 12mm bolts and nuts (nuts on bottom). Install NVMe/SD card first. Consider active cooler for development use -3. **Connect camera CSI cable:** Use Pi 5-compatible cable (smaller connector format) - -### 8. Install Upper Floor - -1. **Guide cables:** Route 4-wire harness and second network cable to right as you place upper floor -2. **Mount floor:** Secure to side pads with 4x M3 x 10mm self-tapping screws -3. **Connect wiring:** - - 4-wire ribbon from Connector Board to Pi 1 GPIO (see wiring diagram) - - Network cable to Pi 1 - - [Pi 5 power supply](https://www.amazon.com/CanaKit-PiSwitch-Raspberry-Power-Switch/dp/B07H125ZRL/) from power-side - -### 9. Mount Middle Layer on Base Layer - -1. **Prepare cables:** Ensure all base layer cables (3-wire harness, network, LED power) are positioned right -2. **Guide power components:** Route utility strip and power adapters up left side void -3. **Thread cables:** Guide base layer cables through right side space as middle layer is positioned - -![Two Layers Together]({{ '/assets/images/enclosure_assembly/two_layers_together.png' | relative_url }}) - -4. **Check clearances:** Ensure no wires will be pinched when layers connect -5. **Connect layers:** Insert middle layer click-tabs into base layer tabs. Set into back first, then pull front of base layer outward to help engagement - -{: .warning } -**Safety:** Resist hitting layers together - middle layer top is sharp! - -### 10. Connect Power Systems - -1. **LED power supply to Connector Board:** Connect LED power output to "IN (12V)" terminals on Dual MOS switch - - {: .danger } - **CRITICAL:** Double-check polarity! Reversed connection can destroy LED. Use clearly marked wires and keyed connectors when possible. - -![MOS Switch Bottom]({{ '/assets/images/enclosure_assembly/mos_switch_board_bottom.png' | relative_url }}) -![MOS Switch Top]({{ '/assets/images/enclosure_assembly/mos_switch_board_top.png' | relative_url }}) - -2. **Connector Board to LED Strobe:** Connect "OUT (12V)" terminals to LED strobe - - {: .danger } - **WARNING:** Do NOT connect strobe directly to LED power supply output - this could melt the strobe or worse! - -3. **Connect Pi 2 and Camera 2 harnesses:** Connect wiring from base layer to correct Connector Board header pins per schematic - -### 11. Secure Layers - -Secure base and middle layers with M3 x 6mm self-tapping screws in 4 interface holes. Consider dulling screw tips for safety. - -## Camera 1 Calibration - -Before installing the ceiling, calibrate Camera 1 using the [Camera Calibration Guide]({% link camera/camera-calibration.md %}). - -## Top Wall (Ceiling) Assembly - -1. **Connect ceiling halves:** Use 4x M3 bolts and nuts -2. **Install ceiling:** Snap onto middle layer top, secure with 4x M3 x 6mm self-tapping screws -3. **Dull screw tips** for safety - -## Final Steps - -### Add Front Window - -Install 15.5cm x 24cm plexiglass anti-strike window by sliding into mounting slots. Window should be far enough from cameras/strobe to protect expensive components from ball strikes. - -### PiTrac Badge/Logo - -1. **Print components:** Back plate at full size, letters at 99% size for better fit -2. **Color scheme:** Use preferred colors (see reference image) - -![PiTrac Logo]({{ '/assets/images/enclosure_assembly/pi_trac_logo.png' | relative_url }}) - -3. **Assembly:** Use rubber hammer to tap characters into place. Friction holds parts, but cyanoacrylate glue provides permanent bond -4. **Mounting:** Use 2-sided tape (rough surfaces don't glue well) - -## Next Steps - -Once assembly is complete, proceed to the [Start-Up Documentation](../software/) for software installation and configuration. - ---- - -## Troubleshooting Tips - -- **Tight fits:** Use Dremel tool carefully to trim parts if needed -- **Stripped threads:** Consider brass threaded inserts for frequently-removed screws -- **Cable management:** Leave extra length in all cables for easier assembly/disassembly -- **Component protection:** Always verify polarity before connecting power components diff --git a/docs/hardware/hardware.md b/docs/hardware/hardware.md deleted file mode 100644 index 16fa9c41..00000000 --- a/docs/hardware/hardware.md +++ /dev/null @@ -1,39 +0,0 @@ ---- -title: Hardware -layout: default -nav_order: 4 -has_children: true -description: Complete hardware build guide for PiTrac golf launch monitor including parts list, PCB assembly, 3D printing enclosure, and final assembly instructions. -keywords: DIY golf hardware, launch monitor parts, raspberry pi golf components, PCB assembly golf, 3D print golf enclosure -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2026-02-20 ---- - -# Hardware - -This section covers all the physical components you'll need to build PiTrac, from individual parts to complete assembly guides. - -## What you'll find here: - -- **[Parts List]({% link hardware/parts-list.md %})** - Complete list of components and supplies needed -- **[Assembly Guide]({% link hardware/assembly-guide.md %})** - Step-by-step instructions for building the V1 enclosure -- **[3D Printing]({% link hardware/3d-printing.md %})** - Guide to printing the V1 and V2 enclosure components -- **[PCB Assembly]({% link hardware/pcb-assembly.md %})** - Instructions for building the connector and led boards -- **[V3 Enclosure Print and Assembly]({% link hardware/V3 Enclosure.md %})** - Instructions for printing and assembly of the V3 Enclosure - -
-
- V1
- -
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- V2
- -
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- V3
- -
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- -Before ordering parts, make sure to check the [Roadmap]({% link roadmap.md %}) to understand which version you should build. \ No newline at end of file diff --git a/docs/hardware/parts-list.md b/docs/hardware/parts-list.md deleted file mode 100644 index c7044838..00000000 --- a/docs/hardware/parts-list.md +++ /dev/null @@ -1,135 +0,0 @@ ---- -title: Parts List -layout: default -nav_order: 1 -parent: Hardware -description: Complete parts list and shopping guide for building your PiTrac DIY golf launch monitor, including Raspberry Pi, cameras, electronics, and 3D printing materials. -keywords: PiTrac parts list, DIY golf monitor components, raspberry pi 5, global shutter camera, 3D printing materials, electronics shopping -last_modified_date: 2026-02-20 ---- - -# PiTrac DIY Parts List - -This document provides a comprehensive list of all components needed to build a PiTrac launch monitor. - -**Only a single RPi5 is currently supported, however the path to stereoscopic vision currently requires two** - -## Computing Hardware - -| Quantity | Hardware | Purpose | Link | -|----------|----------|---------|------| -| 1 | Raspberry Pi 5 (8 GB recommended) | Main embedded computer | https://vilros.com/products/raspberry-pi-5?variant=40065551302750 -| 1 | Active Cooler Kit | Required to keep temps low and timing consistent | https://a.co/d/dsl7saU -| 1 | MicroSD card (64 GB recommended) | For RPi5 filesystem | https://www.amazon.com/Amazon-Basics-microSDXC-Memory-Adapter/dp/B08TJTB8XS -| 1 | 1ft USB-C to USB-C Cable | For powering RPi5 from connector board | https://www.amazon.com/Anker-Charging-MacBook-Samsung-Nintendo/dp/B09H2DMR4K - -## Camera and Lighting Hardware - -| Quantity | Hardware | Purpose | Link | -|----------|----------|---------|------| -| 2 | Innomaker GS Camera Module with IMX296 Mono Sensor| RPi compatible GS cameras | https://www.inno-maker.com/product/cam-mipi296raw-trigger/ -| 2 | Pi 5 FPC Camera Cable – 22-pin 0.5 mm to 15-pin 1 mm – 300 mm | Conversion cables for RPi5’s smaller CSI ports | https://www.adafruit.com/product/5819 -| 2 | 6 mm 3 MP Wide Angle Lens | For GS camera | https://www.adafruit.com/product/4563 -| 1-2 | 1″ × 1″ IR Longpass Filter | Must be a **longpass filter**, allowing >= 700nm light to pass | https://www.edmundoptics.com/p/1quot-x-1quot-optical-cast-plastic-ir-longpass-filter/5421/ -| 1 | USB COB LED Strip Lights – 6.56 ft | For lighting the teed-up ball. **Must produce no infrared light** | https://www.amazon.com/Aclorol-Powered-Daylight-Flexible-Backlight/dp/B0D1FYV3LM/ - -## Power Components - -| Quantity | Hardware | Purpose | Link | -|----------|----------|---------|------| -| 1 | Meanwell LRS-75-5 | Provides plenty of power and forms base of unit | https://www.digikey.com/en/products/detail/mean-well-usa-inc/LRS-75-5/7705056 -| 1 | AC Power Inlet C14 with Fuse | For base box power input | https://www.amazon.com/IEC320-Socket-Holder-Module-Connector/dp/B081ZFHRGW/ -| 1 | 18ga Solid-core Wire Spools | For Input Power | https://www.amazon.com/TUOFENG-Wire-Solid-different-colored-spools/dp/B085QD9DWP -| 1 | 22ga Solid-core Wire Spools | For IR LED Wiring | https://www.amazon.com/TUOFENG-Hookup-Wires-6-Different-Colored/dp/B07TX6BX47 - -## V3 Connector Board BOM - -**TP2 is optional** - -**If you are searching for alternates, ensure you also filter for "In Stock", "RoHS Compliant" and "Exclude Marketplace Products".** - -| Quantity | Reference Designators | Manufacturer | Manufacturer Part Number | Link | Digikey Filters| -|----------|-----------------------|--------------|--------------------------|------|---------------| -| 1 | C1 | KEMET | A750BK107M1AAAE024 | https://www.digikey.com/en/products/detail/kemet/A750BK107M1AAAE024/13420054 | Lead Spacing = 2.00mm, Voltage - Rated >= 10V, Ripple Current @ High Frequency >= 1A, Mounting Type = Through Hole | -| 2 | C2,C11 | Vishay Beyschlag/Draloric/BC Components | K105K20X7RF5TH5 | https://www.digikey.com/en/products/detail/vishay-beyschlag-draloric-bc-components/K105K20X7RF5TH5/2820552 | Temperature Coefficient = X7R, Voltage - Rated >= 35V, Lead Spacing = 5.00mm, Capacitance = 1uF, Size / Dimension <= 5.50mm x 4.00mm, Mounting Type = Through Hole | -| 6 | C3,C8,C10,C12,C14,C15 | Vishay Beyschlag/Draloric/BC Components | K104K10X7RF5UH5 | https://www.digikey.com/en/products/detail/vishay-beyschlag-draloric-bc-components/K104K10X7RF5UH5/2356754 | Temperature Coefficient = X7R, Voltage - Rated >= 35V, Lead Spacing = 5.00mm, Capacitance = 0.1uF, Size / Dimension <= 5.00mm x 2.60mm, Mounting Type = Through Hole | -| 1 | C4 | Vishay Beyschlag/Draloric/BC Components | K471J15C0GF5UH5 | https://www.digikey.com/en/products/detail/vishay-beyschlag-draloric-bc-components/K471J15C0GF5UH5/2823074 | Temperature Coefficient = C0G(NP0), Lead Spacing = 5.00mm, Capacitance = 470pF, Mounting Type = Through Hole | -| 1 | C5 | Murata | RDER72A105K2M1H03A | https://www.digikey.com/en/products/detail/murata-electronics/RDER72A105K2M1H03A/4771353 | Voltage - Rated >= 100V, Temperature Coefficient = X7R, Capacitance = 1uF, Lead Spacing = 5.00mm, Size / Dimension <= 5.50mm x 3.50mm, Mounting Type = Through Hole | -| 1 | C6 | KEMET | A750MW337M1HAAE020 | https://www.digikey.com/en/products/detail/kemet/A750MW337M1HAAE020/13420041 | Lead Spacing = 5.00mm, Voltage - Rated >= 50V, Capacitance >= 200uF, Ripple Current @ High Frequency >= 4A, Size / Dimension = 10.00mm, Mounting Type = Through Hole | -| 1 | C7 | Vishay Beyschlag/Draloric/BC Components | K104K20X7RH5UH5 | https://www.digikey.com/en/products/detail/vishay-beyschlag-draloric-bc-components/K104K20X7RH5UH5/2356756 | Voltage - Rated >= 100V, Temperature Coefficient = X7R, Capactiance = 0.1uF, Lead Spacing = 5.00mm, Size / Dimension <= 5.50mm x 3.50mm, Mounting Type = Through Hole | -| 1 | C9 | Murata | RCER71H475K3K1H03B | https://www.digikey.com/en/products/detail/murata-electronics/RCER71H475K3K1H03B/4277828 | Temperature Coefficient = X7R, Voltage - Rated >= 35V, Lead Spacing = 5.00mm, Capacitance = 4.7uF, Size / Dimension <= 6.50mm x 4.00mm, Mounting Type = Through Hole | -| 3 | D1 | Vishay General Semiconductor - Diodes Division | SB150-E3/73 | https://www.digikey.com/en/products/detail/vishay-general-semiconductor-diodes-division/SB150-E3-73/2142188 | Technology = Schottky, Current - Average Rectified (Io) >= 1A, Voltage - DC Reverse (Vr) (Max) >= 40V, Package / Case = [(DO-204AC,DO-41,Axial), (DO-204AL,DO-41,Axial)] | -| 1 | D2 | Lite-On Inc. | LTL-307G | https://www.digikey.com/en/products/detail/liteon/LTL-307G/669998 | Color = Green, Lens Transparency = Diffused, Lens Size = 5.00mm Dia | -| 1 | D4 | Vishay General Semiconductor - Diodes Division | SD103A-TR | https://www.digikey.com/en/products/detail/vishay-general-semiconductor-diodes-division/SD103A-TR/3104157 | Technology = Schottky, Voltage - Forward (Vf) (Max) @ If <= 650mV @ 50mA, Package / Case = (DO-204AH,DO-35,Axial) | -| 1 | D5 | Lite-On Inc. | LTL-307E | https://www.digikey.com/en/products/detail/liteon/LTL-307E/669997 | Color = Red, Lens Transparency = Diffused, Lens Size = 5.00mm Dia | -| 2 | J1,J4 | Amphenol Anytek | YK3210203000G | https://www.digikey.com/en/products/detail/amphenol-anytek/YK3210203000G/4961227 | TBD | -| 2 | J2,J5 | GCT | USB4085-GF-A | https://www.digikey.com/en/products/detail/gct/USB4085-GF-A/9859662 | Unfilterable. Manually search, there will be alternates that can fit. | -| 1 | J3 | Adam Tech | PH1-08-UA | https://www.digikey.com/en/products/detail/adam-tech/PH1-08-UA/9830442 | Number of Positions = 8, Number of Rows = 1, Pitch - Mating = 2.54mm, Shrouding = Unshrouded, Mounting Type = Through Hole | -| 1 | J6 | GCT | USB1125-GF-B | https://www.digikey.com/en/products/detail/gct/USB1125-GF-B/12819955 | Unfilterable. Manually search, there will be alternates that can fit. | -| 1 | L1 | Bourns Inc. | RLB0914-330KL | https://www.digikey.com/en/products/detail/bourns-inc/RLB0914-330KL/2561360 | 8.50mm <= Size / Dimension <= 9.00mm, 27uH <= Inductance <= 39uH | -| 2 | Q1,Q2 | Infineon Technologies | IRLU024NPBF | https://www.digikey.com/en/products/detail/infineon-technologies/IRLU024NPBF/812400 | Technology = MOSFET, FET Type = N-Channel, Current - Continuous Drain (Id) @ 25C >= 10A, Vgs(th) (Max) @ Id <= 4.6V @ 250uA, Drain to Source Voltage (Vdss) >= 38V, Mounting Type = Through Hole, Package / Case = [(TO-251-3 Short Leads,IPAK,TO-251AA), (TO251-3 Stub Leads,IPAK)] | -| 1 | Q3 | Microchip Technology | TN2106N3-G | https://www.digikey.com/en/products/detail/microchip-technology/TN2106N3-G/4902377 | Technology = MOSFET, FET Type = N-Channel, Vgs(th) (Max) @ Id <= 2V @ 500uA Mounting Type = Through Hole, Package / Case = (TO-226-3,TO-92-3(TO-226AA)) | -| 1 | Q4 | onsemi | 2N3904TFR | https://www.digikey.com/en/products/detail/onsemi/2N3904TFR/458818 | Search = "2N3904", Transistor Type = NPN, Mounting Type = Through Hole, Package / Case = [(TO-226-3,TO-93-3(TO-226AA)), (TO-226-3,TO-92-3(TO-226AA) Formed Leads), (TO-226-3,TO-92-3 Long Body, Formed Leads)] | -| 1 | R1 | Yageo | PNP300JR-73-0R15 | https://www.digikey.com/en/products/detail/yageo/PNP300JR-73-0R15/2058854 | Power (Watts) >= 3W, Tolerance >= 1%, Resistance = 150mohm, Size /Dimension <= 6.00mm x 16.00mm | -| 1 | R2 | Yageo | KNP1WSJT-52-180R | https://www.digikey.com/en/products/detail/yageo/KNP1WSJT-52-180R/9119594 | Power (Watts) >= 1/2W, Tolerance >= 1%, Resistance = 180ohm, Size / Dimension <= 3.50mm x 9.00mm | -| 1 | R3 | Yageo | MFR-25FRF52-60K4 | https://www.digikey.com/en/products/detail/yageo/MFR-25FRF52-60K4/15056 | Power (Watts) = 1/4W, Tolerance = 1%, Resistance = 60.4kohm | -| 1 | R4 | Yageo | MFR-25FRF52-2K2 | https://www.digikey.com/en/products/detail/yageo/MFR-25FRF52-2K2/9138953 | Power (Watts) = 1/4W, Tolerance = 1%, Resistance = 2.2kohm | -| 1 | R5 | Yageo | MFR-25FTE52-2K49 | https://www.digikey.com/en/products/detail/yageo/MFR-25FTE52-2K49/9140029 | Power (Watts) = 1/4W, Tolerance = 1%, Resistance = 2.49kohm | -| 4 | R6,R8,R17,R22 | Yageo | MFR-25FRF52-1K | https://www.digikey.com/en/products/detail/yageo/MFR-25FRF52-1K/14891 | Power (Watts) = 1/4W, Tolerance = 1%, Resistance = 1kohm | -| 1 | R7 | Yageo | MFR-25FRF52-75K | https://www.digikey.com/en/products/detail/yageo/MFR-25FRF52-75K/15065 | Power (Watts) = 1/4W, Tolerance = 1%, Resistance = 75kohm | -| 1 | R9 | Yageo | MFR-25FTE52-120R | https://www.digikey.com/en/products/detail/yageo/MFR-25FTE52-120R/9139747 | Power (Watts) = 1/4W, Tolerance = 1%, Resistance = 120ohm | -| 1 | R10 | Yageo | KNP100JR-73-0R1 | https://www.digikey.com/en/products/detail/yageo/KNP100JR-73-0R1/9119173 | Power (Watts) >= 1W, Tolerance >= 1%, Resistance = 100mohm, Size / Dimension <= 4.60mm x 12.00mm | -| 1 | R11 | Yageo | MFR-25FRF52-604R | https://www.digikey.com/en/products/detail/yageo/MFR-25FRF52-604R/14870 | Power (Watts) = 1/4W, Tolerance = 1%, Resistance = 604ohm | -| 1 | R12 | Yageo | MFR-25FBF52-6K04 | https://www.digikey.com/en/products/detail/yageo/MFR-25FBF52-6K04/13177 | Power (Watts) = 1/4W, Tolerance = 1%, Resistance = 6.04kohm | -| 2 | R13,R21 | Yageo | MFR-25FRF52-2K | https://www.digikey.com/en/products/detail/yageo/MFR-25FRF52-2K/14920 | Power (Watts) = 1/4W, Tolerance = 1%, Resistance = 2kohm | -| 1 | R14 | Yageo | MFR-25FRF52-3K | https://www.digikey.com/en/products/detail/yageo/MFR-25FRF52-3K/9139012 | Power (Watts) = 1/4W, Tolerance = 1%, Resistance = 3kohm | -| 1 | R15 | Yageo | MFR-25FRF52-10K | https://www.digikey.com/en/products/detail/yageo/MFR-25FRF52-10K/14626 | Power (Watts) = 1/4W, Tolerance = 1%, Resistance = 10kohm | -| 3 | R16,R19,R23 | Yageo | ZOR-25-R-52-0R | https://www.digikey.com/en/products/detail/yageo/ZOR-25-R-52-0R/18795 | Power (Watts) = 1/4W, Resistance = 0ohm | -| 1 | R18 | Yageo | MFR-25FRF52-10K | https://www.digikey.com/en/products/detail/yageo/MFR-25FRF52-10K/14626 | Power (Watts) = 1/4W, Tolerance = 1%, Resistance = 10kohm | -| 1 | TP2 | Keystone Electronics | 5011 | https://www.digikey.com/en/products/detail/keystone-electronics/5011/255333 | Color = Black, Mounting Type = Through Hole, Hole Diameter = 1.60mm | -| 1 | U1 | Texas Instruments | MC33063AP | https://www.digikey.com/en/products/detail/texas-instruments/MC33063AP/717430 | Search = "MC34063" or "MC33063", Voltage - Output (Max) = 40V (Switch), Package / Case = 8-DIP (0.300", 7.62mm) | -| 1 | U2 | onsemi | LM317LBZRAG | https://www.digikey.com/en/products/detail/onsemi/LM317LBZRAG/1476805 | Search = "LM317", Package / Case = [(TO-226-3, TO-92-3 (TO-226AA)), (TO-226-3, TO-92-3 Long Body), (TO-226-3, TO-92-3 (TO-226AA) Formed Leads), (TO-226-3, TO-92-3 Long Body, Formed Leads)] | -| 1 | U3 | Microchip Technology | MCP1407-E/P | https://www.digikey.com/en/products/detail/microchip-technology/MCP1407-E-P/1228640 | Some alternates exist but difficult to filter. Microchip Technology TC4420xxx is another widely available part that should be drop in. Input Type = Non-Inverting | -| 1 | U5 | Microchip Technology | MCP4801-E/P | https://www.digikey.com/en/products/detail/microchip-technology/MCP4801-E-P/2332804 | MCP4901-E/P is a valid alternate with caveats. !Requires populating C13 and U4! | -| 1 | U6 | Microchip Technology | MCP3202-CI/P | https://www.digikey.com/en/products/detail/microchip-technology/MCP3202-CI-P/305924 | MCP3202-BI/P is a valid alternate. All other alternates require software changes. | - -## IRLED BOM - -| Quantity | Reference Designators | Manufacturer | Manufacturer Part Number | Link | -|----------|-----------------------|--------------|--------------------------|------| -| 10 | D6,D7,D8,D9,D10,D11,D12,D13,D14,D15 | Vishay Semiconductor Opto Division | VSMA1085400 | https://www.digikey.com/en/products/detail/vishay-semiconductor-opto-division/VSMA1085400/15786357 - - -## Hardware - Bolts and Nuts - -### Version 2 Enclosure Hardware (Work in Progress) - -| Quantity | Hardware | Purpose | -|----------|----------|---------| -| 2 | M3 × 8 mm self-tapping screws | AC power inlet plug | -| 2 | M3 × 8 mm self-tapping screws | Base box end-cap | -| 12 | M2 × 6 mm self-tapping screws | Tower back/front plate alignment | -| 4 | M4 × 12 mm self-tapping screws | Tower feet to base box | -| 4 | M2.5 × 8 mm self-tapping screws | To mount Pi to backplane. OPTIONALLY - if using threaded inserts, use M2.5x6 allan-head bolts instead. | -| 4 | M3 × 8 mm self-tapping screws | Version 2 Connector board to backplane. OPTIONALLY - if using threaded inserts, use M3x6 allan-head bolts instead. | -| 4 | M2.5 x 4 x 3.5 mm threaded inserts | Optional if you want to use the (classier) inserts and bolts to mount the Pi to backplane. 4 inserts per Pi, so typically 4 | -| 4 | M3 x 4 x 5 mm threaded inserts | Optional if you want to use the (classier) inserts and bolts to mount the V2 Connector Board to the backplane. | - - -### Version 1 Base Enclosure Hardware (DEPRECATED) - -| Quantity | Hardware | Purpose | -|----------|----------|---------| -| 4 | M4 × 12 mm screws | LED power supply hold-downs | -| 4 | M2.5 × 12 mm bolts + nuts | Pi board bolt-down | -| 4 | M2.5 × 10 mm bolts (3) + M2.5 × 12 mm (1) | Pi board bolt-down | -| 8 | M2.5 × 16 mm bolts + nuts | Pi camera attachment bolts | -| 6 | M4 × 12 mm bolts + nuts | Pi camera gimbal attachment | -| 2 | M5 × 12 mm bolts + nuts | Pi camera swivel mount | -| 6 | M3 × 16 mm bolts + nuts | Horizontal center-side body attachment | -| 18 | M3 × 10 mm self-tapping screws | Floor hold-down screws | -| 8 | M3 × 8 mm screws | LED and lens hold-down screws | - - - -**Hardware Note:** Stainless steel screws are stronger than black carbon steel and recommended, especially with PLA material. See [stainless steel assortment kit](https://www.googleadservices.com/pagead/aclk?sa=L&ai=DChcSEwiLuLi4w9eJAxW8Ka0GHe7XF-QYABALGgJwdg) for bulk purchasing. See also, e.g., [Ktehloy 400PCS Metric Threaded Inserts Kit X00401F0FF] (https://www.amazon.com/Ktehloy-Threaded-Assortment-Printing-Components/dp/B0CLKDPN65/ref=sr_1_3?crid=19PRGAMM0LHSC&dib=eyJ2IjoiMSJ9.Rwsrmvqhye5n_e2-oLfoTLv-TOZLNmyo9SCxwiWbrBF3F48asfcsFaweejcdlejptJv2IgbgSI9b_fYNDvP0z63_HYLbkK1DxQJRovFyJOPbu7kot4lM8tWm0fSAduOkOMHFGON2AOGW_PzK8Y1bGGbTOYQRmvlBeWGJrrqeBAx06ICeqf45Rs377sifWzJxeMTir0taClnzKET0RhBHmPASUQJtJrpnMhXlvtMGOcY.tjo7j88V1UyOlHfVfn5sdCBAxN53_RYHB8SW6v9ZP50&dib_tag=se&keywords=Ktehloy+%22400PCS%22+Metric+Threaded+Inserts+Kit&qid=1761691920&sprefix=ktehloy+400pcs+metric+threaded+inserts+kit%2Caps%2C126&sr=8-3) diff --git a/docs/hardware/pcb-assembly.md b/docs/hardware/pcb-assembly.md deleted file mode 100644 index 91c9dea7..00000000 --- a/docs/hardware/pcb-assembly.md +++ /dev/null @@ -1,272 +0,0 @@ ---- -title: PCB Assembly -layout: default -nav_order: 4 -parent: Hardware -description: Complete guide to ordering and assembling the PiTrac Connector Board PCB, including manufacturing options, component sourcing, and assembly instructions for the custom circuit board. -keywords: PCB assembly launch monitor, custom golf PCB, raspberry pi PCB, DIY circuit board, launch monitor electronics, JLCPCB assembly -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2026-02-20 ---- - -# Connector Board - -The Connector Board is the central hub of your PiTrac. It handles connections between the Raspberry Pi computers and the strobe light while also providing regulated power for the IR LED array. - -## Board Versions - -### V3 - (Current) - -V3 Connector further refines what we learned with V2 while also moving to a thru-hole design. - -**What changed from V2:** -- All thru hole construction. -- Remove ineffective 555 timer circuit. -- Full control of LED current including ADC for calibration. - -### V2 - Dual Pi5 Connector Board (Deprecated) - -The V2 board is a complete redesign focused on simplification and cost reduction. - -**What it does:** -- Connects two Pi units safely with shared power (no opto-couplers needed) -- Provides adjustable boost converter output (~15V to ~42V range) -- Stores energy in large caps for strobe pulses -- Adjustable LED current draw (supports various IR LED configurations) -- Hardware-enforced 10% duty cycle for thermal protection (dual 555 timers) -- Replaces several power supplies with a single +5V input - -**What changed from V1:** - -The original board was designed to connect two Raspberry Pi units with separate AC/DC supplies and opto-coupler isolation. This protected them from power switching issues that can kill a Pi. The V1 board works, but needed better integration to reduce system cost. - -V2 moves to a single AC/DC supply, eliminating the need for opto-couplers by safely sharing power between Pi units. The integrated boost converter and LED driver circuit replace several external power supplies. All told, you go from multiple power supplies (including the LED driver) to a single +5V supply. - -### V1 - Original Connector Board (Deprecated) - -If you have a V1 board, it works fine. Just follow V1-specific instructions. If you're building new, use V2. - -# IRLED - -Original LED array is becoming expensive and challenging to source, this provides a custom replacement using LEDs available in distrobution. - -## Board Versions - -### IRLED2 - (Current) - -**What changed from OG:** -Fixed footprint mistake for last minute LED change. - -### IRLED - (Depreciated) -Only work with more expensive LED PN SST-10-IRD-B90H-S810 [https://www.digikey.com/en/products/detail/luminus-devices-inc/SST-10-IRD-B90H-S810/13557593] -Uses 10 LEDs in a 5S2P configuration to provide substantial illumination. - -## Ordering the PCB - -### Where to Order - -Any decent PCB fabricator can make this board. Two popular options: - -- **JLCPCB** - https://jlcpcb.com -- **PCBway** - https://www.pcbway.com - -Both have easy file upload and offer assembly services. - -{: .tip } -**Save Money:** Check Discord #pitrac-stuff-for-sale before ordering. Community members often have spare boards at cost. - -### Fabrication and Assembly Files - -There are three different PCBs filesets, the combined PCB has two BOM variants determining how much of the assembly you want done by the vendor. -For smaller order quantities (without assembly) the seperate PCB files is likely to be cheaper. - -# V3 Connector Only - -``` -Hardware/Fabrication Files/V3 Connector Only Gerbers.zip -``` - -**Assembly of V3 Connector with vendor not recommended** - -``` -Hardware/Assembly Files/V3 Connector Only/V3 Connector Only Assembly/* -``` - -# IRLED2 Only - -``` -Hardware/Fabrication Files/IRLED2 Only Gerbers.zip -``` - -``` -Hardware/Assembly Files/IRLED2 Only/IRLED2 Only Assembly/* -``` - -# V3 Connector + IRLED2 - -There are two BOM variants due to it being a panel of two PCBs. It is recommended that you only use an assembler for the surface mount IR LEDs. -It is more cost effective generally to purchase the components and assemble the entirely thru-hole V3 connector by yourself. - -``` -Hardware/Fabrication Files/V3 Connector + IRLED2 Gerbers.zip -``` - -**Assemble IRLED2 (Recommended)** -``` -Hardware/Assembly Files/V3 Connector + IRLED2/IRLED2 Assembly/* -``` - -**Assemble V3 Connector + IRLED2** -**Assembly of V3 Connector with vendor not recommended** -``` -Hardware/Assembly Files/V3 Connector + IRLED2/V3 Connector + IRLED2 Assembly/* -``` - - -### Ordering Process - -1. **Upload the Gerbers** - Upload Gerbers.zip to JLCPCB or PCBway - - ![Upload Gerber Files]({{ '/assets/images/hardware/upload-gerber-files.png' | relative_url }}) - ![Upload Gerber Files]({{ '/assets/images/hardware/upload-gerber-files-step-2.png' | relative_url }}) - -2. **Board specs** - Update the following attribute: - - Thickness: 0.8mm - -3. **Surface Finish** - - - Ensure set to "HASL Lead-Free" - - ![Surface Finish Selection]({{ '/assets/images/hardware/surface-finish.png' | relative_url }}) - - Use lead-free solder for assembly, so get a lead-free board finish. - -4. **Quantity** - Minimum order is usually 5 boards. Only 1 V3 Connector and 1 IRLED are required for a PiTrac build. - - -### Assembly Service (Optional) - -Don't want to solder? Both JLCPCB and PCBway offer assembly services. - -Select Assembly Service: - -![Assembly Service]({{ '/assets/images/hardware/assembly-service.png' | relative_url }}) - -The fab house sources components, solders everything, and ships you a completed board. Costs more, but saves significant time. - -Once you have added the board with assembly to your cart you will need to provide the information they need for assembly. - -![Shopping Cart]({{ '/assets/images/hardware/shopping-cart.png' | relative_url }}) - -![Upload Gerber Files]({{ '/assets/images/hardware/gerber-files.png' | relative_url }}) - -## Component Sourcing - -### Bill of Materials - -Complete BOM with Digikey links: [Parts List]({% link hardware/parts-list.md %}) - -## Assembly - -### Difficulty Assessment - -**Skill Level:** Beginner / Intermediate - -**Time estimate:** -- First build: 2-4 hours -- With experience: 1-2 hours - -If you're a true novice at soldering, some of it will take time. - -### Assembly Tips - -1. **Order matters:** - - DIP-8 Packages first (U1, U3, U5, U6) - - Resistors - - Capacitors - - MOSFETs, LDO etc. - - Connectors - -2. **Before power-up:** - - Check for solder bridges with multimeter - - Verify no shorts between power and ground - - Double-check component orientation (ICs, diodes, polarized caps) - -## Board Configuration - -After assembly, must run current calibration before you will be able to capture shots. - -### Test Points - -**TP2** - Ground reference (use for all DC measurements) - -**TP1** - +5V Input -**TP3** - LDO Output -**TP4** - Current Sense -**TP5** - Gate Drive / Strobe Input -**TP6** - DAC Output Voltage - -## Connections - -### Power Input - -- **J1:** 5V input from Meanwell LRS-75-5 (screw terminals) - -### Power Output - -- **J2/J5:** USB-C ports for Pi power (5V) - -### Pi GPIO - -- **J3:** 8-pin GPIO header for control signals (see below for Connection Guide for Raspberry Pi 5) - -### LED Output - -- **J4:** Regulated high-voltage output to IR LED array (screw terminals) -- Current adjustable with DAC (U5) - -### Optional - -- **J6 (USB-A):** Originally for LED strip, but Pi5 has USB 2.0 ports already - this is redundant - -## Connection Guide for Raspberry Pi 5 - -| V3 Connector Board | Raspberry Pi 5 | -|----------|----------| -| GND | GND (Pin 39) | -| DIAG | GPIO 10 (Pin 19) | -| CS0 | GPIO 18 (Pin 12) | -| MOSI | GPIO 20 (Pin 38) | -| MISO | GPIO 19 (Pin 35) | -| CLK | GPIO 21 (Pin 40) | -| CS1 | GPIO 17 (Pin 11) | -| V3P3 | 3V3 (Pin 1) | - -| Global Shutter Camera 2 | Raspberry Pi 5 | -|----------|----------| -| Trig+ | GPIO 25 (Pin 22) | -| Trig- | GND (Pin 20) | - -| V3 Connector Board | V3 IRLED Board | -|----------|----------| -| VIR+ | VIR+ | -| VIR- | VIR- | - - ![PiTrac V3 Connection Guide]({{ '/assets/images/enclosure_assembly/PiTrac_V3_Connection_Guide.svg' | relative_url }}) - -## Configuring PiTrac - -You'll need to tell PiTrac which version of the Connection Board you are using. This is done in the Configuration screen in the UI. - -Before you run the PiTrac system for the first time, set the board type appropriately here: - ![Connection Board Setting]({{ '/assets/images/hardware/setting_connection_board_version.png' | relative_url }}) - -Note that the current default value is for the Version 1.0 board. - -## Design Files - -Full design documentation: -``` -Hardware/KiCad Source Files/* -``` - -KiCAD files are editable if you want to modify the design. \ No newline at end of file diff --git a/docs/index.md b/docs/index.md deleted file mode 100644 index 97173686..00000000 --- a/docs/index.md +++ /dev/null @@ -1,58 +0,0 @@ ---- -title: Home -layout: home -nav_order: 1 -description: PiTrac - Open source DIY golf launch monitor using Raspberry Pi and global shutter cameras. Build your own golf simulator with ball speed, launch angle, and spin tracking. -keywords: golf launch monitor, DIY golf simulator, raspberry pi golf, open source launch monitor, golf ball tracking, launch angle measurement, spin rate measurement, build golf launch monitor, homemade launch monitor -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -![PiTrac Logo]({{ '/assets/images/logos/PiTrac.png' | relative_url }}){: width="300"} - -# PiTrac - The World's First Open-Source Golf Launch Monitor - -The PiTrac project is a fully-functional golf launch monitor that avoids the need for expensive high-shutter-speed and high frame-rate cameras. We've developed techniques for high-speed, infrared, strobe-based image capture and processing using low-cost cameras such as the Pi Global Shutter camera (~US$50 retail) and Raspberry Pi single board computers. - -![PiTrac Overview]({{ '/assets/images/PiTracV2EnclosureWithGolfBall.png' | relative_url }}){: width="300"} - -## What Does PiTrac Do? - -PiTrac determines golf ball launch speed, angles, and spin in 3 axes. Its output is accessible on a stand-alone web-based app, and interfaces to popular golf-course simulators including **GsPro** and **E6/TruGolf** are working. [We've reached out to 2k/TopGolf, but no response yet.] - -## Is PiTrac For You? - -PiTrac is **not a commercial product** for sale – the full design is being released as open source on GitHub for folks to build themselves. The two Pi computers and cameras are the most expensive parts, costing around **US$250 in total**. PiTrac uses off-the-shelf hardware with a [parts list]({% link hardware/parts-list.md %}) including supplier links. The only custom part is a small printed circuit board that can be manufactured for a few dollars. - -**It's not easy**, but if you're handy with a soldering iron, can figure out how to 3D print the parts, and are willing to burrow into the Linux operating system to compile and install software, you should be able to create your own PiTrac! - -## Community & Development - -We are hoping to inspire a community of developers to help test and continue PiTrac's development. This is still a young project – the basic features usually work reliably, but the current release needs polish. We're looking for folks to build their own PiTracs and help us improve the documentation and design. - -### Resources -- **[Hackaday Project Page](https://hackaday.io/project/195042-pitrac-the-diy-golf-launch-monitor)** - Project details and development logs -- **[Reddit Community](https://www.reddit.com/r/Golfsimulator/comments/1hnwhx0/introducing_pitrac_the_open_source_launch_monitor/)** - Discussion and support -- **[YouTube Channel](https://www.youtube.com/@PiTrac)** - Videos and tutorials -- **[GitHub Repository](https://github.com/jamespilgrim/PiTrac)** - Source code, 3D models, and hardware designs -- **[Support PiTrac](https://ko-fi.com/Pitrac)** - Help fund continued development -- **[Project Wish List](https://www.amazon.com/registries/gl/guest-view/11PSDIVICY8UX)** - Equipment needs - -## Documentation Sections - -- **[Build Your PiTrac]({% link build-guide.md %})** - Complete build guide from parts to first shot -- **[Hardware]({% link hardware/hardware.md %})** - Parts list, assembly guides, and 3D printing -- **[Software]({% link software/software.md %})** - Raspberry Pi setup, configuration, and startup -- **[Integration]({% link simulator-integration.md %})** - Connect to golf simulators and third-party systems -- **[Troubleshooting]({% link troubleshooting.md %})** - Debugging guides and common issues - -

Introduction to PiTrac's Enclosure -  - -

- ---- - -*(\*) Raspberry Pi is a trademark of Raspberry Pi Ltd. The PiTrac project is not endorsed, sponsored by or associated with Raspberry Pi or Raspberry Pi products or services.* - ----- diff --git a/docs/quickstart.md b/docs/quickstart.md deleted file mode 100644 index 5aedfc68..00000000 --- a/docs/quickstart.md +++ /dev/null @@ -1,358 +0,0 @@ ---- -title: Express Path -layout: default -nav_order: 3 -description: Fast-track setup for experienced users - streamlined installation, configuration, and calibration to get your PiTrac tracking shots quickly. Assumes hardware is assembled. -keywords: quick start launch monitor, fast setup golf tracker, raspberry pi golf quick install, launch monitor express setup -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -# Express Path Setup - -**For experienced users.** Streamlined setup to get your PiTrac tracking shots quickly. If you're new to Raspberry Pi or want detailed explanations, use the [Build Your PiTrac]({% link build-guide.md %}) guide instead. - -## What You'll Need - -Before starting, make sure you have: -- PiTrac hardware assembled (cameras mounted, PCB installed, enclosure complete) -- Raspberry Pi 5 with at least 8GB RAM -- Two cameras connected via CSI ribbons (Pi Global Shutter or InnoMaker IMX296) -- 64GB+ MicroSD card -- Network connection (Ethernet cable highly recommended for faster setup) -- Computer to access the Pi remotely - -**Don't have hardware yet?** Check out the full [Build Your PiTrac]({% link build-guide.md %}) guide. - ---- - -## Step 1: Set Up Raspberry Pi - -You'll install Raspberry Pi OS and configure basic system settings. - -{: .warning } -> **IMPORTANT - OS Version Requirements** -> -> PiTrac currently requires **Raspberry Pi OS (Legacy, 64-bit)** - the release based on Debian 12 (Bookworm). -> -> **Do NOT use:** -> - The latest Raspberry Pi OS (based on Debian 13 Trixie) - packages not yet updated -> - 32-bit versions - will not work - -### Install the OS - -1. Download [Raspberry Pi Imager](https://www.raspberrypi.com/software/) on your computer -2. Insert your MicroSD card -3. In Imager: - - **Device**: Select your Pi model (Pi 4 or Pi 5) - - **OS**: Navigate to "Raspberry Pi OS (other)" → Select either: - - **"Raspberry Pi OS (Legacy, 64-bit)"** - Desktop version (easier for first-timers) - - **"Raspberry Pi OS (Legacy, 64-bit) Lite"** - Command-line only (headless operation) - - Both based on Debian 12 (Bookworm), Kernel 6.12 - - **Storage**: Select your MicroSD card (triple-check this!) - -4. Click "Next" → "Edit Settings" to configure: - - **Hostname**: `pitrac` (or whatever you prefer) - - **Username**: Your choice (you'll use this to log in) - - **Password**: Something secure you'll remember - - **WiFi**: Your network credentials - - **Enable SSH**: Check this box, use password authentication - -5. Click "Save" → "Yes" → "Yes" to write the image - -### First Boot - -1. Insert the MicroSD into your Pi (never insert/remove while powered on) -2. Connect ethernet cable if available -3. Connect power supply - -The Pi will take a few minutes to boot, expand the filesystem, and connect to your network. Be patient. - -### Log In Remotely - -Find your Pi's IP address (check your router's DHCP list or try `pitrac.local`) and SSH in: - -```bash -ssh username@pitrac.local -# Or use the IP directly: ssh username@192.168.1.123 -``` - -On Windows, use PuTTY or Windows Terminal. - -### Update Everything - -Once logged in, update the system: - -```bash -sudo apt -y update -sudo apt -y upgrade -sudo reboot now -``` - -The Pi will reboot when done. - -**Full details:** [Raspberry Pi Setup]({% link software/pi-setup.md %}) - ---- - -## Step 2: Install PiTrac Software - -Now we'll install the actual PiTrac software - the launch monitor binary, web dashboard, and all dependencies. - -### Quick Install - -SSH back into your Pi after the reboot, then: - -```bash -# Clone the repository -git clone https://github.com/PiTracLM/PiTrac.git -cd PiTrac/packaging - -# Run the developer install (builds from source) -sudo ./build.sh dev -``` - -This installs: -- Launch monitor binary (`pitrac_lm`) -- Web server (Python FastAPI dashboard) -- ActiveMQ message broker -- Command-line tools (`pitrac` command) -- System services - -The script handles all dependencies automatically - OpenCV, camera libraries, everything. - -### Verify Installation - -Check that everything's working: - -```bash -# Check service status -pitrac status - -# Run a quick test -pitrac test quick -``` - -You should see services starting up. If `pitrac-web` isn't running, start it: - -```bash -pitrac web start -``` - -**Troubleshooting:** If the install fails, check [Installation Guide]({% link software/pitrac-install.md %}) for detailed steps and common issues. - ---- - -## Step 3: Configure Cameras - -PiTrac needs to know what cameras you have before anything will work. - -### Verify Camera Detection - -Make sure your Pi can see both cameras: - -```bash -# Pi 5 -rpicam-hello --list-cameras - -# Pi 4 -libcamera-hello --list-cameras -``` - -You should see 2 cameras listed. If not, check CSI cable connections and ensure `camera_auto_detect=1` is in `/boot/firmware/config.txt` (Pi 5) or `/boot/config.txt` (Pi 4). Reboot if you change the config. - -### Access Web Interface - -Open a browser and navigate to: - -``` -http://pitrac.local:8080 -``` - -Or use your Pi's IP: `http://192.168.1.123:8080` - -**Can't connect?** -- Check if web service is running: `pitrac web status` -- Start it if needed: `pitrac web start` -- Make sure you're using `http://` not `https://` - -### Set Camera Types - -1. Click the menu (3 dots in top right) → **Configuration** -2. In the left sidebar, click **Cameras** -3. Find **Camera 1 Type** and **Camera 2 Type** -4. Click **Auto Detect** - PiTrac will identify your cameras -5. If Auto Detect doesn't work, manually select from dropdown: - - **InnoMaker CAM-MIPI327RAW** (recommended) - - **Pi Global Shutter Camera** (also common) -6. Set **Lens Choice** to **6mm M12** (standard, unless you're using different lenses) -7. Click **Save Changes** at top right - -**Important:** Stop and restart PiTrac for camera changes to take effect: -- Click "Stop Launch Monitor" in dashboard -- Wait for it to fully stop -- Click "Start Launch Monitor" - -**More details:** [Camera Documentation]({% link camera/cameras.md %}) - ---- - -## Step 4: Calibrate Cameras - -Calibration tells PiTrac the focal length and angles of your cameras. Without this, ball speed and launch angle will be completely wrong. - -### What You'll Need - -- Ball on tee in your hitting position -- Good lighting (strobes working) -- PiTrac stopped (calibration wizard starts it automatically) - -### Run the Calibration Wizard - -1. From the web dashboard, click menu → **Calibration** -2. Select **Camera 1** (always start here, it's faster) -3. Click **Next** - -### Step 2: Verify Ball Placement - -For Camera 1: -- Click **Check Ball Location** - should show green checkmark with coordinates -- Click **Capture Still Image** - verify ball is visible and in focus - -If ball detection fails: -- Increase camera gain in Configuration → Cameras → kCamera1Gain (try 8-10) -- Check lighting -- Verify ball is actually on the tee -- Make sure camera is aimed at ball - -Once successful, click **Next**. - -### Step 3: Run Calibration - -Pick **Auto Calibration** (recommended), then: -- Click **Start Auto Calibration** -- Don't move the ball or cameras -- Don't close the browser -- Watch the progress bar - -**Camera 1:** Takes about 30 seconds - -**Camera 2:** Takes 90-120 seconds (yes, really - single-Pi mode requires a background process) - -### Step 4: Check Results - -You'll see: -- **Status:** Success or Failed -- **Focal Length:** Should be 800-1200 for 6mm lens -- **Camera Angles:** Should be -20° to +20° - -If numbers look way off, try calibrating again. If it keeps failing, check the troubleshooting section below. - -Once successful, click **Return to Dashboard**. - -### Repeat for Camera 2 - -Go through the same process for Camera 2. Remember it takes longer (~2 minutes), be patient. - -**Full details:** [Auto-Calibration Guide]({% link camera/auto-calibration.md %}) - ---- - -## Step 5: Test It Out - -Let's verify everything's working. - -### Start PiTrac - -From the dashboard, click **Start Launch Monitor** (if not already running). - -Watch the status indicators at the top: -- ActiveMQ should be green -- Cam1 Process should be green -- Cam2 Process should be green - -### Hit a Shot - -1. Tee up a ball -2. Take a swing -3. Check the dashboard for shot data - -**Expected results:** -- Driver: 80-120 mph ball speed -- 7-iron: 60-90 mph ball speed -- Launch angles: 5-20° depending on club - -### If Shots Aren't Detecting - -**Check lighting:** -- Are strobes firing? (You'll hear them click) -- Adjust camera gain if needed (Configuration → Cameras) - -**Check ball detection:** -- Menu → Testing Tools -- Click "Capture Still Image" for each camera -- Ball should be clearly visible with good contrast - -**Check logs:** -- Menu → Logging -- Look for errors in Cam1 or Cam2 logs - ---- - -## Common Issues - -### Cameras Not Detected -- Verify CSI cable connections -- Check boot config: `camera_auto_detect=1` -- Reboot after connecting cameras -- Try `rpicam-hello --list-cameras` to see what Pi sees - -### Calibration Fails -- **Ball not detected:** Increase gain, improve lighting, check focus -- **Timeout:** Camera 2 really does take 2+ minutes, wait longer -- **Wrong results:** Ball moved during calibration? Try again - -### Images Too Dark -- Increase camera gain (Configuration → Cameras → kCamera1Gain) -- Check strobe power and connections -- Verify strobes are firing - -### Images Too Bright -- Decrease camera gain -- Reduce strobe intensity if adjustable - -### Web Interface Won't Load -- Check if service is running: `pitrac web status` -- Start it: `pitrac web start` -- Verify you're using `http://` not `https://` -- Try IP address instead of hostname - ---- - -## Next Steps - -Once you're getting good shot data: - -### Configure Your Simulator -Connect PiTrac to E6 Connect, GSPro, or TruGolf: -- **[Simulator Integration Guide]({% link simulator-integration.md %})** - -### Fine-Tune Settings -Adjust ball detection, gains, and search areas: -- **[Using PiTrac Guide]({% link software/using-pitrac.md %})** - -### Troubleshoot Issues -Deep dive into debugging tools and logs: -- **[Troubleshooting Guide]({% link troubleshooting.md %})** - ---- - -## Need Help? - -- **Discord:** [Join the PiTrac community](https://discord.gg/j9YWCMFVHN) - fastest way to get help -- **GitHub Issues:** [Report bugs](https://github.com/PiTracLM/PiTrac/issues) -- **Documentation:** Browse the nav menu for detailed guides on every topic - -Most issues are lighting-related or calibration problems. Don't be afraid to recalibrate if something seems off - it only takes 3 minutes. - -Now go hit some balls! diff --git a/docs/roadmap.md b/docs/roadmap.md deleted file mode 100644 index b7966dc4..00000000 --- a/docs/roadmap.md +++ /dev/null @@ -1,114 +0,0 @@ ---- -title: Roadmap -layout: default -nav_order: 1.2 -parent: Home -description: PiTrac development roadmap and project status including hardware versions, software features, and future development plans for the open-source golf launch monitor. -keywords: pitrac roadmap, launch monitor development, golf project status, pitrac versions, future features golf -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -# PiTrac Roadmap (as of June 23, 2025) - -Where's the PiTrac project headed? What version should I build right now? Should I wait for some new feature or development before buying parts or pulling out the soldering iron? - -All good questions. This document will try to answer them. That said, much of the roadmap is unknown because the project is evolving with every contribution that folks make. - -The following is a summary of where we are, followed by a list of the future features and developments that we're currently aware of. Please submit any new ideas in the [#feature-wishlist-discussion](https://discord.com/channels/1324384654731509770/1325494997285343357) area of the [PiTrac Discord Server](https://discord.gg/vGuyAAxXJH). Skip to Section 2 if you just want the answer to what most folks should (probably) be building right now. - -## 1. Where We Are Now - -Currently, PiTrac is at a few crossroads. The **first crossroad** is hardware related. Specifically, we're working to move from a system built by cobbling together a bunch of off-the-shelf (OTS) parts to a more streamlined, custom system. Primarily, this system will be enabled by developing a PiTrac "Compute Board." That printed circuit board will contain all the power-adapters, network connections, strobe-light switching and other electronics that PiTrac needs. The board will probably cost US $80 or more (populated except for Pi's), but should reduce the overall cost. The lower cost will result from a higher degree of integration that removes the need for separate power adapters, an OTS LED driver, etc. - -The Compute Board system will have a single power connection instead of what currently is usually a bulky power strip with a half-dozen AC power adapters plugged into it and a mess of wires running to the PiTrac. The Compute Board will have plug-in sockets to hold and connect one or two Raspberry Pi 5 compute modules. All great–however: the main problem right now is that the Compute Board is pretty complex, will require a manufacturing partner, and will likely still be several months out before it's done. - -At the same time, some folks will always enjoy putting things together themselves with parts that they can configure, re-use and re-purpose and without most of the hardware being pretty much completed already. This is still the only option that is currently available. The only "custom" hardware for this option is a small "Connect Board" that folks can have manufactured (or purchased from other builders) for a few dollars. We'd like to always continue to support both of the above two options. - -The **second crossroad** is related to the 3D-printed enclosure that houses all the cameras, computers, etc. Of course, we didn't even have a printed enclosure at first. This was the first PiTrac: - -![First PiTrac](https://github.com/user-attachments/assets/1aed70a7-c2f3-4246-b187-45b76ab97ffa) - -For makers who are interested in experimenting, of course, a custom-built enclosure may be a lot of fun. And perhaps variants like overhead PiTracs will spring from such work. - -The first 'real' enclosure was bulky and didn't really even work for folks in countries with larger power adapter bricks like the U.K. It did, however, allow for most all of the power adapters and other parts to be set together in a single unit. It is also setup by default to use all OTS parts and separate Pi SBCs. - -![First Enclosure](https://github.com/user-attachments/assets/c7b1e9d0-f601-43c8-9089-259e23390879) - -The newest enclosure (cleverly referred to as "Version 2") is much more streamlined: - -![Version 2 Enclosure](https://github.com/user-attachments/assets/24271598-5d8e-49e1-bd36-f2859efe7523) - -Regarding the enclosure, we expect most folks will migrate to Version 2 regardless of whether they ultimately wait to use the future Compute Board and Pi compute modules or if they build the system from individual Pi 5 single board computers (SBCs), an LED driver, and the Connector Board. - -But here too, there's a decision to make. The Version 2 enclosure will someday house the self-contained Compute Board with a single power supply for that board that will fit in the base box, and the default Version 2 model is setup to receive the screws that the (unreleased) Compute Board expects for its mounting holes: - -![Compute Board Vision](https://github.com/user-attachments/assets/85cdea24-81bc-4dab-93c6-850ec1a42e49) - -But the Version 2 enclosure can also support builds using *OTS parts* instead of the Compute Board. As such, part of the decision of which road to take right now is whether to wait for the above-pictured vision of PiTrac to emerge, or instead use the Version 2 enclosure with the currently-available off-the-shelf system. Most folks are opting for that option now. - -This second Version 2 option typically houses the large LED driver in the base of the system, with several AC power adapters kept externally with wires running to the tower. To go that way, you'll need an enclosure "tower" variant that is fitted for the separate Pi 5 SBCs. See [here](https://github.com/pitraclm/pitrac/tree/main/3D%20Printed%20Parts/Enclosure%20Version%202/Tower-Connector-Board-Variant). - -![Tower Variant](https://github.com/user-attachments/assets/d040da0a-5363-475d-8114-5715e5935a62) - -Note that for some LED drivers, the basebox dimensions may have to be enlarged to fit those drivers, as they are larger than the Meanwell 24v power supply that the Version 2 enclosure was originally designed to hold. - -The **final crossroad** has a much clearer path forward. With some help from the Raspberry Pi folks, we've finally been able to get the system running on just a single Raspberry Pi 5 SBC that is connected to both of the PiTrac cameras. We expect almost everyone to go with that option to save money and reduce complexity. That's true even for folks who have already built (or are building) their PiTracs with two Pi's. However, the very real possibility of a PiTrac with stereoscopic vision is likely to still require two Pi 5's. Don't give your currently-extra Pi away! - -Finally, there are many core parts of PiTrac that we are still actively researching and (hopefully) improving. Builders may want to modify their PiTrac builds to help support or work on some of those areas. Section 3 of this document discusses some of these activities. - -## 2. What should I build now? - -### If you want to get building right now (and try to minimize buying anything that may become obsolete) -Likely best to build a Version 2 enclosure using the original Connector Board with a single Pi 5 SBC and with an external LED driver and power adapters. - -- It might not be as compact/pretty, but the result should continue to be supported for a long time to come -- The LED driver will be unnecessary someday when the Compute Board is available. But that won't happen for months, and the cost of the Compute Board and a Pi 5 compute module will be greater than the cost of the LED driver. - -### If you're happy to wait until the system is more stable -The future Compute Board with the Version 2 enclosure will be pretty and pretty awesome. The cost should be minimized here, too. Though wouldn't it be fun to start building a PiTrac now? :) - -### You're looking to plow new ground and experiment -Same as for option (a), above. And consider just taking the existing 3D parts you most need and coming up with your own enclosure! - -## 3. Where We Are (Hopefully!) Going - -The following are new features, ideas, hair-brained ideas and potential areas of focus for PiTrac's continuing development. We are already working on many of these areas. - -### Enclosures & Physical Configuration -1. Overhead-mounted PiTrac -2. 3 or 4-camera enclosures to allow higher accuracy (at a higher price point) -3. A power-brick type outboard module that will cleanly house all the hardware that doesn't fit on the Version 2 (Connector Board) enclosure. -4. Get the system working when both cameras pointed straight out (necessary for, e.g., left-handed playing). **FIXED** as of July 16, 2025. - -### Left-handed processing -1. Complete the code changes to process left-handed shots. **FIXED** as of July 16, 2025. - -### Hardware -1. Improve ability to drive the LED strobes smaller circuitry that is better suited to the very short duty cycles we are using - -### Software -1. Improve the ball-circle identification process to be more accurate w/r/t ball radius and in ignoring false positives -2. Implement stereoscope camera processing -3. Improve the lens de-distortion process and make it easier to do - -### Optics -1. Test and standardize on the Innomaker camera instead of the Pi version. Innomaker is much easier to modify to be externally triggered. As of July 16, 2025 this mostly works, but we are waiting on a fix for a problem that does not allow two cameras attached to the same Pi 5, with one externally-triggered, and one internally-triggered. -2. Design to use 3.6mm M12 lens to capture a wider range of movement - -### Documentation -1. Catch up! Too many ideas and changes are not documented. -2. Support code-level documentation by using Doxygen tags throughout the code base -3. Organize the now-too-many documents into, e.g., sub-folders -4. Make document changes easier. For example, use Bookstack. - -### Supply chain -1. Develop better, cheaper sources for all of the parts used by PiTrac, and try to better support non-US builders. - -### Simulators -1. Support and integrate with any open-source golf simulators such as the work on JaySim -2. Improve the number of commercial sims that PiTrac can integrate with -3. Improve the level of integration with other sims such as club selection - -### Testing -1. Work is being done to move the architecture to a more modern footing, including automated testing that will run whenever anything is checked in. \ No newline at end of file diff --git a/docs/simulator-integration.md b/docs/simulator-integration.md deleted file mode 100644 index 1b1b6c21..00000000 --- a/docs/simulator-integration.md +++ /dev/null @@ -1,172 +0,0 @@ ---- -title: Simulator Integration -layout: default -nav_order: 7 -description: Connect PiTrac golf launch monitor to E6 Connect, GSPro, and TruGolf simulators. Complete network setup, configuration, and integration guide for golf simulation software. -keywords: connect golf simulator, gspro integration, e6 connect setup, trugolf pitrac, golf simulator network, launch monitor integration -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -# Connecting to Golf Simulators - -PiTrac can send shot data to E6 Connect, GSPro, and TruGolf simulators. The process is pretty straightforward - you just need to tell PiTrac where your simulator software is running on your network. - -## Network Setup - -First things first: your Raspberry Pi and the PC running your simulator software need to be on the same network and able to talk to each other. - -### Find Your Simulator PC's IP Address - -On the computer running your simulator: - -**Windows:** -1. Open Command Prompt -2. Type `ipconfig` -3. Look for "IPv4 Address" under your network adapter -4. Should look like `192.168.1.100` or similar - -**Mac:** -1. Open Terminal -2. Type `ifconfig` -3. Look for "inet" under your network adapter (en0 or en1) -4. Should look like `192.168.1.100` or similar - -Write this down - you'll need it. - -### Test Network Connectivity - -From your Raspberry Pi, make sure you can reach the simulator PC: - -```bash -ping 192.168.1.100 -``` - -(Replace with your actual IP) - -You should see replies. If you get "Destination Host Unreachable" or timeouts, you have a network problem to fix first. Check: -- Both devices on the same WiFi/Ethernet network? -- Firewall blocking pings? -- Router doing weird stuff? - -## E6 Connect / TruGolf - -### On the Raspberry Pi - -1. Open the PiTrac web interface (`http://{PI-IP}:8080`) -2. Navigate to Configuration (3-dot menu → Configuration) -3. Find the **Simulators** category -4. Look for the **E6** section: - - **kE6ConnectAddress** - Enter your simulator PC's IP (e.g., `192.168.1.100`) - - **kE6ConnectPort** - Should be `2483` (this is standard for E6) - - **kE6InterMessageDelayMs** - Leave at `50` unless you have issues -5. Click **Save Changes** - -### On E6 Connect - -1. Launch E6 Connect -2. Click the **Settings** (gear icon) -3. Select **Simulator / Tracking System** -4. Click **Configure** next to **TruSimAPI** -5. Verify the settings: - - **IP Address** - Should be your simulator PC's IP - - **Port** - Should be `2483` -6. Make sure **TruSimAPI** is selected as the active tracking system - -### Testing the Connection - -1. On the Pi, make sure PiTrac LM is stopped -2. On the simulator PC, start E6 Connect -3. In E6, select **Practice** and start a session -4. On the Pi, run the test script: - ```bash - cd $PITRAC_ROOT/ImageProcessing/RunScripts - ./runTestExternalSimMessage.sh - ``` - -This sends a test shot to E6. If it works, you'll see the ball fly in E6. - -If it doesn't work: -- Check the logs on both the Pi and E6 -- Turn on trace logging: `./runTestExternalSimMessage.sh --logging_level=trace` -- Make sure E6 is actually waiting for a shot (in a practice round, etc.) -- Verify the IP and port settings again - -## GSPro - -### On the Raspberry Pi - -1. Open the PiTrac web interface -2. Navigate to Configuration -3. Find the **Simulators** category -4. Look for the **GSPro** section: - - **kGSProHostAddress** - Enter your simulator PC's IP (e.g., `192.168.1.100`) - - **kGSProPort** - Should be `921` (standard for GSPro) -5. Click **Save Changes** - -### On GSPro - -GSPro should automatically detect PiTrac when it's running. Make sure: -- GSPro is set to listen for external launch monitors -- The connection port is `921` -- No firewall is blocking port `921` - -Check GSPro's launch monitor settings - it should show PiTrac as connected once you start hitting balls. - -### Testing - -Start GSPro, then from the Pi run: -```bash -cd $PITRAC_ROOT/ImageProcessing/RunScripts -./runTestGsProServer.sh -``` - -This sends a test shot to GSPro. Watch GSPro to see if it receives and displays the shot data. - -## General Connection Tips - -**Start Order:** It usually works best to: -1. Start your simulator software first -2. Get it into practice/play mode -3. Then start PiTrac LM -4. Hit balls - -**Firewall:** Make sure your simulator PC's firewall isn't blocking incoming connections on the relevant ports (2483 for E6, 921 for GSPro). - -**Network:** Wired Ethernet is more reliable than WiFi. If you're having weird intermittent issues, try a wired connection. - -**Multiple Simulators:** You can configure multiple simulators in PiTrac. It will send shot data to all of them. Whether that actually works depends on the simulator software - some don't like sharing. - -## Troubleshooting - -**"Connection Refused" or "No Route to Host":** -- Double-check the IP address -- Make sure simulator software is actually running -- Check firewall settings -- Try pinging the IP from the Pi - -**Simulator doesn't receive shots:** -- Verify the port numbers -- Check that simulator is in "waiting for shot" mode -- Look at logs on both ends -- Try the test scripts to isolate the problem - -**Shots received but values are wrong:** -- This is probably not a connection issue -- Check your calibration -- Verify camera settings -- Look at troubleshooting section for shot detection issues - -**Connection works sometimes:** -- Usually a network issue (WiFi interference, router problems) -- Try wired connection -- Check for IP address changes (use static IPs if possible) -- Look for other network traffic causing problems - -Still stuck? Head to the Discord with: -- What simulator you're using -- Error messages from logs -- Results of the test scripts -- Network setup details (WiFi/wired, router type, etc.) - -We'll get you sorted out. diff --git a/docs/software/install/build-from-source.md b/docs/software/install/build-from-source.md deleted file mode 100644 index 9e8034ad..00000000 --- a/docs/software/install/build-from-source.md +++ /dev/null @@ -1,322 +0,0 @@ ---- -title: Build from Source -layout: default -nav_order: 1 -parent: PiTrac Installation -grand_parent: Software -description: Complete guide to building PiTrac from source including cloning repository, running developer build, and verifying installation on Raspberry Pi. -keywords: build pitrac source, compile pitrac, developer build raspberry pi, install pitrac from git, pitrac build script -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -# Build PiTrac from Source - -Building from source is the current recommended installation method. It's ideal for development or if you want the latest features. - -**Time Required:** 10-20 minutes on a Pi 5 (first installation, network-dependent) - -**Difficulty:** Intermediate (script-automated, but requires command line comfort) - ---- - -## Prerequisites - -Before starting, ensure you have: - -- **Raspberry Pi 5 with 8GB RAM** (recommended) or Pi 4 with 8GB -- **Raspberry Pi OS 64-bit** installed (Bookworm or Trixie) - - See [Pi Setup Guide]({% link software/pi-setup.md %}) if not installed -- **Active internet connection** for downloading packages -- **Sudo privileges** on your Pi -- **At least 5GB free disk space** (10GB recommended) - -{: .warning } -**Important**: You must complete [Raspberry Pi Setup]({% link software/pi-setup.md %}) before proceeding. The Pi must have OS installed, be updated, and have network access. - ---- - -## Overview - -The build process automatically: -- Installs all required system dependencies (~80+ packages) -- Extracts pre-built libraries (OpenCV, ActiveMQ, lgpio, msgpack) -- Compiles the PiTrac C++ binary -- Installs the Python web server and all dependencies -- Configures ActiveMQ message broker -- Sets up libcamera for dual Pi cameras -- Creates user directories and configuration files - ---- - -## Step 1: Clone the Repository - -Clone the PiTrac repository using HTTPS: - -```bash -git clone https://github.com/PiTracLM/PiTrac.git -cd PiTrac -``` - -{: .note } -We use HTTPS instead of SSH to avoid requiring SSH key setup. Contributors can switch to SSH after cloning: `git remote set-url origin git@github.com:PiTracLM/PiTrac.git` - ---- - -## Step 2: Run the Developer Build - -Navigate to the packaging directory and run the developer installation: - -```bash -cd packaging -sudo ./build.sh dev -``` - -{: .warning } -**Important**: You must use `sudo` as the script installs system packages and configures services. - ---- - -## What Happens During Installation - -The `build.sh dev` script performs these steps automatically: - -### 1. Platform Validation - -- Verifies you're running on a Raspberry Pi -- Checks for sudo privileges -- Confirms all pre-built artifacts are available - -### 2. System Configuration - -- Fixes known Pi OS issues (initramfs configuration bug) -- Updates package state -- Prepares the system for installation - -### 3. Dependency Installation - -**System Packages Installed** (~80+ packages): -- Build tools: `build-essential`, `meson`, `ninja-build`, `pkg-config` -- Boost libraries (1.74.0): `libboost-system`, `libboost-thread`, `libboost-filesystem`, and many others -- Camera libraries: `libcamera0.0.3`, `libcamera-dev`, `rpicam-apps` (Pi5) or `libcamera-apps` (Pi4) -- Video processing: FFmpeg libraries, image libraries (JPEG, PNG, TIFF) -- Message broker: `activemq`, `libapr1`, `libaprutil1` -- Python: `python3`, `python3-pip`, and related packages -- Configuration tools: `yq` (YAML query tool) - -**Pre-built Dependencies Extracted**: - -These are extracted from the `packaging/deps-artifacts/` directory: -- **OpenCV 4.11.0** - Computer vision library (Debian only has 4.6.0) -- **ActiveMQ-CPP 3.9.5** - C++ messaging client -- **lgpio 0.2.2** - GPIO library for Pi 5 (not in Debian repos) -- **msgpack-cxx 6.1.1** - Message serialization -- **ONNX Runtime 1.17.3** - AI inference engine - -{: .note } -**Why pre-built?**: Building OpenCV from source takes 45-60 minutes. The pre-built artifacts are checked into the git repository so you don't have to wait. - -### 4. Build PiTrac Binary - -The script compiles the C++ launch monitor binary: -- Sets up proper build environment with library paths -- Applies Boost C++20 compatibility fix -- Detects stale builds and cleans if necessary -- Runs Meson build system with Ninja -- Compiles only changed files (incremental build) - -**Build times**: -- **Total first install**: 10-20 minutes (all dependencies + services + build) -- **PiTrac binary build**: 2-5 minutes -- **Incremental rebuild**: 30 seconds - 2 minutes -- **Clean rebuild** (with `force` flag): 2-5 minutes - -### 5. Installation - -**Binaries and Tools**: -- `/usr/lib/pitrac/pitrac_lm` - Main launch monitor binary -- `/usr/bin/pitrac` - Unified CLI interface (Bashly-generated) -- `/usr/lib/pitrac/ImageProcessing/CameraTools/` - Camera utilities and scripts - -**Configuration**: -- `/etc/pitrac/models/` - ONNX AI models for ball detection -- `/usr/lib/pitrac/web-server/configurations.json` - Configuration metadata (283 settings) - -**Test Resources**: -- `/usr/share/pitrac/test-images/` - Sample test images (teed-ball.png, strobed.png) -- `/usr/share/pitrac/test-suites/` - Automated test suites - -**User Directories**: -- `~/.pitrac/config/` - User configuration and calibration data - - `user_settings.json` - Your configuration overrides - - `calibration_data.json` - Camera calibration results (focal lengths, angles) - - `generated_golf_sim_config.json` - Merged runtime configuration -- `~/.pitrac/state/` - Runtime state -- `~/.pitrac/calibration/` - Calibration tools (checkerboard images, scripts) -- `~/LM_Shares/Images/` - Captured images from shots -- `~/LM_Shares/WebShare/` - Web-accessible data - -### 6. Camera Configuration - -The script configures libcamera for dual Pi cameras: -- Copies IMX296 NOIR sensor files for your Pi model (4 or 5) -- Creates `rpi_apps.yaml` with extended timeout (1000ms) -- Sets `LIBCAMERA_RPI_CONFIG_FILE` environment variable -- Configures camera detection in boot config - -### 7. ActiveMQ Message Broker Setup - -ActiveMQ provides communication between PiTrac components: -- Installs ActiveMQ configuration from templates -- Sets up broker on `tcp://localhost:61616` (OpenWire protocol) -- Configures STOMP protocol on port 61613 -- Enables and starts the `activemq.service` - -**Verification**: The script checks that ActiveMQ is listening on port 61616. - -### 8. Python Web Server Installation - -The FastAPI-based web dashboard is installed: -- Copies web server code to `/usr/lib/pitrac/web-server/` -- Installs Python dependencies from `requirements.txt`: - - `fastapi` - Modern web framework - - `uvicorn` - ASGI server - - `stomp.py` - ActiveMQ connectivity - - `msgpack`, `pyyaml`, `websockets`, and more -- Configures `pitrac-web.service` to run as your user -- Restarts the service if it was already running - -### 9. Service Configuration - -The script sets up systemd services: -- `activemq.service` - Message broker (system service) -- `pitrac-web.service` - Web dashboard (user service) - -{: .note } -**Note**: The main `pitrac.service` is no longer automatically installed. You control the launch monitor through the web interface Start/Stop buttons. - -### 10. Cleanup and Verification - -- Reloads systemd daemon -- Updates shared library cache (`ldconfig`) -- Displays installation summary - ---- - -## Installation Output - -During installation, you'll see progress like this: - -``` -==================================== - PiTrac Developer Build -==================================== - -✓ Platform validation -✓ Checking for pre-built artifacts -✓ Installing system dependencies (80+ packages) -✓ Extracting OpenCV 4.11.0 -✓ Extracting ActiveMQ-CPP 3.9.5 -✓ Extracting lgpio 0.2.2 -✓ Configuring build environment -✓ Building PiTrac binary (this may take a few minutes) -✓ Installing binaries and tools -✓ Configuring libcamera -✓ Installing test resources -✓ Setting up ActiveMQ broker -✓ Installing Python web server -✓ Configuring services - -==================================== - Installation Complete! -==================================== - -Next steps: - 1. Access web dashboard: http://raspberrypi.local:8080 - 2. Start PiTrac from the web interface - 3. Run tests: pitrac test quick - 4. View status: pitrac status - -For help: pitrac help -``` - ---- - -## Step 3: Verify Installation - -After installation completes, verify everything is working: - -### Check Service Status - -```bash -# Check all services -pitrac status - -# Or check individually -systemctl status activemq -systemctl status pitrac-web -``` - -**Expected output**: -- `activemq.service` - **active (running)** -- `pitrac-web.service` - **active (running)** or **inactive** (can start manually) - -### Test Camera Detection - -```bash -# Pi 5 -rpicam-hello --list-cameras - -# Pi 4 -libcamera-hello --list-cameras -``` - -Should list 2 cameras if both are connected. - -### Run Quick Test - -```bash -pitrac test quick -``` - -This runs basic system tests to verify everything is configured correctly. - ---- - -## Next Steps - -**Installation Complete!** - -**Continue to:** -- **[First Use Guide]({% link software/install/first-use.md %})** - Access web dashboard and start PiTrac - -**Or:** -- **[Troubleshooting]({% link software/install/troubleshooting.md %})** - If you encountered errors - -**Return to:** -- **[Installation Overview]({% link software/pitrac-install.md %})** - ---- - -## Build Modes Reference - -The `build.sh` script supports multiple modes: - -```bash -# Developer install (recommended) -sudo ./build.sh dev - -# Force clean rebuild -sudo ./build.sh dev force - -# Build dependencies only -sudo ./build.sh deps - -# Build PiTrac binary only -sudo ./build.sh build - -# Clean build artifacts -sudo ./build.sh clean -``` - -For more details, see [Managing PiTrac]({% link software/install/managing.md %}). \ No newline at end of file diff --git a/docs/software/install/first-use.md b/docs/software/install/first-use.md deleted file mode 100644 index f52a6cec..00000000 --- a/docs/software/install/first-use.md +++ /dev/null @@ -1,317 +0,0 @@ ---- -title: First Use -layout: default -nav_order: 2 -parent: PiTrac Installation -grand_parent: Software -description: First-time setup for PiTrac including accessing the web dashboard, starting the launch monitor, and using the web interface for configuration and control. -keywords: pitrac first use, web dashboard access, start pitrac, golf monitor setup, web interface tutorial -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -# First Use Guide - -After installing PiTrac, you're ready to access the web interface and start tracking shots! - -**Time Required:** ~10 minutes - -**Difficulty:** Beginner - ---- - -## Step 1: Access the Web Dashboard - -The web interface provides control and monitoring for PiTrac. - -### Start the Web Server - -If not already running: - -```bash -sudo systemctl start pitrac-web -``` - -Or use the CLI: - -```bash -pitrac web start -``` - -### Access the Dashboard - -Open a web browser and navigate to: - -``` -http://[YOUR_PI_IP_ADDRESS]:8080 -``` - -To find your Pi's IP address: - -```bash -hostname -I -``` - -Or use the hostname: - -``` -http://raspberrypi.local:8080 -``` - -{: .note } -**Note**: The default port is 8080. You can change this in the web server configuration if needed. - ---- - -## Step 2: Start PiTrac - -From the web dashboard: - -1. Navigate to the **PiTrac Process** section -2. Click **Start** to launch the launch monitor -3. Monitor the status indicators for Camera 1 and Camera 2 - -The web interface will show: -- Camera connection status -- ActiveMQ broker connectivity -- WebSocket connection to browser -- Real-time shot data when balls are hit - ---- - -## Web Interface Overview - -The PiTrac web dashboard provides comprehensive control across several sections: - -### Main Dashboard - -**Real-time Shot Display**: -- Ball speed and carry distance -- Launch angles (horizontal and vertical) -- Spin rates (backspin and sidespin) -- Shot trajectory visualization - -**System Status Indicators**: -- WebSocket connection status -- ActiveMQ broker connectivity -- Camera 1 and Camera 2 status -- PiTrac process state - -**Shot Images Gallery**: -- Browse captured images from recent shots -- View dual-camera synchronized captures -- Analyze ball position and strobing - -### Configuration - -**Camera Settings**: -- Configure camera types (Pi Global Shutter, Innomaker) -- Lens parameters (focal length, sensor size) -- Camera gain and exposure settings -- Flip and rotation adjustments - -**Detection Methods**: -- **HoughCircles**: Traditional circle detection -- **YOLO**: AI-based ball detection -- **YOLO+SAHI**: Enhanced detection for small objects - -**Simulator Integration**: -- **E6 Connect**: Configure E6 simulator connectivity -- **GSPro**: Set up GSPro communication -- **TruGolf**: Configure TruGolf interfaces -- Port and protocol settings - -**Logging**: -- Control log levels (debug, info, warning, error) -- Enable/disable specific logging categories -- Diagnostic verbosity settings - -**Calibration**: -- Fine-tune strobing parameters -- Adjust spin analysis thresholds -- Camera positioning settings -- Ball detection sensitivity - -### Process Control - -**Start/Stop PiTrac**: -- Launch the PiTrac process -- Stop running processes cleanly -- Monitor resource usage -- View process health - -**Monitor Status**: -- Real-time health monitoring -- Service dependency checks -- Error alerts and warnings - -**Dual Camera Management**: -- Independent camera control -- Per-camera configuration -- Camera status indicators - -### Calibration Wizard - -The calibration wizard provides a 4-step process: - -**Step 1: Setup Cameras** -- Verify both cameras are detected -- Set camera types and lens parameters -- Confirm camera positioning - -**Step 2: Verify Ball Placement** -- Check ball is visible in both cameras -- Ensure proper lighting -- Validate strobing - -**Step 3: Run Calibration** -- Automated calibration sequence -- Takes multiple reference shots -- Calculates camera angles and distances - -**Step 4: Review and Save Results** -- View calculated parameters -- Compare before/after accuracy -- Save calibration data - -{: .note } -**Tip**: Run calibration after any camera position changes or hardware adjustments. - -### Testing Tools - -**Hardware Testing**: -- IR strobe test (verify strobes fire) -- Still image capture (test cameras) -- Ball detection test (verify algorithms) - -**Calibration Verification**: -- Test shots against known references -- Accuracy validation -- Consistency checks - -**Automated Test Suites**: -- Comprehensive system tests -- Regression testing -- Performance benchmarks - -### Logs Viewer - -**Real-time Logs**: -- View logs from all services -- Filter by service (pitrac, activemq, web-server) -- Filter by log level (debug, info, warning, error) - -**Log Management**: -- Download logs for offline analysis -- Clear old logs -- Configure log retention - ---- - -## First Shot Checklist - -Before hitting your first shot: - -- [ ] Web dashboard accessible at http://raspberrypi.local:8080 -- [ ] Both cameras showing "Connected" status -- [ ] ActiveMQ broker showing "Connected" -- [ ] PiTrac process showing "Running" -- [ ] Cameras positioned and secured -- [ ] Ball on tee and visible in camera views -- [ ] IR strobes tested and working -- [ ] Simulator connected (if using E6/GSPro/TruGolf) - ---- - -## Making Your First Shot - -1. **Open the main dashboard** in your web browser -2. **Verify all systems are green** (cameras, ActiveMQ, WebSocket) -3. **Set up a ball** on the tee in view of both cameras -4. **Hit the shot!** -5. **Watch the dashboard** display real-time shot data - -The web interface will show: -- Ball speed (mph or km/h) -- Carry distance (yards or meters) -- Launch angle (degrees) -- Launch direction (degrees) -- Backspin (rpm) -- Sidespin (rpm) -- Captured images from both cameras - ---- - -## Understanding Shot Data - -### Ball Speed -- **What it measures**: Initial velocity after impact -- **Typical values**: 100-180 mph for drivers -- **Accuracy**: ±1 mph with proper calibration - -### Launch Angle -- **What it measures**: Vertical angle off ground -- **Typical values**: 8-15° for drivers -- **Lower = less carry, higher = more carry (to a point)** - -### Launch Direction -- **What it measures**: Horizontal angle (left/right) -- **0° = straight, positive = right, negative = left** - -### Spin -- **Backspin**: Affects carry distance and ball flight shape -- **Sidespin**: Causes hooks (negative) or slices (positive) -- **Typical driver backspin**: 2000-3000 rpm - ---- - -## Next Steps - -**Now that PiTrac is running:** - -1. **Calibrate Your Cameras** - [Calibration Guide]({% link camera/cameras.md %}) -2. **Configure Your Simulator** - Set up E6, GSPro, or TruGolf in Configuration section -3. **Hit Test Shots** - Verify shot detection and accuracy -4. **Fine-tune Settings** - Adjust detection parameters for your setup -5. **Check Managing Guide** - [Managing PiTrac]({% link software/install/managing.md %}) - -**If you encounter issues:** -- **[Troubleshooting Guide]({% link software/install/troubleshooting.md %})** - Common problems and solutions - -**Return to:** -- **[Installation Overview]({% link software/pitrac-install.md %})** - ---- - -## Quick Tips - -**Improve Detection Accuracy**: -- Ensure consistent lighting (avoid windows, bright sunlight) -- Clean camera lenses regularly -- Use high-quality balls (avoid scuffed or dirty balls) -- Keep cameras stable and secure - -**Web Interface Not Responding?** -```bash -# Check service status -systemctl status pitrac-web - -# Restart if needed -sudo systemctl restart pitrac-web -``` - -**Camera Status Shows Disconnected?** -```bash -# Test cameras -rpicam-hello --list-cameras # Pi 5 -libcamera-hello --list-cameras # Pi 4 - -# Check PiTrac logs -tail -f ~/.pitrac/logs/pitrac.log -``` - -**No Shot Data Appearing?** -- Verify ball is visible in both camera views -- Check IR strobes are firing (should see brief flashes) -- Ensure ActiveMQ is connected -- Try adjusting detection sensitivity in Configuration \ No newline at end of file diff --git a/docs/software/install/managing.md b/docs/software/install/managing.md deleted file mode 100644 index a27e4590..00000000 --- a/docs/software/install/managing.md +++ /dev/null @@ -1,447 +0,0 @@ ---- -title: Managing PiTrac -layout: default -nav_order: 3 -parent: PiTrac Installation -grand_parent: Software -description: Complete guide to managing PiTrac including CLI commands, service management, file locations, updating software, and development workflows. -keywords: pitrac commands, manage pitrac services, file locations raspberry pi, update pitrac, development workflow -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -# Managing PiTrac - -Everything you need to know about managing, updating, and maintaining your PiTrac installation. - ---- - -## Command Reference - -### Web Server Commands - -The web server provides the user interface and configuration management: - -```bash -# Start the web server -pitrac web start - -# Stop the web server -pitrac web stop - -# Restart the web server -pitrac web restart - -# Check status -pitrac web status - -# View logs -pitrac web logs - -# Follow logs in real-time -pitrac web logs --follow -``` - -### Launch Monitor Control - -{: .warning } -**Important**: Use the web interface to start/stop the PiTrac launch monitor process. It is NOT a systemd service. - -**From the web interface**: -- Navigate to "PiTrac Process" section -- Click Start/Stop buttons -- Monitor camera status indicators - -**Direct command line** (advanced): -```bash -# Run manually (debugging) -/usr/lib/pitrac/pitrac_lm --logging_level=debug - -# View PiTrac process logs -tail -f ~/.pitrac/logs/pitrac.log -``` - -### ActiveMQ Management - -ActiveMQ provides message passing between components: - -```bash -# Check broker status -systemctl status activemq - -# Restart broker (if needed) -sudo systemctl restart activemq - -# View ActiveMQ logs -journalctl -u activemq -f -``` - -**ActiveMQ Web Console**: -``` -URL: http://raspberrypi.local:8161/admin -Default credentials: admin/admin -``` - -Use the web console to: -- Monitor queue depths -- View message statistics -- Inspect active connections -- Troubleshoot communication issues - -### System Status - -```bash -# Check all PiTrac services -pitrac status - -# View system logs -journalctl -u pitrac-web -f -journalctl -u activemq -f - -# Check camera detection -rpicam-hello --list-cameras # Pi 5 -libcamera-hello --list-cameras # Pi 4 - -# Check disk space -df -h - -# Check memory usage -free -h - -# Monitor CPU temperature -vcgencmd measure_temp -``` - ---- - -## File Locations - -Understanding where PiTrac stores its files helps with troubleshooting and maintenance. - -### Binaries - -**Installed executables**: -- `/usr/bin/pitrac` - CLI interface (Bashly-generated wrapper) -- `/usr/lib/pitrac/pitrac_lm` - Launch monitor binary (C++ application) -- `/usr/lib/pitrac/web-server/` - Python web application (FastAPI) - -**Camera tools**: -- `/usr/lib/pitrac/ImageProcessing/CameraTools/` - Camera utilities and calibration scripts - -### Configuration - -**System-wide templates**: -- `/etc/pitrac/pitrac.yaml` - Main config template (reference only, don't edit) -- `/etc/pitrac/models/` - ONNX AI models for ball detection - -**User configuration** (these are YOUR settings): -- `~/.pitrac/config/user_settings.json` - Your configuration overrides -- `~/.pitrac/config/calibration_data.json` - Camera calibration results -- `~/.pitrac/config/generated_golf_sim_config.json` - Runtime configuration (auto-generated) - -{: .note } -**Configuration Best Practice**: Always use the web interface to change settings. The web server manages the three-tier configuration system and generates the runtime config automatically. - -### User Data - -**Runtime data**: -- `~/.pitrac/state/` - Runtime state files -- `~/.pitrac/logs/` - Application logs (pitrac.log, web-server.log) -- `~/.pitrac/run/` - PID files for process management - -**Captured data**: -- `~/LM_Shares/Images/` - Captured images from shots -- `~/LM_Shares/WebShare/` - Web-accessible data - -**Calibration resources**: -- `~/.pitrac/calibration/` - Calibration tools (checkerboard images, scripts) - -### Test Resources - -**Pre-installed test files**: -- `/usr/share/pitrac/test-images/` - Sample images (teed-ball.png, strobed.png) -- `/usr/share/pitrac/test-suites/` - Automated test suites - -### Web Server Configuration - -**Web server metadata**: -- `/usr/lib/pitrac/web-server/configurations.json` - Configuration metadata (283 settings with defaults, validation, descriptions) - -This file defines all available settings, their types, defaults, and validation rules. The web interface uses this to dynamically generate the configuration UI. - ---- - -## Development Workflow - -### Updating PiTrac - -To get the latest changes from GitHub: - -```bash -cd ~/PiTrac -git pull -cd packaging -sudo ./build.sh dev -``` - -**What happens**: -- Downloads latest code from GitHub -- Detects if dependencies changed (rarely) -- Rebuilds only changed files (incremental) -- Updates web server if changed -- Restarts services if they were running - -**Time**: 30 seconds - 2 minutes for incremental builds - -### Incremental Builds - -After making code changes locally: - -```bash -cd ~/PiTrac/packaging -sudo ./build.sh dev -``` - -This performs an **incremental build**: -- Only rebuilds changed files -- Copies updated web server files -- Restarts services automatically -- Preserves configuration and calibration - -**When to use**: -- After pulling updates -- After modifying C++ source -- After changing Python web server -- Testing local changes - -### Clean Rebuild - -To force a complete rebuild from scratch: - -```bash -cd ~/PiTrac/packaging -sudo ./build.sh dev force -``` - -**What it does**: -- Deletes all build artifacts -- Rebuilds entire C++ binary -- Reinstalls all components -- Takes 2-5 minutes - -**When to use**: -- Build errors that persist -- Dependency changes -- Switching between branches with significant changes -- Want to ensure clean state - -### Build Artifacts - -The `build.sh` script uses cached artifacts from `packaging/deps-artifacts/`: -- Pre-built OpenCV 4.11.0 (saves ~60 minutes) -- Pre-built ActiveMQ-CPP 3.9.5 -- Pre-built lgpio 0.2.2 -- Pre-built msgpack-cxx 6.1.1 -- Pre-built ONNX Runtime 1.17.3 - -**If artifacts are missing**: -```bash -cd ~/PiTrac -git lfs pull -``` - -These artifacts are stored using Git LFS (Large File Storage) and are checked into the repository. - ---- - -## Build Mode Reference - -```bash -# Full developer install (recommended) -sudo ./build.sh dev - -# Force clean rebuild -sudo ./build.sh dev force - -# Build dependencies only -sudo ./build.sh deps - -# Build PiTrac binary only -sudo ./build.sh build - -# Clean build artifacts -sudo ./build.sh clean -``` - ---- - -## Backup and Restore - -### Backup Your Configuration - -Save your calibration and settings: - -```bash -# Create backup directory -mkdir -p ~/pitrac-backup - -# Backup configuration -cp -r ~/.pitrac/config/ ~/pitrac-backup/ - -# Backup captured images (optional, can be large) -cp -r ~/LM_Shares/Images/ ~/pitrac-backup/ -``` - -### Restore Configuration - -```bash -# Restore configuration -cp -r ~/pitrac-backup/config/* ~/.pitrac/config/ - -# Restart services -sudo systemctl restart pitrac-web -``` - ---- - -## Disk Space Management - -PiTrac can generate many images over time: - -### Check Disk Usage - -```bash -# Check overall disk space -df -h - -# Check PiTrac data sizes -du -sh ~/.pitrac/ -du -sh ~/LM_Shares/Images/ -du -sh ~/.pitrac/logs/ -``` - -### Clean Up Old Data - -```bash -# Remove old images (be careful!) -rm ~/LM_Shares/Images/old-shot-*.png - -# Clear old logs -rm ~/.pitrac/logs/*.log.old - -# Clear PiTrac process logs -echo "" > ~/.pitrac/logs/pitrac.log -``` - -{: .warning } -**Important**: Only delete files you're sure you don't need. Configuration files and calibration data should be backed up before removal. - ---- - -## Service Management - -### Systemd Services - -PiTrac uses two systemd services: - -**activemq.service** - Message broker (system service) -```bash -sudo systemctl start activemq -sudo systemctl stop activemq -sudo systemctl restart activemq -sudo systemctl status activemq -sudo systemctl enable activemq # Start on boot -sudo systemctl disable activemq # Don't start on boot -``` - -**pitrac-web.service** - Web dashboard (system service) -```bash -sudo systemctl start pitrac-web -sudo systemctl stop pitrac-web -sudo systemctl restart pitrac-web -sudo systemctl status pitrac-web -sudo systemctl enable pitrac-web # Start on boot -sudo systemctl disable pitrac-web # Don't start on boot -``` - -{: .note } -**Note**: The PiTrac launch monitor process is NOT a service. It's controlled through the web interface. - ---- - -## Uninstalling PiTrac - -If you need to completely remove PiTrac: - -### Stop All Services - -```bash -# Stop web server -sudo systemctl stop pitrac-web -sudo systemctl disable pitrac-web - -# Stop ActiveMQ -sudo systemctl stop activemq -sudo systemctl disable activemq -``` - -### Remove Binaries and Libraries - -```bash -# Remove installed files -sudo rm -rf /usr/lib/pitrac/ -sudo rm /usr/bin/pitrac -sudo rm -rf /etc/pitrac/ -sudo rm -rf /usr/share/pitrac/ -``` - -### Remove User Data - -{: .warning } -**Warning**: This deletes all your configuration, calibration, and captured images! - -```bash -rm -rf ~/.pitrac/ -rm -rf ~/LM_Shares/ -``` - -### Remove System Packages (Optional) - -```bash -# Remove PiTrac-specific dependencies -sudo apt remove activemq libapr1 libaprutil1 -``` - -{: .note } -Most dependencies (OpenCV, Boost, libcamera) are also used by other software. Only remove if you're sure nothing else needs them. - ---- - -## Next Steps - -**For common issues:** -- **[Troubleshooting Guide]({% link software/install/troubleshooting.md %})** - Solutions to common problems - -**To improve your setup:** -- **[Camera Calibration]({% link camera/cameras.md %})** - Advanced calibration techniques -- **[Simulator Integration]({% link simulator-integration.md %})** - Connect to E6, GSPro, TruGolf - -**Return to:** -- **[Installation Overview]({% link software/pitrac-install.md %})** -- **[First Use Guide]({% link software/install/first-use.md %})** - ---- - -## Quick Command Reference - -| Task | Command | -|------|---------| -| Start web server | `pitrac web start` | -| Stop web server | `pitrac web stop` | -| Check status | `pitrac status` | -| View logs | `pitrac web logs --follow` | -| Update PiTrac | `cd ~/PiTrac && git pull && cd packaging && sudo ./build.sh dev` | -| Clean rebuild | `sudo ./build.sh dev force` | -| Test cameras | `rpicam-hello --list-cameras` | -| Check disk space | `df -h` | -| Backup config | `cp -r ~/.pitrac/config/ ~/pitrac-backup/` | diff --git a/docs/software/install/troubleshooting.md b/docs/software/install/troubleshooting.md deleted file mode 100644 index 4cc1ba40..00000000 --- a/docs/software/install/troubleshooting.md +++ /dev/null @@ -1,594 +0,0 @@ ---- -title: Troubleshooting -layout: default -nav_order: 4 -parent: PiTrac Installation -grand_parent: Software -description: Comprehensive troubleshooting guide for PiTrac installation issues including build failures, service problems, camera detection, and web interface access. -keywords: pitrac troubleshooting, fix pitrac errors, camera not detected, build fails, web server not starting -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -# Installation Troubleshooting - -Solutions to common issues encountered during and after PiTrac installation. - ---- - -## Build Issues - -### Build Fails with Missing Artifacts - -**Symptom**: Build script reports missing pre-built artifacts - -**Solution**: -```bash -cd ~/PiTrac/packaging -git lfs pull -sudo ./build.sh dev -``` - -**Why it happens**: Pre-built dependencies (OpenCV, ActiveMQ, etc.) are stored using Git LFS. If Git LFS wasn't installed when you cloned, these files won't be downloaded. - -**Prevention**: -```bash -# Install Git LFS before cloning -sudo apt install git-lfs -git lfs install -``` - -### Build Errors with Dependencies - -**Symptom**: Compilation fails with missing headers or libraries - -**Solution**: -```bash -# Ensure all system dependencies are installed -cd ~/PiTrac/packaging -sudo apt update -sudo ./build.sh deps # Reinstall dependencies - -# Then rebuild -sudo ./build.sh dev force -``` - -**Common missing dependencies**: -- `build-essential` - C++ compiler -- `meson`, `ninja-build` - Build tools -- `pkg-config` - Library detection -- `libboost-*` - Boost libraries - -### Insufficient Disk Space - -**Symptom**: Build fails with "No space left on device" - -**Check disk space**: -```bash -df -h -``` - -**Solution**: -```bash -# Need at least 5GB free, 10GB recommended - -# Free up space -sudo apt clean -sudo apt autoremove - -# Remove old logs -rm ~/.pitrac/logs/*.log.old - -# Move images to external storage -mv ~/LM_Shares/Images/ /mnt/external/ -``` - -### Build Hangs or Takes Too Long - -**Symptom**: Build appears stuck or takes more than 30 minutes - -**Possible causes**: -1. Building OpenCV from source instead of using pre-built (60+ minutes) -2. Low memory causing swapping -3. Network issues downloading packages - -**Solution**: -```bash -# Verify pre-built artifacts exist -ls -lh packaging/deps-artifacts/ - -# Check memory usage -free -h - -# If low memory, increase swap -sudo dphys-swapfile swapoff -sudo nano /etc/dphys-swapfile -# Set CONF_SWAPSIZE=2048 -sudo dphys-swapfile setup -sudo dphys-swapfile swapon -``` - ---- - -## Service Issues - -### Web Server Won't Start - -**Symptom**: `pitrac web start` fails or service shows inactive - -**Diagnosis**: -```bash -systemctl status pitrac-web -journalctl -u pitrac-web -n 50 -``` - -**Common causes and solutions**: - -**1. Python dependencies not installed** -```bash -cd /usr/lib/pitrac/web-server -sudo pip3 install -r requirements.txt --break-system-packages -sudo systemctl restart pitrac-web -``` - -**2. ActiveMQ not running** -```bash -sudo systemctl status activemq -sudo systemctl start activemq -sudo systemctl restart pitrac-web -``` - -**3. Port 8080 already in use** -```bash -# Check what's using port 8080 -sudo netstat -tlnp | grep 8080 - -# Kill the process or change PiTrac port -# (Edit /usr/lib/pitrac/web-server/main.py to change port) -``` - -**4. File permissions** -```bash -# Fix ownership -sudo chown -R $USER:$USER /usr/lib/pitrac/web-server/ -sudo systemctl restart pitrac-web -``` - -### ActiveMQ Connection Issues - -**Symptom**: Web interface shows "ActiveMQ disconnected" or PiTrac can't send messages - -**Verify ActiveMQ is running**: -```bash -systemctl status activemq -``` - -**Check port 61616 is listening**: -```bash -sudo netstat -tln | grep 61616 -# Should show: tcp6 0 0 :::61616 :::* LISTEN -``` - -**If not running**: -```bash -sudo systemctl start activemq -sudo systemctl enable activemq - -# Check logs for errors -journalctl -u activemq -f -``` - -**If still not working**: -```bash -# Reinstall ActiveMQ configuration -cd ~/PiTrac/packaging -sudo ./src/lib/activemq-service-install.sh - -# Restart -sudo systemctl restart activemq -``` - -### PiTrac Process Won't Start - -**Symptom**: Click "Start" in web interface but process stays stopped - -**Check logs**: -```bash -tail -f ~/.pitrac/logs/pitrac.log -``` - -**Common causes**: - -**1. Cameras not detected** -```bash -# Test cameras -rpicam-hello --list-cameras # Pi 5 -libcamera-hello --list-cameras # Pi 4 - -# Should show 2 cameras -``` - -**2. Configuration file errors** -```bash -# Check configuration exists -ls -l ~/.pitrac/config/ - -# Regenerate configuration through web interface -# Or manually: -rm ~/.pitrac/config/generated_golf_sim_config.json -# Restart web server to regenerate -``` - -**3. Binary permissions** -```bash -# Ensure binary is executable -sudo chmod +x /usr/lib/pitrac/pitrac_lm - -# Test manually -/usr/lib/pitrac/pitrac_lm --logging_level=debug -``` - ---- - -## Camera Issues - -### Camera Not Detected - -**Symptom**: `rpicam-hello --list-cameras` shows no cameras or error - -**Check boot configuration**: -```bash -# Pi 5 -cat /boot/firmware/config.txt | grep camera - -# Pi 4 -cat /boot/config.txt | grep camera -``` - -**Should have**: `camera_auto_detect=1` - -**If missing, add it**: -```bash -# Pi 5 -sudo nano /boot/firmware/config.txt - -# Pi 4 -sudo nano /boot/config.txt - -# Add this line: -camera_auto_detect=1 - -# Save and reboot -sudo reboot now -``` - -**Verify ribbon cable connection**: -- Power off Pi -- Check cable is fully inserted in both camera and Pi -- Check cable orientation (blue side up for most cameras) -- Check for damage to cable or connectors - -**Check libcamera environment**: -```bash -echo $LIBCAMERA_RPI_CONFIG_FILE -``` - -Should point to correct pipeline: -- Pi 4: `/usr/share/libcamera/pipeline/rpi/vc4/rpi_apps.yaml` -- Pi 5: `/usr/share/libcamera/pipeline/rpi/pisp/rpi_apps.yaml` - -### Only One Camera Detected - -**Symptom**: `rpicam-hello --list-cameras` shows 1 camera instead of 2 - -**Check both ribbon cables**: -- Verify both cameras are connected -- Check both CSI ports on the Pi -- Ensure both cables are secure - -**Identify which camera is missing**: -```bash -# Pi 5 -rpicam-hello --list-cameras -# Shows camera IDs and ports - -# Try each camera individually -rpicam-hello --camera 0 -rpicam-hello --camera 1 -``` - -**Hardware checks**: -- Swap ribbon cables between cameras -- Test suspected bad camera on known-good port -- Try different ribbon cable - -### Camera Images Too Dark/Bright - -**Symptom**: Captured images are unusable due to exposure - -**Solution**: Adjust camera settings in web interface -- Navigate to Configuration → Camera Settings -- Adjust "Gain" or "Exposure Time" -- For darker images: Increase gain (try 8-12) -- For brighter images: Decrease gain (try 2-4) -- Test with "Hardware Test" → "Capture Still Image" - -**Lighting considerations**: -- IR strobes may need adjustment -- Avoid direct sunlight or bright windows -- Consistent indoor lighting works best - ---- - -## Web Interface Issues - -### Cannot Access Web Interface - -**Symptom**: Browser can't connect to http://raspberrypi.local:8080 - -**1. Verify web server is running**: -```bash -systemctl status pitrac-web -# Should show "active (running)" -``` - -**2. Check firewall isn't blocking port 8080**: -```bash -sudo ufw status -# If active, allow port 8080: -sudo ufw allow 8080 -``` - -**3. Confirm correct IP address**: -```bash -hostname -I -# Note the IP (e.g., 192.168.1.100) - -# Try accessing with IP instead of hostname -# http://192.168.1.100:8080 -``` - -**4. Test locally on the Pi**: -```bash -curl http://localhost:8080 -# Should return HTML -``` - -**5. Check Pi is on same network**: -```bash -# From your computer, ping the Pi -ping raspberrypi.local - -# Or use IP address -ping 192.168.1.100 -``` - -### Web Interface Loads But Shows Errors - -**Symptom**: Page loads but displays connection errors or missing data - -**Check WebSocket connection**: -- Open browser developer console (F12) -- Look for WebSocket errors -- Verify WebSocket status indicator in UI - -**Check ActiveMQ connectivity**: -- Verify ActiveMQ status indicator -- Check ActiveMQ logs: `journalctl -u activemq -f` - -**Clear browser cache**: -```bash -# Hard refresh: Ctrl+Shift+R (or Cmd+Shift+R on Mac) -``` - -**Check web server logs**: -```bash -journalctl -u pitrac-web -n 100 -# Look for Python errors or stack traces -``` - -### Configuration Changes Don't Take Effect - -**Symptom**: Changes in web interface don't affect PiTrac behavior - -**Solution**: -1. Some settings require PiTrac restart -2. Look for "Restart Required" indicator in UI -3. Stop and restart PiTrac process through web interface - -**If still not working**: -```bash -# Check configuration was saved -cat ~/.pitrac/config/user_settings.json - -# Verify generated config was updated -cat ~/.pitrac/config/generated_golf_sim_config.json - -# Restart web server -sudo systemctl restart pitrac-web -``` - ---- - -## Shot Detection Issues - -### No Shot Data Appearing - -**Symptom**: Hit shots but no data appears in web interface - -**Checklist**: -- [ ] PiTrac process is running (check status indicator) -- [ ] Both cameras show "Connected" -- [ ] ActiveMQ shows "Connected" -- [ ] Ball is visible in camera views -- [ ] IR strobes are firing (should see brief flashes) -- [ ] Ball is on tee in expected location - -**Test ball detection**: -1. Navigate to Testing Tools -2. Run "Ball Detection Test" -3. Review results and adjust sensitivity if needed - -**Check logs for clues**: -```bash -tail -f ~/.pitrac/logs/pitrac.log -# Look for: -# - Camera errors -# - Ball detection failures -# - Processing errors -``` - -### Inaccurate Shot Data - -**Symptom**: Shot data seems wrong (speed too high/low, angles off) - -**Calibration needed**: -1. Run Calibration Wizard in web interface -2. Verify camera positions haven't moved -3. Check calibration data: `cat ~/.pitrac/config/calibration_data.json` - -**Environmental factors**: -- Lighting changes (time of day, room lights) -- Camera position shifted -- Ball type changed (different size/reflectivity) -- Net or objects in camera view - -**Detection method**: -- Try different detection method (HoughCircles vs YOLO) -- Adjust detection sensitivity in Configuration - ---- - -## System Performance Issues - -### High CPU Usage - -**Check what's using CPU**: -```bash -top -# Look for pitrac_lm, python3, or other processes -``` - -**Common causes**: -- Multiple PiTrac instances running -- Detection method too intensive (YOLO+SAHI on Pi 4) -- Logging level set too high (debug) - -**Solutions**: -```bash -# Kill extra processes -pkill -f pitrac_lm - -# Reduce logging verbosity in Configuration -# Switch to lighter detection method (HoughCircles) -``` - -### High Memory Usage - -**Check memory**: -```bash -free -h -``` - -**If low on memory**: -```bash -# Increase swap space -sudo dphys-swapfile swapoff -sudo nano /etc/dphys-swapfile -# Set CONF_SWAPSIZE=2048 -sudo dphys-swapfile setup -sudo dphys-swapfile swapon -``` - -**Consider**: -- Upgrade to Pi 5 with 8GB RAM -- Reduce image resolution in Configuration -- Use lighter detection method - -### System Feels Slow - -**Check temperature**: -```bash -vcgencmd measure_temp -# Should be < 80°C -``` - -**If overheating**: -- Ensure proper ventilation -- Add heatsinks or fan -- Reduce processing load - -**Check disk I/O**: -```bash -iostat -x 2 -# High %util means disk bottleneck -``` - -**Consider**: -- Upgrade to NVMe SSD (Pi 5) -- Use faster SD card (A2 class) -- Reduce image saving frequency - ---- - -## Getting Additional Help - -If you're still experiencing issues: - -**1. Check Logs**: -```bash -# PiTrac process logs -tail -f ~/.pitrac/logs/pitrac.log - -# Web server logs -journalctl -u pitrac-web -f - -# ActiveMQ logs -journalctl -u activemq -f - -# System logs -dmesg | tail -n 50 -``` - -**2. Run System Status**: -```bash -pitrac status -``` - -**3. Gather System Information**: -```bash -# OS version -cat /etc/os-release - -# Architecture (should be aarch64) -uname -m - -# Disk space -df -h - -# Memory -free -h - -# Camera detection -rpicam-hello --list-cameras -``` - -**4. Get Help from Community**: -- **[Discord Community](https://discord.gg/j9YWCMFVHN)** - Active community support -- **[GitHub Issues](https://github.com/PiTracLM/PiTrac/issues)** - Report bugs or request features -- **[Troubleshooting Guide]({% link troubleshooting.md %})** - General troubleshooting - -**When asking for help, include**: -- What you were trying to do -- What happened instead -- Error messages from logs -- System information (Pi model, OS version, architecture) -- Steps you've already tried - ---- - -## Return To - -- **[Installation Overview]({% link software/pitrac-install.md %})** -- **[First Use Guide]({% link software/install/first-use.md %})** -- **[Managing PiTrac]({% link software/install/managing.md %})** diff --git a/docs/software/pi-setup.md b/docs/software/pi-setup.md deleted file mode 100644 index 388bdeca..00000000 --- a/docs/software/pi-setup.md +++ /dev/null @@ -1,220 +0,0 @@ ---- -title: Raspberry Pi Setup -layout: default -nav_order: 1 -parent: Software -has_children: true -description: Complete guide for setting up Raspberry Pi computers for PiTrac, including OS installation, first login, system updates, and optional advanced configurations. -keywords: raspberry pi setup, PiTrac installation, pi OS configuration, raspberry pi first boot, SSH setup -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -# Raspberry Pi Setup & Configuration - -This guide covers setting up your Raspberry Pi from a blank SD card to a fully configured system ready for PiTrac installation. - -{: .note } -**Quick Start**: This guide covers Raspberry Pi OS installation and initial system configuration. Once complete, proceed to **[Install PiTrac Software]({% link software/pitrac-install.md %})**. - ---- - -## Overview - -**What you'll do:** -1. Install Raspberry Pi OS using Raspberry Pi Imager -2. Log in and perform initial updates -3. (Optional) Configure advanced features like NVMe boot or NAS mounting - -**Time Required:** -- **Essential setup**: ~45 minutes -- **With optional configs**: ~75 minutes - -**Difficulty:** Beginner-friendly with step-by-step instructions - ---- - -## System Requirements - -### Required Hardware - -- **Raspberry Pi 5** with at least 8GB RAM (Pi 4 also supported) -- **MicroSD card** - 64GB minimum (32GB may work but 64GB+ recommended) -- **Power supply** - Official Raspberry Pi power supply recommended -- **Network connection** - Ethernet cable strongly recommended for initial setup - -### Recommended (Optional) - -- **Monitor, keyboard, mouse** - Helpful for first boot, even if running headless later -- **NVMe HAT + SSD** - For significantly faster performance (Pi 5 only) -- **Second computer** - For SSH access and easier copy-paste from documentation -- **NAS or file server** - For development work and safer file storage - ---- - -## Setup Process - -### Step 1: Install Operating System - -Install Raspberry Pi OS using Raspberry Pi Imager with proper configuration for PiTrac. - -**→ [Install Raspberry Pi OS]({% link software/pi-setup/install-os.md %})** - -**What you'll do:** -- Download and use Raspberry Pi Imager -- Choose correct OS version (64-bit Bookworm or Trixie) -- Configure hostname, username, WiFi, and SSH -- Image your SD card and first boot - -**Time:** ~30 minutes - ---- - -### Step 2: First Login & Updates - -Log into your Pi (via SSH or console) and perform essential system updates. - -**→ [First Login & Updates]({% link software/pi-setup/first-login.md %})** - -**What you'll do:** -- Connect via SSH or console -- Update system packages -- Verify sudo privileges -- Check system configuration - -⏱ **Time:** ~15 minutes - ---- - -### Step 3: Advanced Configuration (Optional) - -Configure optional features for enhanced performance and development workflows. - -**→ [Advanced Configuration]({% link software/pi-setup/advanced.md %})** - -**Optional features:** -- **NVMe Boot** - Boot from SSD for 5-10x speed improvement -- **NAS Mounting** - Mount remote drives for safer development -- **Samba Server** - Share files between Pis -- **SSH Keys** - Passwordless authentication -- **Git Setup** - Configure for shared drives - -**Time:** Varies by feature (15-60 minutes) - -{: .note } -These are optional. PiTrac works fine without them. - ---- - -## Current System Architecture - -Modern PiTrac uses a simplified architecture: - -- **Single Pi setup** is now standard -- All services run on one Raspberry Pi 5 -- Legacy dual-Pi configurations still supported but not recommended -- Pre-built packages handle dependencies automatically - -You **do not** need to manually build OpenCV, ActiveMQ, or other dependencies - the installation process handles everything. - ---- - -## After Setup - -Once your Pi is set up, continue to: - -**→ [Install PiTrac Software]({% link software/pitrac-install.md %})** - -This will install the launch monitor binary, web dashboard, and all required services. - ---- - -## Quick Reference - -### Essential Commands - -```bash -# Update system -sudo apt update && sudo apt -y upgrade - -# Check OS version -cat /etc/os-release - -# Check architecture (must be aarch64) -uname -m - -# Find IP address -hostname -I - -# Reboot -sudo reboot now - -# Shutdown -sudo poweroff -``` - -### Network Access - -**SSH from another computer:** -```bash -# Using hostname (usually works) -ssh @pitrac.local - -# Using IP address -ssh @192.168.1.100 -``` - -**Find Pi's IP address:** -- Check router's DHCP client list -- On Pi with monitor: `hostname -I` -- Network scanner: `nmap` or Angry IP Scanner - ---- - -## Troubleshooting - -**Can't find Pi on network:** -- Wait 5 minutes after first boot -- Check router for new DHCP clients -- Verify ethernet cable connected -- Check WiFi credentials if using wireless -- Try connecting a monitor to see boot progress - -**SD card won't boot:** -- Verify you selected 64-bit OS -- Check SD card isn't corrupted -- Try re-imaging with Raspberry Pi Imager -- Ensure SD card is properly inserted -- Try different SD card - -**SSH connection refused:** -- Verify SSH was enabled during OS installation -- Check Pi is on network: `ping pitrac.local` -- Wait longer - first boot takes 3-4 minutes -- Try IP address instead of hostname -- Check firewall isn't blocking port 22 - -**System updates fail:** -- Check internet connection: `ping google.com` -- Verify DNS works: `nslookup google.com` -- Check disk space: `df -h` -- Try: `sudo apt update --fix-missing` - ---- - -## Need Help? - -- **Discord Community**: [Join the PiTrac Discord](https://discord.gg/j9YWCMFVHN) -- **GitHub Issues**: [Report issues](https://github.com/PiTracLM/PiTrac/issues) -- **Troubleshooting Guide**: [Common Issues]({% link troubleshooting.md %}) - ---- - -## What's Next? - -After completing Pi setup: - -1. **OS Installed** - Raspberry Pi OS running -2. **System Updated** - All packages current -3. **Network Configured** - SSH access working -4. **Install PiTrac** - [Next: Install PiTrac Software]({% link software/pitrac-install.md %}) \ No newline at end of file diff --git a/docs/software/pi-setup/advanced.md b/docs/software/pi-setup/advanced.md deleted file mode 100644 index 24b3191d..00000000 --- a/docs/software/pi-setup/advanced.md +++ /dev/null @@ -1,474 +0,0 @@ ---- -title: Advanced Configuration -layout: default -nav_order: 3 -parent: Raspberry Pi Setup -grand_parent: Software -description: Advanced Raspberry Pi configuration for PiTrac including NVMe boot setup, NAS drive mounting, Samba server configuration, and SSH key authentication. -keywords: raspberry pi nvme boot, NAS mount raspberry pi, samba server pi, SSH keys raspberry pi, pi advanced setup -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -# Advanced Configuration - -**Optional configurations for enhanced performance and development workflows.** - -{: .note } -These are **optional** configurations. PiTrac works fine without them. Only proceed if you need these specific features. - -**What's covered:** -- NVMe SSD boot for faster performance -- NAS drive mounting for safer development -- Samba server for file sharing between Pis -- SSH key authentication for passwordless login -- Git configuration for shared drives - ---- - -## NVMe Boot Setup - -Boot from an NVMe SSD for significantly faster performance compared to SD cards. - -**Benefits:** -- 5-10x faster read/write speeds -- More reliable than SD cards -- Larger storage capacity - -**Requirements:** -- Raspberry Pi 5 (Pi 4 requires USB boot, not NVMe) -- NVMe HAT or adapter board -- NVMe M.2 SSD drive -- Already have working Pi with OS on SD card - -**Time Required:** ~30 minutes - ---- - -### Installation Steps - -**1. Install Hardware** - -With Pi powered off: -- Install NVMe HAT/adapter per manufacturer instructions -- Insert NVMe SSD into M.2 slot -- Ensure secure connections - -**2. Enable PCIe Interface** - -Boot the Pi from SD card and enable PCIe: - -```bash -cd /boot/firmware/ -sudo cp config.txt config.txt.ORIGINAL -sudo nano /boot/firmware/config.txt -``` - -Add before the last `[all]` section: -``` -# Enable the PCIe External Connector -dtparam=pciex1 -``` - -Alternative (more memorable): -``` -dtparam=nvme -``` - -{: .note } -For non-HAT+ adapters, add `PCIE_PROBE=1` on the first non-commented line. - -Save and reboot: -```bash -sudo reboot now -``` - -**3. Verify NVMe Detection** - -After reboot: -```bash -lsblk -``` - -You should see `nvme0n1` listed: -``` -NAME MAJ:MIN RM SIZE RO TYPE MOUNTPOINTS -mmcblk0 179:0 0 29.7G 0 disk -|-mmcblk0p1 179:1 0 512M 0 part /boot/firmware -`-mmcblk0p2 179:2 0 29.2G 0 part / -nvme0n1 259:0 0 238.5G 0 disk -``` - -**4. Configure Boot Order** - -Use raspi-config for easiest setup: -```bash -sudo raspi-config -``` - -Navigate to: -- **Advanced Options** → **Boot Order** -- Select **NVMe/USB Boot** (boots from NVMe first) -- Exit and don't reboot yet - -**5. Copy OS to NVMe** - -**Desktop version (GUI):** -- Open: **Applications → Accessories → SD Card Copier** -- Source: SD card -- Destination: NVMe drive -- Click "Start" -- Wait 10-15 minutes - -**Lite version (command line):** -```bash -# Use dd or similar tool - see online guides -# Or temporarily boot Desktop to use SD Card Copier -``` - -**6. Boot from NVMe** - -```bash -sudo poweroff -``` - -Remove power, **remove the SD card**, then power on. - -Pi should boot from NVMe - much faster! - -**Troubleshooting:** -- If it doesn't boot, reinsert SD card and check boot order -- Verify NVMe was detected in step 3 -- Check [Geekworm NVMe guide](https://wiki.geekworm.com/NVMe_SSD_boot_with_the_Raspberry_Pi_5) - ---- - -## NAS Drive Mounting - -Mount a remote NAS drive for safer development and easier file sharing. - -**Benefits:** -- Keep important files off the Pi (Pis can be fragile) -- Easy file access from multiple computers -- Centralized backup location - -**Requirements:** -- NAS or file server with NFS or CIFS/SMB -- Network connectivity between Pi and NAS -- NAS credentials (username/password) - ---- - -### Setup NFS Mount (Recommended) - -NFS is simpler and faster for Linux-to-Linux connections. - -**1. Create Mount Point** - -```bash -sudo mkdir /mnt/PiTracShare -``` - -**2. Backup fstab** - -```bash -cd /etc -sudo cp fstab fstab.original -sudo chmod 600 /etc/fstab -``` - -**3. Edit fstab** - -```bash -sudo nano /etc/fstab -``` - -Add at the end: -``` -:/ /mnt/PiTracShare nfs _netdev,auto 0 0 -``` - -Example: -``` -10.0.0.100:/NAS_Share_Drive /mnt/PiTracShare nfs _netdev,auto 0 0 -``` - -**4. Mount** - -```bash -sudo systemctl daemon-reload -sudo mount -a -``` - -**5. Verify** - -```bash -ls -la /mnt/PiTracShare -``` - -Should show NAS contents. - ---- - -### Setup CIFS/SMB Mount (Windows NAS) - -For Windows file servers or Samba shares. - -**1. Install CIFS utils** - -```bash -sudo apt install cifs-utils -``` - -**2. Create Mount Point** - -```bash -sudo mkdir /mnt/PiTracShare -``` - -**3. Edit fstab** - -```bash -sudo nano /etc/fstab -``` - -Add at the end: -``` -/// /mnt/PiTracShare cifs username=,password=,workgroup=WORKGROUP,users,exec,auto,rw,file_mode=0777,dir_mode=0777,user_xattr 0 0 -``` - -{: .warning } -**Security Warning**: Storing passwords in fstab is insecure. Only do this on private networks. For better security, use credentials file. - -**4. Mount** - -```bash -sudo systemctl daemon-reload -sudo mount -a -``` - ---- - -## Samba Server Setup - -Set up Samba to share directories between Pis or with other computers. - -**Use case:** Share images/data between two-Pi setups (legacy configurations). - -**Requirements:** -- Two Raspberry Pis on same network -- Designated "server" Pi (faster Pi recommended) - ---- - -### On the Server Pi - -**1. Install Samba** - -```bash -sudo apt-get install samba samba-common-bin -sudo systemctl restart smbd -sudo systemctl status smbd -``` - -Should show "active (running)". - -**2. Create Shared Directory** - -```bash -mkdir -p ~/LM_Shares/WebShare -mkdir ~/LM_Shares/Images -``` - -**3. Configure Samba** - -```bash -sudo nano /etc/samba/smb.conf -``` - -Add at the bottom: -``` -[LM_Shares] -path = /home//LM_Shares -writeable = Yes -create mask = 0777 -directory mask = 0777 -public = no -``` - -**4. Set Samba Password** - -```bash -sudo smbpasswd -a -``` - -Enter your Pi user password. - -**5. Restart Samba** - -```bash -sudo systemctl restart smbd -``` - ---- - -### On the Client Pi - -**1. Create Mount Point** - -```bash -mkdir ~/LM_Shares -``` - -**2. Edit fstab** - -```bash -sudo nano /etc/fstab -``` - -Add: -``` -///LM_Shares /home//LM_Shares cifs username=,password=,workgroup=WORKGROUP,users,exec,auto,rw,file_mode=0777,dir_mode=0777,user_xattr 0 0 -``` - -**3. Mount** - -```bash -sudo systemctl daemon-reload -sudo mount -a -``` - -**4. Verify** - -```bash -ls -la ~/LM_Shares -``` - -Should show Images and WebShare directories from server Pi. - ---- - -## SSH Key Authentication - -Set up passwordless SSH login using SSH keys. - -**Benefits:** -- No password typing for every login -- More secure than password authentication -- Required for some automation scripts - -{: .warning } -**Security Note**: Only use this on your private network with a secure computer. - ---- - -### Setup SSH Keys - -**1. On Your Computer (Not the Pi)** - -Generate SSH key pair: - -**Windows (using PuTTY):** -- Launch PuTTYgen -- Click "Generate" -- Move mouse to generate randomness -- Save private key (keep secure!) -- Copy public key text - -**Mac/Linux:** -```bash -ssh-keygen -t rsa -b 4096 -# Press Enter for default location -# Optional: Enter passphrase for extra security -``` - -**2. On the Pi** - -Create SSH directory: -```bash -install -d -m 700 ~/.ssh -``` - -Edit authorized keys: -```bash -nano ~/.ssh/authorized_keys -``` - -Paste your public key (starts with `ssh-rsa`). - -Set permissions: -```bash -chmod 644 ~/.ssh/authorized_keys -``` - -**3. Test Connection** - -From your computer: -```bash -ssh @pitrac.local -``` - -Should log in without password! - ---- - -## Git Configuration - -Configure Git for shared drive development. - -**Only needed if:** -- Using Git with NAS/shared drives -- Experiencing "unsafe repository" warnings -- Using Git Desktop or Visual Studio - -**Setup:** - -```bash -git config --global --add safe.directory "*" -``` - -This tells Git to trust all repositories. - -{: .warning } -Only use this on drives you fully control. Not for public/shared systems. - ---- - -## Next Steps - -**Advanced Configuration Complete!** - -**Continue to:** -- **[Install PiTrac Software]({% link software/pitrac-install.md %})** - Install the launch monitor - -**Return to:** -- **[Pi Setup Overview]({% link software/pi-setup.md %})** - ---- - -## Troubleshooting - -**NVMe not detected:** -- Check HAT is properly seated -- Verify M.2 SSD is inserted fully -- Check `/boot/firmware/config.txt` has `dtparam=pciex1` -- Try different boot order settings - -**NAS mount fails:** -- Verify NAS IP is correct: `ping ` -- Check NAS share exists and is accessible -- For NFS: Ensure NFS is enabled on NAS -- For CIFS: Verify username/password -- Check `/var/log/syslog` for mount errors - -**Samba connection fails:** -- Verify Samba is running: `sudo systemctl status smbd` -- Check firewall isn't blocking port 445 -- Verify server Pi IP in client fstab -- Test connection: `smbclient -L // -U ` - -**SSH key not working:** -- Verify public key is in `~/.ssh/authorized_keys` -- Check permissions: `ls -la ~/.ssh/` -- Ensure key format is correct (starts with `ssh-rsa`) -- Try verbose SSH: `ssh -v @pitrac.local` \ No newline at end of file diff --git a/docs/software/pi-setup/first-login.md b/docs/software/pi-setup/first-login.md deleted file mode 100644 index 816ac55d..00000000 --- a/docs/software/pi-setup/first-login.md +++ /dev/null @@ -1,213 +0,0 @@ ---- -title: First Login & Updates -layout: default -nav_order: 2 -parent: Raspberry Pi Setup -grand_parent: Software -description: Initial login to Raspberry Pi, system updates, and basic configuration for PiTrac including SSH access and sudo privileges. -keywords: raspberry pi first login, SSH raspberry pi, pi system update, sudo privileges, remote login pi -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -# First Login & Updates - -After installing Raspberry Pi OS, you need to log in and perform initial system updates. - -**Time Required:** ~15 minutes - -**Difficulty:** Beginner - ---- - -## Login Options - -You have two ways to access your Pi: - -### Option 1: Direct Login (With Monitor & Keyboard) - -If you have a monitor, keyboard, and mouse connected: - -1. You'll see either the desktop (Desktop version) or login prompt (Lite version) -2. Enter your username and password (configured during OS installation) -3. For Desktop version, you're logged in automatically after entering credentials -4. For Lite version, you'll see a command prompt after successful login - -### Option 2: Remote Login via SSH - -SSH (Secure Shell) allows you to access your Pi remotely from another computer. - -**Prerequisites:** -- Pi must be on same network as your computer -- SSH must be enabled (configured during OS installation) -- Know your Pi's hostname or IP address - -**From Windows:** -```bash -# Using PuTTY or Windows Terminal -ssh @.local -# Example: ssh pitrac@pitrac.local - -# Or with IP address -ssh @192.168.1.100 -``` - -**From Mac/Linux:** -```bash -# Open Terminal -ssh @.local -# Example: ssh pitrac@pitrac.local -``` - -**First SSH Connection:** -- You'll see a message about host authenticity (ECDSA key fingerprint) -- Type `yes` to continue -- Enter your password when prompted -- You won't see characters while typing password - this is normal - -{: .note } -**Tip**: Logging in remotely makes it easy to copy-paste commands from this documentation directly into your Pi terminal. - ---- - -## Initial System Updates - -After logging in, immediately update your system to get the latest security patches and software versions. - -### Update Package Lists - -```bash -sudo apt update -``` - -This downloads information about the newest versions of packages and their dependencies. - -### Upgrade Installed Packages - -```bash -sudo apt -y upgrade -``` - -The `-y` flag automatically answers "yes" to prompts. This can take 5-15 minutes depending on how many packages need updating. - -### Reboot - -After updates complete, reboot to ensure all changes take effect: - -```bash -sudo reboot now -``` - -Your SSH connection will close. Wait 1-2 minutes, then log back in. - ---- - -## Verify Sudo Privileges - -The user account you created during OS installation should automatically have sudo (administrator) privileges. Let's verify: - -### Test Sudo Access - -```bash -sudo whoami -``` - -If configured correctly, this should output: `root` - -### If Sudo Doesn't Work - -If you get an error like "` is not in the sudoers file`", you need to add your user to the sudo group. - -**From another account with sudo access:** -```bash -sudo usermod -aG sudo -``` - -**Or edit sudoers file directly** (advanced): -```bash -su - # Switch to root -visudo -# Add this line: -# ALL=(ALL:ALL) ALL -``` - -More guidance: [How to grant sudo privileges](https://askubuntu.com/questions/168280/how-do-i-grant-sudo-privileges-to-an-existing-user) - ---- - -## Verify System Information - -Check your Pi is configured correctly: - -### Check OS Version - -```bash -cat /etc/os-release -``` - -Look for: -- `VERSION_CODENAME` should be `bookworm` (Debian 12) or `trixie` (Debian 13) -- `PRETTY_NAME` should say "Raspberry Pi OS" - -### Check Architecture - -```bash -uname -m -``` - -Should output: `aarch64` (64-bit ARM) - -{: .warning } -If you see `armv7l` or `armhf`, you're running 32-bit OS. PiTrac requires 64-bit - you must re-image your SD card. - -### Check Available Disk Space - -```bash -df -h -``` - -Look for the root filesystem (`/`): -- Should show most of your SD card size (minus OS overhead) -- Ensure you have at least 10GB free for PiTrac installation - ---- - -## Next Steps - -**Basic Setup Complete!** - -**Essential Next Step:** -- **[Install PiTrac Software]({% link software/pitrac-install.md %})** - Install the launch monitor software - -**Optional Advanced Configuration:** -- **[Advanced Setup]({% link software/pi-setup/advanced.md %})** - NVMe boot, NAS mounting, SSH keys - -**Return to:** -- **[Pi Setup Overview]({% link software/pi-setup.md %})** - ---- - -## Troubleshooting - -**Can't SSH to Pi:** -- Verify Pi is powered on and network cable connected -- Check router to confirm Pi has IP address -- Try using IP address instead of hostname -- Verify SSH was enabled during OS installation -- Ping the Pi: `ping .local` or `ping ` - -**Updates failing:** -- Check internet connection: `ping google.com` -- Verify DNS is working: `nslookup google.com` -- Try different mirror: `sudo apt update --fix-missing` -- Check disk space: `df -h` - -**Permission denied errors:** -- Verify you're using `sudo` for system commands -- Check sudo privileges as shown above -- Ensure you're logged in as the correct user: `whoami` - -**Forgot password:** -- If you have physical access, you can reset via recovery mode -- Otherwise, you'll need to re-image the SD card -- This is why it's important to write down your password! \ No newline at end of file diff --git a/docs/software/pi-setup/install-os.md b/docs/software/pi-setup/install-os.md deleted file mode 100644 index 2e4561e5..00000000 --- a/docs/software/pi-setup/install-os.md +++ /dev/null @@ -1,236 +0,0 @@ ---- -title: Install Raspberry Pi OS -layout: default -nav_order: 1 -parent: Raspberry Pi Setup -grand_parent: Software -description: Step-by-step guide to installing Raspberry Pi OS using Raspberry Pi Imager including OS selection, configuration settings, and first boot for PiTrac. -keywords: raspberry pi imager, install pi OS, bookworm trixie setup, pi OS configuration, raspberry pi first boot -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -# Install Raspberry Pi OS - -This guide walks through installing Raspberry Pi OS using Raspberry Pi Imager with all necessary configuration for PiTrac. - -**Time Required:** ~30 minutes (including imaging and first boot) - -**Difficulty:** Beginner-friendly - ---- - -## OS Version Requirements - -{: .warning } -> **CRITICAL - OS Version Requirements** -> -> PiTrac requires **Raspberry Pi OS 64-bit** -> -> - **Supported versions:** Debian 12 (Bookworm) or Debian 13 (Trixie) -> - **System:** 64-bit (required) -> -> **Do NOT use:** -> - 32-bit versions - will not work with PiTrac - -## Desktop or Lite? - -Both work fine: -- **Desktop**: Has GUI, easier for first-timers -- **Lite**: Command-line only, uses fewer resources - -Choose based on your comfort level with Linux command line. - ---- - -## Installation Steps - -### 1. Prepare Your Hardware - -Before starting: -- Pi powered off (unplugged) -- Cat5/6 ethernet cable connected to your local network (recommended for faster downloads) -- Micro SD card connected to your PC/Mac via USB adapter -- Use 64GB card minimum (32GB may work but 64GB recommended) - -### 2. Download Raspberry Pi Imager - -- Download from [raspberrypi.com/software](https://www.raspberrypi.com/software/) -- Install for your operating system (Windows, macOS, or Ubuntu) -- Launch the application - -### 3. Select Your Device - -- Click **"CHOOSE DEVICE"** -- Select either **"Raspberry Pi 4"** or **"Raspberry Pi 5"** depending on your hardware -- This optimizes the OS for your specific Pi model - -### 4. Choose the Operating System - -- Click **"CHOOSE OS"** -- Select **ONE** of the following 64-bit versions: - - **"Raspberry Pi OS (64-bit)"** - Desktop with GUI (Debian 13 Trixie) - - **"Raspberry Pi OS (64-bit) Lite"** - Command-line only (Debian 13 Trixie) - - **"Raspberry Pi OS (Legacy, 64-bit)"** - Desktop with GUI (Debian 12 Bookworm) - - **"Raspberry Pi OS (Legacy, 64-bit) Lite"** - Command-line only (Debian 12 Bookworm) - -Both Bookworm (Debian 12) and Trixie (Debian 13) are fully supported. - -{: .note } -**Important**: Must be 64-bit version. Do not use 32-bit versions. - -### 5. Select Storage - -- Click **"CHOOSE STORAGE"** -- Select your Micro SD card - -{: .warning } -**WARNING**: Triple-check this is your SD card and NOT your computer's hard drive! Everything on this storage will be erased. - -### 6. Configure OS Customization Settings - -- Click **"NEXT"** -- When prompted "Would you like to apply OS customisation settings?", click **"EDIT SETTINGS"** - -#### GENERAL Tab - -**Set hostname:** -- Choose a descriptive hostname to identify your Pi on the network -- Examples: `pitrac`, `pitrac-main`, `rsp01`, `rsp02` -- This will be how you connect to the Pi (e.g., `ssh pitrac.local`) - -**Set username and password:** -- **Username**: Enter a username for your Pi account - - Recommended: `pitrac` or your preferred username - - This will be `` throughout documentation -- **Password**: Choose a strong password - - This is what you'll use to log in via SSH or console - - Write this down securely - you'll need it for first login - - Make sure "Password" checkbox is enabled - -**Configure wireless LAN (WiFi):** -- **SSID**: Your WiFi network name -- **Password**: Your WiFi password -- **Wireless LAN country**: Select your country (required for regulatory compliance) -- Even if using ethernet, configuring WiFi provides a backup connection method - -**Set locale settings:** -- **Time zone**: Select your timezone (e.g., `America/New_York`) -- **Keyboard layout**: Select your keyboard layout (e.g., `us` for US English) - -#### SERVICES Tab - -**Enable SSH:** -- Check the box for "Enable SSH" -- This allows you to remotely connect to your Pi -- Select "Use password authentication" -- SSH is required for headless operation and remote management -- You can set up key-based authentication later for enhanced security - -#### OPTIONS Tab - -**Eject media when finished:** -- Enable this option to safely eject the SD card after writing - -**Enable telemetry:** -- Optional - sends anonymous usage statistics to Raspberry Pi Foundation - -### 7. Start the Imaging Process - -- Review all settings carefully -- Click **"SAVE"** to save your customization settings -- Click **"YES"** to apply OS customisation settings -- Click **"YES"** again to confirm you want to erase the SD card -- The imaging process will begin - -**Time estimate**: 15-25 minutes depending on SD card speed and internet connection - -The imager will: -- Download the OS image if not cached -- Write the image to your SD card -- Verify the write was successful -- Apply your custom settings -- Eject the card (if enabled) - ---- - -## First Boot - -### 8. Prepare for Boot - -Once the SD card is written and verified: -- Eject the SD card from your computer -- Insert the Micro SD card into your Pi's card slot - - **Never** insert or remove the SD card while the Pi is powered on -- If you have keyboard, mouse, and monitor, connect them now - - Even for headless setups, having a monitor for first boot helps troubleshoot issues -- Connect the ethernet cable (if using wired network) -- Finally, connect the power supply to boot the Pi - -### 9. First Boot Process - -The first boot takes 2-3 minutes as the Pi: -- Expands the filesystem to use the full SD card -- Applies your custom settings (hostname, username, WiFi, SSH) -- Generates SSH host keys -- Connects to WiFi/network -- Resizes partitions - -The Pi will automatically reboot once during this process. - -**What you'll see:** -- **Desktop version**: LXDE desktop after boot completes -- **Lite version**: Login prompt at the console -- **Headless**: Wait 3-4 minutes then try to SSH - -### 10. Find Your Pi's IP Address - -For SSH connection, you need the Pi's IP address: - -**Option 1** - If you have a monitor connected: -```bash -hostname -I -``` - -**Option 2** - Check your router's DHCP client list - -**Option 3** - Use hostname with mDNS (usually works): -```bash -ssh @.local -# Example: ssh pitrac@pitrac.local -``` - -**Option 4** - Use a network scanner like `nmap` or "Angry IP Scanner" - ---- - -## Next Steps - -**OS Installation Complete!** - -Continue to: **[First Login & Updates]({% link software/pi-setup/first-login.md %})** - -Or return to: **[Pi Setup Overview]({% link software/pi-setup.md %})** - ---- - -## Troubleshooting - -**Can't find Pi on network:** -- Wait 5 minutes - first boot takes time -- Check router for new DHCP clients -- Try connecting monitor to see boot progress -- Verify ethernet cable is connected -- Check WiFi credentials if using wireless - -**Imager fails to write:** -- Try a different SD card -- Check if SD card is write-protected -- Run imager as administrator -- Verify SD card is not corrupted - -**SD card won't eject:** -- Safely eject from your OS before removing -- On Windows: Right-click drive → Eject -- On Mac: Drag to trash or use Eject button -- On Linux: Use `umount` command \ No newline at end of file diff --git a/docs/software/pitrac-install.md b/docs/software/pitrac-install.md deleted file mode 100644 index 15d74181..00000000 --- a/docs/software/pitrac-install.md +++ /dev/null @@ -1,276 +0,0 @@ ---- -title: PiTrac Installation -layout: default -nav_order: 2 -parent: Software -has_children: true -description: Step-by-step PiTrac software installation guide including building from source, APT package installation, dependency management, and service configuration for the golf launch monitor. -keywords: install pitrac software, build from source raspberry pi, apt package install, golf monitor software setup, compile opencv raspberry pi -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -# PiTrac Installation Guide - -Install the PiTrac software on your Raspberry Pi and start tracking golf shots. - -{: .note } -**Important**: Complete [Raspberry Pi Setup]({% link software/pi-setup.md %}) before installing PiTrac. Your Pi must have the OS installed, be updated, and have network access. - ---- - -## Installation Overview - -**What you'll install:** -- PiTrac launch monitor binary (C++) -- Web dashboard and configuration interface (Python/FastAPI) -- ActiveMQ message broker -- Camera libraries and configuration -- Test resources and calibration tools - -**Time Required:** 10-20 minutes (building from source) - -**Difficulty:** Intermediate (script-automated) - ---- - -## Prerequisites - -Before starting, ensure you have: - -- **Raspberry Pi 5 with 8GB RAM** (recommended) - - Raspberry Pi 4 with 8GB RAM also supported -- **Raspberry Pi OS 64-bit** installed and configured (Bookworm or Trixie) - - See [Pi Setup Guide]({% link software/pi-setup.md %}) for OS installation -- **Active internet connection** for downloading packages -- **Sudo privileges** on your Pi -- **At least 5GB free disk space** (10GB recommended for development) - -{: .warning } -**Critical**: You must have completed the [Raspberry Pi Setup]({% link software/pi-setup.md %}) before proceeding. This includes OS installation, system updates, and network configuration. - ---- - -## Installation Methods - -Choose the installation method that fits your needs: - -### Build from Source (Recommended) - -**→ [Build from Source Guide]({% link software/install/build-from-source.md %})** - -Building from source is currently the recommended method. Ideal for: -- Getting the latest features -- Development and customization -- Understanding the build process - -**What it does:** -- Clones PiTrac repository from GitHub -- Installs system dependencies (~80 packages) -- Extracts pre-built libraries (OpenCV, ActiveMQ, lgpio) -- Compiles PiTrac C++ binary -- Installs web server and services -- Configures cameras and message broker - -**Time:** 10-20 minutes on Pi 5 (first install, network-dependent) - ---- - -### APT Package Installation - -**Coming Soon**: PiTrac will be available as a Debian package for easy installation via `apt`. - -```bash -# Future installation (not yet available) -sudo apt update -sudo apt install pitrac -``` - -This will provide: -- One-command installation -- Automatic dependency resolution -- System updates through `apt upgrade` -- Simpler for end users - -**Status**: Package infrastructure in development. Check [GitHub Releases](https://github.com/PiTracLM/PiTrac/releases) for availability. - ---- - -## After Installation - -Once PiTrac is installed, follow these guides in order: - -### Step 1: First Use - -**→ [First Use Guide]({% link software/install/first-use.md %})** - -Learn how to: -- Access the web dashboard -- Start the PiTrac process -- Navigate the web interface -- Make your first shot -- Understand shot data - -**Time:** ~10 minutes - ---- - -### Step 2: Managing PiTrac - -**→ [Managing PiTrac Guide]({% link software/install/managing.md %})** - -Essential knowledge for: -- Using CLI commands -- Managing services (web server, ActiveMQ) -- Understanding file locations -- Updating PiTrac -- Development workflow -- Backup and restore - -**Reference guide** - bookmark for when needed - ---- - -### Step 3: Troubleshooting (If Needed) - -**→ [Troubleshooting Guide]({% link software/install/troubleshooting.md %})** - -Solutions for: -- Build failures -- Service issues (web server, ActiveMQ) -- Camera detection problems -- Web interface access -- Shot detection issues -- Performance problems - -**Use when needed** - comprehensive problem-solving reference - ---- - -## Quick Start Path - -For experienced users who want the essentials: - -1. **[Build from Source]({% link software/install/build-from-source.md %})** - ```bash - git clone https://github.com/PiTracLM/PiTrac.git - cd PiTrac/packaging - sudo ./build.sh dev - ``` - -2. **[First Use]({% link software/install/first-use.md %})** - - Access web dashboard: `http://raspberrypi.local:8080` - - Start PiTrac from web interface - - Hit test shots - -3. **Calibrate** (after first use) - - Run Calibration Wizard in web interface - - See [Camera Calibration]({% link camera/cameras.md %}) for details - ---- - -## System Architecture - -Understanding what PiTrac installs helps with troubleshooting: - -### Services -- **activemq.service** - Message broker (system service) -- **pitrac-web.service** - Web dashboard (system service) -- **pitrac_lm process** - Launch monitor (controlled via web UI, NOT a service) - -### Key Directories -``` -/usr/lib/pitrac/ # Binaries and web server -/etc/pitrac/ # System configuration templates -~/.pitrac/config/ # Your configuration and calibration -~/.pitrac/logs/ # Application logs -~/LM_Shares/Images/ # Captured shot images -``` - -### Dependencies -- **System packages**: ~80 packages (Boost, libcamera, FFmpeg, Python, etc.) -- **Pre-built libraries**: OpenCV 4.11.0, ActiveMQ-CPP 3.9.5, lgpio 0.2.2, msgpack, ONNX Runtime -- **Python packages**: FastAPI, uvicorn, stomp.py, websockets, and more - ---- - -## What's Next? - -After completing installation: - -**Essential:** -1. **[First Use Guide]({% link software/install/first-use.md %})** - Access web interface and make first shot -2. **Calibration Wizard** - Run through web interface for accurate measurements - -**Optional:** -- **[Camera Calibration]({% link camera/cameras.md %})** - Advanced calibration techniques -- **[Simulator Integration]({% link simulator-integration.md %})** - Connect to E6, GSPro, TruGolf -- **[Express Path]({% link quickstart.md %})** - Streamlined setup for experienced users - -**Reference:** -- **[Managing PiTrac]({% link software/install/managing.md %})** - Commands, file locations, updates -- **[Troubleshooting]({% link software/install/troubleshooting.md %})** - Problem-solving guide - ---- - -## Getting Help - -**For installation issues:** -- Check the **[Troubleshooting Guide]({% link software/install/troubleshooting.md %})** first -- Review logs: `pitrac web logs` or `journalctl -u pitrac-web` -- Verify prerequisites were completed - -**Community support:** -- **[Discord Community](https://discord.gg/j9YWCMFVHN)** - Active community for questions and help -- **[GitHub Issues](https://github.com/PiTracLM/PiTrac/issues)** - Report bugs or request features -- **[General Troubleshooting]({% link troubleshooting.md %})** - Broader system issues - -**CLI help:** -```bash -pitrac help # Show all commands -pitrac status # Check service status -``` - ---- - -## Installation Workflow - -``` -┌─────────────────────────────────────┐ -│ Prerequisites Complete? │ -│ • Pi OS installed │ -│ • System updated │ -│ • Network configured │ -└───────────┬─────────────────────────┘ - │ - v -┌─────────────────────────────────────┐ -│ Build from Source │ -│ • Clone repository │ -│ • Run build.sh dev │ -│ • 10-20 minutes │ -└───────────┬─────────────────────────┘ - │ - v -┌─────────────────────────────────────┐ -│ First Use │ -│ • Access web dashboard │ -│ • Start PiTrac │ -│ • Make first shot │ -└───────────┬─────────────────────────┘ - │ - v -┌─────────────────────────────────────┐ -│ Calibration │ -│ • Run Calibration Wizard │ -│ • Verify accuracy │ -│ • Fine-tune settings │ -└─────────────────────────────────────┘ -``` - ---- - -## Return To - -- **[Software Overview]({% link software/software.md %})** - Software section home -- **[Raspberry Pi Setup]({% link software/pi-setup.md %})** - Pi OS installation and configuration diff --git a/docs/software/software.md b/docs/software/software.md deleted file mode 100644 index b2602ec9..00000000 --- a/docs/software/software.md +++ /dev/null @@ -1,22 +0,0 @@ ---- -title: Software -layout: default -nav_order: 5 -has_children: true -description: Complete software setup guide for PiTrac including Raspberry Pi OS installation, PiTrac software installation, web dashboard configuration, and camera calibration. -keywords: raspberry pi golf software, launch monitor software install, pitrac setup, golf tracker configuration, raspberry pi OS setup -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -# Software - -This section covers the software setup and operation of PiTrac, from initial Raspberry Pi configuration to running the system and connecting to simulators. - -## What you'll find here: - -- **[Raspberry Pi Setup]({% link software/pi-setup.md %})** - Imaging and initial configuration of the Raspberry Pi -- **[PiTrac Installation]({% link software/pitrac-install.md %})** - Building and installing PiTrac software -- **[Using PiTrac]({% link software/using-pitrac.md %})** - Web interface, configuration, and calibration - -Before starting software setup, ensure you have completed the [Hardware Assembly]({% link hardware/assembly-guide.md %}) and have all required parts from the [Parts List]({% link hardware/parts-list.md %}). diff --git a/docs/software/using-pitrac.md b/docs/software/using-pitrac.md deleted file mode 100644 index 6c61bf11..00000000 --- a/docs/software/using-pitrac.md +++ /dev/null @@ -1,331 +0,0 @@ ---- -title: Using PiTrac -layout: default -nav_order: 3 -parent: Software -description: Complete guide to operating PiTrac golf launch monitor including web dashboard usage, configuration management, shot tracking, data review, and daily operation tips. -keywords: use pitrac golf monitor, web dashboard golf, launch monitor operation, track golf shots, configure launch monitor, golf data review -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -# Using PiTrac - -So you've got PiTrac built and the software installed! Follow this guide to get going and start smacking some golf balls!! - -# Web Interface - -The PiTrac web interface can be reached from `{PI-IP}:8080` - -If for some reason it's not found the first two things to check would be: -1. Is the PiTrac web service running? - - You can verify by running `pitrac web status` and start it with `pitrac web start` -2. Are you visiting the right address? - - You can verify the IP address on the pi with `ifconfig` and look for your configured interface with a local IP address - - If you are using the desktop enviornment on the Pi - use `localhost` or `127.0.0.1` as the IP - - Always use `http://`. We can look to support `https` in the future, but it adds a bit of complexity for the end user so for now we left it out. - - -## Homepage -![Dashboard]({{ '/assets/images/interface/dashboard.png' | relative_url }}) - -When you vist the base url this is the view you will be met with. Here is where you will Start/Stop the PiTrac LM, see your shot images, and see your shot stats. - -Looking at the header you will see the status indicators. -![Status]({{ '/assets/images/interface/status_indicators.png' | relative_url }}) -These give you a way to see what is running at a glance. They show you: -- ActiveMQ Status -- Cam1 Process Status -- Cam2 Process Status - - -In the top right hand corner you'll see the button to start the LM, and a button with 3 dots. This is the popout menu that: - -- Toggles dark mode -- Opens Configuration -- Opens Calibration -- Opens Testing Tools -- Opens Logging - -![Dropdown]({{ '/assets/images/interface/dropdown_menu.png' | relative_url }}) - -## Configuration - -![Configuration]({{ '/assets/images/interface/configuration.png' | relative_url }}) - -This is the new location for all PiTrac configuration! No more editing 1000+ line JSON files! - -### First-Time Setup - -When you first open Configuration, there are a few critical settings you need to set before anything will work: - -#### Camera Hardware - -**Camera 1 Type** and **Camera 2 Type** - This is the most important setting. PiTrac needs to know what cameras you're using: -- Click "Auto Detect" and PiTrac will try to identify your cameras -- If that doesn't work (or picks the wrong ones), manually select from the dropdown: - - **InnoMaker CAM-MIPI327RAW** - Recommended camera - - **Pi Global Shutter Camera** - Also supported - - Other options for older hardware - -**Lens Choice** - Tell PiTrac what lenses you have: -- **6mm M12** - Standard wide-angle lens (most common) -- **4mm M12** - Wider field of view -- **8mm M12** - Narrower field of view - -After changing camera or lens settings, you'll need to stop and restart PiTrac for the changes to take effect. - -#### System Mode - -**Single Pi Mode** (default) - Both cameras connected to one Raspberry Pi. This is what most people use. - -**Dual Pi Mode** - One camera per Pi, connected over network. Advanced setup, requires additional configuration. - -#### Golfer Orientation - -**Right-Handed** (default) - For right-handed golfers -**Left-Handed** - For left-handed golfers (experimental, may need tweaking) - -### The Interface - -**Categories** (left sidebar) - Settings are organized into groups: -- **Basic Settings** - The 30-ish settings you'll actually touch -- **Cameras** - Camera hardware, gains, exposure -- **Ball Detection** - How PiTrac finds the ball -- **Simulators** - E6, GSPro, TruGolf connection settings -- ...and 10 more categories with 250+ advanced settings - -**Search Bar** (top) - Type part of a setting name to find it instantly. Way faster than clicking through categories. - -**Modified Indicator** - Shows how many settings you've changed but haven't saved yet. - -### Common Settings You'll Actually Change - -#### Camera Gains - -**Path:** Cameras → kCamera1Gain / kCamera2Gain -**Range:** 0.5 to 16.0 -**Default:** 6.0 - -Too dark? Increase gain (try 8-12). -Too bright or noisy? Decrease gain (try 3-6). - -Better lighting is always better than cranking gain. Higher gain = more noise. - -#### Simulator Connection - -**Path:** Simulators → E6/GSPro sections - -You'll need the IP address of the computer running your simulator software: -- **E6 Connect Address** - IP of PC running E6 (e.g., 192.168.1.100) -- **E6 Connect Port** - Usually 2483 -- **GSPro Host Address** - IP of PC running GSPro -- **GSPro Port** - Usually 921 - -Use `ifconfig` (Mac/Linux) or `ipconfig` (Windows) on your simulator PC to find its IP. - -#### Ball Search Area - -**Path:** Ball Detection → kSearchCenterX / kSearchCenterY - -These tell PiTrac where to look for the ball. If detection is slow or picks up the wrong objects, you might need to adjust these. - -Default is usually fine, but if you move your cameras you'll want to update this. Use Testing Tools → Capture Still Image to see where the ball actually is in the frame, then set the search center to those pixel coordinates. - -### Saving Changes - -1. Edit whatever settings you need -2. Click "Save Changes" at the top right -3. If a setting requires restart, you'll see a warning -4. Stop and start PiTrac to apply restart-required changes - -Most settings apply immediately. Camera hardware changes and a few others need a restart. - -### Advanced Features - -**Show Diff** - See what you've changed from the default values. Useful before resetting everything. - -**Import/Export** - Save your configuration as a backup or share it. Configurations are just JSON files. - -**Reset to Defaults** - Puts everything back to factory settings. Your calibration data is safe though - it's stored separately and won't be lost. - -### What You Don't Need to Touch - -PiTrac has 283 total settings, but you only need to worry about maybe 30 of them. The rest are for fine-tuning ball detection algorithms, adjusting strobe timing, debugging, testing, etc. - -Stick to the Basic category unless something's not working and you're troubleshooting. The defaults are there for a reason. - -### Configuration Files (If You're Curious) - -PiTrac uses a three-tier configuration system: - -1. **Defaults** - Built into `/usr/lib/pitrac/web-server/configurations.json` (283 settings with metadata) -2. **Calibration data** - Auto-generated results in `~/.pitrac/config/calibration_data.json` -3. **Your overrides** - Manual changes in `~/.pitrac/config/user_settings.json` - -When you save changes through the web UI: -- Your overrides go to `user_settings.json` (sparse file, only what you changed) -- Calibration results go to `calibration_data.json` (preserved across resets) -- System generates `generated_golf_sim_config.json` by merging all three layers - -The `generated_golf_sim_config.json` file is what the pitrac_lm binary actually reads at runtime. - -The layers merge in priority order: your overrides > calibration > defaults. Your changes always win. - -You can edit the JSON files directly if you want, but the web UI is way easier and validates your input. - - -## Calibration - -![Calibration]({{ '/assets/images/interface/calibration.png' | relative_url }}) - -Calibration is how PiTrac learns about your camera setup - where the cameras are positioned, what angle they're at, and the characteristics of your lenses. Without calibration, PiTrac can't accurately convert what it sees in 2D images into real 3D ball flight data. - -### Before You Start - -Make sure you have: -- Cameras connected and powered -- Ball on the tee in your normal address position -- Good lighting (strobes working) -- Camera types set correctly in Configuration -- PiTrac LM stopped (calibration will start it for you) - -### The 4-Step Process - -Calibration is a wizard that walks you through everything. Just follow along. - -#### Step 1: Setup - -Pick which camera to calibrate: -- **Camera 1 (Tee Camera)** - ALWAYS START HERE. Takes about 30 seconds. -- **Camera 2 (Flight Camera)** - Do this second. Takes 90-120 seconds. -- **Both** - Only after you've done each individually and know it works - -Why Camera 1 first? It's faster and gives you immediate feedback on whether your setup is working. Camera 2 takes longer due to some technical reasons (background process stuff in single-Pi mode). - -Click "Next" when ready. - -#### Step 2: Verify Ball Placement - -This step makes sure PiTrac can actually see the ball before trying to calibrate. - -For each camera: - -**Check Ball Location** - Runs a quick ball detection test -- Green checkmark = Ball found, coordinates shown -- Red X = No ball detected - -If ball detection fails: -- Make sure ball is on the tee -- Check lighting (too dark? too bright?) -- Verify camera is aimed at the ball -- Try adjusting camera gain in Configuration - -**Capture Still Image** - Takes a snapshot so you can visually verify -- Image appears with detection overlay -- Ball should be clearly visible and centered -- Green circle should match the ball - -Once both buttons show success, click "Next". - -#### Step 3: Run Calibration - -![Calibration-Process]({{ '/assets/images/interface/calibration_process.png' | relative_url }}) - -Pick your calibration method: - -**Auto Calibration** (Recommended) -- Fully automatic -- Usually more accurate -- Just click Start and wait - -**Manual Calibration** (Advanced) -- For when auto fails or you want fine control -- Requires understanding camera geometry -- Not for first-timers - -During calibration: -- Don't move the ball -- Don't move the cameras -- Don't close the browser -- Watch the progress bar and logs - -**What's happening:** PiTrac captures multiple images of the ball, detects the ball center in each one, then does math to figure out the camera's focal length, angles, and position. This takes: -- Camera 1: ~30 seconds -- Camera 2: ~90-120 seconds (yes, really - single-Pi mode requires a background process) - -**Completion indicators:** -- "API Callback" = Best result, calibration called back successfully -- "Process Exit" = Also good, process finished cleanly -- "Timeout" = Calibration didn't complete in time, check logs - -#### Step 4: Results - -You'll see results for each camera: - -**Status:** Success or Failed - -**Focal Length:** Number in pixels (e.g., "835.2"). This is a camera/lens characteristic. - -**Camera Angles:** Two numbers in degrees (e.g., "[12.5, -3.2]"). This is the camera's orientation in 3D space. - -**What to do next:** -- Success? Click "Return to Dashboard" and start hitting balls -- Numbers look weird? Try calibrating again -- Still failing? Check Troubleshooting section - -### When to Recalibrate - -You need to run calibration: -- First time setup (obviously) -- After moving cameras -- After changing lenses -- If shots are consistently reading wrong -- After crashing into the camera with a club (we've all done it) - -You DON'T need to recalibrate: -- Every time you use PiTrac -- After adjusting camera gain -- After tweaking ball detection settings -- Just because you feel like it - -Calibration results are saved to `~/.pitrac/config/calibration_data.json` and persist across reboots. Even if you reset configuration to defaults, calibration data stays safe. The calibration tools and checkerboard images are stored in `~/.pitrac/calibration/`, but the actual calibration data (focal lengths, angles, matrices) lives in the config directory. - -### Troubleshooting Calibration - -**Ball not detected in Step 2:** -- Improve lighting -- Adjust camera gain (Configuration → Cameras) -- Make sure ball is in frame -- Check camera focus - -**Calibration times out:** -- Camera 2 can take 2+ minutes, be patient -- Check logs for errors -- Try manual calibration mode -- Verify cameras are working (use Testing Tools) - -**Results look wrong (speed/angles way off):** -- Ball moved during calibration? Try again. -- Wrong camera type selected? Fix in Configuration and recalibrate. -- Cameras loose or wobbly? Secure them and recalibrate. -- Physical setup changed? Recalibrate. - -**Camera 2 always times out:** -- Check if you actually need Camera 2 - some setups work with just Camera 1 -- Try on a dual-Pi setup if you have one (faster) -- Check system resources (Pi not overloaded?) - -If calibration keeps failing, come find us on Discord. Include your log output and we'll figure it out. - -## Debugging Tools - -We have two pages dedicated to the debugging of PiTrac. -- Logging -- Testing - -Logging will allow you to see the logs for `Cam1`, `Cam2`, `Web-Server`, and `ActiveMQ`. You can pause/resume streaming, clear the display, and download logs for offline analysis. - -The testing tools will allow you to verify the shot-processing pipeline, do strobe tests, and more! - -![Testing]({{ '/assets/images/interface/testing.png' | relative_url }}) diff --git a/docs/troubleshooting.md b/docs/troubleshooting.md deleted file mode 100644 index f82e1428..00000000 --- a/docs/troubleshooting.md +++ /dev/null @@ -1,437 +0,0 @@ ---- -title: Troubleshooting -layout: default -nav_order: 8 -description: Comprehensive troubleshooting guide for PiTrac golf launch monitor covering installation issues, camera problems, calibration failures, and common software errors. -keywords: pitrac troubleshooting, golf monitor problems, camera not detected, calibration failed, installation errors, raspberry pi issues -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 ---- - -# Troubleshooting - -Things not working? Let's fix them. - -## Installation Problems - -### "pitrac: command not found" - -The PiTrac CLI didn't get installed or isn't in your PATH. - -Try the full path: -```bash -/usr/bin/pitrac --version -``` - -If the file doesn't exist at all, the installation didn't complete properly. Re-run: -```bash -cd ~/Dev/packaging -sudo ./build.sh dev -``` - -### Dependencies Missing - -If you see errors about missing libraries (lgpio, OpenCV, etc.), the dependency build failed. - -Check if they're actually installed: -```bash -ls /usr/local/lib | grep lgpio -ls /usr/lib/pitrac/lib | grep opencv -``` - -If missing, rebuild dependencies: -```bash -cd ~/Dev/packaging -sudo ./build.sh dev -``` - -This takes about an hour. Go make coffee. - -### Build Fails with "Permission Denied" - -You need sudo for some operations. Make sure you're running: -```bash -sudo ./build.sh dev -``` - -### Services Won't Install - -```bash -pitrac activemq status -pitrac web status -``` - -If these show "not found", the systemd services didn't install. - -Manually install them: -```bash -cd /usr/lib/pitrac -sudo ./activemq-service-install.sh -sudo ./web-service-install.sh -``` - -## Camera Issues - -### Cameras Not Detected - -First, verify the Pi actually sees the cameras: - -**Pi 5:** -```bash -rpicam-hello --list-cameras -``` - -**Pi 4:** -```bash -libcamera-hello --list-cameras -``` - -You should see your cameras listed. If not: -- Check physical connections -- Make sure cameras are powered -- Check `/boot/firmware/config.txt` (Pi 5) or `/boot/config.txt` (Pi 4) -- Look for `camera_auto_detect=1` -- Reboot if you just connected cameras - -### Wrong Camera Type Selected - -If cameras are detected but PiTrac can't use them: - -1. Open Configuration in web UI -2. Check **Camera 1 Type** and **Camera 2 Type** -3. Try "Auto Detect" first -4. If that fails, manually select your camera model -5. Save changes -6. Stop and restart PiTrac LM - -### Camera Gain/Brightness Issues - -Images too dark or too bright? - -**Too Dark:** -- Increase camera gain (Configuration → Cameras → kCamera1Gain/kCamera2Gain) -- Try values between 8-12 -- Add more lighting if possible (better than high gain) - -**Too Bright/Washed Out:** -- Decrease camera gain -- Try values between 3-6 -- Reduce strobe intensity if you have control over that - -**Noisy/Grainy:** -- Lower the gain -- Improve lighting instead -- Higher gain = more noise - -### One Camera Works, Other Doesn't - -Common in single-Pi mode with Camera 2. - -Check: -- Is Camera 2 actually connected? -- Did you calibrate Camera 2? (takes longer, ~2 minutes) -- Are camera types set correctly for BOTH cameras? -- Check logs for Camera 2 specific errors - -Some setups work fine with just Camera 1. You might not need Camera 2 depending on your goals. - -## Ball Detection Problems - -### Ball Not Detected - -The most common problem. Here's the checklist: - -**Lighting:** -- Ball needs good contrast with background -- Too dark = no detection -- Too bright = washed out, no detection -- Strobes working? - -**Camera Position:** -- Is ball actually in the camera's field of view? -- Use Testing Tools → Capture Still Image to check -- Should see ball clearly in the center-ish area - -**Search Center:** -- Configuration → Ball Detection → kSearchCenterX/Y -- These tell PiTrac where to look -- Capture a still image, note ball position (pixel coordinates) -- Set search center to those coordinates - -**Ball Type:** -- White golf balls work best -- Colored/patterned balls can confuse detection -- Old scuffed balls might not work well - -### Ball Detected But Wrong Objects Too - -PiTrac picking up random circular things as balls? - -Adjust the search area to narrow where it looks: -- Make kSearchCenterX/Y more precise -- Remove other circular objects from camera view -- Adjust detection thresholds (advanced - ask on Discord first) - -### Ball Detection Slow - -If it takes a long time to recognize ball placement: -- Search center might be way off -- Too many candidate objects in view -- Camera gain too low (image too dark) -- Adjust kSearchCenterX/Y to be more precise - -## Calibration Failures - -### Ball Not Found During Calibration - -See "Ball Not Detected" above. Calibration needs to see the ball clearly before it can calibrate. - -Quick fixes: -- Better lighting -- Adjust camera gain -- Check ball is in frame (use Testing → Capture Still Image) -- Make sure ball is on the tee and stationary - -### Calibration Times Out - -**Camera 1:** Should take ~30 seconds. If it times out: -- Ball moved during calibration -- Camera type wrong -- Check logs for errors - -**Camera 2:** Takes 90-120 seconds in single-Pi mode. This is normal. Be patient. - -If Camera 2 consistently times out past 2 minutes: -- System overloaded? (check CPU usage) -- Try on dual-Pi setup if you have one -- Some setups don't need Camera 2 - -### Calibration Completes But Results Wrong - -Numbers look weird (focal length way off, strange angles)? - -Could be: -- Ball moved during calibration -- Camera moved during calibration -- Wrong camera type selected -- Wrong lens type selected - -Fix the issue and recalibrate. Don't try to manually adjust the calibration values - it won't work. - -## Shot Reading Issues - -### Speed Way Off - -Shots reading 300 mph? Or 5 mph? Calibration problem or camera setup issue. - -Check: -- Did you calibrate both cameras? (if you're using both) -- Camera types correct? -- Cameras moved since calibration? -- Ball detection working properly? - -Sometimes you need to apply speed adjustments: -- Configuration → Ball Detection → kSpeedAdjustments -- Hit shots with a known launch monitor -- Calculate the adjustment percentage needed -- Apply it - -### Launch Angle Wrong - -Usually a calibration issue. Recalibrate if: -- Cameras moved -- Setup changed -- Angles are consistently off (not just one weird shot) - -### Spin Detection Not Working - -Spin is the hardest thing to measure accurately. Could be: -- Not enough ball images captured (strobes not bright enough?) -- Ball moving too fast -- Camera settings need tuning - -This is advanced stuff - hit up Discord with your specific setup details. - -### Some Shots Not Registered - -Ball goes flying but PiTrac doesn't record it: -- Ball moving out of search area too quickly -- Detection sensitivity too low -- Strobes not firing properly -- Check logs for that shot - usually shows what happened - -## Performance Problems - -### Web Interface Slow/Unresponsive - -Check if services are running: -```bash -pitrac web status -pitrac activemq status -``` - -Restart them if needed: -```bash -pitrac web restart -pitrac activemq restart -``` - -### Dashboard Not Updating - -WebSocket connection might be dead. - -Refresh the page. If that doesn't work: -```bash -pitrac web restart -``` - -### Pi Running Hot/Slow - -Check CPU temperature: -```bash -vcgencmd measure_temp -``` - -Over 80°C? You need better cooling. - -PiTrac does a lot of image processing. Make sure: -- Pi has a good, ACTIVE heatsink -- Not running in a hot enclosed space - -### Shots Taking Forever to Process - -Could be: -- Pi overloaded with other processes -- Check `top` to see what's using CPU -- Ball detection parameters set too loose (checking too many candidate objects) - -## Service Issues - -### pitrac.service Won't Start - -This is the main service. If it won't start: - -Check the logs: -```bash -journalctl -u pitrac -n 50 -``` - -Common problems: -- Camera error (cameras not detected) -- Missing dependencies -- Config file errors -- Permission issues - -### activemq.service Won't Start - -ActiveMQ is the message broker. Usually reliable, but if it fails: - -```bash -journalctl -u activemq -n 50 -``` - -Try restarting: -```bash -sudo systemctl restart activemq -``` - -If it keeps failing: -```bash -sudo systemctl status activemq -``` - -Look for error messages. Port 61616 might be in use by something else. - -### pitrac-web.service Won't Start - -The web interface service. - -```bash -journalctl -u pitrac-web -n 50 -``` - -Common issues: -- Port 8080 already in use -- Python dependencies missing -- ActiveMQ not running (web service needs it) - -Check dependencies: -```bash -cd /usr/lib/pitrac/web-server -pip3 install -r requirements.txt -``` - -## Network/Connectivity Issues - -### Can't Access Web Interface - -Try: -1. `http://{PI-IP}:8080` from another device -2. `http://localhost:8080` on the Pi itself - -If localhost works but remote doesn't: -- Check Pi's IP address with `ifconfig` -- Firewall blocking port 8080? -- Both devices on same network? - -If nothing works: -```bash -pitrac web status -``` - -Make sure service is actually running. - -### Simulator Not Receiving Shots - -See the [Simulator Integration]({% link simulator-integration.md %}) guide for detailed troubleshooting. - -Quick checks: -- Simulator PC IP address correct? -- Ports correct? (2483 for E6, 921 for GSPro) -- Firewall not blocking? -- Network connection stable? - -## Still Stuck? - -If none of this helps, head to Discord. Bring: -- Description of the problem -- What you've tried -- Log output (use `pitrac logs` or check web interface) -- System info (Pi model, camera types, etc.) -- Screenshots if relevant - -We'll figure it out. The PiTrac community is pretty helpful. - -## Common "Gotchas" - -Things that trip people up: - -**Pi 4 vs Pi 5 Differences:** -- Config file location: `/boot/config.txt` (Pi 4) vs `/boot/firmware/config.txt` (Pi 5) -- Camera commands: `libcamera-*` (Pi 4) vs `rpicam-*` (Pi 5) -- GPIO chip number: 0 (Pi 4) vs 4 (Pi 5) - -**Calibration Data Persistence:** -- Calibration data is stored separately from configuration -- Resetting config to defaults doesn't wipe calibration -- Good: You won't lose calibration accidentally -- Bad: Old calibration data persists even after fresh install -- Solution: Recalibrate if your setup changed - -**Camera 2 Takes Forever:** -- Yes, 2 minutes is normal in single-Pi mode -- Background process overhead -- Not a bug, just how it works -- Be patient - -**Services vs Manual Start:** -- systemd services (`pitrac.service`) for production use -- Manual start for development/debugging -- Don't run both at once -- If in doubt: `pitrac stop` then start fresh - -**Left-Handed Mode:** -- Marked experimental for a reason -- Might need tweaking -- Spin calculations are tricky -- Ask on Discord for help if needed diff --git a/docs/what-is-pitrac.md b/docs/what-is-pitrac.md deleted file mode 100644 index 85417113..00000000 --- a/docs/what-is-pitrac.md +++ /dev/null @@ -1,45 +0,0 @@ ---- -title: What is PiTrac? -layout: default -nav_order: 1.1 -description: Learn about PiTrac, the open-source DIY golf launch monitor that measures ball speed, launch angles, and spin using affordable Raspberry Pi hardware and infrared strobe imaging. Community-built learning project for makers. -keywords: PiTrac introduction, golf launch monitor DIY, ball speed measurement, launch angle tracking, spin rate analysis, raspberry pi camera, open source golf project, maker community golf -og_image: /assets/images/logos/PiTrac_Square.png -last_modified_date: 2025-01-04 -parent: Home ---- - -# PiTrac - What is it? And What is it Not? - -Yes, of course - PiTrac is an open-source golf launch monitor that you can build yourself, that you never need to pay a subscription for, and–if you're willing–that you can add your own features to. But, it's more than that, and we wanted to let folks know what it's all about. - -PiTrac is just a starting point of a DIY launch monitor to jump off from. It's a starting line, not a finish line. We hope it can act as a seed that will grow further innovation. It's still early in its development. We don't even have left-handed golfer support yet. :/ - -PiTrac is a fun build journey. By building one of these systems, you'll push yourself through 3D printing, soldering, scripting, large(ish) software system build tools, linux utilities, web-based systems, interprocess communications, and maybe even some coding. PiTrac is a project that is sufficiently complicated and uses enough technologies that it can be a great learning platform. If someone with few tech skills (but enthusiasm and a willingness to learn new things) took on building a PiTrac, they would come out the other end with a pretty good introduction to everything from 3D printing to Linux to building custom hardware. - -PiTrac is something you can build without a full stable of equipment. We've tried to design things so that, for example, you can 3D print the parts on the type of small-bed 3D printer you can find at many public libraries nowadays. There's only a single custom PCB part that you can generally have fabricated for a couple dollars and no surface mount chips or other things that need specialized equipment. All of the third-party software relied upon by the system is free. - -PiTrac is a photometric-based system. We think that ball spin is pretty important from a ball-flight physics perspective. Which is why we built a photometric system, not a radar-based system. Some radar systems appear to work decently for spin, especially if you add little stickers to the ball, but we thought a photometric system would have the best potential for really accurate spin analysis. - -PiTrac is an aggregation of several sub-projects. Even if you're not into golf simulation, we hope that at least some parts of the code will be helpful. Maybe you just need a 3D model for a gimbal mount for a Raspberry Pi camera? Maybe you're a photographer into nichey high-speed droplet pictures and just want software that can trigger a flash and a camera shutter? We hope there's something here for you. - -We also hope that the open-source nature of the system will promote a better understanding of the precision and accuracy of these types of simulated sports systems. If a few other engineers can get interested enough to pick apart the current system's shortcomings (there are many!:) and work to publish testing results, folks can get to know exactly how close the simulation is. And hopefully work to improve it! That sort of information isn't really available in detail from current manufacturers. - -Finally, we believe PiTrac is a tiny part of a quiet grassroots innovation movement of folks who want to build and control their own technology. Even complicated tech! Specifically, it's a little push-back against a world where a lot of tech is available only from large organizations and where no one knows how the tech they rely on works, let alone how to build it themselves. A gentle nudge against products that originally cost quite a lot to design and build–and were priced accordingly–but whose high retail prices have not kept up with the progression of technology. A dream that building your own (possibly clunky) device is more satisfying than just buying that device, especially if it's otherwise financially out of reach. And we're pretty sure that the growing number of hackerspaces, fablabs and makerspaces and other community-based digital fabrication workshops come from a similar thought-space. - -## What is PiTrac ***Not***? - -It's not a thing for sale. We're not selling anything except perhaps some circuit boards that folks can get themselves from any PCB manufacturer. Who knows, though – maybe someone will base a business on this technology? - -It's not an outdoor system. The infrared-strobe based foundation for PiTrac would make it pretty difficult to work outdoors when competing with the sun. But that's a tradeoff we were willing to make. - -It's certainly not a commercial-quality product. All the things you need to do in order to product-ize a technology have yet to be done. Half the features just baaaaaarely work. ;/ However, we're hopeful that in time (especially with the help of more people in the open source community), PiTrac can become a stable, reliable easy-to-use launch monitor. - -It's not cheap, even by rich-country standards. We hope to continually push the price down, but PiTrac still costs hundreds of dollars to build. And that doesn't include the price of tools you might need to purchase if you don't already have them. - -It's not a golf simulator. Users will likely still need to hook PiTrac up to a simulator like GsPro or E6 (both of whom do a great job with that and at price points that many people can afford). But who knows? Maybe an open source simulator is in the works somewhere? - -It's not simple to make and may require a bit of tuning to use. Making the system currently requires some decent technical chops, including working in Linux. - ---- -*Raspberry Pi is a trademark of Raspberry Pi Ltd. The PiTrac project is not endorsed, sponsored by or associated with Raspberry Pi or Raspberry Pi products or services.* \ No newline at end of file diff --git a/package-lock.json b/package-lock.json new file mode 100644 index 00000000..e07219e4 --- /dev/null +++ b/package-lock.json @@ -0,0 +1,28 @@ +{ + "name": "PiTrac", + "lockfileVersion": 3, + "requires": true, + "packages": { + "": { + "devDependencies": { + "prettier": "^3.5.3" + } + }, + "node_modules/prettier": { + "version": "3.8.3", + "resolved": "https://registry.npmjs.org/prettier/-/prettier-3.8.3.tgz", + "integrity": "sha512-7igPTM53cGHMW8xWuVTydi2KO233VFiTNyF5hLJqpilHfmn8C8gPf+PS7dUT64YcXFbiMGZxS9pCSxL/Dxm/Jw==", + "dev": true, + "license": "MIT", + "bin": { + "prettier": "bin/prettier.cjs" + }, + "engines": { + "node": ">=14" + }, + "funding": { + "url": "https://github.com/prettier/prettier?sponsor=1" + } + } + } +} diff --git a/package.json b/package.json new file mode 100644 index 00000000..fe64a5aa --- /dev/null +++ b/package.json @@ -0,0 +1,12 @@ +{ + "private": true, + "scripts": { + "format": "prettier --write .", + "format:check": "prettier --check .", + "lint": "npm run --prefix Software/web-server lint", + "lint:fix": "npm run --prefix Software/web-server lint:fix" + }, + "devDependencies": { + "prettier": "^3.5.3" + } +} diff --git a/packaging/README.md b/packaging/README.md deleted file mode 100644 index 4d2449ee..00000000 --- a/packaging/README.md +++ /dev/null @@ -1,593 +0,0 @@ -# PiTrac Packaging System - -This directory contains the complete packaging ecosystem for PiTrac, enabling cross-platform builds, dependency management, and distribution package creation. This README is specifically for maintainers and developers working on the packaging infrastructure. - -## Directory Structure - -``` -packaging/ -├── build.sh # Master build orchestrator -├── build-apt-package.sh # APT package creator -├── generate.sh # Bashly CLI generator -├── bashly.yml # CLI specification -├── pitrac # Generated CLI (do not edit directly) -├── pitrac-cli # CLI wrapper template -│ -├── scripts/ # Dependency build scripts -│ ├── build-all-deps.sh # Build all dependencies -│ ├── build-opencv.sh # OpenCV 4.11.0 -│ ├── build-activemq.sh # ActiveMQ-CPP 3.9.5 -│ ├── build-lgpio.sh # lgpio 0.2.2 -│ ├── build-msgpack.sh # msgpack-cxx 6.1.1 -│ ├── build-tomee.sh # Apache TomEE 10.1.0 -│ └── build-webapp.sh # Web application builder -│ -├── deps-artifacts/ # Pre-built dependency artifacts (NOTE: Git LFS not yet configured) -│ ├── *.tar.gz # Compressed libraries -│ └── *.metadata # Build information -│ -├── src/ # CLI command implementations -│ ├── run.sh # Main run command -│ ├── config.sh # Configuration management -│ ├── service.sh # Service control -│ ├── camera.sh # Camera utilities -│ ├── calibrate.sh # Calibration tools -│ ├── logs.sh # Log management -│ ├── version.sh # Version information -│ ├── lib/ # Shared functions -│ └── test/ # Test implementations -│ ├── quick.sh -│ ├── hardware.sh -│ ├── camera.sh -│ ├── spin.sh -│ ├── gspro.sh -│ └── automated.sh -│ -├── templates/ # Package templates -│ ├── pitrac.service # SystemD service -│ ├── tomee.service # TomEE service -│ ├── tomee-wrapper.sh # TomEE wrapper script -│ ├── pitrac.yaml # Default configuration -│ ├── golf_sim_config.json # Legacy config template -│ ├── postinst.sh # Post-installation script -│ ├── prerm.sh # Pre-removal script -│ └── config/ # Configuration templates -│ -├── Dockerfile.* # Docker build files -│ ├── Dockerfile.pitrac # Main application -│ ├── Dockerfile.opencv # OpenCV builder -│ ├── Dockerfile.activemq # ActiveMQ builder -│ ├── Dockerfile.lgpio # lgpio builder (note: file is actually Dockerfile.lggio) -│ ├── Dockerfile.msgpack # msgpack builder -│ ├── Dockerfile.tomee # TomEE builder -│ └── Dockerfile.bashly # Bashly CLI generator -│ -└── fix-boost-exchange.patch # Source patch (not in subdirectory) -``` - -## Build System Architecture - -### Build Flow - -The packaging system follows a layered build approach: - -1. **Dependency Building** → Pre-built artifacts stored in Git LFS -2. **Application Building** → Uses pre-built dependencies -3. **Package Creation** → Bundles everything into .deb -4. **Distribution** → GitHub releases, APT repo, Docker registry - -### Key Scripts - -#### build.sh - Master Orchestrator - -This is the primary entry point for all build operations: - -```bash -# Actions: -./build.sh # Build PiTrac using existing artifacts (default) -./build.sh deps # Build all dependency artifacts -./build.sh all # Build dependencies then PiTrac -./build.sh dev # Native development build (Pi only) -./build.sh shell # Interactive Docker shell -./build.sh clean # Remove all build artifacts -``` - -**Important Variables:** -- `ARTIFACT_DIR`: Location of dependency artifacts ($SCRIPT_DIR/deps-artifacts) -- `SCRIPT_DIR`: Current script directory -- `REPO_ROOT`: Repository root directory -- `DOCKER_BUILDKIT`: Enable BuildKit features - -**Key Functions:** -- `check_artifacts()`: Ensures dependency artifacts exist -- `build_deps()`: Orchestrates dependency builds -- `build_pitrac()`: Builds PiTrac binary using Docker -- `build_dev()`: Native Pi development build with Meson - -#### build-apt-package.sh - Package Creator - -Creates Debian packages from build outputs: - -```bash -# Usage: -./build-apt-package.sh # Auto-detect version and architecture -PITRAC_VERSION=2.1.0 ./build-apt-package.sh # Specific version -PITRAC_ARCH=armhf ./build-apt-package.sh # Different architecture -``` - -**Package Structure Created:** -``` -pitrac_VERSION_ARCH/ -├── DEBIAN/ -│ ├── control # Package metadata -│ ├── postinst # Post-install script -│ ├── prerm # Pre-removal script -│ └── conffiles # Configuration files list -├── usr/ -│ ├── bin/ # User executables (pitrac CLI) -│ ├── lib/pitrac/ # Libraries and binaries -│ └── share/pitrac/# Data files -│ ├── webapp/ # Web application files -│ ├── test-images/ # Test images -│ └── calibration/ # Calibration data -├── etc/ -│ ├── pitrac/ # Configuration files -│ └── systemd/system/ # Service files -├── opt/ -│ └── tomee/ # Web server -└── var/ - └── lib/pitrac/ # Runtime state directory -``` - -### Dependency Management - -#### Pre-Built Artifacts - -Dependencies are built once and stored as artifacts: - -```bash -# Build all dependencies -./scripts/build-all-deps.sh - -# Individual dependency builds -./scripts/build-opencv.sh -./scripts/build-activemq.sh -./scripts/build-lgpio.sh -./scripts/build-msgpack.sh -./scripts/build-tomee.sh -``` - -**Artifact Structure:** -- `DEPENDENCY-VERSION-ARCH.tar.gz`: Compressed binaries -- `DEPENDENCY-VERSION-ARCH.metadata`: Build information - -#### Git LFS Setup (TODO) - -**WARNING:** Git LFS is not currently configured. Large artifacts are stored directly in the repository. - -To enable Git LFS for large artifacts: - -```bash -# Initialize Git LFS (needs to be done) -git lfs install -git lfs track "deps-artifacts/*.tar.gz" -git add .gitattributes -git add deps-artifacts/*.tar.gz -git commit -m "Add dependency artifacts to LFS" -git lfs push -``` - -### Docker Build System - -#### Multi-Platform Support - -Building for different architectures: - -```bash -# Enable buildx -docker buildx create --name pitrac-builder --use - -# Build for ARM64 on x86 -docker buildx build \ - --platform linux/arm64 \ - --tag pitrac:arm64 \ - --file Dockerfile.pitrac \ - --load . -``` - -#### Layer Caching - -Optimizing build times: - -```dockerfile -# Use BuildKit cache mounts -# syntax=docker/dockerfile:1.4 -RUN --mount=type=cache,target=/var/cache/apt \ - apt-get update && apt-get install -y ... -``` - -## CLI System (Bashly) - -### How It Works - -The CLI is generated from `bashly.yml` specification: - -```bash -# Install bashly (one-time) -gem install bashly - -# Or use Docker -docker run --rm -v "$PWD:/app" dannyben/bashly - -# Generate CLI from specification -./generate.sh - -# This creates/updates the 'pitrac' script -``` - -### Adding New Commands - -1. **Edit bashly.yml:** -```yaml -commands: - - name: newcommand - help: Description here - args: - - name: argument - required: true -``` - -2. **Create implementation:** -```bash -# src/newcommand.sh -newcommand_command() { - echo "Implementing new command" - # Implementation here -} -``` - -3. **Regenerate CLI:** -```bash -./generate.sh -``` - -### Command Implementation Pattern - -Each command follows this structure: - -```bash -# src/COMMAND.sh - -# Main command function -COMMAND_command() { - # Access arguments - local arg="${args[argname]}" - local flag="${args[--flagname]}" - - # Implementation - do_something "$arg" -} - -# Subcommand function -COMMAND_SUBCOMMAND_command() { - # Subcommand implementation -} -``` - -## Configuration Templates - -### Template Processing - -Templates are processed during package installation: - -```bash -# In postinst.sh -envsubst < /usr/share/pitrac/templates/pitrac.yaml \ - > /etc/pitrac/pitrac.yaml -``` - -### Adding New Templates - -1. Create template in `templates/` -2. Add to package build in `build-apt-package.sh` -3. Process in `postinst.sh` if needed - -## Service Files - -### SystemD Services - -Services are installed to `/etc/systemd/system/`: - -- `pitrac.service`: Main launch monitor -- `tomee.service`: Web interface -- `activemq.service`: Message broker (separate package) - -### Modifying Services - -1. Edit template in `templates/` -2. Rebuild package -3. Test with: -```bash -systemctl daemon-reload -systemctl restart SERVICE -``` - -## Making Changes - -### Adding a New Dependency - -1. **Create build script:** -```bash -# scripts/build-newdep.sh -#!/bin/bash -VERSION="1.0.0" -# Build commands... -tar -czf newdep-${VERSION}-$(uname -m).tar.gz ... -``` - -2. **Create Dockerfile:** -```dockerfile -# Dockerfile.newdep -FROM debian:bookworm AS builder -# Build stages... -``` - -3. **Update build.sh:** -```bash -# Add to DEPENDENCIES array -DEPENDENCIES+=("newdep") -``` - -4. **Build and commit artifact:** -```bash -./scripts/build-newdep.sh -git lfs track deps-artifacts/newdep-*.tar.gz -git add deps-artifacts/newdep-* -``` - -### Updating a Dependency - -1. **Update version in script:** -```bash -# scripts/build-opencv.sh -OPENCV_VERSION="4.12.0" # Was 4.11.0 -``` - -2. **Rebuild dependency:** -```bash -./scripts/build-opencv.sh -``` - -3. **Replace artifact:** -```bash -rm deps-artifacts/opencv-4.11.0-*.tar.gz -git add deps-artifacts/opencv-4.12.0-* -``` - -4. **Update documentation:** -- Update version in docs -- Update CHANGELOG -- Test thoroughly - -### Modifying Package Structure - -1. **Edit build-apt-package.sh:** -```bash -# Add new files to package -cp new-file "${PKG_DIR}/usr/share/pitrac/" -``` - -2. **Update control file generation:** -```bash -# Adjust dependencies, size, etc. -``` - -3. **Test package:** -```bash -./build-apt-package.sh -sudo dpkg -i build/packages/*.deb -``` - -## Testing - -### Local Testing - -```bash -# Test build process -./build.sh all - -# Test package creation -./build-apt-package.sh - -# Test installation -sudo dpkg -i build/package/*.deb -pitrac test automated # or 'pitrac test quick' for quick test - -# Test removal -sudo apt remove pitrac -``` - -### CI Testing - -Current GitHub Actions workflows: -- Component testing (image analysis, camera) -- Java build process -- Documentation deployment - -**TODO:** Add workflows for: -- Multi-architecture package builds -- Package installation testing -- Service startup validation -- ARM64 platform testing - -### Test Matrix - -| Test | Purpose | Command | -|------|---------|---------| -| Build | Compilation works | `./build.sh all` | -| Package | Debian package valid | `dpkg-deb --info build/package/*.deb` | -| Install | Package installs cleanly | `sudo apt install ./pitrac_*.deb` | -| Service | Services start | `systemctl start pitrac` | -| Function | Basic operation | `pitrac test quick` | -| Upgrade | Upgrade path works | `sudo apt install ./pitrac_*_new.deb` | -| Remove | Clean uninstall | `sudo apt remove pitrac` | - -## Troubleshooting - -### Common Issues - -#### Docker Build Failures - -```bash -# Enable verbose output -DOCKER_BUILDKIT=1 BUILDKIT_PROGRESS=plain ./build.sh - -# Clear cache -docker buildx prune -af - -# Check platform -docker buildx inspect --bootstrap -``` - -#### Missing Dependencies - -```bash -# Verify artifacts exist -ls -la deps-artifacts/ - -# Pull from Git LFS -git lfs pull - -# Rebuild if missing -./scripts/build-all-deps.sh -``` - -#### Package Installation Errors - -```bash -# Check package contents -dpkg-deb --contents pitrac*.deb - -# Verify dependencies -apt-cache policy DEPENDENCY - -# Force installation -sudo dpkg -i --force-depends pitrac*.deb -sudo apt-get install -f -``` - -## Release Process - -### Creating a Release - -1. **Update version:** -```bash -# Update version in: -# - bashly.yml (currently: 1.0.0) -# - Software/LMSourceCode/ImageProcessing/meson.build (currently: 0.0.1) -# - CMakeLists.txt files (various locations) -# Note: Version numbers need to be synchronized -``` - -2. **Build packages:** -```bash -./build.sh all -./build-apt-package.sh -``` - -3. **Test thoroughly:** -```bash -# Install and test on real Pi -sudo dpkg -i build/package/pitrac*.deb -pitrac test automated # Run full test suite -``` - -4. **Tag release:** -```bash -git tag -a v2.1.0 -m "Release 2.1.0" -git push origin v2.1.0 -``` - -5. **Upload to GitHub:** -- Create release from tag -- Upload .deb packages -- Upload source archives -- Write release notes - -### Version Numbering - -Follow semantic versioning: -- MAJOR.MINOR.PATCH (e.g., 2.1.0) -- Pre-release: 2.1.0-beta.1 -- Development: 2.1.0-dev - -## Best Practices - -### Code Quality - -- Always test changes on real hardware -- Keep scripts POSIX-compliant where possible -- Use shellcheck for bash scripts -- Document complex logic - -### Dependency Management - -- Pin exact versions for reproducibility -- Test dependency updates thoroughly -- Keep artifacts in Git LFS -- Document why building from source - -### Package Quality - -- Follow Debian packaging standards -- Test installation/upgrade/removal paths -- Include comprehensive postinst/prerm scripts -- Provide clear error messages - -### Security - -- Don't include sensitive data in packages -- Set appropriate file permissions -- Use systemd security features -- Validate all inputs - -## Contributing - -### Development Setup - -```bash -# Clone with submodules -git clone --recursive https://github.com/pitraclm/pitrac -cd PiTrac/packaging - -# Install development tools -sudo apt-get install -y \ - build-essential \ - docker.io \ - ruby \ - shellcheck - -gem install bashly - -# Enable Docker -sudo usermod -aG docker $USER -``` - -### Submitting Changes - -1. Create feature branch -2. Make changes and test -3. Update documentation -4. Submit pull request -5. Ensure CI passes - -## Support - -For packaging-specific issues: -- GitHub Issues: https://github.com/pitraclm/pitrac/issues -- Discord: #packaging channel -- Documentation: docs/development/packaging.md - -## License - -The packaging system is part of PiTrac and follows the same license terms as the main project. \ No newline at end of file diff --git a/packaging/bashly.yml b/packaging/bashly.yml deleted file mode 100644 index a3487ecd..00000000 --- a/packaging/bashly.yml +++ /dev/null @@ -1,244 +0,0 @@ -name: pitrac -help: PiTrac Golf Launch Monitor CLI -version: 1.0.0 - -# Global environment variables -environment_variables: - - name: PITRAC_HOME - help: PiTrac home directory - default: ${HOME}/.pitrac - -# Global flags available to all commands -flags: - - long: --verbose - short: -v - help: Enable verbose output (info level) - - long: --info - short: -i - help: Enable info level output - - long: --debug - short: -d - help: Enable debug level output - - long: --trace - short: -t - help: Enable trace level output (most verbose) - -commands: - # Main operational commands - - name: run - help: Start PiTrac launch monitor - examples: - - pitrac run - - pitrac run --foreground - - pitrac run --system-mode camera2 - flags: - - long: --foreground - short: -f - help: Run in foreground (don't daemonize) - - long: --system-mode - arg: mode - help: Override system mode from config - allowed: [camera1, camera2] - - long: --msg-broker-address - arg: address - help: "Override message broker address (e.g., tcp://10.0.0.41:61616)" - - long: --base-image-logging-dir - arg: dir - help: Override image logging directory - - long: --web-server-share-dir - arg: dir - help: Override web share directory - - long: --e6-host-address - arg: host - help: E6 simulator host address - - long: --gspro-host-address - arg: host - help: GSPro simulator host address - - - name: stop - help: Stop PiTrac launch monitor - examples: - - pitrac stop - - pitrac stop --force - flags: - - long: --force - short: -f - help: Force stop (SIGKILL instead of SIGTERM) - - long: --timeout - arg: seconds - help: Timeout before force stopping - default: "5" - - - name: status - help: Show PiTrac system status - examples: - - pitrac status - - pitrac status --json - flags: - - long: --json - help: Output in JSON format - - long: --services - help: Include service status - - - name: setup - help: Run initial setup wizard - examples: - - pitrac setup - - pitrac setup --pi-model pi5 - flags: - - long: --pi-model - arg: model - help: Specify Pi model - allowed: [pi4, pi5, auto] - default: auto - - long: --skip-reboot - help: Don't prompt for reboot after setup - - # Camera management - - name: camera - alias: cam - help: Camera operations - commands: - - name: list - help: List available cameras - flags: - - long: --detailed - help: Show detailed information - - - name: test - help: Test camera capture - args: - - name: duration - help: Test duration in seconds - default: "5" - flags: - - long: --camera - arg: slot - help: Camera slot (1 or 2) - allowed: ["1", "2"] - - - name: trigger - help: Set camera trigger mode - args: - - name: mode - help: Trigger mode - required: true - allowed: [internal, external] - flags: - - long: --camera - arg: slot - help: Camera slot (1 or 2) - allowed: ["1", "2"] - - - name: config - help: Camera configuration - commands: - - name: timeout - help: Set camera timeout - args: - - name: milliseconds - help: Timeout in milliseconds - required: true - - # Calibration commands - - name: calibrate - alias: cal - help: Camera calibration - examples: - - pitrac calibrate camera --slot 1 - - pitrac calibrate auto --slot 2 - commands: - - name: camera - help: Manual camera calibration - args: - - name: slot - help: Camera slot (1 or 2) - required: true - allowed: ["1", "2"] - flags: - - long: --interactive - help: Interactive calibration mode - - - name: auto - help: Automatic calibration - args: - - name: slot - help: Camera slot (1 or 2) - required: true - allowed: ["1", "2"] - - - name: wizard - help: Calibration wizard - - # External service management - - name: web - help: Manage PiTrac web server - args: - - name: action - help: Action to perform - required: true - allowed: [start, stop, restart, status, logs, url] - flags: - - long: --follow - short: -f - help: Follow logs (with 'logs' action) - - - - name: activemq - alias: amq - help: Manage ActiveMQ broker - args: - - name: action - help: Action to perform - required: true - allowed: [start, stop, restart, status, logs, console, port] - flags: - - long: --follow - short: -f - help: Follow logs (with 'logs' action) - - # Log viewing - - name: logs - help: View PiTrac logs - examples: - - pitrac logs - - pitrac logs --follow - - pitrac logs --tail 100 - flags: - - long: --follow - short: -f - help: Follow log output - - long: --tail - short: -n - arg: lines - help: Number of lines to show - default: "50" - - long: --service - help: Show service logs instead - - long: --all - help: Show all available logs - - # Boot configuration - - name: boot - help: Boot configuration helper - commands: - - name: config - help: Show boot configuration requirements - args: - - name: model - help: Pi model - default: auto - allowed: [pi4, pi5, auto] - - # Help and version (built-in, but customizable) - - name: version - help: Show version information - flags: - - long: --build - help: Include build information - -# Dependencies check - these are checked at runtime -dependencies: - - bash - - grep - - sed \ No newline at end of file diff --git a/packaging/build.sh b/packaging/build.sh index cfd2aee5..6f196e00 100755 --- a/packaging/build.sh +++ b/packaging/build.sh @@ -120,20 +120,6 @@ build_pitrac() { exit 1 fi - # Generate Bashly CLI if needed - if [[ ! -f "$SCRIPT_DIR/pitrac" ]]; then - log_warn "Bashly CLI not found, generating it now..." - if [[ -f "$SCRIPT_DIR/generate.sh" ]]; then - cd "$SCRIPT_DIR" - ./generate.sh - cd - > /dev/null - log_success "Generated pitrac CLI tool" - else - log_error "generate.sh not found!" - exit 1 - fi - fi - # Setup QEMU for ARM64 emulation on x86_64 setup_qemu @@ -220,8 +206,8 @@ build_dev() { log_info "PiTrac Development Build - Direct Pi Installation" # Source common functions - if [[ -f "$SCRIPT_DIR/src/lib/pitrac-common-functions.sh" ]]; then - source "$SCRIPT_DIR/src/lib/pitrac-common-functions.sh" + if [[ -f "$SCRIPT_DIR/lib/pitrac-common-functions.sh" ]]; then + source "$SCRIPT_DIR/lib/pitrac-common-functions.sh" fi # Check if running on Raspberry Pi @@ -239,17 +225,6 @@ build_dev() { pin_libcamera_workaround - log_info "Regenerating pitrac CLI tool..." - if [[ -f "$SCRIPT_DIR/generate.sh" ]]; then - cd "$SCRIPT_DIR" - ./generate.sh - cd - > /dev/null - log_success "Regenerated pitrac CLI tool" - else - log_error "generate.sh not found!" - exit 1 - fi - # Check build dependencies (matching Dockerfile.pitrac) log_info "Checking build dependencies..." local missing_deps=() @@ -535,10 +510,6 @@ build_dev() { # pitrac-web systemd service instead. setcap -r /usr/lib/pitrac/pitrac_lm 2>/dev/null || true - log_info "Installing CLI tool..." - install -m 755 "$SCRIPT_DIR/pitrac" /usr/bin/pitrac - - install_camera_tools "/usr/lib/pitrac" "$REPO_ROOT" # Configure libcamera AFTER camera tools are installed @@ -668,13 +639,13 @@ ENVEOF cp "$SCRIPT_DIR/templates/pitrac-web.service.template" /usr/share/pitrac/templates/ - if [[ -f "$SCRIPT_DIR/src/lib/web-service-install.sh" ]]; then - cp "$SCRIPT_DIR/src/lib/web-service-install.sh" /usr/lib/pitrac/ + if [[ -f "$SCRIPT_DIR/lib/web-service-install.sh" ]]; then + cp "$SCRIPT_DIR/lib/web-service-install.sh" /usr/lib/pitrac/ chmod 755 /usr/lib/pitrac/web-service-install.sh fi - if [[ -f "$SCRIPT_DIR/src/lib/pitrac-common-functions.sh" ]]; then - cp "$SCRIPT_DIR/src/lib/pitrac-common-functions.sh" /usr/lib/pitrac/ + if [[ -f "$SCRIPT_DIR/lib/pitrac-common-functions.sh" ]]; then + cp "$SCRIPT_DIR/lib/pitrac-common-functions.sh" /usr/lib/pitrac/ chmod 644 /usr/lib/pitrac/pitrac-common-functions.sh fi @@ -754,7 +725,6 @@ SUDOEOF echo "" echo "PiTrac has been installed to system locations:" echo " Binary: /usr/lib/pitrac/pitrac_lm" - echo " CLI: /usr/bin/pitrac (regenerated)" echo " Libraries: /usr/lib/pitrac/" echo " Configs: /etc/pitrac/" echo " Web Server: /usr/lib/pitrac/web-server (updated)" diff --git a/packaging/fix-boost-exchange.patch b/packaging/fix-boost-exchange.patch deleted file mode 100644 index 07fbf6a9..00000000 --- a/packaging/fix-boost-exchange.patch +++ /dev/null @@ -1,40 +0,0 @@ ---- a/gs_gspro_test_server.cpp -+++ b/gs_gspro_test_server.cpp -@@ -5,6 +5,7 @@ - - #include - #include -+#include // For std::exchange - #include - #include - #include ---- a/gs_e6_interface.cpp -+++ b/gs_e6_interface.cpp -@@ -12,6 +12,7 @@ - #include - #include - #include -+#include // For std::exchange - - #include - #include ---- a/gs_gspro_interface.cpp -+++ b/gs_gspro_interface.cpp -@@ -8,6 +8,7 @@ - #include - #include - #include -+#include // For std::exchange - - #include - #include ---- a/gs_sim_socket_interface.cpp -+++ b/gs_sim_socket_interface.cpp -@@ -8,6 +8,7 @@ - #include - #include - #include -+#include // For std::exchange - - #include - #include \ No newline at end of file diff --git a/packaging/generate.sh b/packaging/generate.sh deleted file mode 100755 index 94118738..00000000 --- a/packaging/generate.sh +++ /dev/null @@ -1,67 +0,0 @@ -#!/usr/bin/env bash -set -euo pipefail - -SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" -cd "$SCRIPT_DIR" - -command_exists() { - command -v "$1" >/dev/null 2>&1 -} - -install_bashly_locally() { - echo "Docker not found, setting up Bashly locally..." - - if ! command_exists ruby; then - echo "Installing Ruby..." - if command_exists apt-get; then - sudo apt-get update - sudo apt-get install -y ruby ruby-dev build-essential - elif command_exists yum; then - sudo yum install -y ruby ruby-devel gcc make - elif command_exists brew; then - brew install ruby - else - echo "Error: Cannot install Ruby automatically. Please install Ruby manually." - exit 1 - fi - fi - - if ! command_exists bashly; then - echo "Installing Bashly gem..." - if command_exists sudo; then - sudo gem install bashly - else - gem install bashly - fi - fi - - echo "✓ Bashly is ready" -} - -generate_locally() { - echo "Using local Bashly to generate script..." - - mkdir -p src - cp bashly.yml src/bashly.yml - - if [[ -f "settings.yml" ]]; then - cp settings.yml src/settings.yml - fi - - bashly generate - - rm -rf src/bashly.yml src/settings.yml - rmdir src 2>/dev/null || true -} - -if command_exists bashly; then - generate_locally -else - install_bashly_locally - generate_locally -fi - -chmod +x pitrac - -echo "✓ Generated pitrac script" -echo "Test with: ./pitrac --help" \ No newline at end of file diff --git a/packaging/src/lib/pitrac-common-functions.sh b/packaging/lib/pitrac-common-functions.sh similarity index 100% rename from packaging/src/lib/pitrac-common-functions.sh rename to packaging/lib/pitrac-common-functions.sh diff --git a/packaging/src/lib/web-service-install.sh b/packaging/lib/web-service-install.sh similarity index 80% rename from packaging/src/lib/web-service-install.sh rename to packaging/lib/web-service-install.sh index 75b6682e..110909ff 100755 --- a/packaging/src/lib/web-service-install.sh +++ b/packaging/lib/web-service-install.sh @@ -11,12 +11,12 @@ else YELLOW='\033[1;33m' BLUE='\033[0;34m' NC='\033[0m' - + log_info() { echo -e "${BLUE}[INFO]${NC} $*"; } log_warn() { echo -e "${YELLOW}[WARN]${NC} $*"; } log_error() { echo -e "${RED}[ERROR]${NC} $*" >&2; } log_success() { echo -e "${GREEN}[✓]${NC} $*"; } - + install_service_from_template() { log_error "Common functions not available, cannot install service" return 1 @@ -25,12 +25,12 @@ fi install_web_service() { local install_user="${1:-$(whoami)}" - + if ! install_service_from_template "pitrac-web" "$install_user"; then log_error "Failed to install web service" return 1 fi - + log_info "Web service installation complete!" echo "" echo "To start the service:" @@ -41,84 +41,84 @@ install_web_service() { echo "" echo "To view service logs:" echo " sudo journalctl -u pitrac-web -f" - + return 0 } update_web_service_user() { local new_user="${1:-$(whoami)}" - + echo "Updating PiTrac Web service to run as user: $new_user" - + if systemctl is-active pitrac-web &>/dev/null; then echo "Stopping PiTrac Web service..." sudo systemctl stop pitrac-web fi - + install_web_service "$new_user" } uninstall_web_service() { echo "Uninstalling PiTrac Web service..." - + if systemctl list-unit-files | grep -q pitrac-web.service; then sudo systemctl stop pitrac-web 2>/dev/null || true sudo systemctl disable pitrac-web 2>/dev/null || true fi - + if [[ -f "/etc/systemd/system/pitrac-web.service" ]]; then echo "Removing service file..." sudo rm -f "/etc/systemd/system/pitrac-web.service" fi - + if [[ -d "/etc/systemd/system/pitrac-web.service.d" ]]; then echo "Removing service overrides..." sudo rm -rf "/etc/systemd/system/pitrac-web.service.d" fi - + sudo systemctl daemon-reload - + echo "Web service uninstallation complete" } verify_web_service() { echo "Verifying PiTrac Web service configuration..." - + local errors=0 - + if [[ ! -f "/etc/systemd/system/pitrac-web.service" ]]; then log_error "Service file not found" ((errors++)) fi - + if [[ ! -d "/usr/lib/pitrac/web-server" ]]; then log_error "Web server directory not found" ((errors++)) fi - + if [[ ! -f "/usr/lib/pitrac/web-server/main.py" ]]; then log_error "Web server main.py not found" ((errors++)) fi - + if ! python3 -c "import flask" 2>/dev/null; then log_warn "Flask not installed - run: pip3 install -r /usr/lib/pitrac/web-server/requirements.txt" ((errors++)) fi - + if ! sudo systemd-analyze verify pitrac-web.service 2>/dev/null; then log_warn "Service file has configuration warnings" fi - + if [[ $errors -eq 0 ]]; then log_success "Web service configuration verified successfully!" - + if systemctl is-active --quiet pitrac-web; then log_success "Web service is running" else log_info "Web service is not running (start with: sudo systemctl start pitrac-web)" fi - + return 0 else log_error "Found $errors configuration errors" @@ -129,29 +129,29 @@ verify_web_service() { if [[ "${BASH_SOURCE[0]}" == "${0}" ]] && [[ "${0}" == *"web-service-install.sh" ]]; then action="${1:-}" user="${2:-}" - + case "$action" in - install) - install_web_service "$user" - ;; - update-user) - update_web_service_user "$user" - ;; - uninstall) - uninstall_web_service - ;; - verify) - verify_web_service - ;; - *) - echo "Usage: $0 {install|update-user|uninstall|verify} [username]" - echo "" - echo "Actions:" - echo " install [user] - Install web service for specified user" - echo " update-user [user] - Update service to run as different user" - echo " uninstall - Remove web service" - echo " verify - Verify service configuration" - exit 1 - ;; + install) + install_web_service "$user" + ;; + update-user) + update_web_service_user "$user" + ;; + uninstall) + uninstall_web_service + ;; + verify) + verify_web_service + ;; + *) + echo "Usage: $0 {install|update-user|uninstall|verify} [username]" + echo "" + echo "Actions:" + echo " install [user] - Install web service for specified user" + echo " update-user [user] - Update service to run as different user" + echo " uninstall - Remove web service" + echo " verify - Verify service configuration" + exit 1 + ;; esac fi diff --git a/packaging/scripts/configure-cameras.sh b/packaging/scripts/configure-cameras.sh index 99c8155c..dfb7b8df 100755 --- a/packaging/scripts/configure-cameras.sh +++ b/packaging/scripts/configure-cameras.sh @@ -53,7 +53,7 @@ update_config_txt_param() { sed -i "s|${pattern}.*|${new_line}|" "$config_path" else log_info " Adding new: ${new_line}" - echo "${new_line}" >> "$config_path" + echo "${new_line}" >>"$config_path" fi } @@ -81,37 +81,37 @@ insert_in_config_section() { while IFS= read -r line; do if [[ "$line" =~ ^\[.*\]$ ]]; then if [[ "$inserted" == "false" ]]; then - echo "$content" >> "$temp_file" + echo "$content" >>"$temp_file" inserted=true fi in_section=true fi - echo "$line" >> "$temp_file" - done < "$config_path" + echo "$line" >>"$temp_file" + done <"$config_path" if [[ "$inserted" == "false" ]]; then - echo "$content" >> "$temp_file" + echo "$content" >>"$temp_file" fi else local in_target_section=false local content_inserted=false while IFS= read -r line; do - echo "$line" >> "$temp_file" + echo "$line" >>"$temp_file" if [[ "$line" == "[$section]" ]]; then in_target_section=true elif [[ "$line" =~ ^\[.*\]$ ]]; then if [[ "$in_target_section" == "true" ]] && [[ "$content_inserted" == "false" ]]; then - echo "$content" >> "$temp_file" + echo "$content" >>"$temp_file" content_inserted=true fi in_target_section=false fi - done < "$config_path" + done <"$config_path" if [[ "$in_target_section" == "true" ]] && [[ "$content_inserted" == "false" ]]; then - echo "$content" >> "$temp_file" + echo "$content" >>"$temp_file" fi fi @@ -245,24 +245,24 @@ dtoverlay=vc_mipi_imx296" if [[ "$inserted" == "false" ]]; then if [[ "$line" =~ ^\[.*\]$ ]]; then - echo "" >> "$temp_file" - echo "$config_block" >> "$temp_file" - echo "" >> "$temp_file" + echo "" >>"$temp_file" + echo "$config_block" >>"$temp_file" + echo "" >>"$temp_file" inserted=true elif [[ "$line_count" -gt 10 ]] && [[ ! "$line" =~ ^# ]] && [[ -n "$line" ]]; then - echo "" >> "$temp_file" - echo "$config_block" >> "$temp_file" - echo "" >> "$temp_file" + echo "" >>"$temp_file" + echo "$config_block" >>"$temp_file" + echo "" >>"$temp_file" inserted=true fi fi - echo "$line" >> "$temp_file" - done < "$config_path" + echo "$line" >>"$temp_file" + done <"$config_path" if [[ "$inserted" == "false" ]]; then - echo "" >> "$temp_file" - echo "$config_block" >> "$temp_file" + echo "" >>"$temp_file" + echo "$config_block" >>"$temp_file" fi mv "$temp_file" "$config_path" @@ -357,7 +357,7 @@ main() { log_info "PiTrac Camera Configuration" log_info "============================" - if ! command -v python3 &> /dev/null; then + if ! command -v python3 &>/dev/null; then log_warn "Python3 not found - skipping camera configuration" log_info "Camera configuration requires Python3 to be installed" exit 0 @@ -410,4 +410,4 @@ for cam in data.get('cameras', []): log_warn "Please reboot the system for changes to take effect" } -main "$@" \ No newline at end of file +main "$@" diff --git a/packaging/settings.yml b/packaging/settings.yml deleted file mode 100644 index fae7cd4c..00000000 --- a/packaging/settings.yml +++ /dev/null @@ -1,35 +0,0 @@ -# Bashly Settings -# This file configures how Bashly generates the script - -# Source directory containing command implementations -source_dir: src - -# Library directory containing shared functions -# These will be embedded into the generated script -lib_dir: lib - -# Commands directory (relative to source_dir) -# Leave empty to use source_dir directly -commands_dir: . - -# Partials extension -partials_extension: sh - -# Target directory for the generated script -target_dir: . - -# Set production mode for cleaner output -env: production - -# Strict mode - exit on any error -strict: true - -# Enable bash3 compatibility check -bash3_bouncer: true - -# Tab stops for indentation -tab_indent: 2 - -# Generate a standalone script -# This ensures all dependencies are embedded -dependencies: embedded \ No newline at end of file diff --git a/packaging/src/activemq.sh b/packaging/src/activemq.sh deleted file mode 100644 index 19858b37..00000000 --- a/packaging/src/activemq.sh +++ /dev/null @@ -1,53 +0,0 @@ - -# Initialize global flags and logging (libraries are embedded by bashly) -initialize_global_flags - - -action="${args[action]}" -follow="${args[--follow]:-}" - -case "$action" in - start) - info "Starting ActiveMQ broker..." - if systemctl is-active --quiet activemq 2>/dev/null; then - if ! check_activemq_broker; then - info "ActiveMQ service is active but broker not responding, restarting..." - restart_service "activemq" - else - info "ActiveMQ is already running and responsive" - fi - else - start_service "activemq" - fi - ;; - stop) - info "Stopping ActiveMQ broker..." - stop_service "activemq" - ;; - restart) - info "Restarting ActiveMQ broker..." - restart_service "activemq" - ;; - status) - get_service_status "activemq" - ;; - logs) - if [[ "$follow" == "1" ]]; then - get_service_logs "activemq" "true" "50" - else - get_service_logs "activemq" "false" "50" - fi - ;; - console) - echo "ActiveMQ Web Console: http://localhost:8161/admin" - echo "Default credentials: admin/admin" - ;; - port) - echo "ActiveMQ broker port: 61616" - echo "ActiveMQ web console port: 8161" - ;; - *) - error "Unknown action: $action" - exit 1 - ;; -esac \ No newline at end of file diff --git a/packaging/src/boot/config.sh b/packaging/src/boot/config.sh deleted file mode 100644 index 070bd392..00000000 --- a/packaging/src/boot/config.sh +++ /dev/null @@ -1,4 +0,0 @@ -echo "# This file is located at 'src/./boot/config.sh'." -echo "# It contains the implementation for the 'pitrac boot config' command." -echo "# The code you write here will be wrapped by a function named 'pitrac_boot_config_command()'." -echo "# Feel free to edit this file; your changes will persist when regenerating." diff --git a/packaging/src/calibrate/auto.sh b/packaging/src/calibrate/auto.sh deleted file mode 100644 index 03b84a43..00000000 --- a/packaging/src/calibrate/auto.sh +++ /dev/null @@ -1,4 +0,0 @@ -echo "# This file is located at 'src/./calibrate/auto.sh'." -echo "# It contains the implementation for the 'pitrac calibrate auto' command." -echo "# The code you write here will be wrapped by a function named 'pitrac_calibrate_auto_command()'." -echo "# Feel free to edit this file; your changes will persist when regenerating." diff --git a/packaging/src/calibrate/camera.sh b/packaging/src/calibrate/camera.sh deleted file mode 100644 index 24f48fee..00000000 --- a/packaging/src/calibrate/camera.sh +++ /dev/null @@ -1,4 +0,0 @@ -echo "# This file is located at 'src/./calibrate/camera.sh'." -echo "# It contains the implementation for the 'pitrac calibrate camera' command." -echo "# The code you write here will be wrapped by a function named 'pitrac_calibrate_camera_command()'." -echo "# Feel free to edit this file; your changes will persist when regenerating." diff --git a/packaging/src/calibrate/wizard.sh b/packaging/src/calibrate/wizard.sh deleted file mode 100644 index 4cbb18ac..00000000 --- a/packaging/src/calibrate/wizard.sh +++ /dev/null @@ -1,4 +0,0 @@ -echo "# This file is located at 'src/./calibrate/wizard.sh'." -echo "# It contains the implementation for the 'pitrac calibrate wizard' command." -echo "# The code you write here will be wrapped by a function named 'pitrac_calibrate_wizard_command()'." -echo "# Feel free to edit this file; your changes will persist when regenerating." diff --git a/packaging/src/camera/config/timeout.sh b/packaging/src/camera/config/timeout.sh deleted file mode 100644 index 9107bc6b..00000000 --- a/packaging/src/camera/config/timeout.sh +++ /dev/null @@ -1,19 +0,0 @@ - -# Source libraries -source "${BASH_SOURCE%/*}/../../lib/logging.sh" -source "${BASH_SOURCE%/*}/../../lib/global_flags.sh" - -# Initialize global flags and logging -initialize_global_flags - -timeout_ms="${args[milliseconds]}" - -config_file=$(get_libcamera_config_path) - -echo "Setting camera timeout to ${timeout_ms}ms" -echo "" -echo "Add to $config_file:" -echo " camera_timeout_value_ms: $timeout_ms" -echo "" -echo "Manual edit required:" -echo " sudo nano $config_file" diff --git a/packaging/src/camera/list.sh b/packaging/src/camera/list.sh deleted file mode 100644 index 0e882c7f..00000000 --- a/packaging/src/camera/list.sh +++ /dev/null @@ -1,22 +0,0 @@ - -# Initialize global flags and logging (libraries are embedded by bashly) -initialize_global_flags - - -detailed="${args[--detailed]:-}" - -echo "=== Available Cameras ===" -echo "" - -camera_cmd=$(get_camera_command) - -if command -v "$camera_cmd" >/dev/null 2>&1; then - if [[ "$detailed" == "1" ]]; then - $camera_cmd --list-cameras - else - get_camera_slots - fi -else - error "Camera command not found: $camera_cmd" - exit 1 -fi diff --git a/packaging/src/camera/test.sh b/packaging/src/camera/test.sh deleted file mode 100644 index fea661ea..00000000 --- a/packaging/src/camera/test.sh +++ /dev/null @@ -1,24 +0,0 @@ - -# Initialize global flags and logging (libraries are embedded by bashly) -initialize_global_flags - - -duration="${args[duration]:-5}" -camera_slot="${args[--camera]:-}" - -echo "=== Camera Test ===" -echo "Testing camera for ${duration} seconds..." -echo "" - -camera_cmd=$(get_camera_command) - -if command -v "$camera_cmd" >/dev/null 2>&1; then - if [[ -n "$camera_slot" ]]; then - $camera_cmd --camera "$camera_slot" -t "$((duration * 1000))" - else - $camera_cmd -t "$((duration * 1000))" - fi -else - error "Camera command not found: $camera_cmd" - exit 1 -fi diff --git a/packaging/src/camera/trigger.sh b/packaging/src/camera/trigger.sh deleted file mode 100644 index 7a15c499..00000000 --- a/packaging/src/camera/trigger.sh +++ /dev/null @@ -1,32 +0,0 @@ - -# Initialize global flags and logging (libraries are embedded by bashly) -initialize_global_flags - - -mode="${args[mode]}" -camera_slot="${args[--camera]:-}" - -echo "Setting camera trigger mode to: $mode" - -script_base="/usr/lib/pitrac/ImageProcessing/CameraTools" - -if [[ "$mode" == "external" ]]; then - script="$script_base/setCameraTriggerExternal.sh" -elif [[ "$mode" == "internal" ]]; then - script="$script_base/setCameraTriggerInternal.sh" -else - error "Invalid trigger mode: $mode" - exit 1 -fi - -if [[ -f "$script" ]]; then - if [[ $EUID -eq 0 ]]; then - "$script" - else - sudo "$script" - fi - success "Camera trigger mode set to $mode" -else - error "Trigger script not found: $script" - exit 1 -fi diff --git a/packaging/src/lib/activemq-service-install.sh b/packaging/src/lib/activemq-service-install.sh deleted file mode 100755 index 071bac12..00000000 --- a/packaging/src/lib/activemq-service-install.sh +++ /dev/null @@ -1,321 +0,0 @@ -#!/usr/bin/env bash -# ActiveMQ service configuration installer for PiTrac - -set -euo pipefail - -RED='\033[0;31m' -GREEN='\033[0;32m' -YELLOW='\033[1;33m' -BLUE='\033[0;34m' -NC='\033[0m' # No Color - -log_info() { echo -e "${BLUE}[INFO]${NC} $*"; } -log_warn() { echo -e "${YELLOW}[WARN]${NC} $*"; } -log_error() { echo -e "${RED}[ERROR]${NC} $*" >&2; } -log_success() { echo -e "${GREEN}[✓]${NC} $*"; } - -DEFAULT_BROKER_NAME="localhost" -DEFAULT_BIND_ADDRESS="0.0.0.0" -DEFAULT_PORT="61616" -DEFAULT_STOMP_PORT="61613" -DEFAULT_LOG_LEVEL="INFO" -DEFAULT_CONSOLE_LOG_LEVEL="WARN" -DEFAULT_PITRAC_PASSWORD="pitrac123" - -install_activemq_config() { - local install_user="${1:-activemq}" - local config_dir="${2:-/etc/activemq/instances-available/main}" - local data_dir="${3:-/var/lib/activemq}" - - log_info "Installing ActiveMQ configuration for PiTrac" - log_info " User: $install_user" - log_info " Config directory: $config_dir" - log_info " Data directory: $data_dir" - - if ! command -v activemq &>/dev/null && [[ ! -f /usr/share/activemq/bin/activemq ]]; then - log_error "ActiveMQ is not installed. Please install with: apt install activemq" - return 1 - fi - - if ! id "$install_user" &>/dev/null; then - log_warn "User '$install_user' does not exist. Will be created by ActiveMQ package." - fi - - log_info "Creating ActiveMQ directories..." - sudo mkdir -p "$config_dir" - sudo mkdir -p "$data_dir"/{main,conf,data,tmp,kahadb} - sudo mkdir -p "$data_dir/log" - sudo mkdir -p /etc/activemq/instances-enabled - - local template_dir="${PITRAC_TEMPLATE_DIR:-/usr/share/pitrac/templates}" - if [[ ! -d "$template_dir" ]]; then - template_dir="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../templates" && pwd)" - fi - - local activemq_xml_template="$template_dir/activemq.xml.template" - local log4j_template="$template_dir/log4j2.properties.template" - local options_template="$template_dir/activemq-options.template" - - if [[ ! -f "$activemq_xml_template" ]]; then - log_error "ActiveMQ XML template not found at: $activemq_xml_template" - return 1 - fi - - if [[ ! -f "$log4j_template" ]]; then - log_error "Log4j2 template not found at: $log4j_template" - return 1 - fi - - if [[ ! -f "$options_template" ]]; then - log_warn "ActiveMQ options template not found at: $options_template" - fi - - local broker_name="${ACTIVEMQ_BROKER_NAME:-$DEFAULT_BROKER_NAME}" - local bind_address="${ACTIVEMQ_BIND_ADDRESS:-$DEFAULT_BIND_ADDRESS}" - local port="${ACTIVEMQ_PORT:-$DEFAULT_PORT}" - local stomp_port="${ACTIVEMQ_STOMP_PORT:-$DEFAULT_STOMP_PORT}" - local log_level="${ACTIVEMQ_LOG_LEVEL:-$DEFAULT_LOG_LEVEL}" - local console_log_level="${ACTIVEMQ_CONSOLE_LOG_LEVEL:-$DEFAULT_CONSOLE_LOG_LEVEL}" - local pitrac_password="${ACTIVEMQ_PITRAC_PASSWORD:-$DEFAULT_PITRAC_PASSWORD}" - local log_dir="$data_dir/log" - - log_info "Configuring ActiveMQ with:" - log_info " Broker name: $broker_name" - log_info " Bind address: $bind_address" - log_info " OpenWire port: $port" - log_info " STOMP port: $stomp_port" - log_info " Log level: $log_level" - - local temp_xml=$(mktemp /tmp/activemq.xml.XXXXXX) - local temp_log4j=$(mktemp /tmp/log4j2.properties.XXXXXX) - local temp_options=$(mktemp /tmp/activemq-options.XXXXXX) - - trap 'rm -f '"${temp_xml}"' '"${temp_log4j}"' '"${temp_options}"'' EXIT INT TERM - - escape_for_sed() { - printf '%s' "$1" | sed 's/[[\.*^$()+?{|]/\\&/g' - } - - log_info "Processing ActiveMQ configuration template..." - sed -e "s|@ACTIVEMQ_BROKER_NAME@|$(escape_for_sed "$broker_name")|g" \ - -e "s|@ACTIVEMQ_DATA_DIR@|$(escape_for_sed "$data_dir")|g" \ - -e "s|@ACTIVEMQ_BIND_ADDRESS@|$(escape_for_sed "$bind_address")|g" \ - -e "s|@ACTIVEMQ_PORT@|$(escape_for_sed "$port")|g" \ - -e "s|@ACTIVEMQ_STOMP_PORT@|$(escape_for_sed "$stomp_port")|g" \ - -e "s|@ACTIVEMQ_PITRAC_PASSWORD@|$(escape_for_sed "$pitrac_password")|g" \ - "$activemq_xml_template" > "$temp_xml" - - log_info "Processing Log4j2 configuration template..." - sed -e "s|@ACTIVEMQ_USER@|$(escape_for_sed "$install_user")|g" \ - -e "s|@ACTIVEMQ_LOG_DIR@|$(escape_for_sed "$log_dir")|g" \ - -e "s|@ACTIVEMQ_LOG_LEVEL@|$(escape_for_sed "$log_level")|g" \ - -e "s|@ACTIVEMQ_CONSOLE_LOG_LEVEL@|$(escape_for_sed "$console_log_level")|g" \ - "$log4j_template" > "$temp_log4j" - - if [[ -f "$options_template" ]]; then - log_info "Processing ActiveMQ options template..." - sed -e "s|@ACTIVEMQ_INSTANCE_NAME@|main|g" \ - -e "s|@ACTIVEMQ_DATA_DIR@|$(escape_for_sed "$data_dir")|g" \ - -e "s|@ACTIVEMQ_LOG_DIR@|$(escape_for_sed "$log_dir")|g" \ - "$options_template" > "$temp_options" - fi - - if [[ -f "$config_dir/activemq.xml" ]]; then - local backup_file="$config_dir/activemq.xml.bak.$(date +%s)" - log_info "Backing up existing activemq.xml to $backup_file" - sudo cp "$config_dir/activemq.xml" "$backup_file" - fi - - if [[ -f "$config_dir/log4j2.properties" ]]; then - local backup_file="$config_dir/log4j2.properties.bak.$(date +%s)" - log_info "Backing up existing log4j2.properties to $backup_file" - sudo cp "$config_dir/log4j2.properties" "$backup_file" - fi - - log_info "Installing ActiveMQ configuration files..." - sudo install -m 644 -o root -g root "$temp_xml" "$config_dir/activemq.xml" - sudo install -m 644 -o root -g root "$temp_log4j" "$config_dir/log4j2.properties" - - if [[ -f "$temp_options" ]]; then - sudo install -m 644 -o root -g root "$temp_options" "$config_dir/options" - fi - - if [[ ! -f "$config_dir/jetty.xml" ]]; then - log_info "Creating basic jetty.xml for web console..." - sudo tee "$config_dir/jetty.xml" > /dev/null <<'EOF' - - - - - - - - -EOF - fi - - if [[ ! -f "$config_dir/credentials.properties" ]]; then - log_info "Creating credentials.properties..." - sudo tee "$config_dir/credentials.properties" > /dev/null </dev/null || true - sudo cp -f "$config_dir"/*.properties "$data_dir/main/" 2>/dev/null || true - sudo cp -f "$config_dir"/*.xml "$data_dir/conf/" 2>/dev/null || true - sudo cp -f "$config_dir"/*.properties "$data_dir/conf/" 2>/dev/null || true - - if [[ ! -e /etc/activemq/instances-enabled/main ]]; then - log_info "Enabling ActiveMQ main instance..." - sudo ln -sf /etc/activemq/instances-available/main /etc/activemq/instances-enabled/main - fi - - if id "$install_user" &>/dev/null; then - log_info "Setting ownership for ActiveMQ directories..." - sudo chown -R "$install_user:$install_user" "$data_dir" - sudo chown -R "$install_user:$install_user" "$config_dir" - fi - - log_info "Cleaning up old configuration backups..." - sudo find "$config_dir" -name "*.bak.*" -type f 2>/dev/null | \ - sort -r | tail -n +4 | xargs -r sudo rm -f - - log_success "ActiveMQ configuration installed successfully!" - - echo "" - log_info "Next steps:" - log_info " 1. Restart ActiveMQ service: sudo systemctl restart activemq" - log_info " 2. Check service status: sudo systemctl status activemq" - log_info " 3. View logs: sudo journalctl -u activemq -f" - log_info " 4. Access web console: http://localhost:8161/admin (admin/admin)" - - return 0 -} - -update_activemq_config() { - local install_user="${1:-activemq}" - - log_info "Updating ActiveMQ configuration..." - - if systemctl is-active --quiet activemq 2>/dev/null; then - log_info "Stopping ActiveMQ service for configuration update..." - sudo systemctl stop activemq - fi - - install_activemq_config "$install_user" - - log_info "Restarting ActiveMQ service..." - sudo systemctl start activemq - - return 0 -} - -verify_activemq_config() { - local config_dir="/etc/activemq/instances-available/main" - local data_dir="/var/lib/activemq" - - log_info "Verifying ActiveMQ configuration..." - - local errors=0 - - if [[ ! -f "$config_dir/activemq.xml" ]]; then - log_error "Missing activemq.xml in $config_dir" - ((errors++)) - fi - - if [[ ! -f "$config_dir/log4j2.properties" ]]; then - log_error "Missing log4j2.properties in $config_dir" - ((errors++)) - fi - - if [[ ! -e /etc/activemq/instances-enabled/main ]]; then - log_error "Main instance not enabled" - ((errors++)) - fi - - for dir in "$data_dir" "$data_dir/main" "$data_dir/conf" "$data_dir/data" "$data_dir/tmp"; do - if [[ ! -d "$dir" ]]; then - log_error "Missing directory: $dir" - ((errors++)) - fi - done - - local service_found=0 - - if systemctl list-units --all 2>/dev/null | grep "activemq.service" >/dev/null 2>&1; then - service_found=1 - elif systemctl list-unit-files 2>/dev/null | grep "activemq.service" >/dev/null 2>&1; then - service_found=1 - elif [[ -f /etc/init.d/activemq ]]; then - service_found=1 - elif systemctl status activemq 2>&1 | grep -q "Generated by systemd-sysv-generator"; then - service_found=1 - fi - - if [[ $service_found -eq 0 ]]; then - log_error "ActiveMQ service not found" - ((errors++)) - fi - - if command -v xmllint &>/dev/null; then - if ! xmllint --noout "$config_dir/activemq.xml" 2>/dev/null; then - log_error "Invalid XML in activemq.xml" - ((errors++)) - fi - fi - - if [[ $errors -eq 0 ]]; then - log_success "ActiveMQ configuration verified successfully!" - - if systemctl is-active --quiet activemq; then - log_success "ActiveMQ service is running" - - if netstat -tln 2>/dev/null | grep -q ":61616 "; then - log_success "ActiveMQ broker is listening on port 61616" - else - log_warn "ActiveMQ broker not listening on port 61616" - fi - else - log_warn "ActiveMQ service is not running" - fi - - return 0 - else - log_error "Found $errors configuration errors" - return 1 - fi -} - -if [[ "${BASH_SOURCE[0]}" == "${0}" ]] && [[ "${0}" == *"activemq-service-install.sh" ]]; then - action="${1:-}" - user="${2:-activemq}" - - case "$action" in - install) - install_activemq_config "$user" - ;; - update) - update_activemq_config "$user" - ;; - verify) - verify_activemq_config - ;; - *) - echo "Usage: $0 {install|update|verify} [username]" - echo "" - echo "Actions:" - echo " install [user] - Install ActiveMQ configuration" - echo " update [user] - Update ActiveMQ configuration" - echo " verify - Verify ActiveMQ configuration" - exit 1 - ;; - esac -fi diff --git a/packaging/src/lib/environment.sh b/packaging/src/lib/environment.sh deleted file mode 100644 index 02f6bc71..00000000 --- a/packaging/src/lib/environment.sh +++ /dev/null @@ -1,193 +0,0 @@ -#!/usr/bin/env bash -# lib/environment.sh - Environment setup functions - -readonly PITRAC_BINARY="/usr/lib/pitrac/pitrac_lm" -readonly PITRAC_LIB_DIR="/usr/lib/pitrac" -readonly PITRAC_SHARE_DIR="/usr/share/pitrac" -readonly PITRAC_CONFIG_DIR="/etc/pitrac" - -setup_pitrac_environment() { - export LD_LIBRARY_PATH="${PITRAC_LIB_DIR}:${LD_LIBRARY_PATH:-}" - export PITRAC_ROOT="${PITRAC_LIB_DIR}" - - if [[ -z "${HOME:-}" ]]; then - if [[ -n "${USER:-}" ]]; then - export HOME=$(getent passwd "$USER" | cut -d: -f6) - elif [[ -n "${SUDO_USER:-}" ]]; then - export HOME=$(getent passwd "$SUDO_USER" | cut -d: -f6) - else - local current_user=$(whoami) - export HOME=$(getent passwd "$current_user" | cut -d: -f6) - if [[ -z "${HOME:-}" ]]; then - export HOME="/home/$current_user" - fi - fi - fi - - setup_camera_env - - set_libcamera_config - - ensure_directories - - return 0 -} - -setup_camera_env() { - local config_file="${1:-${config[config_file]:-$PITRAC_CONFIG}}" - - local slot1_type="4" - local slot2_type="4" - local slot1_lens="" - local slot2_lens="" - - if [[ -f "$config_file" ]] && declare -p config >/dev/null 2>&1; then - slot1_type="${config[camera_slot1_type]:-4}" - slot2_type="${config[camera_slot2_type]:-4}" - slot1_lens="${config[camera_slot1_lens]:-}" - slot2_lens="${config[camera_slot2_lens]:-}" - elif [[ -f "$config_file" ]]; then - slot1_type=$(grep -A3 "^ slot1:" "$config_file" 2>/dev/null | \ - grep "type:" | awk '{print $2}' | cut -d'#' -f1 | tr -d ' ' || echo "4") - slot2_type=$(grep -A3 "^ slot2:" "$config_file" 2>/dev/null | \ - grep "type:" | awk '{print $2}' | cut -d'#' -f1 | tr -d ' ' || echo "4") - slot1_lens=$(grep -A3 "^ slot1:" "$config_file" 2>/dev/null | \ - grep "lens:" | awk '{print $2}' | cut -d'#' -f1 | tr -d ' ' || true) - slot2_lens=$(grep -A3 "^ slot2:" "$config_file" 2>/dev/null | \ - grep "lens:" | awk '{print $2}' | cut -d'#' -f1 | tr -d ' ' || true) - fi - - export PITRAC_SLOT1_CAMERA_TYPE="${slot1_type}" - export PITRAC_SLOT2_CAMERA_TYPE="${slot2_type}" - - [[ -n "$slot1_lens" ]] && export PITRAC_SLOT1_LENS_TYPE="$slot1_lens" - [[ -n "$slot2_lens" ]] && export PITRAC_SLOT2_LENS_TYPE="$slot2_lens" - - log_debug "Camera environment: Slot1=$slot1_type/$slot1_lens, Slot2=$slot2_type/$slot2_lens" -} - -set_libcamera_config() { - local model=$(detect_pi_model) - local config_file=$(get_libcamera_config_path "$model") - - if [[ -f "$config_file" ]]; then - export LIBCAMERA_RPI_CONFIG_FILE="$config_file" - log_debug "Set LIBCAMERA_RPI_CONFIG_FILE to $config_file" - else - log_warn "libcamera config file not found: $config_file" - fi -} - -ensure_directories() { - local dirs=( - "${HOME}/.pitrac/config" - "${HOME}/.pitrac/cache" - "${HOME}/.pitrac/state" - "${HOME}/.pitrac/calibration" - "${HOME}/.pitrac/logs" - "${HOME}/.pitrac/run" - "${HOME}/LM_Shares/Images" - "${HOME}/LM_Shares/WebShare" - ) - - for dir in "${dirs[@]}"; do - if [[ ! -d "$dir" ]]; then - mkdir -p "$dir" 2>/dev/null || true - fi - done -} - -get_user_config_dir() { - echo "${HOME}/.pitrac/config" -} - -get_user_state_dir() { - echo "${HOME}/.pitrac/state" -} - -get_user_cache_dir() { - echo "${HOME}/.pitrac/cache" -} - -get_user_log_dir() { - echo "${HOME}/.pitrac/logs" -} - -is_systemd_service() { - if [[ -n "${INVOCATION_ID:-}" ]] || [[ -n "${JOURNAL_STREAM:-}" ]]; then - return 0 - else - return 1 - fi -} - -setup_systemd_environment() { - export PITRAC_SERVICE_MODE="1" - - if [[ -z "${HOME:-}" ]]; then - local current_user=$(whoami) - export HOME=$(getent passwd "$current_user" | cut -d: -f6) - if [[ -z "${HOME:-}" ]]; then - export HOME="/home/$current_user" - fi - fi - - export PATH="/usr/local/bin:/usr/bin:/bin" - - if [[ ! -d "${HOME}" ]]; then - log_error "Home directory does not exist: ${HOME}" - return 1 - fi - - cd "${HOME}" || return 1 - - return 0 -} - -check_environment() { - local errors=0 - - if [[ ! -f "$PITRAC_BINARY" ]]; then - log_error "PiTrac binary not found: $PITRAC_BINARY" - ((errors++)) - fi - - if [[ ! -d "$PITRAC_LIB_DIR" ]]; then - log_error "PiTrac library directory not found: $PITRAC_LIB_DIR" - ((errors++)) - fi - - if ! is_raspberry_pi; then - log_warn "Not running on Raspberry Pi - some features may not work" - fi - - if ! check_camera_availability; then - log_warn "No cameras detected - camera features will not work" - fi - - if ! is_gpio_available; then - log_warn "GPIO not available - strobe features will not work" - fi - - if [[ $errors -gt 0 ]]; then - return 1 - else - return 0 - fi -} - -export_pitrac_environment() { - local env_file="${HOME}/.pitrac/state/environment" - - cat > "$env_file" << EOF -export LD_LIBRARY_PATH="${LD_LIBRARY_PATH:-}" -export PITRAC_ROOT="${PITRAC_ROOT:-}" -export LIBCAMERA_RPI_CONFIG_FILE="${LIBCAMERA_RPI_CONFIG_FILE:-}" -export PITRAC_SLOT1_CAMERA_TYPE="${PITRAC_SLOT1_CAMERA_TYPE:-}" -export PITRAC_SLOT2_CAMERA_TYPE="${PITRAC_SLOT2_CAMERA_TYPE:-}" -export PITRAC_SLOT1_LENS_TYPE="${PITRAC_SLOT1_LENS_TYPE:-}" -export PITRAC_SLOT2_LENS_TYPE="${PITRAC_SLOT2_LENS_TYPE:-}" -EOF - - chmod 644 "$env_file" -} diff --git a/packaging/src/lib/global_flags.sh b/packaging/src/lib/global_flags.sh deleted file mode 100644 index bbfb35ed..00000000 --- a/packaging/src/lib/global_flags.sh +++ /dev/null @@ -1,115 +0,0 @@ -#!/usr/bin/env bash -# lib/global_flags.sh - Handle global CLI flags for PiTrac -# This library manages global flags like --verbose, --debug, --info, --trace -# and ensures consistent logging behavior across all commands - -# Source logging library if not already loaded -if [[ -z "${LOGGING_LOADED:-}" ]]; then - if [[ -f "${BASH_SOURCE%/*}/logging.sh" ]]; then - source "${BASH_SOURCE%/*}/logging.sh" - fi -fi - -# Setup global logging based on CLI flags -# Priority order (highest to lowest): --trace > --debug > --info/--verbose > default -setup_global_logging() { - local log_level_set=false - - # Check for trace flag first (most verbose - level 0) - if [[ "${args[--trace]:-}" == "1" ]]; then - export LOG_LEVEL=$LOG_LEVEL_TRACE - log_trace "Trace logging enabled via --trace flag" - log_level_set=true - # Then debug (level 1) - elif [[ "${args[--debug]:-}" == "1" ]]; then - export LOG_LEVEL=$LOG_LEVEL_DEBUG - log_debug "Debug logging enabled via --debug flag" - log_level_set=true - # Then info (level 2) - elif [[ "${args[--info]:-}" == "1" ]]; then - export LOG_LEVEL=$LOG_LEVEL_INFO - log_info "Info logging enabled via --info flag" - log_level_set=true - # Then verbose (also maps to info level) - elif [[ "${args[--verbose]:-}" == "1" ]]; then - export LOG_LEVEL=$LOG_LEVEL_INFO - log_info "Verbose logging enabled via --verbose flag" - log_level_set=true - fi - - # If no flag was set, use environment variable or default to WARN - if [[ "$log_level_set" == "false" ]]; then - if [[ -n "${PITRAC_LOG_LEVEL:-}" ]]; then - case "${PITRAC_LOG_LEVEL}" in - trace|TRACE) export LOG_LEVEL=$LOG_LEVEL_TRACE ;; - debug|DEBUG) export LOG_LEVEL=$LOG_LEVEL_DEBUG ;; - info|INFO) export LOG_LEVEL=$LOG_LEVEL_INFO ;; - warn|WARN) export LOG_LEVEL=$LOG_LEVEL_WARN ;; - error|ERROR) export LOG_LEVEL=$LOG_LEVEL_ERROR ;; - *) export LOG_LEVEL=$LOG_LEVEL_WARN ;; - esac - log_debug "Log level set from PITRAC_LOG_LEVEL environment variable: $PITRAC_LOG_LEVEL" - else - # Default to WARN level for normal operation - export LOG_LEVEL=$LOG_LEVEL_WARN - fi - fi - - log_trace "Effective log level: $LOG_LEVEL" -} - -setup_config_file() { - if [[ -n "${args[--config]:-}" ]]; then - export PITRAC_CONFIG="${args[--config]}" - log_debug "Using configuration file from --config flag: ${args[--config]}" - - if [[ ! -f "${PITRAC_CONFIG}" ]]; then - log_warn "Configuration file does not exist: ${PITRAC_CONFIG}" - else - log_info "Using configuration file: ${PITRAC_CONFIG}" - fi - fi -} - -build_pitrac_logging_args() { - local -n cmd_args_ref=$1 - - if [[ "${args[--trace]:-}" == "1" ]]; then - cmd_args_ref+=("--logging_level=trace") - log_trace "Setting PiTrac binary logging to trace" - elif [[ "${args[--debug]:-}" == "1" ]]; then - cmd_args_ref+=("--logging_level=debug") - log_debug "Setting PiTrac binary logging to debug" - elif [[ "${args[--info]:-}" == "1" ]] || [[ "${args[--verbose]:-}" == "1" ]]; then - cmd_args_ref+=("--logging_level=info") - log_info "Setting PiTrac binary logging to info" - else - # Default to info for the binary (it has its own defaults) - cmd_args_ref+=("--logging_level=info") - fi - - return 0 -} - -initialize_global_flags() { - setup_global_logging - - setup_config_file - - log_trace "Executing script: ${BASH_SOURCE[1]:-unknown}" - log_trace "Command: ${args[command]:-unknown}" - - if [[ $LOG_LEVEL -le $LOG_LEVEL_TRACE ]]; then - log_trace "All arguments:" - for key in "${!args[@]}"; do - log_trace " args[$key]='${args[$key]}'" - done - fi -} - -export -f setup_global_logging -export -f setup_config_file -export -f build_pitrac_logging_args -export -f initialize_global_flags - -export GLOBAL_FLAGS_LOADED=1 \ No newline at end of file diff --git a/packaging/src/lib/hardware.sh b/packaging/src/lib/hardware.sh deleted file mode 100644 index 6c58f8ec..00000000 --- a/packaging/src/lib/hardware.sh +++ /dev/null @@ -1,148 +0,0 @@ -#!/usr/bin/env bash -# lib/hardware.sh - Hardware detection and management functions - -detect_pi_model() { - if grep -q "Raspberry Pi.*5" /proc/cpuinfo 2>/dev/null; then - echo "pi5" - elif grep -q "Raspberry Pi.*4" /proc/cpuinfo 2>/dev/null; then - echo "pi4" - elif grep -q "Raspberry Pi" /proc/cpuinfo 2>/dev/null; then - echo "pi_other" - else - echo "unknown" - fi -} - -get_gpio_chip() { - local model="${1:-$(detect_pi_model)}" - - case "$model" in - pi5) - echo "4" - ;; - pi4|pi_other) - echo "0" - ;; - *) - echo "0" - ;; - esac -} - -get_boot_config_path() { - local model="${1:-$(detect_pi_model)}" - - if [[ -f "/boot/firmware/config.txt" ]]; then - echo "/boot/firmware/config.txt" - elif [[ -f "/boot/config.txt" ]]; then - echo "/boot/config.txt" - else - echo "/boot/firmware/config.txt" - fi -} - -get_libcamera_config_path() { - local model="${1:-$(detect_pi_model)}" - - case "$model" in - pi5) - echo "/usr/share/libcamera/pipeline/rpi/pisp/rpi_apps.yaml" - ;; - pi4|pi_other) - echo "/usr/share/libcamera/pipeline/rpi/vc4/rpi_apps.yaml" - ;; - *) - if [[ -f "/usr/share/libcamera/pipeline/rpi/pisp/rpi_apps.yaml" ]]; then - echo "/usr/share/libcamera/pipeline/rpi/pisp/rpi_apps.yaml" - else - echo "/usr/share/libcamera/pipeline/rpi/vc4/rpi_apps.yaml" - fi - ;; - esac -} - -is_gpio_available() { - local chip=$(get_gpio_chip) - - if [[ -e "/dev/gpiochip${chip}" ]]; then - return 0 - else - return 1 - fi -} - -get_camera_command() { - local model="${1:-$(detect_pi_model)}" - local base_command="${2:-hello}" - - case "$model" in - pi5) - echo "rpicam-${base_command}" - ;; - *) - echo "libcamera-${base_command}" - ;; - esac -} - -is_raspberry_pi() { - if [[ -f /proc/cpuinfo ]] && grep -q "Raspberry Pi" /proc/cpuinfo; then - return 0 - else - return 1 - fi -} - -get_system_memory_mb() { - local mem_kb - mem_kb=$(grep MemTotal /proc/meminfo | awk '{print $2}') - echo $((mem_kb / 1024)) -} - -needs_gpu_memory_setting() { - local model="${1:-$(detect_pi_model)}" - - case "$model" in - pi4) - return 0 - ;; - *) - return 1 - ;; - esac -} - -get_recommended_gpu_memory() { - local model="${1:-$(detect_pi_model)}" - - case "$model" in - pi4) - echo "256" - ;; - *) - echo "0" - ;; - esac -} - -check_camera_availability() { - local camera_cmd=$(get_camera_command) - - if command -v "$camera_cmd" >/dev/null 2>&1; then - if $camera_cmd --list-cameras 2>/dev/null | grep -q "Available cameras"; then - return 0 - fi - fi - - return 1 -} - -get_camera_slots() { - local camera_cmd=$(get_camera_command) - - if command -v "$camera_cmd" >/dev/null 2>&1; then - $camera_cmd --list-cameras 2>/dev/null | grep -E "^\s*[0-9]+ :" | while read -r line; do - echo "$line" - done - fi -} diff --git a/packaging/src/lib/logging.sh b/packaging/src/lib/logging.sh deleted file mode 100644 index e23d5b56..00000000 --- a/packaging/src/lib/logging.sh +++ /dev/null @@ -1,220 +0,0 @@ -#!/usr/bin/env bash -# lib/logging.sh - Logging functions - -readonly LOG_LEVEL_TRACE=0 -readonly LOG_LEVEL_DEBUG=1 -readonly LOG_LEVEL_INFO=2 -readonly LOG_LEVEL_WARN=3 -readonly LOG_LEVEL_ERROR=4 -readonly LOG_LEVEL_NONE=5 - -LOG_LEVEL="${LOG_LEVEL:-$LOG_LEVEL_INFO}" - -readonly COLOR_RESET='\033[0m' -readonly COLOR_RED='\033[0;31m' -readonly COLOR_GREEN='\033[0;32m' -readonly COLOR_YELLOW='\033[1;33m' -readonly COLOR_BLUE='\033[0;34m' -readonly COLOR_MAGENTA='\033[0;35m' -readonly COLOR_CYAN='\033[0;36m' -readonly COLOR_GRAY='\033[0;90m' - -supports_color() { - if [[ -t 1 ]] && [[ -n "${TERM:-}" ]] && [[ "${TERM}" != "dumb" ]]; then - return 0 - else - return 1 - fi -} - -format_log_message() { - local level="$1" - local message="$2" - local timestamp=$(date '+%Y-%m-%d %H:%M:%S') - - echo "[$timestamp] [$level] $message" -} - -log_trace() { - if [[ $LOG_LEVEL -le $LOG_LEVEL_TRACE ]]; then - local message=$(format_log_message "TRACE" "$*") - if supports_color; then - echo -e "${COLOR_GRAY}${message}${COLOR_RESET}" >&2 - else - echo "$message" >&2 - fi - fi -} - -log_debug() { - if [[ $LOG_LEVEL -le $LOG_LEVEL_DEBUG ]]; then - local message=$(format_log_message "DEBUG" "$*") - if supports_color; then - echo -e "${COLOR_CYAN}${message}${COLOR_RESET}" >&2 - else - echo "$message" >&2 - fi - fi -} - -log_info() { - if [[ $LOG_LEVEL -le $LOG_LEVEL_INFO ]]; then - local message=$(format_log_message "INFO" "$*") - if supports_color; then - echo -e "${COLOR_BLUE}${message}${COLOR_RESET}" >&2 - else - echo "$message" >&2 - fi - fi -} - -log_warn() { - if [[ $LOG_LEVEL -le $LOG_LEVEL_WARN ]]; then - local message=$(format_log_message "WARN" "$*") - if supports_color; then - echo -e "${COLOR_YELLOW}${message}${COLOR_RESET}" >&2 - else - echo "$message" >&2 - fi - fi -} - -log_error() { - if [[ $LOG_LEVEL -le $LOG_LEVEL_ERROR ]]; then - local message=$(format_log_message "ERROR" "$*") - if supports_color; then - echo -e "${COLOR_RED}${message}${COLOR_RESET}" >&2 - else - echo "$message" >&2 - fi - fi -} - -success() { - local message="$*" - if supports_color; then - echo -e "${COLOR_GREEN}✓${COLOR_RESET} ${message}" - else - echo "✓ $message" - fi -} - -die() { - log_error "$*" - exit 1 -} - -error() { - if supports_color; then - echo -e "${COLOR_RED}Error:${COLOR_RESET} $*" >&2 - else - echo "Error: $*" >&2 - fi -} - -warn() { - if supports_color; then - echo -e "${COLOR_YELLOW}Warning:${COLOR_RESET} $*" >&2 - else - echo "Warning: $*" >&2 - fi -} - -info() { - echo "$*" -} - -set_log_level() { - local level="${1,,}" - - case "$level" in - trace) - LOG_LEVEL=$LOG_LEVEL_TRACE - ;; - debug) - LOG_LEVEL=$LOG_LEVEL_DEBUG - ;; - info) - LOG_LEVEL=$LOG_LEVEL_INFO - ;; - warn|warning) - LOG_LEVEL=$LOG_LEVEL_WARN - ;; - error) - LOG_LEVEL=$LOG_LEVEL_ERROR - ;; - none|off) - LOG_LEVEL=$LOG_LEVEL_NONE - ;; - *) - log_warn "Unknown log level: $level" - ;; - esac -} - -get_log_level() { - case "$LOG_LEVEL" in - $LOG_LEVEL_TRACE) - echo "trace" - ;; - $LOG_LEVEL_DEBUG) - echo "debug" - ;; - $LOG_LEVEL_INFO) - echo "info" - ;; - $LOG_LEVEL_WARN) - echo "warn" - ;; - $LOG_LEVEL_ERROR) - echo "error" - ;; - $LOG_LEVEL_NONE) - echo "none" - ;; - *) - echo "unknown" - ;; - esac -} - -show_progress() { - local message="$1" - if supports_color; then - echo -ne "${COLOR_BLUE}⟳${COLOR_RESET} ${message}...\r" - else - echo -n "$message..." - fi -} - -clear_progress() { - echo -ne "\033[2K\r" -} - -show_spinner() { - local pid=$1 - local message="${2:-Working}" - local spinstr='⠋⠙⠹⠸⠼⠴⠦⠧⠇⠏' - local temp - - if ! supports_color; then - echo -n "$message..." - wait $pid - echo " done" - return - fi - - while kill -0 $pid 2>/dev/null; do - temp=${spinstr#?} - printf "${COLOR_BLUE}%c${COLOR_RESET} %s...\r" "$spinstr" "$message" - spinstr=$temp${spinstr%"$temp"} - sleep 0.1 - done - - clear_progress - if wait $pid; then - success "$message" - else - error "$message failed" - fi -} diff --git a/packaging/src/lib/process.sh b/packaging/src/lib/process.sh deleted file mode 100644 index 43b36bdc..00000000 --- a/packaging/src/lib/process.sh +++ /dev/null @@ -1,226 +0,0 @@ -#!/usr/bin/env bash -# lib/process.sh - Process management functions - -PITRAC_PID_DIR="/var/run/pitrac" -PITRAC_PID_FILE="${PITRAC_PID_DIR}/pitrac.pid" -PITRAC_LOCK_FILE="${PITRAC_PID_DIR}/pitrac.lock" -PITRAC_LOG_FILE="/var/log/pitrac/pitrac.log" - -ensure_pid_directory() { - if [[ ! -d "$PITRAC_PID_DIR" ]]; then - if [[ $EUID -eq 0 ]]; then - mkdir -p "$PITRAC_PID_DIR" - chown "${SUDO_USER:-$USER}:${SUDO_USER:-$USER}" "$PITRAC_PID_DIR" - else - PITRAC_PID_DIR="${HOME}/.pitrac/run" - PITRAC_PID_FILE="${PITRAC_PID_DIR}/pitrac.pid" - PITRAC_LOCK_FILE="${PITRAC_PID_DIR}/pitrac.lock" - mkdir -p "$PITRAC_PID_DIR" - fi - fi -} - -is_pitrac_running() { - local pid - - if [[ -f "$PITRAC_PID_FILE" ]]; then - pid=$(cat "$PITRAC_PID_FILE" 2>/dev/null) - if [[ -n "$pid" ]] && is_process_running "$pid" "pitrac_lm"; then - return 0 - else - rm -f "$PITRAC_PID_FILE" - fi - fi - - pid=$(pgrep -x "pitrac_lm" 2>/dev/null | head -1) - if [[ -n "$pid" ]]; then - warn "Found pitrac_lm running without PID file (PID: $pid)" - return 0 - fi - - return 1 -} - -is_process_running() { - local pid="$1" - local expected_name="${2:-}" - - if [[ -z "$pid" ]]; then - return 1 - fi - - if ! kill -0 "$pid" 2>/dev/null; then - return 1 - fi - - if [[ -n "$expected_name" ]]; then - local actual_name - actual_name=$(ps -p "$pid" -o comm= 2>/dev/null) - if [[ "$actual_name" != "$expected_name" ]]; then - return 1 - fi - fi - - return 0 -} - -get_pitrac_pid() { - if [[ -f "$PITRAC_PID_FILE" ]]; then - cat "$PITRAC_PID_FILE" 2>/dev/null - else - pgrep -x "pitrac_lm" 2>/dev/null | head -1 - fi -} - -save_pid() { - local pid="$1" - ensure_pid_directory - - echo "$pid" > "${PITRAC_PID_FILE}.tmp" - mv -f "${PITRAC_PID_FILE}.tmp" "$PITRAC_PID_FILE" -} - -remove_pid_file() { - rm -f "$PITRAC_PID_FILE" -} - -start_background_process() { - local binary="$1" - shift - local -a args=("$@") - - ensure_pid_directory - ensure_log_directory - - ( - exec 1>>"$PITRAC_LOG_FILE" - exec 2>&1 - - setsid "$binary" "${args[@]}" & - echo $! - ) & - - local pid=$! - wait $pid 2>/dev/null - local background_pid=$(cat) - echo "$background_pid" -} - -exec_with_cleanup() { - local binary="$1" - shift - local -a args=("$@") - - trap 'cleanup_on_exit' EXIT - trap 'handle_interrupt' INT TERM - - exec "$binary" "${args[@]}" -} - -cleanup_on_exit() { - remove_pid_file - log_info "PiTrac stopped" -} - -handle_interrupt() { - log_info "Received interrupt signal, shutting down..." - cleanup_on_exit - exit 130 -} - -stop_pitrac() { - local force="${1:-false}" - local timeout="${2:-5}" - local pid - - pid=$(get_pitrac_pid) - - if [[ -z "$pid" ]]; then - log_info "PiTrac is not running" - return 0 - fi - - if ! is_process_running "$pid" "pitrac_lm"; then - log_info "PiTrac process not found (stale PID file)" - remove_pid_file - return 0 - fi - - log_info "Stopping PiTrac (PID: $pid)..." - - if [[ "$force" == "true" ]]; then - kill -9 "$pid" 2>/dev/null - else - kill -TERM "$pid" 2>/dev/null - - local count=0 - while [[ $count -lt $timeout ]] && is_process_running "$pid"; do - sleep 1 - ((count++)) - done - - if is_process_running "$pid"; then - log_warn "Process didn't stop gracefully, forcing..." - kill -9 "$pid" 2>/dev/null - fi - fi - - if ! is_process_running "$pid"; then - remove_pid_file - success "PiTrac stopped" - return 0 - else - error "Failed to stop PiTrac" - return 1 - fi -} - -ensure_log_directory() { - local log_dir - log_dir=$(dirname "$PITRAC_LOG_FILE") - - if [[ ! -d "$log_dir" ]]; then - if [[ $EUID -eq 0 ]]; then - mkdir -p "$log_dir" - chown "${SUDO_USER:-$USER}:${SUDO_USER:-$USER}" "$log_dir" - else - PITRAC_LOG_FILE="${HOME}/.pitrac/logs/pitrac.log" - log_dir=$(dirname "$PITRAC_LOG_FILE") - mkdir -p "$log_dir" - fi - fi - - if [[ -f "$PITRAC_LOG_FILE" ]]; then - local size - size=$(stat -f%z "$PITRAC_LOG_FILE" 2>/dev/null || stat -c%s "$PITRAC_LOG_FILE" 2>/dev/null) - if [[ $size -gt 10485760 ]]; then - mv "$PITRAC_LOG_FILE" "${PITRAC_LOG_FILE}.old" - touch "$PITRAC_LOG_FILE" - fi - fi -} - -acquire_lock() { - ensure_pid_directory - - exec 200>"$PITRAC_LOCK_FILE" - - if ! flock -n 200; then - error "Another instance is starting or stopping PiTrac" - return 1 - fi - - return 0 -} - -release_lock() { - exec 200>&- -} - -not_already_running() { - if is_pitrac_running; then - error "PiTrac is already running (PID: $(get_pitrac_pid))" - error "Use 'pitrac stop' to stop it first" - exit 1 - fi -} diff --git a/packaging/src/lib/services.sh b/packaging/src/lib/services.sh deleted file mode 100644 index dfd22440..00000000 --- a/packaging/src/lib/services.sh +++ /dev/null @@ -1,272 +0,0 @@ -#!/usr/bin/env bash -# lib/services.sh - Service management functions - -is_service_running() { - local service="$1" - - if command -v systemctl >/dev/null 2>&1; then - if systemctl is-active --quiet "$service" 2>/dev/null; then - return 0 - fi - fi - - case "$service" in - activemq) - pgrep -f "activemq" >/dev/null 2>&1 - ;; - pitrac) - pgrep -x "pitrac_lm" >/dev/null 2>&1 - ;; - *) - return 1 - ;; - esac -} - -start_service() { - local service="$1" - local use_sudo="${2:-auto}" - - if [[ "$use_sudo" == "auto" ]]; then - if [[ $EUID -eq 0 ]]; then - use_sudo="no" - elif systemctl show "$service" --property=User 2>/dev/null | grep -q "User=.*${USER}"; then - use_sudo="no" - else - use_sudo="yes" - fi - fi - - if command -v systemctl >/dev/null 2>&1; then - if [[ "$use_sudo" == "yes" ]]; then - if command -v sudo >/dev/null 2>&1; then - if ! sudo systemctl start "$service" 2>&1; then - log_warn "Failed to start $service - it may already be running or misconfigured" - fi - else - log_error "sudo required to start $service but not available" - return 1 - fi - else - if ! systemctl start "$service" 2>&1; then - log_warn "Failed to start $service - it may already be running or misconfigured" - fi - fi - else - log_error "systemctl not available, cannot start $service" - return 1 - fi - - sleep 1 - - if is_service_running "$service"; then - return 0 - else - return 1 - fi -} - -stop_service() { - local service="$1" - local use_sudo="${2:-auto}" - - if [[ "$use_sudo" == "auto" ]]; then - if [[ $EUID -eq 0 ]]; then - use_sudo="no" - elif systemctl show "$service" --property=User 2>/dev/null | grep -q "User=.*${USER}"; then - use_sudo="no" - else - use_sudo="yes" - fi - fi - - if command -v systemctl >/dev/null 2>&1; then - if [[ "$use_sudo" == "yes" ]]; then - if command -v sudo >/dev/null 2>&1; then - sudo systemctl stop "$service" 2>/dev/null - else - log_error "sudo required to stop $service but not available" - return 1 - fi - else - systemctl stop "$service" 2>/dev/null - fi - else - log_error "systemctl not available, cannot stop $service" - return 1 - fi - - sleep 1 - - if ! is_service_running "$service"; then - return 0 - else - return 1 - fi -} - -restart_service() { - local service="$1" - local use_sudo="${2:-auto}" - - stop_service "$service" "$use_sudo" - sleep 1 - start_service "$service" "$use_sudo" -} - -enable_service() { - local service="$1" - local use_sudo="${2:-auto}" - - if [[ "$use_sudo" == "auto" ]]; then - if [[ $EUID -eq 0 ]]; then - use_sudo="no" - else - use_sudo="yes" - fi - fi - - if command -v systemctl >/dev/null 2>&1; then - if [[ "$use_sudo" == "yes" ]]; then - if command -v sudo >/dev/null 2>&1; then - sudo systemctl enable "$service" 2>/dev/null - else - log_error "sudo required to enable $service but not available" - return 1 - fi - else - systemctl enable "$service" 2>/dev/null - fi - else - log_error "systemctl not available, cannot enable $service" - return 1 - fi -} - -disable_service() { - local service="$1" - local use_sudo="${2:-auto}" - - if [[ "$use_sudo" == "auto" ]]; then - if [[ $EUID -eq 0 ]]; then - use_sudo="no" - else - use_sudo="yes" - fi - fi - - if command -v systemctl >/dev/null 2>&1; then - if [[ "$use_sudo" == "yes" ]]; then - if command -v sudo >/dev/null 2>&1; then - sudo systemctl disable "$service" 2>/dev/null - else - log_error "sudo required to disable $service but not available" - return 1 - fi - else - systemctl disable "$service" 2>/dev/null - fi - else - log_error "systemctl not available, cannot disable $service" - return 1 - fi -} - -get_service_status() { - local service="$1" - - if command -v systemctl >/dev/null 2>&1; then - systemctl status "$service" --no-pager 2>/dev/null || true - else - if is_service_running "$service"; then - echo "$service is running" - else - echo "$service is not running" - fi - fi -} - -check_activemq_broker() { - local address="${1:-localhost}" - local port="${2:-61616}" - - if command -v ss >/dev/null 2>&1; then - ss -tln | grep -q ":${port}" 2>/dev/null - elif command -v netstat >/dev/null 2>&1; then - netstat -tln | grep -q ":${port}" 2>/dev/null - else - timeout 2 bash -c "echo >/dev/tcp/${address}/${port}" 2>/dev/null - fi -} - - - -get_service_logs() { - local service="$1" - local follow="${2:-false}" - local lines="${3:-50}" - - if command -v journalctl >/dev/null 2>&1; then - if [[ "$follow" == "true" ]]; then - journalctl -u "$service" -f - else - journalctl -u "$service" -n "$lines" --no-pager - fi - else - case "$service" in - pitrac) - local log_file="${PITRAC_LOG_FILE:-/var/log/pitrac/pitrac.log}" - if [[ ! -f "$log_file" ]]; then - log_file="${HOME}/.pitrac/logs/pitrac.log" - fi - if [[ ! -f "$log_file" ]]; then - log_file="/tmp/pitrac.log" - fi - ;; - activemq) - local log_file="/var/log/activemq/activemq.log" - ;; - *) - log_error "Unknown service: $service" - return 1 - ;; - esac - - if [[ -f "$log_file" ]]; then - if [[ "$follow" == "true" ]]; then - tail -f "$log_file" - else - tail -n "$lines" "$log_file" - fi - else - log_error "Log file not found: $log_file" - return 1 - fi - fi -} - -check_required_services() { - local all_good=true - - log_info "Checking required services..." - - if is_service_running "activemq"; then - log_debug "✓ ActiveMQ is running" - if check_activemq_broker; then - log_debug " Broker accessible on port 61616" - else - log_warn " Broker not accessible on port 61616" - all_good=false - fi - else - log_warn "✗ ActiveMQ is not running" - all_good=false - fi - - - if [[ "$all_good" == "true" ]]; then - return 0 - else - return 1 - fi -} \ No newline at end of file diff --git a/packaging/src/lib/validations.sh b/packaging/src/lib/validations.sh deleted file mode 100644 index 137786b3..00000000 --- a/packaging/src/lib/validations.sh +++ /dev/null @@ -1,208 +0,0 @@ -#!/usr/bin/env bash -# lib/validations.sh - Input validation functions for Bashly -validate_integer() { - local value="$1" - local arg="${2:-value}" - - if [[ ! "$value" =~ ^-?[0-9]+$ ]]; then - echo "$arg must be an integer" - fi -} - -validate_file_exists() { - local value="$1" - local arg="${2:-file}" - - if [[ ! -f "$value" ]]; then - echo "$arg does not exist: $value" - fi -} - -validate_dir_exists() { - local value="$1" - local arg="${2:-directory}" - - if [[ ! -d "$value" ]]; then - echo "$arg does not exist: $value" - fi -} - -validate_system_mode() { - local value="$1" - - case "$value" in - camera1|camera2) - ;; - camera1_test_standalone) - ;; - camera2_test_standalone) - ;; - *) - echo "Invalid system mode: $value" - ;; - esac -} - -validate_camera_slot() { - local value="$1" - - if [[ "$value" != "1" && "$value" != "2" ]]; then - echo "Camera slot must be 1 or 2" - fi -} - -validate_not_already_running() { - if is_pitrac_running; then - echo "PiTrac is already running (PID: $(get_pitrac_pid))" - fi -} - -validate_positive_integer() { - local value="$1" - local arg="${2:-value}" - - if [[ ! "$value" =~ ^[0-9]+$ ]] || [[ "$value" -eq 0 ]]; then - echo "$arg must be a positive integer" - fi -} - -validate_port() { - local value="$1" - local arg="${2:-port}" - - if [[ ! "$value" =~ ^[0-9]+$ ]] || [[ "$value" -lt 1 ]] || [[ "$value" -gt 65535 ]]; then - echo "$arg must be a valid port number (1-65535)" - fi -} - -validate_host() { - local value="$1" - local arg="${2:-host}" - - if [[ -z "$value" ]]; then - echo "$arg cannot be empty" - elif [[ ! "$value" =~ ^[a-zA-Z0-9.-]+$ ]]; then - echo "$arg contains invalid characters" - fi -} - -validate_broker_address() { - local value="$1" - - if [[ ! "$value" =~ ^(tcp://)?[a-zA-Z0-9.-]+(:[0-9]+)?$ ]]; then - echo "Invalid broker address format. Expected: tcp://hostname:port" - fi -} - -validate_path() { - local value="$1" - local arg="${2:-path}" - - if [[ "$value" =~ [\<\>\|] ]]; then - echo "$arg contains invalid characters" - fi -} - -validate_writable_dir() { - local value="$1" - local arg="${2:-directory}" - - if [[ ! -d "$value" ]]; then - echo "$arg does not exist: $value" - elif [[ ! -w "$value" ]]; then - echo "$arg is not writable: $value" - fi -} - -validate_executable() { - local value="$1" - local arg="${2:-executable}" - - if ! command -v "$value" >/dev/null 2>&1; then - echo "$arg not found in PATH: $value" - fi -} - -validate_yaml_file() { - local value="$1" - local arg="${2:-file}" - - if [[ ! -f "$value" ]]; then - echo "$arg does not exist: $value" - elif [[ ! "$value" =~ \.(yaml|yml)$ ]]; then - echo "$arg must be a YAML file (.yaml or .yml)" - fi - - if command -v yq >/dev/null 2>&1; then - if ! yq eval '.' "$value" >/dev/null 2>&1; then - echo "$arg contains invalid YAML syntax" - fi - fi -} - -validate_json_file() { - local value="$1" - local arg="${2:-file}" - - if [[ ! -f "$value" ]]; then - echo "$arg does not exist: $value" - elif [[ ! "$value" =~ \.json$ ]]; then - echo "$arg must be a JSON file (.json)" - fi - - if command -v jq >/dev/null 2>&1; then - if ! jq '.' "$value" >/dev/null 2>&1; then - echo "$arg contains invalid JSON syntax" - fi - fi -} - -validate_boolean() { - local value="$1" - local arg="${2:-value}" - - case "${value,,}" in - true|false|yes|no|1|0) - ;; - *) - echo "$arg must be a boolean value (true/false, yes/no, 1/0)" - ;; - esac -} - -validate_enum() { - local value="$1" - local allowed="$2" - local arg="${3:-value}" - - if [[ ! " $allowed " =~ " $value " ]]; then - echo "$arg must be one of: $allowed" - fi -} - -validate_not_empty() { - local value="$1" - local arg="${2:-value}" - - if [[ -z "$value" ]]; then - echo "$arg cannot be empty" - fi -} - -validate_email() { - local value="$1" - local arg="${2:-email}" - - if [[ ! "$value" =~ ^[a-zA-Z0-9._%+-]+@[a-zA-Z0-9.-]+\.[a-zA-Z]{2,}$ ]]; then - echo "$arg must be a valid email address" - fi -} - -validate_url() { - local value="$1" - local arg="${2:-URL}" - - if [[ ! "$value" =~ ^https?://[a-zA-Z0-9.-]+(:[0-9]+)?(/.*)?$ ]]; then - echo "$arg must be a valid URL" - fi -} diff --git a/packaging/src/logs.sh b/packaging/src/logs.sh deleted file mode 100644 index c53f4e24..00000000 --- a/packaging/src/logs.sh +++ /dev/null @@ -1,35 +0,0 @@ -initialize_global_flags - - -follow="${args[--follow]:-}" -tail_lines="${args[--tail]:-50}" -show_service="${args[--service]:-}" -show_all="${args[--all]:-}" - -if [[ "$show_service" == "1" ]]; then - get_service_logs "pitrac" "$follow" "$tail_lines" -elif [[ "$show_all" == "1" ]]; then - if [[ -f "$PITRAC_LOG_FILE" ]]; then - cat "$PITRAC_LOG_FILE" - elif [[ -f "/tmp/pitrac.log" ]]; then - cat "/tmp/pitrac.log" - else - error "No log file found" - fi -elif [[ "$follow" == "1" ]]; then - if [[ -f "$PITRAC_LOG_FILE" ]]; then - tail -f "$PITRAC_LOG_FILE" - elif [[ -f "/tmp/pitrac.log" ]]; then - tail -f "/tmp/pitrac.log" - else - error "No log file found" - fi -else - if [[ -f "$PITRAC_LOG_FILE" ]]; then - tail -n "$tail_lines" "$PITRAC_LOG_FILE" - elif [[ -f "/tmp/pitrac.log" ]]; then - tail -n "$tail_lines" "/tmp/pitrac.log" - else - error "No log file found" - fi -fi diff --git a/packaging/src/run.sh b/packaging/src/run.sh deleted file mode 100644 index d22184e2..00000000 --- a/packaging/src/run.sh +++ /dev/null @@ -1,4 +0,0 @@ -echo "# This file is located at 'src/./run.sh'." -echo "# It contains the implementation for the 'pitrac run' command." -echo "# The code you write here will be wrapped by a function named 'pitrac_run_command()'." -echo "# Feel free to edit this file; your changes will persist when regenerating." diff --git a/packaging/src/setup.sh b/packaging/src/setup.sh deleted file mode 100644 index 2cb91018..00000000 --- a/packaging/src/setup.sh +++ /dev/null @@ -1,4 +0,0 @@ -echo "# This file is located at 'src/./setup.sh'." -echo "# It contains the implementation for the 'pitrac setup' command." -echo "# The code you write here will be wrapped by a function named 'pitrac_setup_command()'." -echo "# Feel free to edit this file; your changes will persist when regenerating." diff --git a/packaging/src/status.sh b/packaging/src/status.sh deleted file mode 100644 index 22767ca4..00000000 --- a/packaging/src/status.sh +++ /dev/null @@ -1,4 +0,0 @@ -echo "# This file is located at 'src/./status.sh'." -echo "# It contains the implementation for the 'pitrac status' command." -echo "# The code you write here will be wrapped by a function named 'pitrac_status_command()'." -echo "# Feel free to edit this file; your changes will persist when regenerating." diff --git a/packaging/src/stop.sh b/packaging/src/stop.sh deleted file mode 100644 index 91fd9bc5..00000000 --- a/packaging/src/stop.sh +++ /dev/null @@ -1,4 +0,0 @@ -echo "# This file is located at 'src/./stop.sh'." -echo "# It contains the implementation for the 'pitrac stop' command." -echo "# The code you write here will be wrapped by a function named 'pitrac_stop_command()'." -echo "# Feel free to edit this file; your changes will persist when regenerating." diff --git a/packaging/src/version.sh b/packaging/src/version.sh deleted file mode 100644 index 25cf9b02..00000000 --- a/packaging/src/version.sh +++ /dev/null @@ -1,15 +0,0 @@ - -initialize_global_flags - - -show_build="${args[--build]:-}" - -echo "PiTrac Launch Monitor" -echo "Version: 1.0.0" - -if [[ "$show_build" == "1" ]]; then - echo "Build: Bashly Migration" - echo "Platform: Raspberry Pi OS Bookworm (64-bit)" - echo "Architecture: ARM64" - echo "Generated: $(date '+%Y-%m-%d')" -fi diff --git a/packaging/src/web.sh b/packaging/src/web.sh deleted file mode 100644 index 39507750..00000000 --- a/packaging/src/web.sh +++ /dev/null @@ -1,69 +0,0 @@ -action="${args[action]}" -follow="${args[--follow]:-}" - -case "$action" in - start) - info "Starting PiTrac web server..." - # Check which server is installed - if [[ -f /etc/systemd/system/pitrac-web.service ]]; then - start_service "pitrac-web" - else - error "No web server service found" - exit 1 - fi - ;; - stop) - info "Stopping web server..." - if systemctl is-active --quiet pitrac-web; then - stop_service "pitrac-web" - else - warn "No web server is running" - fi - ;; - restart) - info "Restarting web server..." - if [[ -f /etc/systemd/system/pitrac-web.service ]]; then - restart_service "pitrac-web" - else - error "No web server service found" - exit 1 - fi - ;; - status) - if [[ -f /etc/systemd/system/pitrac-web.service ]]; then - get_service_status "pitrac-web" - else - error "No web server service found" - exit 1 - fi - ;; - logs) - # Determine which service to check - local service_name="" - if [[ -f /etc/systemd/system/pitrac-web.service ]]; then - service_name="pitrac-web" - else - error "No web server service found" - exit 1 - fi - - if [[ "$follow" == "1" ]]; then - get_service_logs "$service_name" "true" "50" - else - get_service_logs "$service_name" "false" "50" - fi - ;; - url) - echo "Web Dashboard URL: http://localhost:8080" - echo "" - echo "Access from another device on the network:" - local ip_addr=$(hostname -I | awk '{print $1}') - if [[ -n "$ip_addr" ]]; then - echo " http://${ip_addr}:8080" - fi - ;; - *) - error "Unknown action: $action" - exit 1 - ;; -esac \ No newline at end of file diff --git a/packaging/templates/activemq-options.template b/packaging/templates/activemq-options.template deleted file mode 100644 index 6d4b3f1e..00000000 --- a/packaging/templates/activemq-options.template +++ /dev/null @@ -1,12 +0,0 @@ -## ActiveMQ instance options for PiTrac -## Instance: @ACTIVEMQ_INSTANCE_NAME@ - -INSTANCE=@ACTIVEMQ_INSTANCE_NAME@ - -ACTIVEMQ_CONF=/etc/activemq/instances-enabled/@ACTIVEMQ_INSTANCE_NAME@ - -ACTIVEMQ_DATA=@ACTIVEMQ_DATA_DIR@ - -ACTIVEMQ_OUT=@ACTIVEMQ_LOG_DIR@/activemq.log - -# ACTIVEMQ_OPTS="" \ No newline at end of file diff --git a/packaging/templates/activemq.xml.template b/packaging/templates/activemq.xml.template deleted file mode 100644 index f5c15f4b..00000000 --- a/packaging/templates/activemq.xml.template +++ /dev/null @@ -1,48 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/packaging/templates/log4j2.properties.template b/packaging/templates/log4j2.properties.template deleted file mode 100644 index 10a558e3..00000000 --- a/packaging/templates/log4j2.properties.template +++ /dev/null @@ -1,61 +0,0 @@ -## ActiveMQ Log4j2 Configuration for PiTrac -## Configured for user: @ACTIVEMQ_USER@ -## Log directory: @ACTIVEMQ_LOG_DIR@ - -rootLogger.level = @ACTIVEMQ_LOG_LEVEL@ -rootLogger.appenderRef.console.ref = console -rootLogger.appenderRef.file.ref = file - -appender.console.type = Console -appender.console.name = console -appender.console.layout.type = PatternLayout -appender.console.layout.pattern = %d{ISO8601} | %-5p | %m | %c | %t%n -appender.console.filter.threshold.type = ThresholdFilter -appender.console.filter.threshold.level = @ACTIVEMQ_CONSOLE_LOG_LEVEL@ - -appender.file.type = RollingFile -appender.file.name = file -appender.file.fileName = @ACTIVEMQ_LOG_DIR@/activemq.log -appender.file.filePattern = @ACTIVEMQ_LOG_DIR@/activemq-%d{yyyy-MM-dd}-%i.log.gz -appender.file.layout.type = PatternLayout -appender.file.layout.pattern = %d{ISO8601} | %-5p | %m | %c | %t%n -appender.file.policies.type = Policies -appender.file.policies.time.type = TimeBasedTriggeringPolicy -appender.file.policies.time.interval = 1 -appender.file.policies.time.modulate = true -appender.file.policies.size.type = SizeBasedTriggeringPolicy -appender.file.policies.size.size = 10MB -appender.file.strategy.type = DefaultRolloverStrategy -appender.file.strategy.max = 10 - -appender.audit.type = RollingFile -appender.audit.name = audit -appender.audit.fileName = @ACTIVEMQ_LOG_DIR@/audit.log -appender.audit.filePattern = @ACTIVEMQ_LOG_DIR@/audit-%d{yyyy-MM-dd}-%i.log.gz -appender.audit.layout.type = PatternLayout -appender.audit.layout.pattern = %d{ISO8601} | %m%n -appender.audit.policies.type = Policies -appender.audit.policies.size.type = SizeBasedTriggeringPolicy -appender.audit.policies.size.size = 10MB -appender.audit.strategy.type = DefaultRolloverStrategy -appender.audit.strategy.max = 5 - -logger.activemq.name = org.apache.activemq -logger.activemq.level = @ACTIVEMQ_LOG_LEVEL@ - -logger.kahadb.name = org.apache.activemq.store.kahadb -logger.kahadb.level = @ACTIVEMQ_LOG_LEVEL@ - -logger.spring.name = org.springframework -logger.spring.level = WARN - -logger.jetty.name = org.eclipse.jetty -logger.jetty.level = WARN - -logger.audit.name = org.apache.activemq.audit -logger.audit.level = INFO -logger.audit.additivity = false -logger.audit.appenderRef.audit.ref = audit - -logger.transaction.name = org.apache.activemq.transaction -logger.transaction.level = @ACTIVEMQ_LOG_LEVEL@ \ No newline at end of file diff --git a/packaging/templates/postinst.sh b/packaging/templates/postinst.sh index 7f89836f..726e4a62 100644 --- a/packaging/templates/postinst.sh +++ b/packaging/templates/postinst.sh @@ -13,269 +13,266 @@ detect_pi_model() { } case "$1" in - configure) - echo "Configuring PiTrac..." +configure) + echo "Configuring PiTrac..." - # Detect Pi model - PI_MODEL=$(detect_pi_model) - echo "Detected Pi model: $PI_MODEL" + # Detect Pi model + PI_MODEL=$(detect_pi_model) + echo "Detected Pi model: $PI_MODEL" + # Get the actual user who invoked sudo (if any) + ACTUAL_USER="${SUDO_USER:-}" + if [ -z "$ACTUAL_USER" ]; then + echo "Note: Run 'pitrac setup' as your regular user to complete setup" + else + # Add user to required groups + usermod -a -G video,gpio,i2c,spi,dialout "$ACTUAL_USER" 2>/dev/null || true - # Get the actual user who invoked sudo (if any) - ACTUAL_USER="${SUDO_USER:-}" - if [ -z "$ACTUAL_USER" ]; then - echo "Note: Run 'pitrac setup' as your regular user to complete setup" - else - # Add user to required groups - usermod -a -G video,gpio,i2c,spi,dialout "$ACTUAL_USER" 2>/dev/null || true - - if [ -f /usr/lib/pitrac/pitrac-common-functions.sh ]; then - . /usr/lib/pitrac/pitrac-common-functions.sh - if [ -d /usr/share/pitrac/models ]; then - SYSTEM_MODELS_DIR="/etc/pitrac/models" - mkdir -p "$SYSTEM_MODELS_DIR" - cp -r /usr/share/pitrac/models/* "$SYSTEM_MODELS_DIR/" 2>/dev/null || true - # Set proper permissions - models should be readable by all users - chmod -R 755 "$SYSTEM_MODELS_DIR"/* 2>/dev/null || true - chmod 755 "$SYSTEM_MODELS_DIR" - echo "Installed models to $SYSTEM_MODELS_DIR" - fi - fi - - # Create user directories - USER_HOME=$(getent passwd "$ACTUAL_USER" | cut -d: -f6) - if [ -n "$USER_HOME" ] && [ -d "$USER_HOME" ]; then - mkdir -p "$USER_HOME/.pitrac"/{config,cache,state,calibration} - mkdir -p "$USER_HOME/LM_Shares"/{Images,WebShare} - chown -R "$ACTUAL_USER:$ACTUAL_USER" "$USER_HOME/.pitrac" "$USER_HOME/LM_Shares" + if [ -f /usr/lib/pitrac/pitrac-common-functions.sh ]; then + . /usr/lib/pitrac/pitrac-common-functions.sh + if [ -d /usr/share/pitrac/models ]; then + SYSTEM_MODELS_DIR="/etc/pitrac/models" + mkdir -p "$SYSTEM_MODELS_DIR" + cp -r /usr/share/pitrac/models/* "$SYSTEM_MODELS_DIR/" 2>/dev/null || true + # Set proper permissions - models should be readable by all users + chmod -R 755 "$SYSTEM_MODELS_DIR"/* 2>/dev/null || true + chmod 755 "$SYSTEM_MODELS_DIR" + echo "Installed models to $SYSTEM_MODELS_DIR" fi fi - # Set permissions on system directories - chown root:root /etc/pitrac - chmod 755 /etc/pitrac + # Create user directories + USER_HOME=$(getent passwd "$ACTUAL_USER" | cut -d: -f6) + if [ -n "$USER_HOME" ] && [ -d "$USER_HOME" ]; then + mkdir -p "$USER_HOME/.pitrac"/{config,cache,state,calibration} + mkdir -p "$USER_HOME/LM_Shares"/{Images,WebShare} + chown -R "$ACTUAL_USER:$ACTUAL_USER" "$USER_HOME/.pitrac" "$USER_HOME/LM_Shares" + fi + fi + # Set permissions on system directories + chown root:root /etc/pitrac + chmod 755 /etc/pitrac - if [ -d /usr/lib/pitrac/web-server ]; then - if [ -f /usr/lib/pitrac/pitrac-common-functions.sh ]; then - . /usr/lib/pitrac/pitrac-common-functions.sh - install_python_dependencies "/usr/lib/pitrac/web-server" - else - echo "Installing Python web server dependencies..." - pip3 install -r /usr/lib/pitrac/web-server/requirements.txt --break-system-packages --ignore-installed 2>/dev/null || \ + if [ -d /usr/lib/pitrac/web-server ]; then + if [ -f /usr/lib/pitrac/pitrac-common-functions.sh ]; then + . /usr/lib/pitrac/pitrac-common-functions.sh + install_python_dependencies "/usr/lib/pitrac/web-server" + else + echo "Installing Python web server dependencies..." + pip3 install -r /usr/lib/pitrac/web-server/requirements.txt --break-system-packages --ignore-installed 2>/dev/null || pip3 install -r /usr/lib/pitrac/web-server/requirements.txt --ignore-installed || true - fi - - if [ -x /usr/lib/pitrac/web-service-install.sh ] && [ -n "$ACTUAL_USER" ]; then - echo "Installing PiTrac web service for user: $ACTUAL_USER" - /usr/lib/pitrac/web-service-install.sh install "$ACTUAL_USER" || true - elif [ -x /usr/lib/pitrac/web-service-install.sh ]; then - echo "Note: Web service not installed. Run '/usr/lib/pitrac/web-service-install.sh install ' as a regular user" - fi fi - # Apply Boost C++20 fix - if [ -f /usr/include/boost/asio/awaitable.hpp ] && ! grep -q "#include " /usr/include/boost/asio/awaitable.hpp; then - echo "Applying Boost 1.74 C++20 compatibility fix..." - sed -i '/namespace boost {/i #include ' /usr/include/boost/asio/awaitable.hpp + if [ -x /usr/lib/pitrac/web-service-install.sh ] && [ -n "$ACTUAL_USER" ]; then + echo "Installing PiTrac web service for user: $ACTUAL_USER" + /usr/lib/pitrac/web-service-install.sh install "$ACTUAL_USER" || true + elif [ -x /usr/lib/pitrac/web-service-install.sh ]; then + echo "Note: Web service not installed. Run '/usr/lib/pitrac/web-service-install.sh install ' as a regular user" fi + fi - # Configure boot settings - Bookworm uses /boot/firmware for both Pi 4 and Pi 5 - if [ -f "/boot/firmware/config.txt" ]; then - CONFIG_FILE="/boot/firmware/config.txt" - elif [ -f "/boot/config.txt" ] && ! grep -q "DO NOT EDIT THIS FILE" /boot/config.txt 2>/dev/null; then - CONFIG_FILE="/boot/config.txt" + # Apply Boost C++20 fix + if [ -f /usr/include/boost/asio/awaitable.hpp ] && ! grep -q "#include " /usr/include/boost/asio/awaitable.hpp; then + echo "Applying Boost 1.74 C++20 compatibility fix..." + sed -i '/namespace boost {/i #include ' /usr/include/boost/asio/awaitable.hpp + fi + + # Configure boot settings - Bookworm uses /boot/firmware for both Pi 4 and Pi 5 + if [ -f "/boot/firmware/config.txt" ]; then + CONFIG_FILE="/boot/firmware/config.txt" + elif [ -f "/boot/config.txt" ] && ! grep -q "DO NOT EDIT THIS FILE" /boot/config.txt 2>/dev/null; then + CONFIG_FILE="/boot/config.txt" + else + # Default to new location + CONFIG_FILE="/boot/firmware/config.txt" + fi + + if [ -f "$CONFIG_FILE" ]; then + echo "Configuring boot settings in $CONFIG_FILE..." + + # Add settings if not present (check for the parameter name, not specific value) + grep -q "^camera_auto_detect=" "$CONFIG_FILE" || echo "camera_auto_detect=1" >>"$CONFIG_FILE" + grep -q "^dtparam=i2c_arm=" "$CONFIG_FILE" || echo "dtparam=i2c_arm=on" >>"$CONFIG_FILE" + grep -q "^dtparam=spi=" "$CONFIG_FILE" || echo "dtparam=spi=on" >>"$CONFIG_FILE" + grep -q "^force_turbo=" "$CONFIG_FILE" || echo "force_turbo=1" >>"$CONFIG_FILE" + + if [ "$PI_MODEL" = "pi5" ]; then + grep -q "^arm_boost=" "$CONFIG_FILE" || echo "arm_boost=1" >>"$CONFIG_FILE" else - # Default to new location - CONFIG_FILE="/boot/firmware/config.txt" + grep -q "^gpu_mem=" "$CONFIG_FILE" || echo "gpu_mem=256" >>"$CONFIG_FILE" fi + fi - if [ -f "$CONFIG_FILE" ]; then - echo "Configuring boot settings in $CONFIG_FILE..." + # Configure libcamera settings + echo "Configuring libcamera..." - # Add settings if not present (check for the parameter name, not specific value) - grep -q "^camera_auto_detect=" "$CONFIG_FILE" || echo "camera_auto_detect=1" >> "$CONFIG_FILE" - grep -q "^dtparam=i2c_arm=" "$CONFIG_FILE" || echo "dtparam=i2c_arm=on" >> "$CONFIG_FILE" - grep -q "^dtparam=spi=" "$CONFIG_FILE" || echo "dtparam=spi=on" >> "$CONFIG_FILE" - grep -q "^force_turbo=" "$CONFIG_FILE" || echo "force_turbo=1" >> "$CONFIG_FILE" + # Install IMX296 NOIR sensor file if available + install_imx296_sensor_file() { + local pi_model="$1" + local source_file="" + local dest_dir="" - if [ "$PI_MODEL" = "pi5" ]; then - grep -q "^arm_boost=" "$CONFIG_FILE" || echo "arm_boost=1" >> "$CONFIG_FILE" - else - grep -q "^gpu_mem=" "$CONFIG_FILE" || echo "gpu_mem=256" >> "$CONFIG_FILE" - fi + case "$pi_model" in + "pi5") + source_file="/usr/lib/pitrac/ImageProcessing/CameraTools/imx296_noir.json.PI_5_FOR_PISP_DIRECTORY" + dest_dir="/usr/share/libcamera/ipa/rpi/pisp" + ;; + "pi4") + source_file="/usr/lib/pitrac/ImageProcessing/CameraTools/imx296_noir.json.PI_4_FOR_VC4_DIRECTORY" + dest_dir="/usr/share/libcamera/ipa/rpi/vc4" + ;; + esac + + if [ -n "$source_file" ] && [ -f "$source_file" ] && [ -d "$dest_dir" ]; then + echo "Installing IMX296 NOIR sensor configuration for $pi_model..." + cp "$source_file" "$dest_dir/imx296_noir.json" + chmod 644 "$dest_dir/imx296_noir.json" + echo "IMX296 NOIR sensor file installed" + elif [ -n "$source_file" ]; then + echo "Note: IMX296 NOIR sensor file not found at $source_file" + echo "This is only needed if using IMX296 NOIR cameras" fi + } - # Configure libcamera settings - echo "Configuring libcamera..." - - # Install IMX296 NOIR sensor file if available - install_imx296_sensor_file() { - local pi_model="$1" - local source_file="" - local dest_dir="" - - case "$pi_model" in - "pi5") - source_file="/usr/lib/pitrac/ImageProcessing/CameraTools/imx296_noir.json.PI_5_FOR_PISP_DIRECTORY" - dest_dir="/usr/share/libcamera/ipa/rpi/pisp" - ;; - "pi4") - source_file="/usr/lib/pitrac/ImageProcessing/CameraTools/imx296_noir.json.PI_4_FOR_VC4_DIRECTORY" - dest_dir="/usr/share/libcamera/ipa/rpi/vc4" - ;; - esac - - if [ -n "$source_file" ] && [ -f "$source_file" ] && [ -d "$dest_dir" ]; then - echo "Installing IMX296 NOIR sensor configuration for $pi_model..." - cp "$source_file" "$dest_dir/imx296_noir.json" - chmod 644 "$dest_dir/imx296_noir.json" - echo "IMX296 NOIR sensor file installed" - elif [ -n "$source_file" ]; then - echo "Note: IMX296 NOIR sensor file not found at $source_file" - echo "This is only needed if using IMX296 NOIR cameras" - fi - } - - # Install sensor file for detected Pi model - install_imx296_sensor_file "$PI_MODEL" - - # Use existing example.yaml files as base for configuration - # Both Pi 4 (vc4) and Pi 5 (pisp) ship with example.yaml - for pipeline in pisp vc4; do - CAMERA_DIR="/usr/share/libcamera/pipeline/rpi/${pipeline}" - EXAMPLE_FILE="${CAMERA_DIR}/example.yaml" - CAMERA_CONFIG="${CAMERA_DIR}/rpi_apps.yaml" - - # Only proceed if the pipeline directory exists (Pi 4 has vc4, Pi 5 has pisp) - if [ -d "$CAMERA_DIR" ]; then - # If example exists but rpi_apps doesn't, copy and configure - if [ -f "$EXAMPLE_FILE" ] && [ ! -f "$CAMERA_CONFIG" ]; then - echo "Creating ${pipeline} config from example..." - cp "$EXAMPLE_FILE" "$CAMERA_CONFIG" - # Uncomment and set the camera timeout to 24 hours (86400000 ms) + # Install sensor file for detected Pi model + install_imx296_sensor_file "$PI_MODEL" + + # Use existing example.yaml files as base for configuration + # Both Pi 4 (vc4) and Pi 5 (pisp) ship with example.yaml + for pipeline in pisp vc4; do + CAMERA_DIR="/usr/share/libcamera/pipeline/rpi/${pipeline}" + EXAMPLE_FILE="${CAMERA_DIR}/example.yaml" + CAMERA_CONFIG="${CAMERA_DIR}/rpi_apps.yaml" + + # Only proceed if the pipeline directory exists (Pi 4 has vc4, Pi 5 has pisp) + if [ -d "$CAMERA_DIR" ]; then + # If example exists but rpi_apps doesn't, copy and configure + if [ -f "$EXAMPLE_FILE" ] && [ ! -f "$CAMERA_CONFIG" ]; then + echo "Creating ${pipeline} config from example..." + cp "$EXAMPLE_FILE" "$CAMERA_CONFIG" + # Uncomment and set the camera timeout to 24 hours (86400000 ms) + sed -i 's/# *"camera_timeout_value_ms": *[0-9][0-9]*/"camera_timeout_value_ms": 86400000/' "$CAMERA_CONFIG" + elif [ -f "$CAMERA_CONFIG" ]; then + # Config exists, check if timeout needs updating + if grep -q '# *"camera_timeout_value_ms"' "$CAMERA_CONFIG"; then + echo "Updating ${pipeline} camera timeout..." sed -i 's/# *"camera_timeout_value_ms": *[0-9][0-9]*/"camera_timeout_value_ms": 86400000/' "$CAMERA_CONFIG" - elif [ -f "$CAMERA_CONFIG" ]; then - # Config exists, check if timeout needs updating - if grep -q '# *"camera_timeout_value_ms"' "$CAMERA_CONFIG"; then - echo "Updating ${pipeline} camera timeout..." - sed -i 's/# *"camera_timeout_value_ms": *[0-9][0-9]*/"camera_timeout_value_ms": 86400000/' "$CAMERA_CONFIG" - fi fi fi - done - - # Set up LIBCAMERA_RPI_CONFIG_FILE environment variable (CRITICAL for camera detection) - setup_libcamera_environment_postinst() { - local config_file="" - - case "$PI_MODEL" in - "pi5") - config_file="/usr/share/libcamera/pipeline/rpi/pisp/rpi_apps.yaml" - ;; - "pi4") - config_file="/usr/share/libcamera/pipeline/rpi/vc4/rpi_apps.yaml" - ;; - esac - - if [ -n "$config_file" ] && [ -f "$config_file" ]; then - echo "Setting up libcamera environment for $PI_MODEL..." - - # Add to system environment (for services) - if ! grep -q "LIBCAMERA_RPI_CONFIG_FILE" /etc/environment 2>/dev/null; then - echo "LIBCAMERA_RPI_CONFIG_FILE=\"$config_file\"" >> /etc/environment - echo "Added LIBCAMERA_RPI_CONFIG_FILE to system environment" - fi + fi + done + + # Set up LIBCAMERA_RPI_CONFIG_FILE environment variable (CRITICAL for camera detection) + setup_libcamera_environment_postinst() { + local config_file="" + + case "$PI_MODEL" in + "pi5") + config_file="/usr/share/libcamera/pipeline/rpi/pisp/rpi_apps.yaml" + ;; + "pi4") + config_file="/usr/share/libcamera/pipeline/rpi/vc4/rpi_apps.yaml" + ;; + esac + + if [ -n "$config_file" ] && [ -f "$config_file" ]; then + echo "Setting up libcamera environment for $PI_MODEL..." + + # Add to system environment (for services) + if ! grep -q "LIBCAMERA_RPI_CONFIG_FILE" /etc/environment 2>/dev/null; then + echo "LIBCAMERA_RPI_CONFIG_FILE=\"$config_file\"" >>/etc/environment + echo "Added LIBCAMERA_RPI_CONFIG_FILE to system environment" fi - } - - setup_libcamera_environment_postinst - - if type -t create_pkgconfig_files &>/dev/null; then - create_pkgconfig_files fi - - # Update library cache - ldconfig - - # Reload systemd - systemctl daemon-reload - - # Configure ActiveMQ - if command -v activemq &>/dev/null || [ -f /usr/share/activemq/bin/activemq ]; then - echo "Configuring ActiveMQ for PiTrac..." - - if [ -x /usr/lib/pitrac/activemq-service-install.sh ]; then - echo "Installing ActiveMQ configuration from templates..." - export ACTIVEMQ_BROKER_NAME="localhost" - export ACTIVEMQ_BIND_ADDRESS="0.0.0.0" - export ACTIVEMQ_PORT="61616" - export ACTIVEMQ_LOG_LEVEL="INFO" - export PITRAC_TEMPLATE_DIR="/usr/share/pitrac/templates" - - if /usr/lib/pitrac/activemq-service-install.sh install activemq; then - echo "ActiveMQ configuration installed successfully" - else - echo "Warning: ActiveMQ configuration failed, falling back to basic setup" - mkdir -p /etc/activemq/instances-available/main - mkdir -p /etc/activemq/instances-enabled - if [ ! -e /etc/activemq/instances-enabled/main ]; then - ln -sf /etc/activemq/instances-available/main /etc/activemq/instances-enabled/main - fi - fi + } + + setup_libcamera_environment_postinst + + if type -t create_pkgconfig_files &>/dev/null; then + create_pkgconfig_files + fi + + # Update library cache + ldconfig + + # Reload systemd + systemctl daemon-reload + + # Configure ActiveMQ + if command -v activemq &>/dev/null || [ -f /usr/share/activemq/bin/activemq ]; then + echo "Configuring ActiveMQ for PiTrac..." + + if [ -x /usr/lib/pitrac/activemq-service-install.sh ]; then + echo "Installing ActiveMQ configuration from templates..." + export ACTIVEMQ_BROKER_NAME="localhost" + export ACTIVEMQ_BIND_ADDRESS="0.0.0.0" + export ACTIVEMQ_PORT="61616" + export ACTIVEMQ_LOG_LEVEL="INFO" + export PITRAC_TEMPLATE_DIR="/usr/share/pitrac/templates" + + if /usr/lib/pitrac/activemq-service-install.sh install activemq; then + echo "ActiveMQ configuration installed successfully" else - echo "Warning: ActiveMQ configuration script not found, using basic setup" - if [ -d /etc/activemq/instances-available ] && [ ! -e /etc/activemq/instances-enabled/main ]; then - mkdir -p /etc/activemq/instances-enabled + echo "Warning: ActiveMQ configuration failed, falling back to basic setup" + mkdir -p /etc/activemq/instances-available/main + mkdir -p /etc/activemq/instances-enabled + if [ ! -e /etc/activemq/instances-enabled/main ]; then ln -sf /etc/activemq/instances-available/main /etc/activemq/instances-enabled/main fi fi - - if getent passwd activemq >/dev/null; then - chown -R activemq:activemq /var/lib/activemq/ 2>/dev/null || true + else + echo "Warning: ActiveMQ configuration script not found, using basic setup" + if [ -d /etc/activemq/instances-available ] && [ ! -e /etc/activemq/instances-enabled/main ]; then + mkdir -p /etc/activemq/instances-enabled + ln -sf /etc/activemq/instances-available/main /etc/activemq/instances-enabled/main fi - - # Don't start it here - let the user or pitrac CLI handle it fi - if [ -x /usr/lib/pitrac/pitrac-service-install.sh ]; then - if [ -n "$ACTUAL_USER" ]; then - echo "Installing PiTrac service for user: $ACTUAL_USER" - /usr/lib/pitrac/pitrac-service-install.sh install "$ACTUAL_USER" || true - else - echo "Note: PiTrac service not installed. Run '/usr/lib/pitrac/pitrac-service-install.sh install ' to install for a specific user" - fi + if getent passwd activemq >/dev/null; then + chown -R activemq:activemq /var/lib/activemq/ 2>/dev/null || true fi + # Don't start it here - let the user or pitrac CLI handle it + fi - echo "" - echo "======================================" - echo " PiTrac installed!" - echo "======================================" - echo "" - echo "Get started:" - echo " pitrac setup - Set up your directories" - echo " pitrac test - Check your cameras" - echo " pitrac run - Start tracking shots" - echo "" - echo "The broker and web server start automatically when you run PiTrac." - echo "" - echo "Need help? Try 'pitrac help' or 'pitrac status'" - echo "" - - # Suggest reboot if Pi model detected - if [ "$PI_MODEL" != "unknown" ]; then - echo "Note: A reboot is recommended to apply boot configuration changes." + if [ -x /usr/lib/pitrac/pitrac-service-install.sh ]; then + if [ -n "$ACTUAL_USER" ]; then + echo "Installing PiTrac service for user: $ACTUAL_USER" + /usr/lib/pitrac/pitrac-service-install.sh install "$ACTUAL_USER" || true + else + echo "Note: PiTrac service not installed. Run '/usr/lib/pitrac/pitrac-service-install.sh install ' to install for a specific user" fi - ;; + fi + + echo "" + echo "======================================" + echo " PiTrac installed!" + echo "======================================" + echo "" + echo "Get started:" + echo " pitrac setup - Set up your directories" + echo " pitrac test - Check your cameras" + echo " pitrac run - Start tracking shots" + echo "" + echo "The broker and web server start automatically when you run PiTrac." + echo "" + echo "Need help? Try 'pitrac help' or 'pitrac status'" + echo "" + + # Suggest reboot if Pi model detected + if [ "$PI_MODEL" != "unknown" ]; then + echo "Note: A reboot is recommended to apply boot configuration changes." + fi + ;; - abort-upgrade|abort-remove|abort-deconfigure) - ;; +abort-upgrade | abort-remove | abort-deconfigure) + ;; - *) - echo "postinst called with unknown argument: $1" >&2 - exit 1 - ;; +*) + echo "postinst called with unknown argument: $1" >&2 + exit 1 + ;; esac -exit 0 \ No newline at end of file +exit 0 diff --git a/packaging/templates/prerm.sh b/packaging/templates/prerm.sh index a366e896..8d3f2ac0 100644 --- a/packaging/templates/prerm.sh +++ b/packaging/templates/prerm.sh @@ -2,21 +2,21 @@ set -e case "$1" in - remove|upgrade|deconfigure) - # Stop services - systemctl stop pitrac 2>/dev/null || true - systemctl stop pitrac-web 2>/dev/null || true - systemctl disable pitrac 2>/dev/null || true - systemctl disable pitrac-web 2>/dev/null || true - ;; - - failed-upgrade) - ;; - - *) - echo "prerm called with unknown argument: $1" >&2 - exit 1 - ;; +remove | upgrade | deconfigure) + # Stop services + systemctl stop pitrac 2>/dev/null || true + systemctl stop pitrac-web 2>/dev/null || true + systemctl disable pitrac 2>/dev/null || true + systemctl disable pitrac-web 2>/dev/null || true + ;; + +failed-upgrade) + ;; + +*) + echo "prerm called with unknown argument: $1" >&2 + exit 1 + ;; esac -exit 0 \ No newline at end of file +exit 0 diff --git a/scripts/diagnose_gpio_camera.sh b/scripts/diagnose_gpio_camera.sh index 1831bec8..29ce6e8a 100644 --- a/scripts/diagnose_gpio_camera.sh +++ b/scripts/diagnose_gpio_camera.sh @@ -74,4 +74,4 @@ echo "- GPIO pin 25 (BCM) not released after PiTrac exits" echo "- SPI handle not properly closed" echo "- Camera resources locked by libcamera" echo "" -echo "To fix, run: ./cleanup_pitrac_resources.sh" \ No newline at end of file +echo "To fix, run: ./cleanup_pitrac_resources.sh" diff --git a/scripts/pitrac-testenv.sh b/scripts/pitrac-testenv.sh index d5aa52d1..01a2ba81 100755 --- a/scripts/pitrac-testenv.sh +++ b/scripts/pitrac-testenv.sh @@ -26,7 +26,10 @@ GREEN='\033[0;32m' YELLOW='\033[1;33m' NC='\033[0m' -die() { echo -e "${RED}Error:${NC} $*" >&2; exit 1; } +die() { + echo -e "${RED}Error:${NC} $*" >&2 + exit 1 +} info() { echo -e "${GREEN}>>>${NC} $*"; } warn() { echo -e "${YELLOW}>>>${NC} $*"; } @@ -107,7 +110,7 @@ cmd_create() { fi # Set hostname - echo "pitrac-test" > "$ENV_PATH/etc/hostname" + echo "pitrac-test" >"$ENV_PATH/etc/hostname" # Allow root login without password for convenience chroot "$ENV_PATH" passwd -d root 2>/dev/null || true @@ -118,11 +121,11 @@ cmd_create() { # Add PiTrac APT repo info "Adding PiTrac APT repository..." mkdir -p "$ENV_PATH/usr/share/keyrings" - curl -fsSL https://pitraclm.github.io/packages/pitrac-repo.asc \ - | gpg --dearmor -o "$ENV_PATH/usr/share/keyrings/pitrac-archive-keyring.gpg" 2>/dev/null || warn "Could not fetch GPG key" + curl -fsSL https://pitraclm.github.io/packages/pitrac-repo.asc | + gpg --dearmor -o "$ENV_PATH/usr/share/keyrings/pitrac-archive-keyring.gpg" 2>/dev/null || warn "Could not fetch GPG key" echo "deb [arch=arm64 signed-by=/usr/share/keyrings/pitrac-archive-keyring.gpg] https://pitraclm.github.io/packages trixie main" \ - > "$ENV_PATH/etc/apt/sources.list.d/pitrac.list" + >"$ENV_PATH/etc/apt/sources.list.d/pitrac.list" info "Raspberry Pi OS Trixie environment created at $ENV_PATH" info "Run 'sudo $0 snapshot' to save this clean state" @@ -220,14 +223,14 @@ cmd_status() { } case "${1:-}" in - create) cmd_create ;; - enter) cmd_enter ;; - snapshot) cmd_snapshot ;; - reset) cmd_reset ;; - destroy) cmd_destroy ;; - status) cmd_status ;; - *) - echo "Usage: sudo $0 {create|enter|snapshot|reset|destroy|status}" - exit 1 - ;; +create) cmd_create ;; +enter) cmd_enter ;; +snapshot) cmd_snapshot ;; +reset) cmd_reset ;; +destroy) cmd_destroy ;; +status) cmd_status ;; +*) + echo "Usage: sudo $0 {create|enter|snapshot|reset|destroy|status}" + exit 1 + ;; esac