Configurable ROV

build.gradle

@@ -38,7 +38,9 @@ dependencies {
     compile 'io.reactivex:rxjavafx:1.1.0'
     compile 'javax.inject:javax.inject:1'
     compile 'net.java.jinput:jinput:2.0.6'
+    compile 'org.cfg4j:cfg4j-core:4.4.0'
     compile 'org.jetbrains.kotlin:kotlin-stdlib:1.0.6'
+    compile 'org.slf4j:slf4j-nop:1.7.24'
     compile 'org.tinylog:tinylog:1.2'
     compile 'rxbroadcast:rxbroadcast:1.1.0'
     testCompile 'junit:junit:4.12'

playbooks/deploy.yml

@@ -2,16 +2,25 @@
   become: yes
   become_method: sudo
   gather_facts: no
+  vars:
+    version: "9.0.0"
   tasks:
     - name: Make opt directory
       file: path=/opt state=directory mode=0755
     - name: Copy Control Software
-      unarchive: src=../build/distributions/eer-9.0.0.zip dest=/opt
+      unarchive: src=../build/distributions/eer-{{ version }}.zip dest=/opt
+    - name: Copy Config Files
+      template: src=files/{{ item }} dest=/opt/eer-{{ version }}/{{ item }} mode=755 owner=pi group=pi
+      with_items:
+        - config.yml
+        - defaultConfig.yml
 
 - hosts: rasprime:picamera
   become: yes
   become_method: sudo
   gather_facts: no
+  vars:
+    version: "9.0.0"
   tasks:
     - name: Copy unit file for systemd
       template: src=files/etc/systemd/system/eer.service dest=/etc/systemd/system/eer.service mode=644

playbooks/files/Launcher.desktop

@@ -1,7 +1,7 @@
 [Desktop Entry]
 Version=9.0.0
 Name=Control Software
-Exec=/opt/eer-9.0.0/bin/topside
+Exec=/opt/eer-9.0.0/bin/topside --default /opt/eer-9.0.0/defaultConfig.yml --config /opt/eer-9.0.0/config.yml
 Path=/opt/eer-9.0.0
 Terminal=false
 Type=Application

playbooks/files/config.yml

@@ -0,0 +1,17 @@
+rov:
+  portAftChannel: 15
+  starboardAftChannel: 12
+  portForeChannel: 16
+  starboardForeChannel: 13
+  portVertChannel: 17
+  starboardVertChannel: 14
+  cameraAMotorChannel: 18
+  cameraBMotorChannel: 19
+  toolingMotorChannel: 22
+  lightChannel: 23
+  voltageSensor05VChannel: 8
+  voltageSensor12VChannel: 7
+  voltageSensor48VChannel: 6
+  currentSensor05VChannel: 11
+  currentSensor12VChannel: 10
+  currentSensor48VChannel: 9

playbooks/files/defaultConfig.yml

@@ -0,0 +1,48 @@
+launch:
+  broadcast: 192.168.88.255
+  defaultBroadcastPort: 10003
+  serialPort: /dev/ttyACM0
+  baudRate: 115200
+topsides:
+  pilotPanelName: Pilot Panel
+  pilotPanelPort: /dev/ttyACM0
+  profilePref: profiles
+  mpv: 192.168.88.2
+rov:
+  maxHeartbeatGap: 5
+  cpuPollInterval: 1
+  sensorPollInterval: 10
+  sleepDuration: 100
+  maestroDeviceNumber: 0x01
+  portAftChannel: 15
+  starboardAftChannel: 12
+  portForeChannel: 16
+  starboardForeChannel: 13
+  portVertChannel: 17
+  starboardVertChannel: 14
+  cameraAMotorChannel: 18
+  cameraBMotorChannel: 19
+  toolingMotorChannel: 22
+  lightChannel: 23
+  voltageSensor05VChannel: 8
+  voltageSensor12VChannel: 7
+  voltageSensor48VChannel: 6
+  currentSensor05VChannel: 11
+  currentSensor12VChannel: 10
+  currentSensor48VChannel: 9
+  altImuSa0High: false
+  i2cBus: 1
+videoPlayer:
+  cameraAVideoPort: 12345
+  cameraBVideoPort: 12346
+joystick:
+  cameraAMotorForwardButton: 4
+  cameraAMotorReverseButton: 6
+  cameraBMotorForwardButton: 5
+  cameraBMotorReverseButton: 3
+  toolingMotorForwardButton: 11
+  toolingMotorReverseButton: 12
+  motionReverseButton: 2
+  cameraAVideoFlipButton: 8
+  cameraBVideoFlipButton: 7
+  motorRotationSpeed: 0.3f

playbooks/files/etc/systemd/system/eer.service

@@ -5,11 +5,7 @@ Description=Eastern Edge Robotics Control Software
 User={{ ansible_user }}
 TimeoutStartSec=0
 Restart=on-failure
-{% if inventory_hostname in groups['rasprime'] %}
-ExecStart=/opt/eer-9.0.0/bin/{{ entry_point }} --broadcast 192.168.88.255 --serial-port /dev/ttyACM0 --baud-rate 115200
-{% else %}
-ExecStart=/opt/eer-9.0.0/bin/{{ entry_point }} --broadcast 192.168.88.255
-{% endif %}
+ExecStart=/opt/eer-{{ version }}/bin/{{ entry_point }} --default /opt/eer-{{ version }}/defaultConfig.yml --config /opt/eer-{{ version }}/config.yml
 
 [Install]
 WantedBy=multi-user.target

src/main/java/com/easternedgerobotics/rov/PicameraA.java

@@ -1,5 +1,7 @@
 package com.easternedgerobotics.rov;
 
+import com.easternedgerobotics.rov.config.Config;
+import com.easternedgerobotics.rov.config.LaunchConfig;
 import com.easternedgerobotics.rov.event.BroadcastEventPublisher;
 import com.easternedgerobotics.rov.event.EventPublisher;
 import com.easternedgerobotics.rov.value.VideoFlipValueA;
@@ -56,23 +58,36 @@ private void initCameraA() {
     public static void main(final String[] args) throws InterruptedException, SocketException, UnknownHostException {
         final String app = "picamera-a";
         final HelpFormatter formatter = new HelpFormatter();
-        final Option broadcast = Option.builder("b")
-            .longOpt("broadcast")
+        final Option defaultConfig = Option.builder("d")
+            .longOpt("default")
             .hasArg()
-            .argName("ADDRESS")
-            .desc("use ADDRESS to broadcast messages")
+            .argName("DEFAULT")
+            .desc("name of the default config file")
+            .required()
+            .build();
+        final Option config = Option.builder("c")
+            .longOpt("config")
+            .hasArg()
+            .argName("CONFIG")
+            .desc("name of the overriding config file")
             .required()
             .build();
 
         final Options options = new Options();
-        options.addOption(broadcast);
+        options.addOption(defaultConfig);
+        options.addOption(config);
 
         try {
             final CommandLineParser parser = new DefaultParser();
             final CommandLine arguments = parser.parse(options, args);
 
-            final InetAddress broadcastAddress = InetAddress.getByName(arguments.getOptionValue("b"));
-            final int broadcastPort = BroadcastEventPublisher.DEFAULT_BROADCAST_PORT;
+            final LaunchConfig launchConfig = new Config(
+                arguments.getOptionValue("d"),
+                arguments.getOptionValue("c")
+            ).getConfig("launch", LaunchConfig.class);
+
+            final InetAddress broadcastAddress = InetAddress.getByName(launchConfig.broadcast());
+            final int broadcastPort = launchConfig.defaultBroadcastPort();
             final DatagramSocket socket = new DatagramSocket(broadcastPort);
             final EventPublisher eventPublisher = new BroadcastEventPublisher(new UdpBroadcast<>(
                 socket, broadcastAddress, broadcastPort, new BasicOrder<>()));

src/main/java/com/easternedgerobotics/rov/PicameraB.java

@@ -1,5 +1,7 @@
 package com.easternedgerobotics.rov;
 
+import com.easternedgerobotics.rov.config.Config;
+import com.easternedgerobotics.rov.config.LaunchConfig;
 import com.easternedgerobotics.rov.event.BroadcastEventPublisher;
 import com.easternedgerobotics.rov.event.EventPublisher;
 import com.easternedgerobotics.rov.value.VideoFlipValueB;
@@ -56,23 +58,36 @@ private void initCameraB() {
     public static void main(final String[] args) throws InterruptedException, SocketException, UnknownHostException {
         final String app = "picamera-b";
         final HelpFormatter formatter = new HelpFormatter();
-        final Option broadcast = Option.builder("b")
-            .longOpt("broadcast")
+        final Option defaultConfig = Option.builder("d")
+            .longOpt("default")
             .hasArg()
-            .argName("ADDRESS")
-            .desc("use ADDRESS to broadcast messages")
+            .argName("DEFAULT")
+            .desc("name of the default config file")
+            .required()
+            .build();
+        final Option config = Option.builder("c")
+            .longOpt("config")
+            .hasArg()
+            .argName("CONFIG")
+            .desc("name of the overriding config file")
             .required()
             .build();
 
         final Options options = new Options();
-        options.addOption(broadcast);
+        options.addOption(defaultConfig);
+        options.addOption(config);
 
         try {
             final CommandLineParser parser = new DefaultParser();
             final CommandLine arguments = parser.parse(options, args);
 
-            final InetAddress broadcastAddress = InetAddress.getByName(arguments.getOptionValue("b"));
-            final int broadcastPort = BroadcastEventPublisher.DEFAULT_BROADCAST_PORT;
+            final LaunchConfig launchConfig = new Config(
+                arguments.getOptionValue("d"),
+                arguments.getOptionValue("c")
+            ).getConfig("piCameraBLaunch", LaunchConfig.class);
+
+            final InetAddress broadcastAddress = InetAddress.getByName(launchConfig.broadcast());
+            final int broadcastPort = launchConfig.defaultBroadcastPort();
             final DatagramSocket socket = new DatagramSocket(broadcastPort);
             final EventPublisher eventPublisher = new BroadcastEventPublisher(new UdpBroadcast<>(
                 socket, broadcastAddress, broadcastPort, new BasicOrder<>()));