SentryBOT V5 disorganized (my workspace) Merge

.github/pull_request_template.md

@@ -0,0 +1,38 @@
+<!-- Thanks for submitting a new change request, please fill out the following template to help us review your PR. [Read the documentation on how to contribute to this project](https://github.com/makerforgetech/modular-biped/wiki/Contributing) BEFORE creating a PR! -->
+
+## What type of change is this?
+- [ ] New module
+- [ ] Change to an existing module
+- [ ] Core improvement
+- [ ] Other (please describe)
+
+## 📝 What does this change do?
+<!-- Clearly and concisely describe the purpose of this PR. What feature, fix, or improvement does it add? -->
+
+## ❓ Why is this change needed?
+<!-- Explain the problem this solves or the motivation behind this change. -->
+
+## 🛠️ How was this implemented?
+<!-- Summarize the approach, design decisions, and key changes made. -->
+
+## 🧪 How was this tested?
+<!-- Describe how you verified the behavior of your changes (e.g., unit tests, integration tests, manual testing). Has it been tested using the latest release of the project? If not, it will need to be tested before it is reviewed. -->
+
+## 💥 Breaking changes
+<!-- Does this change affect existing functionality or APIs? If so, explain what changes and how to mitigate them. -->
+- [ ] Yes (please describe)
+- [ ] No
+
+## 🗂 Related issues
+<!-- Link any related issues (e.g., "Closes #123", "Fixes #456"). -->
+
+## ✅ PR Checklist
+- [ ] **Title & Description:** PR title and description are clear and complete.
+- [ ] **Documentation:** PR links to idea in github discussion group containing complete documentation.
+- [ ] **Scope & Size:** PR is focused on a single issue/feature and is a reasonable size.
+- [ ] **Code Quality:** Code is clean, consistent, and follows the project style guide.
+- [ ] **Tests:** Tests have been added/updated if needed.
+- [ ] **Manual Testing:** Changes have been tested on the latest release of the project.
+- [ ] **Self-Review:** I’ve reviewed my own code and ensured there are no obvious issues.
+
+🚀 Thank you for your contribution to the project!

.github/workflows/test.yml

@@ -0,0 +1,31 @@
+name: Python Unittest on PR
+
+on:
+  pull_request:
+    types: [opened, synchronize, reopened]
+
+jobs:
+  run-tests:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.11'
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
+
+      - name: Run unittests
+        run: |
+          python -m unittest discover -s tests -p 'test_*.py'
+
+    permissions:
+      pull-requests: write
+      contents: read

README.md

@@ -1,190 +1,43 @@
-[![Companion Robot](https://circleci.com/gh/danic85/companion-robot.svg?style=shield)](https://app.circleci.com/pipelines/github/danic85/companion-robot)
-
-# Robotics Development Framework
-This platform has been created to allow modular development and experimentation of robotics in python / C++ using the Raspberry Pi and Arduino.
-
-## Coral TPU Accelerator
-
-To use the Googla Coral USB Accelerator, first flash the Pi SD card with the image found in the [AIY Maker Kit](https://aiyprojects.withgoogle.com/maker/)
-([Download as of 2022-08-05](https://github.com/google-coral/aiy-maker-kit-tools/releases/download/v20220518/aiy-maker-kit-2022-05-18.img.xz))
-
-(I attempted to install the required software from the coral [getting started guide](https://coral.ai/docs/accelerator/get-started#1-install-the-edge-tpu-runtime) but I was unable to get past an error relating to grpico "GLIBC_2.29' not found")
-
-Alternatively, set Config.vision.tech to `opencv` for the original (slower) facial recognition. I am not updating this anymore so you may find some integration issues.
-
-## Installation
-```
-chmod 777 install.sh
-./install.sh
-```
-
-Disable audio (see Neopixels section below)
-
-## Running
-```
-./startup.sh
-```
-To execute manual control via keyboard:
-```
-./manual_startup.sh
-```
-To execute startup including a preview of the video feed (not available via SSH):
-```
-./preview_startup.sh
-```
-
-###Testing
-```
-python3 -m pytest --cov=modules --cov-report term-missing
-```
-
-## Run on Startup
-
-Execute `sudo vim /etc/rc/local` and add the following lines before the `exit 0` statement:
-```
-python3 /home/archie/companion-robot/shutdown_pi.py
-/home/archie/companion-robot/startup.sh
-```
-
-### Auto shutdown
-GPIO 26 is wired to allow shutdown when brought to ground via a switch. 
-
-The script `shutdown_pi.py` manages this.
-
-Guide:
-https://howchoo.com/g/mwnlytk3zmm/how-to-add-a-power-button-to-your-raspberry-pi
-
-## Features
-
-### Facial detection and tracking
-Using the Raspberry Pi camera
-
-### Servo control
-Control of up to 9 servos via an arduino serial connection
-
-### Battery monitor
-Both external and software integrated via the arduino serial connection
-
-### Buzzer
-A buzzer is connected to GPIO 27 to allow for tones to be played in absence of audio output (see Neopixel below).
-https://github.com/gumslone/raspi_buzzer_player.git
-
-### Motion Sensor
-An RCWL-0516 microwave radar sensor is equipped on GPIO 13
-
-### Stereo MEMS Mics
-GPIO 18, 19 and 20 allow stereo MEMS microphones as audio input
-```
-Mic 3V to Pi 3.3V
-Mic GND to Pi GND
-Mic SEL to Pi GND (this is used for channel selection, connect to either 3.3V or GND)
-Mic BCLK to BCM 18 (pin 12)
-Mic DOUT to BCM 20 (pin 38)
-Mic LRCL to BCM 19 (pin 35)
-```
-https://learn.adafruit.com/adafruit-i2s-mems-microphone-breakout/raspberry-pi-wiring-test
-
-
-```
-cd ~
-sudo pip3 install --upgrade adafruit-python-shell
-wget https://raw.githubusercontent.com/adafruit/Raspberry-Pi-Installer-Scripts/master/i2smic.py
-sudo python3 i2smic.py
-```
-
-####Test
-`arecord -l`
-`arecord -D plughw:0 -c2 -r 48000 -f S32_LE -t wav -V stereo -v file_stereo.wav`
-
-_Note:_ See below for additional configuration to support voice recognition
-
-### Speech Recognition
-Trigger word for voice recognition (currently not used):
-https://snowboy.kitt.ai/
-
-Speech recognition is enabled whenever a face is visible. 
-Ensure that the `device_index` specified in `modules/speechinput.py` matches your microphone. 
-
-See `scripts/speech.py` to list input devices and test. See below for MEMS microphone configuration
-
-### MEMS Microphone configuration for speech recognition
-
-By default the Adafruit I2S MEMS Microphone Breakout does not work with speech recognition. 
-
-To support voice recognition on the MEMS microphone(s) the following configuration changes are needed.
-
-`sudo apt-get install ladspa-sdk`
-
-Create `/etc/asound.conf` with the following content:
-
-``` 
-pcm.pluglp {
-    type ladspa
-    slave.pcm "plughw:0"
-    path "/usr/lib/ladspa"
-    capture_plugins [
-   {   
-      label hpf
-      id 1042
-   }
-        {
-                label amp_mono
-                id 1048
-                input {
-                    controls [ 30 ]
-                }
-        }
-    ]
-}
-
-pcm.lp {
-    type plug
-    slave.pcm pluglp
-}
-```
-
-This enables the device 'lp' to be referenced in voice recognition. Shown with index `18` in the example below.
-
-Sample rate should also be set to `16000`
-
-`mic = sr.Microphone(device_index=18, sample_rate=16000)`
-
-References: 
-
-* [MEMS Microphone Installation Guide](https://learn.adafruit.com/adafruit-i2s-mems-microphone-breakout/raspberry-pi-wiring-test)
-
-* [Adafruit Support discussing issue](https://forums.adafruit.com/viewtopic.php?f=50&t=181675&p=883853&hilit=MEMS#p883853)
-
-* [Referenced documentation of fix](https://github.com/mpromonet/v4l2rtspserver/issues/94)
-
-### Serial communication with Arduino
-
-In order to use the Raspberry Pi’s serial port, we need to disable getty (the program that displays login screen)
-
-`sudo raspi-config ->  Interfacing Options -> Serial -> "Would you like a login shell to be accessible over serial" = 'No'. Restart`
-
-#### Connection via serial pins
-Connect the Pi GPIO 14 & 15 (tx & rx) to the arduino tx & rx (tx -> rx in both directions!) via a logic level shifter, as the Pi is 3v3 and the arduino is (most likely) 5v.
-
-####Upload to Arduino over serial pins
-To upload over serial pins, press the reset button on the Arduino at the point that the IDE starts 'uploading' (after compile), otherwise a sync error will display.
-
-### Neopixel
-
-WS1820B support is included via the Pi GPIO pin 12. Unfortunately to support this you must disable audio on the Pi.
-
-```
-sudo vim /boot/config.txt
-#dtparam=audio=on
-```
-
-This is also why the application must be executed with `sudo`
-
-https://learn.adafruit.com/neopixels-on-raspberry-pi/python-usage
-
-## PCBs
-Prefabricated PCBs are available for this project in the `circuits` folder. This allows the connection between the core components as described above.
-
-![Top](circuits/v2/Upper/Top%20Feb%202021_pcb.png)
-
-![Bottom](circuits/v2/Lower/Lower%20Feb%202021_pcb.png)
+# Open Source, 3D Printable, Modular Bipedal Robot Project
+
+The **Modular Bipedal Robot** project aims to educate and inspire individuals interested in robotics and electronics. This open-source initiative focuses on creating a fully autonomous companion robot with a variety of advanced features.
+
+## Key Features
+
+- **Bipedal Design**: The robot includes articulated legs for bipedal movement.
+- **Control Systems**: Utilizes Arduino and Raspberry Pi, managed through custom PCBs.
+- **Modular Body**: Configurable body components allow for easy customization and adaptability.
+- **Software Modules**:
+  - Animation: Handles the animation of the robot, including walking, turning, and other movements.
+  - Braillespeak: Converts text to Braille and speaks it using a proprietary audio output using the onboard buzzer.
+  - Buzzer: Controls the buzzer for audio output. Includes the ability to play tones and melodies.
+  - ChatGPT: Uses the OpenAI GPT models to process text based on user input.
+  - Logging: Logs data to a file for debugging and analysis.
+  - Motion Detection: Handles motion detection using an onboard microwave motion sensor.
+  - Neopixel: Controls the onboard Neopixel LEDs for visual feedback.
+  - PiServo: Controls the servos connected to the Raspberry Pi.
+  - PiTemperature: Reads the temperature from the integrated temperature sensor on the Raspberry Pi.
+  - RTLSDR: Uses an RTL-SDR dongle to receive and process radio signals.
+  - Serial Connection: Handles serial communication between the Raspberry Pi and Arduino.
+  - Servos: Controls the servos connected to the Arduino via the Raspberry Pi and the serial connection.
+  - Tracking: Uses computer vision to track objects and faces using the onboard camera.
+  - Translator: Translates text between languages using the Google Translate API.
+  - TTS: Converts text to speech using the onboard speaker.
+  - Viam: Uses the VIAM API to integrate Viam modules for additional functionality.
+  - Vision: Handles image processing and computer vision tasks using the onboard IMX500 Raspberry Pi AI camera.
+  - [Read more](https://github.com/makerforgetech/modular-biped/wiki/Software#modules)!
+
+## Project Background
+
+The Modular Biped Robot Project is designed to provide a flexible and modular framework for robotics development using Python and C++ on the Raspberry Pi and Arduino platforms. It aims to enable developers, robotics enthusiasts, and curious individuals to experiment, create, and customize their own biped robots. With a range of features and functionalities and the option to add your own easily, the Modular Biped Robot Project offers an exciting opportunity to explore the world of robotics.
+
+## Modularity
+
+The open source framework is designed for flexibility, allowing users to easily add or remove components to suit their specific needs. Comprehensive [guides](https://github.com/makerforgetech/modular-biped/wiki/Software#creating-a-module) are provided for integrating new modules seamlessly.
+
+## Resources
+
+- **Documentation**: For detailed information, visit the project’s GitHub wiki: [Modular Biped Documentation](https://github.com/makerforgetech/modular-biped/wiki)
+- **Code**: Check out the modular open source software on [GitHub](https://github.com/makerforgetech/modular-biped)
+- **YouTube Playlist**: Explore the development process through our build videos: [Watch on YouTube](https://www.youtube.com/watch?v=2DVJ5xxAuWY&list=PL_ua9QbuRTv6Kh8hiEXXVqywS8pklZraT)
+- **Community**: Have a question or want to show off your build? Join the communities on [GitHub](https://bit.ly/maker-forge-community) and [Discord](https://bit.ly/makerforge-community)!

config/neopixel.yml

@@ -2,8 +2,8 @@ neopixel:
   enabled: true
   path: 'modules.neopixel.neopx.NeoPx'
   config:
-    pin: None # GPIO2 and 3 are use for i2c
-    i2c: True
+    pin: 12 # Only used for GPIO. GPIO2 and 3 are use for i2c, GPIO10 is used for SPI, GPIO12 is used for GPIO
+    protocol: 'I2C' # choose between GPIO, I2C and SPI
     count: 12
     positions: {
       'status1': 0,
@@ -36,6 +36,8 @@ neopixel:
   dependencies:
     python:
       - pypubsub
-      - adafruit-circuitpython-seesaw
+      - adafruit-circuitpython-seesaw # i2c SUPPORT
+      - adafruit-blinka # SPI SUPPORT
+      - adafruit-circuitpython-neopixel-spi # SPI SUPPORT
   emotion_analysis:
     enable: false

config/vision.yml

@@ -7,5 +7,4 @@ vision:
     unix:
       - imx500-all
     python:
-      - python3-opencv
-      - python3-munkres
+      - opencv-python

install.sh

@@ -10,6 +10,9 @@ UNIX_DEPENDENCIES=()
 ADDITIONAL_URLS=()
 ACTIVE_MODULES=()
 
+# Install yaml package for Python
+myenv/bin/python3 -m pip install pyyaml
+
 # Helper function to parse dependencies from YAML files using Python
 parse_dependencies() {
   myenv/bin/python3 - <<EOF
@@ -77,6 +80,7 @@ done
 
 # Set execute permissions for additional scripts
 chmod 777 startup.sh stop.sh
+chmod 777 installers/*.sh
 
 # Summary of modules and dependencies installed
 echo -e "\n==== Installation Summary ===="
@@ -101,4 +105,11 @@ for dep in "${UNIQUE_ADDITIONAL_URLS[@]}"; do
   echo " - $dep"
 done
 fi
+
+# Tell the user about autolaunch
+echo -e "\nTo enable autolaunch on boot, run the following command:"
+echo "installer/autolaunch.sh enable"
+echo "To disable autolaunch, run:"
+echo "installer/autolaunch.sh disable"
+
 echo "============================="