Better Camera Implementation

Installer/AprilTags/ApriltagsManager.sh

@@ -14,7 +14,9 @@ function killIfRunning() {
     PID=`libAprilTags.sh pid $1`
     if [ $PID -ne 0 ]; then
         kill -2 $PID
+        return 1
     fi
+    return 0
 }
 
 # set clocks to max frequency (jetson only)
@@ -23,6 +25,9 @@ jetson_clocks || true
 #open source for args
 source /apps/AprilTags/args
 
+# make sure that the bin dir is actually loaded
+PATH="$PATH:/apps/bin"
+
 if [[ $1 == "start" ]]; then
     # check for lock
     if [ -f "/apps/AprilTags/servicerunning" ]; then
@@ -51,17 +56,67 @@ if [[ $1 == "start" ]]; then
     cd /apps/AprilTags
 
     touch /apps/AprilTags/servicerunning
-
-    # abs path BECAUSE of the proc getting commands
-    /apps/AprilTags/Backend/ws_server $backend &
+
+    cams=`libAprilTags.sh camIDs`
+    if [[ $? -ne 0 ]]; then
+    	echo "No cameras found or something. Try plugging some in, or else the cameras are not being seen."
+    	exit 5
+    fi
+
+    # cd again just to be safe (that lib WILL cd)
+    cd /apps/AprilTags
+
+    # iterate
+    for cam in $cams; do
+        # set items off of the output cam
+        IFS=: read -r camID camIndex <<< "$cam"
+
+        # not yet
+        # get the offset file
+        #camLoc=$(libAprilTags.sh getCamLoc $camID)
+        #if [[ $? -ne 0 ]]; then
+        #    echo "FAILED TO FIND CAMERA OFFSET ${camID}, EXITING..."
+        #    exit 6
+        #fi
+
+        # ensure that the calibration file exists
+        if ! [[ -f /apps/AprilTags/data/calibration/calibrationmatrix_${camID}.json ]]; then
+            echo "FAILED TO FIND CAMERA CALIBRATION FILE ${camID}, EXITING..."
+            exit 6
+        fi
+
+        # set args
+        args=`$backend` # this actually is magical because of the weird eval thing
+        # https://stackoverflow.com/questions/5112663/bash-variable-reevaluation
+
+        # abs path BECAUSE of the proc getting commands
+        /apps/AprilTags/Backend/ws_server $args &
+        echo $! >> /apps/AprilTags/servicerunning # add every pid to a new line
+    done
 
     exit
 
 elif [[ $1 == "stop" ]]; then
-    rm /apps/AprilTags/servicerunning
+    if [[ -f /apps/AprilTags/servicerunning ]]; then
+    	# read the file, kill if a pid is found inside
+    	while read p; do
+    	    if [[ "$p" =~ ^-?[0-9]+$ ]]; then # regex to find int
+    	    	# assume its a PID that belongs to ws_server if running
+    	    	if ps -p $p > /dev/null
+    	    	then
+    	    	    timeout -s INT 5s 'killHandler.sh ${p}' &
+    	        fi
+    	    fi
+    	done < /apps/AprilTags/servicerunning
+    fi
     # and add the rest of it
-    killIfRunning '/apps/AprilTags/Backend/ws_server'
-
+    # this is broken, and I am too lazy to fix it
+    #killIfRunning '/apps/AprilTags/Backend/ws_server'
+    #while killIfRunning '/apps/AprilTags/Backend/ws_server'; do
+    #	continue # just run the initial condition, a backup if the service orphaned something
+    #done
+
+    rm /apps/AprilTags/servicerunning
 else
     echo "input ${1} not understood"
     exit 3

Installer/AprilTags/args

@@ -1,4 +1,6 @@
 # Please be careful editing this file!
-backend="-camera_idx 0 -cal_file data/calibrationmatrix.json"
+# It looks odd and it is structured in two seperate ways, but it is fine, write inside the echo for backend
+# ${camIndex} is the video index of the camera, ${camID} is the id of the camera (by serial), and ${camLoc} is the location of the camera on the robot (as in tr for example to be top right)
+backend='eval echo "-camera_idx ${camIndex} -cal_file /apps/AprilTags/data/calibration/calibrationmatrix_${camID}.json -camera_name cam${camID}"'
 # manager
 autormlockfile="true"

Installer/AprilTagsPipeline.service

@@ -8,7 +8,7 @@ ExecStart=/apps/AprilTags/ApriltagsManager.sh start
 RemainAfterExit=true
 ExecStop=/apps/AprilTags/ApriltagsManager.sh stop
 StandardOutput=journal
-Restart=always
+#Restart=always
 
 [Install]
 WantedBy=multi-user.target

Installer/bin/AprilTags.sh

@@ -5,7 +5,7 @@ function help() {
     echo "-h to print this menu"
     echo "-v to print verbose"
     echo "--validate or -V {option} to validate something"
-    echo "--update or -u to update the running frontend/backend from the cuda root"
+    echo "--update or -u to update the running backend from the cuda root"
     echo "ex. -V lockfile"
     echo
     echo "if you try to run two different commands in one command, one might exit before the other"
@@ -79,33 +79,33 @@ if [ ! -z ${valitem+x} ]; then
             # lockfile is there
             printV "lockfile present, checking if backend is being run"
             if [ $PID -ne 0 ]; then
-                # echo "lockfile=true;running=true;"
+                echo "lockfile=true;running=true;"
                 printV "The service appears to be running and stable."
             else
                 rm /apps/AprilTags/servicerunning
                 if [ $? -ne 0 ]; then
-                    # echo "lockfile=rm;running=false;"
+                    echo "lockfile=rm;running=false;"
                     printV "Lockfile found with the service not running, it could not be deleted, feel free to delete it."
                 else
-                    # echo "lockfile=false;runnning=false;"
+                    echo "lockfile=false;runnning=false;"
                     printV "Lockfile found with no services running, it is now deleted."
                 fi
             fi
         else
             # lockfile missing, check if anything is runing
             printV "lockfile is not there"
             if [ $PID -eq 0 ]; then
-                # echo "lockfile=false;running=false;"
+                echo "lockfile=false;running=false;"
                 printV "The AprilTags service is offline and the lockfile is not there."
             else
                 printV "The lockfile is missing and at least one of the services is running."
                 touch /apps/AprilTags/servicerunning
                 if [ $? -ne 0 ]; then
-                    # echo "lockfile=add;running=true;"
+                    echo "lockfile=add;running=true;"
                     printV "The lockfile couldn't be created. please make it, or stop the processes!"
                     printV "Go to the ApriltagsManager.sh script and run it with 'stop'"
                 else
-                    # echo "lockfile=true;running=true;"
+                    echo "lockfile=true;running=true;"
                     printV "Service is online, the lockfile is now in place."
                 fi
             fi
@@ -137,6 +137,7 @@ elif [ $update == "t" ]; then
     printV "copying backend..."
     cp -R build/* /apps/AprilTags/Backend/
 
+    printV "copying data..."
     # remove the existing data dir if it exists then replace it
     if [ -d /apps/AprilTags/data ]; then
     	rm -rf /apps/AprilTags/data
@@ -145,6 +146,11 @@ elif [ $update == "t" ]; then
     	cp -R data/ /apps/AprilTags/data/
     fi
 
+    printV "copying public server files..."
+    if [ -d public ]; then
+        cp -R public/ /apps/AprilTags/public
+    fi
+
     printV "The files were sucessfully coppied"
 
     # restart the service

Installer/bin/camerascanner/README.md

@@ -0,0 +1,11 @@
+# Camerascanner
+A helper function by Segen to read the serial number of a camera and the index 0 id of the camera as the /dev/video device. It is structured as ${serial}:${videoid}.
+
+## building
+```bash
+go build -o scanner_${arch} main
+```
+To just run the file:
+```bash
+go run main
+```

Installer/bin/camerascanner/go.mod

@@ -0,0 +1,3 @@
+module main
+
+go 1.19

Installer/bin/camerascanner/scanner.go

@@ -0,0 +1,37 @@
+package main
+
+import (
+	"fmt"
+	"os/exec"
+	"strings"
+	//"log"
+)
+
+func main() {
+	out, err := exec.Command("ls", "-l", "/dev/v4l/by-id/").Output()
+	if err != nil {}
+
+	devices := strings.Split(string(out), "lrwxr")
+	devices = devices[1:]
+
+	var sNums []string
+	serial := ""
+
+	for _, e := range devices {
+		start := strings.Index(e, "Camera") + 5
+		for j := 2; j < 100; j++ {
+			if string(e[strings.Index(e, "index") + 5]) == "1" {
+				break
+			}
+			if string(e[start + j]) == "-" {
+				sNums = append(sNums, serial + ":" + string(e[len(e) - 2]))
+				serial = ""
+				break
+			} else {
+				serial += string(e[start + j])
+			}
+		}
+	}
+	fmt.Print(sNums)
+
+}

Installer/bin/killHandler.sh

@@ -0,0 +1,17 @@
+#! /bin/bash
+
+if [[ "$1" =~ ^-?[0-9]+$ ]]; then # regex to find int
+    # assume its a PID that belongs to ws_server if running
+    if ps -p $1 > /dev/null
+    then
+        killpid=$1
+    fi
+fi
+
+# stop if unset
+if [ -z ${killpid+x} ]; then exit 1; fi
+
+# catch: kill -9
+trap 'kill -9 ${killpid}' INT
+
+kill -2 ${killpid}

Installer/bin/libAprilTags.sh

@@ -19,6 +19,55 @@ function getProcPID() {
     echo 0
 }
 
+echoerr() { echo "$@" 1>&2; } # bypass capture by var assigning because std::err
+
 if [[ $1 == "pid" ]]; then
     getProcPID $2
+elif [[ $1 == "camIDs" ]]; then
+    cd "${0%/*}"/camerascanner
+    # run the go file in the most efficent way possible
+    arch=$(uname -m)
+    if [[ -f "scanner_${arch}" ]]; then
+        ret=$("./scanner_${arch}")
+    else
+    	if [[ $arch == "x86_64" ]]; then
+    	    # x86 can run aarch64 binaries for some reason, so do that
+    	    ret=$("./scanner_aarch64")
+
+    	else
+            echoerr "running go file directly"
+            ret=$(go run main)
+        fi
+    fi
+
+    if [[ "${ret,,}" == *"err"* ]] || [[ "${ret,,}" == *"fault"* ]]; then
+    	# the majority of time that this control path gets reached will be because Go tries to run main, but then lacks some variables and errors out
+    	echoerr "The Go code probably ran into an error. Look at the logs above to see it, otherwise make sure you have cameras plugged in."
+    	exit 1
+    elif ! [[ "${ret:0:1}" == "[" ]] || ! [[ "${ret: -1}" == "]" ]]; then
+    	# There might be some novel way that this control path can be reached, for the most part, this will not get here
+        echoerr "This is some novel error that I do not know how got here. Make sure you have cameras plugged in."
+        exit 1
+    fi
+    # all good
+    echo "${ret:1: -1}"
+    exit 0
+elif [[ $1 == "getCamLoc" ]]; then
+    camlocfile="/apps/AprilTags/data/cameralocations"
+    camid=$2
+    if ! [[ -f camlocfile ]]; then
+        echo "cam locations file not found."
+        exit 1 # maybe stop using the same number
+    fi
+    # must have the file, assume that the file is correct
+    set -e # just in case
+    locfile=$(tail -n +1 camlocfile)
+    for line in locfile; do
+        if [[ "$2" == "${line[0]}" ]]; then
+            echo line[1]
+            exit 0
+        fi
+    done
+    echo "id not found"
+    exit 1 # again, same code
 fi

Installer/install.sh

@@ -49,12 +49,12 @@ systemctl enable AprilTagsPipeline.service
 # add path modification in /etc/profile.d/ if not already there
 # why two? idk. it just apparently should have both?
 if [ ! -f /etc/profile.d/AddAppsToPaf.sh ]; then
-	cp AddAppsToPaf.sh /etc/profile.d/AddAppsToPaf.sh
+	cp AddAppsToPath.sh /etc/profile.d/AddAppsToPath.sh
 fi
 
 # now onto the AprilTags specific items
 cp -R AprilTags/ /apps/
-cp bin/* /apps/bin/
+cp -R  bin/* /apps/bin/
 
 echo "The AprilTags service has been installed and enabled. Run 'AprilTags.sh --update all' in the Cuda project root to sync it to be run."
 echo "HINT: program not found error? run 'export PATH=\$PATH:/apps/bin' in your session"

Installer/uninstall.sh

@@ -44,8 +44,7 @@ function isDirEmpty() {
 if [[ $fullrm == "t" ]]; then
 	if [ -z "$( ls -A '/apps/bin/' )" ]; then
 		rm -d /apps/bin
-		rm /etc/profile.d/AddAppsToPaf.sh
-		rm /etc/profile.d/AddAppsToPaf.csh
+		rm /etc/profile.d/AddAppsToPath.sh
 	fi
 
 	if [ -z "$( ls -A '/apps/' )" ]; then
@@ -54,4 +53,4 @@ if [[ $fullrm == "t" ]]; then
 	echo "full uninstall is as completed as it can be!"
 fi
 
-echo "The AprilTags service has been uninstalled from your system!"
+echo "The AprilTags service has been uninstalled from your system!"