Merge branch 'master' of github.com:ogre/pizero_tracker

camera/camera.py

@@ -202,11 +202,14 @@ def StateLoop(port):
 					reply = client.recv()
 					if reply:
 						try:
-							STATE[qm] = json.loads( reply.replace("'", '"') )
+							reply_data = json.loads( reply.replace("'", '"') )
+							STATE[qm] = reply_data
+							# print("reply_data:")
+							# pprint(reply_data)
 						except:
-							pass
-							# print("Can't parse JSON for ", qm)
-							# print(traceback.format_exc())
+							print("Can't parse JSON for ", qm)
+							print(reply)
+							print(traceback.format_exc())
 						expect_reply = False
 					else:
 						break
@@ -394,5 +397,18 @@ def main():
 
 
 if __name__ == "__main__":
-	main()
+	try:
+		import setproctitle
+		setproctitle.setproctitle('camera.py')
+	except:
+		pass
+
+	while 1:
+		try:
+			main()
+		except KeyboardInterrupt:
+			break
+		except:
+			print( traceback.format_exc() )
+			time.sleep(1)
 	# ConvertToSSDV(sys.argv[-2], sys.argv[-1], 512, 'fro', 0)

tracker/code/main/main.cpp

@@ -155,6 +155,7 @@ int main1(int argc, char** argv)
 	signal(SIGINT, CTRL_C);
 	signal(SIGTERM, CTRL_C);
 
+
     // RADIO
     //
 	gpioSetPullUpDown( 	G.cli.hw_pin_radio_on, PI_PUD_DOWN );
@@ -268,10 +269,20 @@ int main1(int argc, char** argv)
 	});
 
 
+	// read last emited message ID and resume from that number
+	int msg_id = 0;
+	FILE* msgid_fh = fopen("./tracker.msgid", "r");
+	if(msgid_fh) {
+		fscanf(msgid_fh, "%d", &msg_id);
+		fclose(msgid_fh);
+		cout<<"Resume message ID "<<msg_id<<endl;
+	}
+	msgid_fh = fopen("./tracker.msgid", "w");
+
+
 	// READ SENSORS, CONSTRUCT TELEMETRY MESSAGE, RF SEND TELEMETRY AND IMAGE
 	//
 	ssdv_t ssdv_packets;
-	int msg_id = 0;
 	while(G_RUN)
 	{
 		// telemetry. G.cli.msg_num sentences before SSDV
@@ -301,6 +312,12 @@ int main1(int argc, char** argv)
 			// emit telemetry msg @RF
 			//
 			mtx2_write(radio_fd, msg_with_crc + '\n');
+
+			// write last emited message ID
+			if(msgid_fh) {
+				rewind(msgid_fh);
+				fprintf(msgid_fh, "%08d", msg_id);
+			}
 		}
 
 
@@ -331,6 +348,8 @@ int main1(int argc, char** argv)
 
 	// RELEASE RESOURCES
 	//
+	if(msgid_fh)
+		fclose(msgid_fh);
 	cout<<"Closing sensors thread"<<endl;
 	sensors_thread.join();
 	cout<<"Closing uBlox I2C thread and device"<<endl;

tracker/code/main/ssdv_t.cpp

@@ -16,10 +16,17 @@ size_t ssdv_t::load_file(const std::string file_path)
     {
         const size_t read_bytes = fread( tile.data(), 1, sizeof(tile), p_file );
         if(!read_bytes)
-            return  total_tiles;
+            break;
         tiles_que_.push_back(tile);
         ++total_tiles;
     }
+
+    if(!total_tiles) {  // could not load this file. delete it.
+        std::cout<<"SSDV Failed loading "<<file_path<<std::endl;
+        system( (std::string("rm -f ") + file_path + " || echo \"Can't delete SSDV image.\"").c_str() );
+    }
+
+    return  total_tiles;
 }
 
 ssdv_t::packet_t ssdv_t::next_packet()

tracker/code/nmea/nmea.cpp

@@ -289,7 +289,7 @@ std::string nmea_t::json() const
 
 	s<<"{";
 
-	s<<"'utc':"<<utc<<sep;
+	s<<"'utc':'"<<utc<<"'"<<sep;
 	s<<"'lat':"<<lat<<sep;
 	s<<"'lon':"<<lon<<sep;
 	s<<"'alt':"<<alt<<sep;
@@ -307,15 +307,15 @@ std::string nmea_t::json() const
 	if( fix_quality == nmea_t::fix_quality_t::kNoFix )
 		s<<"'Q':'kNoFix'";
 	else if( fix_quality == nmea_t::fix_quality_t::kAutonomous )
-		s<<"'Q:kAutonomous'";
+		s<<"'Q':'kAutonomous'";
 	else if( fix_quality == nmea_t::fix_quality_t::kDifferential )
-		s<<"'Q:kDifferential'";
+		s<<"'Q':'kDifferential'";
 	else if( fix_quality == nmea_t::fix_quality_t::kRtkFixed )
-		s<<"'Q:kRtkFixed'";
+		s<<"'Q':'kRtkFixed'";
 	else if( fix_quality == nmea_t::fix_quality_t::kRtkFloat )
-		s<<"'Q:kRtkFloat'";
+		s<<"'Q':'kRtkFloat'";
 	else if( fix_quality == nmea_t::fix_quality_t::kEstimated )
-		s<<"'Q:kEstimated'";
+		s<<"'Q':'kEstimated'";
 
 	s<<"}";