Merge pull request #48 from mjs/split

New leptond service

.gitignore

@@ -1,2 +1,3 @@
 /thermal-recorder
+/leptond
 /dist

.goreleaser.yml

@@ -1,25 +1,45 @@
 project_name: thermal-recorder
+dist: dist
+
 release:
   github:
     owner: TheCacophonyProject
     name: thermal-recorder
   name_template: '{{.Tag}}'
+
 builds:
-- goos:
-  - linux
+- binary: thermal-recorder
+  main: ./cmd/thermal-recorder
+  goos:
+    - linux
   goarch:
-  - arm
+    - arm
   goarm:
-  - "7"
-  main: .
+    - "7"
   ldflags: -s -w -X main.version={{.Version}}
-  binary: thermal-recorder
-archive:
-  name_template: '{{ .ProjectName }}_{{ .Version }}'
-  format: tar.gz
+- binary: leptond
+  main: ./cmd/leptond
+  goos:
+    - linux
+  goarch:
+    - arm
+  goarm:
+    - "7"
+  ldflags: -s -w -X main.version={{.Version}}
+
+nfpm:
+  vendor: The Cacophony Project
+  homepage: http://cacophony.org.nz/
+  maintainer: Menno Finlay-Smits <[email protected]>
+  description: Record thermal video footage from FLIR Lepton 3 camera
+  license: GPL v3.0
+  name_template: "{{ .ProjectName }}_{{ .Version }}_{{ .Arch }}"
+  formats:
+    - deb
+  bindir: /usr/bin
   files:
-  - thermal-recorder.service
-  - thermal-recorder-TEMPLATE.yaml
+    "thermal-recorder.service": "/etc/systemd/system/thermal-recorder.service"
+    "leptond.service": "/etc/systemd/system/leptond.service"
+
 checksum:
   name_template: '{{ .ProjectName }}_{{ .Version }}_checksums.txt'
-dist: dist

cmd/leptond/config.go

@@ -0,0 +1,39 @@
+// Copyright 2018 The Cacophony Project. All rights reserved.
+// Use of this source code is governed by the Apache License Version 2.0;
+// see the LICENSE file for further details.
+
+package main
+
+import (
+	"io/ioutil"
+
+	yaml "gopkg.in/yaml.v2"
+)
+
+type Config struct {
+	SPISpeed    int64  `yaml:"spi-speed"`
+	PowerPin    string `yaml:"power-pin"`
+	FrameOutput string `yaml:"frame-output"`
+}
+
+var defaultConfig = Config{
+	SPISpeed:    2000000,
+	PowerPin:    "GPIO23",
+	FrameOutput: "/var/run/lepton-frames",
+}
+
+func ParseConfigFile(filename string) (*Config, error) {
+	buf, err := ioutil.ReadFile(filename)
+	if err != nil {
+		return nil, err
+	}
+	return ParseConfig(buf)
+}
+
+func ParseConfig(buf []byte) (*Config, error) {
+	conf := defaultConfig
+	if err := yaml.Unmarshal(buf, &conf); err != nil {
+		return nil, err
+	}
+	return &conf, nil
+}

cmd/leptond/config_test.go

@@ -0,0 +1,41 @@
+// Copyright 2018 The Cacophony Project. All rights reserved.
+// Use of this source code is governed by the Apache License Version 2.0;
+// see the LICENSE file for further details.
+
+package main
+
+import (
+	"testing"
+
+	"github.com/stretchr/testify/assert"
+	"github.com/stretchr/testify/require"
+)
+
+func TestAllDefaults(t *testing.T) {
+	conf, err := ParseConfig([]byte(""))
+	require.NoError(t, err)
+
+	assert.Equal(t, Config{
+		SPISpeed:    2000000,
+		PowerPin:    "GPIO23",
+		FrameOutput: "/var/run/lepton-frames",
+	}, *conf)
+}
+
+func TestAllSet(t *testing.T) {
+	// All config set at non-default values.
+	config := []byte(`
+spi-speed: 123
+power-pin: "PIN"
+frame-output: "/some/sock"
+`)
+
+	conf, err := ParseConfig(config)
+	require.NoError(t, err)
+
+	assert.Equal(t, Config{
+		SPISpeed:    123,
+		PowerPin:    "PIN",
+		FrameOutput: "/some/sock",
+	}, *conf)
+}

cmd/leptond/main.go

@@ -0,0 +1,185 @@
+// Copyright 2018 The Cacophony Project. All rights reserved.
+// Use of this source code is governed by the Apache License Version 2.0;
+// see the LICENSE file for further details.
+
+package main
+
+import (
+	"fmt"
+	"log"
+	"net"
+	"time"
+
+	"github.com/TheCacophonyProject/lepton3"
+	arg "github.com/alexflint/go-arg"
+	"github.com/coreos/go-systemd/daemon"
+	"periph.io/x/periph/conn/gpio"
+	"periph.io/x/periph/conn/gpio/gpioreg"
+	"periph.io/x/periph/host"
+)
+
+const (
+	framesHz = 9 // approx
+
+	frameLogIntervalFirstMin = 15 * framesHz
+	frameLogInterval         = 60 * 5 * framesHz
+
+	framesPerSdNotify = 5 * framesHz
+)
+
+var version = "<not set>"
+
+type Args struct {
+	ConfigFile string `arg:"-c,--config" help:"path to configuration file"`
+	Quick      bool   `arg:"-q,--quick" help:"don't cycle camera power on startup"`
+	Timestamps bool   `arg:"-t,--timestamps" help:"include timestamps in log output"`
+}
+
+func (Args) Version() string {
+	return version
+}
+
+func procArgs() Args {
+	var args Args
+	args.ConfigFile = "/etc/leptond.yaml"
+	arg.MustParse(&args)
+	return args
+}
+
+type nextFrameErr struct {
+	cause error
+}
+
+func (e *nextFrameErr) Error() string {
+	return e.cause.Error()
+}
+
+func main() {
+	err := runMain()
+	if err != nil {
+		log.Fatal(err)
+	}
+}
+
+func runMain() error {
+	args := procArgs()
+	if !args.Timestamps {
+		log.SetFlags(0) // Removes default timestamp flag
+	}
+
+	log.Printf("version: %s", version)
+	conf, err := ParseConfigFile(args.ConfigFile)
+	if err != nil {
+		return err
+	}
+	logConfig(conf)
+
+	log.Print("host initialisation")
+	if _, err := host.Init(); err != nil {
+		return err
+	}
+
+	if !args.Quick {
+		if err := cycleCameraPower(conf.PowerPin); err != nil {
+			return err
+		}
+	}
+
+	var camera *lepton3.Lepton3
+	defer func() {
+		if camera != nil {
+			camera.Close()
+		}
+	}()
+	for {
+		camera = lepton3.New(conf.SPISpeed)
+		camera.SetLogFunc(func(t string) { log.Printf(t) })
+
+		log.Print("opening camera")
+		if err := camera.Open(); err != nil {
+			return err
+		}
+
+		log.Print("enabling radiometry")
+		if err := camera.SetRadiometry(true); err != nil {
+			return err
+		}
+
+		err := runCamera(conf, camera)
+		if err != nil {
+			if _, isNextFrameErr := err.(*nextFrameErr); !isNextFrameErr {
+				return err
+			}
+			log.Printf("recording error: %v", err)
+		}
+
+		log.Print("closing camera")
+		camera.Close()
+
+		err = cycleCameraPower(conf.PowerPin)
+		if err != nil {
+			return err
+		}
+	}
+}
+
+func runCamera(conf *Config, camera *lepton3.Lepton3) error {
+	log.Print("dialing frame output socket")
+	conn, err := net.DialUnix("unixpacket", nil, &net.UnixAddr{
+		Net:  "unixgram",
+		Name: conf.FrameOutput,
+	})
+	if err != nil {
+		return err
+	}
+	defer conn.Close()
+	conn.SetWriteBuffer(lepton3.FrameCols * lepton3.FrameRows * 2 * 20)
+
+	log.Print("reading frames")
+	frame := new(lepton3.RawFrame)
+	notifyCount := 0
+	for {
+		if err := camera.NextFrame(frame); err != nil {
+			return &nextFrameErr{err}
+		}
+
+		if notifyCount++; notifyCount >= framesPerSdNotify {
+			daemon.SdNotify(false, "WATCHDOG=1")
+			notifyCount = 0
+		}
+
+		if _, err := conn.Write(frame[:]); err != nil {
+			return err
+		}
+	}
+}
+
+func logConfig(conf *Config) {
+	log.Printf("SPI speed: %d", conf.SPISpeed)
+	log.Printf("power pin: %s", conf.PowerPin)
+	log.Printf("frame output: %s", conf.FrameOutput)
+}
+
+func cycleCameraPower(pinName string) error {
+	if pinName == "" {
+		return nil
+	}
+
+	pin := gpioreg.ByName(pinName)
+
+	log.Print("turning camera power off")
+	if err := pin.Out(gpio.Low); err != nil {
+		return fmt.Errorf("failed to set camera power pin low: %v", err)
+	}
+	time.Sleep(2 * time.Second)
+
+	log.Print("turning camera power on")
+	if err := pin.Out(gpio.High); err != nil {
+		return fmt.Errorf("failed to set camera power pin high: %v", err)
+	}
+
+	log.Print("waiting for camera startup")
+	time.Sleep(8 * time.Second)
+	log.Print("camera should be ready")
+	return nil
+}