Update README.md
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README.md
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README.md
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@ -4,14 +4,144 @@ Follow https://gitlab.com/EECE-5698-Group-7/vacuum-repo to root your vacuum (use
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Install `python3-minimal` using `apt`.
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After rooted, need to start the vacuum in `unprovisioned mode` (by pressing the `reset` button on vacuum lightly).
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## Unprovisioned mode setup (if not included in rooted image)
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#### 1. in /etc/rc.local, add the following line
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```
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/opt/unprovisioned/start_wifi.sh >/dev/null 2>&1
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```
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#### 2. create a foler at `/opt/`
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```
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mkdir /opt/unprovisioned/
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```
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#### 3. create file `/opt/unprovisioned/wpa_supplicant.conf`:
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```
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network={
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ssid="<ssid name>"
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scan_ssid=1
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proto=RSN
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key_mgmt=WPA-PSK
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pairwise=CCMP
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group=CCMP
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psk="<password>"
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}
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```
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#### 4. create file `/opt/unprovisioned/start_wifi.sh`:
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```
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#!/bin/bash
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file="/opt/unprovisioned/wpa_supplicant.conf"
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if [ ! -f "$file" ]
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then
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echo "$0: File '${file}' not found." > "/opt/unprovisioned/log.log"
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else
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#add enough time to fix wrong wireless settings
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sleep 200
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#disable accesspoint
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ifdown wlan0 > /dev/null 2>&1
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ifconfig wlan0 down > /dev/null 2>&1
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killall hostapd >/dev/null 2>&1
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iw mon.wlan0 del >/dev/null 2>&1
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create_ap --stop wlan0 > /dev/null 2>&1
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killall wpa_supplicant >/dev/null 2>&1
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killall dhclient >/dev/null 2>&1
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ifconfig >> /opt/unprovisioned/log.log
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#login to your network
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ifconfig wlan0 up >/dev/null 2>&1
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/sbin/wpa_supplicant -s -B -P /var/run/wpa_supplicant_1.wlan0.pid -i wlan0 -D nl80211,wext -c /opt/unprovisioned/wpa_supplicant.conf -C /var/run/wpa_supplicant >/dev/null 2>&1
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echo "done!" >> /opt/unprovisioned/log.log
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dhclient wlan0 >/dev/null 2>&1
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fi
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```
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#### 5. Restart vacuum
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# Tools Usage
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```
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python controller.py
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```
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## Update scripts on vacuum
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If in any case the script has been modified, we need to use `init_vacuum.sh` to update the scripts on vacuum. Run it within the python script via `update` so it takes in the discovered vacuum IP.
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Otherwise, you can also set environment variable `MIROBO_IP` and run `./init_vacuum.sh` directly.
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## Control vacuum
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Type `control` to enter the control panel
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Available commands can be found via `help` in control panel:
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```
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control >>> help
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Control Command Menu
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help - this message
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home - move vacuum to dock location
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status - print the status of vacuum
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start - automatically start one cleaning sesssion and get data
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move auto/pause/stop/home - auto scanning movement (no data parsing)
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move rotate speed time - move (-180, 180)deg at (-0.3,0.3)m/s for `time`ms
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fanspeed integer - set fan speed to be [1-99]
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goto x_coor y_coor - move to x,y location on map
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trace on/off - manually start/stop collecting trace
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download trace/map - download the trace or map on vacuum
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config <cmds> - configuration
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quit/exit - exit controller (Ctrl + D does the same)
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```
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Example commands:
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```
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python controller.py
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>>> control help
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...
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>>> control status
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<VacuumStatus state=Cleaning, error=No error bat=93%, fan=1% cleaned 18.2775 m² in 0:16:12>
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>>> control
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control >>> help
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...
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control >>> start
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Cleaning old data on device..
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Enabling trace on the vacuum..
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Starting..
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<VacuumStatus state=Charging, error=No error bat=98%, fan=1% cleaned 2.6975 m² in 0:01:58>
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...
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control >>> config get remote_script_folder
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/mnt/data/exp
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```
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## Config vacuum
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Nothing much yet. But notice once you entered config panel, have to exit before doing any controls.
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```
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config >>> help
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Config Command Menu
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help - this message
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set <key> <val> - set key value in config
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get <key> - get config from key, if `key` not set, print all
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save/load <file> - save/load configuration from file (default: ./config.json)
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quit/exit - exit controller (Ctrl + D does the same)
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```
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Example commands:
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```
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>>> config get remote_script_folder
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/mnt/data/exp
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>>> config
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config >>> get remote_script_folder
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/mnt/data/exp
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```
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# Reference
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1. [dustcloud](https://github.com/dgiese/dustcloud)
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2. [aerodust](https://github.com/dgiese/aerodust)
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3.
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