http://www.openhardwareconf.org/index.php?title=OHMC2019_Software_instructions

leds

#!/bin/bash

test -e /tmp/leds || mkfifo -m666 /tmp/leds

sudo /home/pi/env/bin/python /home/pi/leds.py

leds.py

#!/usr/bin/env python
# https://learn.adafruit.com/neopixels-on-raspberry-pi/python-usage

# Simple test for NeoPixels on Raspberry Pi
import board
import errno
import neopixel
import os
import time

PATH="/tmp/leds"
bufferSize = 100;
 
# Choose an open pin connected to the Data In of the NeoPixel strip, i.e. board.D18
# NeoPixels must be connected to D10, D12, D18 or D21 to work.
pixel_pin = board.D18
 
# The number of NeoPixels
num_pixels = 18
 
# The order of the pixel colors - RGB or GRB. Some NeoPixels have red and green reversed!
# For RGBW NeoPixels, simply change the ORDER to RGBW or GRBW.
ORDER = neopixel.GRB
 
pixels = neopixel.NeoPixel(pixel_pin, num_pixels, brightness=0.2, auto_write=False,
                           pixel_order=ORDER)
 
 
def wheel(pos):
    # Input a value 0 to 255 to get a color value.
    # The colours are a transition r - g - b - back to r.
    if pos < 0 or pos > 255:
        r = g = b = 0
    elif pos < 85:
        r = int(pos * 3)
        g = int(255 - pos*3)
        b = 0
    elif pos < 170:
        pos -= 85
        r = int(255 - pos*3)
        g = 0
        b = int(pos*3)
    else:
        pos -= 170
        r = 0
        g = int(pos*3)
        b = int(255 - pos*3)
    return (r, g, b) if ORDER == neopixel.RGB or ORDER == neopixel.GRB else (r, g, b, 0)
 
 
def rainbow_cycle(wait):
    for j in range(255):
        for i in range(num_pixels):
            pixel_index = (i * 256 // num_pixels) + j
            pixels[i] = wheel(pixel_index & 255)
        pixels.show()
        time.sleep(wait)

hue = 0
def cylon(wait):
    global hue
    for i in list(range(0, num_pixels)) + list(range(num_pixels-1, 0, -1)):
        pixels[i] = wheel(hue)
        hue += 1
        if hue > 255:
            hue = 0
        pixels.show()
        pixels[i] = 0
        time.sleep(wait)
 
timer = 30
demo = 'cylon'
pipe = os.open(PATH, os.O_RDONLY | os.O_NONBLOCK);
while True:
    mode = ''
    try:
        input = os.read(pipe,bufferSize);
    except OSError as err:
        if err.errno == 11:
            continue;
        else:
            raise err;
    if input:
        mode = input
        print("Received " + str(input))
    if mode == b'r':
        pixels.fill((255, 0, 0))
        pixels.show()
        timer = 60
        print("Switching to red")
    if mode == b'g':
        pixels.fill((0, 255, 0))
        pixels.show()
        timer = 60
        print("Switching to green")
    if mode == b'b':
        pixels.fill((0, 0, 255))
        pixels.show()
        timer = 60
        print("Switching to blue")
    if mode == b'cylon':
        demo = 'cylon'
        print("Switching to cylon")
    if mode == b'rainbow':
        demo = 'rainbow'
        print("Switching to rainbow")
    else:
        if timer == 0:
            if demo == 'rainbow':
                rainbow_cycle(0.001)
            else:
                cylon(0.03)

    time.sleep(0.1)
    if timer > 0:
        timer -= 1

# vim:sts=4:sw=4

manage.py.diff

--- manage.py.orig	2018-06-11 08:14:34.079999106 +0000
+++ manage.py	2019-01-23 04:33:56.403501447 +0000
@@ -122,6 +122,9 @@
     tub = TubWriter(path=cfg.TUB_PATH, inputs=inputs, types=types)
     V.add(tub, inputs=inputs, run_condition='recording')
 
+    with open("/tmp/leds", "w") as fifo:
+        fifo.write("g")
+
     # run the vehicle
     V.start(rate_hz=cfg.DRIVE_LOOP_HZ,
             max_loop_count=cfg.MAX_LOOPS)
@@ -169,6 +172,8 @@
     cfg = dk.load_config()
 
     if args['drive']:
+        with open("/tmp/leds", "w") as fifo:
+            fifo.write("b")
         drive(cfg, model_path=args['--model'], use_chaos=args['--chaos'])
 
     elif args['train']:

rc.local

#!/bin/sh -e
#
# rc.local
#
# This script is executed at the end of each multiuser runlevel.
# Make sure that the script will "exit 0" on success or any other
# value on error.
#
# In order to enable or disable this script just change the execution
# bits.
#
# By default this script does nothing.

# Print the IP address
_IP=$(hostname -I) || true
if [ "$_IP" ]; then
  printf "My IP address is %s\n" "$_IP"
fi

/home/pi/leds &
su - pi -c 'cd ~/ohmc_car; /home/pi/env/bin/python manage.py drive &>/tmp/out' &

exit 0