F109 us905 ta2104 bt to wifi lidar

README.md

@@ -75,6 +75,25 @@ Now the Bluetooth server starts when the Pi boots. Also, Bluetooth has to be in
 
 The application has three tabs. The first tab is the main view. Here the rider can see alerts when an object is approaching (TBD). The next view is the Live Streaming. The app will connect to the Pi over Wi-Fi and stream a live feed from the camera. The user has the option to record the streaming and to use ML to detect the objects in the feed. The last tab is the settings tab (TBD). At the top of the screen there are two icons that show if the Bluetooth and Wi-Fi connections are available by turning green.
 
+## Disabling Unnecessary Bluetooth Services
+
+By default Raspbian's bluetooth service includes AVRCP, which is for the capability of streaming audio to the raspberry pi, but we do not require this. Also, the bluetooth service includes SAP (Sim Access Profile) which we do not make use of. Do the following to disable those features:
+
+```bash
+sudo systemctl edit bluetooth.service
+```
+
+Then, add the following lines to the indicated regions.
+
+```conf
+[Service]
+# First clear the responsible variable.
+ExecStart=
+# Then reassign it with the aforemention plugins disabled.
+ExecStart=/usr/libexec/bluetooth/bluetoothd --noplugin=sap,avrcp
+```
+
+
 ## Contributing
 
 ### Updating requirements.txt

Rear Rider/Rear Rider.xcodeproj/project.pbxproj

@@ -47,6 +47,7 @@
 		C36AA2E728FC80B2001F24A3 /* ShareSheet.swift in Sources */ = {isa = PBXBuildFile; fileRef = C36AA2E428FC80B2001F24A3 /* ShareSheet.swift */; };
 		C36AA2E828FC80B2001F24A3 /* RecordingExtension.swift in Sources */ = {isa = PBXBuildFile; fileRef = C36AA2E528FC80B2001F24A3 /* RecordingExtension.swift */; };
 		C36AA2EC28FC8278001F24A3 /* RiderView.swift in Sources */ = {isa = PBXBuildFile; fileRef = C36AA2EB28FC8278001F24A3 /* RiderView.swift */; };
+		C39C7C2D2933C2AD007A5884 /* beep.mp3 in Resources */ = {isa = PBXBuildFile; fileRef = C39C7C2C2933C2AD007A5884 /* beep.mp3 */; };
 		C3A64EB329172F2A0067FDF0 /* BLETests.swift in Sources */ = {isa = PBXBuildFile; fileRef = C3A64EB229172F2A0067FDF0 /* BLETests.swift */; };
 		C3BD658328E8DB3B0042CEB4 /* BLEManager.swift in Sources */ = {isa = PBXBuildFile; fileRef = C3BD658228E8DB3B0042CEB4 /* BLEManager.swift */; };
 		C3FC5C66290C64B800929D1D /* yolov5m.mlmodel in Sources */ = {isa = PBXBuildFile; fileRef = C3FC5C65290C64B800929D1D /* yolov5m.mlmodel */; };
@@ -98,6 +99,7 @@
 		C36AA2E428FC80B2001F24A3 /* ShareSheet.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; path = ShareSheet.swift; sourceTree = "<group>"; };
 		C36AA2E528FC80B2001F24A3 /* RecordingExtension.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; path = RecordingExtension.swift; sourceTree = "<group>"; };
 		C36AA2EB28FC8278001F24A3 /* RiderView.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; path = RiderView.swift; sourceTree = "<group>"; };
+		C39C7C2C2933C2AD007A5884 /* beep.mp3 */ = {isa = PBXFileReference; lastKnownFileType = audio.mp3; path = beep.mp3; sourceTree = "<group>"; };
 		C3A64EB229172F2A0067FDF0 /* BLETests.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; path = BLETests.swift; sourceTree = "<group>"; };
 		C3BD658228E8DB3B0042CEB4 /* BLEManager.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; path = BLEManager.swift; sourceTree = "<group>"; };
 		C3FC5C65290C64B800929D1D /* yolov5m.mlmodel */ = {isa = PBXFileReference; lastKnownFileType = file.mlmodel; path = yolov5m.mlmodel; sourceTree = "<group>"; };
@@ -182,6 +184,7 @@
 		4845584329089489002D81FC /* Alerts */ = {
 			isa = PBXGroup;
 			children = (
+				C39C7C2C2933C2AD007A5884 /* beep.mp3 */,
 				48CB852E2902EF5200283DBD /* vehicleAlert.mp3 */,
 				48CB852C2902E60700283DBD /* RearRiderAlerts.swift */,
 			);
@@ -380,6 +383,7 @@
 			buildActionMask = 2147483647;
 			files = (
 				4851CE1028E49485003B5B76 /* Preview Assets.xcassets in Resources */,
+				C39C7C2D2933C2AD007A5884 /* beep.mp3 in Resources */,
 				483E42B4291BE71800B9A3C3 /* GoogleService-Info.plist in Resources */,
 				4851CE0D28E49485003B5B76 /* Assets.xcassets in Resources */,
 				48CB852F2902EF5200283DBD /* vehicleAlert.mp3 in Resources */,
@@ -574,7 +578,7 @@
 				CODE_SIGN_STYLE = Automatic;
 				CURRENT_PROJECT_VERSION = 1;
 				DEVELOPMENT_ASSET_PATHS = "\"Rear Rider/Preview Content\"";
-				DEVELOPMENT_TEAM = 5KVT845VZL;
+				DEVELOPMENT_TEAM = T53AYVVL5N;
 				ENABLE_PREVIEWS = YES;
 				GENERATE_INFOPLIST_FILE = YES;
 				INFOPLIST_KEY_NSBluetoothAlwaysUsageDescription = "This app requires Bluetooth for connecting to RaspberryPi";
@@ -588,7 +592,7 @@
 					"@executable_path/Frameworks",
 				);
 				MARKETING_VERSION = 1.0;
-				PRODUCT_BUNDLE_IDENTIFIER = RearRider;
+				PRODUCT_BUNDLE_IDENTIFIER = com.Calin.RearRider;
 				PRODUCT_NAME = "$(TARGET_NAME)";
 				SWIFT_EMIT_LOC_STRINGS = YES;
 				SWIFT_VERSION = 5.0;
@@ -604,7 +608,7 @@
 				CODE_SIGN_STYLE = Automatic;
 				CURRENT_PROJECT_VERSION = 1;
 				DEVELOPMENT_ASSET_PATHS = "\"Rear Rider/Preview Content\"";
-				DEVELOPMENT_TEAM = 5KVT845VZL;
+				DEVELOPMENT_TEAM = T53AYVVL5N;
 				ENABLE_PREVIEWS = YES;
 				GENERATE_INFOPLIST_FILE = YES;
 				INFOPLIST_KEY_NSBluetoothAlwaysUsageDescription = "This app requires Bluetooth for connecting to RaspberryPi";
@@ -618,7 +622,7 @@
 					"@executable_path/Frameworks",
 				);
 				MARKETING_VERSION = 1.0;
-				PRODUCT_BUNDLE_IDENTIFIER = RearRider;
+				PRODUCT_BUNDLE_IDENTIFIER = com.Calin.RearRider;
 				PRODUCT_NAME = "$(TARGET_NAME)";
 				SWIFT_EMIT_LOC_STRINGS = YES;
 				SWIFT_VERSION = 5.0;

Rear Rider/Rear Rider/Alerts/RearRiderAlerts.swift

@@ -13,22 +13,37 @@ enum AlertErrors: Error {
     case fileNotFound(String)
 }
 
-
 /**
  * Class for managing any audio and visual alerts for the rider
  */
 class RearRiderAlerts: ObservableObject {
-    var mLModel = ImageIdentification()
+    var mLModel = ImageIdentification.shared
     var player: AVAudioPlayer!
     var soundFile: URL! = nil
 
+    var unsafe_distance: Int = 900
+    @Published var distance: Int = 0
+    var alert_enabled: Bool = true
+    var vehicles_only: Bool = true
+
     @Published var frame: UIImage = UIImage()
     static var shared = RearRiderAlerts()
 
     var picData = NSMutableData()
     var pic_size:Int = 0
     var pic_first_time:Bool = true
 
+    init() {
+        do {
+            try AVAudioSession.sharedInstance().setCategory(
+                AVAudioSession.Category.multiRoute, // this setting allows the sound to be played on the speaker instead of Bluetooth
+                options: AVAudioSession.CategoryOptions.duckOthers)
+
+            try AVAudioSession.sharedInstance().setActive(true)
+        } catch let error {
+            print(error)
+        }
+    }
 
     /// When this is set, the transfer of the packets will commence
     var pic_packets:Int = 0 {
@@ -46,7 +61,7 @@ class RearRiderAlerts: ObservableObject {
                 mLModel.detectObjects(image: frame)
                 pic_first_time = true
                 picData = NSMutableData()
-                if mLModel.detected_objs.isEmpty { askForPic() } // if no objects detect ask for another pic
+                if mLModel.bndRects.isEmpty { askForPic() } // if no objects detect ask for another pic
             }
             else {
                 BLEManager.shared.getPicPacket(index: packet_recv)
@@ -79,24 +94,30 @@ class RearRiderAlerts: ObservableObject {
     func playAudioAlert() {
         // do nothing if we don't have a sound file configured
         if soundFile == nil { return }
-
-        do {
-            try AVAudioSession.sharedInstance().setCategory(
-                AVAudioSession.Category.playback,
-                options: AVAudioSession.CategoryOptions.duckOthers
-            )
-
-            try AVAudioSession.sharedInstance().setActive(true)
-            player.play()
-        } catch let error {
-            print(error)
-        }
+        player.play()
     }
 
     /// Asks the RPi for the picture's metadata (size and number of packets)
     func askForPic() {
-        mLModel.detected_objs.removeAll()
+        //mLModel.detected_objs.removeAll()
         mLModel.clearBndRects()
         BLEManager.shared.getPicInfo()
     }
+
+    /// Play an alert sound when necessary
+    /// - Parameter d: Distance of the object detected by LiDAR
+    func alert_rider(distance d: Int) {
+        self.distance = d
+
+        if d <= unsafe_distance && alert_enabled {
+            if vehicles_only {
+                if mLModel.checkForVehicles() {
+                    playAudioAlert()
+                }
+            }
+            else {
+                playAudioAlert()
+            }
+        }
+    }
 }

Rear Rider/Rear Rider/Assets.xcassets/AppIcon.appiconset/Contents.json

@@ -36,6 +36,7 @@
       "size" : "60x60"
     },
     {
+      "filename" : "rearrider_180x180.png",
       "idiom" : "iphone",
       "scale" : "3x",
       "size" : "60x60"

Rear Rider/Rear Rider/BlueTooth/BLEManager.swift

@@ -24,6 +24,7 @@ struct CBUUIDs {
     static let BLEConfigCharacteristicUUID = CBUUID(string: "501beabd-3f66-4cca-ba7a-0fbf4f81870c")
     static let BLEWifiCharacteristicUUID = CBUUID(string: "cd41b278-6254-4c89-9cd1-fd2578ab8fcc")
     static let BLEPictureCharacteristicUUID = CBUUID(string: "cd41b278-6254-4c89-9cd1-fd2578ab8abb")
+    static let BLELiDARCharacteristicUUID = CBUUID(string: "92cb916f-d996-4f30-8cba-cf3ab8aede56")
 }
 
 /// The purpose of this class is to set the iPhone as a central manager and connect to the RaspberryPi as a peripheral
@@ -36,6 +37,7 @@ class BLEManager: NSObject, ObservableObject, CBCentralManagerDelegate, CBPeriph
     private var configCharacteristic: CBCharacteristic!
     private var wifiCharacteristic: CBCharacteristic!
     private var picCharacteristic: CBCharacteristic!
+    private var lidarCharacteristic: CBCharacteristic!
 
     //mostly for testing purposes
     var ConfigCharacteristic: CBCharacteristic {
@@ -217,6 +219,12 @@ class BLEManager: NSObject, ObservableObject, CBCentralManagerDelegate, CBPeriph
                 log.addLog(from: "BT", message: "Picture Characteristic set")
                 connected = true
             }
+            else if characteristic.uuid.isEqual(CBUUIDs.BLELiDARCharacteristicUUID) {
+                lidarCharacteristic = characteristic
+                log.addLog(from: "BT", message: "LiDAR Characteristic set")
+                peripheral.setNotifyValue(true, for: lidarCharacteristic)
+                connected = true
+            }
         }
     }
 
@@ -267,6 +275,13 @@ class BLEManager: NSObject, ObservableObject, CBCentralManagerDelegate, CBPeriph
                 }
             }
         }
+        else if characteristic == lidarCharacteristic {
+            let d = String(data: characteristic.value ?? Data(), encoding: String.Encoding.utf8)
+            if d != nil {
+                let distance: Int = Int(d ?? "0") ?? 0
+                RearRiderAlerts.shared.alert_rider(distance: distance)
+            }
+        }
     }
 
     /// Called when the state of the connection changes
@@ -276,6 +291,7 @@ class BLEManager: NSObject, ObservableObject, CBCentralManagerDelegate, CBPeriph
     func peripheral(_ peripheral: CBPeripheral, didModifyServices invalidatedServices: [CBService]) {
         connected = false
         log.addLog(from: "BT", message: "RPi disconnected")
+        startScanning() // try to reconnect
     }
 
     /// Called when the peripheral disconnects
@@ -289,6 +305,7 @@ class BLEManager: NSObject, ObservableObject, CBCentralManagerDelegate, CBPeriph
             print("RPi disconnected")
             log.addLog(from: "BT", message: "RPi disconnected")
             connected = false
+            startScanning() // try to reconnect
         }
     }
 

Rear Rider/Rear Rider/ConfigurationOptions/OptionsView.swift

@@ -28,12 +28,19 @@ struct OptionsView: View {
     @State var confLightPattern: Int = 1
     @State var confLightBrightness: Int = 1
     @State var confLightColor: Color = .white
+    @State var confAlertToggle: Bool = true
+    @State var confVehiclesOnly: Bool = true
+    @State var confUnsafeDistance: Float = 17.0 // this index represents 900 in the array below
+
+    var distance_text = ["50", "100", "150", "200", "250", "300",
+                         "350", "400", "450", "500", "550", "600",
+                         "650", "700", "750", "800", "850", "900", "950", "1000"]
 
     let audioFiles: [ConfigOptions.AudioFile] = ConfigOptions.AudioFile.allCases
     let lightPatterns: [ConfigOptions.LightPattern] = ConfigOptions.LightPattern.allCases
     let lightBrightness: [ConfigOptions.LightBrightness] = ConfigOptions.LightBrightness.allCases
 
-    let alert = RearRiderAlerts()
+    let alert = RearRiderAlerts.shared
 
     var body: some View {
         VStack {
@@ -45,8 +52,14 @@ struct OptionsView: View {
                                 audioFile in Text(audioFile.description).tag(audioFile.rawValue)
                             }
                         })
+                        Toggle("Sound", isOn: $confAlertToggle.onChange(setAlert))
+                        Toggle("Vehicles Only", isOn: $confVehiclesOnly.onChange(setVehiclesOnly))
+                        HStack {
+                            Slider(value: $confUnsafeDistance.onChange(setDistance), in: 0...19, step: 1)
+                            Text("Distance: \(distance_text[Int(confUnsafeDistance)]) cm")
+                        }
                     } header: {
-                        Text("Audio")
+                        Text("LiDAR")
                     }
                     Section {
                         Picker("Pattern", selection: $confLightPattern.onChange(setLights), content: {
@@ -83,6 +96,9 @@ struct OptionsView: View {
             confLightBrightness = conf.lightBrightness
             confLightPattern = conf.lightPattern
             confLightColor = Color.fromRGBString(rgbString: conf.lightColor)
+            confAlertToggle = conf.alertToggle
+            confVehiclesOnly = conf.vehiclesOnly
+            confUnsafeDistance = Float(distance_text.lastIndex(of: String(conf.unsafeDistance)) ?? 0)
         }
     }
 
@@ -100,6 +116,27 @@ struct OptionsView: View {
         }
     }
 
+    /// Enable alerts
+    /// - Parameter value: true to enable
+    func setAlert(to value: Bool) {
+        conf.alertToggle = confAlertToggle
+        saveConf()
+    }
+
+    /// Set the unsafe distance
+    /// - Parameter value: the index of distance_text array
+    func setDistance(to value: Float) {
+        conf.unsafeDistance = Int(distance_text[Int(confUnsafeDistance)]) ?? 0
+        saveConf()
+    }
+
+    /// Alerts will be played only if the object detected is a vehicle
+    /// - Parameter value: true or false
+    func setVehiclesOnly(to value: Bool) {
+        conf.vehiclesOnly = confVehiclesOnly
+        saveConf()
+    }
+
     /**
      * Sets the config object's light pattern to the new selection and saves it
      */