Aira source package to input data from sensors. ROS-enabled telemetry agent
The Aira package allows you to read data from a SDS011 sensor (and a few others) and publish to different output channels. That said Aira is able to form Demand and Result messages and a few other channels. Also it includes Datalog feature which is still experimental. It could be used to publish data to Substrate based blockchain by Robonomics.
Assuming you work under AIRA do the following:
su - liability
git clone https://github.com/airalab/sensors-connectivity
cd sensors-connectivity
nix build -f release.nix
Allow liability user to open port
/dev/ttyUSB0Most probably a user liability is not in the dialout group
Either do
sudo adduser liability dialoutor add the line to/etc/nixos/configuration.nixon NixOS:users.users.liability.extraGroups = [ "dialout" ];
To prepare a sensor for the work with the package follow instructions on Robonomics Wiki and use another article to set a proper configuration for your instance.
From root user do:
echo "https://github.com/airalab/airapkgs/archive/nixos-unstable.tar.gz nixos" > /root/.nix-channels
nix-channel --update
Then edit /etc/nixos/configuration.nix and add:
environment.systemPackages = with pkgs; [
substrate-node-robonomics-bin
];
Run rebuild and find out where robonomics is:
nixos-rebuild switch
whereis robonomics
Let's assume you got the following path: /nix/store/2gz2ik17w5xad8w819bsb05a23pbjbya-system-path/bin/robonomics. Use the path in datalog/path option.
It's way more convenient to launch the code as a systemd service. Add the following in /etc/nixos/configuration.nix:
systemd.services.connectivity = {
requires = [ "roscore.service" ];
after = ["roscore.service" ];
wantedBy = [ "multi-user.target" ];
environment.ROS_MASTER_URI = "http://localhost:11311";
script = ''
source /var/lib/liability/sensors-connectivity/result/setup.bash \
&& roslaunch sensors_connectivity agent.launch config:=/var/lib/liability/sensors-connectivity/config/my.json
'';
serviceConfig = {
Restart = "on-failure";
StartLimitInterval = 0;
RestartSec = 60;
User = "liability";
};
};
Technically it's not necessary to specify the default.json configuration file, but if you did changes please put the absolute path to config parameter.
After that run nixos-rebuild switch. The service should be up and running
Usually log files are stored in /var/lib/liability/.ros/log/latest/connectivity-worker-1.log
To view logs do:
tail -f /var/lib/liability/.ros/log/latest/connectivity-worker-1.log
Also you can use journalctl but remember output is buffered so it could take some time before output appears
journalctl -u connectivity -f
Example of output:
root@hq-nuc-sds011> tail /var/lib/liability/.ros/log/latest/connectivity-worker-1.log -f
[rosout][INFO] 2020-12-07 12:00:02,536: Starting process...
[rosout][INFO] 2020-12-07 12:00:02,541: {14542862: Measurement(public='0ed57cf15050d5fa56c8da5e382ec5af5e923d7ee2b931a81ef8381fc5ac921d', model=2, pm25=14.6, pm10=22.33, geo_lat='53.541009', geo_lon='49.402139', timestamp=1607338677), 15695587: Measurement(public='a8cdc84231d0dd62549a3cb697f2928976eb3b0852066f8c873e9851e0e2840f', model=2, pm25=3.15, pm10=8.43, geo_lat='59.936439', geo_lon='30.499921', timestamp=1607338693), 11117092: Measurement(public='20e67a8db1a66b3def367c737a6faf9a622a4c832efc9f91b37c358119653a04', model=2, pm25=7.97, pm10=15.32, geo_lat='55.741614', geo_lon='37.537618', timestamp=1607338714), 2630646: Measurement(public='b2add8c5b5ac9f63bf01932a732b397221e79305d0b767b1879afb72861b8469', model=2, pm25=18.73, pm10=31.62, geo_lat='48.828908', geo_lon='2.370269', timestamp=1607338744), 12624680: Measurement(public='c55b3d2a6b042203ed2e23989b2308052c2d9a0db61932a1b14f0f291860cd74', model=2, pm25=7.3, pm10=10.0, geo_lat='46.856023', geo_lon='40.314081', timestamp=1607338751)}
[rosout][INFO] 2020-12-07 12:00:02,545: HTTPServer status: True
[rosout][INFO] 2020-12-07 12:00:02,548: airalab-http-v0.3.0: [{MAC: a6802ccd9f70, Uptime: 4 days, 0:21:04.491420, M: {Public: 0ed57cf15050d5fa56c8da5e382ec5af5e923d7ee2b931a81ef8381fc5ac921d, PM2.5: 14.6, PM10: 22.33, geo: (53.541009,49.402139), timestamp: 1607338677}}, {MAC: a6802ccd9f70, Uptime: 4 days, 0:21:04.491431, M: {Public: a8cdc84231d0dd62549a3cb697f2928976eb3b0852066f8c873e9851e0e2840f, PM2.5: 3.15, PM10: 8.43, geo: (59.936439,30.499921), timestamp: 1607338693}}, {MAC: a6802ccd9f70, Uptime: 4 days, 0:21:04.491433, M: {Public: 20e67a8db1a66b3def367c737a6faf9a622a4c832efc9f91b37c358119653a04, PM2.5: 7.97, PM10: 15.32, geo: (55.741614,37.537618), timestamp: 1607338714}}, {MAC: a6802ccd9f70, Uptime: 4 days, 0:21:04.491435, M: {Public: b2add8c5b5ac9f63bf01932a732b397221e79305d0b767b1879afb72861b8469, PM2.5: 18.73, PM10: 31.62, geo: (48.828908,2.370269), timestamp: 1607338744}}, {MAC: a6802ccd9f70, Uptime: 4 days, 0:21:04.491437, M: {Public: c55b3d2a6b042203ed2e23989b2308052c2d9a0db61932a1b14f0f291860cd74, PM2.5: 7.3, PM10: 10.0, geo: (46.856023,40.314081), timestamp: 1607338751}}]
[rosout][INFO] 2020-12-07 12:00:02,551: RobonomicsFeeder: {"0ed57cf15050d5fa56c8da5e382ec5af5e923d7ee2b931a81ef8381fc5ac921d": {"model": 2, "timestamp": 1607338677, "measurement": {"pm25": 14.6, "pm10": 22.33, "geo": "53.541009,49.402139"}}}
[rosout][INFO] 2020-12-07 12:00:02,565: RobonomicsFeeder: {"a8cdc84231d0dd62549a3cb697f2928976eb3b0852066f8c873e9851e0e2840f": {"model": 2, "timestamp": 1607338693, "measurement": {"pm25": 3.15, "pm10": 8.43, "geo": "59.936439,30.499921"}}}
[rosout][INFO] 2020-12-07 12:00:02,578: RobonomicsFeeder: {"20e67a8db1a66b3def367c737a6faf9a622a4c832efc9f91b37c358119653a04": {"model": 2, "timestamp": 1607338714, "measurement": {"pm25": 7.97, "pm10": 15.32, "geo": "55.741614,37.537618"}}}
[rosout][INFO] 2020-12-07 12:00:02,592: RobonomicsFeeder: {"b2add8c5b5ac9f63bf01932a732b397221e79305d0b767b1879afb72861b8469": {"model": 2, "timestamp": 1607338744, "measurement": {"pm25": 18.73, "pm10": 31.62, "geo": "48.828908,2.370269"}}}
[rosout][INFO] 2020-12-07 12:00:02,604: RobonomicsFeeder: {"c55b3d2a6b042203ed2e23989b2308052c2d9a0db61932a1b14f0f291860cd74": {"model": 2, "timestamp": 1607338751, "measurement": {"pm25": 7.3, "pm10": 10.0, "geo": "46.856023,40.314081"}}}
[rosout][INFO] 2020-12-07 12:00:02,616: DatalogFeeder:
[rosout][INFO] 2020-12-07 12:00:02,618: Still collecting measurements...