Add some readme files, start fixing docker build.

Docker (and CI in general) build currently isn't generating protobuf files.
Docker image also needs to check that pigpio works.

pycar/Dockerfile

@@ -16,6 +16,13 @@ RUN apt-get install -y \
     libpq-dev \
     && rm -rf /var/lib/apt/lists/*
 
+# PIGPIO - used to control servos.
+RUN wget https://github.com/joan2937/pigpio/archive/master.zip \
+ && unzip master.zip \
+ && cd pigpio-master \
+ && make \
+ && make install \
+ && cd .. && rm -rf pigpio-master master.zip
 
 ARG PYPI_USERNAME
 ARG PYPI_PASSWORD

pycar/README.md

@@ -0,0 +1,51 @@
+# PyCar
+
+This module is the original project for RC Car control, and as such contains the most functionality.
+
+Note that only python 3+ has been tested for support (up to and including python 3.8).
+
+## Build
+
+Before building with python or Docker, you should generate protobuf code. If you have Java installed, the easiest way to do this is with the :pycar:copyPythonCode gradle task
+
+`./gradlew :pycar:copyPythonCode`
+
+Build using setup tools.
+The easiest way to build is using the gradle task. This will also generate protobuf code if it hasn't already been generated.
+
+`./gradlew :pycar:build`
+
+Otherwise you can run:
+
+`python setup.py bdist_wheel`
+
+### Docker
+
+A docker image has been created to ease deployment on the raspberry pi.
+
+The docker image is always built on a tag in GitLab CI.
+
+Otherwise, the image can be built by running
+
+`docker build --build-arg PYPI_USERNAME=$PYPI_USERNAME --build-arg PYPI_PASSWORD=$PYPI_PASSWORD .`
+
+or running the gradle task (which will also generate protobuf code)
+
+`./gradlew :pycar:buildDocker`
+
+## Runtime environment variables
+
+There are two key environment variables that should probably be configured at runtime:
+CAR_VEHICLE
+- This variable can have two values, and is used to control whether 
+- Possible Values:
+    - CAR_MOCK (Default, log changes to stdout) 
+    - CAR_2D 
+        - Use gpiozero and pigpio to control steering/throttle servos)
+
+CAR_LIDAR
+- This variable controls whether an RPLidar will be used, or a file to load LiDAR scans from.
+- Possible Values:
+    - LIDAR_MOCK (Default)
+    - {Serial Port}
+        - You must have an RPLidar connected via this port to access. For most linux systems such as raspberry pi, this will probably be /dev/ttyUSB0

pycar/build.gradle

@@ -20,6 +20,12 @@ task build(type: Exec, dependsOn: copyPythonCode) {
     args 'setup.py', 'bdist_wheel'
 }
 
+task buildDocker(type: Exec, dependsOn: copyPythonCode) {
+    executable 'docker'
+    workingDir projectDir
+    args 'build', '--build-arg', "PYPI_USERNAME=$System.env.PYPI_USERNAME", '--build-arg', "PYPI_PASSWORD=$System.env.PYPI_PASSWORD", '-t', 'vato.ddns.net:8082/pycar:latest', '.' 
+}
+
 task clean {
     doLast {
         delete 'dist'

pycar/src/car/control/gpio/vehicle.py

@@ -31,7 +31,7 @@ def _is_pin_valid(pin):
 
 class Vehicle:
     def __init__(self, motor_pin=19, servo_pin=18):
-        subprocess.call(['sudo', 'pigpiod'])
+        subprocess.call(['pigpiod'])
         Device.pin_factory = PiGPIOFactory()
         print('Using pin factory:')
         print(Device.pin_factory)