# 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