SNS - Do the optical flow in python cos it gotta work

config/pod.toml

@@ -9,7 +9,7 @@ host = "192.168.1.0"
 port = 4556
 
 [raspberry]
-nodes = ["state_machine", "mqtt_broker", "navigator"]
+nodes = ["state_machine", "mqtt_broker", "navigator", "optical_flow"]
 
 [state_machine]
 # Possible transition tables are "full_run",

lib/sensors/optical_flow.py

@@ -0,0 +1,21 @@
+from pmw3901 import PMW3901
+import paho.mqtt.client as mqtt
+import tomllib
+import json
+from time import sleep
+
+file = open('pod.toml', 'rb')
+config = tomllib.load(file)
+mqttc = mqtt.Client()
+mqttc.connect(config['mqtt']['host'], config['mqtt']['port'])
+
+
+sensor = PMW3901(spi_cs=0)
+mqttc = mqtt.Client()
+
+while True:
+    (x, y) = sensor.get_motion()
+    measurement = {'x': x, 'y': y}
+    mqttc.publish('hyped/cart_2024/measurement/optical_flow',
+                  json.dumps(measurement))
+    sleep(0.05)

src/pod/main.cpp

@@ -33,7 +33,6 @@ int main(int argc, char **argv)
     return 1;
   }
   const std::string &ip = *optional_host_ip;
-
   // parse the config file
   const toml::table config = toml::parse_file(config_file);
   const auto optional_ip   = config["hostnames"][hostname].value<std::string>();
@@ -80,6 +79,9 @@ int main(int argc, char **argv)
       } else if (node_name == "navigation") {
         auto navigator_config = config["navigation"];
         hyped::navigation::Navigator::startNode(navigator_config, mqtt_ip, mqtt_port);
+      } else if (node_name == "optical_flow") {
+        execv("/usr/bin/python3",
+              const char *const argv[] = {"/usr/bin/python3", "optical_flow.py", nullptr};)
       } else {
         std::cerr << "Unknown node: " << node_name << "\n";
         return 1;