sunray for RPi@landrumower: Lost in confusion

[Sunflare]

Hi All,
somehow, I have trouble to get the software configuration and installation straight in my head.
I hope someone here is able and willing to help me:
I have

• the Landrumower PCB
• A Raspberry Pi 4B
• A raspberyPi Pico

I would like to run a Mower based on sunray (for Alfred, not OWL) with Cassadra doing the "coordination".
Cassandra and sunray should run both on the RPi 4B

I believe I understood the following:

• The Pico
  • does the hardware control (switches, motors, odometry counting, battery measurements, ...)
  • talks to the RPi via UART
  • receives commands from RPi
  • sends sensordata to RPi
  • I took a micropython firmware from here Sunray/landrumower/firmware/2.x at landrumower-linux · EinEinfach/Sunray
    
• The RPi with Cassandra:
  • Gives me a GUI in a Browser
  • talks to sunray (on the same host in my case)
    • with HTTP request, MQTT or UART
  • Provides the high-level control (Maps, schedule, etc.)
  • I was able to install and run Cassandra following the instructions here GitHub - EinEinfach/CaSSAndRA: Cascaded sunray server and rover application
    
• The RPi with sunray (that's my personal challenge)
  • It's supposed to make the low-level control (GPS/RTK, track following, battery monitoring, motor control, ...)
  • I found the information to choose the Repo/branch GitHub - EinEinfach/Sunray at landrumower-linux
  • I cloned it and tried to understand the structure but although I find a subtree Sunray/sunray (with config.h),
    the instructions only tell me to operate in Sunray/alfred (for Alfred) with its config.h.
    But I intend to build sunray (firmware) not Alfred.

My two questions are:

1. Did I get the structure and functions right as far as I got (if not, please explain)?
   
   
2. What is the proper procedure and repo+path to compile and install a working "sunray firmware" that i can connect to Cassandra on one end and to the Pico-Firmware on the other end for my RPi based hardware configuration? (I didn't see a thread where that part is explained!)

Thanks in advance!

Thomas

 

[gk2]

Hi,
I think youre missing the sunray_install folder.
I have used this oneSunray Installation auf Raspberry

Then adjust your config.h and compile sunray with service.sh in Sunray/alfred
I made some notes for myself, when i installed this on a orangepi zero2w.

 

[EinEinfach]

If you on landrumower-linux branch, then copy the config.h file from landrumower folder to alfred folder and replace existing file, then you can compile your own Sunray fw with landrumower specific stuff.
In terminal go to alfred/build folder
rm -Rf *
cmake ..
make
If all goes well you can try to start Sunday in terminal
sudo ./sunray

 

[EinEinfach]

The Pico

• does the hardware control (switches, motors, odometry counting, battery measurements, ...)
• talks to the RPi via UART
• receives commands from RPi
• sends sensordata to RPi
• I took a micropython firmware from here Sunray/landrumower/firmware/2.x at landrumower-linux · EinEinfach/Sunray

Yes, 1.x is also ok, but make a try with 2.x at first

The RPi with Cassandra:

• Gives me a GUI in a Browser
• talks to sunray (on the same host in my case)
  • with HTTP request, MQTT or UART
• Provides the high-level control (Maps, schedule, etc.)
• I was able to install and run Cassandra following the instructions here GitHub - EinEinfach/CaSSAndRA: Cascaded sunray server and rover application

if Sunray an Cassandra are running on the same machine, then HTTP requests

The RPi with sunray (that's my personal challenge)

• It's supposed to make the low-level control (GPS/RTK, track following, battery monitoring, motor control, ...)
• I found the information to choose the Repo/branch GitHub - EinEinfach/Sunray at landrumower-linux
• I cloned it and tried to understand the structure but although I find a subtree Sunray/sunray (with config.h),
  the instructions only tell me to operate in Sunray/alfred (for Alfred) with its config.h.
  But I intend to build sunray (firmware) not Alfred.

It always the same code, the subtree config.h is for classic ardumower with Due or Adafruit M4. If you want make some changes on Sunray code then you also have to work in this subtree, but compilation is have to be done like I described in the first post

 

[Sunflare]

Thank you both so much.
That makes a lot things clearer.

I give it a try over the coming weekend(s)