# AUTHOR : GABRIEL VEIGAS MARQUES
# MASTER PROJECT : BIOMIMETIC FISH OSCILLATORY GAIT

# 🐟 Fish Robot Controller

This repository contains two pieces:

1. **C++ Core** (`fish_control`):  
   - Reads `cfg.yaml`, drives Dynamixel tail & RC-servo fin, logs data.  
2. **Python GUI** (`fish_control_client.py`):  
   - Remote dashboard over SSH to edit `cfg.yaml` and toggle logging.

---

## 📁 Repository Layout

fish-control/
├── cfg.yaml                  # Main config for both core & GUI
├── cpp/                      # C++ core source
│   ├── CMakeLists.txt
│   ├── src/
│   └── include/
├── fish_control/             # Python GUI
│   ├── fish_control_client.py
│   └── ui.py                 # (optional alternative GUI)
├── logs/                     # CSV logs written by C++ core
└── systemd/
├── fish.service
└── fish-gui.service

---

## ⚙️ Prerequisites

### On Raspberry Pi

- **C++ core**:
  - `g++`, `cmake`, `make`
  - `yaml-cpp` development headers (`libyaml-cpp-dev`)
  - Dynamixel SDK (installed via CMake below)
  - `pigpio` library & daemon (`sudo apt install pigpio`)
- **Python GUI**:
  - Python 3 (3.7+)
  - `paramiko`, `pyyaml`
  - `tkinter` (e.g. `sudo apt install python3-tk`)

---

## 🏗️ Build & Install C++ Core

```bash
# 1. Install DynamixelSDK:
cd ~/DynamixelSDK
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release \
      -DBUILD_SHARED_LIBS=ON \
      -DCMAKE_INSTALL_PREFIX=/usr/local \
      ..
make -j4
sudo make install
sudo ldconfig

# 2. Build this project's C++ core:
cd ~/projects/fish-control/cpp/build
cmake -DCMAKE_INSTALL_PREFIX=/usr/local ..
make -j4
sudo make install

This installs the fish_control binary into /usr/local/bin/.

⸻

🐍 Set Up Python GUI

# Create & activate your venv
cd ~/projects/fish-control
python3 -m venv venv-fish
source venv-fish/bin/activate

# Install Python deps
pip install paramiko pyyaml
# Ensure tkinter is available
sudo apt install python3-tk

To run manually:

source venv-fish/bin/activate
python fish_control_client.py



⸻

🛠️ Systemd Services

Copy unit files and enable at boot:

sudo cp systemd/fish.service /etc/systemd/system/
sudo cp systemd/fish-gui.service /etc/systemd/system/

sudo systemctl daemon-reload
sudo systemctl enable fish.service fish-gui.service
sudo systemctl start  fish.service fish-gui.service

	•	fish.service runs the C++ core on boot.
	•	fish-gui.service runs the Python dashboard.

⸻

🔧 Configuration (cfg.yaml)

Located at /home/fish_pizero/projects/fish-control/cfg.yaml.
Fields:

mode: "symmetric_sin"         # "standby", "test", or "symmetric_sin"
amplitude_tail: 20.0
amplitude_fin:  20.0
frequency:      0.3
phase:          0.0
phi_tail:       0.0          # only in "test" mode
phi_fin:        0.0          # only in "test" mode
logging:        false        # true to start logging



⸻

🚀 Running & Using
  0. Should start running the fish.service on Pi boot

	1.	Start pigpio:

sudo systemctl enable pigpiod
sudo systemctl start  pigpiod


	2.	Launch services:

sudo systemctl start fish.service
sudo systemctl start fish-gui.service


	3.	Open GUI (locally or via SSH-X):

source ~/projects/fish-control/venv-fish/bin/activate
python fish_control_client.py


	4.	In the GUI:
	•	Select Host → Connect.
	•	Load reads the current cfg.yaml.
	•	Modify fields and Save.
	•	Start/Stop Logging toggles log streaming.
	5.	Logs appear in projects/fish-control/logs/log_YYYYMMDD_HHMMSS.csv.

⸻

🔄 After Code Changes
	•	C++ changes:

cd ~/projects/fish-control/cpp/build
cmake ..
make -j4
sudo make install
sudo systemctl restart fish.service


	•	Python GUI changes:

sudo systemctl restart fish-gui.service
# or re-run python fish_control_client.py

below the fish-gui.service code (run on personnal computer):
```python
#!/usr/bin/env python3
import yaml
import paramiko
import tkinter as tk
from tkinter import messagebox, font, ttk
import traceback  # for full error dumps

# remote user + where the Pi's cfg.yaml lives
PI_USER    = "fish_pizero"
REMOTE_CFG = "/home/fish_pizero/projects/fish-control/cfg.yaml"

# name -> host-address
HOST_OPTIONS = {
    "EPFL":    "128.179.200.41",
    "Local":   "fishpizero.local",
    "EPFL2":   "128.179.204.90",
    "Unknown": "172.20.10.2",
}

class MacDashboard(tk.Tk):
    def __init__(self):
        super().__init__()
        self.title("🐟 Fish Remote Dashboard")
        self.resizable(False, False)

        # ── make a legible default font ──
        default_font = font.Font(family="Helvetica", size=11)
        self.option_add("*Font", default_font)

        # ── Host selector + Connect button + status ──
        ttk.Label(self, text="Host:")\
            .grid(row=0, column=0, sticky="w", padx=5, pady=5)
        self.host_combo = ttk.Combobox(
            self, values=list(HOST_OPTIONS.keys()), state="readonly", width=12
        )
        self.host_combo.set("EPFL")
        self.host_combo.grid(row=0, column=1, sticky="ew", padx=5)
        ttk.Button(self, text="Connect", command=self.on_connect)\
            .grid(row=0, column=2, padx=5)
        self.status_lbl = ttk.Label(self, text="Not connected", foreground="red")
        self.status_lbl.grid(row=0, column=3, padx=5)


        # ── Parameter fields ──
        self.fields = {}
        params = [
            ("mode",           ["standby","test","symmetric_sin"]),
            ("amplitude_tail", None),
            ("amplitude_fin",  None),
            ("frequency",      None),
            ("phase",          None),
            ("phi_tail",       None),
            ("phi_fin",        None),
        ]
        for i,(name,choices) in enumerate(params, start=1):
            label = name.replace("_"," ").title() + ":"
            ttk.Label(self, text=label)\
                .grid(row=i, column=0, sticky="e", padx=5, pady=2)
            var = tk.StringVar()
            self.fields[name] = var
            if choices:
                w = ttk.Combobox(self, textvariable=var, values=choices, state="readonly")
            else:
                w = ttk.Entry(self, textvariable=var)
            w.grid(row=i, column=1, columnspan=3, sticky="ew", padx=5, pady=2)

        # ── Load / Save buttons ──
        ttk.Button(self, text="Load from Pi", command=self.load_from_pi)\
            .grid(row=8, column=0, columnspan=2, pady=(15,5), padx=5, sticky="ew")
        ttk.Button(self, text="Save to Pi",  command=self.save_to_pi)\
            .grid(row=8, column=2, columnspan=2, pady=(15,5), padx=5, sticky="ew")

        # ── Single Start/Stop Logging toggle button ──
        self.log_btn = ttk.Button(self,
            text="Start Logging",
            command=self.toggle_logging
        )
        self.log_btn.grid(row=9, column=0, columnspan=4,
                          pady=(5,10), padx=5, sticky="ew")

        # ── Let columns stretch ──
        for c in range(4):
            self.columnconfigure(c, weight=1)

    def _ssh_sftp(self):
        """Return an (ssh, sftp) pair connected to the selected host."""
        host_key = self.host_combo.get()
        if host_key not in HOST_OPTIONS:
            raise RuntimeError(f"Unknown host “{host_key}”")
        ssh = paramiko.SSHClient()
        ssh.load_system_host_keys()
        ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
        ssh.connect(HOST_OPTIONS[host_key], username=PI_USER, timeout=5)
        return ssh, ssh.open_sftp()

    def on_connect(self):
        try:
            ssh, sftp = self._ssh_sftp()
            sftp.close(); ssh.close()
            self.status_lbl.config(text="Connected ✔️", foreground="green")
        except Exception as e:
            self.status_lbl.config(text=f"Error: {e}", foreground="red")

    def load_from_pi(self):
        try:
            ssh, sftp = self._ssh_sftp()
            with sftp.open(REMOTE_CFG, 'r') as f:
                cfg = yaml.safe_load(f)
            sftp.close(); ssh.close()

            # fill in all fields
            for name,var in self.fields.items():
                if name in cfg:
                    var.set(str(cfg[name]))
            # sync logging button
            current = cfg.get("logging", False)
            self.log_btn.config(text="Stop Logging" if current else "Start Logging")

            self.status_lbl.config(text="Loaded ✔️", foreground="green")
        except Exception as e:
            traceback.print_exc()
            self.status_lbl.config(text=f"Error: {e}", foreground="red")

    def save_to_pi(self):
        try:
            # first read existing config to preserve logging flag
            ssh, sftp = self._ssh_sftp()
            with sftp.open(REMOTE_CFG, 'r') as f:
                old_cfg = yaml.safe_load(f)

            # build new config from UI fields
            new_cfg = {
                name: (var.get() if name=="mode" else float(var.get()))
                for name,var in self.fields.items()
            }
            # preserve logging state
            new_cfg["logging"] = old_cfg.get("logging", False)
            # write directly to the config file
            with sftp.open(REMOTE_CFG, 'w') as f:
                f.write(yaml.safe_dump(new_cfg))
            sftp.close(); ssh.close()

            messagebox.showinfo("Saved", "Configuration written to Pi.")
            self.status_lbl.config(text="Saved ✔️", foreground="green")
        except Exception as e:
            traceback.print_exc()
            self.status_lbl.config(text=f"Error: {e}", foreground="red")

    def toggle_logging(self):
        """Toggle remote logging on/off and update button text."""
        try:
            ssh, sftp = self._ssh_sftp()
            # read current
            with sftp.open(REMOTE_CFG, 'r') as f:
                cfg = yaml.safe_load(f)
            new_state = not cfg.get("logging", False)
            cfg["logging"] = new_state
            # write logging flag directly
            with sftp.open(REMOTE_CFG, 'w') as f:
                f.write(yaml.safe_dump(cfg))
            sftp.close(); ssh.close()

            # update UI
            self.log_btn.config(text="Stop Logging" if new_state else "Start Logging")
            self.status_lbl.config(
                text=("Logging On ✔️" if new_state else "Logging Off ✔️"),
                foreground="green"
            )
        except Exception as e:
            traceback.print_exc()
            self.status_lbl.config(text=f"Error: {e}", foreground="red")


if __name__ == "__main__":
    app = MacDashboard()
    app.mainloop()
```

⸻

🐞 Troubleshooting
	•	Port errors: check /dev/ttyUSB0, permissions (sudo usermod -aG dialout $USER).
	•	Dynamixel ping fail: ensure U2D2 green LED & proper wiring.
	•	GUI blank: confirm tkinter in venv:

python -c "import tkinter; tkinter._test()"


	•	Logging not toggling: verify logging: field in cfg.yaml.

⸻

Happy fish-driving! 🐟