569 lines
26 KiB
Markdown
569 lines
26 KiB
Markdown
# Fire Gimbal Control
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**The program that runs a fire-watch tower.** It points a camera around the
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horizon on a motorised gimbal, keeps one well-exposed picture at every stop,
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saves it, and tells the ground station about it - all day, unattended, on a
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small PC at the top of a mast.
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<sub>The dashboard of tower 111, captured live on 2026-09-25, seven minutes
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after a restart: both axes homed and ready, the camera mid-sweep at waypoint 6
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of 15, the orientation and ambient sensors reporting, and every picture
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announced to the broker.</sub>
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---
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## Contents
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- [What it does](#what-it-does)
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- [How the pieces fit together](#how-the-pieces-fit-together)
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- [A scan, step by step](#a-scan-step-by-step)
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- [Running a tower](#running-a-tower)
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- [The dashboard](#the-dashboard)
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- [The plain console](#the-plain-console)
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- [Everyday commands](#everyday-commands)
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- [Is the tower healthy?](#is-the-tower-healthy)
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- [Setting up and updating a tower](#setting-up-and-updating-a-tower)
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- [For developers](#for-developers)
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- [Documentation](#documentation)
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---
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## What it does
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A fire-watch tower is a mast with a camera on a **gimbal** - a mount with two
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motors, one turning left and right (**yaw**), one tilting up and down
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(**pitch**). This program, `fire_gimbal_control`, runs on the tower's
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LattePanda PC and does the watching:
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1. **Sweeps a scan grid.** A list of directions - "0 deg, 10 deg up", "45 deg,
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10 deg up", and so on - that together cover the view. Tower 111's grid has
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15 stops.
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2. **Keeps one good picture per stop.** The camera runs continuously with its
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own auto-exposure; when the gimbal has stopped and settled, the newest frame
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is kept.
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3. **Saves it as JPEG XL**, a compact modern image format, one file per picture.
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4. **Tells the ground station** over MQTT - which camera, which direction, and
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when - so the picture can be fetched and checked for smoke.
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It does this unattended: it starts at boot, homes the gimbal, and sweeps until
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it is told to stop. A person only needs to look in when something is wrong -
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and the dashboard, the log and the self-tests are there to show what.
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---
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## How the pieces fit together
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Two programs cooperate, on two different chips:
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| | The **firmware** | The **host program** (this repository) |
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| Runs on | the small motor board (an RP2040 on the newer IOTA towers, an ATmega32U4 "Leonardo" on the older Delta ones) | the LattePanda PC |
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| Lives in | its own repository, `GGS/fwt_firmware` on the same git server, checked out beside this one as `../firmware` | here |
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| Its job | the **muscles and reflexes**: drive the two stepper-motor drivers, find the endstops, hold a position, stop the moment something is wrong | the **brain**: decide where to point and when to take a picture, own every setting, run the camera, talk to the ground station |
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The firmware keeps **no settings of its own**. Every number that describes the
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motors - the currents, the speeds, the travel, how a stall is detected - lives
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on the PC, in a file called `hardware.ini`, and the program hands it to the
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firmware each time they connect. Until it has them, the firmware **refuses to
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move** - a motor running on guessed values can cook its driver or push the
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gimbal through its endstop, and both have happened on this project.
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```mermaid
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flowchart LR
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HW["hardware.ini<br/>what the tower IS"] --> APP
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CFG["config.ini<br/>what the tower DOES"] --> APP
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APP["fire_gimbal_control<br/>on the LattePanda"] -- "USB serial<br/>commands + settings" --> MCU["motor board<br/>firmware"]
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MCU -- "status, 4x a second" --> APP
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MCU -- SPI --> DRV["TMC5160<br/>stepper drivers"] --> MOT["yaw + pitch<br/>motors"]
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CAM["camera<br/>(USB3)"] -- frames --> APP
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APP --> JXL["pictures<br/>.jxl files"]
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APP -- MQTT --> BROKER["broker on the tower"] --> GS["ground station"]
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```
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### The two files
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Everything that makes one tower different from another is in two files:
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| File | Where | What goes in it | Who writes it |
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| `hardware.ini` | `/etc/fire_gimbal_control/` | **What the tower IS** - the board, which axes and sensors are fitted, how the motor board is wired, each motor's currents, travel and speeds, the camera's id | the installer, once; a person when the hardware changes |
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| `config.ini` | beside the program | **What the tower DOES** - its name, the scan grid, capture settings, the broker, logging, and calibration such as which way is north | the installer (a first copy), the calibration commands, a person |
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Where both set the same thing, `hardware.ini` wins, and the program says so at
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start-up. Full reference: [docs/configuration.md](docs/configuration.md) and
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[config/hardware.example.ini](config/hardware.example.ini).
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### How they start talking
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Every time the program connects to the motor board - at boot, after a restart,
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after the firmware is updated - they go through the same short conversation:
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```mermaid
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sequenceDiagram
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participant F as Firmware (motor board)
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participant H as fire_gimbal_control (PC)
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Note over F: power-up: stop both drivers,<br/>refuse HOME / MOVE
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F->>H: BOOT build=...
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F->>H: NEED Y steps_per_rev run_irun ... (what it is missing)
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H->>F: SET Y steps_per_rev 177000
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H->>F: SET Y ... (every value, from hardware.ini)
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Note over F: all values in: axis ready to home
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H->>F: DUMP
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F->>H: DUMP ... (every value it now holds, and the pins it was built with)
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Note over H: compare with hardware.ini<br/>(this is `test hardware motor`)
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H->>F: HOME
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F->>H: ST Y:A,... P:A,... (both axes READY)
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```
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So a tower is re-tuned by **editing `hardware.ini` and restarting the program** -
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no firmware update needed. Only the **wiring** (which pin drives which driver)
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is built into the firmware, and even that is read from the tower's own
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`hardware.ini` when the firmware is built.
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---
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## A scan, step by step
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```mermaid
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flowchart TD
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A([next waypoint]) --> B["move yaw and pitch<br/>to the waypoint"]
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B --> C{"both axes<br/>stopped?"}
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C -- no --> C
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C -- yes --> D["hold still for settle_wait_ms<br/>(1 s by day, 2.5 s at night)"]
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D --> E["keep the newest frame<br/>the camera delivered"]
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E --> F["encode to JPEG XL<br/>save to the output folder"]
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F --> G["publish a CamEvent<br/>(camera, heading, pitch, time)"]
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G --> A
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```
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The camera never stops running. It free-runs at its profile's frame rate with
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its own auto-exposure following the light, and almost every frame is thrown
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away - their job is to keep the exposure right, so that the one frame kept at
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each stop is already correctly exposed and was taken with the gimbal at rest.
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Which frame rate and exposure limits apply comes from a **camera profile**: a
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settings file exported from the camera itself. `standard` is for daylight,
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`night` for low light; switch with `set camera profile night`.
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---
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## Running a tower
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On a tower the program runs **detached, inside `tmux`**, so it keeps running
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when you close your ssh session. `scripts/fgc` does that for you:
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```bash
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scripts/fgc start --init --start # start it: home the gimbal, then sweep
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scripts/fgc attach # open the dashboard (Ctrl-b d to leave it running)
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scripts/fgc status # is it running? since when? which PID?
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scripts/fgc peek # a text snapshot of the dashboard, without attaching
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scripts/fgc stop # a clean shutdown - camera and motors stopped properly
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scripts/fgc restart # stop, then start again
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```
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> **Tip - detach, don't quit.** Inside the dashboard, `Ctrl-b d` leaves the
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> program running. The dashboard's own `q` asks whether you want to **quit** the
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> program or **background** it; background does the same as `Ctrl-b d`.
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**At boot**, a tower with the boot service starts itself the same way - through
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`fgc`, so the dashboard is still there to attach to:
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```bash
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sudo systemctl status fire-gimbal-control # is the service running?
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sudo systemctl restart fire-gimbal-control # restart it (it homes the gimbal again)
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```
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`--init` homes the gimbal at every start, which a tower in service needs: the
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motor board forgets its position whenever it loses power. On tower 111 the
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service starts it with `--init --start`, so after a power cut it is back to
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capturing within about a minute, with nobody touching it.
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**Only one copy can run at a time.** Two would fight over the motor board and
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the camera, so a second one refuses to start and says which process holds the
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lock. After a crash or a power cut there is nothing to clean up.
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**The log** is kept per run in
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`~/.local/share/fire_gimbal_control/logs/fgc_<date>-<time>.<n>.log`, more
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detailed than what the dashboard shows:
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```bash
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tail -F "$(ls -t ~/.local/share/fire_gimbal_control/logs/fgc_*.log | head -1)"
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```
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More in [docs/deployment.md](docs/deployment.md).
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---
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## The dashboard
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The dashboard (the "TUI", for terminal user interface) is what `scripts/fgc
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attach` opens. It updates live, and everything on it is read-only unless you
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press a key that acts.
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| Panel | What it shows |
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| **Header** | the tower's name, the program's build, `LIVE` (or `PAUSED`), how long it has been up |
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| **GIMBAL** `g` | each axis: its state (`READY`, `HOMING`, `ERROR`...), the angle it is at and the one it is heading for, the motor and encoder counts, and flags - `STILL`/`MOVE`, `STALL`, over-temperature `OT`, endstops `L`/`R` |
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| **SENSORS** `i` | the orientation sensor (roll, pitch, yaw) and the ambient temperature and humidity, each marked `live` or not |
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| **CAMERA** `c` | whether it is capturing and how fast, the active profile, and the last picture: which camera, where it pointed, how long ago |
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| **COMMS** `m` | the broker connection, the tower name the messages carry, the control mode |
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| **LOG** | the latest log lines; warnings in yellow, errors in red. `PgUp` scrolls back, `End` follows again |
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| **ACTIVITY** | what is running right now (a sweep, a homing, a test) and the result of the last one |
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| **Key bar** | the keys that do something in this view |
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### Keys
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| Key | Does |
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| `s` / `x` | auto mode (sweep and capture) / manual mode (stop, take it by hand) |
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| `h` | home the gimbal |
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| `r` | refresh: ask the firmware for a full status dump, re-read the sensor setup |
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| `g` `i` `c` `m` | open the full-screen gimbal, sensors, camera or comms view; press it again to close |
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| `?` | the built-in help: every command, with examples |
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| `:` | type a command, exactly as in the [command list](#everyday-commands) |
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| `p` | pause the display, so you can select and copy text (the program keeps running) |
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| `PgUp` `PgDn` `Home` `End` | scroll the log |
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| arrows | nudge the gimbal by hand - only when no sweep is running |
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| `Space` | take one picture now - only when no sweep is running |
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| `H` | set up north: aim at known landmarks and type their bearings - only when no sweep is running |
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| `Esc` | close a view; with no view open, **cancel** whatever is running (a test, a homing, a calibration) |
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| `q` | quit or background the program - it asks which |
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| `Ctrl-b d` | leave the dashboard and keep the program running (a `tmux` key) |
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### The full-screen views
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**Gimbal** (`g`) - both axes in detail: positions, the motor driver's live
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registers decoded into words, how well the encoder is tracking, the homed
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limits and the calibration. The first time it opens it asks the firmware for a
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full dump; `d` refreshes it.
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**Sensors** (`i`) - the orientation sensor's full output (acceleration, turn
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rate, magnetic field, its internal temperature) and configuration, and the
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ambient sensor with the bus it is on.
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**Camera** (`c`) - the camera itself (model, frame size, exposure, gain,
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temperature, frames delivered and dropped, stream restarts), its profile and
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encoding, and the whole scan grid with the current waypoint marked.
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**Comms** (`m`) - the broker connection, message counters, the topics
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the tower listens and speaks on, and the most recent messages, exactly as sent.
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**Help** (`?`) - every command, grouped, with an explanation and an example.
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The same text is available anywhere as `help` or `help <topic>`.
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---
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## The plain console
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Without the dashboard, the program prints its log lines to the terminal and
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reads commands from the keyboard, one per line. That is what you get with
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`--no-tui`, with `[UI] enable_tui = false` in `config.ini`, or whenever the
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output goes somewhere that is not a terminal - a pipe, a file, a script.
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<sub>Tower 111's own log from its start on 2026-09-24 - the plain console prints
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exactly these lines. It loads its settings, opens the motor board, the sensors
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and the camera, hands the firmware its settings, homes, starts sweeping, and
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answers a typed `test hardware`.</sub>
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Type any command from the [list below](#everyday-commands) and press Enter;
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`exit` (or `Ctrl-D`) stops the program cleanly. Nothing here needs a mouse or a
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large window, which makes it the easiest way to run the program by hand while
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bringing a tower up.
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For scripts, `--test` runs one self-test and exits with its verdict:
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```bash
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./build/fire_gimbal_control --no-mqtt --test hardware
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echo $? # 0 = PASS, 4 = FAIL, 5 = could not start (the log says why)
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```
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---
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## Everyday commands
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**A tower is always in one of three modes.** In **auto** it sweeps its scan
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grid by itself - the normal state, and where it starts at boot. In **pan** it
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watches one direction: `mode pan 90 30` sweeps 75° to 105°, a picture every
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6°, over and over. In **manual** it does nothing by itself and a person drives
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it. Auto and pan refuse anything that would move the gimbal or change a
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setting, so `mode manual` comes first; the tower publishes its mode on MQTT
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(`StatusCode`: 0 auto, 1 pan, 2 manual).
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The same commands work at the `:` prompt in the dashboard, in the plain
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console, and **over MQTT**: a web maintenance interface can send any of them on
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`GGS/FWT/<tower>/Command` and read the answer on `CommandReply` - the lines the
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command logged, and whether it succeeded. That topic is always live and
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withholds nothing (`exit` included), so who may publish to it is the broker's
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job. Details, payloads and safety rules: [docs/mqtt-api.md](docs/mqtt-api.md).
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| Command | Does |
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| `mode auto` / `mode manual` | sweep the scan grid / stop and take the gimbal by hand (it stays homed and powered) |
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| `mode pan <heading> <span> [<pitch>]` | watch one direction: `mode pan 90 30` covers 75°-105°, a picture every 6° |
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| `gimbal home` | find the endstops and centre - needed after every power-up |
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| `gimbal move <yaw>,<pitch>` | point at a **true bearing** (0 = north) and an elevation, in degrees |
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| `gimbal nudge <yaw\|pitch> <+/-percent>` | a small move by hand |
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| `snapshot` | take one picture now (manual mode) |
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| `test [<subsystem> [<test>]]` | run self-tests - see [below](#is-the-tower-healthy) |
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| `gimbal heading setup` | tie the yaw axis to true north by sighting landmarks |
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| `set camera profile <name>` | switch the camera profile, e.g. `night` |
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| `set fps <n>` | how many pictures per second the sweep aims for |
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| `camera reset` | reboot the camera and put it back on its profile - for a camera that has stopped sending pictures |
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| `gimbal dump` | show everything the firmware is holding |
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| `debug` | more detail in the log, or back to normal |
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| `trace <serial\|mqtt\|camera\|control\|all\|off>` | log every message to and from a part, word for word |
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| `help [<topic>]` | the full list, with examples |
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| `exit` | stop everything and quit |
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The complete list, with every option, is in the built-in `help` and in
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[docs/configuration.md](docs/configuration.md).
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---
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## Is the tower healthy?
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One command checks almost everything, and changes nothing:
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```bash
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scripts/install-tower --verify
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```
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```text
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== verify ==
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ok usbfs_memory_mb 1000 (want >= 1000)
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ok camera USB3 LPM 0 (want 0)
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ok config files load cleanly, 0 shadowed key(s)
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ok hardware.ini complete 0 TODO(s)
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ok firmware pins running build=a0b1e4a ...; declared ... Y=8,7 P=1,0
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ok test hardware PASS
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ok test camera PASS
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ok boot service enabled
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ok user lingering yes
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>> all checks pass
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```
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<sub>Tower 111, 2026-09-24.</sub>
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If the program is running, the tests run **inside** it - the sweep pauses for
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a few seconds and carries on afterwards. The two tests that matter most:
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- **`test hardware`** - is this the tower `hardware.ini` describes? The declared
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axes answer, the firmware holds exactly the declared settings and was built
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for the declared wiring, the orientation and ambient sensors (if fitted) are
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really there, the camera opened, and the USB settings the camera needs are in
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place.
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- **`test camera`** - does the camera work, whatever it is looking at? It never
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judges the picture - fog, night or a lens cap would all make a bad picture out
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of a healthy camera. Instead it uses the camera's own settings:
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- **frames** - whole pictures arrive, in time;
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- **dark** - at the shortest exposure and lowest gain, every pixel goes black;
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- **bright** - at the highest gain and a long exposure, the picture becomes
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clearly different from the dark one. That can only happen if the sensor is
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alive and took the settings.
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Afterwards the camera goes back on its profile.
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A test that could not run - no ambient sensor fitted, say - says **not
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checked**, never PASS. Every run is written to
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`~/.local/share/fire_gimbal_control/logs/test_*.log` and compared with the one
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before. More: [docs/test-command.md](docs/test-command.md).
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Other test groups need a homed gimbal and move it: `test gimbal` (homing
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repeatability, encoder, friction, backlash, balance) and `test imu`. `test host`
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checks the PC itself (temperature, disk, memory, load).
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---
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## Setting up and updating a tower
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**A new tower** - or one set up before any of this existed - is installed by
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one script, run on the tower:
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```bash
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scripts/install-tower --dry-run # look, ask, show the plan; change nothing
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scripts/install-tower # the same, then do it after one "yes"
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```
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It installs the packages and USB settings, the camera SDK, builds this program
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and the firmware, writes the two files (asking only what it cannot find out
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for itself), flashes the firmware, runs the tests, and sets up the boot
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service. It **never guesses a motor value**: anything nobody has measured is
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written as a `; TODO`, and the firmware is not flashed until it is filled in.
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It only homes the gimbal after someone says they are standing at it. Re-running
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it on a working tower is safe; it changes only what is out of date. The whole
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story: [docs/tower-installation.md](docs/tower-installation.md).
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**Updating** is done from a development machine, with each repository's
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`deploy.sh`, and always in this order:
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1. **this program first** - `./deploy.sh` here copies the code to the tower and
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builds it there; restart it to use the new version;
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2. **the firmware second** - `./deploy.sh` in the firmware repository builds it
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on the tower and flashes the motor board.
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Host first, because a new firmware asks for its settings the moment it starts,
|
|
and an older program would not know how to answer. Details:
|
|
[docs/deployment.md](docs/deployment.md).
|
|
|
|
---
|
|
|
|
## For developers
|
|
|
|
### The shape of the code
|
|
|
|
The program is a core that needs no hardware or proprietary SDKs, plus a real
|
|
and a stand-in version of each part that touches the outside world. That is
|
|
what lets the whole thing run on any Linux machine, with nothing attached.
|
|
|
|
```mermaid
|
|
flowchart TB
|
|
core["fgc_core - no hardware, no SDKs<br/>Config · CaptureScheduler · TestRunner<br/>parsers for telemetry, DUMP and commands"]
|
|
core --> I1[IMotorController] & I2[IControlChannel] & I3[ICameraSource]
|
|
I1 --> R1[SerialMotorController] & M1[MockMotorController]
|
|
I2 --> R2[MqttControlChannel] & M2[NullControlChannel]
|
|
I3 --> R3["VimbaCameraSource<br/>(Allied Vision Vimba X)"] & M3[MockCameraSource]
|
|
R3 --> P[ImagePipeline] --> J[".jxl files + CamEvent"]
|
|
```
|
|
|
|
Real on the left of each pair, stand-in on the right. There are stand-ins for
|
|
the orientation and ambient sensors too. The full design is in
|
|
[docs/architecture.md](docs/architecture.md).
|
|
|
|
### Build
|
|
|
|
```bash
|
|
cmake -B build # full build: needs Vimba X, fetches Paho MQTT
|
|
cmake --build build -j"$(nproc)" # -> build/fire_gimbal_control, build/fgc-config
|
|
|
|
cmake -B build -DWITH_VIMBA=OFF -DWITH_MQTT=OFF # no proprietary SDKs: stand-ins only
|
|
```
|
|
|
|
Dependencies (OpenCV, Boost, libjxl, the Vimba X SDK) are in
|
|
[docs/build-and-setup.md](docs/build-and-setup.md).
|
|
|
|
### Run with nothing attached
|
|
|
|
```bash
|
|
./build/fire_gimbal_control --mock-serial --mock-camera --no-mqtt --tui
|
|
```
|
|
|
|
The stand-in motor board, camera and broker behave like the real ones closely
|
|
enough to drive the dashboard, run a sweep and run most self-tests.
|
|
`[Features] mock_needcfg = true` makes the stand-in motor board ask for its
|
|
settings the way the real firmware does.
|
|
|
|
### Command-line options
|
|
|
|
| Flag | Effect |
|
|
|---|---|
|
|
| `-c, --config <path>` | use this `config.ini` (otherwise `$FGC_CONFIG`, then `./config.ini`, ...) |
|
|
| `--hardware <path>` | use this `hardware.ini` (otherwise `$FGC_HARDWARE`, then `/etc/fire_gimbal_control/hardware.ini`, then beside `config.ini`) |
|
|
| `-i, --init` | home the gimbal at start |
|
|
| `-s, --start` | start sweeping at once |
|
|
| `--test <selection>` | run one self-test and exit: 0 PASS, 4 FAIL, 5 could not start |
|
|
| `--tui` / `--no-tui` | the dashboard / the plain console (overrides `[UI] enable_tui`) |
|
|
| `--mock-serial`, `--mock-camera`, `--mock-env` | stand-ins instead of the motor board, camera, ambient sensor |
|
|
| `--no-mqtt` | no broker |
|
|
| `--degraded` | start even though `hardware.ini` declares a part that is missing (field triage) |
|
|
| `-d, --demo` | save a placeholder picture instead of encoding live frames |
|
|
| `--log-level <level>` | `trace`, `debug`, `info`, `warn`, `error`, `off` - for the screen |
|
|
| `--log-file-level <level>`, `--no-log-file` | the log file's level / no log file this run |
|
|
| `--trace <parts>` | log every message to and from `serial`, `mqtt`, `camera`, `control`, `all` |
|
|
| `--no-lock`, `--lock-file <path>` | skip / move the single-instance lock (development only) |
|
|
| `-h, --help` | all of the above |
|
|
|
|
### Watching the wires
|
|
|
|
Two separate knobs control what is logged:
|
|
|
|
- **the level** (`--log-level`, `debug`, `[Logging] level`) - how much ordinary
|
|
detail. At `info`, a running sweep is nearly silent;
|
|
- **traces** (`--trace`, `trace <part>`, `[Logging] trace`) - every single
|
|
message exchanged with a part, word for word, whatever the level. Off by
|
|
default; the camera one is busy.
|
|
|
|
```text
|
|
14:02:01.234 [SERIAL] TX MOVE -90,0
|
|
14:02:01.250 [SERIAL] RX ST Y:A,982,969,80084000,0,8,8,Se P:A,...
|
|
14:02:02.000 [MQTT] PUB GGS/FWT/Tower/StatusCode 0
|
|
14:02:02.500 [CAMERA] TX trigger cam0
|
|
14:02:02.910 [CAMERA] RX frame cam0 1936x1216 7064576B
|
|
```
|
|
|
|
### Tests
|
|
|
|
```bash
|
|
cmake -B build-test -DWITH_VIMBA=OFF -DWITH_MQTT=OFF -DBUILD_TESTING=ON
|
|
cmake --build build-test -j"$(nproc)"
|
|
ctest --test-dir build-test --output-on-failure
|
|
```
|
|
|
|
Over 360 unit tests, needing no hardware and no SDKs: configuration and the two
|
|
files, the parsers, the capture scheduler, the self-test checks against the
|
|
stand-ins, the firmware handshake, the camera checks, the config-file editor.
|
|
|
|
### Repository layout
|
|
|
|
```
|
|
CMakeLists.txt build (WITH_VIMBA, WITH_MQTT, WITH_TUI, BUILD_TESTING)
|
|
main.cpp entry point: command line -> Application
|
|
include/fgc/ headers: the interfaces, config, scheduler, tests, ...
|
|
mock/ the stand-in implementations
|
|
src/
|
|
core/ the core: Application, config, scheduler, parsers, tests, ...
|
|
camera/ Vimba X camera, image pipeline, JPEG XL encoder
|
|
serial/ motor board and orientation-sensor links
|
|
mqtt/ MQTT control channel
|
|
sensors/ ambient sensor (SHT41) over I2C
|
|
ui/ the dashboard and the plain console
|
|
tests/ unit tests (doctest)
|
|
tools/fgc_config.cpp fgc-config: edits config.ini / hardware.ini safely
|
|
config/ config.example.ini, hardware.example.ini, scan grids, camera profiles
|
|
hardware/ per-board setup kits (LattePanda IOTA, LattePanda 3 Delta)
|
|
scripts/ fgc, install-tower, the boot service, camera-profile export
|
|
docs/ everything longer than a README
|
|
ini.c, ini.h the bundled INI parser (inih)
|
|
```
|
|
|
|
---
|
|
|
|
## Documentation
|
|
|
|
| Document | Read it for |
|
|
|---|---|
|
|
| [docs/tower-installation.md](docs/tower-installation.md) | installing a tower, step by step, and what each step is for |
|
|
| [docs/deployment.md](docs/deployment.md) | running and updating a tower: `deploy.sh`, `fgc`, the boot service, the log, troubleshooting |
|
|
| [docs/configuration.md](docs/configuration.md) | every key in `config.ini`, every flag, every command |
|
|
| [docs/test-command.md](docs/test-command.md) | the self-tests: groups, profiles, reports, baselines |
|
|
| [docs/mqtt-api.md](docs/mqtt-api.md) | the MQTT topics and what each message contains |
|
|
| [docs/known-issues.md](docs/known-issues.md) | what is known to be wrong or unfinished |
|
|
| [docs/architecture.md](docs/architecture.md) | the design: parts, threads, data flow, the capture cycle |
|
|
| [docs/modules-reference.md](docs/modules-reference.md) | file by file |
|
|
| [docs/build-and-setup.md](docs/build-and-setup.md) | building, dependencies, the camera SDK |
|
|
| [docs/hardware-config-plan.md](docs/hardware-config-plan.md) | why `hardware.ini` exists, and the firmware handshake |
|
|
| [docs/hardware-porting-plan.md](docs/hardware-porting-plan.md) | moving towers to the LattePanda IOTA |
|
|
| [docs/lattepanda-iota.md](docs/lattepanda-iota.md) | the IOTA board |
|
|
| [docs/roadmap.md](docs/roadmap.md), [docs/test-roadmap.md](docs/test-roadmap.md) | what comes next |
|
|
|
|
---
|
|
|
|
## Ownership
|
|
|
|
Internal tooling for the GGS fire-watch tower network. No license file is
|
|
present in the repository.
|