https://github.com/bboonstra/solar
Semi-Autonomous Outdoor Life Assisting Robot
https://github.com/bboonstra/solar
Last synced: 6 months ago
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Semi-Autonomous Outdoor Life Assisting Robot
- Host: GitHub
- URL: https://github.com/bboonstra/solar
- Owner: bboonstra
- License: other
- Created: 2025-05-31T18:46:48.000Z (10 months ago)
- Default Branch: main
- Last Pushed: 2025-06-17T16:45:02.000Z (10 months ago)
- Last Synced: 2025-06-17T17:46:45.063Z (10 months ago)
- Language: Python
- Homepage: https://solar.bboonstra.dev
- Size: 1.47 MB
- Stars: 1
- Watchers: 0
- Forks: 0
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
- Funding: .github/FUNDING.yml
- License: LICENSE.md
Awesome Lists containing this project
README
# SOLAR — Semi-Autonomous Outdoor Life Assisting Robot
[](https://github.com/bboonstra/solar/actions/workflows/python-ci.yml)
[](https://polyformproject.org/licenses/noncommercial/1.0.0/)
[](https://www.python.org/downloads/)
SOLAR is a research-driven robotics project aimed at exploring sustainable, autonomous plant care through sensor data collection and environmental interaction. Designed for outdoor environments, SOLAR monitors conditions such as soil moisture, temperature, humidity, and light levels, and takes physical actions to support vegetation growth.
## 🌱 Project Goal
Investigate how robotics can enhance environmental sustainability by automating basic plant care tasks like watering, soil monitoring, and sample collection.
## ✨ Key Features
- **Modular Sensor Integration**: Extensible architecture for adding new sensors
- **Real-time Environmental Monitoring**: Continuous data collection with configurable intervals
- **Autonomous Decision-making**: Scheduling and control logic for plant care
- **Threaded Runner System**: Concurrent sensor monitoring for optimal performance
- **Development Mode**: Full simulation support for testing without hardware
- **Comprehensive Logging**: Colorized output with configurable log levels
- **Health Monitoring**: Automatic error detection and recovery
- **Custom Hardware Support**: GPIO, pneumatic actuation, custom servos
## 🏗️ Architecture
### Core Components
1. **Runner System** (`src/runners/`)
- `BaseRunner`: Abstract base class for all sensor/actuator modules
- `RunnerManager`: Central coordinator for concurrent operations
- `INA219Runner`: Power monitoring implementation
2. **Sensor Modules** (`src/sensors/`)
- Hardware abstraction layer with production/development modes
- Standardized interfaces for all sensor types
- Built-in error handling and recovery
3. **Main Application** (`src/main.py`)
- Configuration loading and validation
- Environment detection
- Graceful startup/shutdown
### System Design
```
┌─────────────────┐
│ Main Process │
│ (main.py) │
└────────┬────────┘
│
┌────┴────┐
│ Runner │
│ Manager │
└────┬────┘
│
┌────┴────────────────┬─────────────┬─────────────┐
│ │ │ │
┌───┴────┐ ┌─────┴────┐ ┌────┴────┐ ┌─────┴────┐
│INA219 │ │ Sensor │ │ Actuator│ │ Future │
│Runner │ │ Runner │ │ Runner │ │ Runner │
└────────┘ └──────────┘ └─────────┘ └──────────┘
```
## 🚀 Getting Started
### Prerequisites
- Python 3.8 or higher
- Raspberry Pi (for production mode)
- Git
### Installation
1. **Clone the repository**
```bash
git clone https://github.com/bboonstra/solar.git
cd solar
```
2. **Set up virtual environment**
```bash
python -m venv venv
source venv/bin/activate # On Windows: venv\Scripts\activate
pip install --upgrade pip setuptools
```
3. **Install dependencies**
```bash
pip install -r requirements.txt
```
4. **Configure the application**
```bash
cp configuration/environment.example.yaml configuration/environment.yaml
# Edit configuration/environment.yaml to set production: true/false
# Edit configuration/config.yaml to configure sensors and behavior
```
5. **Run the application**
```bash
python src/main.py
```
## 📋 Configuration
### Environment Configuration (`configuration/environment.yaml`)
```yaml
# Set to true when running on actual Raspberry Pi hardware
production: false
```
### Solar Configuration (`configuration/solar.yaml`)
```yaml
# Application settings
application:
threaded_runners: true
main_loop_interval: 2
shutdown_timeout: 5.0
# Logging configuration
logging:
level: "INFO"
colorized: true
```
### Runners Configuration (`configuration/runners.yaml`)
```yaml
# Runner configurations
runners:
# Solar power monitoring INA219
solar_power:
type: ina219
label: "Solar Power Monitor"
enabled: true
i2c_address: "0x40"
measurement_interval: 1.0
log_measurements: true
low_power_threshold: 0.5
high_power_threshold: 10.0
# PiPower UPS monitoring
pipower:
type: pipower
label: "PiPower UPS Monitor"
enabled: true
measurement_interval: 1.0
log_readings: true
bt_lv_pin: 17
adc_channel: 0
in_dt_pin: 18
chg_pin: 27
lo_dt_pin: 22
```
## 🧪 Development
### Running Tests
```bash
# Run all tests
pytest tests/
# Run with coverage
pytest tests/ --cov=src --cov-report=html
# Run specific test file
pytest tests/test_base_runner.py -v
```
### Code Quality
```bash
# Format code
black src/ tests/
# Sort imports
isort src/ tests/
# Type checking
mypy src/
# Linting
flake8 src/ tests/
pylint src/
```
### Adding New Sensors
1. Create a new runner class:
```python
# src/runners/my_sensor_runner.py
from .base_runner import BaseRunner
class MySensorRunner(BaseRunner):
def _initialize(self) -> bool:
# Initialize hardware/simulation
return True
def _work_cycle(self) -> None:
# Perform measurement
pass
def is_healthy(self) -> bool:
# Check sensor health
return True
```
2. Register in `RunnerManager`:
```python
self._runner_classes = {
"ina219": INA219Runner,
"my_sensor": MySensorRunner, # Add here
}
```
3. Add configuration section:
```yaml
my_sensor:
enabled: true
measurement_interval: 2.0
```
## 📚 Documentation
- [Threaded Runner System](THREADED_RUNNERS.md) - Detailed architecture documentation
- [Development Guide](development.md) - Setup and development workflow
- [API Reference](docs/api/) - Coming soon
## 🤝 Contributing
This project is open for **non-commercial tinkering and experimentation**. We welcome contributions that:
- Add new sensor support
- Improve error handling and recovery
- Enhance documentation
- Fix bugs
- Add tests
Please ensure all contributions:
- Include appropriate documentation
- Have test coverage
- Follow the existing code style
- Are submitted via pull request
## 📄 License
Licensed under the [Polyform Noncommercial License](https://polyformproject.org/licenses/noncommercial/1.0.0/). You may use, modify, and share this work **for noncommercial purposes only**.
## 💰 Funding
If you find this project useful, please consider [sponsoring the team](https://solar.bboonstra.dev/).
## 🏆 Credits
- **Conner Israel** - Hardware Design & Integration
- **Ben Boonstra** - Software Architecture & Development
- **SOLAR Research Team** - Testing & Documentation
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*Semi-Autonomous Outdoor Life Assisting Robot · 2025*