Merge branch 'develop'

.gitattributes

-ubuntu-16.04.2-minimal-odroid-xu4-20170516.img.xz filter=lfs diff=lfs merge=lfs -text
+* text=auto
+*.sh text eol=lf
+*.c text eol=lf
+*.cpp text eol=lf
+*.h text eol=lf
+*.py text eol=lf
+*.mp4 binary
+img/ubuntu-16.04.2-minimal-odroid-xu4-20170516.img.xz filter=lfs diff=lfs merge=lfs -text
+img/emmc_recovery.img.xz filter=lfs diff=lfs merge=lfs -text
+2017-11-29-raspbian-stretch.img.xz filter=lfs diff=lfs merge=lfs -text
+img/ubuntu-18.04-4.14-minimal-odroid-xu4-20180531.img.xz filter=lfs diff=lfs merge=lfs -text
+img/2017-11-29-raspbian-stretch.zip filter=lfs diff=lfs merge=lfs -text
+rna.img.xz filter=lfs diff=lfs merge=lfs -text

.gitignore

+.vagrant/
+rna.img.xz
+__pycache__/
+*.pyc
+*.log

.gitmodules

+[submodule "salt/apps/files/RNA-Apps"]
+	path = salt/apps/files/RNA-Apps
+	url = git@git.nt.uni-saarland.de:LARN/RNA-Apps.git
+[submodule "salt/prrt/files/PRRT"]
+	path = salt/prrt/files/PRRT
+	url = git@git.nt.uni-saarland.de:LARN/PRRT.git
+[submodule "salt/car/files/Adafruit-Motor-HAT-Python-Library"]
+	path = salt/car/files/Adafruit-Motor-HAT-Python-Library
+	url = https://github.com/adafruit/Adafruit-Motor-HAT-Python-Library.git
+[submodule "salt/video/files/gst-prrt"]
+	path = salt/video/files/gst-prrt
+	url = git@git.nt.uni-saarland.de:LARN/gst-prrt.git
+[submodule "salt/drone/crazyflie-clients-python"]
+	path = salt/drone/crazyflie-clients-python
+	url = https://github.com/bitcraze/crazyflie-clients-python.git
+[submodule "salt/drone/crazyflie-lib-python"]
+	path = salt/drone/crazyflie-lib-python
+	url = https://github.com/bitcraze/crazyflie-lib-python.git

README.md

-# Reliable Networking Atom (RNA)
\ No newline at end of file
+# Reliable Networking Atom (RNA)
+
+## Network Setup
+
+* Subnet: `10.8.0.0/24`
+* Hosts:
+    * Gateway: `10.8.0.1`
+    * Master: `10.8.0.1`
+    * Hosts: `10.8.0.10` - `10.8.0.50`
+
+## RNA-Master Virtual Machine
+
+### Idea
+
+We administer the network using a master-machine, which includes DHCP, DNS and a SaltStack master.
+
+The virtual machine is bridged to the physical interface where the hosts are attached to.
+
+### Usage
+* Start using `vagrant up`.
+
+### Deploying Files
+
+* Execute e.g. `salt '*' state.sls video.deploy`.
+* Make sure to run `salt-run fileserver.clear_file_list_cache()` if files are not found.
+
+### States
+
+#### Common
+
+##### WLAN
+
+* Execute `common.wlan` to setup wireless LAN on the RNAs. The devices automatically connect to the LARN network.
+* Check for present WLAN networks: `sudo iwlist wlan0 scan | grep ESSID`
+
+#### Demo
+
+* Execute `demo.control` to deploy the control demo.
+* Execute `demo.video` to deploy the video demo.
+
+#### Gstreamer
+
+Gstreamer is installed from the sources, which are fetched from GitHub. We are using `gst-uninstalled`, a environment system much as virtualenv for Python. As we are using many different gstreamer elements, we build all plugins together with Gstreamer.
+
+#### Video
+
+Contains everything for the video demonstrations.
+
+* `video.apps` (Gstreamer application, featuring a fully synced split-screen).
+* `video.deploy` (Sets up everything for demonstrations).
+* `video` (Create directory, copy files, build PRRT, plugin etc.).
+* `video.scripts` (Copies scripts for send/recv the demonstration streams).
+* `video.videos` (Copies all video files to the host).
+
+## Odroid
+
+### Images
+
+* Images are built based on `ubuntu-16.04.2-minimal-odroid-xu4-20170516.img`.
+* The latest image can be found under "Pipelines."
+* Deploy image on eMMC module.
+
+### Initial Setup
+
+* The RNA comes with SaltStack and SSH installed.
+* You can login using the `rna` user with the same password.
+* Upon first startup:
+  * Make sure that the hostname is updated (edit `/etc/hostname`) and the Salt `minion_id` is set appropriately (edit `/etc/salt/minion_id`).
+  * Enter root mode with `sudo -i`
+  * Run `salt-call test.ping` once.
+  * Inside the RNA-Master, accept the key using `salt-key -L` and afterwards `salt-key -a` for the specific key.
+* Afterwards, the system can be administered from the RNA-Master.
+
+
+### eMMC Recovery
+
+1. Flash emmc_recovery.img to a MicroSD card.
+2. Connect both the eMMC and MicroSD to XU4.
+3. Set the dip-switchs near the ethernet Jack to "SD boot mode".
+4. Connect Power and watch the LED status
+5. One the Blue led goes out and only RED is on. This may take 40seconds ~ 3minutes. And remove the power supply.
+6. Set the dip switchs back to eMMC.
+7. Remove the microSD card.
+8. Proceed with normal power up with your peripherals attached.
+9. After checking the eMMC, you can install other Linux OS images on the eMMC later.

Vagrantfile

+# -*- mode: ruby -*-
+# vi: set ft=ruby :
+
+# All Vagrant configuration is done below. The "2" in Vagrant.configure
+# configures the configuration version (we support older styles for
+# backwards compatibility). Please don't change it unless you know what
+# you're doing.
+Vagrant.configure("2") do |config|
+  # The most common configuration options are documented and commented below.
+  # For a complete reference, please see the online documentation at
+  # https://docs.vagrantup.com.
+
+  # Every Vagrant development environment requires a box. You can search for
+  # boxes at https://atlas.hashicorp.com/search.
+  config.vm.box = "ubuntu/xenial64"
+  config.vm.hostname = "rna-master"
+
+  config.vm.provider "virtualbox" do |vb|
+    vb.name = "rna-master"
+    vb.cpus = 2
+    vb.memory = 2048
+    vb.gui = false
+  end
+
+  config.ssh.forward_agent = true
+
+  # Disable automatic box update checking. If you disable this, then
+  # boxes will only be checked for updates when the user runs
+  # `vagrant box outdated`. This is not recommended.
+  # config.vm.box_check_update = false
+
+  # Create a forwarded port mapping which allows access to a specific port
+  # within the machine from a port on the host machine. In the example below,
+  # accessing "localhost:8080" will access port 80 on the guest machine.
+
+  config.vm.network "forwarded_port", guest: 4505, host: 4505
+  config.vm.network "forwarded_port", guest: 4506, host: 4506
+
+  # Create a private network, which allows host-only access to the machine
+  # using a specific IP.
+  # config.vm.network "private_network", ip: "192.168.33.10"
+  config.vm.network "public_network",
+      ip: "10.8.0.1",
+      :netmask => "255.255.255.0",
+      auto_config: true
+
+  # Create a public network, which generally matched to bridged network.
+  # Bridged networks make the machine appear as another physical device on
+  # your network.
+  # config.vm.network "public_network"
+
+  # Share an additional folder to the guest VM. The first argument is
+  # the path on the host to the actual folder. The second argument is
+  # the path on the guest to mount the folder. And the optional third
+  # argument is a set of non-required options.
+  config.vm.synced_folder "salt", "/srv/salt"
+  config.vm.synced_folder "pillar", "/srv/pillar"
+
+  # Provider-specific configuration so you can fine-tune various
+  # backing providers for Vagrant. These expose provider-specific options.
+  # Example for VirtualBox:
+  #
+  # config.vm.provider "virtualbox" do |vb|
+  #   # Display the VirtualBox GUI when booting the machine
+  #   vb.gui = true
+  #
+  #   # Customize the amount of memory on the VM:
+  #   vb.memory = "1024"
+  # end
+  #
+  # View the documentation for the provider you are using for more
+  # information on available options.
+
+  # Define a Vagrant Push strategy for pushing to Atlas. Other push strategies
+  # such as FTP and Heroku are also available. See the documentation at
+  # https://docs.vagrantup.com/v2/push/atlas.html for more information.
+  # config.push.define "atlas" do |push|
+  #   push.app = "YOUR_ATLAS_USERNAME/YOUR_APPLICATION_NAME"
+  # end
+
+  # Enable provisioning with a shell script. Additional provisioners such as
+  # Puppet, Chef, Ansible, Salt, and Docker are also available. Please see the
+  # documentation for more information about their specific syntax and use.
+
+
+  config.vm.provision "shell", inline: <<-SHELL
+        export DEBIAN_FRONTEND=noninteractive
+        apt update
+        apt upgrade -y
+        curl -L https://bootstrap.saltstack.com -o install_salt.sh
+        sh ./install_salt.sh -P -M -N
+        cp /vagrant/master/master.* /etc/salt/pki/master/
+        apt install -y dnsmasq nmap htop git tshark
+        salt-call --local state.sls ptp.master
+        ln -s /vagrant/master/dnsmasq.conf /etc/dnsmasq.d/dnsmasq.conf
+        printf "Host 10.8.0*\n  User rna\n  ForwardAgent yes\n" >> /etc/ssh/ssh_config
+        echo "conf-dir=/etc/dnsmasq.d,*.conf" >> /etc/dnsmasq.conf
+        service dnsmasq restart
+  SHELL
+
+  # Ensure that dnsmasq starts when synced folders are mounted and the symlink works.
+  config.vm.provision "shell", run: "always", inline: <<-SHELL
+        service dnsmasq restart
+  SHELL
+  unless Vagrant::Util::Platform.windows? then
+    config.vm.provision "shell", run: "always", inline: <<-SHELL
+          sysctl -w net.ipv4.ip_forward=1
+          iptables -t nat -A POSTROUTING -o enp0s3 -j MASQUERADE
+    SHELL
+  end
+end

build.sh

 #!/bin/bash
 
+FILE="ubuntu-18.04-4.14-minimal-odroid-xu4-20180531"
+
 apt-get update
 apt-get install qemu-user-static pixz -y
 
-pixz -d ubuntu-16.04.2-minimal-odroid-xu4-20170516.img.xz ubuntu-16.04.2-minimal-odroid-xu4-20170516.img
-md5sum -c ubuntu-16.04.2-minimal-odroid-xu4-20170516.img.md5
-limit=$(sfdisk -l --bytes ubuntu-16.04.2-minimal-odroid-xu4-20170516.img | tail -n 1 | awk '{print $2}')
+pixz -d img/$FILE.img.xz img/$FILE.img
+md5sum -c img/$FILE.img.md5
+LIMIT=$(sfdisk -l --bytes img/$FILE.img | tail -n 1 | awk '{print $2}')
+
+DIR=/mnt/rna
+
+mkdir $DIR
+mount -o loop,offset=$((512 * $LIMIT)) img/$FILE.img $DIR
+mount --bind /proc $DIR/proc/
+mount --bind /sys $DIR/sys/
+mount --bind /dev $DIR/dev/
+mount --bind /dev/pts $DIR/dev/pts
+mkdir $DIR/srv/salt
+mount --bind salt $DIR/srv/salt
+
+echo 'nameserver 9.9.9.9' >> $DIR/etc/resolv.conf
 
-dir=/mnt/rna
+cp $(which qemu-arm-static) $DIR/usr/bin
+cp provision.sh $DIR/root
+cp setup.sh $DIR/root
+chroot $DIR qemu-arm-static /bin/bash /root/provision.sh
 
-mkdir $dir
-mount -o loop,offset=$((512 * $limit)) ubuntu-16.04.2-minimal-odroid-xu4-20170516.img $dir
-mount --bind /proc $dir/proc/
-mount --bind /sys $dir/sys/
-mount --bind /dev $dir/dev/
-echo 'nameserver 8.8.4.4' >> $dir/etc/resolv.conf
+rm $DIR/root/provision.sh
 
-cp $(which qemu-arm-static) $dir/usr/bin
-cp provision.sh $dir/root
-chroot $dir qemu-arm-static /bin/bash /root/provision.sh
+sync
 
-umount $dir/dev
-umount $dir/proc
-umount $dir/sys
+umount -l $DIR/srv/salt
+umount -l $DIR/dev/pts
+umount -l $DIR/dev
+umount -l $DIR/proc
+umount -l $DIR/sys
 
-umount $dir
+umount -l $DIR
 
-mv ubuntu-16.04.2-minimal-odroid-xu4-20170516.img rna.img
+mv img/$FILE.img rna.img
 pixz rna.img rna.img.xz
 rm rna.img

master/dnsmasq.conf

+no-resolv
+
+server=9.9.9.9
+
+# Gateway
+dhcp-option=3,10.8.0.1
+
+# MAC-IP Bindings
+dhcp-range=10.8.0.20,10.8.0.50,255.255.255.0,72h
+
+
+# DNS Server Entries
+dhcp-option=6,10.8.0.1,8.8.8.8
+
+# DNS Zone
+host-record=salt,10.8.0.1
+
+
+
+# RNAs
+dhcp-host=00:1e:06:30:a4:0a,10.8.0.101,72h
+host-record=rna-01,10.8.0.101
+
+
+# RNA 2
+# LAN
+dhcp-host=00:1e:06:30:a4:38,10.8.0.102,72h
+host-record=rna-02,10.8.0.102
+
+
+# RNA 3
+# LAN
+dhcp-host=00:1e:06:30:a4:35,10.8.0.103,72h
+host-record=rna-03,10.8.0.103
+# WLAN
+dhcp-host=40:a5:ef:db:86:b8,10.8.0.203,72h
+host-record=rna-03,10.8.0.203
+
+
+# RNA 4
+# LAN
+dhcp-host=00:1e:06:30:a4:33,10.8.0.104,72h
+host-record=rna-04,10.8.0.104
+# WLAN
+dhcp-host=40:a5:ef:db:86:6a,10.8.0.204,72h
+host-record=rna-04,10.8.0.204
+
+
+# RNA 5
+dhcp-host=00:1e:06:30:a5:04,10.8.0.105,72h
+host-record=rna-05,10.8.0.105
+
+
+# RNA 6 - Raspi 3B
+# LAN
+dhcp-host=b8:27:eb:5d:8e:30,10.8.0.106,72h
+host-record=rna-06,10.8.0.106
+# WLAN
+dhcp-host=b8:27:eb:08:db:65,10.8.0.206,72h
+host-record=rna-06,10.8.0.206
+
+
+# RNA 8 - Raspi Zero W (Drone)
+# WLAN
+dhcp-host=b8:27:eb:e1:5b:16,10.8.0.208,72h
+host-record=rna-08,10.8.0.208
+
+# RNA 9 - Raspi Zero W
+# WLAN
+dhcp-host=b8:27:eb:e3:ad:fa,10.8.0.209,72h
+host-record=rna-09,10.8.0.209
+
+# APs
+
+dhcp-host=40:9b:cd:25:2a:f8,10.8.0.10,72h
+host-record=rna-ap-01,10.8.0.10

master/master.pem

+-----BEGIN RSA PRIVATE KEY-----
+MIIEpAIBAAKCAQEAqF4MANhATt4HlrcjYccl5b0Si7VeqqXZ+98fTaFODFnd1qEe
+B5jti1shChOFaEPs0tfK5fVmMr+zkHYlP9QqzXYtteLcFVJoxDWnQveg8Pb1mqXW
+VnZpMxRVaKSgNg9srOcnBJxwQ8uybB7ln+k2bG3VdAXip6RkFIBMJadfuGkoAvH1
+v05NS6kJVQylG9NHIx5Td9hU8ZqKjJhw3Qlx3MOVRxmGvOTUJx55mIMRMjTfY9Cv
+PnYYY0T/rK3CWMT5wfwtPbMtv5KqpCdRuiKqNiil78sS6FJUADFkJ/hHpj4/KGwP
+IRHyO+g+frQ4TgI2gyeqV3REUROEzhmkJe/XXQIDAQABAoIBAQCXmBY2rH86g69R
+hJPW9fipYhPQtv0FqU8b+Um2HAaqGEAlf+wJ6yf20ZZt/CWiO4aAUMvfQZVDHFgR
+Ok9PqTjgxgdiPWDr0ceC4sw2/79pNvLsy2SxdOxDkYtVLOUTx8+R3o7DGBf88usz
+bp5R3Smjd0E5thLd3qY9z0bAoHMPFicYTqdZ/aqP89CbaiPmuinpUFIR0j11oIeQ
+6YBy2EwTLselk2kQ/Eoo1BXWwKk2jRamNrjv4r9/X1oTgS/00C3G39H+mT0tpWTh
+ctD7SW5iagLOD4YUPj1YARtRqTNatv3bFVgfh6SaOUsHTr67HxaTAGfk1BhKqtOY
+WTb04RABAoGBALkE1e3e/525m475mHW5AG1gDx+CBJoJwf0pdUlqx7PKDWBfZTfQ
+QHpunJJpKxnoHBT2dWa9NLVRCPZfcq/10VATM4XUg4FkhTfI1ql0GjEcSVAjIKGJ
+9MXNY+HNJo3ynKY7REVhwF+KQVStYxfgw/3/5sqyddl4c5FIZlWVyQNJAoGBAOj1
+0wIlj6NLZVqjY85pFE45XczNIa980Vhq+fxJVXX4omBospQuSOIqxWErFMXnkhHX
+FgLsT56emGLDrBA1almeELyolQlXSwIZITyexNJRBTZ1ZuJ/Y09Z9Yv9yNGQL1+m
+jBPuGttLERgvDaE3hpzOrS6dg7SRzwWOZBuwz591AoGAP17fozTBGpXLKSJmTNQL
+yGqhY2pWByiWcA62JGpVckgfYsXp1j8XBphCOoeZAquUir2Lop/loMDbr/8rOgeZ
+JLMe75TFYhk648t/ctTYb7+/gJo3f/zPgLyDnIB21yGk8+7SyGzdxhuFmuo0SaZr
+muD+fKi5Yr413yoMGv5NtjkCgYEA27Kpkwa1VbzPExGwGIOEwNjdGz4BnKxMCeSp
+aUIHtMAM8nsKnzCfT5wilSa56oIfgW+ktJED7YWIFOyQIqEdcPLeue0K0MpgVNQ6
+Qh9BY09BaUCDDOwyTi16otFuSCSAaOZ6iHkvHszGjFYjtnzVGKDZNnMaOHqiEI1e
+37Z5t9kCgYADVztfSMMt3LVHmvj/HNYG2YkEiLC/I2hvC+x1pbh33Oe42/Vl12gF
+QS4KtJIMPQhK06Sbt8rKXxt5ydn4ynPTfFx8wbCiDGgE4mBrqpyvEk2PwiT7htEM
+92jnYbcyG1ZA7wHZGb6cyHI/W35frRahZ9CL9MEQyUpy9VINvoYrEQ==
+-----END RSA PRIVATE KEY-----
\ No newline at end of file

master/master.pub

+-----BEGIN PUBLIC KEY-----
+MIIBIjANBgkqhkiG9w0BAQEFAAOCAQ8AMIIBCgKCAQEAqF4MANhATt4HlrcjYccl
+5b0Si7VeqqXZ+98fTaFODFnd1qEeB5jti1shChOFaEPs0tfK5fVmMr+zkHYlP9Qq
+zXYtteLcFVJoxDWnQveg8Pb1mqXWVnZpMxRVaKSgNg9srOcnBJxwQ8uybB7ln+k2
+bG3VdAXip6RkFIBMJadfuGkoAvH1v05NS6kJVQylG9NHIx5Td9hU8ZqKjJhw3Qlx
+3MOVRxmGvOTUJx55mIMRMjTfY9CvPnYYY0T/rK3CWMT5wfwtPbMtv5KqpCdRuiKq
+Niil78sS6FJUADFkJ/hHpj4/KGwPIRHyO+g+frQ4TgI2gyeqV3REUROEzhmkJe/X
+XQIDAQAB
+-----END PUBLIC KEY-----
\ No newline at end of file

pillar/gstreamer.sls

+gstreamer:
+    {%- if grains['osrelease'] == '16.04' %}
+    version: "1.10"
+    {%- elif grains['osrelease'] == '18.04' %}
+    version: "1.14"
+    {%- endif %}

pillar/receiver.sls

+video:
+    role: receiver

pillar/sender.sls

+video:
+    role: sender

pillar/top.sls

+base:
+    '*':
+        - gstreamer
+    'rna-01':
+        - sender
+    'rna-02':
+        - receiver
+    'rna-03':
+        - sender
+    'rna-04':
+        - sender
+    'rna-05':
+        - sender
+    'rna-06':
+        - sender
+    'rna-07':
+        - sender

provision.sh

 #!/bin/bash
 
+# Divert
+dpkg-divert --local --rename --add /sbin/initctl
+ln -sf /bin/true sbin/initctl
+
+# Packages
+wget -O - https://repo.saltstack.com/apt/debian/9/amd64/latest/SALTSTACK-GPG-KEY.pub | sudo apt-key add -
+echo "deb http://repo.saltstack.com/apt/debian/8/armhf/latest jessie main" > /etc/apt/sources.list.d/saltstack.list
 apt-get update
-apt-get install -y htop tmux vim
+apt-get install -y salt-minion
+
+# Salt Provision
+salt-call -l warning --local state.highstate
+
+# Undo Divert
+dpkg-divert --local --rename --remove /sbin/initctl
+rm /sbin/initctl

salt/apps/deploy.sls

+include:
+    - prrt.dependencies
+    - apps

RNA-Apps @ bb3aaed2

+Subproject commit bb3aaed240bcac33643fa36c750f8c9bf215d508

salt/apps/files/control_demo.sh

+#!/bin/bash
+
+rounds=180
+
+killall python3
+
+if [ "$1" != "plant" ] && [ "$1" != "controller" ]; then
+    echo "Usage: control_demo.sh [mode]"
+    echo "    mode = plant, controller"
+    exit;
+fi
+
+while true; do
+    if [[ $1 == "controller" ]]; then
+        python3 /opt/rna/apps/sine.py ctrl -t 10.8.0.102 -c udp -r $rounds &
+        python3 /opt/rna/apps/sine.py ctrl -t 10.8.0.102 -c prrt -r $rounds &
+        wait
+        sleep 1;
+    fi
+    if [[ $1 == "plant" ]]; then
+        tmux new-session -d "python3 /opt/rna/apps/sine.py plant -t 10.8.0.102 -c prrt -r $rounds"
+        tmux split-window -h "python3 /opt/rna/apps/sine.py plant -t 10.8.0.102 -c udp -r $rounds"
+        tmux -2 attach-session -d
+    fi
+    sleep 1;
+done

salt/apps/init.sls

+rna_apps:
+    file.recurse:
+        - name: /opt/rna/apps
+        - source: salt://apps/files/RNA-Apps
+        - user: rna
+        - group: rna
+        - file_mode: keep
+
+dependencies:
+    cmd.run:
+        - name: pip3 install drawille
+
+demo_script:
+    file.managed:
+        - name: /home/rna/control_demo.sh
+        - source: salt://apps/files/control_demo.sh
+        - user: rna
+        - group: rna
+        - file_mode: keep
+
+prrt_build_ext:
+    cmd.run:
+        - name: python setup.py install && python3 setup.py install
+        - cwd: /opt/rna/apps/PRRT
+        - require:
+            - pip: pip_modules

salt/bbr/files/99-bbr.conf

+net.core.default_qdisc=fq
+net.ipv4.tcp_congestion_control=bbr

salt/bbr/init.sls

+enable_bbr:
+    file.managed:
+        - name: /etc/sysctl.d/99-bbr.conf
+        - source: salt://bbr/files/99-bbr.conf

Adafruit-Motor-HAT-Python-Library @ f9e7c259

+Subproject commit f9e7c2592c5c720207b4e5040eb28e1628b48f49

salt/car/files/MotorControl.py

+
+from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor
+
+import time
+import atexit
+
+# create a default object, no changes to I2C address or frequency
+mh = Adafruit_MotorHAT(addr=0x60)
+
+# recommended for auto-disabling motors on shutdown!
+def turnOffMotors():
+    mh.getMotor(1).run(Adafruit_MotorHAT.RELEASE)
+    mh.getMotor(2).run(Adafruit_MotorHAT.RELEASE)
+    mh.getMotor(3).run(Adafruit_MotorHAT.RELEASE)
+    mh.getMotor(4).run(Adafruit_MotorHAT.RELEASE)
+
+atexit.register(turnOffMotors)
+
+def _speedToDirection(speed):
+    if speed > 0:
+        return Adafruit_MotorHAT.FORWARD
+    elif speed < 0:
+        return Adafruit_MotorHAT.BACKWARD
+    else:
+        return Adafruit_MotorHAT.RELEASE
+
+def setSpeed(left, right):
+    right = int(right * 1.1)
+
+    mh.getMotor(1).run(_speedToDirection(left))
+    mh.getMotor(2).run(_speedToDirection(left))
+    mh.getMotor(3).run(_speedToDirection(right))
+    mh.getMotor(4).run(_speedToDirection(right))
+    mh.getMotor(1).setSpeed(abs(left))
+    mh.getMotor(2).setSpeed(abs(left))
+    mh.getMotor(3).setSpeed(abs(right))
+    mh.getMotor(4).setSpeed(abs(right))
+
+if __name__ == "__main__":
+    X  = 255
+    Y  = 4
+
+    while True:
+        print("right")
+        setSpeed(X/Y, X)
+        time.sleep(1)
+        print("stop")
+        setSpeed(0, 0)
+        time.sleep(1)
+        print("left")
+        setSpeed(-X/Y, 0-X)
+        time.sleep(1)
+
+    #    #print("right")
+    #    #setSpeed(50,100)
+    #    #time.sleep(0.5)
+    #    #setSpeed(100,200)
+    #    #time.sleep(0.5)
+    #    #setSpeed(50,100)
+    #    #time.sleep(1)
+    #    #print("left")
+    #    #setSpeed(100,50)
+    #    #time.sleep(1)
+    #    #setSpeed(200,100)
+    #    #time.sleep(1)
+    #    #setSpeed(100,50)
+    #    #time.sleep(1)
+    #    setSpeed(100,120)
+    #    time.sleep(0.1)
+    #    setSpeed(100,140)
+    #    time.sleep(0.1)
+    #    setSpeed(100,160)
+    #    time.sleep(0.1)
+    #    setSpeed(100,180)
+    #    time.sleep(0.1)
+    #    setSpeed(100,200)
+    #    time.sleep(0.1)
+    #    setSpeed(100,180)
+    #    time.sleep(0.1)
+    #    setSpeed(100,160)
+    #    time.sleep(0.1)
+    #    setSpeed(100,140)
+    #    time.sleep(0.1)
+    #    setSpeed(100,120)
+    #    time.sleep(0.1)

salt/car/files/actor.py

+import prrt
+import pickle
+from MotorControl import *
+
+socket = prrt.PrrtSocket(7000, isSender=False)
+while True:
+    u = socket.receive_asap_wait()
+    u_v = pickle.loads(u)
+    left = u_v[0]
+    right = u_v[1]
+    setSpeed(int(left), int(right))

salt/car/files/linefollow/controller.py

+import gi
+
+gi.require_version("Gst", "1.0")
+from gi.repository import Gst, GObject
+import cv2
+import numpy as np
+import logging
+import prrt
+import pickle
+from controller.lineDetect import *
+