どうしてもPerlでドローンを飛ばしたい人のためのハードウェアハック概論

マコピー a.k.a mackee_w
面白法人カヤック

YAPC::Asia 2015
2015-08-21 #yapcasiaC

1. Ͳ͏ͯ͠΋PerlͰ υϩʔϯΛ ඈ͹͍ͨ͠ ਓͷͨΊͷϋʔυ΢Σ ΞϋοΫ֓࿦ Ϛίϐʔ a.k.a mackee_w ໘ന๏ਓΧϠοΫ YAPC::Asia 2015
 2015-08-21 #yapcasiaC
2. ͜Μʹͪ͸
3. @mackee_w a.k.a Ϛίϐʔ
 ໘ന๏ਓΧϠοΫ ࢓ࣄ ιʔγϟϧήʔϜͷ αʔόαΠυΤϯδχΞ
 ӡ༻&։ൃ ओʹPerlͱGolang
4. PR
5. 1िؒલʹϦϦʔε͠·ͨ͠ PR
6. ࿩୊ʹग़͔ͨ͠Βʹ͸ ͪΐͬͱຊ୊ʹͭͳ͍͛ͯ͘ ΜͰ͚͢ΕͲ
7. Pocket Footballer(PSGI) yellowpages (Go)
8. ෳ਺ͷΞʔΩςΫνϟͰ ໾ׂΛ෼୲ͯ͠ Ұͭͷ໨తΛୡ੒͢Δ
9. ϋʔυ΢ΣΞʹ΋ಉ͡Α͏ͳ ͜ͱ ద༻Ͱ͖ͳ͍͔ͱ͍͏࿩Λ͠ ·͢
10. Agenda (લ൒ઓ) • ങͬͨΫΞουίϓλʔΛ֎෦͔Βૢ࡞͢Δ • ిؾతհೖ • ͦΕͰ΋μϝͳΒྫ͑͹෺ཧͰ཈͑͜Ή • ΈΜͳେ޷͖ి೾ͷ࿩ • ৐ͬऔΔͷ͕μϝͳΒج൘͝ͱೖΕସ͑Δ
11. • ങͬͨΫΞουίϓλʔΛ֎෦͔Βૢ࡞͢Δ • ిؾతհೖ • ͦΕͰ΋μϝͳΒྫ͑͹෺ཧͰ཈͑͜Ή • ΈΜͳେ޷͖ి೾ͷ࿩ • ৐ͬऔΔͷ͕μϝͳΒج൘͝ͱೖΕସ͑Δ Agenda (લ൒ઓ)
12. ͕࣌ؒ༨ͬͨΒΞΠσΟΞϨ ϕϧͰ͕͢ ×ͷ෦෼Λ࿩ͦ͏͔ͱ
13. Agenda (ޙ൒ઓ) • ͕Μ͹ͬͯΫΞουίϓλʔΛ࡞Δ • ΫΞουίϓλʔͷߏ੒ཁૉ • AmazonͰύʔπΛങ͍ͬͯ͘ • PerlͰૢ࡞ͯ͠ΈΔ
14. ͬͪ͜͸ͳΜͱ͔ͳͬͨ ͷͰָ͓͠Έʹ
15. ങ͖ͬͯͨυϩʔϯΛ ૢ࡞͢Δ
16. τΠϔϦ(ʙ̎ສԁ)
17. Parrotͷυϩʔϯ(3ສԁʙ)
18. DJI Phantom(10ສԁʙ)
19. Ready To Fly • ϓϩϙ(ૹ৴ػ)ͱຊମ͕ηοτͰೖ͍ͬͯΔౕ • ϖΞϦϯάࡁΈ ௐ੔ࡁΈ • ໨తͱͯ͠͸ۭࡱ or ඈߦ
20. ిؾతհೖ
21. DJI Phantom • ͜Μͳײ͡ͷίϯτϩʔϥ͕ೖ͍ͬͯΔ
22. DJI Phantom • ͜Μͳײ͡ͷίϯτϩʔϥ͕ೖ͍ͬͯΔ →Ϟʔλʔ ϓϩϙˠ
23. NAZAͱ͍͏ίϯτϩʔϥ • த਎Ͳ͏ͳ͍ͬͯΔͷ͔ෆ໌ • WindowsͰPID஋Λ͍͡Διϑτ͕͋Δ͚Ε Ͳɺϓϩτίϧͱ͔Θ͔Βͳ͍ • ϋοΫ͢Δޱ͸ͳ͍ͷͰ͸ɾɾɾɾʁ
24. ϒϥοΫϘοΫεతʹ ϋοΫ͍ͯ͘͠
25. ϓϩϙͷग़͢৴߸ • ݹ͖ྑ͖αʔϘ1ຊʹ͖ͭ1ຊͷέʔϒϧΛ࢖ ͏৴߸ = PWM (Pulse Width Modulation) • ύϧε෯੍ޚ • 0ͱ1ͷ࣌ؒͷ௕͞Ͱ஋ΛܾΊΔ
26. ೾ܗΛݟͯΈΔ
27. ೾ܗΛݟͯΈΔ ͜͜ͷ෯͕஋
28. ϋʔυ΢ΣΞߏ੒
29. ϋʔυ΢ΣΞߏ੒ Firmata (UART) PWM
30. ೖΔ͔ͳʔೖΔ͔ͳʔ
31. RaspberryPi͕ͬ͢ΆΓऩ·Δ
32. Firmata • ArduinoΈ͍ͨͳϚΠίϯͱPCؒͷ௨৴ϓϩτί ϧ UART(Serial)Λ༻͍Δͷ͕جຊ • MIDIϕʔε • ArduinoIDEͷඪ४ϥΠϒϥϦͰ࢖͏͜ͱ͕ग़དྷΔ • PerlͩͱDevice::Firmata͕CPANʹ͋Δ
33. ArduinoͰͷPWMग़ྗ • analogWriteͱ͍͏ͷ͕͋Δ͕͜Ε͸ແࢹ(0-255 ·Ͱͷ஋͔͠औΕͳ͍ɻͦͷ͏ͪ࢖͑Δͷ͸͘͝ Θ͔ͣͰਫ਼౓͕ѱ͍) • Arduinoʹ͸αʔϘϞʔλͷϥΠϒϥϦ͕͋Δͷ ͰͦΕΛ࢖͏ɻus୯ҐͰॻ͖ࠐΊΔ • ϓϩϙ৴߸͸௨ৗ1000us - 2000usͷؒΛऔΔ
34. RaspberryPiଆͷϓϩάϥϜ • OpenCVΛ૊Έ߹ΘͤΔؔ܎্ɺ࣮੷ͷ͋Δ PythonΛ࢖༻ • pyfirmataͰarduinoͱ௨৴͢ΔϓϩηεͱOpenCV ΍֎෦API͔Βͷૢ࡞Λड͚෇͚ΔϓϩηεΛ෼཭ • ͜ͷؒΛੜιέοτ௨৴ͷςΩετϓϩτίϧͰ΍ ΓͱΓ͢ΔΑ͏ʹͨ͠
35. ϘʔυΛ҆શʹ࡞Δ • Phantomͷͱ͖͸հೖ͢ΔϘʔυ͕ڰ͏ͱͲ͔ͬඈΜ Ͱ͍ͬͯ͠·͏ͷͰɺ੾Γସ͑Λඪ४ICΛ࢖ͬͨσΟ εΫϦʔτͷճ࿏Ͱߦ͍ͬͯͨ • 2chϚϧνϓϨΫαICΛԿݸ͔૊Έ߹Θͤͯ࢖͏PWM ΛεΠον • հೖϘʔυ͕ނোͯ͠΋ϓϧΞοϓ఍߅Ͱ͋Δఔ౓ͷ έʔε͸खಈଆʹ੾ΓସΘΔΑ͏ʹ͍ͯͨ͠
36. ICͷதͷճ࿏͕༨ͬͨͷͰ • ࢖ͬͨIC͸4053Ͱɺ2chϚϧνϓϨΫα͕3ݸ ೖ͍ͬͯͯɺϓϩϙ৴߸4ͭΛ੾Γସ͑Δʹ͸ 2ͭඞཁ • ͔ͦ͠͠ͷ৔߹2ݸ෼ͷճ࿏͕༨Δ
37. ICͷதͷճ࿏͕༨ͬͨͷͰ • ͪͳΈʹհೖճ࿏͸पลػثͷIO͕଍Γͳͯ͘2 ͭ෼ͷArduinoΛࠞࡌ͍ͯͨ͠ • Arduinoͷॻ͖ࠐΈʹ͸UARTΛ࢖͏ • ιϑτ΢ΣΞͰॻ͖ࠐΈઌͷArduinoΛεΠον ͯ͠ܨ͗ม͑ͣʹεέονΛॻ͖ࠐΉΑ͏ʹͨ͠
38. લ൒ઓऴྃ
39. Agenda (ޙ൒ઓ) • ͕Μ͹ͬͯΫΞουίϓλʔΛ࡞Δ • ΫΞουίϓλʔͷߏ੒ཁૉ • AmazonͰύʔπΛങ͍ͬͯ͘ • PerlͰૢ࡞ͯ͠ΈΔ
40. ͕Μ͹ͬͯ ΫΞουίϓλʔΛ࡞Δ
41. ͷલʹɺΫΞουίϓλʔ͸ ԿނඈͿͷ͔ʁ
42. ࣮͸ͦΕͧΕճసํ޲͕ҧ͏
43. ࣮ࡍʹճͯ͠Έͯ ԻͰฉ͍ͯΈΔ
44. ΫΞουίϓλʔͷߏ੒ཁૉ ϑϨʔϜ
45. ΫΞουίϓλʔͷߏ੒ཁૉ ϒϥγϨεϞʔλʔ
46. ΫΞουίϓλʔͷߏ੒ཁૉ ESC(Ξϯϓ)
47. ΫΞουίϓλʔͷߏ੒ཁૉ ίϯτϩʔϥʔ
48. MultiWii • Arduino + WiiϦϞίϯͷ9࣠ηϯαΛ ࢖ͬͨΦʔϓϯιʔεϓϩδΣΫτ • ΦʔϓϯιʔεͳͷͰNAZAͱҧͬͯ த਎ΛݟΔ͜ͱ͕ग़དྷΔ
49. MultiWii
50. ΫΞουίϓλʔͷߏ੒ཁૉ όοςϦʔ
51. ΫΞουίϓλʔͷߏ੒ཁૉ ϓϩϙͱड৴ػ
52. ͜ΕΒΛਖ਼ͭ͘͠ͳ͙ͱඈͿʂ
53. ϑϨʔϜ
54. ഑ઢ
55. ग़དྷͨͷ͕ίνϥͰ͢
56. ඈ͹ͯ͠ΈΔ
57. ্ख͘ඈ͹ͳ͍࣌͸ • ΊͪΌͪ͘Όૢॎ͕೉͍͠ • খܕͷػମͳͷͰϑΟʔυόοΫ੍ޚΛڧΊ ʹೖΕͯ΍Δඞཁ͕͋Δ • MultiWii͸GUI/CUI͔ΒPID஋Λ͍͡Δ͜ͱ͕ ग़དྷΔ -> DΛߴΊʹͯ҆͠ఆ
58. MultiWiiͷνϡʔχϯά MultiWiiConf
59. MultiWiiͷνϡʔχϯά https://github.com/c---/MultiWiiCL
60. ͦͯ͜͠͏ͳΔ
61. Perl͔Βඈ͹ͯ͠ΈΔ
62. MultiWii Serial Protocol • MultiWiiͱ͍͏ϓϩδΣΫτͷίϯτϩʔϥΛ ࢖͓ͬͯΓɺத਎͸Φʔϓϯιʔε • UARTͰίϚϯυܦ༝Ͱͷૢ࡞΋Մೳ(PID஋Λ GUI͔Β͍͡ΔϓϩάϥϜ͸͜ΕΛ࢖͍ͬͯΔ) • ͔ͤͬ͘ͳͷͰϞδϡʔϧΛ࡞ͬͨ
63. Device::MultiWii Protocol::MultiWii
64. ͜Μͳײ͡ use Device::MultiWii; my $port = "/dev/tty.usbserial"; my $mw = Device::MultiWii->new(port => $port); is exception { $mw->open }, undef; my $ident = $mw->fetch_ident; cmp_deeply $ident, { version => 230, multitype => 3, capability => ignore(), };
65. ͜Μͳײ͡ my $rc = $mw->fetch_rc; cmp_deeply $rc, { yaw => 1500, pitch => 1500, roll => 1500, throttole => 1500, auxs => ignore(), }; $rc->{yaw} = 1400; ok $mw->set_raw_rc(%$rc); $refetched_rc = $mw->fetch_rc; cmp_deeply $refetched_rc, { yaw => 1400, pitch => 1500, roll => 1500, throttole => 1500, auxs => ignore(), };
66. ໰୊఺ ৗʹૹΓଓ͚ͳ͍ͱ ϓϩϙ৴߸Ͱ্ॻ͖͞ΕΔ
67. MSPʹΑΔRC্ॻ͖ͷ࢓૊Έ MSP(UART) PWM
68. MSPʹΑΔRC্ॻ͖ͷ࢓૊Έ 1. MSPͰRC্ॻ͖
69. MSPʹΑΔRC্ॻ͖ͷ࢓૊Έ 1. MSPͰRC্ॻ͖ 2. Χ΢ϯλ͕50ʹηοτ͞Εͯ ͦͷؒ͸্ॻ͖
70. MSPʹΑΔRC্ॻ͖ͷ࢓૊Έ 1. MSPͰRC্ॻ͖ 2. Χ΢ϯλ͕50ʹηοτ͞Εͯ ͦͷؒ͸্ॻ͖ ←͜ͷΧ΢ϯλ͕ ҰॠͰ0ʹͳΔʂʂʂ
71. MSPʹΑΔRC্ॻ͖ͷ࢓૊Έ 1. MSPͰRC্ॻ͖ 2. Χ΢ϯλ͕50ʹηοτ͞Εͯ ͦͷؒ͸্ॻ͖ ←͜ͷΧ΢ϯλ͕ ҰॠͰ0ʹͳΔʂʂʂ 3. ͬͪ͜ͷ৴߸Ͱ ্ॻ͖͞ΕΔ
72. ֘౰෦෼ͷίʔυ if (chan<8 && rcSerialCount > 0) { rcSerialCount --; #if defined(FAILSAFE) failsafeCnt = 0; #endif if (rcSerial[chan] >900) { rcData[chan] = rcSerial[chan]; } }
73. ͜͏ม͑ͨίʔυ if ( chan<8 && (rcData4Values[AUX1][rc4ValuesIndex] > 1800 || rcSerialCount > 0)) { rcSerialCount --; #if defined(FAILSAFE) failsafeCnt = 0; #endif if (rcSerial[chan] >900 && (chan == ROLL || chan == PITCH || chan == THROTTLE || chan == YAW)) { rcData[chan] = rcSerial[chan]; } }
74. AUXΛεΠονϯάʹ࢖͏ • εςΟοΫҎ֎ʹ͍Ζ ͍ΖεΠονͱ͔͍ͭ ͍ͯΔ͚ΕͲɺ͜Εͷ ஋΋ૹ৴Ͱ͖Δ -> AUX • ࠓճ͸ӈ্ͷεΠον ΛAUX1ʹׂΓ౰ͯͨ
75. ͯ͞Perl͔Β࢖͑ΔΑ͏ʹ ͳͬͨͷͰ
76. Q: Perl͕ಈ͘ೖख༰қͷதͰ ΋ͬͱ΋ϑοτϓϦϯτখ͞ ͍ίϯϐϡʔλ͸ʁ
77. Raspberry Pi
78. Raspberry Pi 85.60 mm × 56.5 mm
79. Raspberry Pi 85.60 mm × 56.5 mm
80. Intel Edison
81. Intel Edison 35.5mm × 25.0mm
82. Intel Edison + Breakout Board 61mm x 29mm
83. Intel Edison + Breakout Board 61mm x 29mm
84. Intel Edison • 500MHz Atom σϡΞϧίΞ (x86ͩʂʂʂʂ) • ϔϦ੎ͱͯ͠͸7V - 15Vͷిݯ͕৯͑ΔͷͰ3 ηϧLiPo12V͕ͦͷ··৯͑Δͷ͕͏Ε͍͠ • RasPiʹ͍͍ͭͯͳ͍WiFi ͱ BT ͕͋Δ
85. Intel Edison meets MultiWii • Edison͸UARTΛ2ܥ౷͍࣋ͬͯΔ͕Ϩϕϧม׵͕ ඞཁ(1.8V IO)ͳͷͰOTGέʔϒϧͰUSB-UARTม ׵Λհͯ͠઀ଓɻϋϯμ෇͚ෆཁͩʂ • Breakout boardఈ໘ʹ2.54mmϐονͷϗʔϧ͕ ۭ͍͍ͯΔ͕͜ͷ഑ஔͩͱϒϨουϘʔυʹͤ͞ ͳ͍ͷͰळ݄ిࢠͷม׵Ϙʔυ͕࣮ݧ༻ʹ͸͓͢ ͢ΊͰ͢
86. ىಈͯ͠ΈΔ (ةͳ͍ͷͰӋͳ͠Ͱ͢)
87. EdisonʹೖΕͨ΋ͷ • plenv (System PerlͷίΞϞδϡʔϧ͕ශ૬Ͱ opkgͰಥͬࠐΈ·͘Βͳ͍ͱ͍͚ͳ͍) • mackerel-agent(ωλ࿮ɻόοςϦʔిѹͱ͔ ߴ౓ͱ͔ܭଌͰ͖ͨΒ౤͛ͯ΋͍͍͔΋)
88. Slack௨஌ೖΕ͍ͯΔͷͰ ى͖Δ·Ͱ଴ͬͯΈ·͢
89. جຊCRITICALͰىಈͨ࣌͠ʹ OKʹͳΔײ͡Ͱ෺૽
90. Perl͔Βૢ࡞͢Δ͚ͩͰ͸෺ ଍Γͳ͍ͷͰ ͪ͜ΒΛPerlͰಡΈ·͢
91. LeapMotion
92. LeapMotion • Ұ࣌ظ࿩Λฉ͔ͳ͘ͳΓ·͕ͨ͠ɺࠓͰ͸ OculusͳͲͷVRϔουηοτʹ෇͚ͯࣗ෼ͷ खΛVRʹු͔͹ͤΔ༻్Ͱ෮ݖ͖͍ͯͯ͠Δ • ࠷ۙਫ਼౓্͕͕ͬͨΒ͍͠(͍ͭ࠷ۙങͬͨͷ ͰΑ͘Θ͔Βͳ͍Ͱ͕͢……)
93. LeapMotion x QuadCopter • WebSocketͰܨ͛ΒΕΔͷͰPerl͔ΒͰ΋৘ ใΛऔΔ͜ͱ͕ग़དྷΔ • ͜͜Ͱ͸AnyEvent::LeapMotionΛ࢖͏ • ϓϩϙ͡Όͳͯ͘खͷͻΒ͚ͩͰු͔ͤͯΈ Δ
94. σϞ
95. ݁ߏݫ͍͠ɾɾɾ
97. 1. खͷ܏͖ΛऔΔ
98. 1. खͷ܏͖ΛऔΔ 2. Edisonʹཱ͍ͬͯΔPSGIʹ ϦΫΤετΛ౤͛Δ
99. 1. खͷ܏͖ΛऔΔ 2. Edisonʹཱ͍ͬͯΔPSGIʹ ϦΫΤετΛ౤͛Δ 3. PSGIͷதͰDevice::MultiWiiʹ ॻ͖ࠐΈ
100. 1. खͷ܏͖ΛऔΔ 2. Edisonʹཱ͍ͬͯΔPSGIʹ ϦΫΤετΛ౤͛Δ 3. PSGIͷதͰDevice::MultiWiiʹ ॻ͖ࠐΈ 4. ΪϡΠϯΪϡΠʔϯʂ
101. ·ͱΊ • ϋʔυ΢ΣΞϋοΫʹ͸༷ʑͳํ๏͕͋Δ͕ɺ ΍͸Γத਎͕෼͔͍ͬͯΔ΋ͷΛ৐ͬऔΔͷ ͕Ұ൪༰қ͍ • υϩʔϯ͸࡞ΕΔɹΈΜͳ࡞Ζ͏ • Perl͔Βૢ࡞Ͱ͖Ε͹͍ΖΜͳ͍͍͜ͱ΍ѱ͍ ͜ͱ͕ग़དྷָ͍ͯ͠Ͷʂ
102. ϙέοτϑοτϘʔϥʔͰݕࡧ PR
103. ڈ೥ͷҾ͖ଓ͖શһਓࣄ෦
104. ͋Γ͕ͱ͏͍͟͝·ͨ͠
105. ී௨ͷϔϦͷ࢓૊Έ
106. ΫΞουίϓλʔͷ৔߹ • ্ঢԼ߱ • શମͷճస਺ͷ্͛Լ͛ • ԣͷҠಈ(ϩʔϧ) • ࠨӈͷճస਺Ͱ܏͔ͤΔ • લޙͷҠಈ(ϐον) • લޙͷճస਺Ͱ܏͔ͤΔ
107. ΊͪΌͪ͘Ό؆୯ͩʂ
108. ϔϦͷ৔߹ • ্ঢɺԼ߱ • ڧ͍ऑ͍ ← Θ͔Δ • લޙࠨӈ • ʁʁʁʁʁʁʁʁ
109. ϔϦͷϩʔλʔͷ෇͚ࠜΛ Α͘ݟͯΈΑ͏ʂ
110. ϔϦͷϩʔλʔͷ෇͚ࠜΛ Α͘ݟͯΈΑ͏ʂ
111. εϫογϡϓϨʔτ • ϩʔλʔͷ֯౓͸ճస͢Δ͏ͪʹՄม͢Δ • લʹਐΈ͍ͨ࣌͸ޙΖͷͱ͖ʹཱͯͯલʹདྷ ͨ࣌͸৸͔ͤΔ -> ػମ͕܏͘ • εϫογϡϓϨʔτͳΔ෦඼Ͱʮ͜ͷ֯౓ͷ དྷͨ࣌͸৸͔ͤΔɺཱͨͤΔʯΈ͍ͨͳͷΛ ܾΊ͍ͯΔ
112. ↑͔͜͜Β্͕ճΔ
113. ܏͔ͤΔͱΞʔϜͱ ϦϯΫػߏͰ Ӌ͕৸Δ/ཱͭ
114. ΊͬͪΌෳࡶʂ Ͱ΋ඒ͍͠ʂʂʂ