Setup_PiOS_upgrade_bookworm.txt

# Headless Setup 64-bit PiOS Bullseye then upgrade to Bookworm


As Of: 8 OCT 2023

** Get Latest Raspberry Pi Imager (will list latest OS options) **
https://www.raspberrypi.com/software/

**Check for latest PiOS:**
  - [u]https://www.raspberrypi.com/software/operating-systems/[/u]
  
**Check for latest GoPiGo3 Software:**
  - Check last commit date at [u]https://github.com/DexterInd/GoPiGo3[/u]
  - Check last commit date at [u]https://github.com/DexterInd/DI_Sensors[/u]

**Write Latest 64-bit PiOS to SDcard with Raspberry Pi Imager**
  - Choose OS -> Other OS -> 64-bit Pi OS Desktop
  - Preconfigure WiFi SSID/PW, user, pw, locale, in Imager

=== disable ipv6

Browse the disk (boot)  
Rt Click on System Volume Information->Open Terminal Here  
cd ..  

nano cmdline.txt  
add to end of line/file:  
ipv6.disable=1  
save, exit editor  



**First SSH:**
 - ssh pi@X.X.X.X  
   - (If needed:  ssh-keygen -R X.X.X.X  , then try ssh again)
   - pw: your password
- To stop incessant message:
```
$ sudo mv /usr/share/piwiz/srprompt.wav /usr/share/piwiz/srprompt.wav.bak
```




**Update OS** 
```
$ sudo apt update
$ sudo apt full-upgrade

$ sudo reboot
```

**=== Configure add VNC**
$ sudo raspi-config
- (You can exit menus by using Tab key, move to Finish, enter key)


- InterfaceOptions:Legacy PiCamera-> enable
- InterfaceOptions: VNC -> VNC Server?-> Yes
- InterfaceOptions: SPI -> yes
- InterfaceOptions: I2C -> yes

- DisplayOptions->VNC Resolution -> 1920x1080  

- SystemOptions:BootOptions:Desktop GUI, requiring user to login, Return

- Tab to Finish, reboot now? yes



** UPGRADE TO BOOKWORM

- mod /etc/apt/sources.list
deb http://deb.debian.org/debian bookworm main contrib non-free
deb http://security.debian.org/debian-security bookworm-security main contrib non-free
deb http://deb.debian.org/debian bookworm-updates main contrib non-free
#deb http://deb.debian.org/debian bullseye main contrib non-free
#deb http://security.debian.org/debian-security bullseye-security main contrib non-free
#deb http://deb.debian.org/debian bullseye-updates main contrib non-free

- sudo apt update
- sudo apt upgrade
   answered N to upgrade conf
- sudo apt dist-upgrade
  (answered Y to upgrade useradd)

- sudo apt autoremove  (to remove obsoleted pkgs)



**===Install GoPiGo3 software**
```
  $ git clone http://www.github.com/DexterInd/GoPiGo3.git /home/pi/Dexter/GoPiGo3 
  $ sudo curl -kL dexterindustries.com/update_tools | bash -s -- --system-wide --use-python3-exe-too --install-deb-debs --install-python-package
  $ sudo apt install -y --no-install-recommends python3-curtsies
  $ git clone https://github.com/DexterInd/DI_Sensors.git /home/pi/Dexter/DI_Sensors

# === pigpiod

wget https://github.com/joan2937/pigpio/archive/master.zip
unzip master.zip
cd pigpio-master
make
sudo make install
cd ..
rm master.zip

mkdir config
cd config
wget https://raw.githubusercontent.com/slowrunner/ROS2-GoPiGo3/main/utils/pigpiod.service
sudo cp pigpiod.service /etc/systemd/system
sudo systemctl enable pigpiod.service
sudo systemctl start pigpiod.service
systemctl status pigpiod.service

wget https://raw.githubusercontent.com/slowrunner/ROS2-GoPiGo3/main/utils/99-com.rules


# === setup RFR_Tools
sudo git clone https://github.com/DexterInd/RFR_Tools.git /home/pi/Dexter/lib/Dexter/RFR_Tools
sudo apt  install -y libffi-dev

cd /home/pi/Dexter/lib/Dexter//RFR_Tools/miscellaneous/

sudo nano di_i2c.py  -> comment out all RPI_1SW, wiringpi, class DI_I2C_RPI_SW

sudo python3 setup.py install


The GoPiGo3 depends on wiringpi , which has not been updated for the RP1 I/O controller of the Raspberry Pi 5 (and Bookworm). This is the major hurdle

== Details ==
I got Dexter_AutoDetection_and_I2C_Mutex-1.3.2-py3.11.egg built and installed.

GoPiGo3 depends on wiringpi which fails build/install:

Running wiringpi-2.60.1/setup.py -q bdist_egg --dist-dir /tmp/easy_install-qxc_o8le/wiringpi-2.60.1/egg-dist-tmp-9w9i89c3
/usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
.
.
File "/usr/lib/python3/dist-packages/setuptools/command/install_lib.py", line 17, in finalize_options
    self.set_undefined_options('install',('install_layout','install_layout'))
  File "/usr/lib/python3/dist-packages/setuptools/_distutils/cmd.py", line 296, in set_undefined_options
    setattr(self, dst_option, getattr(src_cmd_obj, src_option))
                              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/setuptools/_distutils/cmd.py", line 107, in __getattr__
    raise AttributeError(attr)
AttributeError: install_layout. Did you mean: 'install_platlib'?


=== also depends on smbus-cffi

pip install smbus-cffi --break-system-packages

sudo nano setup.py  

        install_requires=[ 'pyserial', 'python-periphery'],
)
#       install_requires=['smbus-cffi', 'pyserial', 'python-periphery', 'wiringpi'],


# ==== GPG3_POWER SERVICE ===
cd ~
sudo cp /home/pi/Dexter/GoPiGo3/Install/gpg3_power.service /etc/systemd/system
sudo chmod 644 /etc/systemd/system/gpg3_power.service
sudo systemctl daemon-reload
sudo systemctl enable gpg3_power.service
sudo systemctl start gpg3_power.service
systemctl status gpg3_power.service



# ==== SETUP GoPiGo3 and DI_Sensors Python3 eggs

pip install spidev --break-system-packages



cd /home/pi/Dexter/GoPiGo3/Software/Python

nano setup.py
    install_requires = ['pigpio']
)
#    install_requires = ['spidev', 'pigpio']


sudo python3 setup.py install


cd /home/pi/Dexter/DI_Sensors/Python

sudo nano di_sensors/easy_distance_sensor.py

    #def __init__(self, port="I2C", use_mutex=False):
    # use hardware i2c for bookworm
    def __init__(self, port="RPI_1", use_mutex=False):

sudo nano di_sensors/distance_sensor.py

    #def __init__(self, bus = "RPI_1SW"):
    # Use hardware i2c for bookworm
    def __init__(self, bus = "RPI_1"):
        """
        Constructor for initializing a :py:class:`~di_sensors.distance_sensor.DistanceSensor` class.

        #:param str bus = "RPI_1SW": The bus to which the distance sensor is connected to. By default, it's set to bus ``"RPI_1SW"``. Check the :ref:`hardware specs <hardware-interface-section>` >
        # use RPI_1 hardware i2c for bookworm
        :param str bus = "RPI_1": The bus to which the distance sensor is connected to. By default, it's set to bus ``"RPI_1"``. Check the :ref:`hardware specs <hardware-interface-section>` for m>


sudo python3 setup.py install

# ==== Setup non-root access rules ====

sudo cp /home/pi/config/99-com.rules /etc/udev/rules.d

cp /home/pi/Dexter/GoPiGo3/Install/list_of_serial_numbers.pkl /home/pi/Dexter/.list_of_serial_numbers.pkl

# === ESPEAK-NG
sudo apt install -y espeak-ng
pip3 install py-espeak-ng --break-system-packages
espeak-ng "Am I alive? Can you hear me?"

# Install ffmpeg to allow ffplay to play tts from espeak-ng -w file 
# already installed:  sudo apt install -y ffmpeg



  $ sudo reboot
  (Note green pwr LED will be solid after this indicating gpg3_power.service is running)
  (Note red/green "yellow" WiFi LED means connected to WiFi)
```  
**Test GoPiGo3 Software Installation** 
```
  $ cd Dexter/GoPiGo3/Software/Examples
  $ ./Read_Info.py

pi@64BitPiOS:~/Dexter/GoPiGo3/Software/Python/Examples $ ./Read_Info.py 
Traceback (most recent call last):
  File "/home/pi/Dexter/GoPiGo3/Software/Python/Examples/./Read_Info.py", line 17, in <module>
    import gopigo3 # import the GoPiGo3 drivers
ModuleNotFoundError: No module named 'gopigo3'


```

python3 /home/pi/Dexter/GoPiGo3/Software/Python/Examples/LED.py  <<---- Works
python3 /home/pi/Dexter/GoPiGo3/Software/Python/Examples/Servo.py    <<---- WORKS!
python3 /home/pi/Dexter/GoPiGo3/Software/Python/Examples/Motor_Turn.py  <<--- WORKS oh wow...
python3 /home/pi/Dexter/GoPiGo3/Software/Python/Examples/easy_Distance_Sensor.py
python ~/Dexter/GoPiGo3/Software/Python/Examples/Grove_US2.py





  * check gpg3_config.json for ticks
```
  $ more ~/Dexter/gpg3_config.json
    * "Old GoPiGo3":
{"wheel-diameter": 66.5, "wheel-base-width": 117, "ticks": 6, "motor_gear_ratio": 120}
    * "New GoPiGo3":
{"wheel-diameter": 66.5, "wheel-base-width": 117, "ticks": 16, "motor_gear_ratio": 120}
```
* Continue with test effectors and sensors
```
  $ ./Motors.py
  $ ./Servo.py
  $ ./Grove_US2.py  (with Grove Ultrasonic Ranger in AD1 for time being)
  $ ./easy_Distance_Sensor.py 
  $ python3 ~/Dexter/DI_sensors/Python/Examples/IMUSensor.py 
  (Put IMU in AD1, move Grove US ranger to AD2 and 
    change Grove_US.py GPG.GROVE_1 to GPG.GROVE_2 two places)
```

**=== Configuring vncserver**
```
$ nano /home/pi/.vnc/config.d/vncserver-x11-virtual
```
add to file these two lines, save and exit (ctrl-x):
```
Authentication=VncAuth
Encryption=PreferOff
```
**Continuing:**
```
sudo cp .vnc/config.d/vncserver-x11-virtual /root/.vnc/config.d/vncserver-x11
sudo vncpasswd -service    (set the password you want for vnc logins)
sudo systemctl restart vncserver-x11-serviced.service
vncserver -kill :1
vncserver :1 -geometry 1920x1080 -depth 24 -Authentication VncAuth -Encryption PreferOff -SecurityTypes StandardUser
```
- Use "Mac splat-k" (Command-k) to bring up "Connect to Server" 
```
vnc://ip.ip.ip.ip     (no port), press enter
   enter vnc service password
```

**Pi will guide through setting up like a new user, just go with it**
- set timezone, 
- connect to WiFi, 
- set a password (I used pi user password set earlier), 
- skip the OS update, 
- Done

**=== Run Desktop "GoPiGo3 Control Panel"**
- asks what do you want to do? Click Execute
- Try all the buttons

**=== Run Desktop "GoPiGo3 Calibration"**
- Asks what to do: Execute
- For my bot at this speed: 66.5mm and 104.5mm WOW!! worked best
  - This must because it is at 300DPS. 
  - I usually run my bot at 150DPS so config closer to the physical 117mm
- Save and Exit
- Check that it saved: 
```
$ more ~/Dexter/gpg3_config.json
{"wheel-diameter": 66.5, "wheel-base-width": 104.5, "ticks": 16, "motor_gear_ratio": 120}
```

**=== Check File Space**
- $ df -h

**=== Check Memory**
- $ free -h


**=== Test Camera**
In an ssh terminal or terminal on the desktop:
```
$ cd ~/Dexter/GoPiGo3/Projects/RemoteCameraRobot
```
- BTW - Read the README at: [u]https://github.com/DexterInd/GoPiGo3/tree/master/Projects/RemoteCameraRobot[/u]
```
$ sudo pip3 install -r requirements.txt
$ python3 remote_robot.py
```
- Open a browser to http://<your bot's IP>:5000   (note: http **not** http[u]**s**[/u] )
- Hold down mouse button and drag it fwd to go forward, 
- try dragging right/left/back etc.

**=== SHUTTING DOWN**
```
$ sudo shutdown -h now
```
- NOW WATCH FOR THE GREEN LIGHT TO START BLINKING - (may take a minute or two)
- Turn power off, recharge battery