Software for mushroom growing system using gantry robot. The system is running on any Linux controller exposing at least 5 gpios for stepper motors and 1 gpio for watering motor. Additionally, a camera interface is needed to connect to the camera.

The software is developed using the Rust programming language. Toolchains needed to build including:

• Rust toolchain installed via rustup(https://rustup.rs/)
• C toolchain for the host or cross toolchain for cross compile (gcc/clang)

Build: cargo build --release [--target=<target machine>]

Run: executable located in ./target/release/agrvision for native build or in ./target/<target machine>/release/agrvision for cross build.

Run: ./target/release/agrivision --help

The software require config file to run. To create sample config file:

./agrivision --template > config.toml

• In the config file edit the chip and line attritures for the gpio with chip is the gpio bus in the Linux system and line is the gpio number in the bus. Example, CP2112 USP to SMBus ic support 8 gpio that can be used in the Linux system natively. After connect the CP2112 to the machine, the kernel recognize it and expose an gpio chip in /dev/gpiochipX (X is newly added entry). Use this chip value and line from 0 to 7 to fill in the config file.
  For test system without gpio chip connected, use value stub for chip attribute to make it work without the robot.

• Like the gpio chip, a camera or webcam connected to the Linux system is exposing its interface in /dev/videoX, use this value to configure the video source.

• Addition component is needed to modified is the computer vision model in [detector.yolo_v8] entry.

• Create a file for sqlite database using command touch data.db then set a environment variable DATABASE_URL as sqlite://<path to data.db>,

• Run with command ./agrivition --config-file config.toml