Bcarserver

Boskicar Server - A Spring Boot application for controlling a Raspberry Pi-based car with GPIO controls.

Features

• RESTful API for car control (forward, backward, steering)
• Joystick and throttle control
• GPIO integration with Raspberry Pi (lights, fans, motors)
• PWM control via pi-blaster
• Steering wheel calibration
• UDP message handling
• System control (shutdown, reboot, deploy)

Requirements

• Java 21
• Maven 3.9+
• Docker (optional, for containerized deployment)
• Raspberry Pi with GPIO support (for hardware features)

Building

Using Maven

mvn clean package

Using Docker

docker build -t bcarserver .

Running

Locally

java -jar target/bcarserver-1.2.0-RELEASE.jar

With Docker

docker run -p 3333:3333 \
  -e SERVER_PORT=3333 \
  --privileged \
  bcarserver

Note: The --privileged flag is required for GPIO access on Raspberry Pi.

Configuration

Environment variables:

• SERVER_PORT: Server port (default: 3333)

API Endpoints

Movement Control

• POST /forward/{speed} - Move forward (speed: 0-100)
• POST /backward/{speed} - Move backward (speed: 0-100)
• POST /stop - Stop all movement
• POST /joystick/{angle}/{strength} - Joystick control (angle: 0-360, strength: 0-100)
• POST /throttle/{fbOrderSpeed}/{lrStrength} - Throttle control
• POST /steeringwheel/{angle} - Set steering wheel angle (0-180)

System Control

• POST /lights/{status} - Control lights (ON/OFF)
• POST /fans/{status} - Control fans (ON/OFF)
• POST /mobilecontrol/{status} - Enable/disable mobile control (ON/OFF)
• POST /enginecontrol/{status} - Enable/disable engine control (ON/OFF)
• POST /steeringwheelcontrol/{status} - Enable/disable steering wheel control (ON/OFF)
• POST /throttlecontrol/{status} - Enable/disable throttle control (ON/OFF)

Status & Maintenance

• GET /status/{complete} - Get system status (complete: true/false)
• GET /logs - Retrieve application logs
• POST /calibrate/steeringwheel - Calibrate steering wheel
• POST /shutdown - Shutdown system
• POST /reboot - Reboot system
• POST /deploy - Deploy new JAR file

Testing

Run tests with:

mvn test

Tests include:

• Context loading verification
• API endpoint integration tests
• GPIO null-safety checks (for non-hardware environments)

Hardware Setup

This application is designed to run on a Raspberry Pi with:

• GPIO pins for relay control
• ADS1015 ADC for analog input (steering wheel position sensor)
• pi-blaster for PWM control
• I2C bus for sensor communication

Development

The application uses:

• Spring Boot 2.7.18
• Spring Integration for UDP messaging
• Pi4J for GPIO control
• Scheduled tasks for order processing (150ms intervals)

License

This project is licensed under the MIT License - see the LICENSE file for details.

Service Installation

For systemd service installation on Raspberry Pi, see scripts/boskicar.service.

Photos

Boskicar first test :).