From f0646714bb4bc61d1abf8e3e6856110c244f241b Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Tue, 22 Mar 2016 11:27:02 -0700 Subject: [PATCH 001/256] Update readme for BR. --- README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/README.md b/README.md index bd9cbdb9..a5e5a0f6 100644 --- a/README.md +++ b/README.md @@ -1,5 +1,7 @@ # companion +This repository is the Blue Robotics version of the `diydrones/companion` repository. Currently, this repository only provides updated companion scripts for the Raspberry Pi Computer. + Companion computer startup scripts and examples. This repo is where you can contribute both feedback about (issues) and improvements to (PRs) ArduPilot companion computer support. From 4971e12d10be94cd04837388c8ae03f7d662b27d Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Tue, 22 Mar 2016 11:58:56 -0700 Subject: [PATCH 002/256] Change RPI for BR ArduSub project --- RPI2/Raspbian/setup.sh | 54 ++---------- .../Raspbian/start_mavproxy_telem_splitter.sh | 17 +++- RPI2/Raspbian/start_video.sh | 84 ++++++++++++++++++- 3 files changed, 102 insertions(+), 53 deletions(-) diff --git a/RPI2/Raspbian/setup.sh b/RPI2/Raspbian/setup.sh index 98d2ec01..00337899 100644 --- a/RPI2/Raspbian/setup.sh +++ b/RPI2/Raspbian/setup.sh @@ -1,63 +1,19 @@ #!/bin/bash -# RPi2 setup script for use as companion computer +# RPi2 setup script for use as companion computer. This script is simplified for use with +# the ArduSub code. # update RPI to latest versions sudo apt-get update sudo apt-get upgrade sudo rpi-update -# install python -sudo apt-get install python-dev -sudo easy_install python-pip +# install python and pip +sudo apt-get install python-pip # install dronekit sudo pip install dronekit dronekit-sitl # also installs pymavlink -#sudo apt-get install screen python-wxgtk2.8 python-matplotlib python-opencv python-pip python-numpy python-dev libxml2-dev libxslt-dev sudo pip install mavproxy # live video related packages -sudo apt-get install gstreamer1.0 - -# access point packages -sudo apt-get install hostapd isc-dhcp-server - -# opencv - see http://www.pyimagesearch.com/2015/10/26/how-to-install-opencv-3-on-raspbian-jessie/ -sudo apt-get install build-essential git cmake pkg-config -sudo apt-get install libjpeg-dev libtiff5-dev libjasper-dev libpng12-dev -sudo apt-get install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev -sudo apt-get install libxvidcore-dev libx264-dev -sudo apt-get install libgtk2.0-dev -sudo apt-get install libatlas-base-dev gfortran -sudo apt-get install python2.7-dev python3-dev -cd ~ -wget -O opencv.zip https://github.com/Itseez/opencv/archive/3.0.0.zip -unzip opencv.zip -wget -O opencv_contrib.zip https://github.com/Itseez/opencv_contrib/archive/3.0.0.zip -unzip opencv_contrib.zip -sudo pip install numpy -mkdir ~/opencv-3.0.0/build -cd ~/opencv-3.0.0/build -cmake -D CMAKE_BUILD_TYPE=RELEASE \ - -D CMAKE_INSTALL_PREFIX=/usr/local \ - -D INSTALL_C_EXAMPLES=ON \ - -D INSTALL_PYTHON_EXAMPLES=ON \ - -D OPENCV_EXTRA_MODULES_PATH=~/opencv_contrib-3.0.0/modules \ - -D BUILD_EXAMPLES=ON .. -make -j4 -sudo make install -sudo ldconfig - -# picamera (likely already included from opencv) -sudo pip install "picamera[array]" - -# cherrypy web server (used by red balloon finder) -sudo pip install cherrypy - -# install red balloon finder -sudo apt-get install screen -sudo apt-get install git -mkdir ~/GitHub -cd ~/GitHub -git clone https://github.com/diydrones/companion.git -git clone https://github.com/rmackay9/ardupilot-balloon-finder \ No newline at end of file +sudo apt-get install gstreamer1.0 \ No newline at end of file diff --git a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh b/RPI2/Raspbian/start_mavproxy_telem_splitter.sh index 1316373e..eba8d3f1 100755 --- a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh +++ b/RPI2/Raspbian/start_mavproxy_telem_splitter.sh @@ -1,2 +1,15 @@ -# this starts mavproxy so that the serial link to the companion computer (on /dev/ttyUSB0) is available to a companion computer and external GCSs via UDP -mavproxy.py --master /dev/ttyUSB0 --baud 921600 --out udpin:localhost:9000 --out udpbcast:192.168.42.255:14550 \ No newline at end of file +# this starts mavproxy so that the serial link to the companion computer (on /dev/ttyACM0) +# is available to a companion computer and external GCSs via UDP. This broadcasts so that +# multiple IP addresses can received the telemetry. + +# For PixHawk or other connected via USB on Raspberry Pi 2 +mavproxy.py --master /dev/ttyACM0 \ + --baud 115200 \ + --out udpin:localhost:9000 \ + --out udpbcast:169.254.255.255:14550 + +# For PixHawk or other connected via telem1 on Raspberry Pi 2 +# mavproxy.py --master /dev/ttyAMA0 \ +# --baud 57600 \ +# --out udpin:localhost:9000 \ +# --out udpbcast:169.254.255.255:14550 \ No newline at end of file diff --git a/RPI2/Raspbian/start_video.sh b/RPI2/Raspbian/start_video.sh index a7454e45..60b9d777 100755 --- a/RPI2/Raspbian/start_video.sh +++ b/RPI2/Raspbian/start_video.sh @@ -1,2 +1,82 @@ -#raspivid -n -w 1280 -h 720 -b 1000000 -fps 15 -t 0 -o - | gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! udpsink host= port=9000 -raspivid -n -w 640 -h 480 -b 500000 -fps 15 -t 0 -o - | gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! udpsink host=192.168.42.10 port=9000 \ No newline at end of file +# Video Streaming Command +# Please uncomment only one line depending on streaming preference + +# For all streaming options: +# - Since we are hardwired through tether, bitrate is high to maximize quality +# - Auto white balance is disabled +# - Video stream is flushed to minimize latency +# - Framerate is maximized +# - Port 5000 is used for compatibility with QGroundControl + +# Low-latency, low resolution stream (100ms) + +# raspivid --nopreview \ +# --width 640 \ +# --height 480 \ +# --bitrate 0 \ +# --qp 10 \ +# --framerate 30 \ +# --awb off \ +# --fl \ +# --timeout 0 \ +# --output - | \ +# gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ +# udpsink host=192.168.2.1 port=5000 + +# Reliable 720p stream with fairly low latency (200ms) + +# raspivid --nopreview \ +# --width 1280 \ +# --height 720 \ +# --bitrate 0 \ +# --qp 10 \ +# --framerate 30 \ +# --awb off \ +# --fl \ +# --timeout 0 \ +# --output - | \ +# gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ +# udpsink host=192.168.2.1 port=5000 + +# 1080p stream with some latency (300ms) + +# raspivid --nopreview \ +# --width 1920 \ +# --height 1080 \ +# --bitrate 0 \ +# --qp 10 \ +# --framerate 30 \ +# --awb off \ +# --fl \ +# --timeout 0 \ +# --output - | \ +# gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ +# udpsink host=192.168.2.1 port=5000 + +# 1080p stream with some latency for wide angle RasPi camera (300ms) + +raspivid --nopreview \ + --mode 2 \ + --bitrate 0 \ + --qp 10 \ + --framerate 30 \ + --awb off \ + --fl \ + --timeout 0 \ + --output - | \ + gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ + udpsink host=192.168.2.1 port=5000 + +# 4K stream with latency (standard RasPiCam only) + +# raspivid --nopreview \ +# --mode 2 \ +# --bitrate 0 \ +# --qp 10 \ +# --framerate 15 \ +# --awb off \ +# --fl \ +# --timeout 0 \ +# --output - | \ +# gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ +# udpsink host=192.168.2.1 port=5000 \ No newline at end of file From ccc1aa4062314d5b6f615c625541db16a9cb4faa Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Tue, 22 Mar 2016 14:41:29 -0700 Subject: [PATCH 003/256] Fix line endings. --- .../Raspbian/start_mavproxy_telem_splitter.sh | 28 +-- RPI2/Raspbian/start_video.sh | 162 +++++++++--------- 2 files changed, 95 insertions(+), 95 deletions(-) diff --git a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh b/RPI2/Raspbian/start_mavproxy_telem_splitter.sh index eba8d3f1..9ab1eea8 100755 --- a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh +++ b/RPI2/Raspbian/start_mavproxy_telem_splitter.sh @@ -1,15 +1,15 @@ -# this starts mavproxy so that the serial link to the companion computer (on /dev/ttyACM0) -# is available to a companion computer and external GCSs via UDP. This broadcasts so that -# multiple IP addresses can received the telemetry. - -# For PixHawk or other connected via USB on Raspberry Pi 2 -mavproxy.py --master /dev/ttyACM0 \ - --baud 115200 \ - --out udpin:localhost:9000 \ - --out udpbcast:169.254.255.255:14550 - -# For PixHawk or other connected via telem1 on Raspberry Pi 2 -# mavproxy.py --master /dev/ttyAMA0 \ -# --baud 57600 \ -# --out udpin:localhost:9000 \ +# this starts mavproxy so that the serial link to the companion computer (on /dev/ttyACM0) +# is available to a companion computer and external GCSs via UDP. This broadcasts so that +# multiple IP addresses can received the telemetry. + +# For PixHawk or other connected via USB on Raspberry Pi 2 +mavproxy.py --master /dev/ttyACM0 \ + --baud 115200 \ + --out udpin:localhost:9000 \ + --out udpbcast:169.254.255.255:14550 + +# For PixHawk or other connected via telem1 on Raspberry Pi 2 +# mavproxy.py --master /dev/ttyAMA0 \ +# --baud 57600 \ +# --out udpin:localhost:9000 \ # --out udpbcast:169.254.255.255:14550 \ No newline at end of file diff --git a/RPI2/Raspbian/start_video.sh b/RPI2/Raspbian/start_video.sh index 60b9d777..1298e675 100755 --- a/RPI2/Raspbian/start_video.sh +++ b/RPI2/Raspbian/start_video.sh @@ -1,82 +1,82 @@ -# Video Streaming Command -# Please uncomment only one line depending on streaming preference - -# For all streaming options: -# - Since we are hardwired through tether, bitrate is high to maximize quality -# - Auto white balance is disabled -# - Video stream is flushed to minimize latency -# - Framerate is maximized -# - Port 5000 is used for compatibility with QGroundControl - -# Low-latency, low resolution stream (100ms) - -# raspivid --nopreview \ -# --width 640 \ -# --height 480 \ -# --bitrate 0 \ -# --qp 10 \ -# --framerate 30 \ -# --awb off \ -# --fl \ -# --timeout 0 \ -# --output - | \ -# gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ -# udpsink host=192.168.2.1 port=5000 - -# Reliable 720p stream with fairly low latency (200ms) - -# raspivid --nopreview \ -# --width 1280 \ -# --height 720 \ -# --bitrate 0 \ -# --qp 10 \ -# --framerate 30 \ -# --awb off \ -# --fl \ -# --timeout 0 \ -# --output - | \ -# gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ -# udpsink host=192.168.2.1 port=5000 - -# 1080p stream with some latency (300ms) - -# raspivid --nopreview \ -# --width 1920 \ -# --height 1080 \ -# --bitrate 0 \ -# --qp 10 \ -# --framerate 30 \ -# --awb off \ -# --fl \ -# --timeout 0 \ -# --output - | \ -# gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ -# udpsink host=192.168.2.1 port=5000 - -# 1080p stream with some latency for wide angle RasPi camera (300ms) - -raspivid --nopreview \ - --mode 2 \ - --bitrate 0 \ - --qp 10 \ - --framerate 30 \ - --awb off \ - --fl \ - --timeout 0 \ - --output - | \ - gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ - udpsink host=192.168.2.1 port=5000 - -# 4K stream with latency (standard RasPiCam only) - -# raspivid --nopreview \ -# --mode 2 \ -# --bitrate 0 \ -# --qp 10 \ -# --framerate 15 \ -# --awb off \ -# --fl \ -# --timeout 0 \ -# --output - | \ -# gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ +# Video Streaming Command +# Please uncomment only one line depending on streaming preference + +# For all streaming options: +# - Since we are hardwired through tether, bitrate is high to maximize quality +# - Auto white balance is disabled +# - Video stream is flushed to minimize latency +# - Framerate is maximized +# - Port 5000 is used for compatibility with QGroundControl + +# Low-latency, low resolution stream (100ms) + +# raspivid --nopreview \ +# --width 640 \ +# --height 480 \ +# --bitrate 0 \ +# --qp 10 \ +# --framerate 30 \ +# --awb off \ +# --fl \ +# --timeout 0 \ +# --output - | \ +# gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ +# udpsink host=192.168.2.1 port=5000 + +# Reliable 720p stream with fairly low latency (200ms) + +# raspivid --nopreview \ +# --width 1280 \ +# --height 720 \ +# --bitrate 0 \ +# --qp 10 \ +# --framerate 30 \ +# --awb off \ +# --fl \ +# --timeout 0 \ +# --output - | \ +# gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ +# udpsink host=192.168.2.1 port=5000 + +# 1080p stream with some latency (300ms) + +# raspivid --nopreview \ +# --width 1920 \ +# --height 1080 \ +# --bitrate 0 \ +# --qp 10 \ +# --framerate 30 \ +# --awb off \ +# --fl \ +# --timeout 0 \ +# --output - | \ +# gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ +# udpsink host=192.168.2.1 port=5000 + +# 1080p stream with some latency for wide angle RasPi camera (300ms) + +raspivid --nopreview \ + --mode 2 \ + --bitrate 0 \ + --qp 10 \ + --framerate 30 \ + --awb off \ + --fl \ + --timeout 0 \ + --output - | \ + gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ + udpsink host=192.168.2.1 port=5000 + +# 4K stream with latency (standard RasPiCam only) + +# raspivid --nopreview \ +# --mode 2 \ +# --bitrate 0 \ +# --qp 10 \ +# --framerate 15 \ +# --awb off \ +# --fl \ +# --timeout 0 \ +# --output - | \ +# gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ # udpsink host=192.168.2.1 port=5000 \ No newline at end of file From b01e1b9c49df27b8dd42f5307c4fc931e9408ff3 Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Tue, 22 Mar 2016 14:50:15 -0700 Subject: [PATCH 004/256] Fix video IP address and -fl --- RPI2/Raspbian/start_video.sh | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/RPI2/Raspbian/start_video.sh b/RPI2/Raspbian/start_video.sh index 1298e675..b037991b 100755 --- a/RPI2/Raspbian/start_video.sh +++ b/RPI2/Raspbian/start_video.sh @@ -17,11 +17,11 @@ # --qp 10 \ # --framerate 30 \ # --awb off \ -# --fl \ +# -fl \ # --timeout 0 \ # --output - | \ # gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ -# udpsink host=192.168.2.1 port=5000 +# udpsink host=169.254.2.1 port=5000 # Reliable 720p stream with fairly low latency (200ms) @@ -32,11 +32,11 @@ # --qp 10 \ # --framerate 30 \ # --awb off \ -# --fl \ +# -fl \ # --timeout 0 \ # --output - | \ # gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ -# udpsink host=192.168.2.1 port=5000 +# udpsink host=169.254.2.1 port=5000 # 1080p stream with some latency (300ms) @@ -47,11 +47,11 @@ # --qp 10 \ # --framerate 30 \ # --awb off \ -# --fl \ +# -fl \ # --timeout 0 \ # --output - | \ # gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ -# udpsink host=192.168.2.1 port=5000 +# udpsink host=169.254.2.1 port=5000 # 1080p stream with some latency for wide angle RasPi camera (300ms) @@ -61,11 +61,11 @@ raspivid --nopreview \ --qp 10 \ --framerate 30 \ --awb off \ - --fl \ + -fl \ --timeout 0 \ --output - | \ gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ - udpsink host=192.168.2.1 port=5000 + udpsink host=169.254.2.1 port=5000 # 4K stream with latency (standard RasPiCam only) @@ -75,8 +75,8 @@ raspivid --nopreview \ # --qp 10 \ # --framerate 15 \ # --awb off \ -# --fl \ +# -fl \ # --timeout 0 \ # --output - | \ # gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ -# udpsink host=192.168.2.1 port=5000 \ No newline at end of file +# udpsink host=169.254.2.1 port=5000 \ No newline at end of file From 19dfe633cc71af7214b963f182cd953302adf1e4 Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Tue, 22 Mar 2016 15:20:23 -0700 Subject: [PATCH 005/256] Fix video streaming command --- .../Raspbian/start_mavproxy_telem_splitter.sh | 13 +++------ RPI2/Raspbian/start_video.sh | 29 ++++--------------- 2 files changed, 9 insertions(+), 33 deletions(-) diff --git a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh b/RPI2/Raspbian/start_mavproxy_telem_splitter.sh index 9ab1eea8..f34092f6 100755 --- a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh +++ b/RPI2/Raspbian/start_mavproxy_telem_splitter.sh @@ -3,13 +3,8 @@ # multiple IP addresses can received the telemetry. # For PixHawk or other connected via USB on Raspberry Pi 2 -mavproxy.py --master /dev/ttyACM0 \ - --baud 115200 \ +mavproxy.py --master /dev/ttyACM0,115200 + --master /dev/ttyAMA0,57600 + --master /dev/ttyS0,57600 --out udpin:localhost:9000 \ - --out udpbcast:169.254.255.255:14550 - -# For PixHawk or other connected via telem1 on Raspberry Pi 2 -# mavproxy.py --master /dev/ttyAMA0 \ -# --baud 57600 \ -# --out udpin:localhost:9000 \ -# --out udpbcast:169.254.255.255:14550 \ No newline at end of file + --out udpbcast:169.254.255.255:14550 \ No newline at end of file diff --git a/RPI2/Raspbian/start_video.sh b/RPI2/Raspbian/start_video.sh index b037991b..9c7d2cff 100755 --- a/RPI2/Raspbian/start_video.sh +++ b/RPI2/Raspbian/start_video.sh @@ -13,8 +13,7 @@ # raspivid --nopreview \ # --width 640 \ # --height 480 \ -# --bitrate 0 \ -# --qp 10 \ +# --bitrate 5000000 # --framerate 30 \ # --awb off \ # -fl \ @@ -28,8 +27,7 @@ # raspivid --nopreview \ # --width 1280 \ # --height 720 \ -# --bitrate 0 \ -# --qp 10 \ +# --bitrate 10000000 # --framerate 30 \ # --awb off \ # -fl \ @@ -38,28 +36,12 @@ # gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ # udpsink host=169.254.2.1 port=5000 -# 1080p stream with some latency (300ms) - -# raspivid --nopreview \ -# --width 1920 \ -# --height 1080 \ -# --bitrate 0 \ -# --qp 10 \ -# --framerate 30 \ -# --awb off \ -# -fl \ -# --timeout 0 \ -# --output - | \ -# gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ -# udpsink host=169.254.2.1 port=5000 - # 1080p stream with some latency for wide angle RasPi camera (300ms) raspivid --nopreview \ --mode 2 \ - --bitrate 0 \ - --qp 10 \ - --framerate 30 \ + --bitrate 17000000 \ + --framerate 15 \ --awb off \ -fl \ --timeout 0 \ @@ -71,8 +53,7 @@ raspivid --nopreview \ # raspivid --nopreview \ # --mode 2 \ -# --bitrate 0 \ -# --qp 10 \ +# --bitrate 25000000 # --framerate 15 \ # --awb off \ # -fl \ From 6c492c93feb92099d16a4b945fab33a9c527c9ee Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Tue, 22 Mar 2016 15:57:34 -0700 Subject: [PATCH 006/256] Fix bug. --- RPI2/Raspbian/start_mavproxy_telem_splitter.sh | 2 -- 1 file changed, 2 deletions(-) diff --git a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh b/RPI2/Raspbian/start_mavproxy_telem_splitter.sh index f34092f6..3162cbb9 100755 --- a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh +++ b/RPI2/Raspbian/start_mavproxy_telem_splitter.sh @@ -4,7 +4,5 @@ # For PixHawk or other connected via USB on Raspberry Pi 2 mavproxy.py --master /dev/ttyACM0,115200 - --master /dev/ttyAMA0,57600 - --master /dev/ttyS0,57600 --out udpin:localhost:9000 \ --out udpbcast:169.254.255.255:14550 \ No newline at end of file From 5026277f5b362118ca486dda882d1c76037ff5d8 Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Tue, 22 Mar 2016 15:58:36 -0700 Subject: [PATCH 007/256] Fix line ending bug --- RPI2/Raspbian/start_mavproxy_telem_splitter.sh | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh b/RPI2/Raspbian/start_mavproxy_telem_splitter.sh index 3162cbb9..d905713c 100755 --- a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh +++ b/RPI2/Raspbian/start_mavproxy_telem_splitter.sh @@ -3,6 +3,8 @@ # multiple IP addresses can received the telemetry. # For PixHawk or other connected via USB on Raspberry Pi 2 -mavproxy.py --master /dev/ttyACM0,115200 +mavproxy.py --master /dev/ttyACM0,115200 \ + --master /dev/ttyAMA0,57600 \ + --master /dev/ttyS0,57600 \ --out udpin:localhost:9000 \ --out udpbcast:169.254.255.255:14550 \ No newline at end of file From 9ab688df20d38ed9be95f948aee297088a86a7ff Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Tue, 22 Mar 2016 16:00:02 -0700 Subject: [PATCH 008/256] Remove invalid serial port. --- RPI2/Raspbian/start_mavproxy_telem_splitter.sh | 1 - 1 file changed, 1 deletion(-) diff --git a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh b/RPI2/Raspbian/start_mavproxy_telem_splitter.sh index d905713c..b75f4628 100755 --- a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh +++ b/RPI2/Raspbian/start_mavproxy_telem_splitter.sh @@ -5,6 +5,5 @@ # For PixHawk or other connected via USB on Raspberry Pi 2 mavproxy.py --master /dev/ttyACM0,115200 \ --master /dev/ttyAMA0,57600 \ - --master /dev/ttyS0,57600 \ --out udpin:localhost:9000 \ --out udpbcast:169.254.255.255:14550 \ No newline at end of file From 4ab935900f4514f13e4e628a252f710e8cdd56c7 Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Fri, 8 Apr 2016 16:17:06 -0700 Subject: [PATCH 009/256] Updates to setup and video --- RPI2/Raspbian/setup.sh | 7 +++++-- RPI2/Raspbian/start_video.sh | 1 + 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/RPI2/Raspbian/setup.sh b/RPI2/Raspbian/setup.sh index 00337899..04dc6531 100644 --- a/RPI2/Raspbian/setup.sh +++ b/RPI2/Raspbian/setup.sh @@ -9,11 +9,14 @@ sudo apt-get upgrade sudo rpi-update # install python and pip -sudo apt-get install python-pip +sudo apt-get install python-dev python-pip # install dronekit sudo pip install dronekit dronekit-sitl # also installs pymavlink sudo pip install mavproxy # live video related packages -sudo apt-get install gstreamer1.0 \ No newline at end of file +sudo apt-get install gstreamer1.0 + +# Disable camera LED +sudo sed '$a disable_camera_led=1' /boot/config.txt \ No newline at end of file diff --git a/RPI2/Raspbian/start_video.sh b/RPI2/Raspbian/start_video.sh index 9c7d2cff..13eab01e 100755 --- a/RPI2/Raspbian/start_video.sh +++ b/RPI2/Raspbian/start_video.sh @@ -43,6 +43,7 @@ raspivid --nopreview \ --bitrate 17000000 \ --framerate 15 \ --awb off \ + --exposure night \ -fl \ --timeout 0 \ --output - | \ From b91d4eb5f4aa26934fd892a791ec5fe6c3383ccb Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Tue, 12 Apr 2016 17:30:25 +0000 Subject: [PATCH 010/256] Field updates from ROV testing --- RPI2/Raspbian/start_mavproxy_telem_splitter.sh | 3 +-- RPI2/Raspbian/start_video.sh | 11 +++++++---- 2 files changed, 8 insertions(+), 6 deletions(-) diff --git a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh b/RPI2/Raspbian/start_mavproxy_telem_splitter.sh index b75f4628..0bc35d06 100755 --- a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh +++ b/RPI2/Raspbian/start_mavproxy_telem_splitter.sh @@ -4,6 +4,5 @@ # For PixHawk or other connected via USB on Raspberry Pi 2 mavproxy.py --master /dev/ttyACM0,115200 \ - --master /dev/ttyAMA0,57600 \ --out udpin:localhost:9000 \ - --out udpbcast:169.254.255.255:14550 \ No newline at end of file + --out udpbcast:169.254.255.255:14550 diff --git a/RPI2/Raspbian/start_video.sh b/RPI2/Raspbian/start_video.sh index 9c7d2cff..e4dce0cf 100755 --- a/RPI2/Raspbian/start_video.sh +++ b/RPI2/Raspbian/start_video.sh @@ -40,14 +40,17 @@ raspivid --nopreview \ --mode 2 \ - --bitrate 17000000 \ - --framerate 15 \ + --bitrate 20000000 \ + --framerate 30 \ + --intra 3 \ + --roi 0.03,0.03,0.97,0.97 \ --awb off \ + --exposure fixedfps \ -fl \ --timeout 0 \ --output - | \ gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ - udpsink host=169.254.2.1 port=5000 + udpsink host=169.254.2.1 port=5600 # 4K stream with latency (standard RasPiCam only) @@ -60,4 +63,4 @@ raspivid --nopreview \ # --timeout 0 \ # --output - | \ # gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ -# udpsink host=169.254.2.1 port=5000 \ No newline at end of file +# udpsink host=169.254.2.1 port=5000 From 9cf4bb9eb98a9cedfd0287141b85f81fbe7b07cc Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Thu, 30 Jun 2016 01:16:01 +0000 Subject: [PATCH 011/256] RPi Video: Update streaming options for best on RPi v2 cam. --- RPI2/Raspbian/start_video.sh | 46 +++++++----------------------------- 1 file changed, 8 insertions(+), 38 deletions(-) diff --git a/RPI2/Raspbian/start_video.sh b/RPI2/Raspbian/start_video.sh index e4dce0cf..4a1e192f 100755 --- a/RPI2/Raspbian/start_video.sh +++ b/RPI2/Raspbian/start_video.sh @@ -6,61 +6,31 @@ # - Auto white balance is disabled # - Video stream is flushed to minimize latency # - Framerate is maximized -# - Port 5000 is used for compatibility with QGroundControl +# - Port 5600 is used for compatibility with QGroundControl # Low-latency, low resolution stream (100ms) # raspivid --nopreview \ # --width 640 \ # --height 480 \ -# --bitrate 5000000 -# --framerate 30 \ -# --awb off \ -# -fl \ -# --timeout 0 \ -# --output - | \ -# gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ -# udpsink host=169.254.2.1 port=5000 - -# Reliable 720p stream with fairly low latency (200ms) - -# raspivid --nopreview \ -# --width 1280 \ -# --height 720 \ # --bitrate 10000000 -# --framerate 30 \ +# -fps 30 \ # --awb off \ # -fl \ # --timeout 0 \ # --output - | \ # gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ -# udpsink host=169.254.2.1 port=5000 +# udpsink host=169.254.2.1 port=5600 -# 1080p stream with some latency for wide angle RasPi camera (300ms) +# 1080p stream with some latency for RasPi camera (250ms on RPi3) raspivid --nopreview \ --mode 2 \ - --bitrate 20000000 \ - --framerate 30 \ - --intra 3 \ - --roi 0.03,0.03,0.97,0.97 \ - --awb off \ - --exposure fixedfps \ + --bitrate 25000000 \ + --intra 3 \ + --awb auto \ -fl \ --timeout 0 \ --output - | \ gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ - udpsink host=169.254.2.1 port=5600 - -# 4K stream with latency (standard RasPiCam only) - -# raspivid --nopreview \ -# --mode 2 \ -# --bitrate 25000000 -# --framerate 15 \ -# --awb off \ -# -fl \ -# --timeout 0 \ -# --output - | \ -# gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ -# udpsink host=169.254.2.1 port=5000 + udpsink host=169.254.2.1 port=5600 \ No newline at end of file From 9a958094bcf43c2f5557cc4a5fcea116010b5605 Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Thu, 30 Jun 2016 01:55:36 +0000 Subject: [PATCH 012/256] Add rc.local lines to rpi setup. --- RPI2/Raspbian/setup.sh | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/RPI2/Raspbian/setup.sh b/RPI2/Raspbian/setup.sh index 04dc6531..127be452 100644 --- a/RPI2/Raspbian/setup.sh +++ b/RPI2/Raspbian/setup.sh @@ -19,4 +19,8 @@ sudo pip install mavproxy sudo apt-get install gstreamer1.0 # Disable camera LED -sudo sed '$a disable_camera_led=1' /boot/config.txt \ No newline at end of file +sudo sed '$a disable_camera_led=1' /boot/config.txt + +# Add these lines to /etc/rc.local +#screen -dm -S mavproxy /home/pi/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh +#screen -dm -S video /home/pi/companion/RPI2/Raspbian/start_video.sh From 613252a12be46c9a5f55eebc6e54d9429fc67cb4 Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Thu, 30 Jun 2016 02:06:45 +0000 Subject: [PATCH 013/256] Updated rpi video mode. --- RPI2/Raspbian/start_video.sh | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/RPI2/Raspbian/start_video.sh b/RPI2/Raspbian/start_video.sh index 4a1e192f..d4c45d7b 100755 --- a/RPI2/Raspbian/start_video.sh +++ b/RPI2/Raspbian/start_video.sh @@ -22,15 +22,16 @@ # gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ # udpsink host=169.254.2.1 port=5600 -# 1080p stream with some latency for RasPi camera (250ms on RPi3) +# HD Stream with some latency for RasPi camera (250ms on RPi3) +# Use mode 2 for 1080p @ 15 fps and mode 5 for 922p @ 40 fps raspivid --nopreview \ - --mode 2 \ - --bitrate 25000000 \ + --mode 5 \ + --bitrate 50000000 \ --intra 3 \ --awb auto \ -fl \ --timeout 0 \ --output - | \ gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ - udpsink host=169.254.2.1 port=5600 \ No newline at end of file + udpsink host=169.254.2.1 port=5600 From 27095a08934d93f37195e5efc6ce901ba769a327 Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Fri, 1 Jul 2016 15:06:56 -0700 Subject: [PATCH 014/256] Update RPi setup script. --- RPI2/Raspbian/setup.sh | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/RPI2/Raspbian/setup.sh b/RPI2/Raspbian/setup.sh index 04dc6531..9374f07e 100644 --- a/RPI2/Raspbian/setup.sh +++ b/RPI2/Raspbian/setup.sh @@ -3,20 +3,26 @@ # RPi2 setup script for use as companion computer. This script is simplified for use with # the ArduSub code. -# update RPI to latest versions +# Update package lists and current packages sudo apt-get update sudo apt-get upgrade + +# Update Raspberry Pi +sudo apt-get install -y rpi-update sudo rpi-update # install python and pip -sudo apt-get install python-dev python-pip +sudo apt-get install -y python-dev python-pip # install dronekit sudo pip install dronekit dronekit-sitl # also installs pymavlink sudo pip install mavproxy +# install screen +sudo apt-get install -y screen + # live video related packages -sudo apt-get install gstreamer1.0 +sudo apt-get install -y gstreamer1.0 # Disable camera LED sudo sed '$a disable_camera_led=1' /boot/config.txt \ No newline at end of file From ea9a9e091582a16950517e4b299968c14df56e0b Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Fri, 1 Jul 2016 15:08:38 -0700 Subject: [PATCH 015/256] Update RPi video and mavproxy IP addresses. --- RPI2/Raspbian/start_mavproxy_telem_splitter.sh | 2 +- RPI2/Raspbian/start_video.sh | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh b/RPI2/Raspbian/start_mavproxy_telem_splitter.sh index 0bc35d06..a381e21a 100755 --- a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh +++ b/RPI2/Raspbian/start_mavproxy_telem_splitter.sh @@ -5,4 +5,4 @@ # For PixHawk or other connected via USB on Raspberry Pi 2 mavproxy.py --master /dev/ttyACM0,115200 \ --out udpin:localhost:9000 \ - --out udpbcast:169.254.255.255:14550 + --out udpbcast:192.168.2.255:14550 diff --git a/RPI2/Raspbian/start_video.sh b/RPI2/Raspbian/start_video.sh index d4c45d7b..bc33d9b4 100755 --- a/RPI2/Raspbian/start_video.sh +++ b/RPI2/Raspbian/start_video.sh @@ -27,11 +27,11 @@ raspivid --nopreview \ --mode 5 \ - --bitrate 50000000 \ + --bitrate 25000000 \ --intra 3 \ --awb auto \ -fl \ --timeout 0 \ --output - | \ gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ - udpsink host=169.254.2.1 port=5600 + udpsink host=192.168.2.1 port=5600 From f9f35b8e7797eedb931399efa726f843b197361a Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Wed, 6 Jul 2016 14:28:10 -0700 Subject: [PATCH 016/256] Reduce streaming bitrate to avoid glitches. --- RPI2/Raspbian/start_video.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/RPI2/Raspbian/start_video.sh b/RPI2/Raspbian/start_video.sh index bc33d9b4..3ac24d94 100755 --- a/RPI2/Raspbian/start_video.sh +++ b/RPI2/Raspbian/start_video.sh @@ -27,7 +27,7 @@ raspivid --nopreview \ --mode 5 \ - --bitrate 25000000 \ + --bitrate 20000000 \ --intra 3 \ --awb auto \ -fl \ From c6f2cf4115abe4907f12026683b00e0f6fdfa85c Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Wed, 13 Jul 2016 14:38:58 -0700 Subject: [PATCH 017/256] Add video processing settings to RPi camera. --- RPI2/Raspbian/start_video.sh | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/RPI2/Raspbian/start_video.sh b/RPI2/Raspbian/start_video.sh index 3ac24d94..e6b53fa9 100755 --- a/RPI2/Raspbian/start_video.sh +++ b/RPI2/Raspbian/start_video.sh @@ -27,9 +27,14 @@ raspivid --nopreview \ --mode 5 \ - --bitrate 20000000 \ - --intra 3 \ - --awb auto \ + --bitrate 25000000 \ + --intra 3 \ + --awb auto \ + --brightness 55 \ + --saturation 10 \ + --sharpness 50 \ + --contrast 15 \ + --drc medium \ -fl \ --timeout 0 \ --output - | \ From 8f6555492afcb469c11c59e0814a2f22bbbce2e1 Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Tue, 26 Jul 2016 20:19:08 -0700 Subject: [PATCH 018/256] Minor updates before making first public image. --- RPI2/Raspbian/start_mavproxy_telem_splitter.sh | 2 +- RPI2/Raspbian/start_video.sh | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh b/RPI2/Raspbian/start_mavproxy_telem_splitter.sh index a381e21a..8901e527 100755 --- a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh +++ b/RPI2/Raspbian/start_mavproxy_telem_splitter.sh @@ -2,7 +2,7 @@ # is available to a companion computer and external GCSs via UDP. This broadcasts so that # multiple IP addresses can received the telemetry. -# For PixHawk or other connected via USB on Raspberry Pi 2 +# For PixHawk or other connected via USB on Raspberry Pi mavproxy.py --master /dev/ttyACM0,115200 \ --out udpin:localhost:9000 \ --out udpbcast:192.168.2.255:14550 diff --git a/RPI2/Raspbian/start_video.sh b/RPI2/Raspbian/start_video.sh index e6b53fa9..c8ecaad5 100755 --- a/RPI2/Raspbian/start_video.sh +++ b/RPI2/Raspbian/start_video.sh @@ -20,7 +20,7 @@ # --timeout 0 \ # --output - | \ # gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ -# udpsink host=169.254.2.1 port=5600 +# udpsink host=192.168.2.1 port=5600 # HD Stream with some latency for RasPi camera (250ms on RPi3) # Use mode 2 for 1080p @ 15 fps and mode 5 for 922p @ 40 fps From f2a4d8b7cb1c479e0c38b98d56a5ce2f134985c9 Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Wed, 3 Aug 2016 10:27:56 -0700 Subject: [PATCH 019/256] Add utility to flash Pixhawk from Raspberry Pi. --- RPI2/Raspbian/flash_px4.py | 26 ++++++++++++++++++++++++++ 1 file changed, 26 insertions(+) create mode 100755 RPI2/Raspbian/flash_px4.py diff --git a/RPI2/Raspbian/flash_px4.py b/RPI2/Raspbian/flash_px4.py new file mode 100755 index 00000000..4f6273cf --- /dev/null +++ b/RPI2/Raspbian/flash_px4.py @@ -0,0 +1,26 @@ +#!/usr/bin/python + +import os +import urllib + +# Stop screen session with mavproxy +print "Stopping mavproxy" +os.system("sudo screen -X -S mavproxy quit") + +# Download most recent firmware +print "Downloading latest ArduSub firmware..." +firmwarefile = urllib.URLopener() +firmwarefile.retrieve("http://firmware.ardusub.com/Sub/latest/PX4-vectored/ArduSub-v2.px4", "/tmp/ArduSub-v2.px4") + +# Download flashing script +print "Downloading px4 flashing tool..." +firmwarefile = urllib.URLopener() +firmwarefile.retrieve("https://raw.githubusercontent.com/PX4/Firmware/master/Tools/px_uploader.py", "/tmp/px_uploader.py") + +# Flash Pixhawk +print "Flashing Pixhawk..." +os.system("python /tmp/px_uploader.py --port /dev/ttyACM0 /tmp/ArduSub-v2.px4") + +# Start screen session with mavproxy +print "Restarting mavproxy" +os.system("sudo screen -dm -S mavproxy /home/pi/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh") \ No newline at end of file From 46f81b82c63476210fad953a14cd5ba9763926da Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Wed, 3 Aug 2016 10:36:24 -0700 Subject: [PATCH 020/256] Add delay --- RPI2/Raspbian/flash_px4.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/RPI2/Raspbian/flash_px4.py b/RPI2/Raspbian/flash_px4.py index 4f6273cf..390352cc 100755 --- a/RPI2/Raspbian/flash_px4.py +++ b/RPI2/Raspbian/flash_px4.py @@ -21,6 +21,9 @@ print "Flashing Pixhawk..." os.system("python /tmp/px_uploader.py --port /dev/ttyACM0 /tmp/ArduSub-v2.px4") +# Wait a few seconds +time.sleep(5) + # Start screen session with mavproxy print "Restarting mavproxy" os.system("sudo screen -dm -S mavproxy /home/pi/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh") \ No newline at end of file From 9c905a95794b8165835702e79bf810a067d68308 Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Wed, 3 Aug 2016 10:37:31 -0700 Subject: [PATCH 021/256] Add missing import --- RPI2/Raspbian/flash_px4.py | 1 + 1 file changed, 1 insertion(+) diff --git a/RPI2/Raspbian/flash_px4.py b/RPI2/Raspbian/flash_px4.py index 390352cc..c5f7e4b6 100755 --- a/RPI2/Raspbian/flash_px4.py +++ b/RPI2/Raspbian/flash_px4.py @@ -2,6 +2,7 @@ import os import urllib +import time # Stop screen session with mavproxy print "Stopping mavproxy" From 776f00da09b6a1d3053471d34c3d6c5d1cc31132 Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Wed, 3 Aug 2016 10:44:16 -0700 Subject: [PATCH 022/256] Add better printing. --- RPI2/Raspbian/flash_px4.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/RPI2/Raspbian/flash_px4.py b/RPI2/Raspbian/flash_px4.py index c5f7e4b6..d1d6e989 100755 --- a/RPI2/Raspbian/flash_px4.py +++ b/RPI2/Raspbian/flash_px4.py @@ -1,4 +1,4 @@ -#!/usr/bin/python +#!/usr/bin/python -u import os import urllib @@ -23,8 +23,11 @@ os.system("python /tmp/px_uploader.py --port /dev/ttyACM0 /tmp/ArduSub-v2.px4") # Wait a few seconds +print "Waiting to restart mavproxy..." time.sleep(5) # Start screen session with mavproxy print "Restarting mavproxy" -os.system("sudo screen -dm -S mavproxy /home/pi/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh") \ No newline at end of file +os.system("sudo screen -dm -S mavproxy /home/pi/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh") + +print "Complete!" \ No newline at end of file From 7f7798c02544b2710b9bd3a1877ed9b7b38768b4 Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Wed, 3 Aug 2016 10:51:18 -0700 Subject: [PATCH 023/256] Try to redirect python output text. --- RPI2/Raspbian/flash_px4.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/RPI2/Raspbian/flash_px4.py b/RPI2/Raspbian/flash_px4.py index d1d6e989..70a48c3b 100755 --- a/RPI2/Raspbian/flash_px4.py +++ b/RPI2/Raspbian/flash_px4.py @@ -20,7 +20,7 @@ # Flash Pixhawk print "Flashing Pixhawk..." -os.system("python /tmp/px_uploader.py --port /dev/ttyACM0 /tmp/ArduSub-v2.px4") +os.system("python -u /tmp/px_uploader.py --port /dev/ttyACM0 /tmp/ArduSub-v2.px4") # Wait a few seconds print "Waiting to restart mavproxy..." From 7eb13785c47485791997122889f00292e4fb983e Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Wed, 3 Aug 2016 11:14:20 -0700 Subject: [PATCH 024/256] Allow remote passing of firmware file. --- RPI2/Raspbian/flash_px4.py | 24 +++++++++++++++++++++--- 1 file changed, 21 insertions(+), 3 deletions(-) diff --git a/RPI2/Raspbian/flash_px4.py b/RPI2/Raspbian/flash_px4.py index 70a48c3b..21322fa4 100755 --- a/RPI2/Raspbian/flash_px4.py +++ b/RPI2/Raspbian/flash_px4.py @@ -3,15 +3,33 @@ import os import urllib import time +from optparse import OptionParser + +parser = OptionParser() +parser.add_option("-url","--url",dest="url",help="Firmware URL") +parser.add_option("-px4","--px4",dest="px4file",help="Firmware File Stream") +(options,args) = parser.parse_args() + +# Get firmware from stdin if possible +print "Trying to read file from stdin..." +fileFromStdIn = False +fileIn = sys.stdin.read() +if result: + file = open("tmp/ArduSub-v2.px4","w") + file.write(fileIn) + file.close() + fileFromStdIn = True + print "Got firmware file from stdin!" # Stop screen session with mavproxy print "Stopping mavproxy" os.system("sudo screen -X -S mavproxy quit") # Download most recent firmware -print "Downloading latest ArduSub firmware..." -firmwarefile = urllib.URLopener() -firmwarefile.retrieve("http://firmware.ardusub.com/Sub/latest/PX4-vectored/ArduSub-v2.px4", "/tmp/ArduSub-v2.px4") +if not fileFromStdIn: + print "Downloading latest ArduSub firmware..." + firmwarefile = urllib.URLopener() + firmwarefile.retrieve("http://firmware.ardusub.com/Sub/latest/PX4-vectored/ArduSub-v2.px4", "/tmp/ArduSub-v2.px4") # Download flashing script print "Downloading px4 flashing tool..." From ee7cd3231bb660e4be8fd7d4364015796f1a9df5 Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Wed, 3 Aug 2016 11:18:56 -0700 Subject: [PATCH 025/256] Bug fix --- RPI2/Raspbian/flash_px4.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/RPI2/Raspbian/flash_px4.py b/RPI2/Raspbian/flash_px4.py index 21322fa4..69be31f3 100755 --- a/RPI2/Raspbian/flash_px4.py +++ b/RPI2/Raspbian/flash_px4.py @@ -6,8 +6,8 @@ from optparse import OptionParser parser = OptionParser() -parser.add_option("-url","--url",dest="url",help="Firmware URL") -parser.add_option("-px4","--px4",dest="px4file",help="Firmware File Stream") +parser.add_option("-u","--url",dest="url",help="Firmware URL") +parser.add_option("-p","--px4",dest="px4file",help="Firmware File Stream") (options,args) = parser.parse_args() # Get firmware from stdin if possible From 8672ce1e80b836a6b952b2c6a4191f920faae2b6 Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Wed, 3 Aug 2016 12:10:50 -0700 Subject: [PATCH 026/256] Add features to flash_px4.py --- RPI2/Raspbian/flash_px4.py | 36 +++++++++++++++++++++--------------- 1 file changed, 21 insertions(+), 15 deletions(-) diff --git a/RPI2/Raspbian/flash_px4.py b/RPI2/Raspbian/flash_px4.py index 69be31f3..1eb9d4de 100755 --- a/RPI2/Raspbian/flash_px4.py +++ b/RPI2/Raspbian/flash_px4.py @@ -3,33 +3,39 @@ import os import urllib import time +import sys from optparse import OptionParser parser = OptionParser() -parser.add_option("-u","--url",dest="url",help="Firmware URL") -parser.add_option("-p","--px4",dest="px4file",help="Firmware File Stream") +parser.add_option("--url",dest="url",help="Firmware download URL (optional)") +parser.add_option("--stdin",action="store_true",dest="fromStdin",default=False,help="Expect input from stdin") +parser.add_option("--frame",dest="frame",default="vectored",help="ArduSub frame type for automatical download (optional)") (options,args) = parser.parse_args() # Get firmware from stdin if possible print "Trying to read file from stdin..." -fileFromStdIn = False -fileIn = sys.stdin.read() -if result: - file = open("tmp/ArduSub-v2.px4","w") - file.write(fileIn) - file.close() - fileFromStdIn = True - print "Got firmware file from stdin!" +if options.fromStdin: + fileIn = sys.stdin.read() + if fileIn: + file = open("/tmp/ArduSub-v2.px4","w") + file.write(fileIn) + file.close() + print "Got firmware file from stdin!" # Stop screen session with mavproxy print "Stopping mavproxy" os.system("sudo screen -X -S mavproxy quit") # Download most recent firmware -if not fileFromStdIn: - print "Downloading latest ArduSub firmware..." - firmwarefile = urllib.URLopener() - firmwarefile.retrieve("http://firmware.ardusub.com/Sub/latest/PX4-vectored/ArduSub-v2.px4", "/tmp/ArduSub-v2.px4") +firmwareURL = "http://firmware.ardusub.com/Sub/latest/PX4-"+options.frame+"/ArduSub-v2.px4" +if options.url: + firmwareURL = options.url + print "Downloading latest ArduSub firmware from URL..." +else: + print "Downloading latest ArduSub "+options.frame+" firmware..." +if not options.fromStdin: + firmwarefile = urllib.URLopener() + firmwarefile.retrieve(firmwareURL, "/tmp/ArduSub-v2.px4") # Download flashing script print "Downloading px4 flashing tool..." @@ -42,7 +48,7 @@ # Wait a few seconds print "Waiting to restart mavproxy..." -time.sleep(5) +time.sleep(10) # Start screen session with mavproxy print "Restarting mavproxy" From 62ce57af97f18f4c2059886d7c8f3b60abcb4614 Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Wed, 17 Aug 2016 18:29:32 -0700 Subject: [PATCH 027/256] Update RPi streaming settings to work better on Windows. --- RPI2/Raspbian/start_video.sh | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/RPI2/Raspbian/start_video.sh b/RPI2/Raspbian/start_video.sh index c8ecaad5..866a044b 100755 --- a/RPI2/Raspbian/start_video.sh +++ b/RPI2/Raspbian/start_video.sh @@ -27,8 +27,8 @@ raspivid --nopreview \ --mode 5 \ - --bitrate 25000000 \ - --intra 3 \ + --bitrate 15000000 \ + --intra 1 \ --awb auto \ --brightness 55 \ --saturation 10 \ From 35b577a64ebd61eb970227a9638326184da5831b Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 2 Sep 2016 21:41:32 -0400 Subject: [PATCH 028/256] RPI2 setup.sh: +x permissions and fix DOS line endings --- RPI2/Raspbian/setup.sh | 64 +++++++++++++++++++++--------------------- 1 file changed, 32 insertions(+), 32 deletions(-) mode change 100644 => 100755 RPI2/Raspbian/setup.sh diff --git a/RPI2/Raspbian/setup.sh b/RPI2/Raspbian/setup.sh old mode 100644 new mode 100755 index f652f112..1ffffaad --- a/RPI2/Raspbian/setup.sh +++ b/RPI2/Raspbian/setup.sh @@ -1,32 +1,32 @@ -#!/bin/bash - -# RPi2 setup script for use as companion computer. This script is simplified for use with -# the ArduSub code. - -# Update package lists and current packages -sudo apt-get update -sudo apt-get upgrade - -# Update Raspberry Pi -sudo apt-get install -y rpi-update -sudo rpi-update - -# install python and pip -sudo apt-get install -y python-dev python-pip - -# install dronekit -sudo pip install dronekit dronekit-sitl # also installs pymavlink -sudo pip install mavproxy - -# install screen -sudo apt-get install -y screen - -# live video related packages -sudo apt-get install -y gstreamer1.0 - -# Disable camera LED -sudo sed '$a disable_camera_led=1' /boot/config.txt - -# Add these lines to /etc/rc.local -#screen -dm -S mavproxy /home/pi/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh -#screen -dm -S video /home/pi/companion/RPI2/Raspbian/start_video.sh +#!/bin/bash + +# RPi2 setup script for use as companion computer. This script is simplified for use with +# the ArduSub code. + +# Update package lists and current packages +sudo apt-get update +sudo apt-get upgrade + +# Update Raspberry Pi +sudo apt-get install -y rpi-update +sudo rpi-update + +# install python and pip +sudo apt-get install -y python-dev python-pip + +# install dronekit +sudo pip install dronekit dronekit-sitl # also installs pymavlink +sudo pip install mavproxy + +# install screen +sudo apt-get install -y screen + +# live video related packages +sudo apt-get install -y gstreamer1.0 + +# Disable camera LED +sudo sed '$a disable_camera_led=1' /boot/config.txt + +# Add these lines to /etc/rc.local +#screen -dm -S mavproxy /home/pi/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh +#screen -dm -S video /home/pi/companion/RPI2/Raspbian/start_video.sh From 5f46865134e08bd1ccbc39f613c21741d11f7e5b Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 7 Oct 2016 23:12:23 -0400 Subject: [PATCH 029/256] setup.sh: save /boot/config.txt after disabling camera led via sed --- RPI2/Raspbian/setup.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/RPI2/Raspbian/setup.sh b/RPI2/Raspbian/setup.sh index 1ffffaad..f15a5dbf 100755 --- a/RPI2/Raspbian/setup.sh +++ b/RPI2/Raspbian/setup.sh @@ -25,7 +25,7 @@ sudo apt-get install -y screen sudo apt-get install -y gstreamer1.0 # Disable camera LED -sudo sed '$a disable_camera_led=1' /boot/config.txt +sudo sed -i '$a disable_camera_led=1' /boot/config.txt # Add these lines to /etc/rc.local #screen -dm -S mavproxy /home/pi/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh From 8efd8030d25a8cbd61c7d59a03a411baa6337002 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 7 Oct 2016 23:17:22 -0400 Subject: [PATCH 030/256] setup.sh: Add desired commands to /etc/rc.local automatically --- RPI2/Raspbian/setup.sh | 13 ++++++++++--- 1 file changed, 10 insertions(+), 3 deletions(-) diff --git a/RPI2/Raspbian/setup.sh b/RPI2/Raspbian/setup.sh index f15a5dbf..715ba5ba 100755 --- a/RPI2/Raspbian/setup.sh +++ b/RPI2/Raspbian/setup.sh @@ -27,6 +27,13 @@ sudo apt-get install -y gstreamer1.0 # Disable camera LED sudo sed -i '$a disable_camera_led=1' /boot/config.txt -# Add these lines to /etc/rc.local -#screen -dm -S mavproxy /home/pi/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh -#screen -dm -S video /home/pi/companion/RPI2/Raspbian/start_video.sh +# add startup commands to /etc/rc.local +S1='screen -dm -S mavproxy /home/pi/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh' +S2='screen -dm -S video /home/pi/companion/RPI2/Raspbian/start_video.sh' + +# this will produce desired result if this script has been run already, +# and commands are already in place +sudo sed -i -e "\%$S1%d" \ # delete S1 if it already exists +-e "\%$S2%d" \ # delete S2 if it already exists +-e "0,/^[^#]*exit 0/s%%$S1\n$S2\n&%" \ # insert S1 and S2 above the first uncommented exit 0 line in the file +/etc/rc.local From 374ba4780ecfd0672170916cb62c039571836654 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 13 Dec 2016 23:29:10 -0500 Subject: [PATCH 031/256] Rework flash_px4.py and include px_uploader.py by default --- RPI2/Raspbian/flash_px4.py | 53 ++-- Tools/px_uploader.py | 636 +++++++++++++++++++++++++++++++++++++ 2 files changed, 667 insertions(+), 22 deletions(-) create mode 100755 Tools/px_uploader.py diff --git a/RPI2/Raspbian/flash_px4.py b/RPI2/Raspbian/flash_px4.py index 1eb9d4de..c227c8ee 100755 --- a/RPI2/Raspbian/flash_px4.py +++ b/RPI2/Raspbian/flash_px4.py @@ -12,39 +12,48 @@ parser.add_option("--frame",dest="frame",default="vectored",help="ArduSub frame type for automatical download (optional)") (options,args) = parser.parse_args() -# Get firmware from stdin if possible -print "Trying to read file from stdin..." if options.fromStdin: + # Get firmware from stdin if possible + print "Trying to read file from stdin..." + fileIn = sys.stdin.read() + if fileIn: file = open("/tmp/ArduSub-v2.px4","w") file.write(fileIn) file.close() - print "Got firmware file from stdin!" - + print "Got firmware file from stdin!" + else: + error("Read error on stdin!") +else: + # Download most recent firmware + firmwareURL = "http://firmware.ardusub.com/Sub/latest/PX4-"+options.frame+"/ArduSub-v2.px4" + if options.url: + firmwareURL = options.url + print "Downloading latest ArduSub firmware from URL..." + else: + print "Downloading latest ArduSub "+options.frame+" firmware..." + + try: + firmwarefile = urllib.URLopener() + firmwarefile.retrieve(firmwareURL, "/tmp/ArduSub-v2.px4") + + except Exception as e: + print(e) + print "Error downloading firmware! Do you have an internet connection? Try 'ping ardusub.com'" + exit(1) + + # Stop screen session with mavproxy print "Stopping mavproxy" os.system("sudo screen -X -S mavproxy quit") -# Download most recent firmware -firmwareURL = "http://firmware.ardusub.com/Sub/latest/PX4-"+options.frame+"/ArduSub-v2.px4" -if options.url: - firmwareURL = options.url - print "Downloading latest ArduSub firmware from URL..." -else: - print "Downloading latest ArduSub "+options.frame+" firmware..." -if not options.fromStdin: - firmwarefile = urllib.URLopener() - firmwarefile.retrieve(firmwareURL, "/tmp/ArduSub-v2.px4") - -# Download flashing script -print "Downloading px4 flashing tool..." -firmwarefile = urllib.URLopener() -firmwarefile.retrieve("https://raw.githubusercontent.com/PX4/Firmware/master/Tools/px_uploader.py", "/tmp/px_uploader.py") - # Flash Pixhawk print "Flashing Pixhawk..." -os.system("python -u /tmp/px_uploader.py --port /dev/ttyACM0 /tmp/ArduSub-v2.px4") +if(os.system("python -u /home/pi/companion/Tools/px_uploader.py --port /dev/ttyACM0 /tmp/ArduSub-v2.px4") != 0): + print "Error flashing pixhawk! Do you have most recent version of companion? Try 'git pull' or scp." + exit(1) + # Wait a few seconds print "Waiting to restart mavproxy..." @@ -54,4 +63,4 @@ print "Restarting mavproxy" os.system("sudo screen -dm -S mavproxy /home/pi/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh") -print "Complete!" \ No newline at end of file +print "Complete!" diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py new file mode 100755 index 00000000..596c9674 --- /dev/null +++ b/Tools/px_uploader.py @@ -0,0 +1,636 @@ +#!/usr/bin/env python +############################################################################ +# +# Copyright (C) 2012-2015 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Serial firmware uploader for the PX4FMU bootloader +# +# The PX4 firmware file is a JSON-encoded Python object, containing +# metadata fields and a zlib-compressed base64-encoded firmware image. +# +# The uploader uses the following fields from the firmware file: +# +# image +# The firmware that will be uploaded. +# image_size +# The size of the firmware in bytes. +# board_id +# The board for which the firmware is intended. +# board_revision +# Currently only used for informational purposes. +# + +# for python2.7 compatibility +from __future__ import print_function + +import sys +import argparse +import binascii +import serial +import struct +import json +import zlib +import base64 +import time +import array +import os + +from sys import platform as _platform + + +class firmware(object): + '''Loads a firmware file''' + + desc = {} + image = bytes() + crctab = array.array('I', [ + 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3, + 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, + 0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7, + 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5, + 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, + 0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59, + 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f, + 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, + 0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433, + 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01, + 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, + 0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65, + 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb, + 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, + 0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f, + 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad, + 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, + 0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1, + 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7, + 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, + 0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b, + 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79, + 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, + 0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d, + 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713, + 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, + 0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777, + 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45, + 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, + 0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9, + 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf, + 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d]) + crcpad = bytearray(b'\xff\xff\xff\xff') + + def __init__(self, path): + + # read the file + f = open(path, "r") + self.desc = json.load(f) + f.close() + + self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image']))) + + # pad image to 4-byte length + while ((len(self.image) % 4) != 0): + self.image.append('\xff') + + def property(self, propname): + return self.desc[propname] + + def __crc32(self, bytes, state): + for byte in bytes: + index = (state ^ byte) & 0xff + state = self.crctab[index] ^ (state >> 8) + return state + + def crc(self, padlen): + state = self.__crc32(self.image, int(0)) + for i in range(len(self.image), (padlen - 1), 4): + state = self.__crc32(self.crcpad, state) + return state + + +class uploader(object): + '''Uploads a firmware file to the PX FMU bootloader''' + + # protocol bytes + INSYNC = b'\x12' + EOC = b'\x20' + + # reply bytes + OK = b'\x10' + FAILED = b'\x11' + INVALID = b'\x13' # rev3+ + BAD_SILICON_REV = b'\x14' # rev5+ + + # command bytes + NOP = b'\x00' # guaranteed to be discarded by the bootloader + GET_SYNC = b'\x21' + GET_DEVICE = b'\x22' + CHIP_ERASE = b'\x23' + CHIP_VERIFY = b'\x24' # rev2 only + PROG_MULTI = b'\x27' + READ_MULTI = b'\x28' # rev2 only + GET_CRC = b'\x29' # rev3+ + GET_OTP = b'\x2a' # rev4+ , get a word from OTP area + GET_SN = b'\x2b' # rev4+ , get a word from SN area + GET_CHIP = b'\x2c' # rev5+ , get chip version + SET_BOOT_DELAY = b'\x2d' # rev5+ , set boot delay + GET_CHIP_DES = b'\x2e' # rev5+ , get chip description in ASCII + MAX_DES_LENGTH = 20 + + REBOOT = b'\x30' + + INFO_BL_REV = b'\x01' # bootloader protocol revision + BL_REV_MIN = 2 # minimum supported bootloader protocol + BL_REV_MAX = 5 # maximum supported bootloader protocol + INFO_BOARD_ID = b'\x02' # board type + INFO_BOARD_REV = b'\x03' # board revision + INFO_FLASH_SIZE = b'\x04' # max firmware size in bytes + + PROG_MULTI_MAX = 252 # protocol max is 255, must be multiple of 4 + READ_MULTI_MAX = 252 # protocol max is 255 + + NSH_INIT = bytearray(b'\x0d\x0d\x0d') + NSH_REBOOT_BL = b"reboot -b\n" + NSH_REBOOT = b"reboot\n" + MAVLINK_REBOOT_ID1 = bytearray(b'\xfe\x21\x72\xff\x00\x4c\x00\x00\x80\x3f\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x01\x00\x00\x48\xf0') + MAVLINK_REBOOT_ID0 = bytearray(b'\xfe\x21\x45\xff\x00\x4c\x00\x00\x80\x3f\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x00\x00\x00\xd7\xac') + + def __init__(self, portname, baudrate): + # open the port, keep the default timeout short so we can poll quickly + self.port = serial.Serial(portname, baudrate, timeout=0.5) + self.otp = b'' + self.sn = b'' + + def close(self): + if self.port is not None: + self.port.close() + + def __send(self, c): +# print("send " + binascii.hexlify(c)) + self.port.write(c) + + def __recv(self, count=1): + c = self.port.read(count) + if len(c) < 1: + raise RuntimeError("timeout waiting for data (%u bytes)" % count) +# print("recv " + binascii.hexlify(c)) + return c + + def __recv_int(self): + raw = self.__recv(4) + val = struct.unpack("= 9.0: + self.__drawProgressBar(label, 20.0-estimatedTimeRemaining, 9.0) + else: + self.__drawProgressBar(label, 10.0, 10.0) + sys.stdout.write(" (timeout: %d seconds) " % int(deadline-time.time()) ) + sys.stdout.flush() + + if self.__trySync(): + self.__drawProgressBar(label, 10.0, 10.0) + return; + + raise RuntimeError("timed out waiting for erase") + + # send a PROG_MULTI command to write a collection of bytes + def __program_multi(self, data): + + if runningPython3 == True: + length = len(data).to_bytes(1, byteorder='big') + else: + length = chr(len(data)) + + self.__send(uploader.PROG_MULTI) + self.__send(length) + self.__send(data) + self.__send(uploader.EOC) + self.__getSync() + + # verify multiple bytes in flash + def __verify_multi(self, data): + + if runningPython3 == True: + length = len(data).to_bytes(1, byteorder='big') + else: + length = chr(len(data)) + + self.__send(uploader.READ_MULTI) + self.__send(length) + self.__send(uploader.EOC) + self.port.flush() + programmed = self.__recv(len(data)) + if programmed != data: + print("got " + binascii.hexlify(programmed)) + print("expect " + binascii.hexlify(data)) + return False + self.__getSync() + return True + + # send the reboot command + def __reboot(self): + self.__send(uploader.REBOOT + + uploader.EOC) + self.port.flush() + + # v3+ can report failure if the first word flash fails + if self.bl_rev >= 3: + self.__getSync() + + # split a sequence into a list of size-constrained pieces + def __split_len(self, seq, length): + return [seq[i:i+length] for i in range(0, len(seq), length)] + + # upload code + def __program(self, label, fw): + print("\n", end='') + code = fw.image + groups = self.__split_len(code, uploader.PROG_MULTI_MAX) + + uploadProgress = 0 + for bytes in groups: + self.__program_multi(bytes) + + #Print upload progress (throttled, so it does not delay upload progress) + uploadProgress += 1 + if uploadProgress % 256 == 0: + self.__drawProgressBar(label, uploadProgress, len(groups)) + self.__drawProgressBar(label, 100, 100) + + # verify code + def __verify_v2(self, label, fw): + print("\n", end='') + self.__send(uploader.CHIP_VERIFY + + uploader.EOC) + self.__getSync() + code = fw.image + groups = self.__split_len(code, uploader.READ_MULTI_MAX) + verifyProgress = 0 + for bytes in groups: + verifyProgress += 1 + if verifyProgress % 256 == 0: + self.__drawProgressBar(label, verifyProgress, len(groups)) + if (not self.__verify_multi(bytes)): + raise RuntimeError("Verification failed") + self.__drawProgressBar(label, 100, 100) + + def __verify_v3(self, label, fw): + print("\n", end='') + self.__drawProgressBar(label, 1, 100) + expect_crc = fw.crc(self.fw_maxsize) + self.__send(uploader.GET_CRC + + uploader.EOC) + report_crc = self.__recv_int() + self.__getSync() + verifyProgress = 0 + if report_crc != expect_crc: + print("Expected 0x%x" % expect_crc) + print("Got 0x%x" % report_crc) + raise RuntimeError("Program CRC failed") + self.__drawProgressBar(label, 100, 100) + + def __set_boot_delay(self, boot_delay): + self.__send(uploader.SET_BOOT_DELAY + + struct.pack("b", boot_delay) + + uploader.EOC) + self.__getSync() + + # get basic data about the board + def identify(self): + # make sure we are in sync before starting + self.__sync() + + # get the bootloader protocol ID first + self.bl_rev = self.__getInfo(uploader.INFO_BL_REV) + if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX): + print("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV) + raise RuntimeError("Bootloader protocol mismatch") + + self.board_type = self.__getInfo(uploader.INFO_BOARD_ID) + self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV) + self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE) + + # upload the firmware + def upload(self, fw): + # Make sure we are doing the right thing + if self.board_type != fw.property('board_id'): + msg = "Firmware not suitable for this board (board_type=%u board_id=%u)" % ( + self.board_type, fw.property('board_id')) + print("WARNING: %s" % msg) + if args.force: + print("FORCED WRITE, FLASHING ANYWAY!") + else: + raise IOError(msg) + if self.fw_maxsize < fw.property('image_size'): + raise RuntimeError("Firmware image is too large for this board") + + # OTP added in v4: + if self.bl_rev > 3: + for byte in range(0,32*6,4): + x = self.__getOTP(byte) + self.otp = self.otp + x + print(binascii.hexlify(x).decode('Latin-1') + ' ', end='') + # see src/modules/systemlib/otp.h in px4 code: + self.otp_id = self.otp[0:4] + self.otp_idtype = self.otp[4:5] + self.otp_vid = self.otp[8:4:-1] + self.otp_pid = self.otp[12:8:-1] + self.otp_coa = self.otp[32:160] + # show user: + try: + print("type: " + self.otp_id.decode('Latin-1')) + print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1')) + print("vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1')) + print("pid: "+ binascii.hexlify(self.otp_pid).decode('Latin-1')) + print("coa: "+ binascii.b2a_base64(self.otp_coa).decode('Latin-1')) + print("sn: ", end='') + for byte in range(0,12,4): + x = self.__getSN(byte) + x = x[::-1] # reverse the bytes + self.sn = self.sn + x + print(binascii.hexlify(x).decode('Latin-1'), end='') # show user + print('') + print("chip: %08x" % self.__getCHIP()) + if (self.bl_rev >= 5): + des = self.__getCHIPDes() + if (len(des) == 2): + print("family: %s" % des[0]) + print("revision: %s" % des[1]) + print("flash %d" % self.fw_maxsize) + except Exception: + # ignore bad character encodings + pass + + self.__erase("Erase ") + self.__program("Program", fw) + + if self.bl_rev == 2: + self.__verify_v2("Verify ", fw) + else: + self.__verify_v3("Verify ", fw) + + if args.boot_delay is not None: + self.__set_boot_delay(args.boot_delay) + + print("\nRebooting.\n") + self.__reboot() + self.port.close() + + def send_reboot(self): + try: + # try reboot via NSH first + self.__send(uploader.NSH_INIT) + self.__send(uploader.NSH_REBOOT_BL) + self.__send(uploader.NSH_INIT) + self.__send(uploader.NSH_REBOOT) + # then try MAVLINK command + self.__send(uploader.MAVLINK_REBOOT_ID1) + self.__send(uploader.MAVLINK_REBOOT_ID0) + except: + return + + +# Detect python version +if sys.version_info[0] < 3: + runningPython3 = False +else: + runningPython3 = True + +# Parse commandline arguments +parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.") +parser.add_argument('--port', action="store", required=True, help="Serial port(s) to which the FMU may be attached") +parser.add_argument('--baud', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200), only required for true serial ports.") +parser.add_argument('--force', action='store_true', default=False, help='Override board type check and continue loading') +parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash') +parser.add_argument('firmware', action="store", help="Firmware file to be uploaded") +args = parser.parse_args() + +# warn people about ModemManager which interferes badly with Pixhawk +if os.path.exists("/usr/sbin/ModemManager"): + print("==========================================================================================================") + print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)") + print("==========================================================================================================") + +# Load the firmware file +fw = firmware(args.firmware) +print("Loaded firmware for %x,%x, size: %d bytes, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'))) +print("If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.") + +# Spin waiting for a device to show up +try: + while True: + portlist = [] + patterns = args.port.split(",") + # on unix-like platforms use glob to support wildcard ports. This allows + # the use of /dev/serial/by-id/usb-3D_Robotics on Linux, which prevents the upload from + # causing modem hangups etc + if "linux" in _platform or "darwin" in _platform: + import glob + for pattern in patterns: + portlist += glob.glob(pattern) + else: + portlist = patterns + + for port in portlist: + + #print("Trying %s" % port) + + # create an uploader attached to the port + try: + if "linux" in _platform: + # Linux, don't open Mac OS and Win ports + if not "COM" in port and not "tty.usb" in port: + up = uploader(port, args.baud) + elif "darwin" in _platform: + # OS X, don't open Windows and Linux ports + if not "COM" in port and not "ACM" in port: + up = uploader(port, args.baud) + elif "win" in _platform: + # Windows, don't open POSIX ports + if not "/" in port: + up = uploader(port, args.baud) + except Exception: + # open failed, rate-limit our attempts + time.sleep(0.05) + + # and loop to the next port + continue + + # port is open, try talking to it + try: + # identify the bootloader + up.identify() + print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port)) + + except Exception: + # most probably a timeout talking to the port, no bootloader, try to reboot the board + print("attempting reboot on %s..." % port) + print("if the board does not respond, unplug and re-plug the USB connector.") + up.send_reboot() + + # wait for the reboot, without we might run into Serial I/O Error 5 + time.sleep(0.5) + + # always close the port + up.close() + continue + + try: + # ok, we have a bootloader, try flashing it + up.upload(fw) + + except RuntimeError as ex: + # print the error + print("\nERROR: %s" % ex.args) + + except IOError as e: + up.close(); + continue + + finally: + # always close the port + up.close() + + # we could loop here if we wanted to wait for more boards... + sys.exit(0) + + # Delay retries to < 20 Hz to prevent spin-lock from hogging the CPU + time.sleep(0.05) + +# CTRL+C aborts the upload/spin-lock by interrupt mechanics +except KeyboardInterrupt: + print("\n Upload aborted by user.") + sys.exit(0) From 774af1e3e6faf63c05ad84a52bdb0eef934f584c Mon Sep 17 00:00:00 2001 From: jaxxzer Date: Wed, 14 Dec 2016 16:47:17 +0000 Subject: [PATCH 032/256] Increase loop rate in px_uploader.py in order to catch bootloader sooner --- Tools/px_uploader.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py index 596c9674..aaa49a7f 100755 --- a/Tools/px_uploader.py +++ b/Tools/px_uploader.py @@ -602,7 +602,7 @@ def send_reboot(self): up.send_reboot() # wait for the reboot, without we might run into Serial I/O Error 5 - time.sleep(0.5) + time.sleep(0.1) # always close the port up.close() @@ -628,7 +628,7 @@ def send_reboot(self): sys.exit(0) # Delay retries to < 20 Hz to prevent spin-lock from hogging the CPU - time.sleep(0.05) + time.sleep(0.01) # CTRL+C aborts the upload/spin-lock by interrupt mechanics except KeyboardInterrupt: From 70e0692b7ec461ac1622d1414206e5495282e162 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Thu, 8 Dec 2016 13:39:06 -0500 Subject: [PATCH 033/256] Set mavproxy sysid=200 and heartbeat rate=0 --- RPI2/Raspbian/start_mavproxy_telem_splitter.sh | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh b/RPI2/Raspbian/start_mavproxy_telem_splitter.sh index 8901e527..698c2529 100755 --- a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh +++ b/RPI2/Raspbian/start_mavproxy_telem_splitter.sh @@ -3,6 +3,8 @@ # multiple IP addresses can received the telemetry. # For PixHawk or other connected via USB on Raspberry Pi -mavproxy.py --master /dev/ttyACM0,115200 \ +mavproxy.py --master=/dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00,115200 \ + --source-system=200 \ + --cmd="set heartbeat 0" \ --out udpin:localhost:9000 \ --out udpbcast:192.168.2.255:14550 From 954f048725b86dc5573ca48ba108db69de0b5f51 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 20 Dec 2016 18:57:30 -0500 Subject: [PATCH 034/256] Update raspbian setup.sh --- RPI2/Raspbian/setup.sh | 17 ++++++++++++----- 1 file changed, 12 insertions(+), 5 deletions(-) diff --git a/RPI2/Raspbian/setup.sh b/RPI2/Raspbian/setup.sh index 715ba5ba..fc2e50bb 100755 --- a/RPI2/Raspbian/setup.sh +++ b/RPI2/Raspbian/setup.sh @@ -1,11 +1,11 @@ #!/bin/bash -# RPi2 setup script for use as companion computer. This script is simplified for use with +# RPi2 setup script for use as companion computer. This script is simplified for use with # the ArduSub code. # Update package lists and current packages sudo apt-get update -sudo apt-get upgrade +sudo apt-get upgrade -y # Update Raspberry Pi sudo apt-get install -y rpi-update @@ -24,6 +24,10 @@ sudo apt-get install -y screen # live video related packages sudo apt-get install -y gstreamer1.0 +# install git, and clone bluerobotics companion repository +sudo apt-get install -y git +git clone https://github.com/bluerobotics/companion.git /home/pi/companion + # Disable camera LED sudo sed -i '$a disable_camera_led=1' /boot/config.txt @@ -33,7 +37,10 @@ S2='screen -dm -S video /home/pi/companion/RPI2/Raspbian/start_video.sh' # this will produce desired result if this script has been run already, # and commands are already in place -sudo sed -i -e "\%$S1%d" \ # delete S1 if it already exists --e "\%$S2%d" \ # delete S2 if it already exists --e "0,/^[^#]*exit 0/s%%$S1\n$S2\n&%" \ # insert S1 and S2 above the first uncommented exit 0 line in the file +# delete S1 if it already exists +# delete S2 if it already exists +# insert S1 and S2 above the first uncommented exit 0 line in the file +sudo sed -i -e "\%$S1%d" \ +-e "\%$S2%d" \ +-e "0,/^[^#]*exit 0/s%%$S1\n$S2\n&%" \ /etc/rc.local From e5df6a6318a9cbaf85aa7abf634432dfc2487280 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 21 Dec 2016 20:54:45 -0500 Subject: [PATCH 035/256] setup.sh: leave only one disable_camera_led=1 line in /boot/config.txt --- RPI2/Raspbian/setup.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/RPI2/Raspbian/setup.sh b/RPI2/Raspbian/setup.sh index fc2e50bb..b06a5787 100755 --- a/RPI2/Raspbian/setup.sh +++ b/RPI2/Raspbian/setup.sh @@ -29,6 +29,7 @@ sudo apt-get install -y git git clone https://github.com/bluerobotics/companion.git /home/pi/companion # Disable camera LED +sudo sed -i '\%disable_camera_led=1%d' /boot/config.txt sudo sed -i '$a disable_camera_led=1' /boot/config.txt # add startup commands to /etc/rc.local From 4d40480d4a67114584a54f2f669036f584fff308 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 11 Jan 2017 20:03:16 -0500 Subject: [PATCH 036/256] Add -roi argument to raspivid command --- RPI2/Raspbian/start_video.sh | 2 ++ 1 file changed, 2 insertions(+) diff --git a/RPI2/Raspbian/start_video.sh b/RPI2/Raspbian/start_video.sh index 866a044b..83507742 100755 --- a/RPI2/Raspbian/start_video.sh +++ b/RPI2/Raspbian/start_video.sh @@ -16,6 +16,7 @@ # --bitrate 10000000 # -fps 30 \ # --awb off \ +# -roi 0.02,0.0,0.81,0.85 \ # -fl \ # --timeout 0 \ # --output - | \ @@ -35,6 +36,7 @@ raspivid --nopreview \ --sharpness 50 \ --contrast 15 \ --drc medium \ + -roi 0.02,0.0,0.81,0.85 \ -fl \ --timeout 0 \ --output - | \ From 27af75e9c11e251fef8f5c310bbe1e096b505f78 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 1 Feb 2017 13:36:38 -0500 Subject: [PATCH 037/256] Add gitignore --- .gitignore | 2 ++ 1 file changed, 2 insertions(+) create mode 100644 .gitignore diff --git a/.gitignore b/.gitignore new file mode 100644 index 00000000..e901e7f8 --- /dev/null +++ b/.gitignore @@ -0,0 +1,2 @@ +*~ +*.project From 4789b560d13776c1b8fd5d566618690808b44def Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 15 Feb 2017 21:47:16 -0500 Subject: [PATCH 038/256] Add support for h264 usb camera --- RPI2/Raspbian/setup.sh | 13 ++- RPI2/Raspbian/setup_gst.sh | 175 ++++++++++++++++++++++++++++++++ RPI2/Raspbian/start_raspivid.sh | 46 +++++++++ RPI2/Raspbian/start_usbvid.sh | 2 + RPI2/Raspbian/start_video.sh | 51 ++-------- 5 files changed, 236 insertions(+), 51 deletions(-) create mode 100755 RPI2/Raspbian/setup_gst.sh create mode 100755 RPI2/Raspbian/start_raspivid.sh create mode 100755 RPI2/Raspbian/start_usbvid.sh diff --git a/RPI2/Raspbian/setup.sh b/RPI2/Raspbian/setup.sh index b06a5787..1a598976 100755 --- a/RPI2/Raspbian/setup.sh +++ b/RPI2/Raspbian/setup.sh @@ -14,16 +14,12 @@ sudo rpi-update # install python and pip sudo apt-get install -y python-dev python-pip -# install dronekit -sudo pip install dronekit dronekit-sitl # also installs pymavlink -sudo pip install mavproxy +# install MAVLink tools +sudo pip install mavproxy dronekit dronekit-sitl # also installs pymavlink # install screen sudo apt-get install -y screen -# live video related packages -sudo apt-get install -y gstreamer1.0 - # install git, and clone bluerobotics companion repository sudo apt-get install -y git git clone https://github.com/bluerobotics/companion.git /home/pi/companion @@ -34,7 +30,7 @@ sudo sed -i '$a disable_camera_led=1' /boot/config.txt # add startup commands to /etc/rc.local S1='screen -dm -S mavproxy /home/pi/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh' -S2='screen -dm -S video /home/pi/companion/RPI2/Raspbian/start_video.sh' +S2='/home/pi/companion/RPI2/Raspbian/start_video.sh' # this will produce desired result if this script has been run already, # and commands are already in place @@ -45,3 +41,6 @@ sudo sed -i -e "\%$S1%d" \ -e "\%$S2%d" \ -e "0,/^[^#]*exit 0/s%%$S1\n$S2\n&%" \ /etc/rc.local + +# compile and install gstreamer 1.8 from source +/home/pi/companion/RPI2/Raspbian/setup_gst.sh diff --git a/RPI2/Raspbian/setup_gst.sh b/RPI2/Raspbian/setup_gst.sh new file mode 100755 index 00000000..b0a7e5e0 --- /dev/null +++ b/RPI2/Raspbian/setup_gst.sh @@ -0,0 +1,175 @@ +#compile and install gstreamer from source +#derived from script found at https://gist.github.com/sphaero/02717b0b35501ad94863 +#!/bin/bash --debugger +set -e + +BRANCH="1.8" +if grep -q BCM270 /proc/cpuinfo; then + echo "RPI BUILD!" + RPI="1" +fi + +[ -n "$1" ] && BRANCH=$1 + +# Create a log file of the build as well as displaying the build on the tty as it runs +exec > >(tee build_gstreamer.log) +exec 2>&1 + +sudo apt-get remove libgstreamer* gstreamer1.0* + +# Update and Upgrade the Pi, otherwise the build may fail due to inconsistencies +grep -q BCM270 /proc/cpuinfo && sudo apt-get update && sudo apt-get upgrade -y --force-yes + +# Get the required libraries +sudo apt-get install -y --force-yes build-essential autotools-dev automake autoconf \ + libtool autopoint libxml2-dev zlib1g-dev libglib2.0-dev \ + pkg-config bison flex python3 git gtk-doc-tools libasound2-dev \ + libgudev-1.0-dev libxt-dev libvorbis-dev libcdparanoia-dev \ + libpango1.0-dev libtheora-dev libvisual-0.4-dev iso-codes \ + libgtk-3-dev libraw1394-dev libiec61883-dev libavc1394-dev \ + libv4l-dev libcairo2-dev libcaca-dev libspeex-dev libpng-dev \ + libshout3-dev libjpeg-dev libaa1-dev libflac-dev libdv4-dev \ + libtag1-dev libwavpack-dev libpulse-dev libsoup2.4-dev libbz2-dev \ + libcdaudio-dev libdc1394-22-dev ladspa-sdk libass-dev \ + libcurl4-gnutls-dev libdca-dev libdirac-dev libdvdnav-dev \ + libexempi-dev libexif-dev libfaad-dev libgme-dev libgsm1-dev \ + libiptcdata0-dev libkate-dev libmimic-dev libmms-dev \ + libmodplug-dev libmpcdec-dev libofa0-dev libopus-dev \ + librsvg2-dev librtmp-dev libschroedinger-dev libslv2-dev \ + libsndfile1-dev libsoundtouch-dev libspandsp-dev libx11-dev \ + libxvidcore-dev libzbar-dev libzvbi-dev liba52-0.7.4-dev \ + libcdio-dev libdvdread-dev libmad0-dev libmp3lame-dev \ + libmpeg2-4-dev libopencore-amrnb-dev libopencore-amrwb-dev \ + libsidplay1-dev libtwolame-dev libx264-dev libusb-1.0 \ + python-gi-dev yasm python3-dev libgirepository1.0-dev \ + + +# get the repos if they're not already there +cd $HOME +[ ! -d src ] && mkdir src +cd src +[ ! -d gstreamer ] && mkdir gstreamer +cd gstreamer + +# get repos if they are not there yet +[ ! -d gstreamer ] && git clone git://anongit.freedesktop.org/git/gstreamer/gstreamer +[ ! -d gst-plugins-base ] && git clone git://anongit.freedesktop.org/git/gstreamer/gst-plugins-base +[ ! -d gst-plugins-good ] && git clone git://anongit.freedesktop.org/git/gstreamer/gst-plugins-good +[ ! -d gst-plugins-bad ] && git clone git://anongit.freedesktop.org/git/gstreamer/gst-plugins-bad +[ ! -d gst-plugins-ugly ] && git clone git://anongit.freedesktop.org/git/gstreamer/gst-plugins-ugly +[ ! -d gst-libav ] && git clone git://anongit.freedesktop.org/git/gstreamer/gst-libav +[ ! -d gst-omx ] && git clone git://anongit.freedesktop.org/git/gstreamer/gst-omx +[ ! -d gst-python ] && git clone git://anongit.freedesktop.org/git/gstreamer/gst-python +[ ! $RPI ] && [ ! -d gstreamer-vaapi ] && git clone git://gitorious.org/vaapi/gstreamer-vaapi.git + +export LD_LIBRARY_PATH=/usr/local/lib/ +# checkout branch (default=master) and build & install +cd gstreamer +git checkout -t origin/$BRANCH || true +sudo make -j4 uninstall || true +git pull +./autogen.sh --disable-gtk-doc +make -j4 +sudo make -j4 install +cd .. + +cd gst-plugins-base +git checkout -t origin/$BRANCH || true +sudo make -j4 uninstall || true +git pull +./autogen.sh --disable-gtk-doc +make -j4 +sudo make -j4 install +cd .. + +cd gst-plugins-good +git checkout -t origin/$BRANCH || true +sudo make -j4 uninstall || true +git pull +./autogen.sh --disable-gtk-doc +make -j4 +sudo make -j4 install +cd .. + +cd gst-plugins-ugly +git checkout -t origin/$BRANCH || true +sudo make -j4 uninstall || true +git pull +./autogen.sh --disable-gtk-doc +make -j4 +sudo make -j4 install +cd .. + +cd gst-libav +git checkout -t origin/$BRANCH || true +sudo make -j4 uninstall || true +git pull +./autogen.sh --disable-gtk-doc +make -j4 +sudo make -j4 install +cd .. + +cd gst-plugins-bad +git checkout -t origin/$BRANCH || true +sudo make -j4 uninstall || true +git pull +# some extra flags on rpi +if [[ $RPI -eq 1 ]]; then + export LDFLAGS='-L/opt/vc/lib' \ + CFLAGS='-I/opt/vc/include -I/opt/vc/include/interface/vcos/pthreads -I/opt/vc/include/interface/vmcs_host/linux' \ + CPPFLAGS='-I/opt/vc/include -I/opt/vc/include/interface/vcos/pthreads -I/opt/vc/include/interface/vmcs_host/linux' + ./autogen.sh --disable-gtk-doc --disable-examples --disable-x11 --disable-glx --disable-glx --disable-opengl + make -j4 CFLAGS+="-Wno-error -Wno-redundant-decls -I/opt/vc/include -I/opt/vc/include/interface/vcos/pthreads -I/opt/vc/include/interface/vmcs_host/linux" \ + CPPFLAGS+="-Wno-error -Wno-redundant-decls -I/opt/vc/include -I/opt/vc/include/interface/vcos/pthreads -I/opt/vc/include/interface/vmcs_host/linux" \ + CXXFLAGS+="-Wno-redundant-decls" LDFLAGS+="-L/opt/vc/lib" +else + ./autogen.sh --disable-gtk-doc + make -j4 CFLAGS+="-Wno-error -Wno-redundant-decls" CXXFLAGS+="-Wno-redundant-decls" +fi +sudo make -j4 install +cd .. + +# python bindings +cd gst-python +git checkout -t origin/$BRANCH || true +export LD_LIBRARY_PATH=/usr/local/lib/ +sudo make -j4 uninstall || true +git pull +PYTHON=/usr/bin/python3 ./autogen.sh +make -j4 +sudo make -j4 install +cd .. + +# omx support +cd gst-omx +git checkout -t origin/1.0 || true +sudo make -j4 uninstall || true +git pull +if [[ $RPI -eq 1 ]]; then + export LDFLAGS='-L/opt/vc/lib' \ + CFLAGS='-I/opt/vc/include -I/opt/vc/include/IL -I/opt/vc/include/interface/vcos/pthreads -I/opt/vc/include/interface/vmcs_host/linux -I/opt/vc/include/IL' \ + CPPFLAGS='-I/opt/vc/include -I/opt/vc/include/IL -I/opt/vc/include/interface/vcos/pthreads -I/opt/vc/include/interface/vmcs_host/linux -I/opt/vc/include/IL' + ./autogen.sh --disable-gtk-doc --with-omx-target=rpi + # fix for glcontext errors and openexr redundant declarations + make -j4 CFLAGS+="-Wno-error -Wno-redundant-decls" LDFLAGS+="-L/opt/vc/lib" +else + ./autogen.sh --disable-gtk-doc --with-omx-target=bellagio + # fix for glcontext errors and openexr redundant declarations + make -j4 CFLAGS+="-Wno-error -Wno-redundant-decls" +fi +sudo make -j4 install +cd .. + +# VAAPI, not for RPI +if [[ $RPI -ne 1 ]]; then + cd gstreamer-vaapi + sudo make -j4 uninstall || true + git pull + ./autogen.sh + make -j4 + sudo make -j4 install + cd .. +fi + +sudo rm -rf $HOME/src + diff --git a/RPI2/Raspbian/start_raspivid.sh b/RPI2/Raspbian/start_raspivid.sh new file mode 100755 index 00000000..399ba7e7 --- /dev/null +++ b/RPI2/Raspbian/start_raspivid.sh @@ -0,0 +1,46 @@ +export LD_LIBRARY_PATH=/usr/local/lib/ + +# Video Streaming Command +# Please uncomment only one line depending on streaming preference + +# For all streaming options: +# - Since we are hardwired through tether, bitrate is high to maximize quality +# - Auto white balance is disabled +# - Video stream is flushed to minimize latency +# - Framerate is maximized +# - Port 5600 is used for compatibility with QGroundControl + +# Low-latency, low resolution stream (100ms) + +# raspivid --nopreview \ +# --width 640 \ +# --height 480 \ +# --bitrate 10000000 +# -fps 30 \ +# --awb off \ +# -roi 0.02,0.0,0.81,0.85 \ +# -fl \ +# --timeout 0 \ +# --output - | \ +# gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ +# udpsink host=192.168.2.1 port=5600 + +# HD Stream with some latency for RasPi camera (250ms on RPi3) +# Use mode 2 for 1080p @ 15 fps and mode 5 for 922p @ 40 fps + +raspivid --nopreview \ + --mode 5 \ + --bitrate 15000000 \ + --intra 1 \ + --awb auto \ + --brightness 55 \ + --saturation 10 \ + --sharpness 50 \ + --contrast 15 \ + --drc medium \ + -roi 0.02,0.0,0.81,0.85 \ + -fl \ + --timeout 0 \ + --output - | \ + gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ + udpsink host=192.168.2.1 port=5700 diff --git a/RPI2/Raspbian/start_usbvid.sh b/RPI2/Raspbian/start_usbvid.sh new file mode 100755 index 00000000..27eab845 --- /dev/null +++ b/RPI2/Raspbian/start_usbvid.sh @@ -0,0 +1,2 @@ +export LD_LIBRARY_PATH=/usr/local/lib/ +gst-launch-1.0 -v v4l2src device=/dev/video1 do-timestamp=true ! queue ! "video/x-h264, stream-format=(string)byte-stream, alignment=(string)au, width=(int)1920, height=(int)1080, pixel-aspect-ratio=(fraction)1/1, framerate=(fraction)30/1" ! h264parse ! rtph264pay config-interval=1 pt=96 ! udpsink host=192.168.2.1 port=5600 diff --git a/RPI2/Raspbian/start_video.sh b/RPI2/Raspbian/start_video.sh index 83507742..0662e6f3 100755 --- a/RPI2/Raspbian/start_video.sh +++ b/RPI2/Raspbian/start_video.sh @@ -1,44 +1,7 @@ -# Video Streaming Command -# Please uncomment only one line depending on streaming preference - -# For all streaming options: -# - Since we are hardwired through tether, bitrate is high to maximize quality -# - Auto white balance is disabled -# - Video stream is flushed to minimize latency -# - Framerate is maximized -# - Port 5600 is used for compatibility with QGroundControl - -# Low-latency, low resolution stream (100ms) - -# raspivid --nopreview \ -# --width 640 \ -# --height 480 \ -# --bitrate 10000000 -# -fps 30 \ -# --awb off \ -# -roi 0.02,0.0,0.81,0.85 \ -# -fl \ -# --timeout 0 \ -# --output - | \ -# gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ -# udpsink host=192.168.2.1 port=5600 - -# HD Stream with some latency for RasPi camera (250ms on RPi3) -# Use mode 2 for 1080p @ 15 fps and mode 5 for 922p @ 40 fps - -raspivid --nopreview \ - --mode 5 \ - --bitrate 15000000 \ - --intra 1 \ - --awb auto \ - --brightness 55 \ - --saturation 10 \ - --sharpness 50 \ - --contrast 15 \ - --drc medium \ - -roi 0.02,0.0,0.81,0.85 \ - -fl \ - --timeout 0 \ - --output - | \ - gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ - udpsink host=192.168.2.1 port=5600 +if lsusb | grep 05a3:9422; then + echo "USB Cam" + sudo screen -dm -S video /home/pi/companion/RPI2/Raspbian/start_usbvid.sh +else + echo "Raspi Cam" + sudo screen -dm -S video /home/pi/companion/RPI2/Raspbian/start_raspivid.sh +fi From 7199314565516e3e902ca3e82882d95783643078 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Thu, 16 Feb 2017 10:59:40 -0500 Subject: [PATCH 039/256] Fix issues with raspivid launch --- RPI2/Raspbian/start_raspivid.sh | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/RPI2/Raspbian/start_raspivid.sh b/RPI2/Raspbian/start_raspivid.sh index 399ba7e7..d6083c91 100755 --- a/RPI2/Raspbian/start_raspivid.sh +++ b/RPI2/Raspbian/start_raspivid.sh @@ -37,10 +37,9 @@ raspivid --nopreview \ --saturation 10 \ --sharpness 50 \ --contrast 15 \ - --drc medium \ -roi 0.02,0.0,0.81,0.85 \ -fl \ --timeout 0 \ --output - | \ gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ - udpsink host=192.168.2.1 port=5700 + udpsink host=192.168.2.1 port=5600 From 436f811821793848087ff366b70f39a553925849 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Thu, 16 Feb 2017 13:59:42 -0500 Subject: [PATCH 040/256] Install future, dependency for mavproxy --- RPI2/Raspbian/setup.sh | 2 ++ 1 file changed, 2 insertions(+) diff --git a/RPI2/Raspbian/setup.sh b/RPI2/Raspbian/setup.sh index 1a598976..4065bd1e 100755 --- a/RPI2/Raspbian/setup.sh +++ b/RPI2/Raspbian/setup.sh @@ -14,6 +14,8 @@ sudo rpi-update # install python and pip sudo apt-get install -y python-dev python-pip +sudo pip install future + # install MAVLink tools sudo pip install mavproxy dronekit dronekit-sitl # also installs pymavlink From e54e4e41b1f9ad2ab15a8ca5ecb92d8b4b5ce097 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 10 Mar 2017 15:21:41 -0500 Subject: [PATCH 041/256] Update flash_px4.py for new ardupilot firmware server --- RPI2/Raspbian/flash_px4.py | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/RPI2/Raspbian/flash_px4.py b/RPI2/Raspbian/flash_px4.py index c227c8ee..a3b3898c 100755 --- a/RPI2/Raspbian/flash_px4.py +++ b/RPI2/Raspbian/flash_px4.py @@ -9,7 +9,7 @@ parser = OptionParser() parser.add_option("--url",dest="url",help="Firmware download URL (optional)") parser.add_option("--stdin",action="store_true",dest="fromStdin",default=False,help="Expect input from stdin") -parser.add_option("--frame",dest="frame",default="vectored",help="ArduSub frame type for automatical download (optional)") +parser.add_option("--latest",action="store_true",dest="latest",default=False,help="Upload latest development firmware") (options,args) = parser.parse_args() if options.fromStdin: @@ -27,12 +27,15 @@ error("Read error on stdin!") else: # Download most recent firmware - firmwareURL = "http://firmware.ardusub.com/Sub/latest/PX4-"+options.frame+"/ArduSub-v2.px4" if options.url: firmwareURL = options.url - print "Downloading latest ArduSub firmware from URL..." + print "Downloading ArduSub firmware from %s" % firmwareURL + elif options.latest: + firmwareURL = "http://firmware.us.ardupilot.org/Sub/latest/PX4/ArduSub-v2.px4" + print "Downloading latest ArduSub firmware from %s" % firmwareURL else: - print "Downloading latest ArduSub "+options.frame+" firmware..." + firmwareURL = "http://firmware.us.ardupilot.org/Sub/stable/PX4/ArduSub-v2.px4" + print "Downloading stable ArduSub firmware from %s" % firmwareURL try: firmwarefile = urllib.URLopener() From 778f1aede61d0777782d3cd217126fc832392a16 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 10 Mar 2017 15:36:39 -0500 Subject: [PATCH 042/256] Add timeout to flash_px4.py for input on stdin --- RPI2/Raspbian/flash_px4.py | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/RPI2/Raspbian/flash_px4.py b/RPI2/Raspbian/flash_px4.py index a3b3898c..cd2613d0 100755 --- a/RPI2/Raspbian/flash_px4.py +++ b/RPI2/Raspbian/flash_px4.py @@ -4,8 +4,13 @@ import urllib import time import sys +import signal from optparse import OptionParser +def timeout(signum, frame): + print 'Timed out waiting for firmware on stdin!' + exit(1) + parser = OptionParser() parser.add_option("--url",dest="url",help="Firmware download URL (optional)") parser.add_option("--stdin",action="store_true",dest="fromStdin",default=False,help="Expect input from stdin") @@ -16,7 +21,10 @@ # Get firmware from stdin if possible print "Trying to read file from stdin..." + signal.signal(signal.SIGALRM, timeout) + signal.alarm(5) fileIn = sys.stdin.read() + signal.alarm(0) if fileIn: file = open("/tmp/ArduSub-v2.px4","w") From 0f2ea91580489e76330558e6d4e1215009c9a1b1 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 10 Mar 2017 15:47:17 -0500 Subject: [PATCH 043/256] 'Enable camera interface programmatically in setup.sh' --- RPI2/Raspbian/setup.sh | 6 ++++++ 1 file changed, 6 insertions(+) mode change 100755 => 100644 RPI2/Raspbian/setup.sh diff --git a/RPI2/Raspbian/setup.sh b/RPI2/Raspbian/setup.sh old mode 100755 new mode 100644 index 4065bd1e..b6ba2142 --- a/RPI2/Raspbian/setup.sh +++ b/RPI2/Raspbian/setup.sh @@ -30,6 +30,12 @@ git clone https://github.com/bluerobotics/companion.git /home/pi/companion sudo sed -i '\%disable_camera_led=1%d' /boot/config.txt sudo sed -i '$a disable_camera_led=1' /boot/config.txt +# Enable RPi camera interface +sudo sed -i '\%start_x=%d' /boot/config.txt +sudo sed -i '\%gpu_mem=%d' /boot/config.txt +sudo sed -i '$a start_x=1' /boot/config.txt +sudo sed -i '$a gpu_mem=128' /boot/config.txt + # add startup commands to /etc/rc.local S1='screen -dm -S mavproxy /home/pi/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh' S2='/home/pi/companion/RPI2/Raspbian/start_video.sh' From b4c4ec0a6090bb3ad3bce416c7796723e7ecba67 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 10 Mar 2017 16:21:31 -0500 Subject: [PATCH 044/256] Install pymavlink from source --- RPI2/Raspbian/setup.sh | 27 +++++++++++++++++++++------ 1 file changed, 21 insertions(+), 6 deletions(-) mode change 100644 => 100755 RPI2/Raspbian/setup.sh diff --git a/RPI2/Raspbian/setup.sh b/RPI2/Raspbian/setup.sh old mode 100644 new mode 100755 index b6ba2142..54fd470e --- a/RPI2/Raspbian/setup.sh +++ b/RPI2/Raspbian/setup.sh @@ -2,6 +2,7 @@ # RPi2 setup script for use as companion computer. This script is simplified for use with # the ArduSub code. +cd $HOME # Update package lists and current packages sudo apt-get update @@ -16,15 +17,27 @@ sudo apt-get install -y python-dev python-pip sudo pip install future +# install git +sudo apt-get install -y git + +# download and install pymavlink from source in order to have up to date ArduSub support +git clone https://github.com/mavlink/mavlink.git $HOME/mavlink + +pushd mavlink +git submodule init && git submodule update --recursive +pushd pymavlink +sudo python setup.py build install +popd +popd + # install MAVLink tools sudo pip install mavproxy dronekit dronekit-sitl # also installs pymavlink # install screen sudo apt-get install -y screen -# install git, and clone bluerobotics companion repository -sudo apt-get install -y git -git clone https://github.com/bluerobotics/companion.git /home/pi/companion +# clone bluerobotics companion repository +git clone https://github.com/bluerobotics/companion.git $HOME/companion # Disable camera LED sudo sed -i '\%disable_camera_led=1%d' /boot/config.txt @@ -37,8 +50,8 @@ sudo sed -i '$a start_x=1' /boot/config.txt sudo sed -i '$a gpu_mem=128' /boot/config.txt # add startup commands to /etc/rc.local -S1='screen -dm -S mavproxy /home/pi/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh' -S2='/home/pi/companion/RPI2/Raspbian/start_video.sh' +S1="screen -dm -S mavproxy $HOME/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh" +S2="$HOME/companion/RPI2/Raspbian/start_video.sh" # this will produce desired result if this script has been run already, # and commands are already in place @@ -51,4 +64,6 @@ sudo sed -i -e "\%$S1%d" \ /etc/rc.local # compile and install gstreamer 1.8 from source -/home/pi/companion/RPI2/Raspbian/setup_gst.sh +if [ "$1" = "gst" ]; then + $HOME/companion/RPI2/Raspbian/setup_gst.sh +fi From c1d0c91d89da1927e07703e52e6b4482ce5b214e Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 10 Mar 2017 18:09:35 -0500 Subject: [PATCH 045/256] setup.sh: add dependencies and skip changelogs --- RPI2/Raspbian/setup.sh | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/RPI2/Raspbian/setup.sh b/RPI2/Raspbian/setup.sh index 54fd470e..c6eaa1da 100755 --- a/RPI2/Raspbian/setup.sh +++ b/RPI2/Raspbian/setup.sh @@ -6,14 +6,17 @@ cd $HOME # Update package lists and current packages sudo apt-get update -sudo apt-get upgrade -y +sudo DEBIAN_FRONTEND=noninteractive apt-get upgrade -yq # Update Raspberry Pi -sudo apt-get install -y rpi-update -sudo rpi-update +sudo DEBIAN_FRONTEND=noninteractive apt-get install -yq rpi-update +sudo rpi-update -y # install python and pip -sudo apt-get install -y python-dev python-pip +sudo apt-get install -y python-dev python-pip python-libxml2 + +# dependencies +sudo apt-get install -y libxml2-dev libxslt1-dev sudo pip install future From d391149b17067444a27d88b548a3dd6583fc7e27 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 18 Apr 2017 16:36:27 -0400 Subject: [PATCH 046/256] Add webui --- .gitignore | 1 + RPI2/Raspbian/.companion.rc | 4 + RPI2/Raspbian/br-webui/index.html | 106 ++++++++++ RPI2/Raspbian/br-webui/index.js | 193 ++++++++++++++++++ RPI2/Raspbian/br-webui/package.json | 17 ++ RPI2/Raspbian/br-webui/routing.html | 38 ++++ RPI2/Raspbian/br-webui/system.html | 60 ++++++ RPI2/Raspbian/setup.sh | 41 ++-- RPI2/Raspbian/setup_gst.sh | 1 + .../Raspbian/start_mavproxy_telem_splitter.sh | 1 + RPI2/Raspbian/start_usbvid.sh | 2 +- RPI2/Raspbian/start_video.sh | 5 +- RPI2/Raspbian/start_webterminal.sh | 4 + RPI2/Raspbian/start_webui.sh | 4 + 14 files changed, 462 insertions(+), 15 deletions(-) create mode 100755 RPI2/Raspbian/.companion.rc create mode 100644 RPI2/Raspbian/br-webui/index.html create mode 100644 RPI2/Raspbian/br-webui/index.js create mode 100644 RPI2/Raspbian/br-webui/package.json create mode 100644 RPI2/Raspbian/br-webui/routing.html create mode 100644 RPI2/Raspbian/br-webui/system.html create mode 100755 RPI2/Raspbian/start_webterminal.sh create mode 100755 RPI2/Raspbian/start_webui.sh diff --git a/.gitignore b/.gitignore index e901e7f8..a219e2f9 100644 --- a/.gitignore +++ b/.gitignore @@ -1,2 +1,3 @@ *~ *.project +RPI2/Raspbian/br-webui/node_modules/* diff --git a/RPI2/Raspbian/.companion.rc b/RPI2/Raspbian/.companion.rc new file mode 100755 index 00000000..c5b65826 --- /dev/null +++ b/RPI2/Raspbian/.companion.rc @@ -0,0 +1,4 @@ +sudo -H -u pi screen -dm -S mavproxy /home/pi/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh +sudo -H -u pi /home/pi/companion/RPI2/Raspbian/start_video.sh +sudo -H -u pi screen -dm -S webui /home/pi/companion/RPI2/Raspbian/start_webui.sh +sudo -H -u pi screen -dm -S webterminal /home/pi/companion/RPI2/Raspbian/start_webterminal.sh \ No newline at end of file diff --git a/RPI2/Raspbian/br-webui/index.html b/RPI2/Raspbian/br-webui/index.html new file mode 100644 index 00000000..286d684a --- /dev/null +++ b/RPI2/Raspbian/br-webui/index.html @@ -0,0 +1,106 @@ + + + + + + +
+

Network Setup

+
+
+

WiFi Status:

+ Pending +
+
+

Internet Status:

+
Pending
+
+
+

+ WiFi Network Setup: +
+
WiFi SSID:
+
+
+ +
+
+
Password:
+
+
+ + +
+

+
+
+

Companion Update

+
+ +
+
+
+

Pixhawk Update

+
+ +
+
+
+ +
+ + \ No newline at end of file diff --git a/RPI2/Raspbian/br-webui/index.js b/RPI2/Raspbian/br-webui/index.js new file mode 100644 index 00000000..5c39452b --- /dev/null +++ b/RPI2/Raspbian/br-webui/index.js @@ -0,0 +1,193 @@ +var express = require('express'); +var app = express(); +const child_process = require('child_process'); + +app.use(express.static('public')); + +function getNetworks() { + console.log("SCAN Networks"); + + try { + var cmd = child_process.execSync('sudo wpa_cli scan'); + // For some reason this fails once in a while + cmd = child_process.execSync('sudo wpa_cli scan_results | grep PSK | cut -f5 | grep .'); + } catch (e) { + console.log("\n\nCAUGHT ERROR:"); + console.log(e); + return ""; + } + + return cmd.toString().trim().split("\n"); +} + +////////////////// Routes + +// root +app.get('/', function (req, res) { + res.sendFile(__dirname + "/index.html"); +}) + +app.get('/reboot', function (req, res) { + res.redirect('/'); + child_process.exec('sleep 2 && sudo reboot now'); +}); + +app.get('/shutdown', function (req, res) { + res.redirect('/'); + child_process.exec('sleep 2 && sudo shutdown -h now'); +}); + +app.get('/routing', function (req, res) { + res.sendFile(__dirname + "/routing.html"); +}); + +app.get('/system', function (req, res) { + res.sendFile(__dirname + '/system.html'); +}); + +var server = app.listen(2770, function () { + var host = server.address().address + var port = server.address().port + console.log("App running at http://%s:%s", host, port) +}); + +var io = require('socket.io')(server); + +io.on('connection', function (socket) { + socket.on('get serial ids', function (data) { + var cmd = child_process.exec('ls /dev/tty*', function (error, stdout, stderr) { + socket.emit('serial ids', stdout + stderr); + }); + }); + + socket.on('get companion refs', function (data) { + var cmd = child_process.exec('git tag', function (error, stdout, stderr) { + socket.emit('companion refs', stdout + stderr); + }); + }); + + socket.on('join network', joinNetwork); + + socket.on('update companion', function(data) { + updateCompanion(data); + }); + + socket.on('update pixhawk', updatePixhawk); + + socket.emit('wifi aps', getNetworks()); + setInterval( function () { + socket.emit('wifi aps', getNetworks()); + }, 5000); + + getInternetStatus(); + setInterval( function () { + getInternetStatus(); + }, 3000); + + getWiFiStatus(); + setInterval( function () { + getWiFiStatus(); + }, 3000); + + // Query internet connectivity + function getInternetStatus() { + var cmd = child_process.exec('ping -c1 google.com', function (error, stdout, stderr) { + if (error) { + socket.emit('internet status', '

Not Connected

'); + } else { + socket.emit('internet status', '

Connected

'); + } + }) + } + + function getWiFiStatus() { + var cmd = child_process.exec('sudo wpa_cli status', function (error, stdout, stderr) { + console.log("WIFI STATUS"); + console.log(stdout + stderr); + if (error) { + socket.emit('wifi status', '

Error: ' + stderr + '

'); + } else { + if (stdout.indexOf("DISCONNECTED") > -1) { + socket.emit('wifi status', '

Disconnected

'); + } else if (stdout.indexOf("SCANNING") > -1) { + socket.emit('wifi status', '

Scanning

'); + } else if (stdout.indexOf("INACTIVE") > -1) { + socket.emit('wifi status', '

Inactive

'); + } else { + var fields = stdout.split("\n"); + for (var i in fields) { + line = fields[i].split("="); + if (line[0] == "ssid") { + var ssid = line[1]; + } + } + + if (stdout.indexOf("HANDSHAKE") > -1) { + socket.emit('wifi status', '

Connecting: ' + ssid + '

'); + } else { + socket.emit('wifi status', '

Connected: ' + ssid + '

'); + } + } + } + }); + } + + //Restart wifi interface/wpa_supplicant + function restart_network(error, stdout, stderr) { + console.log(error + stdout + stderr); + var cmd = child_process.exec('sudo ifdown wlan0 && sudo ifup wlan0', function (error, stdout, stderr) { + console.log("NETWORK RESTART"); + console.log(error + stdout + stderr); + }); + } + + function joinNetwork(data) { + console.log(data); + + try { + var passphrase = child_process.execSync("wpa_passphrase " + data.ssid + " " + data.password); + + var networkString = passphrase.toString(); + networkString = networkString.replace(/\t#.*\n/g, ''); // strip unencrypted password out + networkString = networkString.replace(/"/g, '\\"'); // strip unencrypted password out + + // Restart the network in the callback + cmd = child_process.exec("sudo sh -c \"echo '" + networkString + "' > /etc/wpa_supplicant/wpa_supplicant.conf\"", restart_network); + } catch (e) { + console.log("CAUGHT ERROR: "); + console.log(e); + } + } + + function updateCompanion(tag) { + var cmd = child_process.exec('cd /home/pi/companion && git pull -f', function (error, stdout, stderr) { + console.log("COMPANION UPDATE"); + console.log(tag); + console.log(error); + console.log(stdout + stderr); + socket.emit('terminal output', stdout + stderr); + }) + } + + function updatePixhawk() { + // Use spawn instead of exec to get callbacks for each line of stderr, stdout + var cmd = child_process.spawn('/home/pi/companion/RPI2/Raspbian/flash_px4.py', ['--latest']); + + cmd.stdout.on('data', function (data) { + socket.emit('terminal output', data.toString()); + }); + + cmd.stderr.on('data', function (data) { + socket.emit('terminal output', data.toString()); + }); + + cmd.on('exit', function (code) { + console.log('companion update exited with code ' + code.toString()); + }); + + cmd.on('error', (err) => { + console.log('Failed to start child process.'); + console.log(err); + }); + } +}) diff --git a/RPI2/Raspbian/br-webui/package.json b/RPI2/Raspbian/br-webui/package.json new file mode 100644 index 00000000..5127ff33 --- /dev/null +++ b/RPI2/Raspbian/br-webui/package.json @@ -0,0 +1,17 @@ +{ + "name": "webui", + "version": "0.0.1", + "private": "true,", + "description": "", + "main": "index.js", + "dependencies": { + "express": "4.15.2", + "socket.io": "1.7.3" + }, + "scripts": { + "test": "echo \"Error: no test specified\" && exit 1" + }, + "keywords": [], + "author": "", + "license": "MIT" +} diff --git a/RPI2/Raspbian/br-webui/routing.html b/RPI2/Raspbian/br-webui/routing.html new file mode 100644 index 00000000..e08b12f0 --- /dev/null +++ b/RPI2/Raspbian/br-webui/routing.html @@ -0,0 +1,38 @@ + + + + + + +
+ + +
+
+ +
+ \ No newline at end of file diff --git a/RPI2/Raspbian/br-webui/system.html b/RPI2/Raspbian/br-webui/system.html new file mode 100644 index 00000000..80a35b52 --- /dev/null +++ b/RPI2/Raspbian/br-webui/system.html @@ -0,0 +1,60 @@ + + + + + + +
+

Companion Update

+
+ + +
+
+
+

Pixhawk Update

+
+ +
+
+
+ +
+ + \ No newline at end of file diff --git a/RPI2/Raspbian/setup.sh b/RPI2/Raspbian/setup.sh index c6eaa1da..d69791dc 100755 --- a/RPI2/Raspbian/setup.sh +++ b/RPI2/Raspbian/setup.sh @@ -2,7 +2,7 @@ # RPi2 setup script for use as companion computer. This script is simplified for use with # the ArduSub code. -cd $HOME +cd /home/pi # Update package lists and current packages sudo apt-get update @@ -22,9 +22,9 @@ sudo pip install future # install git sudo apt-get install -y git - + # download and install pymavlink from source in order to have up to date ArduSub support -git clone https://github.com/mavlink/mavlink.git $HOME/mavlink +git clone https://github.com/mavlink/mavlink.git /home/pi/mavlink pushd mavlink git submodule init && git submodule update --recursive @@ -39,8 +39,26 @@ sudo pip install mavproxy dronekit dronekit-sitl # also installs pymavlink # install screen sudo apt-get install -y screen +# web ui dependencies, separate steps to avoid conflicts +sudo apt-get install -y node +sudo apt-get install -y nodejs-legacy +sudo apt-get install -y npm + +# node updater +sudo npm install n -g + +# Get recent version of node for synchronous child_process calls +sudo n 4.2.6 + +# browser based terminal +sudo npm install tty.js -g + # clone bluerobotics companion repository -git clone https://github.com/bluerobotics/companion.git $HOME/companion +git clone -b webui https://github.com/bluerobotics/companion.git /home/pi/companion + +cd /home/pi/companion/RPI2/Raspbian/br-webui + +npm install # Disable camera LED sudo sed -i '\%disable_camera_led=1%d' /boot/config.txt @@ -52,21 +70,20 @@ sudo sed -i '\%gpu_mem=%d' /boot/config.txt sudo sed -i '$a start_x=1' /boot/config.txt sudo sed -i '$a gpu_mem=128' /boot/config.txt -# add startup commands to /etc/rc.local -S1="screen -dm -S mavproxy $HOME/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh" -S2="$HOME/companion/RPI2/Raspbian/start_video.sh" +# source startup script +S1=". /home/pi/companion/RPI2/Raspbian/.companion.rc" # this will produce desired result if this script has been run already, # and commands are already in place # delete S1 if it already exists -# delete S2 if it already exists -# insert S1 and S2 above the first uncommented exit 0 line in the file +# insert S1 above the first uncommented exit 0 line in the file sudo sed -i -e "\%$S1%d" \ --e "\%$S2%d" \ --e "0,/^[^#]*exit 0/s%%$S1\n$S2\n&%" \ +-e "0,/^[^#]*exit 0/s%%$S1\n&%" \ /etc/rc.local # compile and install gstreamer 1.8 from source if [ "$1" = "gst" ]; then - $HOME/companion/RPI2/Raspbian/setup_gst.sh + /home/pi/companion/RPI2/Raspbian/setup_gst.sh fi + +sudo reboot now diff --git a/RPI2/Raspbian/setup_gst.sh b/RPI2/Raspbian/setup_gst.sh index b0a7e5e0..9ec638ae 100755 --- a/RPI2/Raspbian/setup_gst.sh +++ b/RPI2/Raspbian/setup_gst.sh @@ -173,3 +173,4 @@ fi sudo rm -rf $HOME/src +echo export LD_LIBRARY_PATH=/usr/local/lib/ >> $HOME/.bashrc diff --git a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh b/RPI2/Raspbian/start_mavproxy_telem_splitter.sh index 698c2529..9dff6377 100755 --- a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh +++ b/RPI2/Raspbian/start_mavproxy_telem_splitter.sh @@ -3,6 +3,7 @@ # multiple IP addresses can received the telemetry. # For PixHawk or other connected via USB on Raspberry Pi +cd /home/pi mavproxy.py --master=/dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00,115200 \ --source-system=200 \ --cmd="set heartbeat 0" \ diff --git a/RPI2/Raspbian/start_usbvid.sh b/RPI2/Raspbian/start_usbvid.sh index 27eab845..808de675 100755 --- a/RPI2/Raspbian/start_usbvid.sh +++ b/RPI2/Raspbian/start_usbvid.sh @@ -1,2 +1,2 @@ export LD_LIBRARY_PATH=/usr/local/lib/ -gst-launch-1.0 -v v4l2src device=/dev/video1 do-timestamp=true ! queue ! "video/x-h264, stream-format=(string)byte-stream, alignment=(string)au, width=(int)1920, height=(int)1080, pixel-aspect-ratio=(fraction)1/1, framerate=(fraction)30/1" ! h264parse ! rtph264pay config-interval=1 pt=96 ! udpsink host=192.168.2.1 port=5600 +gst-launch-1.0 -v v4l2src device=/dev/video1 do-timestamp=true ! queue ! "video/x-h264, stream-format=(string)byte-stream, alignment=(string)au, width=(int)1920, height=(int)1080, pixel-aspect-ratio=(fraction)1/1, framerate=(fraction)30/1" ! h264parse ! rtph264pay config-interval=1 pt=96 ! udpsink host=192.168.2.1 port=5600 \ No newline at end of file diff --git a/RPI2/Raspbian/start_video.sh b/RPI2/Raspbian/start_video.sh index 0662e6f3..207af7fb 100755 --- a/RPI2/Raspbian/start_video.sh +++ b/RPI2/Raspbian/start_video.sh @@ -1,7 +1,8 @@ +cd /home/pi/ if lsusb | grep 05a3:9422; then echo "USB Cam" - sudo screen -dm -S video /home/pi/companion/RPI2/Raspbian/start_usbvid.sh + screen -dm -S video /home/pi/companion/RPI2/Raspbian/start_usbvid.sh else echo "Raspi Cam" - sudo screen -dm -S video /home/pi/companion/RPI2/Raspbian/start_raspivid.sh + screen -dm -S video /home/pi/companion/RPI2/Raspbian/start_raspivid.sh fi diff --git a/RPI2/Raspbian/start_webterminal.sh b/RPI2/Raspbian/start_webterminal.sh new file mode 100755 index 00000000..58677078 --- /dev/null +++ b/RPI2/Raspbian/start_webterminal.sh @@ -0,0 +1,4 @@ +#!/bin/bash + +cd /home/pi/ +tty.js --port 8088 diff --git a/RPI2/Raspbian/start_webui.sh b/RPI2/Raspbian/start_webui.sh new file mode 100755 index 00000000..c222b6d8 --- /dev/null +++ b/RPI2/Raspbian/start_webui.sh @@ -0,0 +1,4 @@ +#!/bin/bash + +cd $HOME/companion/RPI2/Raspbian/br-webui/ +node index.js From 18a57a66eaa09e5016687b14c6e719a22a31b797 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Thu, 27 Apr 2017 17:37:12 -0400 Subject: [PATCH 047/256] Implement git tag selection for companion update --- RPI2/Raspbian/br-webui/index.js | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/RPI2/Raspbian/br-webui/index.js b/RPI2/Raspbian/br-webui/index.js index 5c39452b..c9490381 100644 --- a/RPI2/Raspbian/br-webui/index.js +++ b/RPI2/Raspbian/br-webui/index.js @@ -160,7 +160,7 @@ io.on('connection', function (socket) { } function updateCompanion(tag) { - var cmd = child_process.exec('cd /home/pi/companion && git pull -f', function (error, stdout, stderr) { + var cmd = child_process.exec('cd /home/pi/companion && git fetch && git checkout ' + tag, function (error, stdout, stderr) { console.log("COMPANION UPDATE"); console.log(tag); console.log(error); From 423dd1a24b264e522a968a6705ff0c8bf65faf56 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 28 Apr 2017 11:54:04 -0400 Subject: [PATCH 048/256] Add python udp relay --- RPI2/Raspbian/udptest.py | 51 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 51 insertions(+) create mode 100755 RPI2/Raspbian/udptest.py diff --git a/RPI2/Raspbian/udptest.py b/RPI2/Raspbian/udptest.py new file mode 100755 index 00000000..a4ce6d80 --- /dev/null +++ b/RPI2/Raspbian/udptest.py @@ -0,0 +1,51 @@ +#!/usr/bin/python + +import serial +import socket +import time +import argparse + +UDP_IP = "192.168.2.2" +UDP_PORT = 8989 + +parser = argparse.ArgumentParser(description="Connect serial port to UDP port") +parser.add_argument('-p',dest='serialPort',required=True,help='serial port to connect to') +args = parser.parse_args() + +port = serial.Serial(args.serialPort,115200,timeout=0) + +sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) +sock.setblocking(False) +sock.bind((UDP_IP,UDP_PORT)) + +connected = False +master = None +while not connected: + try: + udpReceived, addr = sock.recvfrom(1024) + if master is None: + master = addr + + if len(udpReceived) > 0: + print "Sending "+str(len(udpReceived))+" bytes from UDP to serial" + port.write(udpReceived) + for x in udpReceived: + print hex(ord(x)), + print "" + + except: + pass + + if master is None: + continue + + print 'reading' + serialReceived = port.read(1024) + if len(serialReceived) > 0: + print "Sending "+str(len(serialReceived))+" bytes from serial to UDP" + sock.sendto(serialReceived,master) + for x in serialReceived: + print hex(ord(x)), + print "" + + time.sleep(0.01) From 1019bea599c1e9b050bd66264163d0ba3350ad01 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 28 Apr 2017 13:40:43 -0400 Subject: [PATCH 049/256] Implement route setup with netcat --- RPI2/Raspbian/br-webui/index.js | 21 +++++++++++++++++++++ RPI2/Raspbian/br-webui/routing.html | 29 +++++++++++++++++++++++------ 2 files changed, 44 insertions(+), 6 deletions(-) diff --git a/RPI2/Raspbian/br-webui/index.js b/RPI2/Raspbian/br-webui/index.js index c9490381..bd019a2f 100644 --- a/RPI2/Raspbian/br-webui/index.js +++ b/RPI2/Raspbian/br-webui/index.js @@ -66,6 +66,27 @@ io.on('connection', function (socket) { }); }); + socket.on('setup route', function(data) { + console.log("SETUP ROUTE"); + console.log(data); + var route = ""; + + if (data.direction == "right") { + route = data.right + ' < ' + data.left; + } else if (data.direction == "left") { + route = data.right + ' > ' + data.left; + } else if (data.direction == "right-left") { + route = data.right + ' < ' + data.left + ' > ' + data.left; + } else { + console.log('Bad direction!'); + } + + console.log(route); + var cmd = child_process.exec('netcat -ul 192.168.2.2 ' + route, function (error, stdout, stderr) { + console.log(stdout + stderr); + }); + }); + socket.on('join network', joinNetwork); socket.on('update companion', function(data) { diff --git a/RPI2/Raspbian/br-webui/routing.html b/RPI2/Raspbian/br-webui/routing.html index e08b12f0..95836557 100644 --- a/RPI2/Raspbian/br-webui/routing.html +++ b/RPI2/Raspbian/br-webui/routing.html @@ -19,20 +19,37 @@ console.log(lines); }) - function refreshSerialIDs() { - socket.emit('get serial ids'); + function setupRoute() { + + var _left = document.getElementById("portlist"); + var left = _left.options[_left.selectedIndex].text; + + var _direction = document.getElementById("direction"); + var direction = _direction.options[_direction.selectedIndex].value; + + var _right = document.getElementById("udpPort"); + var right = _right.value; + + socket.emit('setup route', { + 'left' : left, + 'right' : right, + 'direction' : direction + }); } + + socket.emit('get serial ids'); +
- +
\ No newline at end of file From 24aa2ae25c289c42f29bbc1285c619fb70e6afd7 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 28 Apr 2017 13:41:08 -0400 Subject: [PATCH 050/256] Configure serial port for ping, data is often corrupted with netcat, not with Python --- RPI2/Raspbian/.companion.rc | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/RPI2/Raspbian/.companion.rc b/RPI2/Raspbian/.companion.rc index c5b65826..7ca48320 100755 --- a/RPI2/Raspbian/.companion.rc +++ b/RPI2/Raspbian/.companion.rc @@ -1,4 +1,6 @@ sudo -H -u pi screen -dm -S mavproxy /home/pi/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh sudo -H -u pi /home/pi/companion/RPI2/Raspbian/start_video.sh sudo -H -u pi screen -dm -S webui /home/pi/companion/RPI2/Raspbian/start_webui.sh -sudo -H -u pi screen -dm -S webterminal /home/pi/companion/RPI2/Raspbian/start_webterminal.sh \ No newline at end of file +sudo -H -u pi screen -dm -S webterminal /home/pi/companion/RPI2/Raspbian/start_webterminal.sh + +stty -F /dev/ttyUSB0 115200 line 0 min 0 time 0 -brkint -icrnl -imaxbel -opost -onlcr -isig -icanon -iexten -echo -echoe -echok -echoctl -echoke \ No newline at end of file From 8d85cde6e28b117e178bc38d0a3ee9738d7973ef Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 28 Apr 2017 13:51:39 -0400 Subject: [PATCH 051/256] Rework index page --- RPI2/Raspbian/br-webui/index.html | 17 ----------------- 1 file changed, 17 deletions(-) diff --git a/RPI2/Raspbian/br-webui/index.html b/RPI2/Raspbian/br-webui/index.html index 286d684a..d4390b2e 100644 --- a/RPI2/Raspbian/br-webui/index.html +++ b/RPI2/Raspbian/br-webui/index.html @@ -83,23 +83,6 @@
Password:
-

Companion Update

-
- -
-
-
-

Pixhawk Update

-
- -
-
-
- -
- From e4bb987be86a40f4ced06bff6b403b035ceaa10f Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 28 Apr 2017 14:29:16 -0400 Subject: [PATCH 052/256] Use python for routing --- RPI2/Raspbian/br-webui/index.js | 16 ++-------------- RPI2/Raspbian/udptest.py | 15 +++++++++------ 2 files changed, 11 insertions(+), 20 deletions(-) diff --git a/RPI2/Raspbian/br-webui/index.js b/RPI2/Raspbian/br-webui/index.js index bd019a2f..107e8ff6 100644 --- a/RPI2/Raspbian/br-webui/index.js +++ b/RPI2/Raspbian/br-webui/index.js @@ -69,20 +69,8 @@ io.on('connection', function (socket) { socket.on('setup route', function(data) { console.log("SETUP ROUTE"); console.log(data); - var route = ""; - - if (data.direction == "right") { - route = data.right + ' < ' + data.left; - } else if (data.direction == "left") { - route = data.right + ' > ' + data.left; - } else if (data.direction == "right-left") { - route = data.right + ' < ' + data.left + ' > ' + data.left; - } else { - console.log('Bad direction!'); - } - - console.log(route); - var cmd = child_process.exec('netcat -ul 192.168.2.2 ' + route, function (error, stdout, stderr) { + console.log("python /home/pi/companion/RPI2/Raspbian/udptest.py -b 115200 --ip='192.168.2.2' --port " + data.right + " -l " + data.left + " -d " + data.direction) + var cmd = child_process.exec("python /home/pi/companion/RPI2/Raspbian/udptest.py -b 115200 --ip='192.168.2.2' --port " + data.right + " -l " + data.left + " -d " + data.direction, function (error, stdout, stderr) { console.log(stdout + stderr); }); }); diff --git a/RPI2/Raspbian/udptest.py b/RPI2/Raspbian/udptest.py index a4ce6d80..8035ae61 100755 --- a/RPI2/Raspbian/udptest.py +++ b/RPI2/Raspbian/udptest.py @@ -5,21 +5,24 @@ import time import argparse -UDP_IP = "192.168.2.2" -UDP_PORT = 8989 - parser = argparse.ArgumentParser(description="Connect serial port to UDP port") -parser.add_argument('-p',dest='serialPort',required=True,help='serial port to connect to') +parser.add_argument('-l', dest='left', required=True, help='Left hand side of route (serial)') +parser.add_argument('-b', dest='baudrate', required=True, help='Baud rate for left hand side of route') +parser.add_argument('--ip', dest='ip', required=True, help='IP address') +parser.add_argument('--port', dest='port', type=int, required=True, help='UDP port') +parser.add_argument('-d', dest='direction', required=True, help='Direction to route') + args = parser.parse_args() -port = serial.Serial(args.serialPort,115200,timeout=0) +port = serial.Serial(args.left, args.baudrate, timeout=0) sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) sock.setblocking(False) -sock.bind((UDP_IP,UDP_PORT)) +sock.bind((args.ip, args.port)) connected = False master = None + while not connected: try: udpReceived, addr = sock.recvfrom(1024) From a2956111c982a0db472f96d17649748c30a24b2e Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 28 Apr 2017 14:50:00 -0400 Subject: [PATCH 053/256] Fix full buffer error --- RPI2/Raspbian/br-webui/index.js | 2 +- RPI2/Raspbian/udptest.py | 18 +++++++++--------- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/RPI2/Raspbian/br-webui/index.js b/RPI2/Raspbian/br-webui/index.js index 107e8ff6..4c9d23cc 100644 --- a/RPI2/Raspbian/br-webui/index.js +++ b/RPI2/Raspbian/br-webui/index.js @@ -71,7 +71,7 @@ io.on('connection', function (socket) { console.log(data); console.log("python /home/pi/companion/RPI2/Raspbian/udptest.py -b 115200 --ip='192.168.2.2' --port " + data.right + " -l " + data.left + " -d " + data.direction) var cmd = child_process.exec("python /home/pi/companion/RPI2/Raspbian/udptest.py -b 115200 --ip='192.168.2.2' --port " + data.right + " -l " + data.left + " -d " + data.direction, function (error, stdout, stderr) { - console.log(stdout + stderr); + console.log(stdout + stderr + error); }); }); diff --git a/RPI2/Raspbian/udptest.py b/RPI2/Raspbian/udptest.py index 8035ae61..59ad32ac 100755 --- a/RPI2/Raspbian/udptest.py +++ b/RPI2/Raspbian/udptest.py @@ -30,11 +30,11 @@ master = addr if len(udpReceived) > 0: - print "Sending "+str(len(udpReceived))+" bytes from UDP to serial" + #print "Sending "+str(len(udpReceived))+" bytes from UDP to serial" port.write(udpReceived) - for x in udpReceived: - print hex(ord(x)), - print "" +# for x in udpReceived: +# print hex(ord(x)), +# print "" except: pass @@ -42,13 +42,13 @@ if master is None: continue - print 'reading' +# print 'reading' serialReceived = port.read(1024) if len(serialReceived) > 0: - print "Sending "+str(len(serialReceived))+" bytes from serial to UDP" +# print "Sending "+str(len(serialReceived))+" bytes from serial to UDP" sock.sendto(serialReceived,master) - for x in serialReceived: - print hex(ord(x)), - print "" +# for x in serialReceived: +# print hex(ord(x)), +# print "" time.sleep(0.01) From 5f1dfc44855f9efe00ae3fee21027374c73370af Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 28 Apr 2017 15:43:10 -0400 Subject: [PATCH 054/256] Python comm_router --- RPI2/Raspbian/.companion.rc | 3 +- RPI2/Raspbian/br-webui/index.html | 8 +- RPI2/Raspbian/br-webui/index.js | 44 +++-- RPI2/Raspbian/br-webui/routing.html | 229 ++++++++++++++++++--- RPI2/Raspbian/comm_router.py | 83 ++++++++ RPI2/Raspbian/endpoint.py | 296 ++++++++++++++++++++++++++++ RPI2/Raspbian/roundtrip.conf | 26 +++ RPI2/Raspbian/routing.conf | 3 + RPI2/Raspbian/udptest2.py | 22 +++ 9 files changed, 668 insertions(+), 46 deletions(-) create mode 100755 RPI2/Raspbian/comm_router.py create mode 100755 RPI2/Raspbian/endpoint.py create mode 100644 RPI2/Raspbian/roundtrip.conf create mode 100644 RPI2/Raspbian/routing.conf create mode 100755 RPI2/Raspbian/udptest2.py diff --git a/RPI2/Raspbian/.companion.rc b/RPI2/Raspbian/.companion.rc index 7ca48320..4e8ead19 100755 --- a/RPI2/Raspbian/.companion.rc +++ b/RPI2/Raspbian/.companion.rc @@ -2,5 +2,4 @@ sudo -H -u pi screen -dm -S mavproxy /home/pi/companion/RPI2/Raspbian/start_mavp sudo -H -u pi /home/pi/companion/RPI2/Raspbian/start_video.sh sudo -H -u pi screen -dm -S webui /home/pi/companion/RPI2/Raspbian/start_webui.sh sudo -H -u pi screen -dm -S webterminal /home/pi/companion/RPI2/Raspbian/start_webterminal.sh - -stty -F /dev/ttyUSB0 115200 line 0 min 0 time 0 -brkint -icrnl -imaxbel -opost -onlcr -isig -icanon -iexten -echo -echoe -echok -echoctl -echoke \ No newline at end of file +sudo -H -u pi screen -dm -S commrouter /home/pi/companion/RPI2/Raspbian/comm_router.py diff --git a/RPI2/Raspbian/br-webui/index.html b/RPI2/Raspbian/br-webui/index.html index d4390b2e..9b583b4b 100644 --- a/RPI2/Raspbian/br-webui/index.html +++ b/RPI2/Raspbian/br-webui/index.html @@ -7,7 +7,7 @@ socket.on('terminal output', function(data) { var currentHTML = document.getElementById("terminal-output").innerHTML; document.getElementById("terminal-output").innerHTML = currentHTML + data; - document.getElementById("terminal-output").scrollTop = document.getElementById("terminal-output").scrollHeight + document.getElementById("terminal-output").scrollTop = document.getElementById("terminal-output").scrollHeight; }); socket.on('wifi aps', function(data) { @@ -42,15 +42,15 @@ "ssid" : ssid, "password" : document.getElementById('password').value }); - } + }; function updateCompanion() { socket.emit('update companion'); - } + }; function updatePixhawk() { socket.emit('update pixhawk'); - } + };
diff --git a/RPI2/Raspbian/br-webui/index.js b/RPI2/Raspbian/br-webui/index.js index 4c9d23cc..9c9ad5a5 100644 --- a/RPI2/Raspbian/br-webui/index.js +++ b/RPI2/Raspbian/br-webui/index.js @@ -1,6 +1,8 @@ var express = require('express'); var app = express(); const child_process = require('child_process'); +const dgram = require('dgram'); + app.use(express.static('public')); @@ -54,30 +56,44 @@ var server = app.listen(2770, function () { var io = require('socket.io')(server); io.on('connection', function (socket) { + + // used in routing setup socket.on('get serial ids', function (data) { - var cmd = child_process.exec('ls /dev/tty*', function (error, stdout, stderr) { - socket.emit('serial ids', stdout + stderr); + var cmd = child_process.exec('ls /dev/serial/by-id/*', function (error, stdout, stderr) { + socket.emit('serial ids', stdout); + }); + }); + + // used in routing setup + socket.on('routing request', function (data) { + var sock = dgram.createSocket('udp4'); + console.log("ROUTING REQUEST"); + var message = new Buffer(JSON.stringify(data)); + sock.send(message, 0, message.length, 18990, '0.0.0.0', function(err, bytes) { + if (err) { + console.log("ERROR"); + throw err; + } + }); + + sock.on('message', (msg, rinfo) => { + socket.emit('endpoints', msg.toString()); }); + }); + // used in system setup socket.on('get companion refs', function (data) { var cmd = child_process.exec('git tag', function (error, stdout, stderr) { socket.emit('companion refs', stdout + stderr); }); }); - socket.on('setup route', function(data) { - console.log("SETUP ROUTE"); - console.log(data); - console.log("python /home/pi/companion/RPI2/Raspbian/udptest.py -b 115200 --ip='192.168.2.2' --port " + data.right + " -l " + data.left + " -d " + data.direction) - var cmd = child_process.exec("python /home/pi/companion/RPI2/Raspbian/udptest.py -b 115200 --ip='192.168.2.2' --port " + data.right + " -l " + data.left + " -d " + data.direction, function (error, stdout, stderr) { - console.log(stdout + stderr + error); - }); - }); + socket.on('join network', joinNetwork); - socket.on('update companion', function(data) { + socket.on('update companion', function (data) { updateCompanion(data); }); @@ -97,9 +113,11 @@ io.on('connection', function (socket) { setInterval( function () { getWiFiStatus(); }, 3000); + // Query internet connectivity function getInternetStatus() { + console.log("GET INTERNET STATUS") var cmd = child_process.exec('ping -c1 google.com', function (error, stdout, stderr) { if (error) { socket.emit('internet status', '

Not Connected

'); @@ -112,7 +130,7 @@ io.on('connection', function (socket) { function getWiFiStatus() { var cmd = child_process.exec('sudo wpa_cli status', function (error, stdout, stderr) { console.log("WIFI STATUS"); - console.log(stdout + stderr); + //console.log(stdout + stderr); if (error) { socket.emit('wifi status', '

Error: ' + stderr + '

'); } else { @@ -158,7 +176,7 @@ io.on('connection', function (socket) { var networkString = passphrase.toString(); networkString = networkString.replace(/\t#.*\n/g, ''); // strip unencrypted password out - networkString = networkString.replace(/"/g, '\\"'); // strip unencrypted password out + networkString = networkString.replace(/"/g, '\\"'); // escape quotes // Restart the network in the callback cmd = child_process.exec("sudo sh -c \"echo '" + networkString + "' > /etc/wpa_supplicant/wpa_supplicant.conf\"", restart_network); diff --git a/RPI2/Raspbian/br-webui/routing.html b/RPI2/Raspbian/br-webui/routing.html index 95836557..7fcd6c4f 100644 --- a/RPI2/Raspbian/br-webui/routing.html +++ b/RPI2/Raspbian/br-webui/routing.html @@ -4,10 +4,10 @@
- - -
-
- +
+

New Serial Endpoint:

+
+ Baud Rate
+ + +
+
+

New UDP Endpoint:

+ IP address
+ UDP Port
+ +
+
+

Endpoints:

+
+
+
+ + + + +
+
+ + + +
+ +
+ \ No newline at end of file diff --git a/RPI2/Raspbian/comm_router.py b/RPI2/Raspbian/comm_router.py new file mode 100755 index 00000000..04a25244 --- /dev/null +++ b/RPI2/Raspbian/comm_router.py @@ -0,0 +1,83 @@ +#!/usr/bin/python + +import serial +import socket +import time +import argparse +import json +import endpoint + +debug = False + +endpoint.load('/home/pi/companion/RPI2/Raspbian/routing.conf') +print endpoint.endpoints + +for _endpoint in endpoint.endpoints: + print _endpoint.id + print _endpoint.connections + +# endpoint.remove('apm.udp2') + + +sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) +sock.setblocking(False) +sock.bind(('0.0.0.0', 18990)) + +while True: + time.sleep(0.01) + + # read all endpoints and write all routes + for _endpoint in endpoint.endpoints: + _endpoint.read() + + try: + data, address = sock.recvfrom(1024) + print("\n%s sent %s\n") % (address, data) + + + msg = json.loads(data) + + try: + request = msg['request'] + print("Got request %s") % request + except: + print "No request!" + continue + + if request == 'remove endpoint': + endpoint.remove(msg['id']) + sock.sendto(endpoint.to_json(), address) + + elif request == 'connect endpoints': + print('got connect request: %s') % data + endpoint.connect(msg['source'], msg['target']) + + elif request == 'disconnect endpoints': + endpoint.disconnect(msg['source'], msg['target']) + + elif request == 'add endpoint': + endpoint.add(endpoint.from_json(msg)) + + elif request == 'save all': + endpoint.save(msg['filename']) + + elif request == 'load all': + if msg['soft'] == False: + print("Hard load") + # garbage collect + endpoint.endpoints = [] + endpoint.load(msg['filename']) + + # send updated list of endpoints + sock.sendto(endpoint.to_json(), address) + endpoint.save('/home/pi/companion/RPI2/Raspbian/routing.conf') + + except socket.error as e: + continue +# except Exception as e: +# print("Error: %s") % e +# continue + + + + \ No newline at end of file diff --git a/RPI2/Raspbian/endpoint.py b/RPI2/Raspbian/endpoint.py new file mode 100755 index 00000000..86f3a176 --- /dev/null +++ b/RPI2/Raspbian/endpoint.py @@ -0,0 +1,296 @@ +#!/usr/bin/python + +import serial +import socket +import time +import argparse +import json + +debug = False + +endpoints = [] + +class Endpoint(object): + + def __init__(self, id, type, connectionIds): + + # unique + self.id = id + self.type = type + self.connectionIds = connectionIds + # target destinations for inbound traffic + self.connections = [] + + def connect(self, target): + if target.id == self.id: + print("loopback not allowed: %s") % self.id + return + if target.id in self.connectionIds: + print("%s is already connected to %s") % (self.id, target.id) + return + self.connections.append(target) + self.connectionIds.append(target.id) + + def disconnect(self, target_id): + try: + self.connectionIds.remove(target_id) + except: + print("Error disconnecting %s") % target.id + return + + for endpoint in self.connections: + if endpoint.id == target_id: + self.connections.remove(endpoint) + + + + + +class SerialEndpoint(Endpoint): + + def __init__(self, port, baudrate, id, connections): + Endpoint.__init__(self, id, 'serial', connections) + self.port = port + self.baudrate = baudrate + + self.socket = serial.Serial(port, baudrate, timeout=0) + print('%s on %s:%s') % (self.id, port, baudrate) + + def read(self): + try: + data = self.socket.read(1024) + except: + return + + if len(data) > 0: + if debug: + #print('%s read %s') % (self.id, data[:25].decode('utf-8')) + print('%s read') % self.id + + + for endpoint in self.connections: + endpoint.write(data) + + def write(self, data): + + try: + self.socket.write(data) + if debug: + print('%s write %s') % (self.id, data[:25]) + except Exception as e: + print e + return + + + def to_json(self): + return {"id": self.id, + "type": self.type, + "port": self.port, + "baudrate": self.baudrate, + "connections": self.connectionIds}; + + +class UDPEndpoint(Endpoint): + + def __init__(self, ip, port, id, connections): + Endpoint.__init__(self, id, 'udp', connections) + self.ip = ip + self.port = port + self.socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + self.socket.setblocking(False) + print('%s on %s:%s') % (self.id, self.ip, self.port) + if (self.ip == '0.0.0.0'): + print('binding') + self.socket.bind((ip, int(port))) + + def read(self): + try: + data, address = self.socket.recvfrom(1024) + self.destination = address + except: + return + + if len(data) > 0: + if debug: + #print('%s read %s on %s') % (self.id, data[:25], address) + print("%s read") % self.id + + for endpoint in self.connections: + endpoint.write(data) + + def write(self, data): + try: + if (self.ip == '0.0.0.0'): + self.socket.sendto(data, self.destination) + else: + self.socket.sendto(data, (self.ip, int(self.port))) + + if debug: +# print('%s write %s') % (self.id, data[:25]) + print("%s write") % self.id + + except Exception as e: + print e + return + + + + def to_json(self): + return {"id": self.id, + "type": self.type, + "port": self.port, + "ip": self.ip, + "connections": self.connectionIds}; + +def add(new_endpoint): + for existing_endpoint in endpoints: + if new_endpoint.id == existing_endpoint.id: + print("Error adding endpoint %s, id already exists") % new_endpoint.id + return + for existing_endpoint in endpoints: + if new_endpoint.id in existing_endpoint.connectionIds: + existing_endpoint.connections.append(new_endpoint) + if existing_endpoint.id in new_endpoint.connectionIds: + new_endpoint.connections.append(existing_endpoint) + + endpoints.append(new_endpoint) + +def from_json(endpoint_json): + if endpoint_json['type'] == 'serial': + new_endpoint = SerialEndpoint( + endpoint_json['port'], + endpoint_json['baudrate'], + endpoint_json['id'], + endpoint_json['connections']) + + elif endpoint_json['type'] == 'udp': + new_endpoint = UDPEndpoint( + endpoint_json['ip'], + endpoint_json['port'], + endpoint_json['id'], + endpoint_json['connections']) + + return new_endpoint + + +def connect(source_id, target_id): + source = None + target = None + for endpoint in endpoints: + if endpoint.id == source_id: + source = endpoint + if endpoint.id == target_id: + target = endpoint + + if source is None: + print("Error: source %s is not present") % source_id + + if target is None: + print("Error: target %s is not present") % target_id + + source.connect(target) + +def disconnect(source_id, target_id): + source = None + + for endpoint in endpoints: + if endpoint.id == source_id: + source = endpoint + + if source is None: + print("Error: source %s is not present") % source_id + + #it's ok if target does not exist, it may still be a desired endpoint + + source.disconnect(target_id) + + +def remove(endpoint_id): + remove = None + for endpoint in endpoints: + if endpoint.id == endpoint_id: + remove = endpoint + break + + if remove is None: + print("Error removing endpoint %s, id doesn't exist") % endpoint_id + return + + print("remove: %s") % remove + try: + remove.socket.close() + endpoints.remove(remove) + print("removed endpoint %s") % remove.id + + + for endpoint in endpoints: + endpoint.connections.remove(remove) + endpoint.connections.connectionIds.remove(remove.id) + + + except Exception as e: + #print("Error removing: %s") % e + pass + + +def get_endpoints(): + return endpoints + +def save(filename): + f = open(filename, 'w') + f.write(to_json()) + +def load(filename): + f = open(filename, 'r') + endpoints = [] + configuration = json.load(f) + for endpoint in configuration['endpoints']: + try: + if endpoint['type'] == 'serial': + new_endpoint = SerialEndpoint( + endpoint['port'], + endpoint['baudrate'], + endpoint['id'], + endpoint['connections']) + + elif endpoint['type'] == 'udp': + new_endpoint = UDPEndpoint( + endpoint['ip'], + endpoint['port'], + endpoint['id'], + endpoint['connections']) + + add(new_endpoint) + + except Exception as e: + print(e) + pass + +def to_json(endpoint_id=None): + configuration = [] + for endpoint in endpoints: + configuration.append(endpoint.to_json()) + configuration = {"endpoints": configuration} + return json.dumps(configuration, indent=4) + + +# udpAPM = UDPEndpoint('192.168.2.1', 14550, 'udpAPM') +# serialAPM = SerialEndpoint('/dev/ttyACM0', 115200, 'serialAPM') +# +# serialAPM.add_endpoint(udpAPM) +# udpAPM.add_endpoint(serialAPM) +# +# udpPing = UDPEndpoint('192.168.2.2', 8989, 'udpPing') +# serialPing = SerialEndpoint('/dev/ttyUSB0', 115200, 'serialPing') +# +# udpPing.add_endpoint(serialPing) +# serialPing.add_endpoint(udpPing) +# +# +# +# outputs = [udpAPM, serialAPM, udpPing, serialPing] +# +# while True: +# for endpoint in outputs: +# endpoint.read() + \ No newline at end of file diff --git a/RPI2/Raspbian/roundtrip.conf b/RPI2/Raspbian/roundtrip.conf new file mode 100644 index 00000000..e24e0997 --- /dev/null +++ b/RPI2/Raspbian/roundtrip.conf @@ -0,0 +1,26 @@ +{ + "endpoints": [ + + { + "id": "udp1", + "type": "udp", + "ip": "192.168.2.1", + "port": 14550, + "connections": [] + }, + { + "id": "apm", + "type": "serial", + "baudrate": 115200, + "port": "/dev/ttyACM0", + "connections": [] + }, + { + "id": "usb", + "type": "serial", + "baudrate": 115200, + "port": "/dev/ttyUSB0", + "connections": [] + } + ] +} \ No newline at end of file diff --git a/RPI2/Raspbian/routing.conf b/RPI2/Raspbian/routing.conf new file mode 100644 index 00000000..9eebbc4a --- /dev/null +++ b/RPI2/Raspbian/routing.conf @@ -0,0 +1,3 @@ +{ + "endpoints": [] +} \ No newline at end of file diff --git a/RPI2/Raspbian/udptest2.py b/RPI2/Raspbian/udptest2.py new file mode 100755 index 00000000..f7acabf5 --- /dev/null +++ b/RPI2/Raspbian/udptest2.py @@ -0,0 +1,22 @@ +#!/usr/bin/python + +import serial +import socket +import time +import argparse +import json + + +sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) +sock.bind(('192.168.2.2', 18990)) + +while True: + try: + data, address = sock.recvfrom(1024) + print("%s sent %s") % (address, data) + data = json.loads(data) + print data + except Exception as e: + print(e) + pass + time.sleep(0.1) \ No newline at end of file From b57ce02a5df37d7ba6f1a328b9747cf786f324a2 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 1 May 2017 15:35:35 -0400 Subject: [PATCH 055/256] node dependency 4.2.6 -> 5.6.0 --- RPI2/Raspbian/setup.sh | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/RPI2/Raspbian/setup.sh b/RPI2/Raspbian/setup.sh index d69791dc..f5a1c088 100755 --- a/RPI2/Raspbian/setup.sh +++ b/RPI2/Raspbian/setup.sh @@ -47,8 +47,8 @@ sudo apt-get install -y npm # node updater sudo npm install n -g -# Get recent version of node for synchronous child_process calls -sudo n 4.2.6 +# Get recent version of node +sudo n 5.6.0 # browser based terminal sudo npm install tty.js -g From 8012dc702e1bcb78d58e3b66452aa8ec4e617507 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 1 May 2017 17:15:06 -0400 Subject: [PATCH 056/256] Add audio stream --- RPI2/Raspbian/.companion.rc | 1 + RPI2/Raspbian/start_audio.sh | 3 +++ 2 files changed, 4 insertions(+) create mode 100755 RPI2/Raspbian/start_audio.sh diff --git a/RPI2/Raspbian/.companion.rc b/RPI2/Raspbian/.companion.rc index 4e8ead19..f0a05efe 100755 --- a/RPI2/Raspbian/.companion.rc +++ b/RPI2/Raspbian/.companion.rc @@ -3,3 +3,4 @@ sudo -H -u pi /home/pi/companion/RPI2/Raspbian/start_video.sh sudo -H -u pi screen -dm -S webui /home/pi/companion/RPI2/Raspbian/start_webui.sh sudo -H -u pi screen -dm -S webterminal /home/pi/companion/RPI2/Raspbian/start_webterminal.sh sudo -H -u pi screen -dm -S commrouter /home/pi/companion/RPI2/Raspbian/comm_router.py +sudo -H -u pi screen -dm -S audio /home/pi/companion/RPI2/Raspbian/start_audio.sh diff --git a/RPI2/Raspbian/start_audio.sh b/RPI2/Raspbian/start_audio.sh new file mode 100755 index 00000000..373e6973 --- /dev/null +++ b/RPI2/Raspbian/start_audio.sh @@ -0,0 +1,3 @@ +export LD_LIBRARY_PATH=/usr/local/lib/ +cd /home/pi/ +gst-launch-1.0 -v -e alsasrc device=hw:1,0 ! audioconvert ! rtpL16pay ! udpsink host=192.168.2.1 port=5700 \ No newline at end of file From 881de4dd05409e4cde3284afe75e2cd3139ace95 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 1 May 2017 22:11:44 -0400 Subject: [PATCH 057/256] tcpserversink audio just navigate to 192.168.2.2:5700 in a browser --- RPI2/Raspbian/start_audio.sh | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/RPI2/Raspbian/start_audio.sh b/RPI2/Raspbian/start_audio.sh index 373e6973..e4e16b97 100755 --- a/RPI2/Raspbian/start_audio.sh +++ b/RPI2/Raspbian/start_audio.sh @@ -1,3 +1,9 @@ export LD_LIBRARY_PATH=/usr/local/lib/ cd /home/pi/ -gst-launch-1.0 -v -e alsasrc device=hw:1,0 ! audioconvert ! rtpL16pay ! udpsink host=192.168.2.1 port=5700 \ No newline at end of file +#gst-launch-1.0 -v -e alsasrc device=hw:1,0 ! audioconvert ! rtpL16pay ! udpsink host=192.168.2.1 port=5700 + + +#gst-launch-1.0 -v -e alsasrc device=hw:1,0 ! audioconvert ! tcpserversink host=192.168.2.2 port=5700 + +# This one fo-sho works +gst-launch-1.0 -v -e alsasrc device=hw:1,0 ! audioconvert ! lamemp3enc ! tcpserversink host=192.168.2.2 port=5700 From 5dbe9b996a85ce0533f2c18cb1353f958632d119 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 2 May 2017 01:36:17 -0400 Subject: [PATCH 058/256] handle serial hotplugging --- RPI2/Raspbian/endpoint.py | 29 +++++++++++++++++++++-------- 1 file changed, 21 insertions(+), 8 deletions(-) diff --git a/RPI2/Raspbian/endpoint.py b/RPI2/Raspbian/endpoint.py index 86f3a176..4322a439 100755 --- a/RPI2/Raspbian/endpoint.py +++ b/RPI2/Raspbian/endpoint.py @@ -52,33 +52,46 @@ def __init__(self, port, baudrate, id, connections): Endpoint.__init__(self, id, 'serial', connections) self.port = port self.baudrate = baudrate + self.active = False + # not a socket! just a port self.socket = serial.Serial(port, baudrate, timeout=0) print('%s on %s:%s') % (self.id, port, baudrate) def read(self): try: + if not self.socket.is_open: + self.socket.open() + print('%s on %s:%s') % (self.id, self.port, self.baudrate) data = self.socket.read(1024) - except: + self.active = True + except Exception as e: + self.socket.close() + self.active = False + #print("Error reading serial endpoint: %s") % e return if len(data) > 0: if debug: + #this works fine on rpi, but not desktop (ubuntu 16) for some reason #print('%s read %s') % (self.id, data[:25].decode('utf-8')) print('%s read') % self.id - + # write data out on all outbound connections for endpoint in self.connections: endpoint.write(data) - + + def write(self, data): - try: - self.socket.write(data) - if debug: - print('%s write %s') % (self.id, data[:25]) + if self.socket.is_open: + self.socket.write(data) + if debug: + print('%s write %s') % (self.id, data[:25]) + + # serial.SerialException except Exception as e: - print e + print("Error writing: %s") % e return From 8c8599f9bb70744baed797c56161b3b71035d8bf Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 2 May 2017 01:50:07 -0400 Subject: [PATCH 059/256] Add microphone support to home page --- RPI2/Raspbian/br-webui/index.html | 3 +++ 1 file changed, 3 insertions(+) diff --git a/RPI2/Raspbian/br-webui/index.html b/RPI2/Raspbian/br-webui/index.html index 9b583b4b..20bba15a 100644 --- a/RPI2/Raspbian/br-webui/index.html +++ b/RPI2/Raspbian/br-webui/index.html @@ -86,4 +86,7 @@
Password:
+ \ No newline at end of file From 5d5077307cb44c51efdd4828284de89c6d51cbdf Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 2 May 2017 11:03:34 -0400 Subject: [PATCH 060/256] Add beta and stable options to pixhawk update --- RPI2/Raspbian/br-webui/index.js | 50 +++++++++++++++++------------- RPI2/Raspbian/br-webui/system.html | 31 ++++++++++++++---- 2 files changed, 53 insertions(+), 28 deletions(-) diff --git a/RPI2/Raspbian/br-webui/index.js b/RPI2/Raspbian/br-webui/index.js index 9c9ad5a5..12a20e88 100644 --- a/RPI2/Raspbian/br-webui/index.js +++ b/RPI2/Raspbian/br-webui/index.js @@ -97,7 +97,33 @@ io.on('connection', function (socket) { updateCompanion(data); }); - socket.on('update pixhawk', updatePixhawk); + socket.on('update pixhawk', function(data) { + if (data.option == 'dev') { + // Use spawn instead of exec to get callbacks for each line of stderr, stdout + var cmd = child_process.spawn('/home/pi/companion/RPI2/Raspbian/flash_px4.py', ['--latest']); + } else if (data.option == 'beta') { + var cmd = child_process.spawn('/home/pi/companion/RPI2/Raspbian/flash_px4.py', ['--url', 'http://firmware.us.ardupilot.org/Sub/beta/PX4/ArduSub-v2.px4']); + } else { + var cmd = child_process.spawn('/home/pi/companion/RPI2/Raspbian/flash_px4.py'); + } + + cmd.stdout.on('data', function (data) { + socket.emit('terminal output', data.toString()); + }); + + cmd.stderr.on('data', function (data) { + socket.emit('terminal output', data.toString()); + }); + + cmd.on('exit', function (code) { + console.log('companion update exited with code ' + code.toString()); + }); + + cmd.on('error', (err) => { + console.log('Failed to start child process.'); + console.log(err); + }); + }); socket.emit('wifi aps', getNetworks()); setInterval( function () { @@ -196,25 +222,5 @@ io.on('connection', function (socket) { }) } - function updatePixhawk() { - // Use spawn instead of exec to get callbacks for each line of stderr, stdout - var cmd = child_process.spawn('/home/pi/companion/RPI2/Raspbian/flash_px4.py', ['--latest']); - - cmd.stdout.on('data', function (data) { - socket.emit('terminal output', data.toString()); - }); - - cmd.stderr.on('data', function (data) { - socket.emit('terminal output', data.toString()); - }); - - cmd.on('exit', function (code) { - console.log('companion update exited with code ' + code.toString()); - }); - - cmd.on('error', (err) => { - console.log('Failed to start child process.'); - console.log(err); - }); - } + }) diff --git a/RPI2/Raspbian/br-webui/system.html b/RPI2/Raspbian/br-webui/system.html index 80a35b52..c156430d 100644 --- a/RPI2/Raspbian/br-webui/system.html +++ b/RPI2/Raspbian/br-webui/system.html @@ -27,10 +27,27 @@ function updateCompanion() { socket.emit('update companion', document.getElementById('tags').value); } + + function updatePixhawkDev() { + updatePixhawk('dev'); + }; + + function updatePixhawkBeta() { + + updatePixhawk('beta') + } + + function updatePixhawkStable() { + updatePixhawk('stable') + } + - function updatePixhawk() { - socket.emit('update pixhawk'); + function updatePixhawk(option) { + socket.emit('update pixhawk' { + 'option' : option + }); } + socket.emit('get companion refs'); @@ -44,9 +61,11 @@

Companion Update

Pixhawk Update

-
- -
+
+ + + +
@@ -54,7 +73,7 @@

Pixhawk Update

\ No newline at end of file From 97fc2b77c04b4e842852527a9c847670880f3a54 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 2 May 2017 11:23:52 -0400 Subject: [PATCH 061/256] Fix link --- RPI2/Raspbian/br-webui/system.html | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/RPI2/Raspbian/br-webui/system.html b/RPI2/Raspbian/br-webui/system.html index c156430d..6497e6a6 100644 --- a/RPI2/Raspbian/br-webui/system.html +++ b/RPI2/Raspbian/br-webui/system.html @@ -10,7 +10,6 @@ document.getElementById("terminal-output").scrollTop = document.getElementById("terminal-output").scrollHeight }); - socket.on('companion refs', function(data) { console.log(data); var select = document.getElementById('tags'); @@ -33,7 +32,6 @@ }; function updatePixhawkBeta() { - updatePixhawk('beta') } @@ -48,7 +46,6 @@ }); } - socket.emit('get companion refs'); @@ -74,6 +71,6 @@

Pixhawk Update

- +
\ No newline at end of file From e7faa638f2a4cff3cf0a403779059040c4bd2bc1 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 2 May 2017 12:11:02 -0400 Subject: [PATCH 062/256] Show companion version / formatting --- RPI2/Raspbian/br-webui/index.js | 61 ++++++++++----- RPI2/Raspbian/br-webui/system.html | 11 ++- RPI2/Raspbian/comm_router.py | 41 +++++----- RPI2/Raspbian/endpoint.py | 117 ++++++++++++----------------- 4 files changed, 119 insertions(+), 111 deletions(-) diff --git a/RPI2/Raspbian/br-webui/index.js b/RPI2/Raspbian/br-webui/index.js index 12a20e88..c3f5107f 100644 --- a/RPI2/Raspbian/br-webui/index.js +++ b/RPI2/Raspbian/br-webui/index.js @@ -25,47 +25,48 @@ function getNetworks() { ////////////////// Routes // root -app.get('/', function (req, res) { +app.get('/', function(req, res) { res.sendFile(__dirname + "/index.html"); }) -app.get('/reboot', function (req, res) { +app.get('/reboot', function(req, res) { res.redirect('/'); child_process.exec('sleep 2 && sudo reboot now'); }); -app.get('/shutdown', function (req, res) { +app.get('/shutdown', function(req, res) { res.redirect('/'); child_process.exec('sleep 2 && sudo shutdown -h now'); }); -app.get('/routing', function (req, res) { +app.get('/routing', function(req, res) { res.sendFile(__dirname + "/routing.html"); }); -app.get('/system', function (req, res) { +app.get('/system', function(req, res) { res.sendFile(__dirname + '/system.html'); }); -var server = app.listen(2770, function () { - var host = server.address().address - var port = server.address().port - console.log("App running at http://%s:%s", host, port) +var server = app.listen(2770, function() { + var host = server.address().address; + var port = server.address().port; + console.log("App running at http://%s:%s", host, port); }); var io = require('socket.io')(server); -io.on('connection', function (socket) { +io.on('connection', function(socket) { // used in routing setup - socket.on('get serial ids', function (data) { + socket.on('get serial ids', function(data) { var cmd = child_process.exec('ls /dev/serial/by-id/*', function (error, stdout, stderr) { socket.emit('serial ids', stdout); }); }); + // used in routing setup - socket.on('routing request', function (data) { + socket.on('routing request', function(data) { var sock = dgram.createSocket('udp4'); console.log("ROUTING REQUEST"); var message = new Buffer(JSON.stringify(data)); @@ -82,21 +83,29 @@ io.on('connection', function (socket) { }); + // used in system setup - socket.on('get companion refs', function (data) { + socket.on('get companion refs', function(data) { var cmd = child_process.exec('git tag', function (error, stdout, stderr) { socket.emit('companion refs', stdout + stderr); }); }); - - socket.on('join network', joinNetwork); + socket.on('get companion version', function(data) { + var cmd = child_process.exec('git describe --tags', function( error, stdout, stderr) { + socket.emit('companion version', stdout + stderr); + }); + }); - socket.on('update companion', function (data) { + + // system setup + socket.on('update companion', function(data) { updateCompanion(data); }); + + // system setup socket.on('update pixhawk', function(data) { if (data.option == 'dev') { // Use spawn instead of exec to get callbacks for each line of stderr, stdout @@ -125,16 +134,26 @@ io.on('connection', function (socket) { }); }); + + // Network setup + socket.on('join network', joinNetwork); + + + // Network setup socket.emit('wifi aps', getNetworks()); setInterval( function () { socket.emit('wifi aps', getNetworks()); }, 5000); + + // Network setup getInternetStatus(); setInterval( function () { getInternetStatus(); }, 3000); + + // Network setup getWiFiStatus(); setInterval( function () { getWiFiStatus(); @@ -153,6 +172,7 @@ io.on('connection', function (socket) { }) } + function getWiFiStatus() { var cmd = child_process.exec('sudo wpa_cli status', function (error, stdout, stderr) { console.log("WIFI STATUS"); @@ -185,6 +205,7 @@ io.on('connection', function (socket) { }); } + //Restart wifi interface/wpa_supplicant function restart_network(error, stdout, stderr) { console.log(error + stdout + stderr); @@ -194,6 +215,7 @@ io.on('connection', function (socket) { }); } + function joinNetwork(data) { console.log(data); @@ -212,6 +234,7 @@ io.on('connection', function (socket) { } } + function updateCompanion(tag) { var cmd = child_process.exec('cd /home/pi/companion && git fetch && git checkout ' + tag, function (error, stdout, stderr) { console.log("COMPANION UPDATE"); @@ -219,8 +242,6 @@ io.on('connection', function (socket) { console.log(error); console.log(stdout + stderr); socket.emit('terminal output', stdout + stderr); - }) + }); } - - -}) +}); diff --git a/RPI2/Raspbian/br-webui/system.html b/RPI2/Raspbian/br-webui/system.html index 6497e6a6..ddc3db84 100644 --- a/RPI2/Raspbian/br-webui/system.html +++ b/RPI2/Raspbian/br-webui/system.html @@ -22,6 +22,10 @@ console.log(line); }); }); + + socket.on('companion version', function(data) { + document.getElementById('companion version').innerHTML = data; + }); function updateCompanion() { socket.emit('update companion', document.getElementById('tags').value); @@ -39,18 +43,19 @@ updatePixhawk('stable') } - function updatePixhawk(option) { - socket.emit('update pixhawk' { + socket.emit('update pixhawk', { 'option' : option }); } socket.emit('get companion refs'); + socket.emit('get companion version');
-

Companion Update

+

Current Companion Version:

+

Companion Update

diff --git a/RPI2/Raspbian/comm_router.py b/RPI2/Raspbian/comm_router.py index 04a25244..d0d95698 100755 --- a/RPI2/Raspbian/comm_router.py +++ b/RPI2/Raspbian/comm_router.py @@ -9,21 +9,19 @@ debug = False -endpoint.load('/home/pi/companion/RPI2/Raspbian/routing.conf') -print endpoint.endpoints +# load configuration from file +endpoint.load('routing.conf') for _endpoint in endpoint.endpoints: - print _endpoint.id - print _endpoint.connections - -# endpoint.remove('apm.udp2') - + print("Loaded %s\toutbound: %s") % (_endpoint.id._endpoint.connections) +# we will listen here for requests sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) sock.setblocking(False) sock.bind(('0.0.0.0', 18990)) while True: + # don't hog the cpu time.sleep(0.01) # read all endpoints and write all routes @@ -31,10 +29,11 @@ _endpoint.read() try: + # see if there is a new request data, address = sock.recvfrom(1024) print("\n%s sent %s\n") % (address, data) - + # all requests come packed in json msg = json.loads(data) try: @@ -44,7 +43,10 @@ print "No request!" continue - if request == 'remove endpoint': + if request == 'add endpoint': + endpoint.add(endpoint.from_json(msg)) + + elif request == 'remove endpoint': endpoint.remove(msg['id']) sock.sendto(endpoint.to_json(), address) @@ -54,30 +56,27 @@ elif request == 'disconnect endpoints': endpoint.disconnect(msg['source'], msg['target']) - - elif request == 'add endpoint': - endpoint.add(endpoint.from_json(msg)) elif request == 'save all': endpoint.save(msg['filename']) + # Hard load replaces current configuration with load configuration + # Soft load appends load configuration to current configuration elif request == 'load all': if msg['soft'] == False: print("Hard load") - # garbage collect + # TODO: garbage collect? endpoint.endpoints = [] endpoint.load(msg['filename']) # send updated list of endpoints sock.sendto(endpoint.to_json(), address) - endpoint.save('/home/pi/companion/RPI2/Raspbian/routing.conf') + + # save current list of endpoints + endpoint.save('routing.conf') except socket.error as e: continue -# except Exception as e: -# print("Error: %s") % e -# continue - - - - \ No newline at end of file + except Exception as e: + print("Error: %s") % e + continue diff --git a/RPI2/Raspbian/endpoint.py b/RPI2/Raspbian/endpoint.py index 4322a439..30ae3fb5 100755 --- a/RPI2/Raspbian/endpoint.py +++ b/RPI2/Raspbian/endpoint.py @@ -21,6 +21,7 @@ def __init__(self, id, type, connectionIds): # target destinations for inbound traffic self.connections = [] + def connect(self, target): if target.id == self.id: print("loopback not allowed: %s") % self.id @@ -31,6 +32,7 @@ def connect(self, target): self.connections.append(target) self.connectionIds.append(target.id) + def disconnect(self, target_id): try: self.connectionIds.remove(target_id) @@ -41,11 +43,8 @@ def disconnect(self, target_id): for endpoint in self.connections: if endpoint.id == target_id: self.connections.remove(endpoint) - - - class SerialEndpoint(Endpoint): def __init__(self, port, baudrate, id, connections): @@ -58,6 +57,7 @@ def __init__(self, port, baudrate, id, connections): self.socket = serial.Serial(port, baudrate, timeout=0) print('%s on %s:%s') % (self.id, port, baudrate) + def read(self): try: if not self.socket.is_open: @@ -76,7 +76,7 @@ def read(self): #this works fine on rpi, but not desktop (ubuntu 16) for some reason #print('%s read %s') % (self.id, data[:25].decode('utf-8')) print('%s read') % self.id - + # write data out on all outbound connections for endpoint in self.connections: endpoint.write(data) @@ -154,7 +154,8 @@ def to_json(self): "port": self.port, "ip": self.ip, "connections": self.connectionIds}; - + + def add(new_endpoint): for existing_endpoint in endpoints: if new_endpoint.id == existing_endpoint.id: @@ -167,7 +168,43 @@ def add(new_endpoint): new_endpoint.connections.append(existing_endpoint) endpoints.append(new_endpoint) + + +def remove(endpoint_id): + remove = None + for endpoint in endpoints: + if endpoint.id == endpoint_id: + remove = endpoint + break + + if remove is None: + print("Error removing endpoint %s, id doesn't exist") % endpoint_id + return + print("remove: %s") % remove + try: + remove.socket.close() + endpoints.remove(remove) + print("removed endpoint %s") % remove.id + + + for endpoint in endpoints: + endpoint.connections.remove(remove) + endpoint.connections.connectionIds.remove(remove.id) + + + except Exception as e: + #print("Error removing: %s") % e + pass + + +def to_json(endpoint_id=None): + configuration = [] + for endpoint in endpoints: + configuration.append(endpoint.to_json()) + configuration = {"endpoints": configuration} + return json.dumps(configuration, indent=4) + def from_json(endpoint_json): if endpoint_json['type'] == 'serial': new_endpoint = SerialEndpoint( @@ -184,7 +221,7 @@ def from_json(endpoint_json): endpoint_json['connections']) return new_endpoint - + def connect(source_id, target_id): source = None @@ -202,7 +239,8 @@ def connect(source_id, target_id): print("Error: target %s is not present") % target_id source.connect(target) - + + def disconnect(source_id, target_id): source = None @@ -216,43 +254,17 @@ def disconnect(source_id, target_id): #it's ok if target does not exist, it may still be a desired endpoint source.disconnect(target_id) - - -def remove(endpoint_id): - remove = None - for endpoint in endpoints: - if endpoint.id == endpoint_id: - remove = endpoint - break - - if remove is None: - print("Error removing endpoint %s, id doesn't exist") % endpoint_id - return - - print("remove: %s") % remove - try: - remove.socket.close() - endpoints.remove(remove) - print("removed endpoint %s") % remove.id - - - for endpoint in endpoints: - endpoint.connections.remove(remove) - endpoint.connections.connectionIds.remove(remove.id) - - - except Exception as e: - #print("Error removing: %s") % e - pass - + def get_endpoints(): return endpoints + def save(filename): f = open(filename, 'w') f.write(to_json()) - + + def load(filename): f = open(filename, 'r') endpoints = [] @@ -272,38 +284,9 @@ def load(filename): endpoint['port'], endpoint['id'], endpoint['connections']) - + add(new_endpoint) except Exception as e: print(e) pass - -def to_json(endpoint_id=None): - configuration = [] - for endpoint in endpoints: - configuration.append(endpoint.to_json()) - configuration = {"endpoints": configuration} - return json.dumps(configuration, indent=4) - - -# udpAPM = UDPEndpoint('192.168.2.1', 14550, 'udpAPM') -# serialAPM = SerialEndpoint('/dev/ttyACM0', 115200, 'serialAPM') -# -# serialAPM.add_endpoint(udpAPM) -# udpAPM.add_endpoint(serialAPM) -# -# udpPing = UDPEndpoint('192.168.2.2', 8989, 'udpPing') -# serialPing = SerialEndpoint('/dev/ttyUSB0', 115200, 'serialPing') -# -# udpPing.add_endpoint(serialPing) -# serialPing.add_endpoint(udpPing) -# -# -# -# outputs = [udpAPM, serialAPM, udpPing, serialPing] -# -# while True: -# for endpoint in outputs: -# endpoint.read() - \ No newline at end of file From 5ca4324fcc4fab6370959dda91032d6679b2a76f Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 2 May 2017 12:19:34 -0400 Subject: [PATCH 063/256] .gitignore --- .gitignore | 3 +++ RPI2/Raspbian/routing.conf | 21 ++++++++++++++++++++- 2 files changed, 23 insertions(+), 1 deletion(-) diff --git a/.gitignore b/.gitignore index a219e2f9..380ce54a 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,6 @@ *~ *.project RPI2/Raspbian/br-webui/node_modules/* +RPI2/Raspbian/routing.conf +RPI2/Raspbian/SAVED.conf +*.pyc diff --git a/RPI2/Raspbian/routing.conf b/RPI2/Raspbian/routing.conf index 9eebbc4a..f1fd8669 100644 --- a/RPI2/Raspbian/routing.conf +++ b/RPI2/Raspbian/routing.conf @@ -1,3 +1,22 @@ { - "endpoints": [] + "endpoints": [ + { + "connections": [ + "/dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00" + ], + "ip": "192.168.2.1", + "type": "udp", + "id": "192.168.2.1:14550", + "port": "14550" + }, + { + "connections": [ + "192.168.2.1:14550" + ], + "baudrate": "115200", + "type": "serial", + "id": "/dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00", + "port": "/dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00" + } + ] } \ No newline at end of file From 9e4eac53fae4a8734809225a7999b4d3dbad6b19 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 2 May 2017 12:56:12 -0400 Subject: [PATCH 064/256] More robust startup/hotplugging behavior --- RPI2/Raspbian/comm_router.py | 3 --- RPI2/Raspbian/endpoint.py | 6 ++++-- 2 files changed, 4 insertions(+), 5 deletions(-) diff --git a/RPI2/Raspbian/comm_router.py b/RPI2/Raspbian/comm_router.py index d0d95698..2190e082 100755 --- a/RPI2/Raspbian/comm_router.py +++ b/RPI2/Raspbian/comm_router.py @@ -12,9 +12,6 @@ # load configuration from file endpoint.load('routing.conf') -for _endpoint in endpoint.endpoints: - print("Loaded %s\toutbound: %s") % (_endpoint.id._endpoint.connections) - # we will listen here for requests sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) sock.setblocking(False) diff --git a/RPI2/Raspbian/endpoint.py b/RPI2/Raspbian/endpoint.py index 30ae3fb5..880eb188 100755 --- a/RPI2/Raspbian/endpoint.py +++ b/RPI2/Raspbian/endpoint.py @@ -54,8 +54,10 @@ def __init__(self, port, baudrate, id, connections): self.active = False # not a socket! just a port - self.socket = serial.Serial(port, baudrate, timeout=0) - print('%s on %s:%s') % (self.id, port, baudrate) + self.socket = serial.Serial() + self.socket.port = port + self.socket.baudrate = 115200 + self.socket.timeout = 0 def read(self): From 04930b84e04943fe6311e4e036602711222bc403 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 2 May 2017 13:03:56 -0400 Subject: [PATCH 065/256] Create file if it doesn't exist --- RPI2/Raspbian/endpoint.py | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/RPI2/Raspbian/endpoint.py b/RPI2/Raspbian/endpoint.py index 880eb188..9c0fd536 100755 --- a/RPI2/Raspbian/endpoint.py +++ b/RPI2/Raspbian/endpoint.py @@ -149,7 +149,6 @@ def write(self, data): return - def to_json(self): return {"id": self.id, "type": self.type, @@ -263,14 +262,20 @@ def get_endpoints(): def save(filename): - f = open(filename, 'w') + f = open(filename, 'w+') f.write(to_json()) + f.close() def load(filename): - f = open(filename, 'r') - endpoints = [] - configuration = json.load(f) + try: + f = open(filename, 'r') + configuration = json.load(f) + f.close() + except Exception as e: + print("Error loading from file %s: %s") % (filename, e) + return + for endpoint in configuration['endpoints']: try: if endpoint['type'] == 'serial': From e295268c07f4887e5953d9f517b73e4c80b74214 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 2 May 2017 22:46:28 -0400 Subject: [PATCH 066/256] Formatting --- RPI2/Raspbian/endpoint.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/RPI2/Raspbian/endpoint.py b/RPI2/Raspbian/endpoint.py index 9c0fd536..a32219f7 100755 --- a/RPI2/Raspbian/endpoint.py +++ b/RPI2/Raspbian/endpoint.py @@ -141,7 +141,7 @@ def write(self, data): self.socket.sendto(data, (self.ip, int(self.port))) if debug: -# print('%s write %s') % (self.id, data[:25]) + #print('%s write %s') % (self.id, data[:25]) print("%s write") % self.id except Exception as e: From 680bad82bd5c91c64a4fb1363eb2c639f03c8912 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 3 May 2017 00:14:12 -0400 Subject: [PATCH 067/256] Divide and conquer: socket.io namespaces --- RPI2/Raspbian/br-webui/index.html | 27 ++--- RPI2/Raspbian/br-webui/index.js | 188 ++++++++++++++---------------- 2 files changed, 102 insertions(+), 113 deletions(-) diff --git a/RPI2/Raspbian/br-webui/index.html b/RPI2/Raspbian/br-webui/index.html index 20bba15a..d08d5ea6 100644 --- a/RPI2/Raspbian/br-webui/index.html +++ b/RPI2/Raspbian/br-webui/index.html @@ -4,13 +4,13 @@
diff --git a/RPI2/Raspbian/br-webui/index.js b/RPI2/Raspbian/br-webui/index.js index c3f5107f..386c4a62 100644 --- a/RPI2/Raspbian/br-webui/index.js +++ b/RPI2/Raspbian/br-webui/index.js @@ -54,6 +54,96 @@ var server = app.listen(2770, function() { }); var io = require('socket.io')(server); +var networking = io.of('/networking'); + +networking.on('connection', function(socket) { + console.log('networking connected'); + socket.emit('youre in', "youre in!"); + + // Network setup + socket.on('join network', joinNetwork); + + + // Network setup + socket.on('get wifi aps', function() { + socket.emit('wifi aps', getNetworks()); + }); + + + // Query internet connectivity + socket.on('get internet status', function() { + console.log("GET INTERNET STATUS") + var cmd = child_process.exec('ping -c1 google.com', function (error, stdout, stderr) { + if (error) { + socket.emit('internet status', '

Not Connected

'); + } else { + socket.emit('internet status', '

Connected

'); + } + }) + }); + + + socket.on('get wifi status', function() { + var cmd = child_process.exec('sudo wpa_cli status', function (error, stdout, stderr) { + console.log("WIFI STATUS"); + //console.log(stdout + stderr); + if (error) { + socket.emit('wifi status', '

Error: ' + stderr + '

'); + } else { + if (stdout.indexOf("DISCONNECTED") > -1) { + socket.emit('wifi status', '

Disconnected

'); + } else if (stdout.indexOf("SCANNING") > -1) { + socket.emit('wifi status', '

Scanning

'); + } else if (stdout.indexOf("INACTIVE") > -1) { + socket.emit('wifi status', '

Inactive

'); + } else { + var fields = stdout.split("\n"); + for (var i in fields) { + line = fields[i].split("="); + if (line[0] == "ssid") { + var ssid = line[1]; + } + } + + if (stdout.indexOf("HANDSHAKE") > -1) { + socket.emit('wifi status', '

Connecting: ' + ssid + '

'); + } else { + socket.emit('wifi status', '

Connected: ' + ssid + '

'); + } + } + } + }); + }); + + + //Restart wifi interface/wpa_supplicant + function restart_network(error, stdout, stderr) { + console.log(error + stdout + stderr); + var cmd = child_process.exec('sudo ifdown wlan0 && sudo ifup wlan0', function (error, stdout, stderr) { + console.log("NETWORK RESTART"); + console.log(error + stdout + stderr); + }); + } + + + function joinNetwork(data) { + console.log(data); + + try { + var passphrase = child_process.execSync("wpa_passphrase " + data.ssid + " " + data.password); + + var networkString = passphrase.toString(); + networkString = networkString.replace(/\t#.*\n/g, ''); // strip unencrypted password out + networkString = networkString.replace(/"/g, '\\"'); // escape quotes + + // Restart the network in the callback + cmd = child_process.exec("sudo sh -c \"echo '" + networkString + "' > /etc/wpa_supplicant/wpa_supplicant.conf\"", restart_network); + } catch (e) { + console.log("CAUGHT ERROR: "); + console.log(e); + } + } +}); io.on('connection', function(socket) { @@ -134,106 +224,8 @@ io.on('connection', function(socket) { }); }); - - // Network setup - socket.on('join network', joinNetwork); - - - // Network setup - socket.emit('wifi aps', getNetworks()); - setInterval( function () { - socket.emit('wifi aps', getNetworks()); - }, 5000); - - - // Network setup - getInternetStatus(); - setInterval( function () { - getInternetStatus(); - }, 3000); - - - // Network setup - getWiFiStatus(); - setInterval( function () { - getWiFiStatus(); - }, 3000); - // Query internet connectivity - function getInternetStatus() { - console.log("GET INTERNET STATUS") - var cmd = child_process.exec('ping -c1 google.com', function (error, stdout, stderr) { - if (error) { - socket.emit('internet status', '

Not Connected

'); - } else { - socket.emit('internet status', '

Connected

'); - } - }) - } - - - function getWiFiStatus() { - var cmd = child_process.exec('sudo wpa_cli status', function (error, stdout, stderr) { - console.log("WIFI STATUS"); - //console.log(stdout + stderr); - if (error) { - socket.emit('wifi status', '

Error: ' + stderr + '

'); - } else { - if (stdout.indexOf("DISCONNECTED") > -1) { - socket.emit('wifi status', '

Disconnected

'); - } else if (stdout.indexOf("SCANNING") > -1) { - socket.emit('wifi status', '

Scanning

'); - } else if (stdout.indexOf("INACTIVE") > -1) { - socket.emit('wifi status', '

Inactive

'); - } else { - var fields = stdout.split("\n"); - for (var i in fields) { - line = fields[i].split("="); - if (line[0] == "ssid") { - var ssid = line[1]; - } - } - - if (stdout.indexOf("HANDSHAKE") > -1) { - socket.emit('wifi status', '

Connecting: ' + ssid + '

'); - } else { - socket.emit('wifi status', '

Connected: ' + ssid + '

'); - } - } - } - }); - } - - - //Restart wifi interface/wpa_supplicant - function restart_network(error, stdout, stderr) { - console.log(error + stdout + stderr); - var cmd = child_process.exec('sudo ifdown wlan0 && sudo ifup wlan0', function (error, stdout, stderr) { - console.log("NETWORK RESTART"); - console.log(error + stdout + stderr); - }); - } - - - function joinNetwork(data) { - console.log(data); - - try { - var passphrase = child_process.execSync("wpa_passphrase " + data.ssid + " " + data.password); - - var networkString = passphrase.toString(); - networkString = networkString.replace(/\t#.*\n/g, ''); // strip unencrypted password out - networkString = networkString.replace(/"/g, '\\"'); // escape quotes - - // Restart the network in the callback - cmd = child_process.exec("sudo sh -c \"echo '" + networkString + "' > /etc/wpa_supplicant/wpa_supplicant.conf\"", restart_network); - } catch (e) { - console.log("CAUGHT ERROR: "); - console.log(e); - } - } - function updateCompanion(tag) { var cmd = child_process.exec('cd /home/pi/companion && git fetch && git checkout ' + tag, function (error, stdout, stderr) { From 0a0fc4d1596821af1d52eb053b0fe4da61d98e8c Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 3 May 2017 00:15:26 -0400 Subject: [PATCH 068/256] Formatting --- RPI2/Raspbian/br-webui/index.js | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/RPI2/Raspbian/br-webui/index.js b/RPI2/Raspbian/br-webui/index.js index 386c4a62..867feadc 100644 --- a/RPI2/Raspbian/br-webui/index.js +++ b/RPI2/Raspbian/br-webui/index.js @@ -145,6 +145,7 @@ networking.on('connection', function(socket) { } }); + io.on('connection', function(socket) { // used in routing setup @@ -161,10 +162,10 @@ io.on('connection', function(socket) { console.log("ROUTING REQUEST"); var message = new Buffer(JSON.stringify(data)); sock.send(message, 0, message.length, 18990, '0.0.0.0', function(err, bytes) { - if (err) { - console.log("ERROR"); - throw err; - } + if (err) { + console.log("ERROR"); + throw err; + } }); sock.on('message', (msg, rinfo) => { @@ -224,8 +225,6 @@ io.on('connection', function(socket) { }); }); - - function updateCompanion(tag) { var cmd = child_process.exec('cd /home/pi/companion && git fetch && git checkout ' + tag, function (error, stdout, stderr) { From 15e1e98318a9227560bf22b48b59a9f44698dd07 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 3 May 2017 00:33:44 -0400 Subject: [PATCH 069/256] Request networking stuff instead of broadcasting it --- RPI2/Raspbian/br-webui/index.html | 34 +++++++++++++++++++------------ RPI2/Raspbian/br-webui/index.js | 2 -- 2 files changed, 21 insertions(+), 15 deletions(-) diff --git a/RPI2/Raspbian/br-webui/index.html b/RPI2/Raspbian/br-webui/index.html index d08d5ea6..eae1792e 100644 --- a/RPI2/Raspbian/br-webui/index.html +++ b/RPI2/Raspbian/br-webui/index.html @@ -3,14 +3,11 @@ @@ -63,7 +74,7 @@

Internet Status:

- WiFi Network Setup: + WiFi Network Setup:

WiFi SSID:
@@ -77,13 +88,10 @@
Password:
- +
- \ No newline at end of file diff --git a/RPI2/Raspbian/br-webui/index.js b/RPI2/Raspbian/br-webui/index.js index 867feadc..646b835a 100644 --- a/RPI2/Raspbian/br-webui/index.js +++ b/RPI2/Raspbian/br-webui/index.js @@ -57,8 +57,6 @@ var io = require('socket.io')(server); var networking = io.of('/networking'); networking.on('connection', function(socket) { - console.log('networking connected'); - socket.emit('youre in', "youre in!"); // Network setup socket.on('join network', joinNetwork); From 2af13d71d459e8ff787c80fadc3c4b00c34c77f6 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 3 May 2017 00:47:36 -0400 Subject: [PATCH 070/256] formatting --- RPI2/Raspbian/br-webui/index.html | 104 +++++++++++++++--------------- 1 file changed, 52 insertions(+), 52 deletions(-) diff --git a/RPI2/Raspbian/br-webui/index.html b/RPI2/Raspbian/br-webui/index.html index eae1792e..a33a4061 100644 --- a/RPI2/Raspbian/br-webui/index.html +++ b/RPI2/Raspbian/br-webui/index.html @@ -1,65 +1,65 @@ - - + + + setInterval(function() { + networking.emit('get internet status'); + }, 3000); + + setInterval(function() { + networking.emit('get wifi status'); + }, 3000); + + setInterval(function() { + networking.emit('get wifi aps'); + }, 6000); + +

Network Setup

From b8e3c6fcea4d86de46a3fe2615b153f0dbc03570 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 3 May 2017 00:48:48 -0400 Subject: [PATCH 071/256] Put audio controls back --- RPI2/Raspbian/br-webui/index.html | 3 +++ 1 file changed, 3 insertions(+) diff --git a/RPI2/Raspbian/br-webui/index.html b/RPI2/Raspbian/br-webui/index.html index a33a4061..6a995031 100644 --- a/RPI2/Raspbian/br-webui/index.html +++ b/RPI2/Raspbian/br-webui/index.html @@ -94,4 +94,7 @@
Password:
+ \ No newline at end of file From eb2cc9ad512f300b75e844a38132955749711b5b Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 5 May 2017 20:21:49 -0400 Subject: [PATCH 072/256] Bugfix px4 flashing script - no sudo --- RPI2/Raspbian/flash_px4.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/RPI2/Raspbian/flash_px4.py b/RPI2/Raspbian/flash_px4.py index cd2613d0..86f9ad1f 100755 --- a/RPI2/Raspbian/flash_px4.py +++ b/RPI2/Raspbian/flash_px4.py @@ -57,7 +57,7 @@ def timeout(signum, frame): # Stop screen session with mavproxy print "Stopping mavproxy" -os.system("sudo screen -X -S mavproxy quit") +os.system("screen -X -S mavproxy quit") # Flash Pixhawk print "Flashing Pixhawk..." @@ -72,6 +72,6 @@ def timeout(signum, frame): # Start screen session with mavproxy print "Restarting mavproxy" -os.system("sudo screen -dm -S mavproxy /home/pi/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh") +os.system("screen -dm -S mavproxy /home/pi/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh") print "Complete!" From 4bd5555316345b83a7c55b7c4d906ff5d65bf04c Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 5 May 2017 20:36:40 -0400 Subject: [PATCH 073/256] sp --- RPI2/Raspbian/start_mavproxy_telem_splitter.sh | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh b/RPI2/Raspbian/start_mavproxy_telem_splitter.sh index 9dff6377..cb696962 100755 --- a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh +++ b/RPI2/Raspbian/start_mavproxy_telem_splitter.sh @@ -1,11 +1,11 @@ # this starts mavproxy so that the serial link to the companion computer (on /dev/ttyACM0) # is available to a companion computer and external GCSs via UDP. This broadcasts so that -# multiple IP addresses can received the telemetry. +# multiple IP addresses can receive the telemetry. # For PixHawk or other connected via USB on Raspberry Pi cd /home/pi mavproxy.py --master=/dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00,115200 \ - --source-system=200 \ + --source-system=200 \ --cmd="set heartbeat 0" \ --out udpin:localhost:9000 \ --out udpbcast:192.168.2.255:14550 From 30e72a4e8b1b39ff5a3928cacf0604cb553d4dae Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 15 May 2017 14:00:55 -0400 Subject: [PATCH 074/256] Fix setup_gst.sh to properly identify Pi hardware --- RPI2/Raspbian/setup_gst.sh | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/RPI2/Raspbian/setup_gst.sh b/RPI2/Raspbian/setup_gst.sh index 9ec638ae..3c732822 100755 --- a/RPI2/Raspbian/setup_gst.sh +++ b/RPI2/Raspbian/setup_gst.sh @@ -4,7 +4,7 @@ set -e BRANCH="1.8" -if grep -q BCM270 /proc/cpuinfo; then +if grep -q BCM2 /proc/cpuinfo; then echo "RPI BUILD!" RPI="1" fi @@ -17,8 +17,8 @@ exec 2>&1 sudo apt-get remove libgstreamer* gstreamer1.0* -# Update and Upgrade the Pi, otherwise the build may fail due to inconsistencies -grep -q BCM270 /proc/cpuinfo && sudo apt-get update && sudo apt-get upgrade -y --force-yes +# Update and U#pgrade the Pi, otherwise the build may fail due to inconsistencies +# grep -q BCM270 /proc/cpuinfo && sudo apt-get update && sudo apt-get upgrade -y --force-yes # Get the required libraries sudo apt-get install -y --force-yes build-essential autotools-dev automake autoconf \ @@ -60,7 +60,7 @@ cd gstreamer [ ! -d gst-libav ] && git clone git://anongit.freedesktop.org/git/gstreamer/gst-libav [ ! -d gst-omx ] && git clone git://anongit.freedesktop.org/git/gstreamer/gst-omx [ ! -d gst-python ] && git clone git://anongit.freedesktop.org/git/gstreamer/gst-python -[ ! $RPI ] && [ ! -d gstreamer-vaapi ] && git clone git://gitorious.org/vaapi/gstreamer-vaapi.git +#[ ! $RPI ] && [ ! -d gstreamer-vaapi ] && git clone git://gitorious.org/vaapi/gstreamer-vaapi.git export LD_LIBRARY_PATH=/usr/local/lib/ # checkout branch (default=master) and build & install From d66407670a8584f99a4ac1aa4a00d933728e4aea Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 15 May 2017 14:02:33 -0400 Subject: [PATCH 075/256] Refactor get_networks function --- RPI2/Raspbian/br-webui/index.js | 32 +++++++++++++++----------------- 1 file changed, 15 insertions(+), 17 deletions(-) diff --git a/RPI2/Raspbian/br-webui/index.js b/RPI2/Raspbian/br-webui/index.js index 646b835a..24856c2f 100644 --- a/RPI2/Raspbian/br-webui/index.js +++ b/RPI2/Raspbian/br-webui/index.js @@ -6,22 +6,6 @@ const dgram = require('dgram'); app.use(express.static('public')); -function getNetworks() { - console.log("SCAN Networks"); - - try { - var cmd = child_process.execSync('sudo wpa_cli scan'); - // For some reason this fails once in a while - cmd = child_process.execSync('sudo wpa_cli scan_results | grep PSK | cut -f5 | grep .'); - } catch (e) { - console.log("\n\nCAUGHT ERROR:"); - console.log(e); - return ""; - } - - return cmd.toString().trim().split("\n"); -} - ////////////////// Routes // root @@ -64,7 +48,21 @@ networking.on('connection', function(socket) { // Network setup socket.on('get wifi aps', function() { - socket.emit('wifi aps', getNetworks()); + socket.emit('wifi aps', function() { + console.log("SCAN Networks"); + + try { + var cmd = child_process.execSync('sudo wpa_cli scan'); + // For some reason this fails once in a while + cmd = child_process.execSync('sudo wpa_cli scan_results | grep PSK | cut -f5 | grep .'); + } catch (e) { + console.log("\n\nCAUGHT ERROR:"); + console.log(e); + return ""; + } + + return cmd.toString().trim().split("\n"); + }); }); From 30eebef31078084248be3ad4f634396d37bd6fd7 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 15 May 2017 14:04:04 -0400 Subject: [PATCH 076/256] Only check remote tags for update --- RPI2/Raspbian/br-webui/index.js | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/RPI2/Raspbian/br-webui/index.js b/RPI2/Raspbian/br-webui/index.js index 24856c2f..2864e63d 100644 --- a/RPI2/Raspbian/br-webui/index.js +++ b/RPI2/Raspbian/br-webui/index.js @@ -173,7 +173,7 @@ io.on('connection', function(socket) { // used in system setup socket.on('get companion refs', function(data) { - var cmd = child_process.exec('git tag', function (error, stdout, stderr) { + var cmd = child_process.exec('git ls-remote --tags origin | cut -f2 | cut -f3 -d /', function (error, stdout, stderr) { socket.emit('companion refs', stdout + stderr); }); }); From 8e5ac0254c40fabc6d743475f2063eecdad425a0 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 15 May 2017 17:30:47 -0400 Subject: [PATCH 077/256] setup.sh: Use companion BR master branch --- RPI2/Raspbian/setup.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/RPI2/Raspbian/setup.sh b/RPI2/Raspbian/setup.sh index f5a1c088..6e090ab0 100755 --- a/RPI2/Raspbian/setup.sh +++ b/RPI2/Raspbian/setup.sh @@ -54,7 +54,7 @@ sudo n 5.6.0 sudo npm install tty.js -g # clone bluerobotics companion repository -git clone -b webui https://github.com/bluerobotics/companion.git /home/pi/companion +git clone https://github.com/bluerobotics/companion.git /home/pi/companion cd /home/pi/companion/RPI2/Raspbian/br-webui From 1dc9129051322676001ac30dea68a83656448e23 Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Tue, 16 May 2017 00:50:16 +0000 Subject: [PATCH 078/256] Stylize the interface. --- .../Raspbian/br-webui/_includes/footer.liquid | 24 ++ .../Raspbian/br-webui/_includes/header.liquid | 39 +++ RPI2/Raspbian/br-webui/index.html | 100 ------ RPI2/Raspbian/br-webui/index.js | 30 +- RPI2/Raspbian/br-webui/package.json | 7 +- RPI2/Raspbian/br-webui/routing.html | 230 -------------- RPI2/Raspbian/br-webui/style.css | 34 ++ RPI2/Raspbian/br-webui/system.html | 81 ----- RPI2/Raspbian/br-webui/views/index.liquid | 98 ++++++ RPI2/Raspbian/br-webui/views/routing.liquid | 294 ++++++++++++++++++ RPI2/Raspbian/br-webui/views/system.liquid | 105 +++++++ RPI2/Raspbian/routing.conf | 20 +- 12 files changed, 636 insertions(+), 426 deletions(-) create mode 100644 RPI2/Raspbian/br-webui/_includes/footer.liquid create mode 100644 RPI2/Raspbian/br-webui/_includes/header.liquid delete mode 100644 RPI2/Raspbian/br-webui/index.html delete mode 100644 RPI2/Raspbian/br-webui/routing.html create mode 100644 RPI2/Raspbian/br-webui/style.css delete mode 100644 RPI2/Raspbian/br-webui/system.html create mode 100644 RPI2/Raspbian/br-webui/views/index.liquid create mode 100644 RPI2/Raspbian/br-webui/views/routing.liquid create mode 100644 RPI2/Raspbian/br-webui/views/system.liquid diff --git a/RPI2/Raspbian/br-webui/_includes/footer.liquid b/RPI2/Raspbian/br-webui/_includes/footer.liquid new file mode 100644 index 00000000..e7faf774 --- /dev/null +++ b/RPI2/Raspbian/br-webui/_includes/footer.liquid @@ -0,0 +1,24 @@ +
+ +
+
+
+
+
Camera Microphone Stream Player:
+ +
+
+

The ArduSub Companion Computer WebUI is a project of Blue Robotics.
For more information, please visit www.bluerobotics.com.

+
+
+
+
+ + + + + + + \ No newline at end of file diff --git a/RPI2/Raspbian/br-webui/_includes/header.liquid b/RPI2/Raspbian/br-webui/_includes/header.liquid new file mode 100644 index 00000000..0dec1f1d --- /dev/null +++ b/RPI2/Raspbian/br-webui/_includes/header.liquid @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + +
\ No newline at end of file diff --git a/RPI2/Raspbian/br-webui/index.html b/RPI2/Raspbian/br-webui/index.html deleted file mode 100644 index 6a995031..00000000 --- a/RPI2/Raspbian/br-webui/index.html +++ /dev/null @@ -1,100 +0,0 @@ - - - - - - -
-

Network Setup

-
-
-

WiFi Status:

- Pending -
-
-

Internet Status:

-
Pending
-
-
-

- WiFi Network Setup:

-
-
WiFi SSID:
-
-
- -
-
-
Password:
-
-
- - -
- -
- - - \ No newline at end of file diff --git a/RPI2/Raspbian/br-webui/index.js b/RPI2/Raspbian/br-webui/index.js index 2864e63d..ddab4138 100644 --- a/RPI2/Raspbian/br-webui/index.js +++ b/RPI2/Raspbian/br-webui/index.js @@ -3,14 +3,36 @@ var app = express(); const child_process = require('child_process'); const dgram = require('dgram'); - app.use(express.static('public')); +app.use('/js', express.static(__dirname + '/node_modules/bootstrap/dist/js')); // redirect bootstrap JS +app.use('/js', express.static(__dirname + '/node_modules/jquery/dist')); // redirect JS jQuery +app.use('/font-awesome', express.static(__dirname + '/node_modules/font-awesome')); // redirect JS jQuery +app.use('/css', express.static(__dirname + '/node_modules/bootstrap/dist/css')); // redirect CSS bootstrap +app.use('/style.css', express.static(__dirname + '/style.css')); // redirect CSS bootstrap + +var fs = require("fs"); +var expressLiquid = require('express-liquid'); +var options = { + // read file handler, optional + includeFile: function (filename, callback) { + fs.readFile(filename, 'utf8', callback); + }, + // the base context, optional + context: expressLiquid.newContext(), + // custom tags parser, optional + customTags: {}, + // if an error occurred while rendering, show detail or not, default to false + traceError: false +}; +app.set('view engine', 'liquid'); +app.engine('liquid', expressLiquid(options)); +app.use(expressLiquid.middleware); ////////////////// Routes // root app.get('/', function(req, res) { - res.sendFile(__dirname + "/index.html"); + res.render('index',{}) }) app.get('/reboot', function(req, res) { @@ -24,11 +46,11 @@ app.get('/shutdown', function(req, res) { }); app.get('/routing', function(req, res) { - res.sendFile(__dirname + "/routing.html"); + res.render('routing',{}) }); app.get('/system', function(req, res) { - res.sendFile(__dirname + '/system.html'); + res.render('system',{}) }); var server = app.listen(2770, function() { diff --git a/RPI2/Raspbian/br-webui/package.json b/RPI2/Raspbian/br-webui/package.json index 5127ff33..ce580609 100644 --- a/RPI2/Raspbian/br-webui/package.json +++ b/RPI2/Raspbian/br-webui/package.json @@ -6,7 +6,12 @@ "main": "index.js", "dependencies": { "express": "4.15.2", - "socket.io": "1.7.3" + "socket.io": "1.7.3", + "bootstrap": "3.3.7", + "jquery": "3.2.1", + "express-liquid": "latest", + "fs": "latest", + "font-awesome": "latest" }, "scripts": { "test": "echo \"Error: no test specified\" && exit 1" diff --git a/RPI2/Raspbian/br-webui/routing.html b/RPI2/Raspbian/br-webui/routing.html deleted file mode 100644 index 7fcd6c4f..00000000 --- a/RPI2/Raspbian/br-webui/routing.html +++ /dev/null @@ -1,230 +0,0 @@ - - - - - - -
-
-

New Serial Endpoint:

-
- Baud Rate
- - -
-
-

New UDP Endpoint:

- IP address
- UDP Port
- -
-
-

Endpoints:

-
-
-
- - - - -
-
- - - -
- - -
- - \ No newline at end of file diff --git a/RPI2/Raspbian/br-webui/style.css b/RPI2/Raspbian/br-webui/style.css new file mode 100644 index 00000000..a069085a --- /dev/null +++ b/RPI2/Raspbian/br-webui/style.css @@ -0,0 +1,34 @@ +html { + position: relative; + min-height: 100%; +} + +body { + padding-top: 80px; + margin-bottom: 100px; +} + +.navbar-fixed-top .navbar-nav { + min-height: 70px; +} + +.navbar-nav > li > a { + padding-top: 0px; + padding-bottom: 0px; + line-height: 70px; +} + +.navbar-brand { + padding-top: 0px; + padding-bottom: 0px; + line-height: 70px; +} + +.footer { + position: absolute; + bottom: 0; + width: 100%; + height: 100px; + border-top: #555 solid 2px; + padding: 10px; +} \ No newline at end of file diff --git a/RPI2/Raspbian/br-webui/system.html b/RPI2/Raspbian/br-webui/system.html deleted file mode 100644 index ddc3db84..00000000 --- a/RPI2/Raspbian/br-webui/system.html +++ /dev/null @@ -1,81 +0,0 @@ - - - - - - -
-

Current Companion Version:

-

Companion Update

-
- - -
-
-
-

Pixhawk Update

-
- - - -
-
-
- -
- - \ No newline at end of file diff --git a/RPI2/Raspbian/br-webui/views/index.liquid b/RPI2/Raspbian/br-webui/views/index.liquid new file mode 100644 index 00000000..78ebf5fc --- /dev/null +++ b/RPI2/Raspbian/br-webui/views/index.liquid @@ -0,0 +1,98 @@ +{% include ../_includes/header.liquid %} + + + +

Network Setup

+ +
+
+
+
+

Wifi Setup

+
+
+

Wifi SSID:

+ +

Password:

+
+
+ + +
+
+
+
+
+
+
+
+

Wifi Status

+
+
+

Wifi Status:

+

Pending

+

Internet Status:

+

Pending

+
+
+
+
+ +{% include ../_includes/footer.liquid %} \ No newline at end of file diff --git a/RPI2/Raspbian/br-webui/views/routing.liquid b/RPI2/Raspbian/br-webui/views/routing.liquid new file mode 100644 index 00000000..e175a3fb --- /dev/null +++ b/RPI2/Raspbian/br-webui/views/routing.liquid @@ -0,0 +1,294 @@ +{% include ../_includes/header.liquid %} + + + +

Routing

+ +
+
+
+
+

Create Serial Endpoint

+
+
+
+
+ + +
+
+ + +
+ +
+
+
+
+
+
+
+

Create UDP Endpoint

+
+
+
+
+ + +
+
+ + +
+ +
+
+
+
+
+ +
+
+
+
+

Create Routes

+
+
+
+
+ + + +
+ +
+
+
+
+
+ +
+
+
+ + + +
+
+
+ +


+ +
+
+
+
+

Endpoints and Routes

+
+
+

Endpoints:

+
+
+
+
+
+ + +{% include ../_includes/footer.liquid %} \ No newline at end of file diff --git a/RPI2/Raspbian/br-webui/views/system.liquid b/RPI2/Raspbian/br-webui/views/system.liquid new file mode 100644 index 00000000..33f4119d --- /dev/null +++ b/RPI2/Raspbian/br-webui/views/system.liquid @@ -0,0 +1,105 @@ +{% include ../_includes/header.liquid %} + + + +

Software Status and Update

+ +
+
+
+
+

ArduSub Companion Status

+
+
+

Version

+ Companion Update +

Update

+
+
+ + +
+ +
+
+
+
+
+
+
+

TBD

+
+
+ +
+
+
+
+ +
+
+
+
+

Pixhawk Firmware Update

+
+
+ Update to: + + + +

+ +
+
+
+
+{% include ../_includes/footer.liquid %} \ No newline at end of file diff --git a/RPI2/Raspbian/routing.conf b/RPI2/Raspbian/routing.conf index f1fd8669..4bd5e13e 100644 --- a/RPI2/Raspbian/routing.conf +++ b/RPI2/Raspbian/routing.conf @@ -2,21 +2,21 @@ "endpoints": [ { "connections": [ - "/dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00" - ], - "ip": "192.168.2.1", - "type": "udp", - "id": "192.168.2.1:14550", - "port": "14550" - }, - { - "connections": [ - "192.168.2.1:14550" + "0.0.0.0:6868" ], "baudrate": "115200", "type": "serial", "id": "/dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00", "port": "/dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00" + }, + { + "connections": [ + "/dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00" + ], + "ip": "0.0.0.0", + "type": "udp", + "id": "0.0.0.0:6868", + "port": "6868" } ] } \ No newline at end of file From 715f10cfe3d34105da014eb55c418999b22506ca Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 16 May 2017 18:23:19 -0400 Subject: [PATCH 079/256] Bug fix wifi aps list --- RPI2/Raspbian/br-webui/index.js | 28 +++++++++++++--------------- 1 file changed, 13 insertions(+), 15 deletions(-) diff --git a/RPI2/Raspbian/br-webui/index.js b/RPI2/Raspbian/br-webui/index.js index ddab4138..1a9341ea 100644 --- a/RPI2/Raspbian/br-webui/index.js +++ b/RPI2/Raspbian/br-webui/index.js @@ -70,21 +70,19 @@ networking.on('connection', function(socket) { // Network setup socket.on('get wifi aps', function() { - socket.emit('wifi aps', function() { - console.log("SCAN Networks"); - - try { - var cmd = child_process.execSync('sudo wpa_cli scan'); - // For some reason this fails once in a while - cmd = child_process.execSync('sudo wpa_cli scan_results | grep PSK | cut -f5 | grep .'); - } catch (e) { - console.log("\n\nCAUGHT ERROR:"); - console.log(e); - return ""; - } - - return cmd.toString().trim().split("\n"); - }); + console.log("SCAN Networks"); + + try { + var cmd = child_process.execSync('sudo wpa_cli scan'); + // For some reason this fails once in a while + cmd = child_process.execSync('sudo wpa_cli scan_results | grep PSK | cut -f5 | grep .'); + socket.emit('wifi aps', cmd.toString().trim().split("\n")); + } catch (e) { + console.log("\n\nCAUGHT ERROR:"); + console.log(e); + return ""; + } + }); From 156442c3437c65e0eb3b7a1b06b8595f8dc48a0d Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 16 May 2017 19:50:09 -0400 Subject: [PATCH 080/256] Remove chaff --- RPI2/Raspbian/.companion.rc => .companion.rc | 0 Client/Ubuntu/watch_video.sh | 1 - Common/OpenCV/examples/list.txt | 1 - Common/get_started.txt | 43 --------------- Common_Peripheals/4G_USB_Sticks.txt | 1 - Common_Peripheals/Cameras.txt | 1 - Common_Peripheals/FTDI.txt | 1 - Common_Peripheals/IR_Cameras.txt | 1 - Common_Peripheals/WiFi_USB_Sticks | 1 - .../Ubilinux/etc/network/interfaces.home | 24 --------- .../Ubilinux/etc/network/interfaces.qx1 | 24 --------- .../Ubilinux/etc/network/interfaces.work | 24 --------- Intel_Edison/Ubilinux/etc/rc.local | 25 --------- .../Ubilinux/root/.local/bin/QX1Net.sh | 8 --- .../Ubilinux/root/.local/bin/homenet.sh | 8 --- .../Ubilinux/root/.local/bin/worknet.sh | 8 --- Intel_Edison/Ubilinux/root/.mavinit.scr | 3 -- Intel_Edison/Ubilinux/root/smart_camera.cnf | 13 ----- .../Ubilinux/root/startup_mavproxy.sh | 12 ----- Nvidia_JTK1/Ubuntu/README.md | 45 ---------------- Nvidia_JTK1/Ubuntu/etc/rc.local | 10 ---- Nvidia_JTK1/Ubuntu/get_started.txt | 1 - Nvidia_JTX1/Ubuntu/get_started.txt | 1 - Odroid_XU4/Ubuntu/etc/rc.local | 28 ---------- Odroid_XU4/Ubuntu/get_started.txt | 1 - Performance/test_results.txt | 1 - RPI2/Raspbian/udptest.py | 54 ------------------- RPI2/Raspbian/udptest2.py | 22 -------- .../_includes/footer.liquid | 0 .../_includes/header.liquid | 0 {RPI2/Raspbian/br-webui => br-webui}/index.js | 0 .../br-webui => br-webui}/package.json | 0 .../Raspbian/br-webui => br-webui}/style.css | 0 .../br-webui => br-webui}/views/index.liquid | 0 .../views/routing.liquid | 0 .../br-webui => br-webui}/views/system.liquid | 0 .../Raspbian/comm_router.py => comm_router.py | 0 RPI2/Raspbian/endpoint.py => endpoint.py | 0 RPI2/Raspbian/flash_px4.py => flash_px4.py | 0 .../Raspbian/roundtrip.conf => roundtrip.conf | 0 RPI2/Raspbian/routing.conf => routing.conf | 0 RPI2/Raspbian/setup.sh => setup.sh | 0 RPI2/Raspbian/setup_gst.sh => setup_gst.sh | 0 .../Raspbian/start_audio.sh => start_audio.sh | 0 ...ter.sh => start_mavproxy_telem_splitter.sh | 0 .../start_raspivid.sh => start_raspivid.sh | 0 .../start_usbvid.sh => start_usbvid.sh | 0 .../Raspbian/start_video.sh => start_video.sh | 0 ...art_webterminal.sh => start_webterminal.sh | 0 .../Raspbian/start_webui.sh => start_webui.sh | 0 50 files changed, 362 deletions(-) rename RPI2/Raspbian/.companion.rc => .companion.rc (100%) delete mode 100644 Client/Ubuntu/watch_video.sh delete mode 100644 Common/OpenCV/examples/list.txt delete mode 100644 Common/get_started.txt delete mode 100644 Common_Peripheals/4G_USB_Sticks.txt delete mode 100644 Common_Peripheals/Cameras.txt delete mode 100644 Common_Peripheals/FTDI.txt delete mode 100644 Common_Peripheals/IR_Cameras.txt delete mode 100644 Common_Peripheals/WiFi_USB_Sticks delete mode 100644 Intel_Edison/Ubilinux/etc/network/interfaces.home delete mode 100644 Intel_Edison/Ubilinux/etc/network/interfaces.qx1 delete mode 100644 Intel_Edison/Ubilinux/etc/network/interfaces.work delete mode 100644 Intel_Edison/Ubilinux/etc/rc.local delete mode 100644 Intel_Edison/Ubilinux/root/.local/bin/QX1Net.sh delete mode 100644 Intel_Edison/Ubilinux/root/.local/bin/homenet.sh delete mode 100644 Intel_Edison/Ubilinux/root/.local/bin/worknet.sh delete mode 100644 Intel_Edison/Ubilinux/root/.mavinit.scr delete mode 100644 Intel_Edison/Ubilinux/root/smart_camera.cnf delete mode 100644 Intel_Edison/Ubilinux/root/startup_mavproxy.sh delete mode 100644 Nvidia_JTK1/Ubuntu/README.md delete mode 100644 Nvidia_JTK1/Ubuntu/etc/rc.local delete mode 100644 Nvidia_JTK1/Ubuntu/get_started.txt delete mode 100644 Nvidia_JTX1/Ubuntu/get_started.txt delete mode 100644 Odroid_XU4/Ubuntu/etc/rc.local delete mode 100644 Odroid_XU4/Ubuntu/get_started.txt delete mode 100644 Performance/test_results.txt delete mode 100755 RPI2/Raspbian/udptest.py delete mode 100755 RPI2/Raspbian/udptest2.py rename {RPI2/Raspbian/br-webui => br-webui}/_includes/footer.liquid (100%) rename {RPI2/Raspbian/br-webui => br-webui}/_includes/header.liquid (100%) rename {RPI2/Raspbian/br-webui => br-webui}/index.js (100%) rename {RPI2/Raspbian/br-webui => br-webui}/package.json (100%) rename {RPI2/Raspbian/br-webui => br-webui}/style.css (100%) rename {RPI2/Raspbian/br-webui => br-webui}/views/index.liquid (100%) rename {RPI2/Raspbian/br-webui => br-webui}/views/routing.liquid (100%) rename {RPI2/Raspbian/br-webui => br-webui}/views/system.liquid (100%) rename RPI2/Raspbian/comm_router.py => comm_router.py (100%) rename RPI2/Raspbian/endpoint.py => endpoint.py (100%) rename RPI2/Raspbian/flash_px4.py => flash_px4.py (100%) rename RPI2/Raspbian/roundtrip.conf => roundtrip.conf (100%) rename RPI2/Raspbian/routing.conf => routing.conf (100%) rename RPI2/Raspbian/setup.sh => setup.sh (100%) rename RPI2/Raspbian/setup_gst.sh => setup_gst.sh (100%) rename RPI2/Raspbian/start_audio.sh => start_audio.sh (100%) rename RPI2/Raspbian/start_mavproxy_telem_splitter.sh => start_mavproxy_telem_splitter.sh (100%) rename RPI2/Raspbian/start_raspivid.sh => start_raspivid.sh (100%) rename RPI2/Raspbian/start_usbvid.sh => start_usbvid.sh (100%) rename RPI2/Raspbian/start_video.sh => start_video.sh (100%) rename RPI2/Raspbian/start_webterminal.sh => start_webterminal.sh (100%) rename RPI2/Raspbian/start_webui.sh => start_webui.sh (100%) diff --git a/RPI2/Raspbian/.companion.rc b/.companion.rc similarity index 100% rename from RPI2/Raspbian/.companion.rc rename to .companion.rc diff --git a/Client/Ubuntu/watch_video.sh b/Client/Ubuntu/watch_video.sh deleted file mode 100644 index a00de529..00000000 --- a/Client/Ubuntu/watch_video.sh +++ /dev/null @@ -1 +0,0 @@ -gst-launch-1.0 -v udpsrc port=9000 caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264' ! rtph264depay ! avdec_h264 ! videoconvert ! ximagesink \ No newline at end of file diff --git a/Common/OpenCV/examples/list.txt b/Common/OpenCV/examples/list.txt deleted file mode 100644 index 8b137891..00000000 --- a/Common/OpenCV/examples/list.txt +++ /dev/null @@ -1 +0,0 @@ - diff --git a/Common/get_started.txt b/Common/get_started.txt deleted file mode 100644 index fbbfd6b4..00000000 --- a/Common/get_started.txt +++ /dev/null @@ -1,43 +0,0 @@ -SETUP COMPANION COMPUTER -Silvio Revelli - 4gmetry.voltarobots.com - silvio@voltarobots.com -_________________________________________________________________________ - -The very first actions to setup an Ubuntu OS to communicate with PixHawk -_________________________________________________________________________ - -sudo apt-get install python-pip -pip install numpy -pip install mavproxy -sudo apt-get install openvpn -nano etc/rc.local - ------------------------------------------------ -# RC LOCAL - -# BASIC CONNECTION -sudo mavproxy.py --master=/dev/ttyUSB0 --baudrate 1500000 (this should be the same as SER2_BAUD on your PixHawk) - -# FORWARDING TELEMETRY - WILD WEB -# Please replace "192.168.1.106" with your ground station IP -#(If you connect through Pixhawk USB - not a grat idea - use ttyACM0 instead of ttyUSB0) -#sudo mavproxy.py --master=/dev/ttyUSB0 --baudrate 1500000 --out=192.168.1.106:14550 - -# FORWARDING TELEMETRY - VPN -# Please replace "192.168.1.106" with your ground station IP -#(If you connect through Pixhawk USB - not a grat idea - use ttyACM0 instead of ttyUSB0) -# Select the folder with your VPN Profile -# sudo openvpn --config /./home/odroid/Desktop/client.ovpn & -# sudo mavproxy.py --master=/dev/ttyUSB0 --baudrate 1500000 --out=192.168.1.106:14550 - -# ADDING VEHICLE NAME (COPTER/PLANE/ROVER/BOAT) -# Please uncomment and replace "192.168.1.106" with your ground station IP -# Optional: Add in mavinint a startup action e.g.: module load (e.g.: droneapi) -# sudo mavproxy.py --master=/dev/ttyUSB0 --baudrate 1500000 --out=192.168.1.106:14550 --aircraft=4Gmetry - -GSTREAMING WITH H.264 CAMERA (EG LOGITECH C920) -# Uncomment below -# gst-launch-1.0 v4l2src device=/dev/video0 ! video/x-h264,width=640,height=360,framerate=30/1 ! h264parse ! rtph264pay pt=127 config-interval=4 ! udpsink host=172.27.224.12 port=5000 - -exit 0 - ------------------------------------------------- diff --git a/Common_Peripheals/4G_USB_Sticks.txt b/Common_Peripheals/4G_USB_Sticks.txt deleted file mode 100644 index 8b137891..00000000 --- a/Common_Peripheals/4G_USB_Sticks.txt +++ /dev/null @@ -1 +0,0 @@ - diff --git a/Common_Peripheals/Cameras.txt b/Common_Peripheals/Cameras.txt deleted file mode 100644 index 8b137891..00000000 --- a/Common_Peripheals/Cameras.txt +++ /dev/null @@ -1 +0,0 @@ - diff --git a/Common_Peripheals/FTDI.txt b/Common_Peripheals/FTDI.txt deleted file mode 100644 index 8b137891..00000000 --- a/Common_Peripheals/FTDI.txt +++ /dev/null @@ -1 +0,0 @@ - diff --git a/Common_Peripheals/IR_Cameras.txt b/Common_Peripheals/IR_Cameras.txt deleted file mode 100644 index 8b137891..00000000 --- a/Common_Peripheals/IR_Cameras.txt +++ /dev/null @@ -1 +0,0 @@ - diff --git a/Common_Peripheals/WiFi_USB_Sticks b/Common_Peripheals/WiFi_USB_Sticks deleted file mode 100644 index 8b137891..00000000 --- a/Common_Peripheals/WiFi_USB_Sticks +++ /dev/null @@ -1 +0,0 @@ - diff --git a/Intel_Edison/Ubilinux/etc/network/interfaces.home b/Intel_Edison/Ubilinux/etc/network/interfaces.home deleted file mode 100644 index 430c1058..00000000 --- a/Intel_Edison/Ubilinux/etc/network/interfaces.home +++ /dev/null @@ -1,24 +0,0 @@ -# interfaces(5) file used by ifup(8) and ifdown(8) -auto lo -iface lo inet loopback - -auto usb0 -iface usb0 inet static - address 192.168.2.15 - netmask 255.255.255.0 - -auto wlan0 -iface wlan0 inet dhcp - # For WPA - wpa-ssid "Insert Home Network Name" - wpa-psk InsertHomeWiFiPassword - # For WEP - #wireless-essid Emutex - #wireless-mode Managed - #wireless-key s:password -# And the following 4 lines are for when using hostapd... -#auto wlan0 -#iface wlan0 inet static -# address 192.168.42.1 -# netmask 255.255.255.0 - diff --git a/Intel_Edison/Ubilinux/etc/network/interfaces.qx1 b/Intel_Edison/Ubilinux/etc/network/interfaces.qx1 deleted file mode 100644 index 27f799d3..00000000 --- a/Intel_Edison/Ubilinux/etc/network/interfaces.qx1 +++ /dev/null @@ -1,24 +0,0 @@ -# interfaces(5) file used by ifup(8) and ifdown(8) -auto lo -iface lo inet loopback - -auto usb0 -iface usb0 inet static - address 192.168.2.15 - netmask 255.255.255.0 - -auto wlan0 -iface wlan0 inet dhcp - # For WPA - wpa-ssid "InsertCameraNetworkName" - wpa-psk InsertCameraWiFiPassword - # For WEP - #wireless-essid Emutex - #wireless-mode Managed - #wireless-key s:password -# And the following 4 lines are for when using hostapd... -#auto wlan0 -#iface wlan0 inet static -# address 192.168.42.1 -# netmask 255.255.255.0 - diff --git a/Intel_Edison/Ubilinux/etc/network/interfaces.work b/Intel_Edison/Ubilinux/etc/network/interfaces.work deleted file mode 100644 index 19600571..00000000 --- a/Intel_Edison/Ubilinux/etc/network/interfaces.work +++ /dev/null @@ -1,24 +0,0 @@ -# interfaces(5) file used by ifup(8) and ifdown(8) -auto lo -iface lo inet loopback - -auto usb0 -iface usb0 inet static - address 192.168.2.15 - netmask 255.255.255.0 - -auto wlan0 -iface wlan0 inet dhcp - # For WPA - wpa-ssid "Insert your Network name" - wpa-psk InsertWiFiPassword - # For WEP - #wireless-essid Emutex - #wireless-mode Managed - #wireless-key s:password -# And the following 4 lines are for when using hostapd... -#auto wlan0 -#iface wlan0 inet static -# address 192.168.42.1 -# netmask 255.255.255.0 - diff --git a/Intel_Edison/Ubilinux/etc/rc.local b/Intel_Edison/Ubilinux/etc/rc.local deleted file mode 100644 index 470343dc..00000000 --- a/Intel_Edison/Ubilinux/etc/rc.local +++ /dev/null @@ -1,25 +0,0 @@ -#!/bin/sh -e -# -# rc.local -# -# This script is executed at the end of each multiuser runlevel. -# Make sure that the script will "exit 0" on success or any other -# value on error. -# -# In order to enable or disable this script just change the execution -# bits. -# -# By default this script does nothing. - -echo 1 >/sys/devices/virtual/misc/watchdog/disable - -#/sbin/first-install.sh - -bluetooth_rfkill_event >/dev/null 2>&1 & -rfkill unblock bluetooth -bluetoothd & - -#Startup MAVProxy -/root/startup_mavproxy.sh - -exit 0 diff --git a/Intel_Edison/Ubilinux/root/.local/bin/QX1Net.sh b/Intel_Edison/Ubilinux/root/.local/bin/QX1Net.sh deleted file mode 100644 index e498f94f..00000000 --- a/Intel_Edison/Ubilinux/root/.local/bin/QX1Net.sh +++ /dev/null @@ -1,8 +0,0 @@ -#!/bin/bash -# Change Network to Home Network -echo "Changing /etc/network/interfaces file" -cp /etc/network/interfaces.qx1 /etc/network/interfaces -echo "Disable wlan0" -ifdown wlan0 -echo "Re-enable wlan0" -ifup wlan0 diff --git a/Intel_Edison/Ubilinux/root/.local/bin/homenet.sh b/Intel_Edison/Ubilinux/root/.local/bin/homenet.sh deleted file mode 100644 index 7eaf7740..00000000 --- a/Intel_Edison/Ubilinux/root/.local/bin/homenet.sh +++ /dev/null @@ -1,8 +0,0 @@ -#!/bin/bash -# Change Network to Home Network -echo "Changing /etc/network/interfaces file" -cp /etc/network/interfaces.home /etc/network/interfaces -echo "Disable wlan0" -ifdown wlan0 -echo "Re-enable wlan0" -ifup wlan0 diff --git a/Intel_Edison/Ubilinux/root/.local/bin/worknet.sh b/Intel_Edison/Ubilinux/root/.local/bin/worknet.sh deleted file mode 100644 index 15531d55..00000000 --- a/Intel_Edison/Ubilinux/root/.local/bin/worknet.sh +++ /dev/null @@ -1,8 +0,0 @@ -#!/bin/bash -# Change Network to Home Network -echo "Changing /etc/network/interfaces file" -cp /etc/network/interfaces.work /etc/network/interfaces -echo "Disable wlan0" -ifdown wlan0 -echo "Re-enable wlan0" -ifup wlan0 diff --git a/Intel_Edison/Ubilinux/root/.mavinit.scr b/Intel_Edison/Ubilinux/root/.mavinit.scr deleted file mode 100644 index b4594aa7..00000000 --- a/Intel_Edison/Ubilinux/root/.mavinit.scr +++ /dev/null @@ -1,3 +0,0 @@ -set shownoise 0 -module load smartcamera - diff --git a/Intel_Edison/Ubilinux/root/smart_camera.cnf b/Intel_Edison/Ubilinux/root/smart_camera.cnf deleted file mode 100644 index 392ae611..00000000 --- a/Intel_Edison/Ubilinux/root/smart_camera.cnf +++ /dev/null @@ -1,13 +0,0 @@ -[camera0] -# for no camera set type = 0, for webcam set type = 1, for Sony Cameras set type = 2 -type = 2 - -#These are currently unused: -#width = 640 -#height = 480 -#horizontal-fov = 70.42 -#vertical-fov = 43.3 -#video_output_file = ~/smartcamera-%%Y-%%m-%%d-%%H-%%M.avi - -[general] -#debug = True diff --git a/Intel_Edison/Ubilinux/root/startup_mavproxy.sh b/Intel_Edison/Ubilinux/root/startup_mavproxy.sh deleted file mode 100644 index ca6fc982..00000000 --- a/Intel_Edison/Ubilinux/root/startup_mavproxy.sh +++ /dev/null @@ -1,12 +0,0 @@ -{ -date -PATH=$PATH:/usr/local/bin:/root -export PATH -echo $PATH -export USER=root -export HOME=/root -cd /root -pwd -screen -d -m -s /bin/bash mavproxy.py --master=/dev/ttyMFD1,57600 --source-system=1 --source-component=100 --aircraft MyCamera -} > /tmp/rc.log 2>&1 - diff --git a/Nvidia_JTK1/Ubuntu/README.md b/Nvidia_JTK1/Ubuntu/README.md deleted file mode 100644 index cef5b68c..00000000 --- a/Nvidia_JTK1/Ubuntu/README.md +++ /dev/null @@ -1,45 +0,0 @@ - - - - -## Guide to set up NVIDIA TK1 to communicate with Pixhawk - -### Hardware - -You'll want to connect the TK1 to the Pixhawk using UART/serial. The USB connection works but it's potentially unstable. - -The TK1 uses 1.8V for its serial pins and the Pixhawk is 5V. Therefore you will need a voltage converter (Texas Instruments TXB0104 is what we used). The pins are configured as such: - -| TK1 | TXB0104 | Pixhawk | -|:------------- |:-----------:| -------:| -| 1.8V: P37 | VCCA - VCCB | 5V: P1 | -| GND: P38 | GND - GND | GND: P6 | -| TXd1: P41 | A1 - B1 | TX1: P2 | -| RXd1: P44 | A2 - B2 | RX1: P3 | - -This will allow you to connect TK1 to the Jetson via `ttyTHS0` - -### Ubuntu setup - -To have a `mavproxy` session running please run - -```bash -$ sudo apt-get install python-opencv python-wxgtk python-pip python-dev -$ pip install numpy -$ pip install mavproxy -``` - -## /etc/rc.local - -```bash -# BASIC CONNECTION -sudo mavproxy.py --master=/dev/ttyTHS0 --baudrate 1500000 #(this should be the same as SER2_BAUD on your PixHawk) - -# GSTREAMING WITH H.264 CAMERA (EG LOGITECH C920) -# Uncomment below -# gst-launch-1.0 v4l2src device=/dev/video0 ! video/x-h264,width=640,height=360,framerate=30/1 ! h264parse ! rtph264pay pt=127 config-interval=4 ! udpsink host=172.27.224.12 port=5000 - -exit 0 -``` - - diff --git a/Nvidia_JTK1/Ubuntu/etc/rc.local b/Nvidia_JTK1/Ubuntu/etc/rc.local deleted file mode 100644 index 46219e54..00000000 --- a/Nvidia_JTK1/Ubuntu/etc/rc.local +++ /dev/null @@ -1,10 +0,0 @@ -#!/bin/bash - -# BASIC CONNECTION -sudo mavproxy.py --master=/dev/ttyTHS0 --baudrate 1500000 #(this should be the same as SER2_BAUD on your PixHawk) - -# GSTREAMING WITH H.264 CAMERA (EG LOGITECH C920) -# Uncomment below -# gst-launch-1.0 v4l2src device=/dev/video0 ! video/x-h264,width=640,height=360,framerate=30/1 ! h264parse ! rtph264pay pt=127 config-interval=4 ! udpsink host=172.27.224.12 port=5000 - -exit 0 \ No newline at end of file diff --git a/Nvidia_JTK1/Ubuntu/get_started.txt b/Nvidia_JTK1/Ubuntu/get_started.txt deleted file mode 100644 index 8b137891..00000000 --- a/Nvidia_JTK1/Ubuntu/get_started.txt +++ /dev/null @@ -1 +0,0 @@ - diff --git a/Nvidia_JTX1/Ubuntu/get_started.txt b/Nvidia_JTX1/Ubuntu/get_started.txt deleted file mode 100644 index 8b137891..00000000 --- a/Nvidia_JTX1/Ubuntu/get_started.txt +++ /dev/null @@ -1 +0,0 @@ - diff --git a/Odroid_XU4/Ubuntu/etc/rc.local b/Odroid_XU4/Ubuntu/etc/rc.local deleted file mode 100644 index 04bee1f6..00000000 --- a/Odroid_XU4/Ubuntu/etc/rc.local +++ /dev/null @@ -1,28 +0,0 @@ -# DON'T FORGET THE "&"! :D -# Silvio Revelli - 4gmetry.voltarobots.com - silvio@voltarobots.com - -# BASIC CONNECTION -sudo mavproxy.py --master=/dev/ttyUSB0 --baudrate 1500000 (this should be the same as SER2_BAUD on your PixHawk) - -# FORWARDING TELEMETRY - WILD WEB -# Please replace "192.168.1.106" with your ground station IP -#(If you connect through Pixhawk USB - not a grat idea - use ttyACM0 instead of ttyUSB0) -#sudo mavproxy.py --master=/dev/ttyUSB0 --baudrate 1500000 --out=192.168.1.106:14550 - -# FORWARDING TELEMETRY - VPN -# Please replace "192.168.1.106" with your ground station IP -#(If you connect through Pixhawk USB - not a grat idea - use ttyACM0 instead of ttyUSB0) -# Select the folder with your VPN Profile -# sudo openvpn --config /./home/odroid/Desktop/client.ovpn & -# sudo mavproxy.py --master=/dev/ttyUSB0 --baudrate 1500000 --out=192.168.1.106:14550 - -# ADDING VEHICLE NAME (COPTER/PLANE/ROVER/BOAT) -# Please uncomment and replace "192.168.1.106" with your ground station IP -# Optional: Add in mavinint a startup action e.g.: module load (e.g.: droneapi) -# sudo mavproxy.py --master=/dev/ttyUSB0 --baudrate 1500000 --out=192.168.1.106:14550 --aircraft=4Gmetry - -GSTREAMING WITH H.264 CAMERA (EG LOGITECH C920) -# Uncomment below -# gst-launch-1.0 v4l2src device=/dev/video0 ! video/x-h264,width=640,height=360,framerate=30/1 ! h264parse ! rtph264pay pt=127 config-interval=4 ! udpsink host=172.27.224.12 port=5000 - -exit 0 \ No newline at end of file diff --git a/Odroid_XU4/Ubuntu/get_started.txt b/Odroid_XU4/Ubuntu/get_started.txt deleted file mode 100644 index 8b137891..00000000 --- a/Odroid_XU4/Ubuntu/get_started.txt +++ /dev/null @@ -1 +0,0 @@ - diff --git a/Performance/test_results.txt b/Performance/test_results.txt deleted file mode 100644 index 8b137891..00000000 --- a/Performance/test_results.txt +++ /dev/null @@ -1 +0,0 @@ - diff --git a/RPI2/Raspbian/udptest.py b/RPI2/Raspbian/udptest.py deleted file mode 100755 index 59ad32ac..00000000 --- a/RPI2/Raspbian/udptest.py +++ /dev/null @@ -1,54 +0,0 @@ -#!/usr/bin/python - -import serial -import socket -import time -import argparse - -parser = argparse.ArgumentParser(description="Connect serial port to UDP port") -parser.add_argument('-l', dest='left', required=True, help='Left hand side of route (serial)') -parser.add_argument('-b', dest='baudrate', required=True, help='Baud rate for left hand side of route') -parser.add_argument('--ip', dest='ip', required=True, help='IP address') -parser.add_argument('--port', dest='port', type=int, required=True, help='UDP port') -parser.add_argument('-d', dest='direction', required=True, help='Direction to route') - -args = parser.parse_args() - -port = serial.Serial(args.left, args.baudrate, timeout=0) - -sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) -sock.setblocking(False) -sock.bind((args.ip, args.port)) - -connected = False -master = None - -while not connected: - try: - udpReceived, addr = sock.recvfrom(1024) - if master is None: - master = addr - - if len(udpReceived) > 0: - #print "Sending "+str(len(udpReceived))+" bytes from UDP to serial" - port.write(udpReceived) -# for x in udpReceived: -# print hex(ord(x)), -# print "" - - except: - pass - - if master is None: - continue - -# print 'reading' - serialReceived = port.read(1024) - if len(serialReceived) > 0: -# print "Sending "+str(len(serialReceived))+" bytes from serial to UDP" - sock.sendto(serialReceived,master) -# for x in serialReceived: -# print hex(ord(x)), -# print "" - - time.sleep(0.01) diff --git a/RPI2/Raspbian/udptest2.py b/RPI2/Raspbian/udptest2.py deleted file mode 100755 index f7acabf5..00000000 --- a/RPI2/Raspbian/udptest2.py +++ /dev/null @@ -1,22 +0,0 @@ -#!/usr/bin/python - -import serial -import socket -import time -import argparse -import json - - -sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) -sock.bind(('192.168.2.2', 18990)) - -while True: - try: - data, address = sock.recvfrom(1024) - print("%s sent %s") % (address, data) - data = json.loads(data) - print data - except Exception as e: - print(e) - pass - time.sleep(0.1) \ No newline at end of file diff --git a/RPI2/Raspbian/br-webui/_includes/footer.liquid b/br-webui/_includes/footer.liquid similarity index 100% rename from RPI2/Raspbian/br-webui/_includes/footer.liquid rename to br-webui/_includes/footer.liquid diff --git a/RPI2/Raspbian/br-webui/_includes/header.liquid b/br-webui/_includes/header.liquid similarity index 100% rename from RPI2/Raspbian/br-webui/_includes/header.liquid rename to br-webui/_includes/header.liquid diff --git a/RPI2/Raspbian/br-webui/index.js b/br-webui/index.js similarity index 100% rename from RPI2/Raspbian/br-webui/index.js rename to br-webui/index.js diff --git a/RPI2/Raspbian/br-webui/package.json b/br-webui/package.json similarity index 100% rename from RPI2/Raspbian/br-webui/package.json rename to br-webui/package.json diff --git a/RPI2/Raspbian/br-webui/style.css b/br-webui/style.css similarity index 100% rename from RPI2/Raspbian/br-webui/style.css rename to br-webui/style.css diff --git a/RPI2/Raspbian/br-webui/views/index.liquid b/br-webui/views/index.liquid similarity index 100% rename from RPI2/Raspbian/br-webui/views/index.liquid rename to br-webui/views/index.liquid diff --git a/RPI2/Raspbian/br-webui/views/routing.liquid b/br-webui/views/routing.liquid similarity index 100% rename from RPI2/Raspbian/br-webui/views/routing.liquid rename to br-webui/views/routing.liquid diff --git a/RPI2/Raspbian/br-webui/views/system.liquid b/br-webui/views/system.liquid similarity index 100% rename from RPI2/Raspbian/br-webui/views/system.liquid rename to br-webui/views/system.liquid diff --git a/RPI2/Raspbian/comm_router.py b/comm_router.py similarity index 100% rename from RPI2/Raspbian/comm_router.py rename to comm_router.py diff --git a/RPI2/Raspbian/endpoint.py b/endpoint.py similarity index 100% rename from RPI2/Raspbian/endpoint.py rename to endpoint.py diff --git a/RPI2/Raspbian/flash_px4.py b/flash_px4.py similarity index 100% rename from RPI2/Raspbian/flash_px4.py rename to flash_px4.py diff --git a/RPI2/Raspbian/roundtrip.conf b/roundtrip.conf similarity index 100% rename from RPI2/Raspbian/roundtrip.conf rename to roundtrip.conf diff --git a/RPI2/Raspbian/routing.conf b/routing.conf similarity index 100% rename from RPI2/Raspbian/routing.conf rename to routing.conf diff --git a/RPI2/Raspbian/setup.sh b/setup.sh similarity index 100% rename from RPI2/Raspbian/setup.sh rename to setup.sh diff --git a/RPI2/Raspbian/setup_gst.sh b/setup_gst.sh similarity index 100% rename from RPI2/Raspbian/setup_gst.sh rename to setup_gst.sh diff --git a/RPI2/Raspbian/start_audio.sh b/start_audio.sh similarity index 100% rename from RPI2/Raspbian/start_audio.sh rename to start_audio.sh diff --git a/RPI2/Raspbian/start_mavproxy_telem_splitter.sh b/start_mavproxy_telem_splitter.sh similarity index 100% rename from RPI2/Raspbian/start_mavproxy_telem_splitter.sh rename to start_mavproxy_telem_splitter.sh diff --git a/RPI2/Raspbian/start_raspivid.sh b/start_raspivid.sh similarity index 100% rename from RPI2/Raspbian/start_raspivid.sh rename to start_raspivid.sh diff --git a/RPI2/Raspbian/start_usbvid.sh b/start_usbvid.sh similarity index 100% rename from RPI2/Raspbian/start_usbvid.sh rename to start_usbvid.sh diff --git a/RPI2/Raspbian/start_video.sh b/start_video.sh similarity index 100% rename from RPI2/Raspbian/start_video.sh rename to start_video.sh diff --git a/RPI2/Raspbian/start_webterminal.sh b/start_webterminal.sh similarity index 100% rename from RPI2/Raspbian/start_webterminal.sh rename to start_webterminal.sh diff --git a/RPI2/Raspbian/start_webui.sh b/start_webui.sh similarity index 100% rename from RPI2/Raspbian/start_webui.sh rename to start_webui.sh From 98f8ef47dfcb3d26ff84714b4fd220ba1a7d3dbb Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 16 May 2017 19:56:51 -0400 Subject: [PATCH 081/256] Reorganize --- config/SAVED.conf | 0 config/routing.conf | 0 roundtrip.conf | 26 ------------------- routing.conf | 22 ---------------- setup.sh => scripts/setup.sh | 0 setup_gst.sh => scripts/setup_gst.sh | 0 start_audio.sh => scripts/start_audio.sh | 0 .../start_mavproxy_telem_splitter.sh | 0 .../start_raspivid.sh | 0 start_usbvid.sh => scripts/start_usbvid.sh | 0 start_video.sh => scripts/start_video.sh | 0 .../start_webterminal.sh | 0 start_webui.sh => scripts/start_webui.sh | 0 comm_router.py => tools/comm_router.py | 0 endpoint.py => tools/endpoint.py | 0 flash_px4.py => tools/flash_px4.py | 0 {Tools => tools}/px_uploader.py | 0 17 files changed, 48 deletions(-) create mode 100644 config/SAVED.conf create mode 100644 config/routing.conf delete mode 100644 roundtrip.conf delete mode 100644 routing.conf rename setup.sh => scripts/setup.sh (100%) rename setup_gst.sh => scripts/setup_gst.sh (100%) rename start_audio.sh => scripts/start_audio.sh (100%) rename start_mavproxy_telem_splitter.sh => scripts/start_mavproxy_telem_splitter.sh (100%) rename start_raspivid.sh => scripts/start_raspivid.sh (100%) rename start_usbvid.sh => scripts/start_usbvid.sh (100%) rename start_video.sh => scripts/start_video.sh (100%) rename start_webterminal.sh => scripts/start_webterminal.sh (100%) rename start_webui.sh => scripts/start_webui.sh (100%) rename comm_router.py => tools/comm_router.py (100%) rename endpoint.py => tools/endpoint.py (100%) rename flash_px4.py => tools/flash_px4.py (100%) rename {Tools => tools}/px_uploader.py (100%) diff --git a/config/SAVED.conf b/config/SAVED.conf new file mode 100644 index 00000000..e69de29b diff --git a/config/routing.conf b/config/routing.conf new file mode 100644 index 00000000..e69de29b diff --git a/roundtrip.conf b/roundtrip.conf deleted file mode 100644 index e24e0997..00000000 --- a/roundtrip.conf +++ /dev/null @@ -1,26 +0,0 @@ -{ - "endpoints": [ - - { - "id": "udp1", - "type": "udp", - "ip": "192.168.2.1", - "port": 14550, - "connections": [] - }, - { - "id": "apm", - "type": "serial", - "baudrate": 115200, - "port": "/dev/ttyACM0", - "connections": [] - }, - { - "id": "usb", - "type": "serial", - "baudrate": 115200, - "port": "/dev/ttyUSB0", - "connections": [] - } - ] -} \ No newline at end of file diff --git a/routing.conf b/routing.conf deleted file mode 100644 index 4bd5e13e..00000000 --- a/routing.conf +++ /dev/null @@ -1,22 +0,0 @@ -{ - "endpoints": [ - { - "connections": [ - "0.0.0.0:6868" - ], - "baudrate": "115200", - "type": "serial", - "id": "/dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00", - "port": "/dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00" - }, - { - "connections": [ - "/dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00" - ], - "ip": "0.0.0.0", - "type": "udp", - "id": "0.0.0.0:6868", - "port": "6868" - } - ] -} \ No newline at end of file diff --git a/setup.sh b/scripts/setup.sh similarity index 100% rename from setup.sh rename to scripts/setup.sh diff --git a/setup_gst.sh b/scripts/setup_gst.sh similarity index 100% rename from setup_gst.sh rename to scripts/setup_gst.sh diff --git a/start_audio.sh b/scripts/start_audio.sh similarity index 100% rename from start_audio.sh rename to scripts/start_audio.sh diff --git a/start_mavproxy_telem_splitter.sh b/scripts/start_mavproxy_telem_splitter.sh similarity index 100% rename from start_mavproxy_telem_splitter.sh rename to scripts/start_mavproxy_telem_splitter.sh diff --git a/start_raspivid.sh b/scripts/start_raspivid.sh similarity index 100% rename from start_raspivid.sh rename to scripts/start_raspivid.sh diff --git a/start_usbvid.sh b/scripts/start_usbvid.sh similarity index 100% rename from start_usbvid.sh rename to scripts/start_usbvid.sh diff --git a/start_video.sh b/scripts/start_video.sh similarity index 100% rename from start_video.sh rename to scripts/start_video.sh diff --git a/start_webterminal.sh b/scripts/start_webterminal.sh similarity index 100% rename from start_webterminal.sh rename to scripts/start_webterminal.sh diff --git a/start_webui.sh b/scripts/start_webui.sh similarity index 100% rename from start_webui.sh rename to scripts/start_webui.sh diff --git a/comm_router.py b/tools/comm_router.py similarity index 100% rename from comm_router.py rename to tools/comm_router.py diff --git a/endpoint.py b/tools/endpoint.py similarity index 100% rename from endpoint.py rename to tools/endpoint.py diff --git a/flash_px4.py b/tools/flash_px4.py similarity index 100% rename from flash_px4.py rename to tools/flash_px4.py diff --git a/Tools/px_uploader.py b/tools/px_uploader.py similarity index 100% rename from Tools/px_uploader.py rename to tools/px_uploader.py From 28d3b5d377d31f3f7414d2e0366793aed9b28022 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 16 May 2017 20:05:29 -0400 Subject: [PATCH 082/256] Update paths --- .companion.rc | 12 ++++++------ .gitignore | 5 ++--- br-webui/index.js | 6 +++--- br-webui/views/routing.liquid | 4 ++-- scripts/setup.sh | 6 +++--- scripts/start_video.sh | 6 +++--- scripts/start_webui.sh | 2 +- tools/flash_px4.py | 4 ++-- 8 files changed, 22 insertions(+), 23 deletions(-) diff --git a/.companion.rc b/.companion.rc index f0a05efe..96b318ce 100755 --- a/.companion.rc +++ b/.companion.rc @@ -1,6 +1,6 @@ -sudo -H -u pi screen -dm -S mavproxy /home/pi/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh -sudo -H -u pi /home/pi/companion/RPI2/Raspbian/start_video.sh -sudo -H -u pi screen -dm -S webui /home/pi/companion/RPI2/Raspbian/start_webui.sh -sudo -H -u pi screen -dm -S webterminal /home/pi/companion/RPI2/Raspbian/start_webterminal.sh -sudo -H -u pi screen -dm -S commrouter /home/pi/companion/RPI2/Raspbian/comm_router.py -sudo -H -u pi screen -dm -S audio /home/pi/companion/RPI2/Raspbian/start_audio.sh +sudo -H -u pi screen -dm -S mavproxy /home/pi/companion/scripts/start_mavproxy_telem_splitter.sh +sudo -H -u pi /home/pi/companion/scripts/start_video.sh +sudo -H -u pi screen -dm -S webui /home/pi/companion/scripts/start_webui.sh +sudo -H -u pi screen -dm -S webterminal /home/pi/companion/scripts/start_webterminal.sh +sudo -H -u pi screen -dm -S commrouter /home/pi/companion/tools/comm_router.py +sudo -H -u pi screen -dm -S audio /home/pi/companion/scripts/start_audio.sh diff --git a/.gitignore b/.gitignore index 380ce54a..df6d0adb 100644 --- a/.gitignore +++ b/.gitignore @@ -1,6 +1,5 @@ *~ *.project -RPI2/Raspbian/br-webui/node_modules/* -RPI2/Raspbian/routing.conf -RPI2/Raspbian/SAVED.conf +br-webui/node_modules/* +config/* *.pyc diff --git a/br-webui/index.js b/br-webui/index.js index 1a9341ea..805ec653 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -216,11 +216,11 @@ io.on('connection', function(socket) { socket.on('update pixhawk', function(data) { if (data.option == 'dev') { // Use spawn instead of exec to get callbacks for each line of stderr, stdout - var cmd = child_process.spawn('/home/pi/companion/RPI2/Raspbian/flash_px4.py', ['--latest']); + var cmd = child_process.spawn('/home/pi/companion/tools/flash_px4.py', ['--latest']); } else if (data.option == 'beta') { - var cmd = child_process.spawn('/home/pi/companion/RPI2/Raspbian/flash_px4.py', ['--url', 'http://firmware.us.ardupilot.org/Sub/beta/PX4/ArduSub-v2.px4']); + var cmd = child_process.spawn('/home/pi/companion/tools/flash_px4.py', ['--url', 'http://firmware.us.ardupilot.org/Sub/beta/PX4/ArduSub-v2.px4']); } else { - var cmd = child_process.spawn('/home/pi/companion/RPI2/Raspbian/flash_px4.py'); + var cmd = child_process.spawn('/home/pi/companion/tools/flash_px4.py'); } cmd.stdout.on('data', function (data) { diff --git a/br-webui/views/routing.liquid b/br-webui/views/routing.liquid index e175a3fb..1c05d2da 100644 --- a/br-webui/views/routing.liquid +++ b/br-webui/views/routing.liquid @@ -168,7 +168,7 @@ }; function saveAll() { - var filename = '/home/pi/companion/RPI2/Raspbian/SAVED.conf' + var filename = '/home/pi/companion/config/SAVED.conf' socket.emit('routing request', { 'request' : 'save all', 'filename' : filename @@ -180,7 +180,7 @@ }; function loadAll(soft=false) { - var filename = '/home/pi/companion/RPI2/Raspbian/SAVED.conf' + var filename = '/home/pi/companion/config/SAVED.conf' socket.emit('routing request', { 'request' : 'load all', 'filename' : filename, diff --git a/scripts/setup.sh b/scripts/setup.sh index 6e090ab0..c3c56e4c 100755 --- a/scripts/setup.sh +++ b/scripts/setup.sh @@ -56,7 +56,7 @@ sudo npm install tty.js -g # clone bluerobotics companion repository git clone https://github.com/bluerobotics/companion.git /home/pi/companion -cd /home/pi/companion/RPI2/Raspbian/br-webui +cd $HOME/companion/br-webui npm install @@ -71,7 +71,7 @@ sudo sed -i '$a start_x=1' /boot/config.txt sudo sed -i '$a gpu_mem=128' /boot/config.txt # source startup script -S1=". /home/pi/companion/RPI2/Raspbian/.companion.rc" +S1=". $HOME/companion/.companion.rc" # this will produce desired result if this script has been run already, # and commands are already in place @@ -83,7 +83,7 @@ sudo sed -i -e "\%$S1%d" \ # compile and install gstreamer 1.8 from source if [ "$1" = "gst" ]; then - /home/pi/companion/RPI2/Raspbian/setup_gst.sh + $HOME/companion/scripts/setup_gst.sh fi sudo reboot now diff --git a/scripts/start_video.sh b/scripts/start_video.sh index 207af7fb..7ee177ec 100755 --- a/scripts/start_video.sh +++ b/scripts/start_video.sh @@ -1,8 +1,8 @@ -cd /home/pi/ +cd $HOME if lsusb | grep 05a3:9422; then echo "USB Cam" - screen -dm -S video /home/pi/companion/RPI2/Raspbian/start_usbvid.sh + screen -dm -S video $HOME/companion/scripts/start_usbvid.sh else echo "Raspi Cam" - screen -dm -S video /home/pi/companion/RPI2/Raspbian/start_raspivid.sh + screen -dm -S video $HOME/companion/scripts/start_raspivid.sh fi diff --git a/scripts/start_webui.sh b/scripts/start_webui.sh index c222b6d8..cf6cd352 100755 --- a/scripts/start_webui.sh +++ b/scripts/start_webui.sh @@ -1,4 +1,4 @@ #!/bin/bash -cd $HOME/companion/RPI2/Raspbian/br-webui/ +cd $HOME/companion/br-webui/ node index.js diff --git a/tools/flash_px4.py b/tools/flash_px4.py index 86f9ad1f..e386b62f 100755 --- a/tools/flash_px4.py +++ b/tools/flash_px4.py @@ -61,7 +61,7 @@ def timeout(signum, frame): # Flash Pixhawk print "Flashing Pixhawk..." -if(os.system("python -u /home/pi/companion/Tools/px_uploader.py --port /dev/ttyACM0 /tmp/ArduSub-v2.px4") != 0): +if(os.system("python -u /home/pi/companion/tools/px_uploader.py --port /dev/ttyACM0 /tmp/ArduSub-v2.px4") != 0): print "Error flashing pixhawk! Do you have most recent version of companion? Try 'git pull' or scp." exit(1) @@ -72,6 +72,6 @@ def timeout(signum, frame): # Start screen session with mavproxy print "Restarting mavproxy" -os.system("screen -dm -S mavproxy /home/pi/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh") +os.system("screen -dm -S mavproxy /home/pi/companion/scripts/start_mavproxy_telem_splitter.sh") print "Complete!" From 8b75f7f7b59a8d107526a6d4217ac8354f4d593f Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 17 May 2017 17:20:36 -0400 Subject: [PATCH 083/256] Fix reboot/shutdown functionality --- br-webui/_includes/header.liquid | 16 +++++++++++++--- br-webui/index.js | 24 ++++++++++++++---------- 2 files changed, 27 insertions(+), 13 deletions(-) diff --git a/br-webui/_includes/header.liquid b/br-webui/_includes/header.liquid index 0dec1f1d..b4bb2d56 100644 --- a/br-webui/_includes/header.liquid +++ b/br-webui/_includes/header.liquid @@ -4,7 +4,17 @@ - + @@ -29,8 +39,8 @@
  • Routing
    • - - + +
    diff --git a/br-webui/index.js b/br-webui/index.js index 805ec653..2b8c318d 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -33,16 +33,6 @@ app.use(expressLiquid.middleware); // root app.get('/', function(req, res) { res.render('index',{}) -}) - -app.get('/reboot', function(req, res) { - res.redirect('/'); - child_process.exec('sleep 2 && sudo reboot now'); -}); - -app.get('/shutdown', function(req, res) { - res.redirect('/'); - child_process.exec('sleep 2 && sudo shutdown -h now'); }); app.get('/routing', function(req, res) { @@ -241,6 +231,20 @@ io.on('connection', function(socket) { }); }); + socket.on('reboot', function(data) { + console.log('REBOOT'); + child_process.exec('sudo reboot now', function (error, stdout, stderr) { + console.log(stdout + stderr); + }); + }); + + socket.on('shutdown', function(data) { + console.log('SHUTDOWN'); + child_process.exec('sudo shutdown -h now', function (error, stdout, stderr) { + console.log(stdout + stderr); + }); + }); + function updateCompanion(tag) { var cmd = child_process.exec('cd /home/pi/companion && git fetch && git checkout ' + tag, function (error, stdout, stderr) { From a80c75fa7f8874305abe40d3efa72029fcae78b7 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 17 May 2017 17:50:28 -0400 Subject: [PATCH 084/256] Use monospace font for terminal output --- br-webui/views/system.liquid | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/br-webui/views/system.liquid b/br-webui/views/system.liquid index 33f4119d..a3d79e10 100644 --- a/br-webui/views/system.liquid +++ b/br-webui/views/system.liquid @@ -97,7 +97,7 @@ socket.emit('get companion version');

    - + From e2022722f33aada519d98a0a4ad6cc67ecc61ca5 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 17 May 2017 17:52:28 -0400 Subject: [PATCH 085/256] typo --- br-webui/index.js | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/br-webui/index.js b/br-webui/index.js index 2b8c318d..7a06e605 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -222,7 +222,7 @@ io.on('connection', function(socket) { }); cmd.on('exit', function (code) { - console.log('companion update exited with code ' + code.toString()); + console.log('pixhawk update exited with code ' + code.toString()); }); cmd.on('error', (err) => { From 153d9a78701b5dd7d9ada11db4e27f8c1a0300f6 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 17 May 2017 18:38:54 -0400 Subject: [PATCH 086/256] Add update and post-update scripts --- .companion.rc | 23 +++++++++++++++++------ br-webui/index.js | 29 +++++++++++++++++++++++------ scripts/post-update.sh | 13 +++++++++++++ scripts/update.sh | 21 +++++++++++++++++++++ 4 files changed, 74 insertions(+), 12 deletions(-) create mode 100755 scripts/post-update.sh create mode 100755 scripts/update.sh diff --git a/.companion.rc b/.companion.rc index 96b318ce..9ff71cc1 100755 --- a/.companion.rc +++ b/.companion.rc @@ -1,6 +1,17 @@ -sudo -H -u pi screen -dm -S mavproxy /home/pi/companion/scripts/start_mavproxy_telem_splitter.sh -sudo -H -u pi /home/pi/companion/scripts/start_video.sh -sudo -H -u pi screen -dm -S webui /home/pi/companion/scripts/start_webui.sh -sudo -H -u pi screen -dm -S webterminal /home/pi/companion/scripts/start_webterminal.sh -sudo -H -u pi screen -dm -S commrouter /home/pi/companion/tools/comm_router.py -sudo -H -u pi screen -dm -S audio /home/pi/companion/scripts/start_audio.sh +if [ ! -f /home/pi/.updating ]; then + sudo -H -u pi screen -dm -S mavproxy /home/pi/companion/scripts/start_mavproxy_telem_splitter.sh + sudo -H -u pi /home/pi/companion/scripts/start_video.sh + sudo -H -u pi screen -dm -S webui /home/pi/companion/scripts/start_webui.sh + sudo -H -u pi screen -dm -S webterminal /home/pi/companion/scripts/start_webterminal.sh + sudo -H -u pi screen -dm -S commrouter /home/pi/companion/tools/comm_router.py + sudo -H -u pi screen -dm -S audio /home/pi/companion/scripts/start_audio.sh +else + echo 'UPDATE FAILED!' >> /home/pi/.update_log + rm -r /home/pi/.updating + cd /home/pi/companion + echo 'Reverting to' $(git rev-parse revert-point) >> /home/pi/.update_log + git reset --hard revert-point + echo 'HEAD is now at' $(git rev-parse HEAD) >> /home/pi/.update_log + echo 'Trying to run again...' >> /home/pi/.update_log + /home/pi/companion/.companion.rc +fi \ No newline at end of file diff --git a/br-webui/index.js b/br-webui/index.js index 7a06e605..b8d598bd 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -247,12 +247,29 @@ io.on('connection', function(socket) { function updateCompanion(tag) { - var cmd = child_process.exec('cd /home/pi/companion && git fetch && git checkout ' + tag, function (error, stdout, stderr) { - console.log("COMPANION UPDATE"); - console.log(tag); - console.log(error); - console.log(stdout + stderr); - socket.emit('terminal output', stdout + stderr); + const cmd = child_process.spawn('/home/pi/companion/scripts/update.sh', [tag], { + detached: true, + stdio: 'ignore' + }); + + // Ignore parent exit, we will restart this application after updating + cmd.unref(); + + cmd.stdout.on('data', function (data) { + socket.emit('terminal output', data.toString()); + }); + + cmd.stderr.on('data', function (data) { + socket.emit('terminal output', data.toString()); }); + + cmd.on('exit', function (code) { + console.log('companion update exited with code ' + code.toString()); + }); + + cmd.on('error', (err) => { + console.log('Failed to start child process.'); + console.log(err); + }); } }); diff --git a/scripts/post-update.sh b/scripts/post-update.sh new file mode 100755 index 00000000..bfeb8bd5 --- /dev/null +++ b/scripts/post-update.sh @@ -0,0 +1,13 @@ +#!/bin/bash + +echo 'run npm install' >> /home/pi/.update_log +cd /home/pi/companion/br-webui && npm install + +echo 'quit webui' >> /home/pi/.update_log +screen -X -S webui quit + +echo 'restart webui' >> /home/pi/.update_log +sudo -H -u pi screen -dm -S webui /home/pi/companion/scripts/start_webui.sh + +echo 'removing lock' >> /home/pi/.update_log +rm -f /home/pi/.updating \ No newline at end of file diff --git a/scripts/update.sh b/scripts/update.sh new file mode 100755 index 00000000..0264dfde --- /dev/null +++ b/scripts/update.sh @@ -0,0 +1,21 @@ +#!/bin/bash + +echo 'adding lock' >> /home/pi/.update_log +touch /home/pi/.updating + +cd /home/pi/companion + +echo 'deleting previous revert point' $(git rev-parse revert-point) >> /home/pi/.update_log +git tag -d revert-point + +echo 'tagging revert-point as' $(git rev-parse HEAD) >> /home/pi/.update_log +git tag revert-point + +echo 'fetching' >> /home/pi/.update_log +git fetch + +echo 'moving to' $1 >> /home/pi/.update_log +git reset --hard $1 + +echo 'running post-update' >> /home/pi/.update_log +/home/pi/companion/scripts/post-update.sh From 5c001315dc5922c00f56ea88e93b98d68085ae2f Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Thu, 18 May 2017 11:43:14 -0400 Subject: [PATCH 087/256] Bugfix wifi ap selection --- br-webui/views/index.liquid | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/br-webui/views/index.liquid b/br-webui/views/index.liquid index 78ebf5fc..b53edcd0 100644 --- a/br-webui/views/index.liquid +++ b/br-webui/views/index.liquid @@ -7,15 +7,33 @@ networking.on('wifi aps', function(data) { console.log('got wifi aps') var select = document.getElementById("ssid"); + + if (select.options[select.selectedIndex]) { + var currentSSID = select.options[select.selectedIndex].text; + console.log('current SSID:' + currentSSID); + } + while (select.hasChildNodes()) { select.removeChild(select.lastChild); } + + var index = 0; + var newIndex = 0; + data.forEach(function(line) { var option = document.createElement('option'); option.value = line; option.innerHTML = line; + if (currentSSID && line == currentSSID) { + newIndex = index; + console.log('match! new index:' + index); + } select.appendChild(option); + index++; + console.log(index); }); + + select.selectedIndex = newIndex; }); networking.on('internet status', function(data) { From 61c9bfc3907c3c085030dc90f2cafd0bf139c330 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Thu, 18 May 2017 12:48:39 -0400 Subject: [PATCH 088/256] Only allow forward updates to current stable tag --- br-webui/index.js | 61 ++++++++++++++---------------------- br-webui/views/system.liquid | 26 ++------------- scripts/post-update.sh | 4 ++- scripts/update.sh | 10 +++--- 4 files changed, 35 insertions(+), 66 deletions(-) diff --git a/br-webui/index.js b/br-webui/index.js index b8d598bd..ea5c5bf9 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -181,14 +181,7 @@ io.on('connection', function(socket) { }); - // used in system setup - socket.on('get companion refs', function(data) { - var cmd = child_process.exec('git ls-remote --tags origin | cut -f2 | cut -f3 -d /', function (error, stdout, stderr) { - socket.emit('companion refs', stdout + stderr); - }); - }); - - + // system setup socket.on('get companion version', function(data) { var cmd = child_process.exec('git describe --tags', function( error, stdout, stderr) { socket.emit('companion version', stdout + stderr); @@ -198,7 +191,29 @@ io.on('connection', function(socket) { // system setup socket.on('update companion', function(data) { - updateCompanion(data); + const cmd = child_process.spawn('/home/pi/companion/scripts/update.sh', { + detached: true, + }); + + // Ignore parent exit, we will restart this application after updating + cmd.unref(); + + cmd.stdout.on('data', function (data) { + socket.emit('terminal output', data.toString()); + }); + + cmd.stderr.on('data', function (data) { + socket.emit('terminal output', data.toString()); + }); + + cmd.on('exit', function (code) { + console.log('companion update exited with code ' + code.toString()); + }); + + cmd.on('error', (err) => { + console.log('Failed to start child process.'); + console.log(err); + }); }); @@ -244,32 +259,4 @@ io.on('connection', function(socket) { console.log(stdout + stderr); }); }); - - - function updateCompanion(tag) { - const cmd = child_process.spawn('/home/pi/companion/scripts/update.sh', [tag], { - detached: true, - stdio: 'ignore' - }); - - // Ignore parent exit, we will restart this application after updating - cmd.unref(); - - cmd.stdout.on('data', function (data) { - socket.emit('terminal output', data.toString()); - }); - - cmd.stderr.on('data', function (data) { - socket.emit('terminal output', data.toString()); - }); - - cmd.on('exit', function (code) { - console.log('companion update exited with code ' + code.toString()); - }); - - cmd.on('error', (err) => { - console.log('Failed to start child process.'); - console.log(err); - }); - } }); diff --git a/br-webui/views/system.liquid b/br-webui/views/system.liquid index a3d79e10..4f99b85a 100644 --- a/br-webui/views/system.liquid +++ b/br-webui/views/system.liquid @@ -8,30 +8,17 @@ socket.on('terminal output', function(data) { document.getElementById("terminal-output").scrollTop = document.getElementById("terminal-output").scrollHeight }); -socket.on('companion refs', function(data) { - console.log(data); - var select = document.getElementById('tags'); - var lines = data.trim().split('\n'); - lines.forEach(function(line) { - var option = document.createElement('option'); - option.value = line; - option.innerHTML = line; - select.appendChild(option); - console.log(line); - }); -}); - socket.on('companion version', function(data) { document.getElementById('companion version').innerHTML = data; }); function updateCompanion() { - socket.emit('update companion', document.getElementById('tags').value); + socket.emit('update companion'); } function updatePixhawkDev() { updatePixhawk('dev'); -}; +} function updatePixhawkBeta() { updatePixhawk('beta') @@ -47,7 +34,6 @@ function updatePixhawk(option) { }); } -socket.emit('get companion refs'); socket.emit('get companion version'); @@ -63,13 +49,7 @@ socket.emit('get companion version');

    Version

    Companion Update

    Update

    -
    -
    - - -
    - -
    + diff --git a/scripts/post-update.sh b/scripts/post-update.sh index bfeb8bd5..585a614d 100755 --- a/scripts/post-update.sh +++ b/scripts/post-update.sh @@ -3,6 +3,8 @@ echo 'run npm install' >> /home/pi/.update_log cd /home/pi/companion/br-webui && npm install +echo 'Update Complete, refresh your browser' + echo 'quit webui' >> /home/pi/.update_log screen -X -S webui quit @@ -10,4 +12,4 @@ echo 'restart webui' >> /home/pi/.update_log sudo -H -u pi screen -dm -S webui /home/pi/companion/scripts/start_webui.sh echo 'removing lock' >> /home/pi/.update_log -rm -f /home/pi/.updating \ No newline at end of file +rm -f /home/pi/.updating diff --git a/scripts/update.sh b/scripts/update.sh index 0264dfde..1236bc9d 100755 --- a/scripts/update.sh +++ b/scripts/update.sh @@ -4,9 +4,8 @@ echo 'adding lock' >> /home/pi/.update_log touch /home/pi/.updating cd /home/pi/companion - -echo 'deleting previous revert point' $(git rev-parse revert-point) >> /home/pi/.update_log -git tag -d revert-point +echo 'removing tags' >> /home/pi/.update_log +git tag | xargs git tag -d echo 'tagging revert-point as' $(git rev-parse HEAD) >> /home/pi/.update_log git tag revert-point @@ -14,8 +13,9 @@ git tag revert-point echo 'fetching' >> /home/pi/.update_log git fetch -echo 'moving to' $1 >> /home/pi/.update_log -git reset --hard $1 +echo 'moving to' $(git rev-parse stable) >> /home/pi/.update_log +echo 'moving to' $(git rev-parse stable) +git reset --hard stable echo 'running post-update' >> /home/pi/.update_log /home/pi/companion/scripts/post-update.sh From 119c36922d6a54626f623d9ad02ffbf730740da0 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Thu, 18 May 2017 15:11:30 -0400 Subject: [PATCH 089/256] Only allow updating companion when new release is available --- br-webui/index.js | 12 +++++++++++- br-webui/views/system.liquid | 14 +++++++++++--- 2 files changed, 22 insertions(+), 4 deletions(-) diff --git a/br-webui/index.js b/br-webui/index.js index ea5c5bf9..9dcd1fb7 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -183,12 +183,22 @@ io.on('connection', function(socket) { // system setup socket.on('get companion version', function(data) { - var cmd = child_process.exec('git describe --tags', function( error, stdout, stderr) { + var cmd = child_process.exec('git describe --tags', function(error, stdout, stderr) { socket.emit('companion version', stdout + stderr); }); }); + // system setup + socket.on('get companion latest', function(data) { + var cmd = child_process.exec('git tag -d stable >/dev/null && git fetch >/dev/null && git rev-list --left-right --count HEAD...refs/tags/stable | cut -f2', function(error, stdout, stderr) { + if (parseInt(stdout) > 0) { + socket.emit('companion latest'); + } + }); + }); + + // system setup socket.on('update companion', function(data) { const cmd = child_process.spawn('/home/pi/companion/scripts/update.sh', { diff --git a/br-webui/views/system.liquid b/br-webui/views/system.liquid index 4f99b85a..f831730c 100644 --- a/br-webui/views/system.liquid +++ b/br-webui/views/system.liquid @@ -12,6 +12,11 @@ socket.on('companion version', function(data) { document.getElementById('companion version').innerHTML = data; }); +socket.on('companion latest', function(data) { + console.log('got companion latest'); + document.getElementById('companion-update').style.display = 'inline'; +}); + function updateCompanion() { socket.emit('update companion'); } @@ -35,6 +40,7 @@ function updatePixhawk(option) { } socket.emit('get companion version'); +socket.emit('get companion latest');

    Software Status and Update

    @@ -47,9 +53,11 @@ socket.emit('get companion version');

    Version

    - Companion Update -

    Update

    - + Companion Version +
    From aa35dcf3afc5528f6dcdd0fc4bc42622ca858087 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Thu, 18 May 2017 16:18:49 -0400 Subject: [PATCH 090/256] Hide save/load config buttons on routing page --- br-webui/views/routing.liquid | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/br-webui/views/routing.liquid b/br-webui/views/routing.liquid index 1c05d2da..c8d96445 100644 --- a/br-webui/views/routing.liquid +++ b/br-webui/views/routing.liquid @@ -266,7 +266,7 @@
    -
    +
    -{% include ../_includes/footer.liquid %} \ No newline at end of file + +{% include ../_includes/footer.liquid %} diff --git a/tools/flash_px4.py b/tools/flash_px4.py index e386b62f..7032ce3c 100755 --- a/tools/flash_px4.py +++ b/tools/flash_px4.py @@ -14,6 +14,7 @@ def timeout(signum, frame): parser = OptionParser() parser.add_option("--url",dest="url",help="Firmware download URL (optional)") parser.add_option("--stdin",action="store_true",dest="fromStdin",default=False,help="Expect input from stdin") +parser.add_option("--file", dest="file", default=None, help="Load from file") parser.add_option("--latest",action="store_true",dest="latest",default=False,help="Upload latest development firmware") (options,args) = parser.parse_args() @@ -33,6 +34,13 @@ def timeout(signum, frame): print "Got firmware file from stdin!" else: error("Read error on stdin!") +elif options.file is not None: + try: + print("Attempting upload from file %s") % options.file + open(options.file) + except Exception as e: + print("Error opening file %s: %s") % (options.file, e) + exit(1) else: # Download most recent firmware if options.url: @@ -61,7 +69,12 @@ def timeout(signum, frame): # Flash Pixhawk print "Flashing Pixhawk..." -if(os.system("python -u /home/pi/companion/tools/px_uploader.py --port /dev/ttyACM0 /tmp/ArduSub-v2.px4") != 0): +if options.file is not None: + if(os.system("python -u /home/pi/companion/tools/px_uploader.py --port /dev/ttyACM0 %s" % options.file) != 0): + print "Error flashing pixhawk!" + exit(1) +else: + if(os.system("python -u /home/pi/companion/tools/px_uploader.py --port /dev/ttyACM0 /tmp/ArduSub-v2.px4") != 0): print "Error flashing pixhawk! Do you have most recent version of companion? Try 'git pull' or scp." exit(1) From f035ce882cfdd550791e621e0dd38f36001078e6 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 22 May 2017 10:33:57 -0400 Subject: [PATCH 099/256] More logging information, save to file --- br-webui/index.js | 79 +++++++++++++++++++++++------------------- br-webui/package.json | 11 +++--- scripts/start_webui.sh | 2 +- 3 files changed, 51 insertions(+), 41 deletions(-) diff --git a/br-webui/index.js b/br-webui/index.js index e9723b3e..300461d9 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -3,6 +3,7 @@ var app = express(); const child_process = require('child_process'); const dgram = require('dgram'); const SocketIOFile = require('socket.io-file'); +var logger = require('tracer').console(); app.use(express.static('public')); app.use('/js', express.static(__dirname + '/node_modules/bootstrap/dist/js')); // redirect bootstrap JS @@ -51,7 +52,7 @@ app.get('/socket.io-file-client.js', (req, res, next) => { var server = app.listen(2770, function() { var host = server.address().address; var port = server.address().port; - console.log("App running at http://%s:%s", host, port); + logger.log("App running at http://%s:%s", host, port); }); var io = require('socket.io')(server); @@ -61,7 +62,7 @@ networking.on('connection', function(socket) { // Network setup socket.on('join network', function (data) { - console.log('JOIN AP'); + logger.log('join network'); try { var passphrase = child_process.execSync("wpa_passphrase " + data.ssid + " " + data.password); @@ -70,33 +71,34 @@ networking.on('connection', function(socket) { networkString = networkString.replace(/\t#.*\n/g, ''); // strip unencrypted password out networkString = networkString.replace(/"/g, '\\"'); // escape quotes + logger.log(networkString); + // Restart the network in the callback cmd = child_process.exec("sudo sh -c \"echo '" + networkString + "' > /etc/wpa_supplicant/wpa_supplicant.conf\"", function (error, stdout, stderr) { - console.log(error + stdout + stderr); + logger.log("sudo sh -c \"echo '" + networkString + "' > /etc/wpa_supplicant/wpa_supplicant.conf\" : ", error + stdout + stderr); var cmd = child_process.exec('sudo ifdown wlan0 && sudo ifup wlan0', function (error, stdout, stderr) { - console.log("NETWORK RESTART"); - console.log(error + stdout + stderr); + logger.log("restarting network"); + logger.log(error + stdout + stderr); }); }); } catch (e) { - console.log("CAUGHT ERROR: "); - console.log(e); + logger.error(e); } }); // Network setup socket.on('get wifi aps', function() { - console.log("SCAN Networks"); - + logger.log("get wifi aps"); try { var cmd = child_process.execSync('sudo wpa_cli scan'); + logger.log("sudo wpa_cli scan : ", cmd.toString()); // For some reason this fails once in a while cmd = child_process.execSync('sudo wpa_cli scan_results | grep PSK | cut -f5 | grep .'); + logger.log("wpa_cli scan_results: ", cmd.toString()); socket.emit('wifi aps', cmd.toString().trim().split("\n")); } catch (e) { - console.log("\n\nCAUGHT ERROR:"); - console.log(e); + logger.error(e); return ""; } @@ -105,8 +107,9 @@ networking.on('connection', function(socket) { // Query internet connectivity socket.on('get internet status', function() { - console.log("GET INTERNET STATUS") + logger.log("get internet status") var cmd = child_process.exec('ping -c1 google.com', function (error, stdout, stderr) { + logger.log("ping -c1 google.com : ", error + stdout + stderr); if (error) { socket.emit('internet status', '

    Not Connected

    '); } else { @@ -117,9 +120,9 @@ networking.on('connection', function(socket) { socket.on('get wifi status', function() { + logger.log("get wifi status"); var cmd = child_process.exec('sudo wpa_cli status', function (error, stdout, stderr) { - console.log("WIFI STATUS"); - //console.log(stdout + stderr); + logger.log("sudo wpa_cli status : ", error + stdout + stderr); if (error) { socket.emit('wifi status', '

    Error: ' + stderr + '

    '); } else { @@ -154,7 +157,9 @@ io.on('connection', function(socket) { // used in routing setup socket.on('get serial ids', function(data) { + logger.log("get serial ids"); var cmd = child_process.exec('ls /dev/serial/by-id/*', function (error, stdout, stderr) { + logger.log("ls /dev/serial/by-id/* : ", error + stdout + stderr); socket.emit('serial ids', stdout); }); }); @@ -162,12 +167,12 @@ io.on('connection', function(socket) { // used in routing setup socket.on('routing request', function(data) { + logger.log("routing request"); var sock = dgram.createSocket('udp4'); - console.log("ROUTING REQUEST"); var message = new Buffer(JSON.stringify(data)); sock.send(message, 0, message.length, 18990, '0.0.0.0', function(err, bytes) { if (err) { - console.log("ERROR"); + logger.error(err); throw err; } }); @@ -181,6 +186,7 @@ io.on('connection', function(socket) { // system setup socket.on('get companion version', function(data) { + logger.log('get companion version'); var cmd = child_process.exec('git describe --tags', function(error, stdout, stderr) { socket.emit('companion version', stdout + stderr); }); @@ -189,6 +195,7 @@ io.on('connection', function(socket) { // system setup socket.on('get companion latest', function(data) { + logger.log("get companion latest"); var cmd = child_process.exec('git tag -d stable >/dev/null; git fetch >/dev/null; git rev-list --left-right --count HEAD...refs/tags/stable | cut -f2', function(error, stdout, stderr) { if (parseInt(stdout) > 0) { socket.emit('companion latest'); @@ -199,6 +206,7 @@ io.on('connection', function(socket) { // system setup socket.on('update companion', function(data) { + logger.log("update companion"); const cmd = child_process.spawn('/home/pi/companion/scripts/update.sh', { detached: true, }); @@ -215,18 +223,19 @@ io.on('connection', function(socket) { }); cmd.on('exit', function (code) { - console.log('companion update exited with code ' + code.toString()); + logger.log('companion update exited with code ' + code.toString()); }); cmd.on('error', (err) => { - console.log('Failed to start child process.'); - console.log(err); + logger.log('Failed to start child process.'); + logger.log(err); }); }); // system setup socket.on('update pixhawk', function(data) { + logger.log("update pixhawk"); if (data.option == 'dev') { // Use spawn instead of exec to get callbacks for each line of stderr, stdout var cmd = child_process.spawn('/home/pi/companion/tools/flash_px4.py', ['--latest']); @@ -240,35 +249,35 @@ io.on('connection', function(socket) { cmd.stdout.on('data', function (data) { socket.emit('terminal output', data.toString()); - console.log(data.toString()); + logger.log(data.toString()); }); cmd.stderr.on('data', function (data) { socket.emit('terminal output', data.toString()); - console.log(data.toString()); + logger.log(data.toString()); }); cmd.on('exit', function (code) { - console.log('pixhawk update exited with code ' + code.toString()); + logger.log('pixhawk update exited with code ' + code.toString()); }); cmd.on('error', (err) => { - console.log('Failed to start child process.'); - console.log(err); + logger.log('Failed to start child process.'); + logger.log(err); }); }); socket.on('reboot', function(data) { - console.log('REBOOT'); + logger.log('reboot'); child_process.exec('sudo reboot now', function (error, stdout, stderr) { - console.log(stdout + stderr); + logger.log(stdout + stderr); }); }); socket.on('shutdown', function(data) { - console.log('SHUTDOWN'); + logger.log('shutdown'); child_process.exec('sudo shutdown -h now', function (error, stdout, stderr) { - console.log(stdout + stderr); + logger.log(stdout + stderr); }); }); @@ -283,21 +292,21 @@ io.on('connection', function(socket) { overwrite: true // overwrite file if exists, default is true. }); uploader.on('start', (fileInfo) => { - console.log('Start uploading'); - console.log(fileInfo); + logger.log('Start uploading'); + logger.log(fileInfo); }); uploader.on('stream', (fileInfo) => { - console.log(`${fileInfo.wrote} / ${fileInfo.size} byte(s)`); + logger.log(`${fileInfo.wrote} / ${fileInfo.size} byte(s)`); }); uploader.on('complete', (fileInfo) => { - console.log('Upload Complete.'); - console.log(fileInfo); + logger.log('Upload Complete.'); + logger.log(fileInfo); }); uploader.on('error', (err) => { - console.log('Error!', err); + logger.log('Error!', err); }); uploader.on('abort', (fileInfo) => { - console.log('Aborted: ', fileInfo); + logger.log('Aborted: ', fileInfo); }); }); diff --git a/br-webui/package.json b/br-webui/package.json index 5de31c57..31d8ce03 100644 --- a/br-webui/package.json +++ b/br-webui/package.json @@ -5,15 +5,16 @@ "description": "", "main": "index.js", "dependencies": { - "express": "4.15.2", - "socket.io": "1.7.3", "bootstrap": "3.3.7", - "jquery": "3.2.1", + "express": "4.15.2", "express-liquid": "latest", - "fs": "latest", "font-awesome": "latest", + "fs": "latest", + "jquery": "3.2.1", + "socket.io": "1.7.3", "socket.io-file": "latest", - "socket.io-file-client": "latest" + "socket.io-file-client": "latest", + "tracer": "^0.8.9" }, "scripts": { "test": "echo \"Error: no test specified\" && exit 1" diff --git a/scripts/start_webui.sh b/scripts/start_webui.sh index cf6cd352..1b2552ea 100755 --- a/scripts/start_webui.sh +++ b/scripts/start_webui.sh @@ -1,4 +1,4 @@ #!/bin/bash cd $HOME/companion/br-webui/ -node index.js +node index.js 2>&1 | tee /tmp/webui.log From 191cf91d45a9554535b26ddebcdc8a7a80636c07 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 22 May 2017 11:24:48 -0400 Subject: [PATCH 100/256] Formatting --- br-webui/index.js | 77 ++++++++++++++++++++++++----------------------- 1 file changed, 39 insertions(+), 38 deletions(-) diff --git a/br-webui/index.js b/br-webui/index.js index 300461d9..3a1fd81e 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -15,16 +15,16 @@ app.use('/style.css', express.static(__dirname + '/style.css')); // redirect CSS var fs = require("fs"); var expressLiquid = require('express-liquid'); var options = { - // read file handler, optional - includeFile: function (filename, callback) { - fs.readFile(filename, 'utf8', callback); - }, - // the base context, optional - context: expressLiquid.newContext(), - // custom tags parser, optional - customTags: {}, - // if an error occurred while rendering, show detail or not, default to false - traceError: false + // read file handler, optional + includeFile: function (filename, callback) { + fs.readFile(filename, 'utf8', callback); + }, + // the base context, optional + context: expressLiquid.newContext(), + // custom tags parser, optional + customTags: {}, + // if an error occurred while rendering, show detail or not, default to false + traceError: false }; app.set('view engine', 'liquid'); app.engine('liquid', expressLiquid(options)); @@ -281,32 +281,33 @@ io.on('connection', function(socket) { }); }); - var uploader = new SocketIOFile(socket, { - // uploadDir: { // multiple directories - // music: 'data/music', - // document: 'data/document' - // }, - uploadDir: '/tmp/data', // simple directory - chunkSize: 10240, // default is 10240(1KB) - transmissionDelay: 0, // delay of each transmission, higher value saves more cpu resources, lower upload speed. default is 0(no delay) - overwrite: true // overwrite file if exists, default is true. - }); - uploader.on('start', (fileInfo) => { - logger.log('Start uploading'); - logger.log(fileInfo); - }); - uploader.on('stream', (fileInfo) => { - logger.log(`${fileInfo.wrote} / ${fileInfo.size} byte(s)`); - }); - uploader.on('complete', (fileInfo) => { - logger.log('Upload Complete.'); - logger.log(fileInfo); - - }); - uploader.on('error', (err) => { - logger.log('Error!', err); - }); - uploader.on('abort', (fileInfo) => { - logger.log('Aborted: ', fileInfo); - }); + var uploader = new SocketIOFile(socket, { + // uploadDir: { // multiple directories + // music: 'data/music', + // document: 'data/document' + // }, + + uploadDir: '/tmp/data', // simple directory + chunkSize: 10240, // default is 10240(1KB) + transmissionDelay: 0, // delay of each transmission, higher value saves more cpu resources, lower upload speed. default is 0(no delay) + overwrite: true // overwrite file if exists, default is true. + }); + uploader.on('start', (fileInfo) => { + logger.log('Start uploading'); + logger.log(fileInfo); + }); + uploader.on('stream', (fileInfo) => { + logger.log(`${fileInfo.wrote} / ${fileInfo.size} byte(s)`); + }); + uploader.on('complete', (fileInfo) => { + logger.log('Upload Complete.'); + logger.log(fileInfo); + + }); + uploader.on('error', (err) => { + logger.log('Error!', err); + }); + uploader.on('abort', (fileInfo) => { + logger.log('Aborted: ', fileInfo); + }); }); From 19fb1833b684baa5daa1b7b8933f478ec82a94c6 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 22 May 2017 11:26:20 -0400 Subject: [PATCH 101/256] Rename fw file for consistency and to prevent errors --- br-webui/index.js | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/br-webui/index.js b/br-webui/index.js index 3a1fd81e..029783af 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -242,7 +242,7 @@ io.on('connection', function(socket) { } else if (data.option == 'beta') { var cmd = child_process.spawn('/home/pi/companion/tools/flash_px4.py', ['--url', 'http://firmware.us.ardupilot.org/Sub/beta/PX4/ArduSub-v2.px4']); } else if (data.option == 'file') { - var cmd = child_process.spawn('/home/pi/companion/tools/flash_px4.py', ['--file', '/tmp/data/' + data.file]); + var cmd = child_process.spawn('/home/pi/companion/tools/flash_px4.py', ['--file', '/tmp/data/firmware.px4']); } else { var cmd = child_process.spawn('/home/pi/companion/tools/flash_px4.py'); } @@ -286,7 +286,7 @@ io.on('connection', function(socket) { // music: 'data/music', // document: 'data/document' // }, - + rename: "firmware.px4", uploadDir: '/tmp/data', // simple directory chunkSize: 10240, // default is 10240(1KB) transmissionDelay: 0, // delay of each transmission, higher value saves more cpu resources, lower upload speed. default is 0(no delay) From d9505569780f8d87e0a207e0ce46028d13247aa2 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 22 May 2017 12:10:31 -0400 Subject: [PATCH 102/256] Add node-file-manager module --- .companion.rc | 1 + br-webui/package.json | 1 + 2 files changed, 2 insertions(+) diff --git a/.companion.rc b/.companion.rc index 9ff71cc1..2c1d2432 100755 --- a/.companion.rc +++ b/.companion.rc @@ -5,6 +5,7 @@ if [ ! -f /home/pi/.updating ]; then sudo -H -u pi screen -dm -S webterminal /home/pi/companion/scripts/start_webterminal.sh sudo -H -u pi screen -dm -S commrouter /home/pi/companion/tools/comm_router.py sudo -H -u pi screen -dm -S audio /home/pi/companion/scripts/start_audio.sh + sudo -H -u pi screen -dm -S file-manager node --harmony /home/pi/companion/br-webui/node_modules/node-file-manager/lib/index.js -p 7777 -d / else echo 'UPDATE FAILED!' >> /home/pi/.update_log rm -r /home/pi/.updating diff --git a/br-webui/package.json b/br-webui/package.json index 31d8ce03..db31b9ae 100644 --- a/br-webui/package.json +++ b/br-webui/package.json @@ -11,6 +11,7 @@ "font-awesome": "latest", "fs": "latest", "jquery": "3.2.1", + "node-file-manager": "^0.4.6", "socket.io": "1.7.3", "socket.io-file": "latest", "socket.io-file-client": "latest", From a38662a0afda2ae26dd3f41a03be7025360a37f8 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 22 May 2017 12:44:41 -0400 Subject: [PATCH 103/256] Disable update buttons while update is in progress --- br-webui/index.js | 2 ++ br-webui/views/system.liquid | 39 +++++++++++++++++++++++++----------- 2 files changed, 29 insertions(+), 12 deletions(-) diff --git a/br-webui/index.js b/br-webui/index.js index 029783af..f2fd2980 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -224,6 +224,7 @@ io.on('connection', function(socket) { cmd.on('exit', function (code) { logger.log('companion update exited with code ' + code.toString()); + socket.emit('update complete'); }); cmd.on('error', (err) => { @@ -259,6 +260,7 @@ io.on('connection', function(socket) { cmd.on('exit', function (code) { logger.log('pixhawk update exited with code ' + code.toString()); + socket.emit('update complete'); }); cmd.on('error', (err) => { diff --git a/br-webui/views/system.liquid b/br-webui/views/system.liquid index 05a1ffec..d6afaef5 100644 --- a/br-webui/views/system.liquid +++ b/br-webui/views/system.liquid @@ -19,6 +19,7 @@ socket.on('companion latest', function(data) { }); function updateCompanion() { + disableUpdates(true); socket.emit('update companion'); } @@ -35,6 +36,7 @@ function updatePixhawkStable() { } function updatePixhawkFile(file) { + disableUpdates(true); socket.emit('update pixhawk', { 'option': 'file', 'file': file @@ -42,31 +44,44 @@ function updatePixhawkFile(file) { } function updatePixhawk(option) { + disableUpdates(true); socket.emit('update pixhawk', { 'option' : option }); } +socket.on('update complete', function(data) { + disableUpdates(false); +}); + +function disableUpdates(disabled) { + document.getElementById('companionButton').disabled = disabled; + document.getElementById('devButton').disabled = disabled; + document.getElementById('betaButton').disabled = disabled; + document.getElementById('stableButton').disabled = disabled; + document.getElementById('fileButton').disabled = disabled; +} + socket.emit('get companion version'); socket.emit('get companion latest'); var uploader = new SocketIOFileClient(socket); - + uploader.on('start', function(fileInfo) { - console.log('Start uploading', fileInfo); + console.log('Start uploading', fileInfo); }); uploader.on('stream', function(fileInfo) { - console.log('Streaming... sent ' + fileInfo.sent + ' bytes.'); + console.log('Streaming... sent ' + fileInfo.sent + ' bytes.'); }); uploader.on('complete', function(fileInfo) { - console.log('Upload Complete', fileInfo); - updatePixhawkFile(fileInfo.name); + console.log('Upload Complete', fileInfo); + updatePixhawkFile(fileInfo.name); }); uploader.on('error', function(err) { - console.log('Error!', err); + console.log('Error!', err); }); uploader.on('abort', function(fileInfo) { - console.log('Aborted: ', fileInfo); + console.log('Aborted: ', fileInfo); }); var form = document.getElementById('form'); @@ -96,7 +111,7 @@ function submit(ev) { Companion Version
    @@ -112,13 +127,13 @@ function submit(ev) {
    Download and Update (Requires Internet Connection): - - - + + +
    From File: - +

    From 773cf466a8476b4843d996de83ec91cc601b1a65 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 22 May 2017 13:16:12 -0400 Subject: [PATCH 104/256] Add timeout to px4 flash script --- tools/px_uploader.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/tools/px_uploader.py b/tools/px_uploader.py index aaa49a7f..a82f93f8 100755 --- a/tools/px_uploader.py +++ b/tools/px_uploader.py @@ -551,6 +551,7 @@ def send_reboot(self): # Spin waiting for a device to show up try: + start = time.time(); while True: portlist = [] patterns = args.port.split(",") @@ -628,6 +629,9 @@ def send_reboot(self): sys.exit(0) # Delay retries to < 20 Hz to prevent spin-lock from hogging the CPU + if time.time() > start + 20: + print("Timed out trying to catch bootloader!\nPlease try again.") + sys.exit(0) time.sleep(0.01) # CTRL+C aborts the upload/spin-lock by interrupt mechanics From f6ff96ab52ac071561f0fe88969efbdb5359f0f9 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 22 May 2017 13:32:37 -0400 Subject: [PATCH 105/256] Disable wifi join button while joining --- br-webui/index.js | 2 ++ br-webui/views/index.liquid | 13 ++++++++++++- 2 files changed, 14 insertions(+), 1 deletion(-) diff --git a/br-webui/index.js b/br-webui/index.js index f2fd2980..8e1184b2 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -79,10 +79,12 @@ networking.on('connection', function(socket) { var cmd = child_process.exec('sudo ifdown wlan0 && sudo ifup wlan0', function (error, stdout, stderr) { logger.log("restarting network"); logger.log(error + stdout + stderr); + socket.emit('join complete'); }); }); } catch (e) { logger.error(e); + socket.emit('join complete'); } }); diff --git a/br-webui/views/index.liquid b/br-webui/views/index.liquid index f836b57c..1d5e9c09 100644 --- a/br-webui/views/index.liquid +++ b/br-webui/views/index.liquid @@ -50,7 +50,12 @@ networking.on('wifi status', function(data) { statusIndicator.innerHTML = data; }); +networking.on('join complete', function(data) { + disableButton(false); +}); + function joinNetwork() { + disableButton(true); var select = document.getElementById("ssid"); var ssid = select.options[select.selectedIndex].text; networking.emit('join network', { @@ -59,6 +64,11 @@ function joinNetwork() { }); }; +function disableButton(disabled) { + document.getElementById('joinButton').disabled = disabled; + document.getElementById('spinner').style.visibility = disabled ? "visible" : "hidden"; +} + networking.emit('get internet status'); networking.emit('get wifi status'); networking.emit('get wifi aps'); @@ -91,7 +101,8 @@ setInterval(function() {

    Password:

    - + +
    From 7d90bd606086f7ee5f3a7573181ce59c2273717f Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 22 May 2017 14:08:55 -0400 Subject: [PATCH 106/256] Add spinner to system update page --- br-webui/index.js | 6 ++++-- br-webui/views/system.liquid | 31 ++++++++++++++++++++++++++++--- scripts/post-update.sh | 2 ++ 3 files changed, 34 insertions(+), 5 deletions(-) diff --git a/br-webui/index.js b/br-webui/index.js index 8e1184b2..2040850b 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -218,6 +218,9 @@ io.on('connection', function(socket) { cmd.stdout.on('data', function (data) { socket.emit('terminal output', data.toString()); + if (data.indexOf("Update Complete, refresh your browser") > -1) { + socket.emit('companion update complete'); + } }); cmd.stderr.on('data', function (data) { @@ -226,7 +229,6 @@ io.on('connection', function(socket) { cmd.on('exit', function (code) { logger.log('companion update exited with code ' + code.toString()); - socket.emit('update complete'); }); cmd.on('error', (err) => { @@ -262,7 +264,7 @@ io.on('connection', function(socket) { cmd.on('exit', function (code) { logger.log('pixhawk update exited with code ' + code.toString()); - socket.emit('update complete'); + socket.emit('pixhawk update complete'); }); cmd.on('error', (err) => { diff --git a/br-webui/views/system.liquid b/br-webui/views/system.liquid index d6afaef5..8a2fa2d5 100644 --- a/br-webui/views/system.liquid +++ b/br-webui/views/system.liquid @@ -20,6 +20,7 @@ socket.on('companion latest', function(data) { function updateCompanion() { disableUpdates(true); + showCompanionSpinner(true); socket.emit('update companion'); } @@ -37,6 +38,7 @@ function updatePixhawkStable() { function updatePixhawkFile(file) { disableUpdates(true); + showPixhawkSpinner(true); socket.emit('update pixhawk', { 'option': 'file', 'file': file @@ -45,13 +47,20 @@ function updatePixhawkFile(file) { function updatePixhawk(option) { disableUpdates(true); + showPixhawkSpinner(true); socket.emit('update pixhawk', { 'option' : option }); } -socket.on('update complete', function(data) { +socket.on('pixhawk update complete', function(data) { disableUpdates(false); + showPixhawkSpinner(false); +}); + +socket.on('companion update complete', function(data) { + disableUpdates(false); + showCompanionSpinner(false); }); function disableUpdates(disabled) { @@ -62,6 +71,14 @@ function disableUpdates(disabled) { document.getElementById('fileButton').disabled = disabled; } +function showCompanionSpinner(show) { + document.getElementById('companionSpinner').style.visibility = show ? "visible" : "hidden"; +} + +function showPixhawkSpinner(show) { + document.getElementById('pixhawkSpinner').style.visibility = show ? "visible" : "hidden"; +} + socket.emit('get companion version'); socket.emit('get companion latest'); @@ -104,7 +121,10 @@ function submit(ev) {
    -

    ArduSub Companion Status

    +

    + ArduSub Companion Status + +

    Version

    @@ -122,7 +142,10 @@ function submit(ev) {
    -

    Pixhawk Firmware Update

    +

    + Pixhawk Firmware Update + +

    @@ -137,7 +160,9 @@ function submit(ev) {

    +
    +
    diff --git a/scripts/post-update.sh b/scripts/post-update.sh index 585a614d..2afb9bf9 100755 --- a/scripts/post-update.sh +++ b/scripts/post-update.sh @@ -5,6 +5,8 @@ cd /home/pi/companion/br-webui && npm install echo 'Update Complete, refresh your browser' +sleep 1 + echo 'quit webui' >> /home/pi/.update_log screen -X -S webui quit From 8e94996fe51770eb3ac99b210c938aff6e03bbf9 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 22 May 2017 15:36:05 -0400 Subject: [PATCH 107/256] Don't allow empty routing endpoints --- br-webui/views/routing.liquid | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/br-webui/views/routing.liquid b/br-webui/views/routing.liquid index c8d96445..e9931993 100644 --- a/br-webui/views/routing.liquid +++ b/br-webui/views/routing.liquid @@ -140,6 +140,16 @@ var ip = document.getElementById('udpIP').value; + if (!ip) { + console.log("Invalid UDP ip!"); + return false; + } + + if (!parseInt(port)) { + console.log("Invalid UDP port!"); + return false; + } + socket.emit('routing request', { 'request' : 'add endpoint', 'id' : ip + ":" + port, @@ -156,6 +166,16 @@ var port = _port.options[_port.selectedIndex].text; var baudrate = document.getElementById('baudrate').value; + + if (!port) { + console.log("Invalid port selection!"); + return false; + } + + if (!parseInt(baudrate)) { + console.log("Invalid baudrate!"); + return false; + } socket.emit('routing request', { 'request' : 'add endpoint', From 9d5fc4411cbe43995642bf715fbf96bedae7562d Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 22 May 2017 16:10:07 -0400 Subject: [PATCH 108/256] Add side-load option for companion update --- br-webui/index.js | 23 +++++++++----- br-webui/views/system.liquid | 59 +++++++++++++++++++++++------------- scripts/post-sideload.sh | 13 ++++++++ scripts/sideload.sh | 26 ++++++++++++++++ tools/flash_px4.py | 2 +- 5 files changed, 94 insertions(+), 29 deletions(-) create mode 100644 scripts/post-sideload.sh create mode 100755 scripts/sideload.sh diff --git a/br-webui/index.js b/br-webui/index.js index 2040850b..bf59dc69 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -190,6 +190,7 @@ io.on('connection', function(socket) { socket.on('get companion version', function(data) { logger.log('get companion version'); var cmd = child_process.exec('git describe --tags', function(error, stdout, stderr) { + logger.log(error + stdout + stderr); socket.emit('companion version', stdout + stderr); }); }); @@ -199,6 +200,7 @@ io.on('connection', function(socket) { socket.on('get companion latest', function(data) { logger.log("get companion latest"); var cmd = child_process.exec('git tag -d stable >/dev/null; git fetch >/dev/null; git rev-list --left-right --count HEAD...refs/tags/stable | cut -f2', function(error, stdout, stderr) { + logger.log(error + stdout + stderr); if (parseInt(stdout) > 0) { socket.emit('companion latest'); } @@ -209,9 +211,17 @@ io.on('connection', function(socket) { // system setup socket.on('update companion', function(data) { logger.log("update companion"); - const cmd = child_process.spawn('/home/pi/companion/scripts/update.sh', { - detached: true, - }); + var cmd; + if (data) { + logger.log('from file', data); + cmd = child_process.spawn('/home/pi/companion/scripts/sideload.sh', ['/tmp/data/' + data], { + detached: true + }); + } else { + cmd = child_process.spawn('/home/pi/companion/scripts/update.sh', { + detached: true + }); + } // Ignore parent exit, we will restart this application after updating cmd.unref(); @@ -229,12 +239,13 @@ io.on('connection', function(socket) { cmd.on('exit', function (code) { logger.log('companion update exited with code ' + code.toString()); + socket.emit('companion update complete'); }); cmd.on('error', (err) => { logger.log('Failed to start child process.'); logger.log(err); - }); + }); }); @@ -247,7 +258,7 @@ io.on('connection', function(socket) { } else if (data.option == 'beta') { var cmd = child_process.spawn('/home/pi/companion/tools/flash_px4.py', ['--url', 'http://firmware.us.ardupilot.org/Sub/beta/PX4/ArduSub-v2.px4']); } else if (data.option == 'file') { - var cmd = child_process.spawn('/home/pi/companion/tools/flash_px4.py', ['--file', '/tmp/data/firmware.px4']); + var cmd = child_process.spawn('/home/pi/companion/tools/flash_px4.py', ['--file', '/tmp/data/' + data.file]); } else { var cmd = child_process.spawn('/home/pi/companion/tools/flash_px4.py'); } @@ -292,7 +303,6 @@ io.on('connection', function(socket) { // music: 'data/music', // document: 'data/document' // }, - rename: "firmware.px4", uploadDir: '/tmp/data', // simple directory chunkSize: 10240, // default is 10240(1KB) transmissionDelay: 0, // delay of each transmission, higher value saves more cpu resources, lower upload speed. default is 0(no delay) @@ -308,7 +318,6 @@ io.on('connection', function(socket) { uploader.on('complete', (fileInfo) => { logger.log('Upload Complete.'); logger.log(fileInfo); - }); uploader.on('error', (err) => { logger.log('Error!', err); diff --git a/br-webui/views/system.liquid b/br-webui/views/system.liquid index 8a2fa2d5..0955d176 100644 --- a/br-webui/views/system.liquid +++ b/br-webui/views/system.liquid @@ -15,13 +15,18 @@ socket.on('companion version', function(data) { socket.on('companion latest', function(data) { console.log('got companion latest'); - document.getElementById('companion-update').style.display = 'inline'; + document.getElementById('companionButton').style.visibility = "visible"; + document.getElementById('companionAvailable').innerHTML = "Download Update: An Update is Available!"; }); -function updateCompanion() { - disableUpdates(true); - showCompanionSpinner(true); - socket.emit('update companion'); +function updateCompanion(fileInfo) { + if (fileInfo) { + socket.emit('update companion', fileInfo.name); + } else { + disableUpdates(true); + showCompanionSpinner(true); + socket.emit('update companion'); + } } function updatePixhawkDev() { @@ -36,12 +41,10 @@ function updatePixhawkStable() { updatePixhawk('stable'); } -function updatePixhawkFile(file) { - disableUpdates(true); - showPixhawkSpinner(true); +function updatePixhawkFile(fileInfo) { socket.emit('update pixhawk', { 'option': 'file', - 'file': file + 'file': fileInfo.name }); } @@ -68,7 +71,8 @@ function disableUpdates(disabled) { document.getElementById('devButton').disabled = disabled; document.getElementById('betaButton').disabled = disabled; document.getElementById('stableButton').disabled = disabled; - document.getElementById('fileButton').disabled = disabled; + document.getElementById('pixhawkFileButton').disabled = disabled; + document.getElementById('companionFileButton').disabled = disabled; } function showCompanionSpinner(show) { @@ -92,10 +96,12 @@ uploader.on('stream', function(fileInfo) { }); uploader.on('complete', function(fileInfo) { console.log('Upload Complete', fileInfo); - updatePixhawkFile(fileInfo.name); }); uploader.on('error', function(err) { console.log('Error!', err); + disableUpdates(false); + showPixhawkSpinner(false); + showCompanionSpinner(false); }); uploader.on('abort', function(fileInfo) { console.log('Aborted: ', fileInfo); @@ -103,11 +109,18 @@ uploader.on('abort', function(fileInfo) { var form = document.getElementById('form'); -function submit(ev) { - var fileEl = document.getElementById('file'); +function submit(callback, fileElement) { + disableUpdates(true); + if (fileElement == 'pixhawkFile') { + showPixhawkSpinner(true); + } else { + showCompanionSpinner(true); + } + + uploader.on('complete', callback); + var fileEl = document.getElementById(fileElement); var uploadIds = uploader.upload(fileEl); - // setTimeout(function() { // uploader.abort(uploadIds[0]); // console.log(uploader.getUploadInfo()); @@ -127,11 +140,15 @@ function submit(ev) {
    -

    Version

    - Companion Version -
    @@ -156,8 +173,8 @@ function submit(ev) {
    From File: - - + +

    diff --git a/scripts/post-sideload.sh b/scripts/post-sideload.sh new file mode 100644 index 00000000..b8c35f37 --- /dev/null +++ b/scripts/post-sideload.sh @@ -0,0 +1,13 @@ +#!/bin/bash +echo 'Update Complete, refresh your browser' + +sleep 1 + +echo 'quit webui' >> /home/pi/.update_log +screen -X -S webui quit + +echo 'restart webui' >> /home/pi/.update_log +sudo -H -u pi screen -dm -S webui /home/pi/companion/scripts/start_webui.sh + +echo 'removing lock' >> /home/pi/.update_log +rm -f /home/pi/.updating \ No newline at end of file diff --git a/scripts/sideload.sh b/scripts/sideload.sh new file mode 100755 index 00000000..2be4fd43 --- /dev/null +++ b/scripts/sideload.sh @@ -0,0 +1,26 @@ +#!/bin/bash +cd /home/pi/companion + +echo 'validating archive' +if unzip -l $1 | grep -q companion/.git; then + echo 'archive validated ok' +else + echo 'Archive does not look like a companion update!' + exit 1 +fi + +echo 'adding lock' >> /home/pi/.update_log +touch /home/pi/.updating + +echo 'removing old stash' +rm -rf /home/pi/.companion + +echo 'stashing repository' +mv /home/pi/companion /home/pi/.companion + +echo 'extracting archive' >> /home/pi/.update_log +echo 'extracting archive: ' $1 +unzip -q $1 -d /home/pi + +echo 'running post-sideload.sh' +/home/pi/companion/scripts/post-sideload.sh diff --git a/tools/flash_px4.py b/tools/flash_px4.py index 7032ce3c..a89fbcb9 100755 --- a/tools/flash_px4.py +++ b/tools/flash_px4.py @@ -70,7 +70,7 @@ def timeout(signum, frame): # Flash Pixhawk print "Flashing Pixhawk..." if options.file is not None: - if(os.system("python -u /home/pi/companion/tools/px_uploader.py --port /dev/ttyACM0 %s" % options.file) != 0): + if(os.system("python -u /home/pi/companion/tools/px_uploader.py --port /dev/ttyACM0 '%s'" % options.file) != 0): print "Error flashing pixhawk!" exit(1) else: From bbd86781d1a8f3ec73cbef107a256c69508b99d8 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 22 May 2017 21:44:39 -0400 Subject: [PATCH 109/256] Always fetch tags --- br-webui/index.js | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/br-webui/index.js b/br-webui/index.js index bf59dc69..976b1173 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -199,7 +199,7 @@ io.on('connection', function(socket) { // system setup socket.on('get companion latest', function(data) { logger.log("get companion latest"); - var cmd = child_process.exec('git tag -d stable >/dev/null; git fetch >/dev/null; git rev-list --left-right --count HEAD...refs/tags/stable | cut -f2', function(error, stdout, stderr) { + var cmd = child_process.exec('git tag -d stable >/dev/null; git fetch --tags >/dev/null; git rev-list --left-right --count HEAD...refs/tags/stable | cut -f2', function(error, stdout, stderr) { logger.log(error + stdout + stderr); if (parseInt(stdout) > 0) { socket.emit('companion latest'); From 9856e5ad7e37bbfdbe1a1991d8d0b92f25fac6af Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 23 May 2017 09:00:23 -0400 Subject: [PATCH 110/256] Append to logfile, don't overwrite --- scripts/start_webui.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/start_webui.sh b/scripts/start_webui.sh index 1b2552ea..a6669cee 100755 --- a/scripts/start_webui.sh +++ b/scripts/start_webui.sh @@ -1,4 +1,4 @@ #!/bin/bash cd $HOME/companion/br-webui/ -node index.js 2>&1 | tee /tmp/webui.log +node index.js 2>&1 | tee -a /tmp/webui.log From 58b708b639799295d6b1e2cad7daf8d70a2c4419 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 23 May 2017 09:31:33 -0400 Subject: [PATCH 111/256] Recover from failed update with cp instead of git operations --- .companion.rc | 8 +++----- scripts/post-update.sh | 2 +- scripts/sideload.sh | 3 +-- scripts/update.sh | 17 +++++++++++------ 4 files changed, 16 insertions(+), 14 deletions(-) diff --git a/.companion.rc b/.companion.rc index 2c1d2432..c1d2ec55 100755 --- a/.companion.rc +++ b/.companion.rc @@ -8,11 +8,9 @@ if [ ! -f /home/pi/.updating ]; then sudo -H -u pi screen -dm -S file-manager node --harmony /home/pi/companion/br-webui/node_modules/node-file-manager/lib/index.js -p 7777 -d / else echo 'UPDATE FAILED!' >> /home/pi/.update_log - rm -r /home/pi/.updating - cd /home/pi/companion - echo 'Reverting to' $(git rev-parse revert-point) >> /home/pi/.update_log - git reset --hard revert-point - echo 'HEAD is now at' $(git rev-parse HEAD) >> /home/pi/.update_log + rm -f /home/pi/.updating + rm -rf /home/pi/companion + cp /home/pi/.companion /home/pi/companion echo 'Trying to run again...' >> /home/pi/.update_log /home/pi/companion/.companion.rc fi \ No newline at end of file diff --git a/scripts/post-update.sh b/scripts/post-update.sh index 2afb9bf9..35e7ffad 100755 --- a/scripts/post-update.sh +++ b/scripts/post-update.sh @@ -1,6 +1,6 @@ #!/bin/bash -echo 'run npm install' >> /home/pi/.update_log +echo 'run npm install' cd /home/pi/companion/br-webui && npm install echo 'Update Complete, refresh your browser' diff --git a/scripts/sideload.sh b/scripts/sideload.sh index 2be4fd43..d18f4f93 100755 --- a/scripts/sideload.sh +++ b/scripts/sideload.sh @@ -9,7 +9,7 @@ else exit 1 fi -echo 'adding lock' >> /home/pi/.update_log +echo 'adding lock' touch /home/pi/.updating echo 'removing old stash' @@ -18,7 +18,6 @@ rm -rf /home/pi/.companion echo 'stashing repository' mv /home/pi/companion /home/pi/.companion -echo 'extracting archive' >> /home/pi/.update_log echo 'extracting archive: ' $1 unzip -q $1 -d /home/pi diff --git a/scripts/update.sh b/scripts/update.sh index 1236bc9d..f9b38bfa 100755 --- a/scripts/update.sh +++ b/scripts/update.sh @@ -1,21 +1,26 @@ #!/bin/bash -echo 'adding lock' >> /home/pi/.update_log +echo 'adding lock' touch /home/pi/.updating +echo 'removing old stash' +rm -rf /home/pi/.companion + +echo 'stashing current repo' +cp /home/pi/companion /home/pi/.companion + cd /home/pi/companion -echo 'removing tags' >> /home/pi/.update_log +echo 'removing tags' git tag | xargs git tag -d -echo 'tagging revert-point as' $(git rev-parse HEAD) >> /home/pi/.update_log +echo 'tagging revert-point as' $(git rev-parse HEAD) git tag revert-point -echo 'fetching' >> /home/pi/.update_log +echo 'fetching' git fetch -echo 'moving to' $(git rev-parse stable) >> /home/pi/.update_log echo 'moving to' $(git rev-parse stable) git reset --hard stable -echo 'running post-update' >> /home/pi/.update_log +echo 'running post-update' /home/pi/companion/scripts/post-update.sh From d40b8c6f1dc2154521bee415e352e6df75fcda0d Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 23 May 2017 10:00:25 -0400 Subject: [PATCH 112/256] Make logfile persistent, limit size to 2MB --- scripts/start_webui.sh | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/scripts/start_webui.sh b/scripts/start_webui.sh index a6669cee..fc907545 100755 --- a/scripts/start_webui.sh +++ b/scripts/start_webui.sh @@ -1,4 +1,10 @@ #!/bin/bash cd $HOME/companion/br-webui/ -node index.js 2>&1 | tee -a /tmp/webui.log + +# limit logfile size +tail -c 2MB /home/pi/.webui.log > /tmp/.webui.log +cp /tmp/.webui.log /home/pi/.webui.log +rm -f /tmp/.webui.log + +node index.js 2>&1 | tee -a /home/pi/.webui.log From 25486181364b20025618a0a26400c02c6298e18a Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 23 May 2017 10:20:33 -0400 Subject: [PATCH 113/256] Tweak style --- br-webui/views/system.liquid | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/br-webui/views/system.liquid b/br-webui/views/system.liquid index 0955d176..d67e7955 100644 --- a/br-webui/views/system.liquid +++ b/br-webui/views/system.liquid @@ -15,7 +15,7 @@ socket.on('companion version', function(data) { socket.on('companion latest', function(data) { console.log('got companion latest'); - document.getElementById('companionButton').style.visibility = "visible"; + document.getElementById('companionButton').style.display = "inline"; document.getElementById('companionAvailable').innerHTML = "Download Update: An Update is Available!"; }); @@ -140,13 +140,14 @@ function submit(callback, fileElement) {
    - Version: Companion Version +

    Version:

    + Companion Version
    - Download Update: No Updates Available - +

    Download Update: No Updates Available

    +
    - Upload Zipped Update: +

    Upload Zipped Update:

    @@ -166,13 +167,13 @@ function submit(callback, fileElement) {
    - Download and Update (Requires Internet Connection): +

    Download and Update (Requires Internet Connection):

    - From File: +

    Upload Firmware File:

    From 817c7ecb31b456c61fac10a1adf02010c7607509 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 23 May 2017 10:33:01 -0400 Subject: [PATCH 114/256] Truncate logfile by lines instead of bytes --- scripts/start_webui.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/start_webui.sh b/scripts/start_webui.sh index fc907545..deb0c058 100755 --- a/scripts/start_webui.sh +++ b/scripts/start_webui.sh @@ -3,7 +3,7 @@ cd $HOME/companion/br-webui/ # limit logfile size -tail -c 2MB /home/pi/.webui.log > /tmp/.webui.log +tail -n 10000 /home/pi/.webui.log > /tmp/.webui.log cp /tmp/.webui.log /home/pi/.webui.log rm -f /tmp/.webui.log From b19bab0bb7d4ab67a2de4484f310f177d6e77c33 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 23 May 2017 10:42:06 -0400 Subject: [PATCH 115/256] Log companion update output --- br-webui/index.js | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/br-webui/index.js b/br-webui/index.js index 976b1173..cf26ae4e 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -227,6 +227,7 @@ io.on('connection', function(socket) { cmd.unref(); cmd.stdout.on('data', function (data) { + logger.log(data); socket.emit('terminal output', data.toString()); if (data.indexOf("Update Complete, refresh your browser") > -1) { socket.emit('companion update complete'); @@ -234,6 +235,7 @@ io.on('connection', function(socket) { }); cmd.stderr.on('data', function (data) { + logger.error(data); socket.emit('terminal output', data.toString()); }); @@ -243,8 +245,7 @@ io.on('connection', function(socket) { }); cmd.on('error', (err) => { - logger.log('Failed to start child process.'); - logger.log(err); + logger.error('companion update errored: ', err); }); }); From 17e75625dc7e8c3db4ec307ec96e3430dad43fe3 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 23 May 2017 10:48:01 -0400 Subject: [PATCH 116/256] Auto-reload browser after companion update --- br-webui/views/system.liquid | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/br-webui/views/system.liquid b/br-webui/views/system.liquid index d67e7955..9e24c20d 100644 --- a/br-webui/views/system.liquid +++ b/br-webui/views/system.liquid @@ -62,8 +62,8 @@ socket.on('pixhawk update complete', function(data) { }); socket.on('companion update complete', function(data) { - disableUpdates(false); showCompanionSpinner(false); + setInterval(location.reload(true), 1500); }); function disableUpdates(disabled) { From 3da3050af39298ebb9f34c4f1c900d72fdb21cc6 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 23 May 2017 10:58:07 -0400 Subject: [PATCH 117/256] Require valid file selection before attempting upload --- br-webui/views/system.liquid | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/br-webui/views/system.liquid b/br-webui/views/system.liquid index 9e24c20d..aaa9920a 100644 --- a/br-webui/views/system.liquid +++ b/br-webui/views/system.liquid @@ -110,6 +110,15 @@ uploader.on('abort', function(fileInfo) { var form = document.getElementById('form'); function submit(callback, fileElement) { + var fileEl = document.getElementById(fileElement); + var uploadIds = uploader.upload(fileEl); + console.log(fileEl.value); + + if (!fileEl.value) { + console.log('No file selected!'); + return false; + } + disableUpdates(true); if (fileElement == 'pixhawkFile') { showPixhawkSpinner(true); @@ -118,8 +127,7 @@ function submit(callback, fileElement) { } uploader.on('complete', callback); - var fileEl = document.getElementById(fileElement); - var uploadIds = uploader.upload(fileEl); + // setTimeout(function() { // uploader.abort(uploadIds[0]); From 6fa5d6434e94db97685391cd330751bb8198d05c Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 23 May 2017 10:59:17 -0400 Subject: [PATCH 118/256] Wait longer before refreshing page --- br-webui/views/system.liquid | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/br-webui/views/system.liquid b/br-webui/views/system.liquid index aaa9920a..9d0cfedc 100644 --- a/br-webui/views/system.liquid +++ b/br-webui/views/system.liquid @@ -63,7 +63,7 @@ socket.on('pixhawk update complete', function(data) { socket.on('companion update complete', function(data) { showCompanionSpinner(false); - setInterval(location.reload(true), 1500); + setInterval(location.reload(true), 3000); }); function disableUpdates(disabled) { From ffef4bf012b52d967e00606e02ceb5d0a7e52c52 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 23 May 2017 11:22:11 -0400 Subject: [PATCH 119/256] Log strings, not buffer objects --- br-webui/index.js | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/br-webui/index.js b/br-webui/index.js index cf26ae4e..12d45bb7 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -227,7 +227,7 @@ io.on('connection', function(socket) { cmd.unref(); cmd.stdout.on('data', function (data) { - logger.log(data); + logger.log(data.toString()); socket.emit('terminal output', data.toString()); if (data.indexOf("Update Complete, refresh your browser") > -1) { socket.emit('companion update complete'); @@ -235,7 +235,7 @@ io.on('connection', function(socket) { }); cmd.stderr.on('data', function (data) { - logger.error(data); + logger.error(data.toString()); socket.emit('terminal output', data.toString()); }); @@ -245,7 +245,7 @@ io.on('connection', function(socket) { }); cmd.on('error', (err) => { - logger.error('companion update errored: ', err); + logger.error('companion update errored: ', err.toString()); }); }); @@ -281,7 +281,7 @@ io.on('connection', function(socket) { cmd.on('error', (err) => { logger.log('Failed to start child process.'); - logger.log(err); + logger.log(err.toString()); }); }); From a28d9b6a4c0192d3ac03b0ac2eaea101f54f8edf Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 23 May 2017 11:32:06 -0400 Subject: [PATCH 120/256] Fix post-sideload.sh permissions --- scripts/post-sideload.sh | 0 1 file changed, 0 insertions(+), 0 deletions(-) mode change 100644 => 100755 scripts/post-sideload.sh diff --git a/scripts/post-sideload.sh b/scripts/post-sideload.sh old mode 100644 new mode 100755 From 3aa26ebd1d2999168b190b6d459a77776f393ab2 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 23 May 2017 11:43:43 -0400 Subject: [PATCH 121/256] Only delete working-copy if stash exists --- .companion.rc | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/.companion.rc b/.companion.rc index c1d2ec55..6539fd6f 100755 --- a/.companion.rc +++ b/.companion.rc @@ -9,8 +9,10 @@ if [ ! -f /home/pi/.updating ]; then else echo 'UPDATE FAILED!' >> /home/pi/.update_log rm -f /home/pi/.updating - rm -rf /home/pi/companion - cp /home/pi/.companion /home/pi/companion + if [ -d /home/pi/.companion ]; then + rm -rf /home/pi/companion + cp /home/pi/.companion /home/pi/companion + fi echo 'Trying to run again...' >> /home/pi/.update_log /home/pi/companion/.companion.rc fi \ No newline at end of file From 6399b0a00a58ace0f564331c371104bb799e16ec Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 23 May 2017 13:02:24 -0400 Subject: [PATCH 122/256] Attempt recovery from broken wifi config --- br-webui/index.js | 31 ++++++++++++++++++++++++++----- 1 file changed, 26 insertions(+), 5 deletions(-) diff --git a/br-webui/index.js b/br-webui/index.js index 12d45bb7..0b36af4c 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -61,7 +61,7 @@ var networking = io.of('/networking'); networking.on('connection', function(socket) { // Network setup - socket.on('join network', function (data) { + socket.on('join network', function(data) { logger.log('join network'); try { @@ -95,15 +95,36 @@ networking.on('connection', function(socket) { try { var cmd = child_process.execSync('sudo wpa_cli scan'); logger.log("sudo wpa_cli scan : ", cmd.toString()); - // For some reason this fails once in a while + } catch (e) { + logger.error("wpa_cli scan failed!", e.stderr.toString(), e); + + logger.log("WiFi scan failed, attempting to repair configuration...."); + logger.log("Fetching current contents...."); + cmd = child_process.execSync("sudo cat /etc/wpa_supplicant/wpa_supplicant.conf"); + logger.log(cmd.toString()); + + logger.log("Bringing down wlan0...."); + cmd = child_process.execSync("sudo ifdown wlan0"); + logger.log(cmd.toString()); + + logger.log("Writing over config...."); + cmd = child_process.execSync("sudo sh -c 'echo > /etc/wpa_supplicant/wpa_supplicant.conf'"); + logger.log(cmd.toString()); + + logger.log("Bringing wlan0 up...."); + cmd = child_process.execSync("sudo ifup wlan0"); + logger.log(cmd.toString()); + + return; + } + + try { cmd = child_process.execSync('sudo wpa_cli scan_results | grep PSK | cut -f5 | grep .'); logger.log("wpa_cli scan_results: ", cmd.toString()); socket.emit('wifi aps', cmd.toString().trim().split("\n")); } catch (e) { - logger.error(e); - return ""; + logger.error("wpa_cli scan_results failed!", e.stderr.toString(), e); } - }); From 7b01b096d4c7326b7bd5c0ab3ba5aef9006ad150 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 23 May 2017 15:05:13 -0400 Subject: [PATCH 123/256] Show upload progress on updates --- br-webui/views/system.liquid | 32 +++++++++++++++++++++++++++----- 1 file changed, 27 insertions(+), 5 deletions(-) diff --git a/br-webui/views/system.liquid b/br-webui/views/system.liquid index 9d0cfedc..5329613f 100644 --- a/br-webui/views/system.liquid +++ b/br-webui/views/system.liquid @@ -21,6 +21,9 @@ socket.on('companion latest', function(data) { function updateCompanion(fileInfo) { if (fileInfo) { + document.getElementById('companionProgress').innerHTML = ""; + uploader.off('stream', companionProgress); + uploader.off('complete', updateCompanion); socket.emit('update companion', fileInfo.name); } else { disableUpdates(true); @@ -29,6 +32,10 @@ function updateCompanion(fileInfo) { } } +function companionProgress(fileInfo) { + document.getElementById('companionProgress').innerHTML = `Uploading: ${fileInfo.sent} / ${fileInfo.size} byte(s)`; +} + function updatePixhawkDev() { updatePixhawk('dev'); } @@ -42,6 +49,9 @@ function updatePixhawkStable() { } function updatePixhawkFile(fileInfo) { + document.getElementById('pixhawkProgress').innerHTML = ""; + uploader.off('stream', pixhawkProgress); + uploader.off('complete', updatePixhawkFile); socket.emit('update pixhawk', { 'option': 'file', 'file': fileInfo.name @@ -56,6 +66,10 @@ function updatePixhawk(option) { }); } +function pixhawkProgress(fileInfo) { + document.getElementById('pixhawkProgress').innerHTML = `Uploading: ${fileInfo.sent} / ${fileInfo.size} byte(s)`; +} + socket.on('pixhawk update complete', function(data) { disableUpdates(false); showPixhawkSpinner(false); @@ -102,6 +116,12 @@ uploader.on('error', function(err) { disableUpdates(false); showPixhawkSpinner(false); showCompanionSpinner(false); + + uploader.off('stream', pixhawkProgress); + uploader.off('complete', updatePixhawkFile); + + uploader.off('stream', companionProgress); + uploader.off('complete', updateCompanion); }); uploader.on('abort', function(fileInfo) { console.log('Aborted: ', fileInfo); @@ -109,7 +129,7 @@ uploader.on('abort', function(fileInfo) { var form = document.getElementById('form'); -function submit(callback, fileElement) { +function submit(onComplete, onStream, fileElement) { var fileEl = document.getElementById(fileElement); var uploadIds = uploader.upload(fileEl); console.log(fileEl.value); @@ -126,8 +146,8 @@ function submit(callback, fileElement) { showCompanionSpinner(true); } - uploader.on('complete', callback); - + uploader.on('complete', onComplete); + uploader.on('stream', onStream); // setTimeout(function() { // uploader.abort(uploadIds[0]); @@ -145,6 +165,7 @@ function submit(callback, fileElement) {

    ArduSub Companion Status +

    @@ -156,7 +177,7 @@ function submit(callback, fileElement) {

    Upload Zipped Update:

    - +
    @@ -171,6 +192,7 @@ function submit(callback, fileElement) {

    Pixhawk Firmware Update +

    @@ -182,7 +204,7 @@ function submit(callback, fileElement) {

    Upload Firmware File:

    - +

    From 7db06e27f5db03b27f306533210bc9dc02da0549 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 23 May 2017 17:35:40 -0400 Subject: [PATCH 124/256] Timeout firmware upload even if we've seen the bootloader --- tools/px_uploader.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/tools/px_uploader.py b/tools/px_uploader.py index a82f93f8..61151b8c 100755 --- a/tools/px_uploader.py +++ b/tools/px_uploader.py @@ -602,6 +602,10 @@ def send_reboot(self): print("if the board does not respond, unplug and re-plug the USB connector.") up.send_reboot() + if time.time() > start + 20: + print("Timed out trying to catch bootloader!\nPlease try again.") + sys.exit(0) + # wait for the reboot, without we might run into Serial I/O Error 5 time.sleep(0.1) From beeb322eae25f665adf52619f87c04fc9db84d1c Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Thu, 25 May 2017 14:06:31 -0400 Subject: [PATCH 125/256] Update README --- README.md | 25 +------------------------ 1 file changed, 1 insertion(+), 24 deletions(-) diff --git a/README.md b/README.md index a5e5a0f6..49c2081b 100644 --- a/README.md +++ b/README.md @@ -1,26 +1,3 @@ # companion -This repository is the Blue Robotics version of the `diydrones/companion` repository. Currently, this repository only provides updated companion scripts for the Raspberry Pi Computer. - -Companion computer startup scripts and examples. - -This repo is where you can contribute both feedback about (issues) and improvements to (PRs) ArduPilot companion computer support. - - -## Repo organisation - -This repository is organized by board and then by OS. It follows the following structure: - -``` -Root - |___Board1 - | |___OS1 - | |___OS2 - | - |___Board2 - |___OS1 - |___OS2 -``` -## Key links - -* [Companion Computers](http://dev.ardupilot.com/wiki/companion-computers/) (Dev Wiki) +This repository is the Blue Robotics version of the [ArduPilot/companion](https://github.com/ArduPilot/companion) repository. This is the code that runs on the Raspberry Pi in the BlueROV2. Currently, this repository only provides an implementation for the Raspberry Pi Computer. From cb501b7cdc7c6990a41a2f4e6bf78716262bd5dd Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Sat, 27 May 2017 12:10:54 -0400 Subject: [PATCH 126/256] start video with options --- scripts/start_raspivid.sh | 16 +--------------- 1 file changed, 1 insertion(+), 15 deletions(-) diff --git a/scripts/start_raspivid.sh b/scripts/start_raspivid.sh index d6083c91..d656f10d 100755 --- a/scripts/start_raspivid.sh +++ b/scripts/start_raspivid.sh @@ -28,18 +28,4 @@ export LD_LIBRARY_PATH=/usr/local/lib/ # HD Stream with some latency for RasPi camera (250ms on RPi3) # Use mode 2 for 1080p @ 15 fps and mode 5 for 922p @ 40 fps -raspivid --nopreview \ - --mode 5 \ - --bitrate 15000000 \ - --intra 1 \ - --awb auto \ - --brightness 55 \ - --saturation 10 \ - --sharpness 50 \ - --contrast 15 \ - -roi 0.02,0.0,0.81,0.85 \ - -fl \ - --timeout 0 \ - --output - | \ - gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ - udpsink host=192.168.2.1 port=5600 +raspivid $1 --output - | gst-launch-1.0 -v fdsrc ! $2 From 2879fff9e142b5f8b2482846eb1f7d69bd7f1123 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Sat, 27 May 2017 15:27:44 -0400 Subject: [PATCH 127/256] Add camera configuration page --- br-webui/index.js | 37 ++++++++++++++++++++-- br-webui/views/camera.liquid | 59 ++++++++++++++++++++++++++++++++++++ scripts/restart-raspivid.sh | 8 +++++ scripts/start_raspivid.sh | 5 ++- scripts/start_video.sh | 2 +- 5 files changed, 106 insertions(+), 5 deletions(-) create mode 100644 br-webui/views/camera.liquid create mode 100755 scripts/restart-raspivid.sh diff --git a/br-webui/index.js b/br-webui/index.js index 0b36af4c..d4c8edad 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -34,15 +34,19 @@ app.use(expressLiquid.middleware); // root app.get('/', function(req, res) { - res.render('index',{}) + res.render('index', {}); }); app.get('/routing', function(req, res) { - res.render('routing',{}) + res.render('routing', {}); }); app.get('/system', function(req, res) { - res.render('system',{}) + res.render('system', {}); +}); + +app.get('/camera', function(req, res) { + res.render('camera', {}); }); app.get('/socket.io-file-client.js', (req, res, next) => { @@ -306,6 +310,33 @@ io.on('connection', function(socket) { }); }); + socket.on('restart video', function(data) { + logger.log('/home/pi/companion/scripts/restart-raspivid.sh "' + data.rpiOptions + '" "' + data.gstOptions + '"'); + var cmd = child_process.spawn('/home/pi/companion/scripts/restart-raspivid.sh', [data.rpiOptions , data.gstOptions], { + detached: true + }); + + cmd.unref(); + + cmd.stdout.on('data', function (data) { + logger.log(data.toString()); + }); + + cmd.stderr.on('data', function (data) { + logger.log(data.toString()); + }); + + cmd.on('exit', function (code) { + logger.log('pixhawk update exited with code ' + code.toString()); + socket.emit('video up'); + }); + + cmd.on('error', (err) => { + logger.log('Failed to start child process.'); + logger.log(err.toString()); + }); + }); + socket.on('reboot', function(data) { logger.log('reboot'); child_process.exec('sudo reboot now', function (error, stdout, stderr) { diff --git a/br-webui/views/camera.liquid b/br-webui/views/camera.liquid new file mode 100644 index 00000000..f431d705 --- /dev/null +++ b/br-webui/views/camera.liquid @@ -0,0 +1,59 @@ +{% include ../_includes/header.liquid %} + + + +

    Camera Setup

    + +
    +
    +
    +
    +

    Edit Streaming Options

    +
    +
    +
    +

    raspivid options:

    + +
    +
    +

    gstreamer options:

    + +
    +
    + +
    +
    +
    +
    +
    + +{% include ../_includes/footer.liquid %} \ No newline at end of file diff --git a/scripts/restart-raspivid.sh b/scripts/restart-raspivid.sh new file mode 100755 index 00000000..0d05a554 --- /dev/null +++ b/scripts/restart-raspivid.sh @@ -0,0 +1,8 @@ +#!/bin/bash + +screen -X -S video quit +echo one +echo $1 +echo two +echo $2 +sudo -H -u pi screen -dm -S video $HOME/companion/scripts/start_raspivid.sh "$1" "$2" diff --git a/scripts/start_raspivid.sh b/scripts/start_raspivid.sh index d656f10d..db860256 100755 --- a/scripts/start_raspivid.sh +++ b/scripts/start_raspivid.sh @@ -28,4 +28,7 @@ export LD_LIBRARY_PATH=/usr/local/lib/ # HD Stream with some latency for RasPi camera (250ms on RPi3) # Use mode 2 for 1080p @ 15 fps and mode 5 for 922p @ 40 fps -raspivid $1 --output - | gst-launch-1.0 -v fdsrc ! $2 + +#./start_raspivid.sh '--nopreview --mode 5 --bitrate 15000000 --intra 1 --awb auto --brightness 55 --saturation 10 --sharpness 50 --contrast 15 -fl --timeout 0' 'h264parse ! rtph264pay config-interval=10 pt=96 ! udpsink host=192.168.2.1 port=5600' + +raspivid $1 --output - | gst-launch-1.0 -v fdsrc $2 diff --git a/scripts/start_video.sh b/scripts/start_video.sh index 7ee177ec..6e0208d8 100755 --- a/scripts/start_video.sh +++ b/scripts/start_video.sh @@ -4,5 +4,5 @@ if lsusb | grep 05a3:9422; then screen -dm -S video $HOME/companion/scripts/start_usbvid.sh else echo "Raspi Cam" - screen -dm -S video $HOME/companion/scripts/start_raspivid.sh + screen -dm -S video $HOME/companion/scripts/start_raspivid.sh '--nopreview --mode 5 --bitrate 15000000 --intra 1 --awb auto --brightness 55 --saturation 10 --sharpness 50 --contrast 15 -fl --timeout 0' '! h264parse ! rtph264pay config-interval=10 pt=96 ! udpsink host=192.168.2.1 port=5600' fi From b9bf6b9324567c30da70393927e3ad7ad529e75a Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 30 May 2017 15:31:19 -0400 Subject: [PATCH 128/256] Bugfix: allow spaces in wifi ssid or password. --- br-webui/index.js | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/br-webui/index.js b/br-webui/index.js index d4c8edad..994f9b76 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -69,7 +69,7 @@ networking.on('connection', function(socket) { logger.log('join network'); try { - var passphrase = child_process.execSync("wpa_passphrase " + data.ssid + " " + data.password); + var passphrase = child_process.execSync("wpa_passphrase '" + data.ssid + "' '" + data.password + "'"); var networkString = passphrase.toString(); networkString = networkString.replace(/\t#.*\n/g, ''); // strip unencrypted password out From 920f28f7bedd9e21671c22400cf353fe24eb9913 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 30 May 2017 15:34:10 -0400 Subject: [PATCH 129/256] Log some version information --- br-webui/index.js | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/br-webui/index.js b/br-webui/index.js index 994f9b76..7bb4d673 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -57,6 +57,14 @@ var server = app.listen(2770, function() { var host = server.address().address; var port = server.address().port; logger.log("App running at http://%s:%s", host, port); + + var cmd = child_process.exec('git describe --tags', function(error, stdout, stderr) { + logger.log('Companion version: ', stdout); + }); + + var cmd = child_process.exec('git rev-parse HEAD', function(error, stdout, stderr) { + logger.log('Git revision: ', stdout); + }); }); var io = require('socket.io')(server); From 13f8b348e138cb773fa376bae4c51e26f0a0661d Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 30 May 2017 16:38:32 -0400 Subject: [PATCH 130/256] Fix locale issues with firmware downloads --- br-webui/index.js | 2 +- tools/flash_px4.py | 13 ++++++++----- 2 files changed, 9 insertions(+), 6 deletions(-) diff --git a/br-webui/index.js b/br-webui/index.js index 7bb4d673..60a30570 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -290,7 +290,7 @@ io.on('connection', function(socket) { // Use spawn instead of exec to get callbacks for each line of stderr, stdout var cmd = child_process.spawn('/home/pi/companion/tools/flash_px4.py', ['--latest']); } else if (data.option == 'beta') { - var cmd = child_process.spawn('/home/pi/companion/tools/flash_px4.py', ['--url', 'http://firmware.us.ardupilot.org/Sub/beta/PX4/ArduSub-v2.px4']); + var cmd = child_process.spawn('/home/pi/companion/tools/flash_px4.py', ['--url', 'http://firmware.ardupilot.org/Sub/beta/PX4/ArduSub-v2.px4']); } else if (data.option == 'file') { var cmd = child_process.spawn('/home/pi/companion/tools/flash_px4.py', ['--file', '/tmp/data/' + data.file]); } else { diff --git a/tools/flash_px4.py b/tools/flash_px4.py index a89fbcb9..74bf6b98 100755 --- a/tools/flash_px4.py +++ b/tools/flash_px4.py @@ -1,7 +1,7 @@ #!/usr/bin/python -u import os -import urllib +from urllib2 import urlopen import time import sys import signal @@ -47,15 +47,18 @@ def timeout(signum, frame): firmwareURL = options.url print "Downloading ArduSub firmware from %s" % firmwareURL elif options.latest: - firmwareURL = "http://firmware.us.ardupilot.org/Sub/latest/PX4/ArduSub-v2.px4" + firmwareURL = "http://firmware.ardupilot.org/Sub/latest/PX4/ArduSub-v2.px4" print "Downloading latest ArduSub firmware from %s" % firmwareURL else: - firmwareURL = "http://firmware.us.ardupilot.org/Sub/stable/PX4/ArduSub-v2.px4" + firmwareURL = "http://firmware.ardupilot.org/Sub/stable/PX4/ArduSub-v2.px4" print "Downloading stable ArduSub firmware from %s" % firmwareURL try: - firmwarefile = urllib.URLopener() - firmwarefile.retrieve(firmwareURL, "/tmp/ArduSub-v2.px4") + firmwarefile = urlopen(firmwareURL) + with open("/tmp/ArduSub-v2.px4", "wb") as local_file: + local_file.write(firmwarefile.read()) + + local_file.close() except Exception as e: print(e) From 3ac474662c406bae46848fb7d91e3f4c31773054 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 4 Jul 2017 16:55:21 -0400 Subject: [PATCH 131/256] bugfix recursive copy for stash --- scripts/update.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/update.sh b/scripts/update.sh index f9b38bfa..13a0e7f8 100755 --- a/scripts/update.sh +++ b/scripts/update.sh @@ -7,7 +7,7 @@ echo 'removing old stash' rm -rf /home/pi/.companion echo 'stashing current repo' -cp /home/pi/companion /home/pi/.companion +cp -r /home/pi/companion /home/pi/.companion cd /home/pi/companion echo 'removing tags' From 71dc4e1b2da73675b0ce174148afc49d7826d954 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Thu, 6 Jul 2017 10:16:39 -0400 Subject: [PATCH 132/256] bugfix update recovery, recursive copy --- .companion.rc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.companion.rc b/.companion.rc index 6539fd6f..db2c3d62 100755 --- a/.companion.rc +++ b/.companion.rc @@ -11,7 +11,7 @@ else rm -f /home/pi/.updating if [ -d /home/pi/.companion ]; then rm -rf /home/pi/companion - cp /home/pi/.companion /home/pi/companion + cp -r /home/pi/.companion /home/pi/companion fi echo 'Trying to run again...' >> /home/pi/.update_log /home/pi/companion/.companion.rc From 3136d174c31981a248d3c6c2173345f0cd5468ad Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Thu, 6 Jul 2017 20:18:38 -0400 Subject: [PATCH 133/256] bugfix log permissions --- .companion.rc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.companion.rc b/.companion.rc index db2c3d62..07d06e13 100755 --- a/.companion.rc +++ b/.companion.rc @@ -7,12 +7,12 @@ if [ ! -f /home/pi/.updating ]; then sudo -H -u pi screen -dm -S audio /home/pi/companion/scripts/start_audio.sh sudo -H -u pi screen -dm -S file-manager node --harmony /home/pi/companion/br-webui/node_modules/node-file-manager/lib/index.js -p 7777 -d / else - echo 'UPDATE FAILED!' >> /home/pi/.update_log + sudo -H -u pi echo 'UPDATE FAILED!' >> /home/pi/.update_log rm -f /home/pi/.updating if [ -d /home/pi/.companion ]; then rm -rf /home/pi/companion cp -r /home/pi/.companion /home/pi/companion fi - echo 'Trying to run again...' >> /home/pi/.update_log + sudo -H -u pi echo 'Trying to run again...' >> /home/pi/.update_log /home/pi/companion/.companion.rc fi \ No newline at end of file From 36da23c9f2ea1168429440c0704ef594c29f730d Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 7 Jul 2017 11:51:51 -0400 Subject: [PATCH 134/256] bugfix permissions on recover --- .companion.rc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.companion.rc b/.companion.rc index 07d06e13..48ec60ec 100755 --- a/.companion.rc +++ b/.companion.rc @@ -11,7 +11,7 @@ else rm -f /home/pi/.updating if [ -d /home/pi/.companion ]; then rm -rf /home/pi/companion - cp -r /home/pi/.companion /home/pi/companion + sudo -H -u pi cp -r /home/pi/.companion /home/pi/companion fi sudo -H -u pi echo 'Trying to run again...' >> /home/pi/.update_log /home/pi/companion/.companion.rc From 47fc6de1118bfffb3ce8b3ee4af22dcff8e17c07 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 14 Jul 2017 23:59:40 -0400 Subject: [PATCH 135/256] comm_router.py: bugfix config file path was overwritten by update process --- tools/comm_router.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/comm_router.py b/tools/comm_router.py index c0dff1b9..6adf350a 100755 --- a/tools/comm_router.py +++ b/tools/comm_router.py @@ -11,7 +11,7 @@ # load configuration from file try: - endpoint.load('/home/pi/.companion/routing.conf') + endpoint.load('/home/pi/.routing.conf') except: pass From e12ca423dfc14ed84dc6c552eeb99a89faf53328 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Thu, 6 Jul 2017 15:24:00 -0400 Subject: [PATCH 136/256] Protect filesystem from accidental ravage --- scripts/expand_fs.sh | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/scripts/expand_fs.sh b/scripts/expand_fs.sh index 4619510c..27196e30 100755 --- a/scripts/expand_fs.sh +++ b/scripts/expand_fs.sh @@ -2,6 +2,15 @@ # Borrowed and modified from Raspbian usr/lib/raspi-config/init_resize.sh +# Abort if we are not on a Raspberry Pi +if grep -q 'Hardware : BCM2' /proc/cpuinfo; then + echo "RPI BUILD!" + RPI="1" +else + echo "This script should only be run on a Raspberry Pi!" + exit(1) +fi + get_variables () { ROOT_PART_DEV=$(findmnt / -o source -n) #/dev/mmcblk0p2 From 5a34524ea3c4f0067e55f736e0430bd4e3489bd2 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 31 May 2017 18:17:56 -0400 Subject: [PATCH 137/256] Don't include roi option in camera setup. --- br-webui/views/camera.liquid | 1 - 1 file changed, 1 deletion(-) diff --git a/br-webui/views/camera.liquid b/br-webui/views/camera.liquid index f431d705..9c2570de 100644 --- a/br-webui/views/camera.liquid +++ b/br-webui/views/camera.liquid @@ -37,7 +37,6 @@ --saturation 10 --sharpness 50 --contrast 15 --roi 0.02,0.0,0.81,0.85 -fl --timeout 0 From ae9154aca641c363c70b0604e7c61ed58218ae4c Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 10 Jul 2017 15:24:00 -0400 Subject: [PATCH 138/256] Add network test page --- br-webui/index.js | 77 ++++++++++++++++++++++ br-webui/package.json | 1 + br-webui/views/network.liquid | 119 ++++++++++++++++++++++++++++++++++ tools/100MB.file | Bin 0 -> 104857600 bytes 4 files changed, 197 insertions(+) create mode 100644 br-webui/views/network.liquid create mode 100644 tools/100MB.file diff --git a/br-webui/index.js b/br-webui/index.js index 60a30570..2fc9bc8d 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -49,10 +49,87 @@ app.get('/camera', function(req, res) { res.render('camera', {}); }); +app.get('/network', function(req, res) { + res.render('network', {}); +}); + + +// Thank you > https://github.com/nesk/network.js/issues/8 +app.get('/test', function(req, res) { + var module = req.param('module'); + //console.log("Dealing with: ", module); + + res.set({ + // Make sure the connection closes after each request + 'Connection': 'close', + // Don't let any caching happen + 'Cache-Control': 'no-cache, no-store, no-transform', + 'Pragma': 'no-cache', + }) + + + if (module && module == 'download') { + res.sendFile('/home/pi/companion/tools/100MB.file'); + +// // Default to 20mb file download, unless a size is specified. +// var contentSize = req.param('size', 20 * 1024 * 1024); +// var baseString = 'This text is so uncool, deal with it. 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'; +// var baseLength = baseString.length; +// +// // Make this an application/octet-stream +// res.set('Content-Type', 'application/octet-stream'); +// +// for (var i = 0; i < parseInt(contentSize / baseLength); i++) { +// res.write(baseString); +// } +// +// var lastBytes = contentSize % baseLength; +// +// if (lastBytes > 0) { +// res.write(baseString.substring(0, lastBytes)); +// } +// +// res.send(); + + } else { + // We need to actually send something, otherwise express just hangs forever + res.send('OK'); + } +}); + +app.post('/test', function(req, res) { + var module = req.param('module'); + //console.log("Dealing with: ", module); + res.set('Content-Type', 'text/html; charset=UTF-8'); + res.set('Connection', 'close'); + + var body = '' + + var length = 0; + + if (module && module == 'upload') { + req.on('data', function(data) { }); + + req.on('end', function() { + console.log('end', length); + res.send('bye.'); + }); + } else { + res.send("bye."); + } +}); +app.get('/home/pi/server.php', function(req, res) { + return res.sendFile('/home/pi/server.php'); +}); + app.get('/socket.io-file-client.js', (req, res, next) => { return res.sendFile(__dirname + '/node_modules/socket.io-file-client/socket.io-file-client.js'); }); +app.get('/network.min.js', (req, res, next) => { + return res.sendFile(__dirname + '/node_modules/network-js/dist/network.min.js'); +}); + var server = app.listen(2770, function() { var host = server.address().address; var port = server.address().port; diff --git a/br-webui/package.json b/br-webui/package.json index db31b9ae..34384eb5 100644 --- a/br-webui/package.json +++ b/br-webui/package.json @@ -11,6 +11,7 @@ "font-awesome": "latest", "fs": "latest", "jquery": "3.2.1", + "network-js": "2.1.0", "node-file-manager": "^0.4.6", "socket.io": "1.7.3", "socket.io-file": "latest", diff --git a/br-webui/views/network.liquid b/br-webui/views/network.liquid new file mode 100644 index 00000000..435acafb --- /dev/null +++ b/br-webui/views/network.liquid @@ -0,0 +1,119 @@ +{% include ../_includes/header.liquid %} + + + + +
    +
    +
    +
    +
    +

    + Bandwidth and Latency Testing +

    +
    + +
    +

    Test Network

    + + + +
    +

    Latency Results:

    +

    +
    +
    +

    Upload Results:

    +

    +
    +
    +

    Download Results:

    +

    +
    +
    +
    +
    +
    +
    + +{% include ../_includes/footer.liquid %} diff --git a/tools/100MB.file b/tools/100MB.file new file mode 100644 index 0000000000000000000000000000000000000000..36406a1eee032e80a284d3ed9f5176bba67be064 GIT binary patch literal 104857600 zcmeFtfdBvi0Dz$VsTV1P3IhfV7%*VKfB^#r3>YwAz<>b*1`HT5V8DO@0|pEjFkrxd z0RsjM7%*VKfB^#r3>YwAz<>b*1`HT5V8DO@0|pEjFkrxd0RsjM7%*VKfB^#r3>YwA zz<>b*1`HT5V8DO@0|pEjFkrxd0RsjM7%*VKfB^#r3>YwAz<>b*1`HT5V8DO@0|pEj zFkrxd0RsjM7%*VKfB^#r3>YwAz<>b*1`HT5V8DO@0|pEjFkrxd0RsjM7%*VKfB^#r z3>YwAz<>b*1`HT5V8DO@0|pEjFkrxd0RsjM7%*VKfB^#r3>YwAz<>b*1`HT5V8DO@ z0|pEjFkrxd0RsjM7%*VKfB^#r3>YwAz<>b*1`HT5V8DO@0|pEjFkrxd0RsjM7%*VK zfB^#r3>YwAz<>b*1`HT5V8DO@0|pEjFkrxd0RsjM7%*VKfB^#r3>YwAz<>b*1`HT5 zV8DO@0|pEjFkrxd0RsjM7%*VKfB^#r3>YwAz<>b*1`HT5V8DO@0|pEjFkrxd0RsjM z7%*VKfB^#r3>YwAz<>b*1`HT5V8DO@0|pEjFkrxd0RsjM7%*VKfB^#r3>YwAz<>b* z1`HT5V8DO@0|pEjFkrxd0RsjM7%*VKfB^#r3>YwAz<>b*1`HT5V8DO@0|pEjFkrxd z0RsjM7%*VKfB^#r3>YwAz<>b*1`HT5V8DO@0|pEjFkrxd0RsjM7%*VKfB^#r3>YwA 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z0|pEjFkrxd0RsjM7%*VKfB^#r3>YwAz<>b*1`HT5V8DO@0|pEjFkrxd0RsjM7%*VK zfB^#r3>YwAz<>b*1`HT5V8DO@0|pEjFkrxd0RsjM7%*VKfB^#r3>YwAz<>b*1`HT5 zV8DO@0|pEjFkrxd0RsjM7%*VKfB^#r3>YwAz<>b*1`HT5V8DO@0|pEjFkrxd0RsjM z7%*VKfB^#r3>YwAz<>b*1`HT5V8DO@0|pEjFkrxd0RsjM7%*VKfB^#r3>YwAz<>b* a1`HT5V8DO@0|pEjFkrxd0RsjMyaobYzyJXN literal 0 HcmV?d00001 From 9627363854a5a0e9aaa222ba5abd4428c0e9332d Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 12 Jul 2017 00:43:07 -0400 Subject: [PATCH 139/256] Rework internet status updates --- br-webui/index.js | 27 +++++++++++++-------------- br-webui/views/index.liquid | 13 ++++++------- 2 files changed, 19 insertions(+), 21 deletions(-) diff --git a/br-webui/index.js b/br-webui/index.js index 2fc9bc8d..4192a558 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -217,20 +217,6 @@ networking.on('connection', function(socket) { }); - // Query internet connectivity - socket.on('get internet status', function() { - logger.log("get internet status") - var cmd = child_process.exec('ping -c1 google.com', function (error, stdout, stderr) { - logger.log("ping -c1 google.com : ", error + stdout + stderr); - if (error) { - socket.emit('internet status', '

    Not Connected

    '); - } else { - socket.emit('internet status', '

    Connected

    '); - } - }) - }); - - socket.on('get wifi status', function() { logger.log("get wifi status"); var cmd = child_process.exec('sudo wpa_cli status', function (error, stdout, stderr) { @@ -264,6 +250,19 @@ networking.on('connection', function(socket) { }); }); +function updateInternetStatus() { + var cmd = child_process.exec('ping -c1 google.com', function (error, stdout, stderr) { + logger.log("ping -c1 google.com : ", error + stdout + stderr); + if (error) { + _internet_connected = false; + } else { + _internet_connected = true; + } + io.emit('internet status', _internet_connected); + }); +} + +setInterval(updateInternetStatus, 2500); io.on('connection', function(socket) { diff --git a/br-webui/views/index.liquid b/br-webui/views/index.liquid index 1d5e9c09..b201fb0c 100644 --- a/br-webui/views/index.liquid +++ b/br-webui/views/index.liquid @@ -36,11 +36,15 @@ networking.on('wifi aps', function(data) { select.selectedIndex = newIndex; }); -networking.on('internet status', function(data) { +socket.on('internet status', function(data) { console.log('got internet status') console.log(data); var statusIndicator = document.getElementById("internet-status"); - statusIndicator.innerHTML = data; + if (data == true) { + statusIndicator.innerHTML = '

    Connected

    '; + } else { + statusIndicator.innerHTML = '

    Not Connected

    '; + } }); networking.on('wifi status', function(data) { @@ -69,14 +73,9 @@ function disableButton(disabled) { document.getElementById('spinner').style.visibility = disabled ? "visible" : "hidden"; } -networking.emit('get internet status'); networking.emit('get wifi status'); networking.emit('get wifi aps'); -setInterval(function() { - networking.emit('get internet status'); -}, 3000); - setInterval(function() { networking.emit('get wifi status'); }, 3000); From 51e51e89422e8d64f3b7be46b83a5cc41e858fd2 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 12 Jul 2017 09:05:45 -0400 Subject: [PATCH 140/256] Lockout functions requiring internet when not available --- br-webui/views/system.liquid | 60 ++++++++++++++++++++++-------------- 1 file changed, 37 insertions(+), 23 deletions(-) diff --git a/br-webui/views/system.liquid b/br-webui/views/system.liquid index 5329613f..bcfe57f0 100644 --- a/br-webui/views/system.liquid +++ b/br-webui/views/system.liquid @@ -2,7 +2,20 @@ @@ -173,7 +187,7 @@ function submit(onComplete, onStream, fileElement) { Companion Version

    Download Update: No Updates Available

    - +

    Upload Zipped Update:

    @@ -198,9 +212,9 @@ function submit(onComplete, onStream, fileElement) {

    Download and Update (Requires Internet Connection):

    - - - + + +

    Upload Firmware File:

    From da5b10721021557007806acbe2f6c6296f38aed2 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 12 Jul 2017 09:44:10 -0400 Subject: [PATCH 141/256] Rework Pixhawk update functions --- br-webui/views/system.liquid | 18 +++--------------- 1 file changed, 3 insertions(+), 15 deletions(-) diff --git a/br-webui/views/system.liquid b/br-webui/views/system.liquid index bcfe57f0..a5ce148e 100644 --- a/br-webui/views/system.liquid +++ b/br-webui/views/system.liquid @@ -50,18 +50,6 @@ function companionProgress(fileInfo) { document.getElementById('companionProgress').innerHTML = `Uploading: ${fileInfo.sent} / ${fileInfo.size} byte(s)`; } -function updatePixhawkDev() { - updatePixhawk('dev'); -} - -function updatePixhawkBeta() { - updatePixhawk('beta'); -} - -function updatePixhawkStable() { - updatePixhawk('stable'); -} - function updatePixhawkFile(fileInfo) { document.getElementById('pixhawkProgress').innerHTML = ""; uploader.off('stream', pixhawkProgress); @@ -212,9 +200,9 @@ function submit(onComplete, onStream, fileElement) {

    Download and Update (Requires Internet Connection):

    - - - + + +

    Upload Firmware File:

    From 8e22d1d58b760025cc3d9c367423435990272106 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Thu, 13 Jul 2017 19:09:58 -0400 Subject: [PATCH 142/256] Use COMPANION_DIR environment variable for paths --- .companion.rc | 23 ++++++++++++----------- br-webui/index.js | 26 ++++++++++++++++---------- br-webui/views/routing.liquid | 4 ++-- scripts/start_webui.sh | 3 ++- tools/comm_router.py | 2 +- 5 files changed, 33 insertions(+), 25 deletions(-) diff --git a/.companion.rc b/.companion.rc index 48ec60ec..5abcabb4 100755 --- a/.companion.rc +++ b/.companion.rc @@ -1,18 +1,19 @@ +export COMPANION_DIR=/home/pi/companion if [ ! -f /home/pi/.updating ]; then - sudo -H -u pi screen -dm -S mavproxy /home/pi/companion/scripts/start_mavproxy_telem_splitter.sh - sudo -H -u pi /home/pi/companion/scripts/start_video.sh - sudo -H -u pi screen -dm -S webui /home/pi/companion/scripts/start_webui.sh - sudo -H -u pi screen -dm -S webterminal /home/pi/companion/scripts/start_webterminal.sh - sudo -H -u pi screen -dm -S commrouter /home/pi/companion/tools/comm_router.py - sudo -H -u pi screen -dm -S audio /home/pi/companion/scripts/start_audio.sh - sudo -H -u pi screen -dm -S file-manager node --harmony /home/pi/companion/br-webui/node_modules/node-file-manager/lib/index.js -p 7777 -d / + sudo -H -u pi screen -dm -S mavproxy $COMPANION_DIR/scripts/start_mavproxy_telem_splitter.sh + sudo -H -u pi $COMPANION_DIR/scripts/start_video.sh + sudo -H -u pi screen -dm -S webui $COMPANION_DIR/scripts/start_webui.sh + sudo -H -u pi screen -dm -S webterminal $COMPANION_DIR/scripts/start_webterminal.sh + sudo -H -u pi screen -dm -S commrouter $COMPANION_DIR/tools/comm_router.py + sudo -H -u pi screen -dm -S audio $COMPANION_DIR/scripts/start_audio.sh + sudo -H -u pi screen -dm -S file-manager node --harmony $COMPANION_DIR/br-webui/node_modules/node-file-manager/lib/index.js -p 7777 -d / else sudo -H -u pi echo 'UPDATE FAILED!' >> /home/pi/.update_log rm -f /home/pi/.updating if [ -d /home/pi/.companion ]; then - rm -rf /home/pi/companion - sudo -H -u pi cp -r /home/pi/.companion /home/pi/companion + rm -rf $COMPANION_DIR + sudo -H -u pi cp -r ~/.companion $COMPANION_DIR fi sudo -H -u pi echo 'Trying to run again...' >> /home/pi/.update_log - /home/pi/companion/.companion.rc -fi \ No newline at end of file + $COMPANION_DIR/.companion.rc +fi diff --git a/br-webui/index.js b/br-webui/index.js index 4192a558..b0ffaaaa 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -4,7 +4,9 @@ const child_process = require('child_process'); const dgram = require('dgram'); const SocketIOFile = require('socket.io-file'); var logger = require('tracer').console(); - +var env = process.env +logger.log('ENVIRONMENT', process.env) +logger.log('COMPANION_DIR', process.env.COMPANION_DIR) app.use(express.static('public')); app.use('/js', express.static(__dirname + '/node_modules/bootstrap/dist/js')); // redirect bootstrap JS app.use('/js', express.static(__dirname + '/node_modules/jquery/dist')); // redirect JS jQuery @@ -30,6 +32,9 @@ app.set('view engine', 'liquid'); app.engine('liquid', expressLiquid(options)); app.use(expressLiquid.middleware); +// Companion repository root directory +var _companion_directory = process.env.COMPANION_DIR; + ////////////////// Routes // root @@ -69,7 +74,7 @@ app.get('/test', function(req, res) { if (module && module == 'download') { - res.sendFile('/home/pi/companion/tools/100MB.file'); + res.sendFile(_companion_directory + '/tools/100MB.file'); // // Default to 20mb file download, unless a size is specified. // var contentSize = req.param('size', 20 * 1024 * 1024); @@ -323,11 +328,11 @@ io.on('connection', function(socket) { var cmd; if (data) { logger.log('from file', data); - cmd = child_process.spawn('/home/pi/companion/scripts/sideload.sh', ['/tmp/data/' + data], { + cmd = child_process.spawn(_companion_directory + '/scripts/sideload.sh', ['/tmp/data/' + data], { detached: true }); } else { - cmd = child_process.spawn('/home/pi/companion/scripts/update.sh', { + cmd = child_process.spawn(_companion_directory + '/scripts/update.sh', { detached: true }); } @@ -364,13 +369,13 @@ io.on('connection', function(socket) { logger.log("update pixhawk"); if (data.option == 'dev') { // Use spawn instead of exec to get callbacks for each line of stderr, stdout - var cmd = child_process.spawn('/home/pi/companion/tools/flash_px4.py', ['--latest']); + var cmd = child_process.spawn(_companion_directory + '/tools/flash_px4.py', ['--latest']); } else if (data.option == 'beta') { - var cmd = child_process.spawn('/home/pi/companion/tools/flash_px4.py', ['--url', 'http://firmware.ardupilot.org/Sub/beta/PX4/ArduSub-v2.px4']); + var cmd = child_process.spawn(_companion_directory + '/tools/flash_px4.py', ['--url', 'http://firmware.ardupilot.org/Sub/beta/PX4/ArduSub-v2.px4']); } else if (data.option == 'file') { - var cmd = child_process.spawn('/home/pi/companion/tools/flash_px4.py', ['--file', '/tmp/data/' + data.file]); + var cmd = child_process.spawn(_companion_directory + '/tools/flash_px4.py', ['--file', '/tmp/data/' + data.file]); } else { - var cmd = child_process.spawn('/home/pi/companion/tools/flash_px4.py'); + var cmd = child_process.spawn(_companion_directory + '/tools/flash_px4.py'); } cmd.stdout.on('data', function (data) { @@ -394,9 +399,10 @@ io.on('connection', function(socket) { }); }); + socket.on('restart video', function(data) { - logger.log('/home/pi/companion/scripts/restart-raspivid.sh "' + data.rpiOptions + '" "' + data.gstOptions + '"'); - var cmd = child_process.spawn('/home/pi/companion/scripts/restart-raspivid.sh', [data.rpiOptions , data.gstOptions], { + logger.log(_companion_directory + '/scripts/restart-raspivid.sh "' + data.rpiOptions + '" "' + data.gstOptions + '"'); + var cmd = child_process.spawn(_companion_directory + '/scripts/restart-raspivid.sh', [data.rpiOptions , data.gstOptions], { detached: true }); diff --git a/br-webui/views/routing.liquid b/br-webui/views/routing.liquid index e9931993..399fec80 100644 --- a/br-webui/views/routing.liquid +++ b/br-webui/views/routing.liquid @@ -188,7 +188,7 @@ }; function saveAll() { - var filename = '/home/pi/companion/config/SAVED.conf' + var filename = '$HOME/SAVED.conf' socket.emit('routing request', { 'request' : 'save all', 'filename' : filename @@ -200,7 +200,7 @@ }; function loadAll(soft=false) { - var filename = '/home/pi/companion/config/SAVED.conf' + var filename = '$HOME/SAVED.conf' socket.emit('routing request', { 'request' : 'load all', 'filename' : filename, diff --git a/scripts/start_webui.sh b/scripts/start_webui.sh index deb0c058..5b9fdede 100755 --- a/scripts/start_webui.sh +++ b/scripts/start_webui.sh @@ -1,6 +1,7 @@ #!/bin/bash +export COMPANION_DIR=/home/pi/companion -cd $HOME/companion/br-webui/ +cd $COMPANION_DIR/br-webui/ # limit logfile size tail -n 10000 /home/pi/.webui.log > /tmp/.webui.log diff --git a/tools/comm_router.py b/tools/comm_router.py index 6adf350a..b29c5f48 100755 --- a/tools/comm_router.py +++ b/tools/comm_router.py @@ -11,7 +11,7 @@ # load configuration from file try: - endpoint.load('/home/pi/.routing.conf') + endpoint.load('/home/pi/routing.conf') except: pass From a8395331179c461a55aaa39dcc1313b601f2aebe Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Thu, 13 Jul 2017 22:11:53 -0400 Subject: [PATCH 143/256] bugfix exit code on expand_fs.sh --- scripts/expand_fs.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/expand_fs.sh b/scripts/expand_fs.sh index 27196e30..3f70ce19 100755 --- a/scripts/expand_fs.sh +++ b/scripts/expand_fs.sh @@ -8,7 +8,7 @@ if grep -q 'Hardware : BCM2' /proc/cpuinfo; then RPI="1" else echo "This script should only be run on a Raspberry Pi!" - exit(1) + exit 1 fi get_variables () { From b5358b7ff9868a8cae2a2a0a4fa5877c9b87b420 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Thu, 13 Jul 2017 22:18:01 -0400 Subject: [PATCH 144/256] formatting --- scripts/start_raspivid.sh | 31 ------------------------------- 1 file changed, 31 deletions(-) diff --git a/scripts/start_raspivid.sh b/scripts/start_raspivid.sh index db860256..12f5baa5 100755 --- a/scripts/start_raspivid.sh +++ b/scripts/start_raspivid.sh @@ -1,34 +1,3 @@ export LD_LIBRARY_PATH=/usr/local/lib/ -# Video Streaming Command -# Please uncomment only one line depending on streaming preference - -# For all streaming options: -# - Since we are hardwired through tether, bitrate is high to maximize quality -# - Auto white balance is disabled -# - Video stream is flushed to minimize latency -# - Framerate is maximized -# - Port 5600 is used for compatibility with QGroundControl - -# Low-latency, low resolution stream (100ms) - -# raspivid --nopreview \ -# --width 640 \ -# --height 480 \ -# --bitrate 10000000 -# -fps 30 \ -# --awb off \ -# -roi 0.02,0.0,0.81,0.85 \ -# -fl \ -# --timeout 0 \ -# --output - | \ -# gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! \ -# udpsink host=192.168.2.1 port=5600 - -# HD Stream with some latency for RasPi camera (250ms on RPi3) -# Use mode 2 for 1080p @ 15 fps and mode 5 for 922p @ 40 fps - - -#./start_raspivid.sh '--nopreview --mode 5 --bitrate 15000000 --intra 1 --awb auto --brightness 55 --saturation 10 --sharpness 50 --contrast 15 -fl --timeout 0' 'h264parse ! rtph264pay config-interval=10 pt=96 ! udpsink host=192.168.2.1 port=5600' - raspivid $1 --output - | gst-launch-1.0 -v fdsrc $2 From 5e3e7c60dc203f2a16c1d90424739f7040d637de Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Thu, 13 Jul 2017 22:22:50 -0400 Subject: [PATCH 145/256] add #!/bin/bash to start_video.sh --- scripts/start_video.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/start_video.sh b/scripts/start_video.sh index 6e0208d8..f3f78884 100755 --- a/scripts/start_video.sh +++ b/scripts/start_video.sh @@ -1,4 +1,4 @@ -cd $HOME +#!/bin/bash if lsusb | grep 05a3:9422; then echo "USB Cam" screen -dm -S video $HOME/companion/scripts/start_usbvid.sh From 1de7696b2141111c5e42a59a7edbc7cba6a9dfe9 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Sun, 16 Jul 2017 02:27:04 -0400 Subject: [PATCH 146/256] comm_router.py: Print out file load status --- tools/comm_router.py | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/tools/comm_router.py b/tools/comm_router.py index b29c5f48..e264062b 100755 --- a/tools/comm_router.py +++ b/tools/comm_router.py @@ -11,9 +11,13 @@ # load configuration from file try: + print 'loading configuration from file...' endpoint.load('/home/pi/routing.conf') -except: - pass + print 'configuration successfully loaded' +except Exception as e: + print 'error loading configuration' + print e + pass # we will listen here for requests sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) From 400896bfce9938b8d4638d137dffce87cd30631e Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Sun, 16 Jul 2017 23:02:41 -0400 Subject: [PATCH 147/256] fixup comm_router default config path --- tools/comm_router.py | 118 +++++++++++++++++++++---------------------- 1 file changed, 59 insertions(+), 59 deletions(-) diff --git a/tools/comm_router.py b/tools/comm_router.py index e264062b..14f13c42 100755 --- a/tools/comm_router.py +++ b/tools/comm_router.py @@ -25,62 +25,62 @@ sock.bind(('0.0.0.0', 18990)) while True: - # don't hog the cpu - time.sleep(0.01) - - # read all endpoints and write all routes - for _endpoint in endpoint.endpoints: - _endpoint.read() - - try: - # see if there is a new request - data, address = sock.recvfrom(1024) - print("\n%s sent %s\n") % (address, data) - - # all requests come packed in json - msg = json.loads(data) - - try: - request = msg['request'] - print("Got request %s") % request - except: - print "No request!" - continue - - if request == 'add endpoint': - endpoint.add(endpoint.from_json(msg)) - - elif request == 'remove endpoint': - endpoint.remove(msg['id']) - sock.sendto(endpoint.to_json(), address) - - elif request == 'connect endpoints': - print('got connect request: %s') % data - endpoint.connect(msg['source'], msg['target']) - - elif request == 'disconnect endpoints': - endpoint.disconnect(msg['source'], msg['target']) - - elif request == 'save all': - endpoint.save(msg['filename']) - - # Hard load replaces current configuration with load configuration - # Soft load appends load configuration to current configuration - elif request == 'load all': - if msg['soft'] == False: - print("Hard load") - # TODO: garbage collect? - endpoint.endpoints = [] - endpoint.load(msg['filename']) - - # send updated list of endpoints - sock.sendto(endpoint.to_json(), address) - - # save current list of endpoints - endpoint.save('/home/pi/.companion/routing.conf') - - except socket.error as e: - continue - except Exception as e: - print("Error: %s") % e - continue + # don't hog the cpu + time.sleep(0.01) + + # read all endpoints and write all routes + for _endpoint in endpoint.endpoints: + _endpoint.read() + + try: + # see if there is a new request + data, address = sock.recvfrom(1024) + print("\n%s sent %s\n") % (address, data) + + # all requests come packed in json + msg = json.loads(data) + + try: + request = msg['request'] + print("Got request %s") % request + except: + print "No request!" + continue + + if request == 'add endpoint': + endpoint.add(endpoint.from_json(msg)) + + elif request == 'remove endpoint': + endpoint.remove(msg['id']) + sock.sendto(endpoint.to_json(), address) + + elif request == 'connect endpoints': + print('got connect request: %s') % data + endpoint.connect(msg['source'], msg['target']) + + elif request == 'disconnect endpoints': + endpoint.disconnect(msg['source'], msg['target']) + + elif request == 'save all': + endpoint.save(msg['filename']) + + # Hard load replaces current configuration with load configuration + # Soft load appends load configuration to current configuration + elif request == 'load all': + if msg['soft'] == False: + print("Hard load") + # TODO: garbage collect? + endpoint.endpoints = [] + endpoint.load(msg['filename']) + + # send updated list of endpoints + sock.sendto(endpoint.to_json(), address) + + # save current list of endpoints + endpoint.save('/home/pi/routing.conf') + + except socket.error as e: + continue + except Exception as e: + print("Error: %s") % e + continue From 6b1e1d2519aeaaf062b6dcb6eabb3df58e838a75 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Thu, 6 Jul 2017 13:59:39 -0400 Subject: [PATCH 148/256] Add git remote configuration page --- br-webui/index.js | 320 ++++++++++++++++++++++++++++++++- br-webui/package.json | 1 + br-webui/views/git.liquid | 312 ++++++++++++++++++++++++++++++++ scripts/authenticate-github.sh | 22 +++ scripts/post-update.sh | 27 ++- scripts/start_webui.sh | 7 +- scripts/update.sh | 43 +++-- 7 files changed, 716 insertions(+), 16 deletions(-) create mode 100644 br-webui/views/git.liquid create mode 100755 scripts/authenticate-github.sh diff --git a/br-webui/index.js b/br-webui/index.js index b0ffaaaa..ec91865f 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -123,10 +123,15 @@ app.post('/test', function(req, res) { res.send("bye."); } }); + app.get('/home/pi/server.php', function(req, res) { return res.sendFile('/home/pi/server.php'); }); +app.get('/git', function(req, res) { + res.render('git', {}); +}); + app.get('/socket.io-file-client.js', (req, res, next) => { return res.sendFile(__dirname + '/node_modules/socket.io-file-client/socket.io-file-client.js'); }); @@ -151,6 +156,318 @@ var server = app.listen(2770, function() { var io = require('socket.io')(server); var networking = io.of('/networking'); +var gitsetup = io.of('/gitsetup'); + + +/////////////////////////////////////////////////////////////// +//////////////// Git setup functions ////////////////////// +/////////////////////////////////////////////////////////////// + +var Git = require('nodegit'); + +var _current_HEAD = ''; + +//hack/workaround for remoteCallback spinlock +var _authenticated = false; + +// We store all of the remote references in this format: +//var _refs = { +// 'remotes' : { +// +// 'upstream' : { +// 'branches' : [], +// 'tags' : [] +// }, +// +// 'origin' : { +// 'branches' : [], +// 'tags' : [] +// } +// } +//} + +// TODO open/init git repository in callback here +checkGithubAuthentication(); + +var _refs = { 'remotes' : {} }; + +var companionRepository = null; +Git.Repository.open(_companion_directory) + .then(function(repository) { + companionRepository = repository; + updateCurrentHead(companionRepository); + emitRemotes(); + }) + .catch(function(err) { logger.log(err); }); + +function updateCurrentHEAD(repository) { + repository.head() + .then(function(reference) { + _current_HEAD = reference.target().tostrS().substring(0,8); + io.emit('current HEAD', _current_HEAD); + console.log('Current HEAD:', reference.target().tostrS().substring(0,8)); + }); +} + +//Set up fetch options and credential callback +var fetchOptions = new Git.FetchOptions(); +var remoteCallbacks = new Git.RemoteCallbacks(); + +remoteCallbacks.credentials = function(url, userName) { + logger.log('credentials required', url, userName); + + if (!_authenticated) { + return null; + } + + var creds = Git.Cred.sshKeyFromAgent(userName); + return creds; +} +fetchOptions.callbacks = remoteCallbacks; +fetchOptions.downloadTags = 1; + +// Fetch and parse remote references, add them to our list +// Emit our list after each remote's references are parsed +function formatRemote(remoteName) { + // Add new remote to our list + var newRemote = { + 'branches' : [], + 'tags' : [] + } + _refs.remotes[remoteName] = newRemote; + + companionRepository.getRemote(remoteName) + .then(function(remote) { + logger.log('connecting to remote', remote.name()); + remote.connect(Git.Enums.DIRECTION.FETCH, remoteCallbacks) + .then(function(errorCode) { + // Get a list of refs + remote.referenceList() + .then(function(promiseArrayRemoteHead) { + // Get the name of each ref, determine if it is a branch or tag + // and add it to our list + promiseArrayRemoteHead.forEach(function(ref) { + var branch + var tag + var oid = ref.oid().tostrS().substring(0,8); + if (branch = ref.name().split('refs/heads/')[1]) { + var newRef = [branch, oid] + _refs.remotes[remoteName].branches.push(newRef); + } else if (tag = ref.name().split('refs/tags/')[1]) { + var newRef = [tag, oid] + _refs.remotes[remoteName].tags.push(newRef); + } + }); + + // Update frontend with most recent list + io.emit('refs', _refs); + }) + .catch(function(err) { logger.log(err); }); + }) + .catch(function(err) { logger.log(err); }); + }) + .catch(function(err) { logger.log(err); }); +} + + +// Fetch, format, emit the refs on each remote +function formatRemotes(remoteNames) { + logger.log('formatRemotes', remoteNames); + remoteNames.forEach(formatRemote); +} + + +// Get all remote references, compile a formatted list, and update frontend +function emitRemotes() { + if (companionRepository == null) { + return; + } + + updateCurrentHEAD(companionRepository); + + companionRepository.getRemotes() + .then(formatRemotes) + .catch(function(err) { logger.log(err); }); +} + + +//Check to see if we have ssh authentication with github +function checkGithubAuthentication(callback) { + var cmd = 'ssh -T git@github.com'; + child_process.exec(cmd, function(err, stdout, stderr) { + logger.log(cmd + ' returned ' + err ? err.code : '0'); + logger.log('stdout:\n' + stdout); + logger.log('stderr:\n' + stderr); + + // github greeting comes through stderr + _authenticated = err ? err.code == 1 && stderr.indexOf('successfully authenticated') > -1 : false; + + logger.log(err.code == 1); + logger.log(stderr.indexOf('successfully authenticated')); + logger.log(_authenticated); + + if (callback) { + callback(_authenticated); + } + }); +} + + +// Let frontend know if we are authenticated or not +function emitAuthenticationStatus(status) { + io.emit('authenticated', status); +} + + +// Not used +// fetch a remote by name +function fetchRemote(remote) { + logger.log('fetching', remote); + companionRepository.fetch(remote, fetchOptions) + .then(function(status) { + logger.log('fetch success', status); + }) + .catch(function(status) { + logger.log('fetch fail', status); + }); +} + + +// Checkout a reference object +function checkout(reference) { + logger.log('reference', reference.name()); + companionRepository.checkoutRef(reference) + .catch(function(err) { logger.log(err); }); +} + +/////////////////////////////////////////////////////////////// +//////////////// ^Git setup functions^ ////////////////////// +/////////////////////////////////////////////////////////////// + + +gitsetup.on('connection', function(socket) { + // Populate frontend reference list + emitRemotes(companionRepository); + + // Request to checkout remote reference + socket.on('checkout with ref', function(data) { + var referenceName = ''; + + if (data.branch) { + referenceName = data.remote + "/" + data.branch; + } else if (data.tag) { + // TODO delete tag and fetch first + referenceName = data.tag; + } + + // Get reference object then checkout + companionRepository.getReference(referenceName) + .then(checkout) + .catch(function(err) { + logger.log(err); + socket.emit('git error', err); + }); + }); + + // Request to run companion update scripts to update + // to target reference + socket.on('update with ref', function(data) { + + var arg1 = data.remote; + var arg2 = ''; + var arg3 = ''; + var arg4 = ''; + + if (data.copyOption) { + arg4 = data.copyOption; + console.log('ARG 4', arg4); + } + + if (data.branch) { + arg2 = data.branch; + } else if (data.tag) { + // TODO delete tag and fetch first + arg3 = data.tag; + } + + var args = [arg1, arg2, arg3, arg4]; + + // system setup + logger.log("update companion with ref", args); + var cmd = child_process.spawn(_companion_directory + '/scripts/update.sh', args, { + detached: true + }); + + // Ignore parent exit, we will restart this application after updating + cmd.unref(); + + cmd.stdout.on('data', function (data) { + logger.log(data.toString()); + + socket.emit('terminal output', data.toString()); + if (data.indexOf("Update Complete, refresh your browser") > -1) { + socket.emit('companion update complete'); + } + }); + + cmd.stderr.on('data', function (data) { + logger.error(data.toString()); + socket.emit('terminal output', data.toString()); + }); + + cmd.on('exit', function (code) { + logger.log('companion update exited with code ' + code.toString()); + socket.emit('companion update complete'); + }); + + cmd.on('error', (err) => { + logger.error('companion update errored: ', err.toString()); + }); + }); + + // Fetch all remotes and update + socket.on('fetch', function(data) { + logger.log('fetching remotes'); + companionRepository.fetchAll(fetchOptions) + .then(emitRemotes) + .catch(function(err) { + logger.log(err); + socket.emit('git error', err); + }); + }); + + // Frontend requesting authentication status + socket.on('authenticated?', function(data) { + checkGithubAuthentication(emitAuthenticationStatus) + }); + + // Get credentials from frontend, authenticate and update + socket.on('credentials', function(data) { + var cmd = _companion_directory + '/scripts/authenticate-github.sh ' + data.username + ' ' + data.password; + child_process.exec(cmd, function(err, stdout, stderr) { + logger.log('Authentication returned ' + err); + logger.log('stdout:\n' + stdout); + logger.log('stderr:\n' + stderr); + checkGithubAuthentication(function(status) { + emitAuthenticationStatus(status); + emitRemotes(); + }); + }); + }); + + // Add a remote to the local repository + socket.on('add remote', function(data) { + logger.log('add remote', data); + Git.Remote.create(companionRepository, data.name, data.url) + .then(function(remote) { + emitRemotes(); + }) + .catch(function(err) { + logger.log(err); + socket.emit('git error', err); + }); + }); +}); networking.on('connection', function(socket) { @@ -332,7 +649,8 @@ io.on('connection', function(socket) { detached: true }); } else { - cmd = child_process.spawn(_companion_directory + '/scripts/update.sh', { + var args = ['origin', '', 'stable']; + cmd = child_process.spawn(_companion_directory + '/scripts/update.sh', args, { detached: true }); } diff --git a/br-webui/package.json b/br-webui/package.json index 34384eb5..1bb3bab1 100644 --- a/br-webui/package.json +++ b/br-webui/package.json @@ -13,6 +13,7 @@ "jquery": "3.2.1", "network-js": "2.1.0", "node-file-manager": "^0.4.6", + "nodegit": "0.18.3", "socket.io": "1.7.3", "socket.io-file": "latest", "socket.io-file-client": "latest", diff --git a/br-webui/views/git.liquid b/br-webui/views/git.liquid new file mode 100644 index 00000000..5c39dfec --- /dev/null +++ b/br-webui/views/git.liquid @@ -0,0 +1,312 @@ +{% include ../_includes/header.liquid %} + + + + +
    +

    Checking Authentication Status

    + +
    + + + + + + + + + + +{% include ../_includes/footer.liquid %} diff --git a/scripts/authenticate-github.sh b/scripts/authenticate-github.sh new file mode 100755 index 00000000..67ac794d --- /dev/null +++ b/scripts/authenticate-github.sh @@ -0,0 +1,22 @@ +#!/bin/bash + +USERNAME=$1 +PASSWORD=$2 + +echo 'Removing old key' +rm -f ~/.ssh/id_rsa ~/.ssh/id_rsa.pub + +echo 'Generating new ssh key' +ssh-keygen -f ~/.ssh/id_rsa -q -N "" + +echo 'Registering new key with ssh-agent' +ssh-add ~/.ssh/id_rsa + +# spit out the public key and form JSON request +PUBKEY=$(cat ~/.ssh/id_rsa.pub) +PAYLOAD='{"title":"companion-access","key":"'$PUBKEY'"}' + +#echo 'Authenticating github with new key' +RESPONSE=$(curl -u "$USERNAME:$PASSWORD" --data "$PAYLOAD" https://api.github.com/user/keys) + +exit $(echo $RESPONSE | grep -q '"verified": true') diff --git a/scripts/post-update.sh b/scripts/post-update.sh index 35e7ffad..92ed83f7 100755 --- a/scripts/post-update.sh +++ b/scripts/post-update.sh @@ -1,7 +1,32 @@ #!/bin/bash +cd /home/pi/companion/br-webui + +if ! npm list nodegit | grep -q nodegit@0.18.3; then + echo 'Fetching nodegit packages for raspberry pi...' + wget https://s3.amazonaws.com/downloads.bluerobotics.com/Pi/dependencies/nodegit/nodegit_required_modules.zip -O /tmp/nodegit_required_modules.zip + echo 'Extracting prebuilt packages...' + unzip -q /tmp/nodegit_required_modules.zip -d ~/companion/br-webui/node_modules/ +fi + echo 'run npm install' -cd /home/pi/companion/br-webui && npm install +npm install + +echo 'checking for github in known_hosts' + +# Check for github key in known_hosts +if ! ssh-keygen -H -F github.com; then + mkdir ~/.ssh + + # Get gihub public key + ssh-keyscan -t rsa -H github.com > /tmp/githost + + # Verify fingerprint + if ssh-keygen -lf /tmp/githost | grep -q 16:27:ac:a5:76:28:2d:36:63:1b:56:4d:eb:df:a6:48; then + # Add to known_hosts + cat /tmp/githost >> ~/.ssh/known_hosts + fi +fi echo 'Update Complete, refresh your browser' diff --git a/scripts/start_webui.sh b/scripts/start_webui.sh index 5b9fdede..9cd53e2f 100755 --- a/scripts/start_webui.sh +++ b/scripts/start_webui.sh @@ -3,9 +3,14 @@ export COMPANION_DIR=/home/pi/companion cd $COMPANION_DIR/br-webui/ -# limit logfile size +# limit logfile size to 10k lines tail -n 10000 /home/pi/.webui.log > /tmp/.webui.log cp /tmp/.webui.log /home/pi/.webui.log rm -f /tmp/.webui.log +# start ssh-agent for git/ssh authentication +eval "$(ssh-agent -s)" +ssh-add ~/.ssh/id_rsa + +# start webserver node index.js 2>&1 | tee -a /home/pi/.webui.log diff --git a/scripts/update.sh b/scripts/update.sh index 13a0e7f8..9d4bdb26 100755 --- a/scripts/update.sh +++ b/scripts/update.sh @@ -1,26 +1,43 @@ #!/bin/bash +REMOTE=$1 +REF=$2 + + + echo 'adding lock' touch /home/pi/.updating -echo 'removing old stash' -rm -rf /home/pi/.companion -echo 'stashing current repo' -cp -r /home/pi/companion /home/pi/.companion +if [ -z "$4" ]; then + echo 'skipping stash...' +else + echo 'removing old stash' + rm -rf /home/pi/.companion + + echo 'stashing current repo' + cp -r /home/pi/companion /home/pi/.companion +fi cd /home/pi/companion -echo 'removing tags' -git tag | xargs git tag -d echo 'tagging revert-point as' $(git rev-parse HEAD) -git tag revert-point - -echo 'fetching' -git fetch - -echo 'moving to' $(git rev-parse stable) -git reset --hard stable +git tag revert-point -f + +if [ -z "$3" ]; then + echo 'using branch reference' + git fetch $REMOTE + echo 'moving to' $(git rev-parse $REMOTE/$REF) + git reset --hard $REMOTE/$REF +else + echo 'using tag reference' + TAG=$3 + echo 'fetching' + git fetch $REMOTE --tags + + echo 'moving to' $(git rev-parse $TAG) + git reset --hard $TAG +fi echo 'running post-update' /home/pi/companion/scripts/post-update.sh From 563273df112b23f0b4a259d382d40d999c426c7f Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 26 Jul 2017 11:36:58 -0400 Subject: [PATCH 149/256] Add cpu stats stream --- br-webui/index.js | 20 ++++++++++++++++ br-webui/views/network.liquid | 45 +++++++++++++++++++++++++++++++++++ br-webui/views/system.liquid | 5 ++++ 3 files changed, 70 insertions(+) diff --git a/br-webui/index.js b/br-webui/index.js index ec91865f..fe6ee8d9 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -4,6 +4,7 @@ const child_process = require('child_process'); const dgram = require('dgram'); const SocketIOFile = require('socket.io-file'); var logger = require('tracer').console(); +var os = require("os"); var env = process.env logger.log('ENVIRONMENT', process.env) logger.log('COMPANION_DIR', process.env.COMPANION_DIR) @@ -586,6 +587,25 @@ function updateInternetStatus() { setInterval(updateInternetStatus, 2500); +// get cpu & ram usage +function updateCPUStats () { + var cpu_stats = {}; + + // report cpu usage stats (divide load by # of cpus to get load) + cpu_stats.cpu_load = os.loadavg()[0]/os.cpus().length*100; // % + + // report ram stats (raspbian uses 1024 B = 1 KB) + cpu_stats.ram_free = os.freemem()/(1024*1024); // MB + cpu_stats.ram_total = os.totalmem()/(1024*1024); // MB + cpu_stats.ram_used = cpu_stats.ram_total - cpu_stats.ram_free; // MB + + // stream collected data + io.emit('cpu stats', cpu_stats); +} + +// Make updateCPUStats() run once every 5 seconds (=os.loadavg() update rate) +setInterval(updateCPUStats, 5000); + io.on('connection', function(socket) { // used in routing setup diff --git a/br-webui/views/network.liquid b/br-webui/views/network.liquid index 435acafb..69a358f3 100644 --- a/br-webui/views/network.liquid +++ b/br-webui/views/network.liquid @@ -62,6 +62,26 @@ net.download document.getElementById("download results").innerHTML = formatMbps(averageSpeed); }); +// Set up socket +var socket = io(); + +// Listen to RAM and CPU usage stats +socket.on('cpu stats', function(data) { + // make cpu load display with one decimal point if less than 10. + var _cpu_load; + if (Math.abs(data.cpu_load) < 10) { + _cpu_load = data.cpu_load.toFixed(1); + } else { + _cpu_load = data.cpu_load.toFixed(0); + } + + // display data + document.getElementById('cpuLoad').innerHTML = _cpu_load + '%'; + document.getElementById('ramFree').innerHTML = data.ram_free.toFixed(3) + ' MB'; + document.getElementById('ramUsed').innerHTML = data.ram_used.toFixed(3) + ' MB'; + document.getElementById('ramTotal').innerHTML = data.ram_total.toFixed(3) + ' MB'; +}); + // Convert Bytes per second to Megabits per second function formatMbps(Bps) { var Mbps = Bps * 8 * 0.000001; @@ -83,6 +103,31 @@ function testDownload() { } + +
    +
    +
    +
    +

    + Companion Computer Status +

    +
    +
    +
    +
    CPU Load:
    +
    +
    Free RAM:
    +
    +
    Used RAM:
    +
    +
    Total RAM:
    +
    +
    +
    +
    +
    +
    +
    diff --git a/br-webui/views/system.liquid b/br-webui/views/system.liquid index a5ce148e..b6e2d267 100644 --- a/br-webui/views/system.liquid +++ b/br-webui/views/system.liquid @@ -16,6 +16,11 @@ socket.on('internet status', function(data) { enableInternetUpdates(data); }); +// Listen to RAM and CPU usage stats +socket.on('cpu stats', function(data) { + console.log('got cpu status', data); +}); + socket.on('terminal output', function(data) { var currentHTML = document.getElementById("terminal-output").innerHTML; document.getElementById("terminal-output").innerHTML = currentHTML + data; From 5fb73f660273659cd0b8ae9276e13576e6eabba1 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Thu, 17 Aug 2017 15:21:37 -0400 Subject: [PATCH 150/256] Remove unused imports --- tools/comm_router.py | 2 -- tools/endpoint.py | 1 - 2 files changed, 3 deletions(-) mode change 100755 => 100644 tools/endpoint.py diff --git a/tools/comm_router.py b/tools/comm_router.py index 14f13c42..3768c013 100755 --- a/tools/comm_router.py +++ b/tools/comm_router.py @@ -1,9 +1,7 @@ #!/usr/bin/python -import serial import socket import time -import argparse import json import endpoint diff --git a/tools/endpoint.py b/tools/endpoint.py old mode 100755 new mode 100644 index a32219f7..20819a68 --- a/tools/endpoint.py +++ b/tools/endpoint.py @@ -3,7 +3,6 @@ import serial import socket import time -import argparse import json debug = False From fb19e653f56f37358448a3a0c597a254be1600ba Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 2 Jun 2017 18:57:39 -0400 Subject: [PATCH 151/256] Add support for NMEA sentence gps input --- .companion.rc | 1 + .gitmodules | 3 + scripts/post-update.sh | 30 ++ scripts/start_mavproxy_telem_splitter.sh | 1 + submodules/MAVProxy | 1 + tools/gps-replay.py | 22 + tools/init-usb-gps.py | 57 +++ tools/nmea-receiver.py | 83 +++ tools/raw-nmea-log | 614 +++++++++++++++++++++++ 9 files changed, 812 insertions(+) create mode 100644 .gitmodules create mode 160000 submodules/MAVProxy create mode 100755 tools/gps-replay.py create mode 100755 tools/init-usb-gps.py create mode 100755 tools/nmea-receiver.py create mode 100644 tools/raw-nmea-log diff --git a/.companion.rc b/.companion.rc index 5abcabb4..c9e0dc10 100755 --- a/.companion.rc +++ b/.companion.rc @@ -7,6 +7,7 @@ if [ ! -f /home/pi/.updating ]; then sudo -H -u pi screen -dm -S commrouter $COMPANION_DIR/tools/comm_router.py sudo -H -u pi screen -dm -S audio $COMPANION_DIR/scripts/start_audio.sh sudo -H -u pi screen -dm -S file-manager node --harmony $COMPANION_DIR/br-webui/node_modules/node-file-manager/lib/index.js -p 7777 -d / + sudo -H -u pi screen -dm -S nmearx $COMPANION_DIR/tools/nmea-receiver.py else sudo -H -u pi echo 'UPDATE FAILED!' >> /home/pi/.update_log rm -f /home/pi/.updating diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 00000000..fd03b9fb --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +[submodule "submodules/MAVProxy"] + path = submodules/MAVProxy + url = https://github.com/bluerobotics/MAVProxy.git diff --git a/scripts/post-update.sh b/scripts/post-update.sh index 92ed83f7..eccdb552 100755 --- a/scripts/post-update.sh +++ b/scripts/post-update.sh @@ -9,9 +9,31 @@ if ! npm list nodegit | grep -q nodegit@0.18.3; then unzip -q /tmp/nodegit_required_modules.zip -d ~/companion/br-webui/node_modules/ fi +# TODO prune unused npm modules here + echo 'run npm install' npm install +cd /home/pi/companion + +echo 'Updating submodules...' +git submodule init +git submodule sync + +# https://git-scm.com/docs/git-submodule#git-submodule-status--cached--recursive--ltpathgt82308203 + +echo 'Checking MAVProxy status...' +MAVPROXY_STATUS=$(git submodule status | grep MAVProxy | head -c 1) +if [[ ! -z $MAVPROXY_STATUS && ($MAVPROXY_STATUS == '+' || $MAVPROXY_STATUS == '-') ]]; then + echo 'MAVProxy needs update.' + git submodule update --recursive -f submodules/MAVProxy + echo 'Installing MAVProxy...' + cd /home/pi/companion/submodules/MAVProxy + sudo python setup.py build install || { echo 'MAVProxy installation failed!'; } +else + echo 'MAVProxy is up to date.' +fi + echo 'checking for github in known_hosts' # Check for github key in known_hosts @@ -28,6 +50,14 @@ if ! ssh-keygen -H -F github.com; then fi fi +# install pynmea2 if neccessary +if pip list | grep pynmea2; then + echo 'pynmea2 already installed' +else + echo 'installing pynmea2...' + sudo pip install pynmea2 +fi + echo 'Update Complete, refresh your browser' sleep 1 diff --git a/scripts/start_mavproxy_telem_splitter.sh b/scripts/start_mavproxy_telem_splitter.sh index cb696962..a3864115 100755 --- a/scripts/start_mavproxy_telem_splitter.sh +++ b/scripts/start_mavproxy_telem_splitter.sh @@ -5,6 +5,7 @@ # For PixHawk or other connected via USB on Raspberry Pi cd /home/pi mavproxy.py --master=/dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00,115200 \ + --load-module='GPSInput' \ --source-system=200 \ --cmd="set heartbeat 0" \ --out udpin:localhost:9000 \ diff --git a/submodules/MAVProxy b/submodules/MAVProxy new file mode 160000 index 00000000..278f925c --- /dev/null +++ b/submodules/MAVProxy @@ -0,0 +1 @@ +Subproject commit 278f925c981bec84b22a175c29925bad4a04c567 diff --git a/tools/gps-replay.py b/tools/gps-replay.py new file mode 100755 index 00000000..d507fb5c --- /dev/null +++ b/tools/gps-replay.py @@ -0,0 +1,22 @@ +#!/usr/bin/python + +import time +import socket + +file = open('/home/pi/companion/tools/raw-nmea-log', 'r') +content = file.readlines() +file.close() + +ip="0.0.0.0" +portnum = 27000 +sockit = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) +sockit.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) +sockit.setblocking(False) + +while True: + for line in content: + time.sleep(0.1) + try: + sockit.sendto(line, (ip, portnum)) + except Exception as e: + print e diff --git a/tools/init-usb-gps.py b/tools/init-usb-gps.py new file mode 100755 index 00000000..79c5eb39 --- /dev/null +++ b/tools/init-usb-gps.py @@ -0,0 +1,57 @@ +#!/usr/bin/python + +# initialization script to setup BU-353S4 gps for ArduSub positioning input +# BU-353S4 is based on SiRF STAR IV chipset which uses the '$PSRF' identifier +# Jacob Walser September 2016 + +import serial +import time + +from optparse import OptionParser + +parser = OptionParser() +parser.add_option("--port", dest="port", default='/dev/ttyUSB0', help="port that GPS is on") +parser.add_option("--baudrate", dest="baudrate", default=4800, help="baudrate for serial communication") +(options,args) = parser.parse_args() + +print 'opening port %s at %d baud' % (options.port, options.baudrate) + +try: + ser = serial.Serial(options.port, options.baudrate) +except Exception as e: + print e + exit(1) + +print 'initalizing...' + +print 'enabling VTG' +ser.write("$PSRF103,05,00,01,01*20\r\n")#enable VTG +time.sleep(1) + +print 'enabling GSA' +ser.write("$PSRF103,02,00,00,01*26\r\n")#disable GSA +time.sleep(1) + +print 'disabling GSV' +ser.write("$PSRF103,03,00,00,01*27\r\n")#disable GSV +time.sleep(1) + +print 'set 5Hz mode' +ser.write("$PSRF103,0,6,0,0*23\r\n")#set 5Hz mode +time.sleep(1) + +print 'enable VTG with checksum' +ser.write("$PSRF103,05,00,01,01*20\r\n")#enable VTG, ensure checksum +time.sleep(1) + +print 'enable RMC with checksum' +ser.write("$PSRF103,04,00,01,01*21\r\n")#enable RMC, ensure checksum +time.sleep(1) + +print 'set 115.2 kbaud' +ser.write("$PSRF100,1,115200,8,1,0*05\r\n")#set baudrate +time.sleep(1) + +print 'Done.' + +ser.close diff --git a/tools/nmea-receiver.py b/tools/nmea-receiver.py new file mode 100755 index 00000000..0d54d932 --- /dev/null +++ b/tools/nmea-receiver.py @@ -0,0 +1,83 @@ +#!/usr/bin/python + +import time +import pynmea2 +import json +import socket + +ip="127.0.0.1" +portnum = 25100 +sockit = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) +sockit.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) +sockit.setblocking(False) +sockit.bind(('0.0.0.0', 27000)) + +parser = pynmea2.NMEAStreamReader() + +data = { + 'time_usec' : 0, # (uint64_t) Timestamp (micros since boot or Unix epoch) + 'gps_id' : 0, # (uint8_t) ID of the GPS for multiple GPS inputs + 'ignore_flags' : 56, # (uint16_t) Flags indicating which fields to ignore (see GPS_INPUT_IGNORE_FLAGS enum). All other fields must be provided. + 'time_week_ms' : 0, # (uint32_t) GPS time (milliseconds from start of GPS week) + 'time_week' : 0, # (uint16_t) GPS week number + 'fix_type' : 3, # (uint8_t) 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK + 'lat' : 0, # (int32_t) Latitude (WGS84), in degrees * 1E7 + 'lon' : 0, # (int32_t) Longitude (WGS84), in degrees * 1E7 + 'alt' : 0, # (float) Altitude (AMSL, not WGS84), in m (positive for up) + 'hdop' : 0, # (float) GPS HDOP horizontal dilution of position in m + 'vdop' : 0, # (float) GPS VDOP vertical dilution of position in m + 'vn' : 0, # (float) GPS velocity in m/s in NORTH direction in earth-fixed NED frame + 've' : 0, # (float) GPS velocity in m/s in EAST direction in earth-fixed NED frame + 'vd' : 0, # (float) GPS velocity in m/s in DOWN direction in earth-fixed NED frame + 'speed_accuracy' : 0, # (float) GPS speed accuracy in m/s + 'horiz_accuracy' : 0, # (float) GPS horizontal accuracy in m + 'vert_accuracy' : 0, # (float) GPS vertical accuracy in m + 'satellites_visible' : 0 # (uint8_t) Number of satellites visible. +} + +data_received = False + +while True: + + # Check at 1Hz until data is seen on the line, then check at 20Hz + if data_received: + time.sleep(0.05) + else: + time.sleep(1) + + try: + datagram = sockit.recvfrom(4096) + data_received = True + for byte in datagram: + for msg in parser.next(byte): + if msg.sentence_type == 'GGA': + data['lat'] = msg.latitude * 1e7 + data['lon'] = msg.longitude * 1e7 + data['hdop'] = float(msg.horizontal_dil) + data['alt'] = float(msg.altitude) + data['satellites_visible'] = int(msg.num_sats) + #data['fix'] = int(msg.gps_qual) + ''' + elif msg.sentence_type == 'RMC': + if msg.lat_dir == 'N': + data['lat'] = int(float(msg.lat) * 1e5) + else: + data['lat'] = -int(float(msg.lat) * 1e5) + + if msg.lon_dir == 'E': + data['lon'] = int(float(msg.lon) * 1e5) + else: + data['lon'] = -int(float(msg.lon) * 1e5) + ''' + buf = json.dumps(data) + print data + sockit.sendto(buf, (ip, portnum)) + except socket.error as e: + if e.errno == 11: + pass + else: + print e + except Exception as e: + print e + + diff --git a/tools/raw-nmea-log b/tools/raw-nmea-log new file mode 100644 index 00000000..7b244927 --- /dev/null +++ b/tools/raw-nmea-log @@ -0,0 +1,614 @@ +$GPGGA,200825.200,3845.0667,N,07727.2760,W,1,06,1.2,107.7,M,-33.4,M,,0000*67 +$GPRMC,200825.200,A,3845.0667,N,07727.2760,W,0.15,102.36,020916,,,A*76 +$GPVTG,102.36,T,,M,0.15,N,0.3,K,A*0C +$GPGGA,200825.400,3845.0660,N,07727.2761,W,1,06,1.2,108.2,M,-33.4,M,,0000*6D +$GPRMC,200825.400,A,3845.0660,N,07727.2761,W,0.19,102.36,020916,,,A*7A +$GPVTG,102.36,T,,M,0.19,N,0.4,K,A*07 +$GPGGA,200825.600,3845.0655,N,07727.2762,W,1,06,1.2,108.5,M,-33.4,M,,0000*6D +$GPRMC,200825.600,A,3845.0655,N,07727.2762,W,0.07,102.36,020916,,,A*72 +$GPVTG,102.36,T,,M,0.07,N,0.1,K,A*0D +$GPGGA,200825.800,3845.0651,N,07727.2763,W,1,06,1.2,108.8,M,-33.4,M,,0000*6B 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+$GPRMC,200903.800,A,3845.0636,N,07727.2770,W,0.17,102.36,020916,,,A*7E +$GPVTG,102.36,T,,M,0.17,N,0.3,K,A*0E +$GPGGA,200904.000,3845.0636,N,07727.2770,W,1,06,1.2,113.5,M,-33.4,M,,0000*65 +$GPRMC,200904.000,A,3845.0636,N,07727.2770,W,0.19,102.36,020916,,,A*7F +$GPVTG,102.36,T,,M,0.19,N,0.3,K,A*00 +$GPGGA,200904.200,3845.0636,N,07727.2770,W,1,06,1.2,113.5,M,-33.4,M,,0000*67 +$GPRMC,200904.200,A,3845.0636,N,07727.2770,W,0.08,102.36,020916,,,A*7D +$GPVTG,102.36,T,,M,0.08,N,0.1,K,A*02 +$GPGGA,200904.400,3845.0636,N,07727.2770,W,1,06,1.2,113.5,M,-33.4,M,,0000*61 +$GPRMC,200904.400,A,3845.0636,N,07727.2770,W,0.16,102.36,020916,,,A*74 +$GPVTG,102.36,T,,M,0.16,N,0.3,K,A*0F +$GPGGA,200904.600,3845.0636,N,07727.2770,W,1,06,1.2,113.5,M,-33.4,M,,0000*63 +$GPRMC,200904.600,A,3845.0636,N,07727.2770,W,0.13,102.36,020916,,,A*73 +$GPVTG,102.36,T,,M,0.13,N,0.2,K,A*0B +$GPGGA,200904.800,3845.0636,N,07727.2770,W,1,06,1.2,113.5,M,-33.4,M,,0000*6D +$GPRMC,200904.800,A,3845.0636,N,07727.2770,W,0.15,102.36,020916,,,A*7B +$GPVTG,102.36,T,,M,0.15,N,0.3,K,A*0C +$GPGGA,200905.000,3845.0636,N,07727.2771,W,1,06,1.2,113.5,M,-33.4,M,,0000*65 +$GPRMC,200905.000,A,3845.0636,N,07727.2771,W,0.35,102.36,020916,,,A*71 +$GPVTG,102.36,T,,M,0.35,N,0.7,K,A*0A +$GPGGA,200905.200,3845.0636,N,07727.2771,W,1,06,1.2,113.5,M,-33.4,M,,0000*67 +$GPRMC,200905.200,A,3845.0636,N,07727.2771,W,0.41,102.36,020916,,,A*70 +$GPVTG,102.36,T,,M,0.41,N,0.8,K,A*06 +$GPGGA,200905.400,3845.0637,N,07727.2771,W,1,06,1.2,113.6,M,-33.4,M,,0000*63 +$GPRMC,200905.400,A,3845.0637,N,07727.2771,W,0.40,102.36,020916,,,A*76 +$GPVTG,102.36,T,,M,0.40,N,0.7,K,A*08 +$GPGGA,200905.600,3845.0637,N,07727.2771,W,1,06,1.2,113.6,M,-33.4,M,,0000*61 +$GPRMC,200905.600,A,3845.0637,N,07727.2771,W,0.31,102.36,020916,,,A*72 +$GPVTG,102.36,T,,M,0.31,N,0.6,K,A*0F +$GPGGA,200905.800,3845.0637,N,07727.2771,W,1,06,1.2,113.6,M,-33.4,M,,0000*6F +$GPRMC,200905.800,A,3845.0637,N,07727.2771,W,0.23,102.36,020916,,,A*7F +$GPVTG,102.36,T,,M,0.23,N,0.4,K,A*0E +$GPGGA,200906.000,3845.0637,N,07727.2771,W,1,06,1.2,113.6,M,-33.4,M,,0000*64 +$GPRMC,200906.000,A,3845.0637,N,07727.2771,W,0.26,102.36,020916,,,A*71 From eaecb0fad4c1aa97d67daeccab1b7391a89d36b6 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Thu, 24 Aug 2017 13:03:07 -0400 Subject: [PATCH 152/256] Add mavlink submodule --- .gitmodules | 3 +++ scripts/post-update.sh | 17 +++++++++++++++++ submodules/mavlink | 1 + 3 files changed, 21 insertions(+) create mode 160000 submodules/mavlink diff --git a/.gitmodules b/.gitmodules index fd03b9fb..9e17fc7d 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +1,6 @@ [submodule "submodules/MAVProxy"] path = submodules/MAVProxy url = https://github.com/bluerobotics/MAVProxy.git +[submodule "submodules/mavlink"] + path = submodules/mavlink + url = https://github.com/bluerobotics/mavlink.git diff --git a/scripts/post-update.sh b/scripts/post-update.sh index eccdb552..be0c6a73 100755 --- a/scripts/post-update.sh +++ b/scripts/post-update.sh @@ -22,6 +22,23 @@ git submodule sync # https://git-scm.com/docs/git-submodule#git-submodule-status--cached--recursive--ltpathgt82308203 +echo 'Checking mavlink status...' +MAVLINK_STATUS=$(git submodule status | grep mavlink | head -c 1) +if [[ ! -z $MAVLINK_STATUS && ($MAVLINK_STATUS == '+' || $MAVLINK_STATUS == '-') ]]; then + # Remove old mavlink directory if it exists + [ -d ~/mavlink ] && sudo rm -rf ~/mavlink + + echo 'mavlink needs update.' + git submodule update --recursive -f submodules/mavlink + echo 'Installing mavlink...' + cd /home/pi/companion/submodules/mavlink/pymavlink + sudo python setup.py build install || { echo 'mavlink installation failed!'; } +else + echo 'mavlink is up to date.' +fi + +cd /home/pi/companion + echo 'Checking MAVProxy status...' MAVPROXY_STATUS=$(git submodule status | grep MAVProxy | head -c 1) if [[ ! -z $MAVPROXY_STATUS && ($MAVPROXY_STATUS == '+' || $MAVPROXY_STATUS == '-') ]]; then diff --git a/submodules/mavlink b/submodules/mavlink new file mode 160000 index 00000000..a18941d2 --- /dev/null +++ b/submodules/mavlink @@ -0,0 +1 @@ +Subproject commit a18941d28d2a6ea24d4ea1f8e4882f24c97ca06e From 946f6f9fb9d2bc415528d70e22e3b9a12402dfbc Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 21 Jun 2017 11:24:23 -0400 Subject: [PATCH 153/256] Add WL underwater gps driver --- scripts/post-update.sh | 12 +++ scripts/start_mavproxy_telem_splitter.sh | 2 +- submodules/MAVProxy | 2 +- tools/underwater-gps.py | 117 +++++++++++++++++++++++ 4 files changed, 131 insertions(+), 2 deletions(-) create mode 100755 tools/underwater-gps.py diff --git a/scripts/post-update.sh b/scripts/post-update.sh index be0c6a73..ec79b8ce 100755 --- a/scripts/post-update.sh +++ b/scripts/post-update.sh @@ -75,6 +75,18 @@ else sudo pip install pynmea2 fi +# install grequests if neccessary +if pip list | grep grequests; then + echo 'grequests already installed' +else + echo 'Fetching grequests packages for raspberry pi...' + wget https://s3.amazonaws.com/downloads.bluerobotics.com/Pi/dependencies/grequests/grequests.zip -O /tmp/grequests.zip + echo 'Extracting prebuilt packages...' + sudo unzip -q -o /tmp/grequests.zip -d / + echo 'installing grequests...' + sudo pip install grequests +fi + echo 'Update Complete, refresh your browser' sleep 1 diff --git a/scripts/start_mavproxy_telem_splitter.sh b/scripts/start_mavproxy_telem_splitter.sh index a3864115..5362f2a3 100755 --- a/scripts/start_mavproxy_telem_splitter.sh +++ b/scripts/start_mavproxy_telem_splitter.sh @@ -5,7 +5,7 @@ # For PixHawk or other connected via USB on Raspberry Pi cd /home/pi mavproxy.py --master=/dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00,115200 \ - --load-module='GPSInput' \ + --load-module='GPSInput,DepthOutput' \ --source-system=200 \ --cmd="set heartbeat 0" \ --out udpin:localhost:9000 \ diff --git a/submodules/MAVProxy b/submodules/MAVProxy index 278f925c..f559bf2d 160000 --- a/submodules/MAVProxy +++ b/submodules/MAVProxy @@ -1 +1 @@ -Subproject commit 278f925c981bec84b22a175c29925bad4a04c567 +Subproject commit f559bf2d1064ad101bb65794038cea847bcb9f79 diff --git a/tools/underwater-gps.py b/tools/underwater-gps.py new file mode 100755 index 00000000..a07b4d94 --- /dev/null +++ b/tools/underwater-gps.py @@ -0,0 +1,117 @@ +#!/usr/bin/python + +import time +import socket +import json +import argparse +import grequests +from pymavlink import mavutil + +master = mavutil.mavlink_connection('udpout:192.168.2.1:14550', source_system=2, source_component=1) + +parser = argparse.ArgumentParser(description="Driver for the Water Linked Underwater GPS system.") +parser.add_argument('--ip', action="store", type=str, default="37.139.8.112", help="remote ip to query on.") +parser.add_argument('--port', action="store", type=str, default="8000", help="remote port to query on.") +args = parser.parse_args() + +sockit = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) +sockit.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) +sockit.setblocking(0) +sockit.bind(('0.0.0.0', 25102)) + +gpsUrl = "http://" + args.ip + ":" + args.port + +def processMasterPosition(response, *args, **kwargs): + print 'got master response:', response.text + result = response.json() + master.mav.heartbeat_send( + 0, # type : Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) (uint8_t) + 1, # autopilot : Autopilot type / class. defined in MAV_AUTOPILOT ENUM (uint8_t) + 0, # base_mode : System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h (uint8_t) + 0, # custom_mode : A bitfield for use for autopilot-specific flags. (uint32_t) + 0, # system_status : System status flag, see MAV_STATE ENUM (uint8_t) + 0 # mavlink_version : MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version (uint8_t) + ) + master.mav.gps_raw_int_send( + 0, # time_usec : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t) + 3, # fix_type : See the GPS_FIX_TYPE enum. (uint8_t) + result['lat'] * 1e7, # lat : Latitude (WGS84), in degrees * 1E7 (int32_t) + result['lon'] * 1e7, # lon : Longitude (WGS84), in degrees * 1E7 (int32_t) + 0, # alt : Altitude (AMSL, NOT WGS84), in meters * 1000 (positive for up). Note that virtually all GPS modules provide the AMSL altitude in addition to the WGS84 altitude. (int32_t) + 0, # eph : GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX (uint16_t) + 0, # epv : GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX (uint16_t) + 0, # vel : GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX (uint16_t) + 0, # cog : Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX (uint16_t) + 6 # satellites_visible : Number of satellites visible. If unknown, set to 255 (uint8_t) + ) + master.mav.vfr_hud_send( + 0, # airspeed : Current airspeed in m/s (float) + 0, # groundspeed : Current ground speed in m/s (float) + result['orientation'], # heading : Current heading in degrees, in compass units (0..360, 0=north) (int16_t) + 0, # throttle : Current throttle setting in integer percent, 0 to 100 (uint16_t) + 0, # alt : Current altitude (MSL), in meters (float) + 0 # climb : Current climb rate in meters/second (float) + ) + +def processLocatorPosition(response, *args, **kwargs): + print 'got global response:', response.text + result = response.json() + result['lat'] = result['lat'] * 1e7 + result['lon'] = result['lon'] * 1e7 + result['fix_type'] = 3 + result['hdop'] = 1.0 + result['vdop'] = 1.0 + result['satellites_visible'] = 10 + result['ignore_flags'] = 8 | 16 | 32 + result = json.dumps(result); + print 'sending ', result + + sockit.sendto(result, ('0.0.0.0', 25100)) + +def notifyPutResponse(response, *args, **kwargs): + print 'PUT response:', response.text + +update_period = 0.25 +last_master_update = 0 +last_locator_update = 0 +s = grequests.Session() +# Thank you https://stackoverflow.com/questions/16015749/in-what-way-is-grequests-asynchronous +while True: + if time.time() > last_locator_update + update_period: + last_locator_update = time.time() + url = gpsUrl + "/api/v1/position/global" + print 'requesting data from', url + request = grequests.get(url, session=s, hooks={'response': processLocatorPosition}) + job = grequests.send(request) + + if time.time() > last_master_update + update_period: + last_master_update = time.time() + url = gpsUrl + "/api/v1/position/master" + print 'requesting data from', url + request = grequests.get(url, session=s, hooks={'response': processMasterPosition}) + job = grequests.send(request) + + try: + datagram = sockit.recvfrom(4096) + payload = json.loads(datagram[0]) + payload['depth'] = max(min(100, payload['depth']), 0) + payload['temp'] = max(min(100, payload['temp']), 0) + payload = json.dumps(payload) + + headers = {'Content-type': 'application/json'} + + url = gpsUrl + "/api/v1/external/depth" + print 'sending', payload, 'to', url + + # Equivalent + # curl -X PUT -H "Content-Type: application/json" -d '{"depth":1,"temp":2}' "http://37.139.8.112:8000/api/v1/external/depth" + request = grequests.put(url, session=s, headers=headers, data=payload, hooks={'response': notifyPutResponse}) + grequests.send(request) + + except socket.error as e: + if e.errno == 11: + pass # no data available for udp read + else: + print e + + time.sleep(0.02) From 69f3f5ef8713f3607e2fc3fd55e2530bcf3c0a9a Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 26 Jul 2017 14:00:16 -0400 Subject: [PATCH 154/256] Add options to start/stop WL driver --- br-webui/index.js | 19 ++++++++++++++++ br-webui/views/system.liquid | 43 ++++++++++++++++++++++++++++++++++++ 2 files changed, 62 insertions(+) diff --git a/br-webui/index.js b/br-webui/index.js index fe6ee8d9..12e8ee84 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -765,6 +765,25 @@ io.on('connection', function(socket) { }); }); + socket.on('start WL driver', function(data) { + var args = ''; + if (data.ip) { + args += ' --ip=' + data.ip; + } + if (data.port) { + args += ' --port=' + data.port; + } + var cmd = child_process.exec('screen -dm -S wldriver ' + _companion_directory + '/tools/underwater-gps.py' + args, function(error, stdout, stderr) { + logger.log(error, stdout, stderr); + }); + }); + + socket.on('stop WL driver', function(data) { + var cmd = child_process.exec('screen -X -S wldriver quit', function(error, stdout, stderr) { + logger.log(error, stdout, stderr); + }); + }); + socket.on('reboot', function(data) { logger.log('reboot'); child_process.exec('sudo reboot now', function (error, stdout, stderr) { diff --git a/br-webui/views/system.liquid b/br-webui/views/system.liquid index b6e2d267..15f36c16 100644 --- a/br-webui/views/system.liquid +++ b/br-webui/views/system.liquid @@ -161,6 +161,23 @@ function submit(onComplete, onStream, fileElement) { uploader.on('complete', onComplete); uploader.on('stream', onStream); }; + +function startWLDriver() { + var ip = document.getElementById('wlIP').value; + var port = document.getElementById('wlPort').value; + var args = {} + if (ip.length) { + args.ip = ip; + } + if (port.length) { + args.port = port; + } + socket.emit('start WL driver', args); +} + +function stopWLDriver() { + socket.emit('stop WL driver'); +}

    Software Status and Update

    @@ -223,4 +240,30 @@ function submit(onComplete, onStream, fileElement) {
    +
    +
    +
    +
    +

    + Water Linked Underwater GPS Driver +

    +
    +
    +
    +
    + + +
    +
    + + +
    + + +
    +
    +
    +
    +
    + {% include ../_includes/footer.liquid %} From f46acb27b409d97211cd56654f5d8289fc8943b8 Mon Sep 17 00:00:00 2001 From: dheideman Date: Wed, 9 Aug 2017 08:43:36 -0700 Subject: [PATCH 155/256] Add carriage return support to terminal-output --- br-webui/views/system.liquid | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/br-webui/views/system.liquid b/br-webui/views/system.liquid index 15f36c16..f7355e94 100644 --- a/br-webui/views/system.liquid +++ b/br-webui/views/system.liquid @@ -22,9 +22,11 @@ socket.on('cpu stats', function(data) { }); socket.on('terminal output', function(data) { - var currentHTML = document.getElementById("terminal-output").innerHTML; - document.getElementById("terminal-output").innerHTML = currentHTML + data; - document.getElementById("terminal-output").scrollTop = document.getElementById("terminal-output").scrollHeight + var terminalEl = document.getElementById("terminal-output"); + var html = terminalEl.innerHTML + data; + + terminalEl.innerHTML = html.replace(/\n.*?\r/g, "\n"); + terminalEl.scrollTop = terminalEl.scrollHeight; }); socket.on('companion version', function(data) { From 4080301e8613c3f992777a679a7674cef0f09de2 Mon Sep 17 00:00:00 2001 From: dheideman Date: Wed, 9 Aug 2017 11:02:08 -0700 Subject: [PATCH 156/256] Disable autoscroll if not scrolled to bottom --- br-webui/views/system.liquid | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/br-webui/views/system.liquid b/br-webui/views/system.liquid index f7355e94..8a3d2a4f 100644 --- a/br-webui/views/system.liquid +++ b/br-webui/views/system.liquid @@ -24,9 +24,12 @@ socket.on('cpu stats', function(data) { socket.on('terminal output', function(data) { var terminalEl = document.getElementById("terminal-output"); var html = terminalEl.innerHTML + data; - + var autoscroll = terminalEl.scrollHeight - terminalEl.scrollTop + === terminalEl.clientHeight; terminalEl.innerHTML = html.replace(/\n.*?\r/g, "\n"); - terminalEl.scrollTop = terminalEl.scrollHeight; + if (autoscroll) { + terminalEl.scrollTop = terminalEl.scrollHeight; + } }); socket.on('companion version', function(data) { From 4d305a31339d6154198845179ec067ec159bfc85 Mon Sep 17 00:00:00 2001 From: dheideman Date: Wed, 9 Aug 2017 12:41:54 -0700 Subject: [PATCH 157/256] Resize dynamic width elements on page resize --- br-webui/views/system.liquid | 19 ++++++++++++++++++- 1 file changed, 18 insertions(+), 1 deletion(-) diff --git a/br-webui/views/system.liquid b/br-webui/views/system.liquid index 8a3d2a4f..c7a12a23 100644 --- a/br-webui/views/system.liquid +++ b/br-webui/views/system.liquid @@ -183,6 +183,21 @@ function startWLDriver() { function stopWLDriver() { socket.emit('stop WL driver'); } + +// Set width of all "dynamic-parent-width" elements to parent width +function resizeDynamicWidthElement() { + var elements = document.getElementsByClassName("dynamic-parent-width"); + for (i=0; i

    Software Status and Update

    @@ -238,7 +253,9 @@ function stopWLDriver() {

    - +
    From 2995ae4e8e61126458b10c4c6434f63d82dc2798 Mon Sep 17 00:00:00 2001 From: dheideman Date: Fri, 18 Aug 2017 10:36:38 -0700 Subject: [PATCH 158/256] Save camera parameters --- br-webui/index.js | 30 +++++++++++-- br-webui/views/camera.liquid | 81 +++++++++++++++++++++++++--------- params/gstreamer.param.default | 3 ++ params/rpicamera.param.default | 11 +++++ scripts/post-update.sh | 12 +++++ scripts/start_video.sh | 5 ++- 6 files changed, 118 insertions(+), 24 deletions(-) create mode 100644 params/gstreamer.param.default create mode 100644 params/rpicamera.param.default diff --git a/br-webui/index.js b/br-webui/index.js index 12e8ee84..24b7e876 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -734,10 +734,34 @@ io.on('connection', function(socket) { cmd.on('error', (err) => { logger.log('Failed to start child process.'); logger.log(err.toString()); - }); + }); }); - - + + socket.on('save params', function(data) { + var file_path = "/home/pi/" + data.file + fs.writeFile(file_path, data.params, function(err) { + if(err) { + return console.log(err); + } + console.log("The file was saved!"); + }); + }); + + socket.on('load params', function(data) { + var file_path = "/home/pi/" + data.file; + fs.readFile(file_path, function(err, param_data) { + if(err) { + return console.log(err); + } + + socket.emit('load params response', { + 'params':param_data.toString(), + 'file':data.file + }); + console.log("The file was loaded!"); + }); + }); + socket.on('restart video', function(data) { logger.log(_companion_directory + '/scripts/restart-raspivid.sh "' + data.rpiOptions + '" "' + data.gstOptions + '"'); var cmd = child_process.spawn(_companion_directory + '/scripts/restart-raspivid.sh', [data.rpiOptions , data.gstOptions], { diff --git a/br-webui/views/camera.liquid b/br-webui/views/camera.liquid index 9c2570de..c031db84 100644 --- a/br-webui/views/camera.liquid +++ b/br-webui/views/camera.liquid @@ -2,8 +2,55 @@

    Camera Setup

    @@ -27,32 +75,25 @@

    raspivid options:

    - +

    gstreamer options:

    - +
    - + +
    -{% include ../_includes/footer.liquid %} \ No newline at end of file +{% include ../_includes/footer.liquid %} diff --git a/params/gstreamer.param.default b/params/gstreamer.param.default new file mode 100644 index 00000000..e21abfa3 --- /dev/null +++ b/params/gstreamer.param.default @@ -0,0 +1,3 @@ +! h264parse +! rtph264pay config-interval=10 pt=96 +! udpsink host=192.168.2.1 port=5600 diff --git a/params/rpicamera.param.default b/params/rpicamera.param.default new file mode 100644 index 00000000..2a1600de --- /dev/null +++ b/params/rpicamera.param.default @@ -0,0 +1,11 @@ +--nopreview +--mode 5 +--bitrate 15000000 +--intra 1 +--awb auto +--brightness 55 +--saturation 10 +--sharpness 50 +--contrast 15 +-fl +--timeout 0 diff --git a/scripts/post-update.sh b/scripts/post-update.sh index ec79b8ce..d72dda07 100755 --- a/scripts/post-update.sh +++ b/scripts/post-update.sh @@ -87,6 +87,18 @@ else sudo pip install grequests fi +# copy default parameters if neccessary +cd /home/pi/companion/params + +for default_param_file in *; do + if [[ $default_param_file == *".param.default" ]]; then + param_file="/home/pi/"$(echo $default_param_file | sed "s/.default//") + if [ ! -e "$param_file" ]; then + cp $default_param_file $param_file + fi + fi +done + echo 'Update Complete, refresh your browser' sleep 1 diff --git a/scripts/start_video.sh b/scripts/start_video.sh index f3f78884..8049e3f6 100755 --- a/scripts/start_video.sh +++ b/scripts/start_video.sh @@ -4,5 +4,8 @@ if lsusb | grep 05a3:9422; then screen -dm -S video $HOME/companion/scripts/start_usbvid.sh else echo "Raspi Cam" - screen -dm -S video $HOME/companion/scripts/start_raspivid.sh '--nopreview --mode 5 --bitrate 15000000 --intra 1 --awb auto --brightness 55 --saturation 10 --sharpness 50 --contrast 15 -fl --timeout 0' '! h264parse ! rtph264pay config-interval=10 pt=96 ! udpsink host=192.168.2.1 port=5600' + DIR=$(dirname "$0") + camOptions=$(cat /home/pi/rpicamera.param) + gstOptions=$(cat /home/pi/gstreamer.param) + screen -dm -S video $HOME/companion/scripts/start_raspivid.sh "$camOptions" "$gstOptions" fi From f68a9994b38dd4fadbfca360130c80a506583861 Mon Sep 17 00:00:00 2001 From: dheideman Date: Fri, 4 Aug 2017 16:44:42 -0700 Subject: [PATCH 159/256] Add firmware factory reset buttons --- br-webui/index.js | 64 +++++++++++++++++++++++- br-webui/views/system.liquid | 32 ++++++++++++ fw/ArduSub-v2.px4 | 16 ++++++ fw/standard.params | 8 +++ tools/flashPXParameters.py | 94 ++++++++++++++++++++++++++++++++++++ 5 files changed, 213 insertions(+), 1 deletion(-) create mode 100644 fw/ArduSub-v2.px4 create mode 100644 fw/standard.params create mode 100755 tools/flashPXParameters.py diff --git a/br-webui/index.js b/br-webui/index.js index 24b7e876..2ed9083c 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -730,10 +730,72 @@ io.on('connection', function(socket) { logger.log('pixhawk update exited with code ' + code.toString()); socket.emit('pixhawk update complete'); }); - + + cmd.on('error', (err) => { + logger.log('Failed to start child process.'); + logger.log(err.toString() + '\n'); + }); + }); + + // Restore pixhawk factory firmware + socket.on('restore px fw', function(data) { + logger.log("restore px fw"); + var cmd = child_process.spawn('/usr/bin/python', ['-u', + _companion_directory + '/tools/flash_px4.py', + '--file', _companion_directory + '/fw/ArduSub-v2.px4']); + + cmd.stdout.on('data', function (data) { + socket.emit('terminal output', data.toString()); + logger.log(data.toString()); + }); + + cmd.stderr.on('data', function (data) { + socket.emit('terminal output', data.toString()); + logger.log(data.toString()); + }); + + cmd.on('exit', function (code) { + logger.log('pixhawk firmware restore exited with code ' + + code.toString()); + socket.emit('restore px fw complete'); + }); + + cmd.on('error', (err) => { + logger.log('Failed to start child process.'); + logger.log(err.toString()); + socket.emit('terminal output', err.toString() + '\n'); + socket.emit('restore px fw complete'); + }); + }); + + // Restore pixhawk factory parameters + socket.on('restore px params', function(data) { + logger.log("restore px params"); + var cmd = child_process.spawn('/usr/bin/python', ['-u', + _companion_directory + '/tools/flashPXParameters.py', + '--file', _companion_directory + '/fw/standard.params']); + + cmd.stdout.on('data', function (data) { + socket.emit('terminal output', data.toString()); + logger.log(data.toString()); + }); + + cmd.stderr.on('data', function (data) { + socket.emit('terminal output', data.toString()); + logger.log(data.toString()); + }); + + cmd.on('exit', function (code) { + logger.log('pixhawk parameters restore exited with code ' + + code.toString()); + socket.emit('restore px params complete'); + }); + cmd.on('error', (err) => { logger.log('Failed to start child process.'); logger.log(err.toString()); + socket.emit('terminal output', err.toString()); + socket.emit('restore px params complete'); }); }); diff --git a/br-webui/views/system.liquid b/br-webui/views/system.liquid index c7a12a23..8eaf2a3d 100644 --- a/br-webui/views/system.liquid +++ b/br-webui/views/system.liquid @@ -198,6 +198,30 @@ window.addEventListener('resize', resizeDynamicWidthElement); window.addEventListener("DOMContentLoaded", function() { resizeDynamicWidthElement(); }); + +function restoreFw() { + if (confirm("Are you sure you want to reset ArduSub firmware to " + + "factory default?")) { + document.getElementById('restore fw').disabled = true; + socket.emit('restore px fw'); + } +} + +function restoreParams() { + if (confirm("Are you sure you want to reset ArduSub parameters to " + + "factory default?")) { + document.getElementById('restore params').disabled = true; + socket.emit('restore px params'); + } +} + +socket.on('restore px fw complete', function(data){ + document.getElementById('restore fw').disabled = false; +}); + +socket.on('restore px params complete', function(data){ + document.getElementById('restore params').disabled = false; +});

    Software Status and Update

    @@ -250,6 +274,14 @@ window.addEventListener("DOMContentLoaded", function() {

    Upload Firmware File:

    + +

    Restore Factory Defaults

    + +
    diff --git a/fw/ArduSub-v2.px4 b/fw/ArduSub-v2.px4 new file mode 100644 index 00000000..782c0189 --- /dev/null +++ b/fw/ArduSub-v2.px4 @@ -0,0 +1,16 @@ +{ + "board_id": 9, + "magic": "PX4FWv1", + "description": "Firmware for the PX4FMUv2 board", + "ardupilot_git_hash": "7f63c31a00209fcf9050ed2e53162179e263e855", + "image": 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", + "px4_git_hash": "8d505a020154e4e59f50b34735f9739b6f36b800", + "uavcan_git_hash": "71cf39c8c6c3c2709bc1a32ffd947add22b1a836", + "build_time": 1494360528, + "summary": "PX4FMUv2", + "nuttx_git_hash": "1a99ba5832d7ad815df6ed847e052c128644c8f7", + "version": "0.1", + "image_size": 837488, + "git_identity": "stable_manual_flight-16024-g8d505a0", + "board_revision": 0 +} \ No newline at end of file diff --git a/fw/standard.params b/fw/standard.params new file mode 100644 index 00000000..ac4304d2 --- /dev/null +++ b/fw/standard.params @@ -0,0 +1,8 @@ +BATT_CAPACITY,10000.000000 +BATT_MONITOR,4.000000 +LEAK1_PIN,55.000000 +MNT_RC_IN_TILT,8.000000 +MNT_TYPE,1.000000 +SERVO7_FUNCTION,59.000000 +SERVO8_FUNCTION,7.000000 +ATC_ANG_RLL_P,0.000000 diff --git a/tools/flashPXParameters.py b/tools/flashPXParameters.py new file mode 100755 index 00000000..88cce125 --- /dev/null +++ b/tools/flashPXParameters.py @@ -0,0 +1,94 @@ +#!/usr/bin/python + +import platform +import csv +import time +import os +from pymavlink import mavutil +from pymavlink.dialects.v10 import common as mavlink +from pymavlink import mavparm +from optparse import OptionParser + +timeout = 1 + +parser = OptionParser() +parser.add_option("--file", dest="file", default=None, help="Load from file") +(options,args) = parser.parse_args() + +if options.file is not None: + try: + print("Attempting upload from file %s") % options.file + filename = options.file + except Exception as e: + print("Error opening file %s: %s") % (options.file, e) + exit(1) +else: + filename = 'standard.params' + + +# Port settings +port = '' +if platform.system() == 'Linux': + port = '/dev/ttyACM0' +elif platform.system() == 'Darwin': + port = '/dev/tty.usbmodem1' + +print "Waiting for heartbeat." + +try: + master = mavutil.mavlink_connection(port) + master.wait_heartbeat() +except: + print "Trying again." + time.sleep(6) + master = mavutil.mavlink_connection(port) + master.wait_heartbeat() + +# Stop screen session with mavproxy +print "Stopping mavproxy" +os.system("screen -X -S mavproxy quit") + +# Upload parameter file +print "Uploading parameter file." + +failed = [] + +with open(filename,'r') as f: + for line in f: + line = line.split(',') + name = line[0] + value = float(line[1]) + + print "Sending " + name + " = " + str(value) + "\t\t\t", + + master.param_set_send(name,value) + start = time.time() + + verified = False + + while time.time() < start + timeout: + msg = master.recv_match() + if msg is not None: + if msg.get_type() == "PARAM_VALUE" and msg.param_id == name and msg.param_value == value: + print " OK" + verified = True + break + time.sleep(0.01) + + if not verified: + print " FAIL!" + failed.append(name) + + f.close() + if len(failed) > 0: + print("Failed to set %s") % failed + else: + print("Parameter flash successful!") + +# Wait a few seconds +print "Waiting to restart mavproxy..." +time.sleep(4) + +# Start screen session with mavproxy +print "Restarting mavproxy" +os.system("screen -dm -S mavproxy /home/pi/companion/scripts/start_mavproxy_telem_splitter.sh") From 51d741f230e0cabe413db707ceae162ddd244a43 Mon Sep 17 00:00:00 2001 From: dheideman Date: Fri, 18 Aug 2017 16:45:27 -0700 Subject: [PATCH 160/256] Add command line options to gps-replay --- tools/gps-replay.py | 18 +++++++++++++----- 1 file changed, 13 insertions(+), 5 deletions(-) diff --git a/tools/gps-replay.py b/tools/gps-replay.py index d507fb5c..f0013783 100755 --- a/tools/gps-replay.py +++ b/tools/gps-replay.py @@ -2,21 +2,29 @@ import time import socket +import argparse -file = open('/home/pi/companion/tools/raw-nmea-log', 'r') +parser = argparse.ArgumentParser(description="GPS Replay Tool for Testing and Debugging") +parser.add_argument('--frequency', action="store", type=float, default=10, help="gps message update frequency") +parser.add_argument('--file', action="store", type=str, default='/home/pi/companion/tools/raw-nmea-log', help="gps log file from which to read") +parser.add_argument('--port', action="store", type=int, default=27000, help="udp destination port") +parser.add_argument('--ip', action="store", type=str, default="0.0.0.0", help="udp destination ip address") +args = parser.parse_args() + +file = open(args.file, 'r') content = file.readlines() file.close() -ip="0.0.0.0" -portnum = 27000 +delay = 1.0/args.frequency + sockit = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) sockit.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) sockit.setblocking(False) while True: for line in content: - time.sleep(0.1) + time.sleep(delay) try: - sockit.sendto(line, (ip, portnum)) + sockit.sendto(line, (args.ip, args.port)) except Exception as e: print e From e6989ab71b2f67a256c2ebebc2009ca35e241cfa Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 28 Aug 2017 11:10:12 -0400 Subject: [PATCH 161/256] Don't flood the console and log with ping results --- br-webui/index.js | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/br-webui/index.js b/br-webui/index.js index 2ed9083c..be06a69d 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -573,9 +573,11 @@ networking.on('connection', function(socket) { }); }); -function updateInternetStatus() { +function updateInternetStatus(should_log) { var cmd = child_process.exec('ping -c1 google.com', function (error, stdout, stderr) { - logger.log("ping -c1 google.com : ", error + stdout + stderr); + if (should_log) { + logger.log("ping -c1 google.com : ", error + stdout + stderr); + } if (error) { _internet_connected = false; } else { @@ -585,7 +587,8 @@ function updateInternetStatus() { }); } -setInterval(updateInternetStatus, 2500); +updateInternetStatus(true); +setInterval(updateInternetStatus, 2500, false); // get cpu & ram usage function updateCPUStats () { From 2901a8bceba8bbc4f536b68d06e7f7781ee1b4c3 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 28 Aug 2017 11:01:12 -0400 Subject: [PATCH 162/256] Move waterlinked config to its own page --- br-webui/index.js | 4 +++ br-webui/views/system.liquid | 43 ------------------------ br-webui/views/waterlinked.liquid | 54 +++++++++++++++++++++++++++++++ 3 files changed, 58 insertions(+), 43 deletions(-) create mode 100644 br-webui/views/waterlinked.liquid diff --git a/br-webui/index.js b/br-webui/index.js index be06a69d..a267d443 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -59,6 +59,10 @@ app.get('/network', function(req, res) { res.render('network', {}); }); +app.get('/waterlinked', function(req, res) { + res.render('waterlinked', {}); +}); + // Thank you > https://github.com/nesk/network.js/issues/8 app.get('/test', function(req, res) { diff --git a/br-webui/views/system.liquid b/br-webui/views/system.liquid index 8eaf2a3d..b707b2ec 100644 --- a/br-webui/views/system.liquid +++ b/br-webui/views/system.liquid @@ -167,23 +167,6 @@ function submit(onComplete, onStream, fileElement) { uploader.on('stream', onStream); }; -function startWLDriver() { - var ip = document.getElementById('wlIP').value; - var port = document.getElementById('wlPort').value; - var args = {} - if (ip.length) { - args.ip = ip; - } - if (port.length) { - args.port = port; - } - socket.emit('start WL driver', args); -} - -function stopWLDriver() { - socket.emit('stop WL driver'); -} - // Set width of all "dynamic-parent-width" elements to parent width function resizeDynamicWidthElement() { var elements = document.getElementsByClassName("dynamic-parent-width"); @@ -294,30 +277,4 @@ socket.on('restore px params complete', function(data){
    -
    -
    -
    -
    -

    - Water Linked Underwater GPS Driver -

    -
    -
    -
    -
    - - -
    -
    - - -
    - - -
    -
    -
    -
    -
    - {% include ../_includes/footer.liquid %} diff --git a/br-webui/views/waterlinked.liquid b/br-webui/views/waterlinked.liquid new file mode 100644 index 00000000..fff95179 --- /dev/null +++ b/br-webui/views/waterlinked.liquid @@ -0,0 +1,54 @@ +{% include ../_includes/header.liquid %} + + + + +

    Waterlinked Driver Setup

    + +
    +
    +
    +
    +

    + Water Linked Underwater GPS Driver +

    +
    +
    +
    +
    + + +
    +
    + + +
    + + +
    +
    +
    +
    +
    + +{% include ../_includes/footer.liquid %} From 4ff5862232eba8e868b893beb3518dc2955e4974 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 28 Aug 2017 10:28:44 -0400 Subject: [PATCH 163/256] flashPXParameters.py: Make 3 attempts per parameter --- tools/flashPXParameters.py | 30 +++++++++++++++++------------- 1 file changed, 17 insertions(+), 13 deletions(-) diff --git a/tools/flashPXParameters.py b/tools/flashPXParameters.py index 88cce125..dd7bf46e 100755 --- a/tools/flashPXParameters.py +++ b/tools/flashPXParameters.py @@ -58,22 +58,26 @@ line = line.split(',') name = line[0] value = float(line[1]) - - print "Sending " + name + " = " + str(value) + "\t\t\t", - - master.param_set_send(name,value) - start = time.time() verified = False + attempts = 0 - while time.time() < start + timeout: - msg = master.recv_match() - if msg is not None: - if msg.get_type() == "PARAM_VALUE" and msg.param_id == name and msg.param_value == value: - print " OK" - verified = True - break - time.sleep(0.01) + while not verified and attempts < 3: + print "Sending " + name + " = " + str(value) + "\t\t\t", + + master.param_set_send(name,value) + start = time.time() + + while time.time() < start + timeout: + msg = master.recv_match() + if msg is not None: + if msg.get_type() == "PARAM_VALUE" and msg.param_id == name and msg.param_value == value: + print " OK" + verified = True + break + time.sleep(0.01) + + attempts = attempts + 1 if not verified: print " FAIL!" From 6f7c58858ae94c2ebd3f592261943a2efaf9ea72 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 25 Aug 2017 00:30:33 -0400 Subject: [PATCH 164/256] change default credentials --- scripts/post-update.sh | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/scripts/post-update.sh b/scripts/post-update.sh index d72dda07..fdd1ef98 100755 --- a/scripts/post-update.sh +++ b/scripts/post-update.sh @@ -99,6 +99,13 @@ for default_param_file in *; do fi done +# change the pi user password to 'bluerobotics' instead of the default 'raspberry' +PRE_0_0_8=$(( git rev-list --count --left-right 0.0.8...revert-point || echo 0 ) | cut -f1) +if (( $PRE_0_0_8 > 0 )); then + echo "changing default password to 'companion'..." + echo "pi:companion" | sudo chpasswd +fi + echo 'Update Complete, refresh your browser' sleep 1 From 990fccee49f8129dbae39cdc1127e137fed7d71a Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 28 Aug 2017 12:40:14 -0400 Subject: [PATCH 165/256] standard.params: add AHRS_ORIENTATION=16 (Roll90) --- fw/standard.params | 1 + 1 file changed, 1 insertion(+) diff --git a/fw/standard.params b/fw/standard.params index ac4304d2..022e9843 100644 --- a/fw/standard.params +++ b/fw/standard.params @@ -6,3 +6,4 @@ MNT_TYPE,1.000000 SERVO7_FUNCTION,59.000000 SERVO8_FUNCTION,7.000000 ATC_ANG_RLL_P,0.000000 +AHRS_ORIENTATION,16 From d08f9b5ab72e9404bbb2ca488e703d6baa826371 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 28 Aug 2017 12:58:01 -0400 Subject: [PATCH 166/256] Fix broken upload updates --- br-webui/views/system.liquid | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/br-webui/views/system.liquid b/br-webui/views/system.liquid index b707b2ec..96bb4472 100644 --- a/br-webui/views/system.liquid +++ b/br-webui/views/system.liquid @@ -132,7 +132,7 @@ uploader.on('complete', function(fileInfo) { }); uploader.on('error', function(err) { console.log('Error!', err); - disableUpdates(false); + enableUpdates(true); showPixhawkSpinner(false); showCompanionSpinner(false); @@ -156,7 +156,7 @@ function submit(onComplete, onStream, fileElement) { return false; } - disableUpdates(true); + enableUpdates(false); if (fileElement == 'pixhawkFile') { showPixhawkSpinner(true); } else { From 08bf8f674ebd76ee10f488875e6723db7a6194b7 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 28 Aug 2017 10:13:32 -0400 Subject: [PATCH 167/256] Add release-notes.txt --- release-notes.txt | 27 +++++++++++++++++++++++++++ 1 file changed, 27 insertions(+) create mode 100644 release-notes.txt diff --git a/release-notes.txt b/release-notes.txt new file mode 100644 index 00000000..e1cf9707 --- /dev/null +++ b/release-notes.txt @@ -0,0 +1,27 @@ +0.0.7: + +Initial release + +- Setup/configuration on port 2770 +- WiFi Setup +- Flash Pixhawk +- Companion updates +- Communications routing +- Raspberry Pi Camera configuration +- Filesystem access on port 7777 +- Terminal access on port 8088 + +0.0.8: + +- Various bugfixes +- Don't include -roi option in camera configuration ui +- Network diagnostics: bandwidth, latency +- CPU and ram usage monitoring +- Lockout functions requiring internet when not available +- Git remote configuration +- Support for NMEA sentence input on port 27000 +- Support for json-formatted gps input on port 25100 +- Support for Water Linked Underwater GPS system +- Allow adjusting/saving camera configuration used at boot +- Factory firmware and parameter reset +- Change the default password from 'raspberry' to 'companion' From 05faad640c406e57a5cef0d8081aad0f6b7c494a Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 30 Aug 2017 18:01:58 -0400 Subject: [PATCH 168/256] Default BATT_CAPACITY parameter to 18000 mAh --- fw/standard.params | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/fw/standard.params b/fw/standard.params index 022e9843..34f58aa5 100644 --- a/fw/standard.params +++ b/fw/standard.params @@ -1,4 +1,4 @@ -BATT_CAPACITY,10000.000000 +BATT_CAPACITY,18000.000000 BATT_MONITOR,4.000000 LEAK1_PIN,55.000000 MNT_RC_IN_TILT,8.000000 From 2c4508415afd12a6f126e2a6a67b8c5549eb4a24 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Thu, 31 Aug 2017 09:07:21 -0400 Subject: [PATCH 169/256] Fix broken pymavlink install --- scripts/post-update.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/post-update.sh b/scripts/post-update.sh index fdd1ef98..22177aea 100755 --- a/scripts/post-update.sh +++ b/scripts/post-update.sh @@ -29,7 +29,7 @@ if [[ ! -z $MAVLINK_STATUS && ($MAVLINK_STATUS == '+' || $MAVLINK_STATUS == '-') [ -d ~/mavlink ] && sudo rm -rf ~/mavlink echo 'mavlink needs update.' - git submodule update --recursive -f submodules/mavlink + git submodule update --recursive --init -f submodules/mavlink echo 'Installing mavlink...' cd /home/pi/companion/submodules/mavlink/pymavlink sudo python setup.py build install || { echo 'mavlink installation failed!'; } From 4e131928290ec8ff14659ee7f3f1b6186d22ee6e Mon Sep 17 00:00:00 2001 From: dheideman Date: Tue, 5 Sep 2017 11:14:09 -0700 Subject: [PATCH 170/256] Abort update if any download process fails --- .companion.rc | 2 +- scripts/post-update.sh | 58 ++++++++++++++++++++++++++++++++++++------ 2 files changed, 51 insertions(+), 9 deletions(-) diff --git a/.companion.rc b/.companion.rc index c9e0dc10..9ec7efff 100755 --- a/.companion.rc +++ b/.companion.rc @@ -13,7 +13,7 @@ else rm -f /home/pi/.updating if [ -d /home/pi/.companion ]; then rm -rf $COMPANION_DIR - sudo -H -u pi cp -r ~/.companion $COMPANION_DIR + sudo -H -u pi cp -r /home/pi/.companion $COMPANION_DIR fi sudo -H -u pi echo 'Trying to run again...' >> /home/pi/.update_log $COMPANION_DIR/.companion.rc diff --git a/scripts/post-update.sh b/scripts/post-update.sh index 22177aea..2a018d77 100755 --- a/scripts/post-update.sh +++ b/scripts/post-update.sh @@ -4,7 +4,15 @@ cd /home/pi/companion/br-webui if ! npm list nodegit | grep -q nodegit@0.18.3; then echo 'Fetching nodegit packages for raspberry pi...' - wget https://s3.amazonaws.com/downloads.bluerobotics.com/Pi/dependencies/nodegit/nodegit_required_modules.zip -O /tmp/nodegit_required_modules.zip + wget --timeout=15 --tries=2 https://s3.amazonaws.com/downloads.bluerobotics.com/Pi/dependencies/nodegit/nodegit_required_modules.zip -O /tmp/nodegit_required_modules.zip + if [ $? -ne 0 ] # If "wget" failed: + then + echo 'Failed to retrieve nodegit packages; Aborting update' + echo 'Rebooting' + sleep 0.1 + sudo reboot + fi + echo 'Extracting prebuilt packages...' unzip -q /tmp/nodegit_required_modules.zip -d ~/companion/br-webui/node_modules/ fi @@ -13,12 +21,25 @@ fi echo 'run npm install' npm install +if [ $? -ne 0 ] # If "npm install" failed: +then + echo 'Failed to install required npm modules; Aborting update' + echo 'Rebooting' + sleep 0.1 + sudo reboot +fi cd /home/pi/companion echo 'Updating submodules...' -git submodule init -git submodule sync +git submodule init && git submodule sync +if [ $? -ne 0 ] # If either "git submodule" failed: +then + echo 'Failed to update submodules; Aborting update' + echo 'Rebooting' + sleep 0.1 + sudo reboot +fi # https://git-scm.com/docs/git-submodule#git-submodule-status--cached--recursive--ltpathgt82308203 @@ -27,7 +48,7 @@ MAVLINK_STATUS=$(git submodule status | grep mavlink | head -c 1) if [[ ! -z $MAVLINK_STATUS && ($MAVLINK_STATUS == '+' || $MAVLINK_STATUS == '-') ]]; then # Remove old mavlink directory if it exists [ -d ~/mavlink ] && sudo rm -rf ~/mavlink - + echo 'mavlink needs update.' git submodule update --recursive --init -f submodules/mavlink echo 'Installing mavlink...' @@ -56,10 +77,10 @@ echo 'checking for github in known_hosts' # Check for github key in known_hosts if ! ssh-keygen -H -F github.com; then mkdir ~/.ssh - + # Get gihub public key ssh-keyscan -t rsa -H github.com > /tmp/githost - + # Verify fingerprint if ssh-keygen -lf /tmp/githost | grep -q 16:27:ac:a5:76:28:2d:36:63:1b:56:4d:eb:df:a6:48; then # Add to known_hosts @@ -73,6 +94,13 @@ if pip list | grep pynmea2; then else echo 'installing pynmea2...' sudo pip install pynmea2 + if [ $? -ne 0 ] # If "pip install pynmea2" failed: + then + echo 'Failed to install pynmea2; Aborting update' + echo 'Rebooting' + sleep 0.1 + sudo reboot + fi fi # install grequests if neccessary @@ -80,11 +108,25 @@ if pip list | grep grequests; then echo 'grequests already installed' else echo 'Fetching grequests packages for raspberry pi...' - wget https://s3.amazonaws.com/downloads.bluerobotics.com/Pi/dependencies/grequests/grequests.zip -O /tmp/grequests.zip + wget --timeout=15 --tries=2 https://s3.amazonaws.com/downloads.bluerobotics.com/Pi/dependencies/grequests/grequests.zip -O /tmp/grequests.zip + if [ $? -ne 0 ] # If "wget" failed: + then + echo 'Failed to retrieve grequests packages; Aborting update' + echo 'Rebooting' + sleep 0.1 + sudo reboot + fi echo 'Extracting prebuilt packages...' sudo unzip -q -o /tmp/grequests.zip -d / echo 'installing grequests...' sudo pip install grequests + if [ $? -ne 0 ] # If "pip install grequests" failed: + then + echo 'Failed to install grequests; Aborting update' + echo 'Rebooting' + sleep 0.1 + sudo reboot + fi fi # copy default parameters if neccessary @@ -108,7 +150,7 @@ fi echo 'Update Complete, refresh your browser' -sleep 1 +sleep 0.1 echo 'quit webui' >> /home/pi/.update_log screen -X -S webui quit From c5a8cc92930667da0dc91313c0adad6df89f54b7 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 8 Sep 2017 16:02:41 -0400 Subject: [PATCH 171/256] minor fixup for log entries --- br-webui/index.js | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/br-webui/index.js b/br-webui/index.js index a267d443..ada74964 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -867,13 +867,13 @@ io.on('connection', function(socket) { args += ' --port=' + data.port; } var cmd = child_process.exec('screen -dm -S wldriver ' + _companion_directory + '/tools/underwater-gps.py' + args, function(error, stdout, stderr) { - logger.log(error, stdout, stderr); + logger.log('Start waterlinked driver:', error, stdout, stderr); }); }); socket.on('stop WL driver', function(data) { var cmd = child_process.exec('screen -X -S wldriver quit', function(error, stdout, stderr) { - logger.log(error, stdout, stderr); + logger.log('Stop waterlinked driver:', error, stdout, stderr); }); }); From cbc63a324688358557d81f445a7bfad172cf75c0 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 8 Sep 2017 16:03:07 -0400 Subject: [PATCH 172/256] Fill WaterLinked driver inputs with default values --- br-webui/views/waterlinked.liquid | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/br-webui/views/waterlinked.liquid b/br-webui/views/waterlinked.liquid index fff95179..cb6be6f3 100644 --- a/br-webui/views/waterlinked.liquid +++ b/br-webui/views/waterlinked.liquid @@ -37,11 +37,11 @@ function stopWLDriver() {
    - +
    - +
    From afbba29c10f97765b0d7fb6297f6d9065b3d11c4 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 8 Sep 2017 16:03:38 -0400 Subject: [PATCH 173/256] Auto-set GPS_TYPE parameter when we will need it. --- tools/nmea-receiver.py | 5 +++++ tools/underwater-gps.py | 3 +++ 2 files changed, 8 insertions(+) diff --git a/tools/nmea-receiver.py b/tools/nmea-receiver.py index 0d54d932..0fa79157 100755 --- a/tools/nmea-receiver.py +++ b/tools/nmea-receiver.py @@ -4,6 +4,7 @@ import pynmea2 import json import socket +from os import system ip="127.0.0.1" portnum = 25100 @@ -36,11 +37,15 @@ } data_received = False +gps_type_set = False while True: # Check at 1Hz until data is seen on the line, then check at 20Hz if data_received: + if not gps_type_set: + system('screen -S mavproxy -p 0 -X stuff "param set GPS_TYPE 14^M"') + gps_type_set = True time.sleep(0.05) else: time.sleep(1) diff --git a/tools/underwater-gps.py b/tools/underwater-gps.py index a07b4d94..2701430b 100755 --- a/tools/underwater-gps.py +++ b/tools/underwater-gps.py @@ -7,6 +7,9 @@ import grequests from pymavlink import mavutil +from os import system +system('screen -S mavproxy -p 0 -X stuff "param set GPS_TYPE 14^M"') + master = mavutil.mavlink_connection('udpout:192.168.2.1:14550', source_system=2, source_component=1) parser = argparse.ArgumentParser(description="Driver for the Water Linked Underwater GPS system.") From 5b12609ae127b7e5c1857bcb8dd781c1945eb21c Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 8 Sep 2017 17:17:08 -0400 Subject: [PATCH 174/256] mavlink: submodule update --- submodules/mavlink | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/submodules/mavlink b/submodules/mavlink index a18941d2..c1760dc6 160000 --- a/submodules/mavlink +++ b/submodules/mavlink @@ -1 +1 @@ -Subproject commit a18941d28d2a6ea24d4ea1f8e4882f24c97ca06e +Subproject commit c1760dc6c87c22fe2db7c78fcd59e4e30def60a9 From 9b9da94bd543f8da96368aaebbead15b72e894c2 Mon Sep 17 00:00:00 2001 From: dheideman Date: Mon, 11 Sep 2017 10:15:44 -0700 Subject: [PATCH 175/256] Abort update if git submodule update fails --- scripts/post-update.sh | 34 ++++++++++++++++++++++++++++++++-- 1 file changed, 32 insertions(+), 2 deletions(-) diff --git a/scripts/post-update.sh b/scripts/post-update.sh index 2a018d77..e2ed1dfd 100755 --- a/scripts/post-update.sh +++ b/scripts/post-update.sh @@ -51,9 +51,24 @@ if [[ ! -z $MAVLINK_STATUS && ($MAVLINK_STATUS == '+' || $MAVLINK_STATUS == '-') echo 'mavlink needs update.' git submodule update --recursive --init -f submodules/mavlink + if [ $? -ne 0 ] # If mavlink submodule update failed: + then + echo 'Failed to update mavlink submodule; Aborting update' + echo 'Rebooting' + sleep 0.1 + sudo reboot + fi + echo 'Installing mavlink...' cd /home/pi/companion/submodules/mavlink/pymavlink - sudo python setup.py build install || { echo 'mavlink installation failed!'; } + sudo python setup.py build install + if [ $? -ne 0 ] # If mavlink installation update failed: + then + echo 'Failed to install mavlink; Aborting update' + echo 'Rebooting' + sleep 0.1 + sudo reboot + fi else echo 'mavlink is up to date.' fi @@ -65,9 +80,24 @@ MAVPROXY_STATUS=$(git submodule status | grep MAVProxy | head -c 1) if [[ ! -z $MAVPROXY_STATUS && ($MAVPROXY_STATUS == '+' || $MAVPROXY_STATUS == '-') ]]; then echo 'MAVProxy needs update.' git submodule update --recursive -f submodules/MAVProxy + if [ $? -ne 0 ] # If MAVProxy submodule update failed: + then + echo 'Failed to update MAVProxy submodule; Aborting update' + echo 'Rebooting' + sleep 0.1 + sudo reboot + fi + echo 'Installing MAVProxy...' cd /home/pi/companion/submodules/MAVProxy - sudo python setup.py build install || { echo 'MAVProxy installation failed!'; } + sudo python setup.py build install + if [ $? -ne 0 ] # If MAVProxy installation update failed: + then + echo 'Failed to install MAVProxy; Aborting update' + echo 'Rebooting' + sleep 0.1 + sudo reboot + fi else echo 'MAVProxy is up to date.' fi From e6be5986bd1541ff823b42cc209f84bf37190381 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 11 Sep 2017 15:03:05 -0400 Subject: [PATCH 176/256] Advise the ROV should not be powered down during update process --- scripts/post-update.sh | 31 ++++++++++++++++++++----------- scripts/update.sh | 4 ++++ 2 files changed, 24 insertions(+), 11 deletions(-) diff --git a/scripts/post-update.sh b/scripts/post-update.sh index e2ed1dfd..6444a978 100755 --- a/scripts/post-update.sh +++ b/scripts/post-update.sh @@ -8,7 +8,8 @@ if ! npm list nodegit | grep -q nodegit@0.18.3; then if [ $? -ne 0 ] # If "wget" failed: then echo 'Failed to retrieve nodegit packages; Aborting update' - echo 'Rebooting' + echo 'Rebooting to repair installation, this will take a few minutes' + echo 'Please DO NOT REMOVE POWER FROM THE ROV! (until QGC makes a connection again)' sleep 0.1 sudo reboot fi @@ -24,7 +25,8 @@ npm install if [ $? -ne 0 ] # If "npm install" failed: then echo 'Failed to install required npm modules; Aborting update' - echo 'Rebooting' + echo 'Rebooting to repair installation, this will take a few minutes' + echo 'Please DO NOT REMOVE POWER FROM THE ROV! (until QGC makes a connection again)' sleep 0.1 sudo reboot fi @@ -36,7 +38,8 @@ git submodule init && git submodule sync if [ $? -ne 0 ] # If either "git submodule" failed: then echo 'Failed to update submodules; Aborting update' - echo 'Rebooting' + echo 'Rebooting to repair installation, this will take a few minutes' + echo 'Please DO NOT REMOVE POWER FROM THE ROV! (until QGC makes a connection again)' sleep 0.1 sudo reboot fi @@ -48,13 +51,13 @@ MAVLINK_STATUS=$(git submodule status | grep mavlink | head -c 1) if [[ ! -z $MAVLINK_STATUS && ($MAVLINK_STATUS == '+' || $MAVLINK_STATUS == '-') ]]; then # Remove old mavlink directory if it exists [ -d ~/mavlink ] && sudo rm -rf ~/mavlink - echo 'mavlink needs update.' git submodule update --recursive --init -f submodules/mavlink if [ $? -ne 0 ] # If mavlink submodule update failed: then echo 'Failed to update mavlink submodule; Aborting update' - echo 'Rebooting' + echo 'Rebooting to repair installation, this will take a few minutes' + echo 'Please DO NOT REMOVE POWER FROM THE ROV! (until QGC makes a connection again)' sleep 0.1 sudo reboot fi @@ -65,7 +68,8 @@ if [[ ! -z $MAVLINK_STATUS && ($MAVLINK_STATUS == '+' || $MAVLINK_STATUS == '-') if [ $? -ne 0 ] # If mavlink installation update failed: then echo 'Failed to install mavlink; Aborting update' - echo 'Rebooting' + echo 'Rebooting to repair installation, this will take a few minutes' + echo 'Please DO NOT REMOVE POWER FROM THE ROV! (until QGC makes a connection again)' sleep 0.1 sudo reboot fi @@ -83,7 +87,8 @@ if [[ ! -z $MAVPROXY_STATUS && ($MAVPROXY_STATUS == '+' || $MAVPROXY_STATUS == ' if [ $? -ne 0 ] # If MAVProxy submodule update failed: then echo 'Failed to update MAVProxy submodule; Aborting update' - echo 'Rebooting' + echo 'Rebooting to repair installation, this will take a few minutes' + echo 'Please DO NOT REMOVE POWER FROM THE ROV! (until QGC makes a connection again)' sleep 0.1 sudo reboot fi @@ -94,7 +99,8 @@ if [[ ! -z $MAVPROXY_STATUS && ($MAVPROXY_STATUS == '+' || $MAVPROXY_STATUS == ' if [ $? -ne 0 ] # If MAVProxy installation update failed: then echo 'Failed to install MAVProxy; Aborting update' - echo 'Rebooting' + echo 'Rebooting to repair installation, this will take a few minutes' + echo 'Please DO NOT REMOVE POWER FROM THE ROV! (until QGC makes a connection again)' sleep 0.1 sudo reboot fi @@ -127,7 +133,8 @@ else if [ $? -ne 0 ] # If "pip install pynmea2" failed: then echo 'Failed to install pynmea2; Aborting update' - echo 'Rebooting' + echo 'Rebooting to repair installation, this will take a few minutes' + echo 'Please DO NOT REMOVE POWER FROM THE ROV! (until QGC makes a connection again)' sleep 0.1 sudo reboot fi @@ -142,7 +149,8 @@ else if [ $? -ne 0 ] # If "wget" failed: then echo 'Failed to retrieve grequests packages; Aborting update' - echo 'Rebooting' + echo 'Rebooting to repair installation, this will take a few minutes' + echo 'Please DO NOT REMOVE POWER FROM THE ROV! (until QGC makes a connection again)' sleep 0.1 sudo reboot fi @@ -153,7 +161,8 @@ else if [ $? -ne 0 ] # If "pip install grequests" failed: then echo 'Failed to install grequests; Aborting update' - echo 'Rebooting' + echo 'Rebooting to repair installation, this will take a few minutes' + echo 'Please DO NOT REMOVE POWER FROM THE ROV! (until QGC makes a connection again)' sleep 0.1 sudo reboot fi diff --git a/scripts/update.sh b/scripts/update.sh index 9d4bdb26..9c40a26b 100755 --- a/scripts/update.sh +++ b/scripts/update.sh @@ -3,7 +3,11 @@ REMOTE=$1 REF=$2 +echo 'The update process will begin momentarily.' +echo 'This update may take more than 15 minutes.' +echo 'Please be patient and DO NOT REMOVE POWER FROM THE ROV!' +sleep 10 echo 'adding lock' touch /home/pi/.updating From 2e4618a382de77da93bf8668213de5ff0df33b43 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 12 Sep 2017 11:47:29 -0400 Subject: [PATCH 177/256] Fix reversion for first update from 0.0.7 initial release --- scripts/post-update.sh | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/scripts/post-update.sh b/scripts/post-update.sh index 6444a978..c65bb85c 100755 --- a/scripts/post-update.sh +++ b/scripts/post-update.sh @@ -1,5 +1,16 @@ #!/bin/bash +# Bugfix for revert on first update. 0.0.7 had a bug in update.sh where the companion directory was not copied correctly (no -r option) +# Do it the right way here so we can revert if +cd /home/pi/companion +WAS_0_0_7=$(git rev-list --count revert-point...0.0.7) +if [ $WAS_0_0_7 == 0 ]; then + echo '0.0.7 update, repairing fall-back...' + cp -r /home/pi/companion /home/pi/.companion + cd /home/pi/.companion + git reset --hard 0.0.7 +fi + cd /home/pi/companion/br-webui if ! npm list nodegit | grep -q nodegit@0.18.3; then From c11916939de53dc9871cff8d0f7d5afc45d7e7f7 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 12 Sep 2017 13:38:29 -0400 Subject: [PATCH 178/256] Bugfix for copy repo on update --- br-webui/index.js | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/br-webui/index.js b/br-webui/index.js index ada74964..d4ba9043 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -676,7 +676,7 @@ io.on('connection', function(socket) { detached: true }); } else { - var args = ['origin', '', 'stable']; + var args = ['origin', '', 'stable', 'true']; // remote, branch, tag, copy repo for revert? cmd = child_process.spawn(_companion_directory + '/scripts/update.sh', args, { detached: true }); From ca39367d34459970a8099b330ce7dd60c8963685 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 13 Sep 2017 13:53:35 -0400 Subject: [PATCH 179/256] Bugfix pattern for determining RPi hardware before expanding file system --- scripts/expand_fs.sh | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/scripts/expand_fs.sh b/scripts/expand_fs.sh index 3f70ce19..c375a6ba 100755 --- a/scripts/expand_fs.sh +++ b/scripts/expand_fs.sh @@ -3,8 +3,8 @@ # Borrowed and modified from Raspbian usr/lib/raspi-config/init_resize.sh # Abort if we are not on a Raspberry Pi -if grep -q 'Hardware : BCM2' /proc/cpuinfo; then - echo "RPI BUILD!" +if grep -q 'Hardware.*: BCM2' /proc/cpuinfo; then + echo "Expanding file system on Raspberry Pi!" RPI="1" else echo "This script should only be run on a Raspberry Pi!" From 7747740acf83ae1511a98b3043072a18392c711f Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 13 Sep 2017 15:17:05 -0400 Subject: [PATCH 180/256] Update release notes for 0.0.9 --- release-notes.txt | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/release-notes.txt b/release-notes.txt index e1cf9707..9086120b 100644 --- a/release-notes.txt +++ b/release-notes.txt @@ -25,3 +25,7 @@ Initial release - Allow adjusting/saving camera configuration used at boot - Factory firmware and parameter reset - Change the default password from 'raspberry' to 'companion' + +0.0.9: + +- Bugfix for determining hardware type before expanding filesystem on first boot \ No newline at end of file From 4af923876d8193290487b8795214768fbde38766 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 13 Sep 2017 21:54:01 -0400 Subject: [PATCH 181/256] Update post-sideload.sh for zipped updates --- scripts/post-sideload.sh | 111 ++++++++++++++++++++++++++++++++++++++- 1 file changed, 109 insertions(+), 2 deletions(-) diff --git a/scripts/post-sideload.sh b/scripts/post-sideload.sh index b8c35f37..1b6a5a45 100755 --- a/scripts/post-sideload.sh +++ b/scripts/post-sideload.sh @@ -1,7 +1,114 @@ #!/bin/bash + +cd /home/pi/companion + +# https://git-scm.com/docs/git-submodule#git-submodule-status--cached--recursive--ltpathgt82308203 + + +# Remove old mavlink directory if it exists +[ -d ~/mavlink ] && sudo rm -rf ~/mavlink +echo 'Installing mavlink...' +cd /home/pi/companion/submodules/mavlink/pymavlink +sudo python setup.py build install +if [ $? -ne 0 ] # If mavlink installation update failed: +then + echo 'Failed to install mavlink; Aborting update' + echo 'Rebooting to repair installation, this will take a few minutes' + echo 'Please DO NOT REMOVE POWER FROM THE ROV! (until QGC makes a connection again)' + sleep 0.1 + sudo reboot +fi + + +cd /home/pi/companion + + +echo 'Installing MAVProxy...' +cd /home/pi/companion/submodules/MAVProxy +sudo python setup.py build install +if [ $? -ne 0 ] # If MAVProxy installation update failed: +then + echo 'Failed to install MAVProxy; Aborting update' + echo 'Rebooting to repair installation, this will take a few minutes' + echo 'Please DO NOT REMOVE POWER FROM THE ROV! (until QGC makes a connection again)' + sleep 0.1 + sudo reboot +fi + + +echo 'checking for github in known_hosts' + +# Check for github key in known_hosts +if ! ssh-keygen -H -F github.com; then + mkdir ~/.ssh + + # Get gihub public key + ssh-keyscan -t rsa -H github.com > /tmp/githost + + # Verify fingerprint + if ssh-keygen -lf /tmp/githost | grep -q 16:27:ac:a5:76:28:2d:36:63:1b:56:4d:eb:df:a6:48; then + # Add to known_hosts + cat /tmp/githost >> ~/.ssh/known_hosts + fi +fi + +# install pynmea2 if neccessary +if pip list | grep pynmea2; then + echo 'pynmea2 already installed' +else + echo 'installing pynmea2...' + sudo pip install --no-index --find-links /home/pi/update-dependencies/pynmea2-pip pynmea2 + if [ $? -ne 0 ] # If "pip install pynmea2" failed: + then + echo 'Failed to install pynmea2; Aborting update' + echo 'Rebooting to repair installation, this will take a few minutes' + echo 'Please DO NOT REMOVE POWER FROM THE ROV! (until QGC makes a connection again)' + sleep 0.1 + sudo reboot + fi +fi + +# install grequests if neccessary +if pip list | grep grequests; then + echo 'grequests already installed' +else + echo 'grequests needs install' + echo 'Extracting prebuilt packages...' + sudo unzip -q -o /home/pi/update-dependencies/grequests.zip -d / + echo 'installing grequests...' + sudo pip install --no-index --find-links /home/pi/update-dependencies/grequests-pip grequests + if [ $? -ne 0 ] # If "pip install grequests" failed: + then + echo 'Failed to install grequests; Aborting update' + echo 'Rebooting to repair installation, this will take a few minutes' + echo 'Please DO NOT REMOVE POWER FROM THE ROV! (until QGC makes a connection again)' + sleep 0.1 + sudo reboot + fi +fi + +# copy default parameters if neccessary +cd /home/pi/companion/params + +for default_param_file in *; do + if [[ $default_param_file == *".param.default" ]]; then + param_file="/home/pi/"$(echo $default_param_file | sed "s/.default//") + if [ ! -e "$param_file" ]; then + cp $default_param_file $param_file + fi + fi +done + + +echo "changing default password to 'companion'..." +echo "pi:companion" | sudo chpasswd + + +rm -rf /home/pi/update-dependencies + echo 'Update Complete, refresh your browser' -sleep 1 +sleep 0.1 echo 'quit webui' >> /home/pi/.update_log screen -X -S webui quit @@ -10,4 +117,4 @@ echo 'restart webui' >> /home/pi/.update_log sudo -H -u pi screen -dm -S webui /home/pi/companion/scripts/start_webui.sh echo 'removing lock' >> /home/pi/.update_log -rm -f /home/pi/.updating \ No newline at end of file +rm -f /home/pi/.updating From 1447ad6d5994bd4cd24f7f51006e9e847796ebe4 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 13 Sep 2017 23:25:58 -0400 Subject: [PATCH 182/256] Update release notes for 0.0.10 --- release-notes.txt | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/release-notes.txt b/release-notes.txt index 9086120b..dbd9d907 100644 --- a/release-notes.txt +++ b/release-notes.txt @@ -28,4 +28,8 @@ Initial release 0.0.9: -- Bugfix for determining hardware type before expanding filesystem on first boot \ No newline at end of file +- Bugfix for determining hardware type before expanding filesystem on first boot + +0.0.10: + +- Update post-sideload.sh for zipped updates \ No newline at end of file From 5b4a9fd38a40d7bf73fc6935abb90ca1680c3daf Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Patrick=20Jos=C3=A9=20Pereira?= Date: Sat, 18 Nov 2017 01:40:16 +0000 Subject: [PATCH 183/256] Add cpu status in network MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Fix #58 Signed-off-by: Patrick José Pereira --- br-webui/index.js | 44 +++++++++++++++++++++++++++++++++-- br-webui/views/network.liquid | 3 +++ 2 files changed, 45 insertions(+), 2 deletions(-) diff --git a/br-webui/index.js b/br-webui/index.js index d4ba9043..ad6daf7b 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -606,8 +606,48 @@ function updateCPUStats () { cpu_stats.ram_total = os.totalmem()/(1024*1024); // MB cpu_stats.ram_used = cpu_stats.ram_total - cpu_stats.ram_free; // MB - // stream collected data - io.emit('cpu stats', cpu_stats); + cpu_stats.cpu_status = "" + // Get cpu status + getCpuStatus(function(status) { + throttled = status.split("="); + + // If command fail, return no status + if (throttled[0] != "throttled") { + cpu_stats.cpu_status = "No status" + io.emit('cpu stats', cpu_stats); + return; + } + + // Decode command + throttled_code = parseInt(throttled[1]) + var throttled_list = + [ + {bit: 18, type: "Throttling has occurred"}, + {bit: 17, type: "Arm frequency capped has occurred"}, + {bit: 16, type: "Under-voltage has occurred"}, + {bit: 2, type: "Currently throttled"}, + {bit: 1, type: "Currently arm frequency capped"}, + {bit: 0, type: "Currently under-voltage"} + ]; + + for (i = 0; i < throttled_list.length; i++) { + if ((throttled_code >> throttled_list[i].bit) & 1) { + if (cpu_stats.cpu_status != "") { + cpu_stats.cpu_status += ", " + } + cpu_stats.cpu_status += throttled_list[i].type + } + } + + // stream collected data + io.emit('cpu stats', cpu_stats); + }) +} + +function getCpuStatus(callback) { + var cmd = child_process.exec('vcgencmd get_throttled', function (error, stdout, stderr) { + callback(stdout); + }); } // Make updateCPUStats() run once every 5 seconds (=os.loadavg() update rate) diff --git a/br-webui/views/network.liquid b/br-webui/views/network.liquid index 69a358f3..f334e5cd 100644 --- a/br-webui/views/network.liquid +++ b/br-webui/views/network.liquid @@ -80,6 +80,7 @@ socket.on('cpu stats', function(data) { document.getElementById('ramFree').innerHTML = data.ram_free.toFixed(3) + ' MB'; document.getElementById('ramUsed').innerHTML = data.ram_used.toFixed(3) + ' MB'; document.getElementById('ramTotal').innerHTML = data.ram_total.toFixed(3) + ' MB'; + document.getElementById('cpuStatus').innerHTML = data.cpu_status; }); // Convert Bytes per second to Megabits per second @@ -122,6 +123,8 @@ function testDownload() {
    Total RAM:
    +
    CPU Status:
    +
    From 2879f37c70ef6cdcd2d26b37d863892a60e486f4 Mon Sep 17 00:00:00 2001 From: dheideman Date: Tue, 12 Sep 2017 14:10:37 -0700 Subject: [PATCH 184/256] Submit form on button press, enter key --- br-webui/views/git.liquid | 12 ++++++------ br-webui/views/index.liquid | 18 ++++++++++-------- br-webui/views/routing.liquid | 16 ++++++++-------- 3 files changed, 24 insertions(+), 22 deletions(-) diff --git a/br-webui/views/git.liquid b/br-webui/views/git.liquid index 5c39dfec..879036bf 100644 --- a/br-webui/views/git.liquid +++ b/br-webui/views/git.liquid @@ -260,14 +260,14 @@ gitsetup.emit('authenticated?'); - + + @@ -286,11 +286,11 @@ gitsetup.emit('authenticated?');

    Current HEAD:

    Add new remote

    -
    +
    - -
    + +

    remotelist

    diff --git a/br-webui/views/index.liquid b/br-webui/views/index.liquid index b201fb0c..1435dfcf 100644 --- a/br-webui/views/index.liquid +++ b/br-webui/views/index.liquid @@ -95,14 +95,16 @@ setInterval(function() {

    Wifi Setup

    -

    Wifi SSID:

    - -

    Password:

    -
    - - - -
    +
    +

    Wifi SSID:

    + +

    Password:

    +
    + + + +
    +
    diff --git a/br-webui/views/routing.liquid b/br-webui/views/routing.liquid index 399fec80..29ae77d8 100644 --- a/br-webui/views/routing.liquid +++ b/br-webui/views/routing.liquid @@ -224,7 +224,7 @@

    Create Serial Endpoint

    -
    +
    @@ -233,8 +233,8 @@
    - -
    + +
    @@ -244,7 +244,7 @@

    Create UDP Endpoint

    -
    +
    @@ -253,8 +253,8 @@
    - -
    + +
    @@ -267,7 +267,7 @@

    Create Routes

    -
    +
    - +
    From 11d5a20a4a8147b7503a032e8e85194249d58798 Mon Sep 17 00:00:00 2001 From: dheideman Date: Tue, 12 Sep 2017 16:35:48 -0700 Subject: [PATCH 185/256] Print parameter name only once --- tools/flashPXParameters.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tools/flashPXParameters.py b/tools/flashPXParameters.py index dd7bf46e..5ea97417 100755 --- a/tools/flashPXParameters.py +++ b/tools/flashPXParameters.py @@ -62,9 +62,9 @@ verified = False attempts = 0 - while not verified and attempts < 3: - print "Sending " + name + " = " + str(value) + "\t\t\t", + print "Sending " + name + " = " + str(value) + "\t\t\t", + while not verified and attempts < 3: master.param_set_send(name,value) start = time.time() From 91ce3c8c17499012b654d05a0ff753cb43183a5a Mon Sep 17 00:00:00 2001 From: dheideman Date: Wed, 13 Sep 2017 08:51:00 -0700 Subject: [PATCH 186/256] Make git page terminal pretty like system page --- br-webui/views/git.liquid | 31 +++++++++++++++++++++++++++---- 1 file changed, 27 insertions(+), 4 deletions(-) diff --git a/br-webui/views/git.liquid b/br-webui/views/git.liquid index 879036bf..b50206eb 100644 --- a/br-webui/views/git.liquid +++ b/br-webui/views/git.liquid @@ -7,9 +7,14 @@ var _refs = null; var _choiceElement = null; gitsetup.on('terminal output', function(data) { - var currentHTML = document.getElementById("terminal-output").innerHTML; - document.getElementById("terminal-output").innerHTML = currentHTML + data; - document.getElementById("terminal-output").scrollTop = document.getElementById("terminal-output").scrollHeight + var terminalEl = document.getElementById("terminal-output"); + var html = terminalEl.innerHTML + data; + var autoscroll = terminalEl.scrollHeight - terminalEl.scrollTop + === terminalEl.clientHeight; + terminalEl.innerHTML = html.replace(/\n.*?\r/g, "\n"); + if (autoscroll) { + terminalEl.scrollTop = terminalEl.scrollHeight; + } }); socket.on('current HEAD', setHEAD); @@ -214,6 +219,7 @@ socket.on('authenticated', function(data) { document.getElementById('authentication').style.display = "none"; document.getElementById('authenticate').style.display = data ? "none" : "inline"; document.getElementById('content').style.display = data ? "inline" : "none"; + resizeDynamicWidthElement(); }); @@ -250,6 +256,21 @@ gitsetup.emit('get remotes'); // Ask backend if we are authenticated with github gitsetup.emit('authenticated?'); + +// Set width of all "dynamic-parent-width" elements to parent width +function resizeDynamicWidthElement() { + var elements = document.getElementsByClassName("dynamic-parent-width"); + for (i=0; i @@ -301,7 +322,9 @@ gitsetup.emit('authenticated?');
    - +
    From bd307dc3300eed4206d12b50708e2aa2610b20dc Mon Sep 17 00:00:00 2001 From: dheideman Date: Fri, 13 Oct 2017 14:30:43 -0700 Subject: [PATCH 187/256] Basic password change layout --- br-webui/index.js | 4 ++ br-webui/views/security.liquid | 69 ++++++++++++++++++++++++++++++++++ 2 files changed, 73 insertions(+) create mode 100644 br-webui/views/security.liquid diff --git a/br-webui/index.js b/br-webui/index.js index ad6daf7b..f9b41d46 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -63,6 +63,10 @@ app.get('/waterlinked', function(req, res) { res.render('waterlinked', {}); }); +app.get('/security', function(req, res) { + res.render('security', {}); +}); + // Thank you > https://github.com/nesk/network.js/issues/8 app.get('/test', function(req, res) { diff --git a/br-webui/views/security.liquid b/br-webui/views/security.liquid new file mode 100644 index 00000000..ac2308cd --- /dev/null +++ b/br-webui/views/security.liquid @@ -0,0 +1,69 @@ +{% include ../_includes/header.liquid %} + + + + +

    Login & Security Settings

    + +
    +
    +
    +
    +

    + Change Password +

    +
    +
    +
    +
    + + + +
    +
    + + + +
    +
    + + + +
    + + + + + +
    + + +
    +
    +
    +
    +
    +
    +
    + +{% include ../_includes/footer.liquid %} From 67dbe09457d2cf5aded397d821adc8c38b524d08 Mon Sep 17 00:00:00 2001 From: dheideman Date: Mon, 30 Oct 2017 12:21:28 -0700 Subject: [PATCH 188/256] Add password change functionality --- br-webui/index.js | 32 +++++++++++++++- br-webui/views/security.liquid | 8 ++++ tools/set-password.py | 70 ++++++++++++++++++++++++++++++++++ 3 files changed, 109 insertions(+), 1 deletion(-) create mode 100755 tools/set-password.py diff --git a/br-webui/index.js b/br-webui/index.js index f9b41d46..7ec90c9a 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -901,7 +901,37 @@ io.on('connection', function(socket) { logger.log(err.toString()); }); }); - + + socket.on('set password', function(data) { + logger.log('Updating Password'); + var user = 'pi'; + var cmd = child_process.spawn('sudo', + [_companion_directory + '/tools/set-password.py', '--user=' + user, + '--oldpass=' + data.oldpass, '--newpass=' + data.newpass], { + detached: true + }); + + cmd.unref(); + + cmd.stdout.on('data', function (data) { + logger.log(data.toString()); + }); + + cmd.stderr.on('data', function (data) { + logger.log(data.toString()); + }); + + cmd.on('exit', function (code) { + logger.log('password set exited with code ' + code.toString()); + socket.emit('set password response', code.toString()); + }); + + cmd.on('error', (err) => { + logger.log('Failed to start child process.'); + logger.log(err.toString()); + }); + }); + socket.on('start WL driver', function(data) { var args = ''; if (data.ip) { diff --git a/br-webui/views/security.liquid b/br-webui/views/security.liquid index ac2308cd..4b3e0625 100644 --- a/br-webui/views/security.liquid +++ b/br-webui/views/security.liquid @@ -10,6 +10,10 @@ function updatePassword() { var oldpass = document.getElementById('oldpass').value; var newpass1 = document.getElementById('newpass1').value; var newpass2 = document.getElementById('newpass2').value; + var args = {}; + args.oldpass = oldpass; + args.newpass = newpass1; + socket.emit('set password', args); // Make sure there's an input for all 3 fields if (oldpass.length && newpass1.length && newpass2.length) { @@ -17,6 +21,10 @@ function updatePassword() { } } +socket.on('set password response', function(data) { + console.log(data); +}); +

    Login & Security Settings

    diff --git a/tools/set-password.py b/tools/set-password.py new file mode 100755 index 00000000..276123ac --- /dev/null +++ b/tools/set-password.py @@ -0,0 +1,70 @@ +#!/usr/bin/python + +import sys +import subprocess +from crypt import crypt +from optparse import OptionParser + +# Read from stdin +parser = OptionParser() +parser.add_option("--user", dest = "user", default = None, + help = "Username") +parser.add_option("--oldpass", dest = "oldpass", default = None, + help = "User's current/old password") +parser.add_option("--newpass", dest = "newpass", default = None, + help = "User's new password") +(options,args) = parser.parse_args() + +# Exit if password or user is not given (required) +if options.user is None: + print('No username entered') + exit(11) +if options.oldpass is None: + print('No current/old password entered') + exit(12) +if options.newpass is None: + print('No new password entered') + exit(13) + +# Read data from /etc/shadow file +with open("/etc/shadow") as f: + content = f.readlines() + +# Get password hash for user +encryptedpass = None +for line in content: + # Extract username and encrypted password string from line + [u, p] = line.split(':')[0:2]; + if u == options.user: + encryptedpass = p + +# Check input password against correct password (if the user exists) +if encryptedpass is not None: + # Extract encryption algorithm and salt from encrypted password + [algorithm, salt] = encryptedpass.split('$')[1:3] + algorsalt = '$' + algorithm + '$' + salt + '$' # typ. $6$$ + + # If the password is correct, exit without errors + if encryptedpass == crypt(options.oldpass, algorsalt): # encrypt to check + # Encrypt the new password the same way as the old one was + newencryptedpass = crypt(options.newpass, algorsalt) + r = subprocess.call(('usermod', '-p', newencryptedpass, options.user)) + + # If update was successful, exit successfully + if r == 0: + print('Password set') + sys.exit(0) + # If the update failed, exit with an error + else: + print('Error setting password') + sys.exit(-1) + + # If the password is incorrect, exit with an error + else: + print('Incorrect Password') + sys.exit(1) + +# If the user doesn't exist, exit with error +else: + print('User does not exist') + sys.exit(2) From 79f0ad03828c201a74ec45654c760293bad6f20f Mon Sep 17 00:00:00 2001 From: dheideman Date: Mon, 30 Oct 2017 12:15:35 -0700 Subject: [PATCH 189/256] Add feedback for bad inputs, password set success --- br-webui/views/security.liquid | 50 +++++++++++++++++++++++++++++++--- 1 file changed, 46 insertions(+), 4 deletions(-) diff --git a/br-webui/views/security.liquid b/br-webui/views/security.liquid index 4b3e0625..32bb0dad 100644 --- a/br-webui/views/security.liquid +++ b/br-webui/views/security.liquid @@ -6,22 +6,64 @@ var socket = io(); function updatePassword() { + // Clear previous message + document.getElementById('passinfo').innerHTML = ""; + // Read password entries var oldpass = document.getElementById('oldpass').value; var newpass1 = document.getElementById('newpass1').value; var newpass2 = document.getElementById('newpass2').value; - var args = {}; - args.oldpass = oldpass; - args.newpass = newpass1; - socket.emit('set password', args); // Make sure there's an input for all 3 fields if (oldpass.length && newpass1.length && newpass2.length) { + // And that newpass1 and newpass2 match + if (newpass1 === newpass2) { + // Ask server to update password + var args = {}; + args.oldpass = oldpass; + args.newpass = newpass1; + socket.emit('set password', args); + } else { + // Tell the user that their passwords don't match + var message = "New and Confirmation passwords do not match"; + document.getElementById('passinfo').style = "color:red;"; + document.getElementById('passinfo').innerHTML = message; + } + } else { + // Tell the user what they missed + var missing = []; + if (!oldpass.length) { + missing.push("old password"); + } + if (!newpass1.length) { + missing.push("new password"); + } + if (!newpass2.length) { + missing.push("new password confirmation"); + } + // Display message + var message = "Missing entries: " + missing.join(', '); + document.getElementById('passinfo').style = "color:red;"; + document.getElementById('passinfo').innerHTML = message; } } socket.on('set password response', function(data) { + switch(parseInt(data)) { + case 0: + document.getElementById('passinfo').style = "color:green;"; + document.getElementById('passinfo').innerHTML = "Password set"; + break; + case 1: + document.getElementById('passinfo').style = "color:red;"; + document.getElementById('passinfo').innerHTML = "Incorrect password"; + break; + default: + document.getElementById('passinfo').style = "color:red;"; + document.getElementById('passinfo').innerHTML = "Password set error"; + break; + } console.log(data); }); From b9508f27388d116df892a76fa8e08f0277ff9c64 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 2 Oct 2017 14:22:07 -0400 Subject: [PATCH 190/256] MAVProxy submodule update: output heading to WL system --- submodules/MAVProxy | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/submodules/MAVProxy b/submodules/MAVProxy index f559bf2d..02be2491 160000 --- a/submodules/MAVProxy +++ b/submodules/MAVProxy @@ -1 +1 @@ -Subproject commit f559bf2d1064ad101bb65794038cea847bcb9f79 +Subproject commit 02be2491191620c6c89add2defead07c532b12f6 From b22c04cb960fb16b4cccd34b309227a382dc66fd Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 2 Oct 2017 14:22:52 -0400 Subject: [PATCH 191/256] Output ROV heading to WL system --- tools/underwater-gps.py | 36 +++++++++++++++++++++++++++--------- 1 file changed, 27 insertions(+), 9 deletions(-) diff --git a/tools/underwater-gps.py b/tools/underwater-gps.py index 2701430b..ebcacad8 100755 --- a/tools/underwater-gps.py +++ b/tools/underwater-gps.py @@ -96,19 +96,37 @@ def notifyPutResponse(response, *args, **kwargs): try: datagram = sockit.recvfrom(4096) - payload = json.loads(datagram[0]) - payload['depth'] = max(min(100, payload['depth']), 0) - payload['temp'] = max(min(100, payload['temp']), 0) - payload = json.dumps(payload) - + recv_payload = json.loads(datagram[0]) + + # Send depth/temp to external/depth api + ext_depth = {} + ext_depth['depth'] = max(min(100, recv_payload['depth']), 0) + ext_depth['temp'] = max(min(100, recv_payload['temp']), 0) + + send_payload = json.dumps(ext_depth) + headers = {'Content-type': 'application/json'} - + url = gpsUrl + "/api/v1/external/depth" - print 'sending', payload, 'to', url - + print 'sending', send_payload, 'to', url + # Equivalent # curl -X PUT -H "Content-Type: application/json" -d '{"depth":1,"temp":2}' "http://37.139.8.112:8000/api/v1/external/depth" - request = grequests.put(url, session=s, headers=headers, data=payload, hooks={'response': notifyPutResponse}) + request = grequests.put(url, session=s, headers=headers, data=send_payload, hooks={'response': notifyPutResponse}) + grequests.send(request) + + # Send heading to external/orientation api + ext_orientation = {} + ext_orientation['orientation'] = max(min(360, recv_payload['orientation']), 0) + + send_payload = json.dumps(ext_orientation) + + headers = {'Content-type': 'application/json'} + + url = gpsUrl + "/api/v1/external/orientation" + print 'sending', send_payload, 'to', url + + request = grequests.put(url, session=s, headers=headers, data=send_payload, hooks={'response': notifyPutResponse}) grequests.send(request) except socket.error as e: From 372b143babfb437a0143cd830f53be7c9fa0d4b7 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Thu, 5 Oct 2017 15:49:32 -0400 Subject: [PATCH 192/256] Add support for NMEA RMC input --- tools/nmea-receiver.py | 12 ++---------- 1 file changed, 2 insertions(+), 10 deletions(-) diff --git a/tools/nmea-receiver.py b/tools/nmea-receiver.py index 0fa79157..1aac10ca 100755 --- a/tools/nmea-receiver.py +++ b/tools/nmea-receiver.py @@ -62,18 +62,10 @@ data['alt'] = float(msg.altitude) data['satellites_visible'] = int(msg.num_sats) #data['fix'] = int(msg.gps_qual) - ''' elif msg.sentence_type == 'RMC': - if msg.lat_dir == 'N': - data['lat'] = int(float(msg.lat) * 1e5) - else: - data['lat'] = -int(float(msg.lat) * 1e5) + data['lat'] = msg.latitude * 1e7 + data['lon'] = msg.longitude * 1e7 - if msg.lon_dir == 'E': - data['lon'] = int(float(msg.lon) * 1e5) - else: - data['lon'] = -int(float(msg.lon) * 1e5) - ''' buf = json.dumps(data) print data sockit.sendto(buf, (ip, portnum)) From e202d6be409084d92ce8fbe49085b72e64d7f23e Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 29 Nov 2017 12:37:05 -0500 Subject: [PATCH 193/256] Add support for GLL and GNS NMEA sentences --- tools/nmea-receiver.py | 8 ++++++++ 1 file changed, 8 insertions(+) mode change 100755 => 100644 tools/nmea-receiver.py diff --git a/tools/nmea-receiver.py b/tools/nmea-receiver.py old mode 100755 new mode 100644 index 1aac10ca..2f427f47 --- a/tools/nmea-receiver.py +++ b/tools/nmea-receiver.py @@ -65,6 +65,14 @@ elif msg.sentence_type == 'RMC': data['lat'] = msg.latitude * 1e7 data['lon'] = msg.longitude * 1e7 + elif msg.sentence_type == 'GLL': + data['lat'] = msg.latitude * 1e7 + data['lon'] = msg.longitude * 1e7 + elif msg.sentence_type == 'GNS': + data['lat'] = msg.latitude * 1e7 + data['lon'] = msg.longitude * 1e7 + data['satellites_visible'] = int(msg.num_sats) + data['hdop'] = float(msg.hdop) buf = json.dumps(data) print data From 849850a34d737e75ce2ddebcdb29343975c600f5 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 29 Nov 2017 12:37:35 -0500 Subject: [PATCH 194/256] Limit GPS_INPUT updates to 10Hz --- tools/nmea-receiver.py | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) mode change 100644 => 100755 tools/nmea-receiver.py diff --git a/tools/nmea-receiver.py b/tools/nmea-receiver.py old mode 100644 new mode 100755 index 2f427f47..4f0f8f1a --- a/tools/nmea-receiver.py +++ b/tools/nmea-receiver.py @@ -18,7 +18,7 @@ data = { 'time_usec' : 0, # (uint64_t) Timestamp (micros since boot or Unix epoch) 'gps_id' : 0, # (uint8_t) ID of the GPS for multiple GPS inputs - 'ignore_flags' : 56, # (uint16_t) Flags indicating which fields to ignore (see GPS_INPUT_IGNORE_FLAGS enum). All other fields must be provided. + 'ignore_flags' : 56, # (uint16_t) Flags indicating which fields to ignore (see GPS_INPUT_IGNORE_FLAGS enum). All other fields must be provided. 'time_week_ms' : 0, # (uint32_t) GPS time (milliseconds from start of GPS week) 'time_week' : 0, # (uint16_t) GPS week number 'fix_type' : 3, # (uint8_t) 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK @@ -38,6 +38,7 @@ data_received = False gps_type_set = False +last_output_t = 0; while True: @@ -61,7 +62,6 @@ data['hdop'] = float(msg.horizontal_dil) data['alt'] = float(msg.altitude) data['satellites_visible'] = int(msg.num_sats) - #data['fix'] = int(msg.gps_qual) elif msg.sentence_type == 'RMC': data['lat'] = msg.latitude * 1e7 data['lon'] = msg.longitude * 1e7 @@ -73,10 +73,13 @@ data['lon'] = msg.longitude * 1e7 data['satellites_visible'] = int(msg.num_sats) data['hdop'] = float(msg.hdop) - - buf = json.dumps(data) - print data - sockit.sendto(buf, (ip, portnum)) + + if time.time() > last_output_t + 0.1: + last_output_t = time.time(); + buf = json.dumps(data) + print "Sending: ", data + sockit.sendto(buf, (ip, portnum)) + except socket.error as e: if e.errno == 11: pass From 768408a1839690fe28534003571fef9fc75454ed Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 29 Nov 2017 12:47:28 -0500 Subject: [PATCH 195/256] nmea-receiver.py: Rework stdout --- tools/nmea-receiver.py | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) mode change 100755 => 100644 tools/nmea-receiver.py diff --git a/tools/nmea-receiver.py b/tools/nmea-receiver.py old mode 100755 new mode 100644 index 4f0f8f1a..61d91f3d --- a/tools/nmea-receiver.py +++ b/tools/nmea-receiver.py @@ -49,6 +49,7 @@ gps_type_set = True time.sleep(0.05) else: + print "waiting for data" time.sleep(1) try: @@ -77,15 +78,13 @@ if time.time() > last_output_t + 0.1: last_output_t = time.time(); buf = json.dumps(data) - print "Sending: ", data + print("Sending: ", data) sockit.sendto(buf, (ip, portnum)) except socket.error as e: if e.errno == 11: pass else: - print e + print("Error:", e) except Exception as e: - print e - - + print("Got error:", e) From 01e4a3abad64fc82fe0a2c8473ce13968b8ffc8b Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 29 Nov 2017 13:16:54 -0500 Subject: [PATCH 196/256] nmea-receiver.py: bugfix, don't submit tuple to nmea parser --- tools/nmea-receiver.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) mode change 100644 => 100755 tools/nmea-receiver.py diff --git a/tools/nmea-receiver.py b/tools/nmea-receiver.py old mode 100644 new mode 100755 index 61d91f3d..df6a4311 --- a/tools/nmea-receiver.py +++ b/tools/nmea-receiver.py @@ -53,7 +53,7 @@ time.sleep(1) try: - datagram = sockit.recvfrom(4096) + datagram,address = sockit.recvfrom(4096) data_received = True for byte in datagram: for msg in parser.next(byte): From d887bc609ce38c7a63dfead900e5df965a6e0f5e Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 29 Nov 2017 13:41:09 -0500 Subject: [PATCH 197/256] Redirect stderr to quietly check nodegit status --- scripts/post-update.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/post-update.sh b/scripts/post-update.sh index c65bb85c..85ac077c 100755 --- a/scripts/post-update.sh +++ b/scripts/post-update.sh @@ -13,7 +13,7 @@ fi cd /home/pi/companion/br-webui -if ! npm list nodegit | grep -q nodegit@0.18.3; then +if ! npm list nodegit 2>&1 | grep -q nodegit@0.18.3; then echo 'Fetching nodegit packages for raspberry pi...' wget --timeout=15 --tries=2 https://s3.amazonaws.com/downloads.bluerobotics.com/Pi/dependencies/nodegit/nodegit_required_modules.zip -O /tmp/nodegit_required_modules.zip if [ $? -ne 0 ] # If "wget" failed: From 352c29bbb77e91f1d890684429c3bfa47b78d278 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 29 Nov 2017 15:39:12 -0500 Subject: [PATCH 198/256] Add git remote pointing to local repository Fast/easy way of getting local refs into git web interface, rather than writing new logic to handle local refs, handle everything as a remote ref. --- scripts/post-update.sh | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/scripts/post-update.sh b/scripts/post-update.sh index 85ac077c..34d7b7d4 100755 --- a/scripts/post-update.sh +++ b/scripts/post-update.sh @@ -198,6 +198,12 @@ if (( $PRE_0_0_8 > 0 )); then echo "pi:companion" | sudo chpasswd fi +if ! git remote | grep -q local; then + echo 'Adding local reference' + cd ~/companion + git remote add local ~/companion +fi + echo 'Update Complete, refresh your browser' sleep 0.1 From e0d78e45021e7f5e1ec9f88fcb8ecf45f88166ea Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Patrick=20Jos=C3=A9=20Pereira?= Date: Wed, 29 Nov 2017 20:42:22 +0000 Subject: [PATCH 199/256] Add reboot pixhawk button MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Fix #7 Signed-off-by: Patrick José Pereira --- br-webui/index.js | 6 ++++++ br-webui/views/system.liquid | 17 +++++++++++++++++ 2 files changed, 23 insertions(+) diff --git a/br-webui/index.js b/br-webui/index.js index 7ec90c9a..28b963a5 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -860,6 +860,12 @@ io.on('connection', function(socket) { }); }); + socket.on('reboot px', function(data) { + var bash = "`timeout 5 mavproxy.py --master=/dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00 --cmd=\"reboot;\"`&" + child_process.exec(bash); + socket.emit('reboot px complete'); + }); + socket.on('load params', function(data) { var file_path = "/home/pi/" + data.file; fs.readFile(file_path, function(err, param_data) { diff --git a/br-webui/views/system.liquid b/br-webui/views/system.liquid index 96bb4472..3d1484ea 100644 --- a/br-webui/views/system.liquid +++ b/br-webui/views/system.liquid @@ -198,6 +198,13 @@ function restoreParams() { } } +function rebootPixhawk() { + if (confirm("Are you sure you want to reboot the Pixhawk ?")) { + document.getElementById('reboot pixhawk').disabled = true; + socket.emit('reboot px'); + } +} + socket.on('restore px fw complete', function(data){ document.getElementById('restore fw').disabled = false; }); @@ -205,6 +212,11 @@ socket.on('restore px fw complete', function(data){ socket.on('restore px params complete', function(data){ document.getElementById('restore params').disabled = false; }); + +socket.on('reboot px complete', function(data){ + document.getElementById('reboot pixhawk').disabled = false; +}); +

    Software Status and Update

    @@ -265,6 +277,11 @@ socket.on('restore px params complete', function(data){ + +

    Reboot Pixhawk

    +
    From f40a3833efd608ed628f22f741bb4ce0774dca01 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Patrick=20Jos=C3=A9=20Pereira?= Date: Wed, 29 Nov 2017 21:33:02 +0000 Subject: [PATCH 200/256] Add IP address in Wifi Status MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Patrick José Pereira --- br-webui/index.js | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/br-webui/index.js b/br-webui/index.js index 28b963a5..8f1da00d 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -567,13 +567,15 @@ networking.on('connection', function(socket) { line = fields[i].split("="); if (line[0] == "ssid") { var ssid = line[1]; + } else if (line[0] == "ip_address") { + var ip = " (" + line[1] + ")"; } } if (stdout.indexOf("HANDSHAKE") > -1) { socket.emit('wifi status', '

    Connecting: ' + ssid + '

    '); } else { - socket.emit('wifi status', '

    Connected: ' + ssid + '

    '); + socket.emit('wifi status', '

    Connected: ' + ssid + ip + '

    '); } } } From cad6179a03ab0e3ba4bc7db17fbe5458b4eca906 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Patrick=20Jos=C3=A9=20Pereira?= Date: Thu, 30 Nov 2017 20:28:32 +0000 Subject: [PATCH 201/256] px_uploader: Remove unplug messages MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Patrick José Pereira --- tools/px_uploader.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/tools/px_uploader.py b/tools/px_uploader.py index 61151b8c..87e97906 100755 --- a/tools/px_uploader.py +++ b/tools/px_uploader.py @@ -547,7 +547,6 @@ def send_reboot(self): # Load the firmware file fw = firmware(args.firmware) print("Loaded firmware for %x,%x, size: %d bytes, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'))) -print("If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.") # Spin waiting for a device to show up try: @@ -599,7 +598,6 @@ def send_reboot(self): except Exception: # most probably a timeout talking to the port, no bootloader, try to reboot the board print("attempting reboot on %s..." % port) - print("if the board does not respond, unplug and re-plug the USB connector.") up.send_reboot() if time.time() > start + 20: From d0f7c2374283787a5ad3da0d0097ab07928b9cc5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Patrick=20Jos=C3=A9=20Pereira?= Date: Thu, 30 Nov 2017 15:37:38 +0000 Subject: [PATCH 202/256] update: Change message from stash to backup MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Patrick José Pereira --- scripts/update.sh | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/scripts/update.sh b/scripts/update.sh index 9c40a26b..2c872411 100755 --- a/scripts/update.sh +++ b/scripts/update.sh @@ -18,8 +18,8 @@ if [ -z "$4" ]; then else echo 'removing old stash' rm -rf /home/pi/.companion - - echo 'stashing current repo' + + echo 'backup current repo' cp -r /home/pi/companion /home/pi/.companion fi From 23bf3b71478fce11b2382f7ac8f73fe44a35a98a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Patrick=20Jos=C3=A9=20Pereira?= Date: Thu, 30 Nov 2017 15:37:55 +0000 Subject: [PATCH 203/256] update: Stash repository before update MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Clean everything and save it to do the update Fix #16 Signed-off-by: Patrick José Pereira --- scripts/update.sh | 3 +++ 1 file changed, 3 insertions(+) diff --git a/scripts/update.sh b/scripts/update.sh index 2c872411..6382f9f9 100755 --- a/scripts/update.sh +++ b/scripts/update.sh @@ -25,6 +25,9 @@ fi cd /home/pi/companion +echo 'stash everything and start from the beginning' +git stash + echo 'tagging revert-point as' $(git rev-parse HEAD) git tag revert-point -f From b2a3cc29836c193baa97886bfe79f97c73e2860e Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Wed, 29 Nov 2017 18:22:17 -0500 Subject: [PATCH 204/256] Rework git page, don't require github credentials --- br-webui/index.js | 137 +++++++++++++++++++-------------- br-webui/views/git.liquid | 111 +++++++++++++++----------- scripts/authenticate-github.sh | 11 ++- 3 files changed, 148 insertions(+), 111 deletions(-) diff --git a/br-webui/index.js b/br-webui/index.js index 8f1da00d..ca79e18e 100644 --- a/br-webui/index.js +++ b/br-webui/index.js @@ -184,20 +184,21 @@ var _authenticated = false; // 'remotes' : { // // 'upstream' : { +// 'url' : https://github.com... , +// 'authenticated : false, // 'branches' : [], // 'tags' : [] // }, // // 'origin' : { +// 'url' : https://github.com... , +// 'authenticated : true, // 'branches' : [], // 'tags' : [] // } // } //} -// TODO open/init git repository in callback here -checkGithubAuthentication(); - var _refs = { 'remotes' : {} }; var companionRepository = null; @@ -222,16 +223,30 @@ function updateCurrentHEAD(repository) { var fetchOptions = new Git.FetchOptions(); var remoteCallbacks = new Git.RemoteCallbacks(); +// So there's this crazy thing where nodegit gets stuck in an infinite callback loop here if +// we return sshKeyFromAgent, and we do not actually have valid credentials stored in the agent. +// There is no public method to check if the credentials are valid before returning them. +// So we return sshKeyFromAgent the first time, and if we get called again immediately after with +// the same request, we assume it is the bug and return defaultNew to break the loop. +var requests = {}; + remoteCallbacks.credentials = function(url, userName) { logger.log('credentials required', url, userName); - - if (!_authenticated) { - return null; + var id = userName + "@" + url; + + if (requests[id]) { + return Git.Cred.defaultNew(); } + requests[id] = true; + setTimeout(function() { + requests[id] = false; + console.log(requests); + }, 500); + - var creds = Git.Cred.sshKeyFromAgent(userName); - return creds; + return Git.Cred.sshKeyFromAgent(userName); } + fetchOptions.callbacks = remoteCallbacks; fetchOptions.downloadTags = 1; @@ -240,21 +255,25 @@ fetchOptions.downloadTags = 1; function formatRemote(remoteName) { // Add new remote to our list var newRemote = { + 'url' : '', 'branches' : [], - 'tags' : [] + 'tags' : [], + 'authenticated' : false } _refs.remotes[remoteName] = newRemote; - companionRepository.getRemote(remoteName) + return companionRepository.getRemote(remoteName) .then(function(remote) { - logger.log('connecting to remote', remote.name()); - remote.connect(Git.Enums.DIRECTION.FETCH, remoteCallbacks) + newRemote.url = remote.url(); + logger.log('connecting to remote', remote.name(), remote.url()); + return remote.connect(Git.Enums.DIRECTION.FETCH, remoteCallbacks) .then(function(errorCode) { // Get a list of refs - remote.referenceList() + return remote.referenceList() .then(function(promiseArrayRemoteHead) { // Get the name of each ref, determine if it is a branch or tag // and add it to our list + newRemote.authenticated = true; promiseArrayRemoteHead.forEach(function(ref) { var branch var tag @@ -267,13 +286,12 @@ function formatRemote(remoteName) { _refs.remotes[remoteName].tags.push(newRef); } }); - - // Update frontend with most recent list - io.emit('refs', _refs); }) .catch(function(err) { logger.log(err); }); }) - .catch(function(err) { logger.log(err); }); + .catch(function(err) { + logger.log("Error connecting to remote", remote.name(), err); + }); }) .catch(function(err) { logger.log(err); }); } @@ -282,7 +300,18 @@ function formatRemote(remoteName) { // Fetch, format, emit the refs on each remote function formatRemotes(remoteNames) { logger.log('formatRemotes', remoteNames); - remoteNames.forEach(formatRemote); + + var promises = []; + + remoteNames.forEach(function(remote) { + promises.push(formatRemote(remote)); + }); + + // callback for when all async operations complete + return Promise.all(promises) + .then(function() { + io.emit('refs', _refs); + }); } @@ -292,6 +321,8 @@ function emitRemotes() { return; } + _refs = { 'remotes' : {} }; + updateCurrentHEAD(companionRepository); companionRepository.getRemotes() @@ -300,34 +331,6 @@ function emitRemotes() { } -//Check to see if we have ssh authentication with github -function checkGithubAuthentication(callback) { - var cmd = 'ssh -T git@github.com'; - child_process.exec(cmd, function(err, stdout, stderr) { - logger.log(cmd + ' returned ' + err ? err.code : '0'); - logger.log('stdout:\n' + stdout); - logger.log('stderr:\n' + stderr); - - // github greeting comes through stderr - _authenticated = err ? err.code == 1 && stderr.indexOf('successfully authenticated') > -1 : false; - - logger.log(err.code == 1); - logger.log(stderr.indexOf('successfully authenticated')); - logger.log(_authenticated); - - if (callback) { - callback(_authenticated); - } - }); -} - - -// Let frontend know if we are authenticated or not -function emitAuthenticationStatus(status) { - io.emit('authenticated', status); -} - - // Not used // fetch a remote by name function fetchRemote(remote) { @@ -445,23 +448,25 @@ gitsetup.on('connection', function(socket) { }); }); - // Frontend requesting authentication status - socket.on('authenticated?', function(data) { - checkGithubAuthentication(emitAuthenticationStatus) - }); - // Get credentials from frontend, authenticate and update socket.on('credentials', function(data) { - var cmd = _companion_directory + '/scripts/authenticate-github.sh ' + data.username + ' ' + data.password; - child_process.exec(cmd, function(err, stdout, stderr) { - logger.log('Authentication returned ' + err); - logger.log('stdout:\n' + stdout); - logger.log('stderr:\n' + stderr); - checkGithubAuthentication(function(status) { - emitAuthenticationStatus(status); + logger.log("git credentials"); + + console.log(_refs); + console.log(data); + if (!_refs.remotes[data.remote]) { + logger.log("no matching ref", data.name); + return; + } + if (_refs.remotes[data.remote].url.indexOf("ssh://git@github.com") > -1) { + var cmd = _companion_directory + '/scripts/authenticate-github.sh ' + data.username + ' ' + data.password; + child_process.exec(cmd, function(err, stdout, stderr) { + logger.log('Authentication returned ' + err); + logger.log('stdout:\n' + stdout); + logger.log('stderr:\n' + stderr); emitRemotes(); }); - }); + } }); // Add a remote to the local repository @@ -476,6 +481,20 @@ gitsetup.on('connection', function(socket) { socket.emit('git error', err); }); }); + + // Add a remote to the local repository + socket.on('remove remote', function(data) { + logger.log('remove remote', data); + Git.Remote.delete(companionRepository, data) + .then(function(result) { + logger.log("remove remote result:", result); + emitRemotes(); + }) + .catch(function(err) { + logger.log(err); + socket.emit('git error', err); + }); + }); }); networking.on('connection', function(socket) { diff --git a/br-webui/views/git.liquid b/br-webui/views/git.liquid index b50206eb..0af5e679 100644 --- a/br-webui/views/git.liquid +++ b/br-webui/views/git.liquid @@ -19,6 +19,25 @@ gitsetup.on('terminal output', function(data) { socket.on('current HEAD', setHEAD); + +function authenticate(remote) { + console.log('authenticating', remote); + + username = prompt("Enter a username for " + _refs.remotes[remote].url, ""); + password = prompt("Enter a password for " + _refs.remotes[remote].url, ""); + + if (!username || !password) { + console.log("missing credentials!"); + return; + } + + gitsetup.emit('credentials', { + 'remote' : remote, + 'username' : username, + 'password' : password + }); +} + function setHEAD(head) { document.getElementById('HEAD label').innerHTML = head; } @@ -70,6 +89,7 @@ function checkoutCompanion() { // references, then build a collapsible menu socket.on('refs', function(data) { console.log('refs', data); + _refs = data; buildRefOptions(data); }); @@ -99,7 +119,35 @@ function buildRefOptions (refs) { // collapsable remote name var remoteLabel = document.createElement('h4'); - remoteLabel.innerHTML = name; + remoteLabel.innerHTML = "\t" + name + " (" + refs.remotes[name].url + ")"; + remoteLabel.style.display = "inline"; + var authenticateButton = document.createElement("h4"); + authenticateButton.style.display = "inline"; + + if (!refs.remotes[name].authenticated) { + + authenticateButton.innerHTML = "\t\uD83D\uDD12"; + + authenticateButton.onclick = (function() { + // Thank you https://stackoverflow.com/questions/3495679/passing-parameters-in-javascript-onclick-event + return function() { + authenticate(name); + } + })(); + //remoteLabel.appendChild(authenticateButton); + } + + var removeButton = document.createElement('h4'); + removeButton.style.display = "inline"; + removeButton.innerHTML =' '; + removeButton.onclick = (function() { + // Thank you https://stackoverflow.com/questions/3495679/passing-parameters-in-javascript-onclick-event + return function() { + removeRemote(name); + } + })(); + + var remoteDiv = document.createElement('div'); //remoteDiv.setAttribute=("class", "accordion-body collapse"); @@ -193,16 +241,18 @@ function buildRefOptions (refs) { remoteDiv.appendChild(tagsLabel); remoteDiv.appendChild(tagsDiv); + remoteEntry.appendChild(removeButton); remoteEntry.appendChild(remoteLabel); + remoteEntry.appendChild(authenticateButton); remoteEntry.appendChild(remoteDiv); - document.getElementById('remoteList').appendChild(remoteLabel); document.getElementById('remoteList').appendChild(remoteEntry); console.log('added', name); }); } + function selectChoice(choiceElement) { if (_choiceElement) { _choiceElement.style = ""; @@ -212,16 +262,6 @@ function selectChoice(choiceElement) { console.log(_choiceElement.style); } -// Hide content until it is verified that we have -// authenticated with github -socket.on('authenticated', function(data) { - console.log('Authenticated?', data); - document.getElementById('authentication').style.display = "none"; - document.getElementById('authenticate').style.display = data ? "none" : "inline"; - document.getElementById('content').style.display = data ? "inline" : "none"; - resizeDynamicWidthElement(); -}); - // Clear the list of remotes function removeChildren(id) { @@ -232,14 +272,6 @@ function removeChildren(id) { } } -function authenticate() { - username = document.getElementById('username').value; - password = document.getElementById('password').value; - gitsetup.emit('credentials', { - 'username' : username, - 'password' : password - }); -} function addRemote() { var name = document.getElementById('new remote name').value; @@ -251,11 +283,13 @@ function addRemote() { }); } -// Ask backend for a list of remotes so we can populate the list -gitsetup.emit('get remotes'); -// Ask backend if we are authenticated with github -gitsetup.emit('authenticated?'); +function removeRemote(remote) { + if (confirm("Are you sure you want to delete the remote " + remote + "?")) { + gitsetup.emit('remove remote', remote); + } +} + // Set width of all "dynamic-parent-width" elements to parent width function resizeDynamicWidthElement() { @@ -265,6 +299,9 @@ function resizeDynamicWidthElement() { } } +// Ask backend for a list of remotes so we can populate the list +gitsetup.emit('get remotes'); + // Create event listener to dynamically resize elements when page is resized window.addEventListener('resize', resizeDynamicWidthElement); @@ -273,27 +310,8 @@ window.addEventListener("DOMContentLoaded", function() { }); - -
    -

    Checking Authentication Status

    - -
    - - - - - - - -