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OpenSolo/sololink/config/sololink_config

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#!/bin/bash
# set SOLOLINK_CONFIG_TEST for testing (don't shutdown etc.)
# set ROOT if config files are in a test directory (not at /)
# set TESTHOSTNAME and it will be used instead of the real host name
prog_name="sololink_config"
# We allow the version of this file to deviate from that of SoloLink. It may
# make sense in some cases to download a new version of this script to bring
# it up to date, then do other operations that might require the latest
# version.
sololink_config_version="0.0.1"
logger -p local1.info -- $0 $*
if [ -h `which md5sum` ]; then
# assume busybox
MD5SUM="md5sum -s"
else
# assume not busybox; correct for ubuntu but not tested on os-x
MD5SUM="md5sum --status"
fi
usage() {
echo "
Usage: ${prog_name} OPTION [OPTION_ARG]
Options:
--get-wifi-ssid
print wifi SSID
--set-wifi-ssid SSID [--force]
--get-wifi-password
print wifi password
--set-wifi-password PASSWORD
--get-wifi-channel
print wifi channel
--set-wifi-channel CHANNEL
--get-wifi-country
print wifi country (regulatory domain)
--set-wifi-country COUNTRY
set wifi country (regulatory domain)
--get-wifi-power
--set-wifi-power POWER
--reset-wifi-settings
controller: revert to default SSID (on next boot)
solo: forget SSID (unpair)
--restart-video
solo: Restart the video pipeline
--get-ui-mode
print tx mode, "1" or "2"
--set-ui-mode MODE
change tx mode, MODE = 1 or 2
--get-ui-units
print display units, "metric" or "imperial"
--set-ui-units UNITS
change display units, UNITS = "metric" or "imperial"
--get-ui-sweep
print camera tilt sweep times, minimum then maximum (seconds)
--set-ui-sweep MIN MAX
change camera tilt sweep time limits, MIN and MAX in seconds
--factory-reset
do a factory reset
--settings-reset
do a settings reset
--make-golden
make 'latest' the new 'golden'
--update-prepare artoo|pixhawk|sololink
--update-apply artoo|pixhawk|sololink [--force] [--reset]
--get-image
prints 'golden' or 'latest'
--get-pairing
controller: prints MAC of paired solo
solo: prints SSID of paired controller
--set-pairing [PEER]
--get-config VARNAME
print value of VARNAME in sololink.conf
--set-config VARNAME VALUE
set VARNAME in sololink.conf to VALUE
--get-status
get overall system status
--get-version [artoo|pixhawk|sololink|golden]
--restart [video|sololink|system]
--reboot
--pass
prints nothing, exit status 0
--fail
prints nothing, exit status 1
Exit status:
0 if command succeeded
1 if command failed
Script version ${sololink_config_version}
"
exit 1
}
# shutdown (unless testing)
shutdown_now() {
if [ -z "${SOLOLINK_CONFIG_TEST}" ]; then
shutdown -r now
fi
}
# get current runlevel
get_runlevel() {
rl=`runlevel`
for w in ${rl}; do
a=${w}
done
echo ${a}
}
# backup_config [path/basename]
# e.g. backup_config /etc/hostapd
backup_config() {
cp ${1}.conf ${1}.back
md5sum ${1}.back > ${1}.back.md5
sync
}
# md5sum_config [path/basename]
# e.g. md5sum_config /etc/hostapd
md5sum_config() {
md5sum ${1}.conf > ${1}.conf.md5
sync
rm -f ${1}.back ${1}.back.md5
}
# return number of files in a directory matching a glob pattern
# count_files (DIR) (PATTERN)
count_files() {
if [ ! -d ${1} ]; then
echo "0"
else
find ${1} -name ${2} | wc -l
fi
}
# set network in wpa_supplicant
# set_wpa_supplicant_network (SSID) (PASSWORD)
set_wpa_supplicant_network() {
backup_config ${ROOT}/etc/wpa_supplicant
cp ${ROOT}/mnt/rootfs.ro/etc/wpa_supplicant.orig ${ROOT}/etc/wpa_supplicant.conf
echo >> ${ROOT}/etc/wpa_supplicant.conf
echo "network={" >> ${ROOT}/etc/wpa_supplicant.conf
echo " ssid=\"${1}\"" >> ${ROOT}/etc/wpa_supplicant.conf
echo " psk=\"${2}\"" >> ${ROOT}/etc/wpa_supplicant.conf
echo " proto=RSN" >> ${ROOT}/etc/wpa_supplicant.conf
echo " key_mgmt=WPA-PSK" >> ${ROOT}/etc/wpa_supplicant.conf
echo " pairwise=CCMP" >> ${ROOT}/etc/wpa_supplicant.conf
echo " auth_alg=OPEN" >> ${ROOT}/etc/wpa_supplicant.conf
echo "}" >> ${ROOT}/etc/wpa_supplicant.conf
md5sum_config ${ROOT}/etc/wpa_supplicant
}
# return 0 (true) if wpa_supplicant.conf has an ssid= setting
# return nonzero (false) otherwise
wpa_supp_has_ssid() {
grep -q ssid= ${ROOT}/etc/wpa_supplicant.conf
}
# return 0 (true) if wpa_supplicant.conf has a psk= setting
# return nonzero (false) otherwise
wpa_supp_has_psk() {
grep -q psk= ${ROOT}/etc/wpa_supplicant.conf
}
reset_wifi_settings() {
if [ ${is_solo} ]; then
backup_config ${ROOT}/etc/wpa_supplicant
cp ${ROOT}/mnt/rootfs.ro/etc/wpa_supplicant.orig ${ROOT}/etc/wpa_supplicant.conf
md5sum_config ${ROOT}/etc/wpa_supplicant
else
backup_config ${ROOT}/etc/hostapd
cp ${ROOT}/mnt/rootfs.ro/etc/hostapd.orig ${ROOT}/etc/hostapd.conf
md5sum_config ${ROOT}/etc/hostapd
fi
return 0
}
get_wifi_password() {
if [ ${is_solo} ]; then
# is there one?
if ! wpa_supp_has_psk; then
echo "wifi network not set"
return 1
fi
password=`grep psk= ${ROOT}/etc/wpa_supplicant.conf | head -n 1 | \
sed "s/.*psk=\"\(.\+\)\"/\1/g"`
else
# there is always one in hostapd
password=`grep ^wpa_passphrase= ${ROOT}/etc/hostapd.conf | head -n 1 | \
sed "s/^wpa_passphrase=\(.\+\)\$/\1/g"`
fi
echo "${password}"
return 0
}
set_wifi_password() {
# password must be 8..63 characters
pwlen=${#1}
if [ ${pwlen} -lt 8 -o ${pwlen} -gt 63 ]; then
echo "password must be 8..63 characters"
return 1
fi
if [ ${is_solo} ]; then
# is there one already?
if ! wpa_supp_has_psk; then
# make a default network and set password
set_wpa_supplicant_network "SoloLink_Default" "${1}"
else
backup_config ${ROOT}/etc/wpa_supplicant
sed -i "s/psk=\".\+\"/psk=\"${1}\"/g" ${ROOT}/etc/wpa_supplicant.conf
md5sum_config ${ROOT}/etc/wpa_supplicant
fi
else
backup_config ${ROOT}/etc/hostapd
sed -i "s/^wpa_passphrase=.\+\$/wpa_passphrase=${1}/g" ${ROOT}/etc/hostapd.conf
md5sum_config ${ROOT}/etc/hostapd
fi
get_wifi_password
}
get_wifi_ssid_wpa_supplicant() {
echo `grep ssid= ${ROOT}/etc/wpa_supplicant.conf | head -n 1 | \
sed "s/.*ssid=\"\(.\+\)\"/\1/g"`
}
get_wifi_ssid_hostapd() {
echo `grep ^ssid= ${ROOT}/etc/hostapd.conf | head -n 1 | \
sed "s/^ssid=\(.\+\)\$/\1/g"`
}
get_wifi_ssid() {
if [ ${is_solo} ]; then
# is there one?
if ! wpa_supp_has_ssid; then
echo "wifi network not set"
return 1
fi
ssid=`get_wifi_ssid_wpa_supplicant`
else
ssid=`get_wifi_ssid_hostapd`
fi
echo "${ssid}"
return 0
}
validate_wifi_ssid() {
# ssid must start with "SoloLink_" and be no more than 32 characters total
ssidlen=${#1}
if [ ${ssidlen} -lt 9 -o ${ssidlen} -gt 32 -o \
"`expr substr "${1}" 1 9`" != "SoloLink_" ]; then
echo "ssid must start with \"SoloLink_\" and be no more that 32 characters long"
return 1
fi
return 0
}
set_wifi_ssid_wpa_supplicant() {
backup_config ${ROOT}/etc/wpa_supplicant
sed -i "s/ssid=\".\+\"/ssid=\"${1}\"/g" ${ROOT}/etc/wpa_supplicant.conf
md5sum_config ${ROOT}/etc/wpa_supplicant
return 0
}
set_wifi_ssid_hostapd() {
backup_config ${ROOT}/etc/hostapd
sed -i "s/^ssid=.\+\$/ssid=${1}/g" ${ROOT}/etc/hostapd.conf
md5sum_config ${ROOT}/etc/hostapd
return 0
}
set_wifi_ssid() {
if ! validate_wifi_ssid "${1}"; then
return 1
fi
if [ ${is_solo} ]; then
# is there one already?
if ! wpa_supp_has_ssid; then
# make a default network and set ssid
set_wpa_supplicant_network "${1}" "sololink"
else
set_wifi_ssid_wpa_supplicant "${1}"
fi
else
set_wifi_ssid_hostapd "${1}"
fi
get_wifi_ssid
}
get_wifi_channel() {
if [ ${is_solo} ]; then
echo "wifi channel not accessible on solo"
return 1
fi
channel=`iw wlan0-ap info | grep channel | awk '{print $2}'`
echo "${channel}"
return 0
}
set_wifi_channel() {
# validate that the channel is between 1 and 11
desiredChannel="${1}"
if [[ $desiredChannel =~ ^-?[0-9]+$ ]]; then
if [[ "$desiredChannel" -lt 1 || "$desiredChannel" -gt 11 ]]; then
echo "error: wifi channel must be between 1 and 11"
return 1
fi
else
echo "error: attempting to set wifi channel to non-integer"
return 1
fi
baseFreq=2412
channelMult=`expr $desiredChannel - 1`
freqAdd=`expr $channelMult \* 5`
freq=`expr $baseFreq + $freqAdd`
echo "$desiredChannel"
hostapd_cli chan_switch 20 ${freq} ht
return 0
}
get_wifi_country() {
if [ ${is_solo} ]; then
echo "wifi country can only be retrieved on controller"
return 1
fi
country=`grep ^country_code= ${ROOT}/etc/hostapd.conf | head -n 1 | \
sed "s/^country_code=\(.\+\)\$/\1/g"`
echo "${country}"
return 0
}
country_list="AD,AE,AF,AI,AL,AM,AN,AR,AT,AU,AW,AZ,BA,BB,BD,BE,BF,BG,BH,BL,BN,BO,BR,BT,BY,BZ,CA,CF,CH,CI,CL,CN,CO,CR,CY,CZ,DE,DK,DM,DO,DZ,EC,EE,EG,ES,FI,FM,FR,GE,GB,GD,GH,GR,GL,GT,GU,GY,HN,HK,HR,HT,HU,ID,IE,IL,IN,IS,IR,IT,JM,JP,JO,KE,KH,KN,KP,KR,KW,KZ,LB,LC,LI,LK,LS,LT,LU,LV,MC,MA,MD,ME,MF,MO,MH,MK,MR,MT,MY,MX,NL,NO,NP,NZ,OM,PA,PE,PG,PH,PK,PL,PM,PT,PR,PW,QA,RO,RS,RU,RW,SA,SE,SG,SI,SK,SN,SV,SY,TC,TD,TG,TW,TH,TT,TN,TR,UA,US,UY,UZ,VC,VE,VN,VU,WF,YE,ZA,ZW"
set_wifi_country() {
if [ ${is_solo} ]; then
echo "wifi country can only be set on controller"
return 1
fi
# country is two uppercase characters
if [[ ! ${1} =~ ^[A-Z]{2}$ ]]; then
echo "country must be 2 uppercase characters"
return 1
fi
if [[ ! ${country_list} =~ ${1} ]]; then
echo "country is not in the list of valid country codes"
return 1
fi
backup_config ${ROOT}/etc/hostapd
sed -i "s/^country_code=.\+\$/country_code=${1}/g" ${ROOT}/etc/hostapd.conf
md5sum_config ${ROOT}/etc/hostapd
return 0
}
get_wifi_power() {
if [ -z /sys/kernel/debug/ieee80211/phy0/power ]; then
echo "error: unable to read power level"
return 1
fi
power=`cat /sys/kernel/debug/ieee80211/phy0/power`
if [ $power -gt 27 ]; then power=27; fi
echo "$power"
return 0
}
set_wifi_power() {
desiredPower="${1}"
if [[ $desiredPower =~ ^-?[0-9]+$ ]]; then
if [[ "$desiredPower" -lt 0 || "$desiredPower" -gt 27 ]]; then
echo "error: wifi power level must be between 0 and 27"
return 1
fi
else
echo "error: attempting to set wifi power to non-integer"
return 1
fi
echo "$desiredPower"
iw phy0 set txpower fixed $((desiredPower*100))
return 0
}
# Video pipeline modification parameters
restart_video() {
if [ ${is_controller} ]; then
echo "video can only be restarted on solo"
return 1
fi
killall vidlaunch
echo "restarted video"
return 0
}
# ui_mode is the transmitter mode (1 or 2)
#
# Persisted in the STM32 flash as a "stick mapping", where the stick mapping
# corresponds to a mode 1 or mode 2 layout. ui_mode is set using a python
# program that writes a stick mapping. This script translates the '1' or '2'
# requested mode to a config file, then gives that config file to the python
# program. To set the mode, the python program writes the stick mapping to
# the STM32. To read the mode, the python reads the current stick mapping from
# the STM32 and compares it to a specified config file, so to read the mode,
# we are asking the python program if the current mode matches the mode 1
# config file, and if not, if it matches the mode 2 config file.
ui_mode_prog="config_stick_axes.py"
# arg is normally mode1, mode2, or default
ui_mode_config_file() {
echo "/firmware/cfg/stick-cfg-evt-${1}.cfg"
}
get_ui_mode() {
# meaningful only on controller
if [ ${is_solo} ]; then
echo "can only get mode on controller"
return 1
fi
# is it still defaults?
cf=`ui_mode_config_file default`
if [ `${ui_mode_prog} get ${cf}` == "true" ]; then
# default is mode 2 (artoo firmware)
echo "2"
return 0
fi
# is it mode 1?
cf=`ui_mode_config_file mode1`
if [ `${ui_mode_prog} get ${cf}` == "true" ]; then
echo "1"
return 0
fi
# is it mode 2?
cf=`ui_mode_config_file mode2`
if [ `${ui_mode_prog} get ${cf}` == "true" ]; then
echo "2"
return 0
fi
# neither 1 nor 2!
echo "mode unknown"
return 0
}
set_ui_mode() {
# meaningful only on controller
if [ ${is_solo} ]; then
echo "can only set mode on controller"
return 1
fi
# argument required
if [ -z "${1}" ]; then
echo "sololink_config --set-ui-mode [1|2]"
return 1
fi
# argument must be 1 or 2
if [ "${1}" != "1" -a "${1}" != "2" ]; then
echo "sololink_config --set-ui-mode [1|2]"
return 1
fi
# send to STM32
${ui_mode_prog} set `ui_mode_config_file mode${1}`
# echo new mode to stdout
echo "${1}"
return 0
}
# ui_units is "metric" or "imperial"
#
# Not persisted in the STM32, and can't be read back, so the last known
# setting is saved in sololink.conf. ui_units is set in the STM32 on each
# boot.
get_ui_units() {
# meaningful only on controller
if [ ${is_solo} ]; then
echo "can only set units on controller"
return 1
fi
# get it from config file
if grep -q uiUnits= ${ROOT}/etc/sololink.conf; then
echo "`grep uiUnits= ${ROOT}/etc/sololink.conf | head -n 1 | \
sed "s/.*uiUnits\s*=\(.\+\)/\1/g"`"
else
# no setting; default is metric
echo "metric"
fi
return 0
}
set_ui_units() {
# meaningful only on controller
if [ ${is_solo} ]; then
echo "can only set units on controller"
return 1
fi
# argument required
if [ -z "${1}" ]; then
echo "sololink_config --set-ui-units [metric|imperial]"
return 1
fi
# argument must be metric or imperial
if [ "${1}" != "metric" -a "${1}" != "imperial" ]; then
echo "sololink_config --set-ui-units [metric|imperial]"
return 1
fi
# do it
backup_config ${ROOT}/etc/sololink
if grep -q uiUnits= ${ROOT}/etc/sololink.conf; then
# change existing setting
sed -i "s/uiUnits\s*=.\+/uiUnits=${1}/g" ${ROOT}/etc/sololink.conf
else
# append as new setting
echo >> ${ROOT}/etc/sololink.conf
echo "uiUnits=${1}" >> ${ROOT}/etc/sololink.conf
fi
md5sum_config ${ROOT}/etc/sololink
# action!
set_ui_units_prog="set_telem_units.py"
set_ui_units_args="${1}"
if which ${set_ui_units_prog} &> /dev/null; then
${set_ui_units_prog} ${set_ui_units_args}
fi
# echo new units to stdout
echo "${1}"
return 0
}
# ui_sweep is the min/max range for the camera tilt sweep dial
#
# Persisted in the STM32. A python program reads it from or writes it to the
# STM32 on request.
get_ui_sweep() {
# meaningful only on controller
if [ ${is_solo} ]; then
echo "can only get sweep on controller"
return 1
fi
# fetch from STM32 - prints "min max" to stdout
config_sweep_time.py
return 0
}
set_ui_sweep() {
# meaningful only on controller
if [ ${is_solo} ]; then
echo "can only set sweep on controller"
return 1
fi
# two arguments required: min max
if [ -z "${1}" -o -z "${2}" ]; then
echo "sololink_config --set-ui-sweep <min> <max>"
return 1
fi
# not done: check that arguments are integers
# send to STM32 - this echoes new setting to stdout
config_sweep_time.py ${1} ${2}
return 0
}
factory_reset() {
rm -rf ${ROOT}/log/updates
mkdir -p ${ROOT}/log/updates
touch ${ROOT}/log/updates/FACTORYRESET
if [ -x ${ROOT}/usr/bin/updater_msg.py ]; then
${ROOT}/usr/bin/updater_msg.py start
fi
shutdown_now
return 0
}
settings_reset() {
rm -rf ${ROOT}/log/updates
mkdir -p ${ROOT}/log/updates
touch ${ROOT}/log/updates/RESETSETTINGS
if [ -x ${ROOT}/usr/bin/updater_msg.py ]; then
${ROOT}/usr/bin/updater_msg.py start
fi
shutdown_now
return 0
}
make_golden() {
if [ ! -z "${SOLOLINK_CONFIG_TEST}" ]; then
echo "no test mode for make_golden"
return 1
fi
image=`get_image`
if [ ${image} == "golden" ]; then
echo "already running golden"
return 1
elif [ ${image} != "latest" ]; then
echo "${image}"
return 1
fi
umount /dev/mmcblk0p1 &> /dev/null
mkfs.vfat /dev/mmcblk0p1 -n GOLDEN &> /dev/null
mkdir -p ${ROOT}/tmp/golden
mount /dev/mmcblk0p1 ${ROOT}/tmp/golden
cp -r /mnt/boot/* ${ROOT}/tmp/golden
umount ${ROOT}/tmp/golden
return 0
}
update_prepare() {
case "${1}" in
"artoo" )
if [ ${is_solo} ]; then
echo "solo can't update artoo"
return 1
fi
rm -rf ${ROOT}/mnt/rootfs.rw/firmware
mkdir -p ${ROOT}/firmware
;;
"pixhawk" )
if [ ! ${is_solo} ]; then
echo "controller can't update pixhawk"
return 1
fi
rm -rf ${ROOT}/mnt/rootfs.rw/firmware
mkdir -p ${ROOT}/firmware
;;
"sololink" )
rm -rf ${ROOT}/log/updates
mkdir -p ${ROOT}/log/updates
rm -rf ${ROOT}/mnt/rootfs.rw/firmware
mkdir -p ${ROOT}/firmware
;;
* )
echo "--update-prepare [artoo|pixhawk|sololink]"
return 1
;;
esac
return 0
}
update_apply_artoo() {
# check update file unless --force was given
#if [ "${1}_" != "--force_" ]; then
# sanity-check whatever is in /firmware/artoo_*.bin
#fi
if [ -z "${SOLOLINK_CONFIG_TEST}" ]; then
if [ -x ${ROOT}/usr/bin/updater_msg.py ]; then
${ROOT}/usr/bin/updater_msg.py start
fi
r=`get_runlevel`
if [ "${r}_" != "2_" ]; then
init 2
sleep 3
fi
checkArtooAndUpdate.py
if [ "${r}_" != "2_" ]; then
init 3
fi
if [ -x ${ROOT}/usr/bin/updater_msg.py ]; then
${ROOT}/usr/bin/updater_msg.py success
fi
fi
return 0
}
update_apply_pixhawk() {
# check update file unless --force was given
#if [ "${1}_" != "--force_" ]; then
# sanity-check whatever is in /firmware/*.px4
#fi
if [ -z "${SOLOLINK_CONFIG_TEST}" ]; then
if [ -x ${ROOT}/usr/bin/updater_msg.py ]; then
${ROOT}/usr/bin/updater_msg.py start
fi
r=`get_runlevel`
if [ "${r}_" != "2_" ]; then
init 2
sleep 3
fi
pixhawk.py -i
if [ "${r}_" != "2_" ]; then
init 3
fi
if [ -x ${ROOT}/usr/bin/updater_msg.py ]; then
${ROOT}/usr/bin/updater_msg.py success
fi
fi
return 0
}
update_apply_sololink() {
# check update file unless --force was given
if [ "${1}_" != "--force_" ]; then
# must be only one update file, and must match either
# *controller*.tar.gz or *solo*.tar.gz
if [ ${is_solo} ]; then
file_infix="solo"
else
file_infix="controller"
fi
n=`count_files "${ROOT}/log/updates" "*${file_infix}*.tar.gz"`
if [ ${n} -ne 1 ]; then
echo "must be exactly one update file (found ${n})"
return 1
fi
n=`count_files "${ROOT}/log/updates" "*${file_infix}*.tar.gz.md5"`
if [ ${n} -ne 1 ]; then
echo "must be exactly one md5 file (found ${n})"
return 1
fi
# check md5
pushd ${ROOT}/log/updates &> /dev/null
if ! ${MD5SUM} -c *${file_infix}*.tar.gz.md5; then
echo "md5 error"
return 1
fi
popd &> /dev/null
fi
# nasty cleanup
rm -f \
${ROOT}/mnt/rootfs.rw/etc/inittab \
${ROOT}/mnt/rootfs.rw/*VERSION* \
${ROOT}/log/updates/FACTORYRESET \
${ROOT}/log/updates/RESETSETTINGS
touch ${ROOT}/log/updates/UPDATE
if [ "${1}_" == "--reset_" ] || [ "${2}_" == "--reset_" ]; then
touch ${ROOT}/log/updates/RESETSETTINGS
fi
if [ -x ${ROOT}/usr/bin/updater_msg.py ]; then
${ROOT}/usr/bin/updater_msg.py start
fi
shutdown_now
}
update_apply() {
case "${1}" in
"artoo" )
if [ ${is_solo} ]; then
echo "solo can't update artoo"
return 1
fi
update_apply_artoo ${2}
;;
"pixhawk" )
if [ ! ${is_solo} ]; then
echo "controller can't update pixhawk"
return 1
fi
update_apply_artoo ${2}
;;
"sololink" )
update_apply_sololink ${2} ${3}
;;
* )
echo "--update-apply [artoo|pixhawk|sololink] [--force] [--reset]"
return 1
;;
esac
return $?
}
# Get running image.
# Prints either "golden" or "latest".
get_image() {
if [ ! -z "${SOLOLINK_CONFIG_TEST}" ]; then
echo "no test mode for get_image"
return 1
fi
boot_dev=`grep 'boot' /proc/mounts | awk '{print $1}'`
# boot_dev should be either:
# /dev/mmcblk0p1 when running golden, or
# /dev/mmcblk0p2 when running latest
if [ ${boot_dev} == "/dev/mmcblk0p1" ]; then
echo "golden"
return 0
elif [ ${boot_dev} == "/dev/mmcblk0p2" ]; then
echo "latest"
return 0
else
echo "can't determine boot image"
return 1
fi
}
# Examples of valid MACs:
# 00:1f:09:04:00:22 (lower case hex)
# 00:1F:09:04:00:22 (upper case hex)
# 00-1F-09-04-00-22 (dash separators)
# 001f09040022 (no separators)
validate_mac() {
# convert hex to lower case, strip separators
mac=`echo "${1}" | tr A-Z a-z | tr -d :-`
maclen=${#mac}
if [ ${maclen} -ne 12 ]; then
echo "mac address invalid"
return 1
fi
# put back the colons
mac="${mac:0:2}:${mac:2:2}:${mac:4:2}:${mac:6:2}:${mac:8:2}:${mac:10:2}"
echo "${mac}"
return 0
}
# set_pairing_conf (MAC) [NAME]
# MAC required
# NAME is optional, defaults to "Solo"
# (controller only)
set_pairing_conf() {
mac=`validate_mac "${1}"`
if [ $? -ne 0 ]; then
return 1
fi
if [ ! -z "${SOLOLINK_CONFIG_TEST}" ]; then
# might not exist in test directory structure
mkdir -p ${ROOT}/log
fi
echo "[${mac}]" > ${ROOT}/log/3dr-pairing.conf
if [ -z "${2}" ]; then
echo "name = Solo" >> ${ROOT}/log/3dr-pairing.conf
else
echo "name = ${2}" >> ${ROOT}/log/3dr-pairing.conf
fi
return 0
}
get_pairing() {
if [ ${is_solo} ]; then
if wpa_supp_has_ssid; then
pardner=`get_wifi_ssid_wpa_supplicant`
else
echo "not paired"
return 1
fi
else
if [ -f ${ROOT}/log/3dr-pairing.conf ]; then
pardner=`head -n 1 ${ROOT}/log/3dr-pairing.conf`
pardner=${pardner:1:17}
else
echo "not paired"
return 1
fi
fi
echo ${pardner}
return 0
}
set_pairing() {
if [ ${is_solo} ]; then
if [ -z "${1}" ]; then
cp ${ROOT}/mnt/rootfs.ro/etc/wpa_supplicant.orig ${ROOT}/etc/wpa_supplicant.conf
md5sum_config ${ROOT}/etc/wpa_supplicant
echo "not paired"
return 0
else
set_wifi_ssid "${1}"
fi
else
if [ -z "${1}" ]; then
rm -f ${ROOT}/log/3dr-pairing.conf
echo "not paired"
return 0
else
set_pairing_conf "${1}"
fi
fi
get_pairing
}
get_config() {
if grep -q "${1}" ${ROOT}/etc/sololink.conf; then
echo "`grep ${1} ${ROOT}/etc/sololink.conf | head -n 1 | \
sed "s/[ \t]*${1}[ \t]*=[ \t]*\(.\+\)/\1/g"`"
return 0
else
echo "${1} not set"
return 1
fi
}
# set_config NAME VALUE [--add]
set_config() {
backup_config ${ROOT}/etc/sololink
if grep -q "${1}" ${ROOT}/etc/sololink.conf; then
# change existing setting
sed -i "s/[ \t]*${1}[ \t]*=.\+/${1}=${2}/g" ${ROOT}/etc/sololink.conf
elif [ "${3}_" == "--add_" ]; then
# append as new setting
echo >> ${ROOT}/etc/sololink.conf
echo "${1}=${2}" >> ${ROOT}/etc/sololink.conf
fi
md5sum_config ${ROOT}/etc/sololink
get_config "${1}"
return $?
}
# return success (0) if there is an invalid sticks message in 3dr-stm32.log
# after the most recent startup message
#
# Note that doing a stick cal will restart the stm32 in the current log;
# that is why we look for the error message _after_ the most recent startup
get_invalid_sticks() {
msg_start="main: starting"
msg_error="stm32: received invalid stick inputs message"
log=/log/3dr-stm32.log
# line number of most recent startup
line=`grep -n "${msg_start}" ${log} | tail -1 | sed 's/\([0-9]\+\).*/\1/g'`
# search file after that
if tail +${line} ${log} | grep -q "${msg_error}"; then
echo "`tail +${line} ${log} | grep -o \"${msg_error}\"`"
# found error, return success
return 0
else
# did not find error, return failure
return 1
fi
}
# get_status - get overall system status
#
# return status == 0
# stdout == "ok"
#
# return status != 0
# stdout == "error messages, one per line"
#
# The intent is that this can be augmented to look for problems other than
# "invalid sticks" if we need to.
get_status() {
status=0
errmsg="ok"
if msg=`get_invalid_sticks`; then
status=1
errmsg="${msg}"
fi
echo "${errmsg}"
return ${status}
}
get_version_golden() {
if [ ! -z "${SOLOLINK_CONFIG_TEST}" ]; then
echo "no test mode for get_version_golden"
return 1
fi
image=`get_image`
case "${image}" in
"golden" )
# running golden
version_file=${ROOT}/VERSION
;;
"latest" )
# running latest
mkdir -p ${ROOT}/mnt/golden
mount /dev/mmcblk0p1 ${ROOT}/mnt/golden
mkdir -p ${ROOT}/mnt/golden-squashfs
mount /mnt/golden/*.squashfs /mnt/golden-squashfs
version_file=${ROOT}/mnt/golden-squashfs/VERSION
;;
* )
echo "${image}"
return 1
;;
esac
if [ ! -f ${version_file} ]; then
echo "unavailable"
return 1
fi
head -n 1 ${version_file}
if [ "${image}" == "latest" ]; then
umount ${ROOT}/mnt/golden-squashfs
rmdir ${ROOT}/mnt/golden-squashfs
umount ${ROOT}/mnt/golden
rmdir ${ROOT}/mnt/golden
fi
return 0
}
# Get a version number from a file, or "unknown" if the file does not exist
# No trailing newline.
get_file_version() {
if [ -f "$1" ]; then
head -n 1 $1 | awk '{printf($1)}'
else
echo -n "unknown"
fi
}
# Get all versions; returns three lines:
# script_version
# loc_sololink_version loc_firmware_version
# rem_sololink_version rem_firmware_version
get_version_all() {
echo "${sololink_config_version}"
echo -n "`get_file_version ${ROOT}/VERSION` "
if [ ${is_controller} ]; then
echo `get_file_version ${ROOT}/STM_VERSION`
else
echo `get_file_version ${ROOT}/PIX_VERSION`
fi
echo -n "`get_file_version ${ROOT}/tmp/PEER_SL_VERSION` "
echo `get_file_version ${ROOT}/tmp/PEER_FW_VERSION`
return 0
}
# get_version [artoo|pixhawk|sololink|golden|all]
get_version() {
if [ -z "${1}" ]; then
echo "${sololink_config_version}"
else
case "${1}" in
"artoo" )
if [ ! ${is_controller} ]; then
echo "only controller can return artoo's version"
return 1
fi
version_file=${ROOT}/STM_VERSION
;;
"pixhawk" )
if [ ! ${is_solo} ]; then
echo "only solo can return pixhawk's version"
return 1
fi
version_file=${ROOT}/PIX_VERSION
;;
"sololink" )
version_file=${ROOT}/VERSION
;;
"golden" )
get_version_golden
return $?
;;
"all" )
get_version_all
return $?
;;
* )
echo "--get-version [artoo|pixhawk|sololink|golden|all]"
return 1
;;
esac
if [ ! -f ${version_file} ]; then
echo "unavailable"
return 1
fi
head -n 1 ${version_file}
fi
return 0
}
restart_sololink() {
init 2
sleep 3
init 3
return 0
}
do_restart() {
case "${1}" in
"video" )
restart_video
return $?
;;
"system" )
shutdown_now
return 0
;;
"sololink" )
restart_sololink
return $?
;;
* )
echo "--restart [video|sololink|system]"
return 1
;;
esac
}
# solo or controller?
if [ "_${HOSTNAME}" == "_3dr_solo" ]; then
is_solo=1
elif [ "_${HOSTNAME}" == "_3dr_controller" ]; then
is_controller=1
elif [ "_${TESTHOSTNAME}" == "_3dr_solo" ]; then
is_solo=1
elif [ "_${TESTHOSTNAME}" == "_3dr_controller" ]; then
is_controller=1
else
echo "hostname is not 3dr_solo or 3dr_controller; can't continue"
exit 1
fi
if [ -z "${1}" ]; then usage; fi
case "${1}" in
"--get-wifi-ssid" )
shift
get_wifi_ssid
;;
"--set-wifi-ssid" )
shift
if [ -z "${1}" ]; then usage; fi
set_wifi_ssid "${1}"
;;
"--get-wifi-password" )
shift
get_wifi_password
;;
"--set-wifi-password" )
shift
if [ -z "${1}" ]; then usage; fi
set_wifi_password "${1}"
;;
"--get-wifi-channel" )
shift
get_wifi_channel
;;
"--set-wifi-channel" )
shift
if [ -z "${1}" ]; then usage; fi
set_wifi_channel "${1}"
;;
"--get-wifi-country" )
shift
get_wifi_country
;;
"--set-wifi-country" )
shift
if [ -z "${1}" ]; then usage; fi
set_wifi_country "${1}"
;;
"--get-wifi-power" )
shift
get_wifi_power
;;
"--set-wifi-power" )
shift
if [ -z "${1}" ]; then usage; fi
set_wifi_power "${1}"
;;
"--reset-wifi-settings" )
shift
reset_wifi_settings
;;
"--restart-video" )
shift
restart_video
;;
"--get-ui-mode" )
shift
get_ui_mode
;;
"--set-ui-mode" )
shift
set_ui_mode "${1}"
;;
"--get-ui-units" )
shift
get_ui_units
;;
"--set-ui-units" )
shift
set_ui_units "${1}"
;;
"--get-ui-sweep" )
shift
get_ui_sweep
;;
"--set-ui-sweep" )
shift
set_ui_sweep "${1}" "${2}"
;;
"--factory-reset" )
factory_reset
;;
"--settings-reset" )
settings_reset
;;
"--make-golden" )
make_golden
;;
"--update-prepare" )
shift
if [ -z "${1}" ]; then usage; fi
update_prepare "${1}"
;;
"--update-apply" )
shift
if [ -z "${1}" ]; then usage; fi
update_apply "${1}" "${2}" "${3}"
;;
"--get-image" )
shift
get_image
;;
"--get-pairing" )
shift
get_pairing
;;
"--set-pairing" )
shift
# ${1} optional; empty means unpair
set_pairing "${1}"
;;
"--get-config" )
shift
if [ -z "${1}" ]; then usage; fi
get_config "${1}"
;;
"--set-config" )
shift
if [ -z "${1}" ] || [ -z "${2}" ]; then usage; fi
set_config $@
;;
"--get-status" )
get_status
;;
"--get-version" )
shift
# ${1} optional; empty means get script version
get_version "${1}"
;;
"--reboot" )
shutdown_now
;;
"--restart" )
shift
if [ -z "${1}" ]; then usage; fi
do_restart "${1}"
;;
"--pass" )
shift
true
;;
"--fail" )
shift
false
;;
* )
usage
esac
exit $?
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