From 0eddbfc11c44e0d21e0009f0b8c644df9538301b Mon Sep 17 00:00:00 2001
From: Samuel Sadok <samuel.sadok@bluewin.ch>
Date: Tue, 17 Apr 2018 19:59:44 -0700
Subject: [PATCH] Add udev-setup command to odrivetool

---
 tools/odrive/utils.py | 13 +++++++++++++
 tools/odrivetool      |  5 +++++
 tools/setup.py        |  6 ++++++
 3 files changed, 24 insertions(+)

diff --git a/tools/odrive/utils.py b/tools/odrive/utils.py
index 810780d0..5834ff85 100755
--- a/tools/odrive/utils.py
+++ b/tools/odrive/utils.py
@@ -7,6 +7,8 @@ import sys
 import time
 import threading
 import platform
+import subprocess
+import os
 
 try:
     if platform.system() == 'Windows':
@@ -109,6 +111,17 @@ def rate_test(device):
     FramePerSec = loopsPerSec/loopsPerFrame
     print("Frames per second: " + str(FramePerSec))
 
+def setup_udev_rules(logger):
+    if platform.system() != 'Linux':
+        logger.error("This command only makes sense on Linux")
+    if os.getuid() != 0:
+        logger.warn("you should run this as root, otherwise it will probably not work")
+    with open('/etc/udev/rules.d/50-odrive.rules', 'w') as file:
+        file.write('SUBSYSTEM=="usb", ATTR{idVendor}=="1209", ATTR{idProduct}=="0d3[0-9]", MODE="0666"\n')
+    subprocess.run(["udevadm", "control", "--reload-rules"], check=True)
+    subprocess.run(["udevadm", "trigger"], check=True)
+    logger.info('udev rules configured successfully')
+
 
 ## Exceptions ##
 
diff --git a/tools/odrivetool b/tools/odrivetool
index b66db5c7..2feb9b2c 100755
--- a/tools/odrivetool
+++ b/tools/odrivetool
@@ -31,6 +31,7 @@ dfu_parser.add_argument('file', metavar='HEX', help='The .hex file to be flashed
 subparsers.add_parser('liveplotter', help="Upgrade the ODrive's Firmware")
 subparsers.add_parser('drv-status', help="Show status of the on-board DRV8301 chips (for debugging only)")
 subparsers.add_parser('rate-test', help="Estimate the average transmission bandwidth over USB")
+subparsers.add_parser('udev-setup', help="Linux only: Gives users on your system permission to access the ODrive by installing udev rules")
 
 # General arguments
 parser.add_argument("-p", "--path", metavar="PATH", action="store",
@@ -126,6 +127,10 @@ try:
         my_odrive = odrive.discovery.find_any(path=args.path, serial_number=args.serial_number)
         rate_test(my_odrive)
 
+    elif args.command == 'udev-setup':
+        from odrive.utils import setup_udev_rules
+        setup_udev_rules(logger)
+
     else:
         raise Exception("unknown command: " + args.command)
 
diff --git a/tools/setup.py b/tools/setup.py
index 7fde17bd..a7ac5980 100644
--- a/tools/setup.py
+++ b/tools/setup.py
@@ -58,6 +58,12 @@ if creating_package:
   with open(version_file_path, mode='w') as version_file:
     version_file.write(version)
 
+# TODO: find a better place for this
+if not creating_package:
+  import platform
+  if platform.system() == 'Linux':
+    import odrive.utils
+    odrive.utils.setup_udev_rules(odrive.utils.Logger())
 
 setup(
   name = 'odrive',