mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-24 05:45:59 +08:00
[parrot] improve bebop scripts
old shell scripts are removed and replaced by python script similar to ardrone2 it is possible to - install and remove the autostart and network scripts - configure autostart mode - configure network to join a wifi router - it is no longer need to modify the pprz.conf file before sending it to the drone - the security options (AMODE) are not handled yet
This commit is contained in:
Gautier Hattenberger
committed by
Freek van Tienen
Freek van Tienen
parent
48e7b20789
commit
7e1fc732be
+182
-3
@@ -23,18 +23,113 @@
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from __future__ import print_function
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from parrot_utils import ParrotUtils
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import re
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import argparse
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from time import sleep
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class Bebop(ParrotUtils):
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uav_name = 'Bebop'
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address = '192.168.42.1'
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version_file = '/version.txt'
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upload_path = '/data/ftp/'
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scripts_path = 'internal_000/scripts/'
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config_file = upload_path + scripts_path + 'pprz.conf'
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check_version_before_run = True
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update_time_before_run = True
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# Read from config file
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def read_from_config(self, name):
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self.config_content = self.execute_command('cat ' + self.config_file)
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# Search for the name
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search = re.search(name + '=([^\r\n\t ]+)',self.config_content)
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if search is None:
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return 'Unknown'
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else:
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return search.group(1)
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# Write to config
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def write_to_config(self, name, value):
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if self.read_from_config(name) == 'Unknown':
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self.execute_command('echo "' + name + '=' + value + '\" >> ' + self.config_file)
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else:
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self.execute_command('sed -i "s/\(' + name + ' *= *\).*/\\1' + value + '/g" ' + self.config_file)
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def uav_status(self):
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print('Parrot version:\t\t' + str(self.check_version()))
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join = {'Unknown': 'No', '0': 'No', '1': 'Yes'}
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print('Join Wifi:\t\t' + self.read_from_config('JOIN_WIFI'))
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print('Network id:\t\t' + self.read_from_config('WIFI_SSID'))
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mode = {'0': 'Master', '1': 'Managed'}
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print('Wifi Amode:\t\t' + self.read_from_config('WIFI_AMODE'))
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print('Currently running:\t' + self.check_running())
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autorun = {'Unknown': 'Native (autorun not installed)', '0': 'Native', '1': 'Paparazzi'}
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print('Autorun at start:\t'+autorun[self.read_from_config('START_PPRZ')])
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def bebop_install_scripts(self):
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print('Installing Paparazzi scripts')
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self.upload_file('bebop/pprz.conf', self.scripts_path, kill_prog=False)
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self.upload_file('bebop/config_network.script', self.scripts_path, kill_prog=False)
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self.upload_file('bebop/button_switch', self.scripts_path, kill_prog=False)
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self.upload_file('bebop/pprzstarter', self.scripts_path, kill_prog=False)
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self.execute_command("mount -o remount,rw /")
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self.execute_command("sed -i 's|^exit 0|/data/ftp/internal_000/scripts/pprzstarter \& exit 0|' /etc/init.d/rcS")
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self.execute_command("chmod a+x /etc/init.d/rcS")
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self.execute_command("chmod a+x /data/ftp/internal_000/scripts/pprzstarter")
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self.execute_command("chmod a+x /data/ftp/internal_000/scripts/button_switch")
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self.execute_command("chmod a+x /data/ftp/internal_000/scripts/config_network.script")
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self.execute_command("dos2unix /data/ftp/internal_000/scripts/pprzstarter")
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self.execute_command("dos2unix /data/ftp/internal_000/scripts/button_switch")
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self.execute_command("dos2unix /data/ftp/internal_000/scripts/pprz.conf")
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self.execute_command("cp /bin/onoffbutton/shortpress_3.sh /bin/onoffbutton/shortpress_3.sh.backup")
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self.execute_command("echo '#!/bin/sh' > /bin/onoffbutton/shortpress_3.sh")
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self.execute_command("echo '' >> /bin/onoffbutton/shortpress_3.sh")
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self.execute_command("echo '/data/ftp/internal_000/scripts/button_switch' >> /bin/onoffbutton/shortpress_3.sh")
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def bebop_uninstall_scripts(self):
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print('Uninstalling Paparazzi scripts')
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self.execute_command("mount -o remount,rw /")
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self.execute_command("sed -i 's|^/data/ftp/internal_000/scripts/pprzstarter \& exit 0|exit 0|' /etc/init.d/rcS")
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self.execute_command("chmod a+x /etc/init.d/rcS")
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self.execute_command("mv /bin/onoffbutton/shortpress_3.sh.backup /bin/onoffbutton/shortpress_3.sh")
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self.execute_command("rm -rf /data/ftp/internal_000/scripts/*")
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def check_autoboot(self):
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pprzstarter = self.execute_command('grep "pprzstarter" /etc/init.d/rcS')
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if "pprzstarter" in pprzstarter:
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return True
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else:
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return False
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def bebop_set_ssid(self, name):
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'''
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Set network SSID (of the router to join, not the Bebop SSID in master mode)
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'''
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self.write_to_config('WIFI_SSID', name)
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print('The network ID (SSID) to be joined is changed to ' + name)
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def bebop_set_wifi_mode(self, mode):
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'''
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Set Wifi mode, master or managed
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'''
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mode_id = { 'master': '0', 'managed': '1' }
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self.write_to_config('JOIN_WIFI', mode_id[mode])
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print('The Wifi mode is now ' + mode)
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def bebop_shutdown(self):
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'''
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Proper bebop shutdown
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'''
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print("Shuting down Bebop (restart by hand if needed)")
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self.execute_command('/bin/ardrone3_shutdown.sh', timeout=1)
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def reboot(self):
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'''
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Custom reboot, in fact a proper shutdown as simple reboot seems too brutal
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Restart has to be done by hand
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'''
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self.bebop_shutdown()
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def init_extra_parser(self):
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# Parse the extra arguments
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@@ -43,10 +138,94 @@ class Bebop(ParrotUtils):
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self.parser.add_argument('--max_version', metavar='MAX', default='4.4.2',
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help='force maximum version allowed')
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def parse_extra_args(self, args):
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# nothing here
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pass
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ss = self.subparsers.add_parser('networkid', help='Set the network ID (SSID) to join in managed mode')
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ss.add_argument('name', help='The new network ID (SSID)')
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ss = self.subparsers.add_parser('wifimode', help='Set the Wifi mode the Bebop 1 or 2')
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ss.add_argument('mode', help='The new Wifi mode', choices=['master', 'managed'])
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ss = self.subparsers.add_parser('configure_network', help='Configure the network on the Bebop 1 or 2')
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ss.add_argument('name', help='The network ID (SSID) to join in managed mode')
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ss.add_argument('mode', help='The new Wifi mode', choices=['master', 'managed'])
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ss = self.subparsers.add_parser('install_autostart', help='Install custom autostart script and set what to start on boot for the Bebop 1 or 2')
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ss.add_argument('type', choices=['native', 'paparazzi'],
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help='what to start on boot')
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ss = self.subparsers.add_parser('autostart', help='Set what to start on boot for the Bebop 1 or 2')
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ss.add_argument('type', choices=['native', 'paparazzi'],
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help='what to start on boot')
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ss = self.subparsers.add_parser('uninstall_autostart', help='Remove custom autostart scripts')
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def parse_extra_args(self, args):
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# Change the network ID
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if args.command == 'networkid':
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self.bebop_set_ssid(args.name)
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if raw_input("Shall I restart the Bebop? (y/N) ").lower() == 'y':
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self.reboot()
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# Change the wifi mode
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elif args.command == 'wifimode':
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self.bebop_set_wifi_mode(args.mode)
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if raw_input("Shall I restart the Bebop? (y/N) ").lower() == 'y':
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self.reboot()
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# Install and configure network
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elif args.command == 'configure_network':
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print('=== Current network setup ===')
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self.uav_status()
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print('=============================')
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if self.check_autoboot():
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print('Custom autostart (and network) script already installed')
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if raw_input("Shall I reinstall the autostart (and network) script (y/N) ").lower() == 'y':
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self.bebop_install_scripts()
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else:
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print('Custom autostart (and network) script is required but is not installed')
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if raw_input("Shall I reinstall the autostart (and network) script (y/N) ").lower() == 'y':
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self.bebop_install_scripts()
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else:
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print('Scripts not installed, Leaving.')
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return
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sleep(0.5)
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self.bebop_set_ssid(args.name)
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self.bebop_set_wifi_mode(args.mode)
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sleep(0.5)
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print('== New network setup after boot ==')
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self.uav_status()
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print('==================================')
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if raw_input("Shall I restart the Bebop? (y/N) ").lower() == 'y':
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self.reboot()
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# Install and configure autostart
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elif args.command == 'install_autostart':
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if self.check_autoboot():
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print('Custom autostart script already installed')
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if raw_input("Shall I reinstall the autostart script (y/N) ").lower() == 'y':
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self.bebop_install_scripts()
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else:
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self.bebop_install_scripts()
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autorun = {'native': '0', 'paparazzi': '1'}
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self.write_to_config('START_PPRZ', autorun[args.type])
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print('The autostart on boot is changed to ' + args.type)
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if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
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self.reboot()
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# Change the autostart
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elif args.command == 'autostart':
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autorun = {'native': '0', 'paparazzi': '1'}
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self.write_to_config('START_PPRZ', autorun[args.type])
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print('The autostart on boot is changed to ' + args.type)
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# Uninstall autostart
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elif args.command == 'uninstall_autostart':
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if self.check_autoboot():
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self.bebop_uninstall_scripts()
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else:
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print("Autostart script not found")
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if __name__ == "__main__":
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bebop = Bebop()
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+2
-2
@@ -3,8 +3,8 @@
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BLDC_Test_Bench -n -M 1
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if [ $(bcmwl ap) -eq 1 ]
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then
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if [ -r /data/ftp/internal_000/scripts/connect2hub ]; then
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/data/ftp/internal_000/scripts/connect2hub
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if [ -r /data/ftp/internal_000/scripts/pprzstarter ]; then
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/data/ftp/internal_000/scripts/pprzstarter
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else
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echo "Button activating..." | ulogger -t "ShortPressDebug" -p I
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/bin/usbnetwork.sh
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@@ -0,0 +1,8 @@
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[Default config file for PPRZ init script ]
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[Starts Paparazzi with Bebop as Wifi hotspot]
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START_PPRZ=1
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START_TELNET=1
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START_ADB=1
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JOIN_WIFI=0
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WIFI_SSID=pprz
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WIFI_AMODE=none
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@@ -1,21 +0,0 @@
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# Description
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These scripts can be used to connect Bebop 2 drones to a Wi-Fi router, so that (for instance) they may be used in a swarm via a central hub.
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The drone will then function as follows:
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Upon starting up, it will search for the router. If the router is found, it will connect to it.
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If the router is not found within a specific time, the drone will become the access point, as "normal".
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The "4 button press" will also be removed, so this will not have to be done before loading Paparazzi on the drone.
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# How to set it up
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To connect the Bebop 2 to a router:
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1. Open pprz_swarmhub.conf
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2. Write the name of the router after WIFI_SSID
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3. Start up the Bebop2 and connect to it normally with your computer's WiFi
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4. Start up the router
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5. Run connect2ssid.sh
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6. The Bebop2 should now turn off and connect to the router. To check that this happened, you can connect to the router and try to ping to it/see all connections.
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7. Add to the airframe file of the bebop, in the ap target, the following lines:
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~~~~
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<configure name="HOST" value="192.168.42.$(AC_ID)" />
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<configure name="MODEM_HOST" value="192.168.42.40" />
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~~~~
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@@ -1,16 +0,0 @@
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#!/bin/bash
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if [ -z "$1" ]
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then
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IP="192.168.42.1"
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echo "No drone ID specified, using ($IP)"
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else
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IP="$1"
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echo "Drone ID specified, using ($IP)"
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fi
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wput -nc -u ./pprz_swarmhub.conf ftp://$IP/internal_000/scripts/pprz.conf
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wput -nc -u ./scripts/config_network.script ftp://$IP/internal_000/scripts/config_network.script
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wput -nc -u ./scripts/button_switch ftp://$IP/internal_000/scripts/button_switch
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wput -nc -u ./scripts/connect2hub ftp://$IP/internal_000/scripts/connect2hub
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{ echo "mount -o remount,rw /"; echo "sed -i 's|^exit 0|/data/ftp/internal_000/scripts/connect2hub \& exit 0|' /etc/init.d/rcS"; echo "chmod a+x /etc/init.d/rcS"; echo "chmod a+x /data/ftp/internal_000/scripts/connect2hub"; echo "chmod a+x /data/ftp/internal_000/scripts/button_switch"; echo "chmod a+x /data/ftp/internal_000/scripts/config_network.script"; echo "dos2unix /data/ftp/internal_000/scripts/button_switch"; echo "dos2unix /data/ftp/internal_000/scripts/connect2hub"; echo "dos2unix /data/ftp/internal_000/scripts/pprz.conf"; echo "echo '#!/bin/sh' > /bin/onoffbutton/shortpress_3.sh"; echo "echo '' >> /bin/onoffbutton/shortpress_3.sh"; echo "echo '/data/ftp/internal_000/scripts/button_switch' >> /bin/onoffbutton/shortpress_3.sh"; echo "/sbin/reboot"; sleep 10; } | telnet $IP
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@@ -1,7 +0,0 @@
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# Config file for PPRZ init script
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START_PPRZ=1
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START_TELNET=1
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START_ADB=1
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JOIN_WIFI=1
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WIFI_SSID=linksys388
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WIFI_AMODE=none
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@@ -1,12 +0,0 @@
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#!/bin/bash
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if [ -z "$1" ]
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then
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IP="192.168.42.1"
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echo "No drone ID specified, using ($IP)"
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else
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IP="$1"
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echo "Drone ID specified, using ($IP)"
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fi
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{ echo "mount -o remount,rw /"; echo "sed -i 's|^/data/ftp/internal_000/scripts/connect2hub \& exit 0|exit 0|' /etc/init.d/rcS"; echo "chmod a+x /etc/init.d/rcS"; echo "/sbin/reboot"; sleep 10; } | telnet $IP
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@@ -1,15 +0,0 @@
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#!/bin/bash
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if [ -z "$1" ]
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then
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IP="192.168.42.1"
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echo "No drone ID specified, using ($IP)"
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else
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IP="$1"
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echo "Drone ID specified, using ($IP)"
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fi
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wput -u ./pprz_swarmhub.conf ftp://$IP/internal_000/scripts/pprz.conf
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wput -u ./scripts/config_network.script ftp://$IP/internal_000/scripts/config_network.script
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wput -u ./scripts/connect2hub ftp://$IP/internal_000/scripts/connect2hub
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{ echo "mount -o remount,rw /"; echo "sed -i 's|^exit 0|/data/ftp/internal_000/scripts/connect2hub \& exit 0|' /etc/init.d/rcS"; echo "chmod a+x /etc/init.d/rcS"; echo "chmod a+x /data/ftp/internal_000/scripts/connect2hub"; echo "chmod a+x /data/ftp/internal_000/scripts/config_network.script"; echo "dos2unix /data/ftp/internal_000/scripts/pprz.conf"; echo "/sbin/reboot"; sleep 10; } | telnet $IP
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@@ -122,9 +122,9 @@ class ParrotUtils:
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self.ftp.close()
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# Execute a command
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def execute_command(self, command):
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def execute_command(self, command, timeout=5):
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self.tn.write(bytes(command + '\n', 'utf-8'))
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s = self.tn.read_until(bytes(self.prompt, 'utf-8'))
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s = self.tn.read_until(bytes(self.prompt, 'utf-8'), timeout)
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if s.endswith(b'[JS] $ '):
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s = s[len(command) + 2:-8]
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elif s.endswith(b'[RS.edu] $ '):
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@@ -229,7 +229,7 @@ class ParrotUtils:
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# Reboot the drone
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def reboot(self):
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self.execute_command('reboot')
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self.execute_command('reboot', timeout=1)
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print('The ' + self.uav_name + ' is now rebooting')
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# Kill a running program
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@@ -254,12 +254,13 @@ class ParrotUtils:
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print('Removed directory "' + name + '"')
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# Upload a new file
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def upload_file(self, name, folder=""):
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def upload_file(self, name, folder="", kill_prog=True):
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f = self.split_into_path_and_file(name)
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# First kill the running program
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self.kill_program(f[1])
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sleep(1)
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if kill_prog:
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# First kill the running program
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self.kill_program(f[1])
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sleep(1)
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# Make the upload directory and upload the file
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self.create_directory(self.upload_path + folder)
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