[ardrone2] add support for olsr

conf/system/olsrd/olsrd.conf

@@ -0,0 +1,330 @@
+#
+# olsr.org OLSR daemon config file
+#
+# Lines starting with a # are discarded
+#
+# This file was shipped with the debian olsrd package
+#
+
+# Debug level(0-9)
+# If set to 0 the daemon runs in the background
+
+DebugLevel	0
+
+# the interface the mesh runs on is specified at run time using the -i flag
+
+InterfaceDefaults
+{
+  # Olsrd can autodetect changes in NIC configurations (IP address
+  # changes etc.).  This is enabled by default and the interval to
+  # poll for changes on is defined by NicChgsPollInt.  This polling
+  # can be disabled pr. NIC by setting AutoDetectChanges to no.
+
+  #AutoDetectChanges            no
+
+  # IPv4 broadcast address to use. The
+  # one usefull example would be 255.255.255.255
+  # If not defined the broadcastaddress
+  # every card is configured with is used
+
+  Ip4Broadcast		192.168.1.255
+
+  # IPv6 address scope to use.
+  # Must be 'site-local' or 'global'
+
+  #Ip6AddrType		site-local
+
+  # IPv6 multicast address to use when
+  # using site-local addresses.
+  # If not defined, ff05::15 is used
+
+  #Ip6MulticastSite		ff05::11
+
+  # IPv6 multicast address to use when
+  # using global addresses
+  # If not defined, ff0e::1 is used
+
+  #Ip6MulticastGlobal	ff0e::1
+
+
+  # Emission intervals.
+  # If not defined, RFC proposed values will
+  # be used in most cases.
+
+  # Hello interval in seconds(float)
+    HelloInterval		0.1
+
+  # HELLO validity time
+    HelloValidityTime		1.0
+
+  # TC interval in seconds(float)
+    TcInterval			0.5
+
+  # TC validity time
+    TcValidityTime		300.0
+
+  # MID interval in seconds(float)
+    MidInterval			10.0
+
+  # MID validity time
+    MidValidityTime		300.0
+
+  # HNA interval in seconds(float)
+    HnaInterval			10.0
+
+  # HNA validity time
+    HnaValidityTime		300.0
+
+  # When multiple links exist between hosts
+  # the weight of interface is used to determine
+  # the link to use. Normally the weight is
+  # automatically calculated by olsrd based
+  # on the characteristics of the interface,
+  # but here you can specify a fixed value.
+  # Olsrd will choose links with the lowest value.
+
+  #Weight 0
+
+
+  # If a certain route should be preferred 
+  # or ignored by the mesh, the Link Quality 
+  # value of a node can be multiplied with a factor 
+  # entered here. In the example the route 
+  # using 192.168.0.1 would rather be ignored.
+  # A multiplier of 0.5 will result in a small
+  # (bad) LinkQuality value and a high (bad)
+  # ETX value.
+
+  #LinkQualityMult 192.168.0.1 0.5
+
+  # This multiplier applies to all other nodes 
+  # LinkQualityMult default 0.8
+}
+
+## these settings should work for funkfeuer, freifunk, etc.
+# Fisheye mechanism for TC messages 0=off, 1=on
+LinkQualityFishEye 1
+LinkQualityAlgorithm "etx_ff"
+
+## if using commotionwireless.net, comment the line above and uncomment these:
+#LinkQualityFishEye 0
+#LinkQualityAlgorithm "etx_ffeth"
+
+# IP version to use (4 or 6)
+
+IpVersion	4
+
+# Clear the screen each time the internal state changes
+
+ClearScreen     yes
+
+# HNA IPv4 routes
+# syntax: netaddr netmask
+# Example Internet gateway:
+# 0.0.0.0 0.0.0.0
+
+Hna4
+{
+#   Internet gateway:
+#   0.0.0.0      0.0.0.0
+#   more entries can be added:
+#   192.168.1.0  255.255.255.0
+}
+
+# HNA IPv6 routes
+# syntax: netaddr prefix
+# Example Internet gateway:
+Hna6
+{
+#   Internet gateway:
+#   ::              0
+#   more entries can be added:
+#   fec0:2200:106:: 48
+}
+
+
+# Should olsrd keep on running even if there are
+# no interfaces available? This is a good idea
+# for a PCMCIA/USB hotswap environment.
+# "yes" OR "no"
+
+AllowNoInt	yes
+
+# TOS(type of service) value for
+# the IP header of control traffic.
+# If not set it will default to 16
+
+#TosValue	16
+
+# The fixed willingness to use(0-7)
+# If not set willingness will be calculated
+# dynamically based on battery/power status
+# if such information is available
+
+Willingness    	3
+
+# Allow processes like the GUI front-end
+# to connect to the daemon.
+
+IpcConnect
+{
+     # Determines how many simultaneously
+     # IPC connections that will be allowed
+     # Setting this to 0 disables IPC
+
+     MaxConnections  1
+
+     # By default only 127.0.0.1 is allowed
+     # to connect. Here allowed hosts can
+     # be added
+
+     Host            127.0.0.1
+     #Host            10.0.0.5
+
+     # You can also specify entire net-ranges 
+     # that are allowed to connect. Multiple
+     # entries are allowed
+
+     #Net             192.168.1.0 255.255.255.0     
+}
+
+# Wether to use hysteresis or not
+# Hysteresis adds more robustness to the
+# link sensing but delays neighbor registration.
+# Used by default. 'yes' or 'no'
+# Do not use hysteresis with ETX!
+
+UseHysteresis	no
+
+# Hysteresis parameters
+# Do not alter these unless you know 
+# what you are doing!
+# Set to auto by default. Allowed
+# values are floating point values
+# in the interval 0,1
+# THR_LOW must always be lower than
+# THR_HIGH.
+
+#HystScaling	0.50
+#HystThrHigh	0.80
+#HystThrLow	0.30
+
+
+# Link quality level
+# 0 = do not use link quality
+# 1 = use link quality for MPR selection
+# 2 = use link quality for MPR selection and routing
+# Defaults to 0
+
+LinkQualityLevel	2
+
+# Polling rate in seconds(float). 
+# Default value 0.05 sec
+
+Pollrate	0.1
+
+
+# TC redundancy
+# Specifies how much neighbor info should
+# be sent in TC messages
+# Possible values are:
+# 0 - only send MPR selectors
+# 1 - send MPR selectors and MPRs
+# 2 - send all neighbors
+#
+# defaults to 0
+
+TcRedundancy	2
+
+
+#
+# MPR coverage
+# Specifies how many MPRs a node should
+# try select to reach every 2 hop neighbor
+#
+# Can be set to any integer >0
+#
+# defaults to 1
+
+MprCoverage	5
+
+
+# Olsrd plugins to load
+# This must be the absolute path to the file
+# or the loader will use the following scheme:
+# - Try the paths in the LD_LIBRARY_PATH 
+#   environment variable.
+# - The list of libraries cached in /etc/ld.so.cache
+# - /lib, followed by /usr/lib
+
+# Configuration examples for plugins:
+# see /usr/share/doc/olsrd-plugins/ for some for documentation
+
+# these are loaded from LD_LIBRARY_PATH
+#LoadPlugin "olsrd_httpinfo.so.0.1"
+#{
+  # defaults to 1978
+  #PlParam "Port" "8080"
+  # if you dont set these, the default is to listen only on the loopback device
+  #PlParam "Host"   "80.23.53.22"
+  #PlParam "Net"    "10.0.0.0 255.0.0.0"
+  #PlParam "Net" "0.0.0.0 0.0.0.0"
+  #PlParam "Host"  "127.0.0.1"
+#}
+
+## for more info: http://olsr.org/?q=txtinfo_plugin
+#LoadPlugin "olsrd_txtinfo.so.0.1"
+#{
+#  PlParam     "port"   "2006"
+#  PlParam     "accept" "0.0.0.0"
+#}
+
+## for more info: http://olsr.org/?q=jsoninfo_plugin
+#LoadPlugin "olsrd_jsoninfo.so.0.0"
+#{
+#  PlParam     "port"   "9090"
+#  PlParam     "accept" "0.0.0.0"
+#}
+
+# useful if your machine has an uplink
+#LoadPlugin "olsrd_dyn_gw.so.0.4"
+#{
+  # Here parameters are set to be sent to the
+  # plugin. Theese are on the form "key" "value".
+  # Parameters ofcause, differs from plugin to plugin.
+  # Consult the documentation of your plugin for details.
+
+  # Example: dyn_gw params
+
+  # how often to check for Internet connectivity
+  # defaults to 5 secs
+  #PlParam     "Interval"   "40"
+    
+  # if one or more IPv4 addresses are given, do a ping on these in
+  # descending order to validate that there is not only an entry in
+  # routing table, but also a real internet connection. If any of
+  # these addresses could be pinged successfully, the test was
+  # succesful, i.e. if the ping on the 1st address was successful,the
+  # 2nd won't be pinged
+  #PlParam     "Ping"       "141.1.1.1"
+  #PlParam     "Ping"       "194.25.2.129"
+#}
+
+#LoadPlugin "olsrd_nameservice.so.0.2"
+#{
+  #PlParam "name" "xxx"
+  #PlParam "a.b.c.d" "xxx-eth"
+  #PlParam "a.b.c.e" "xxx-bbb"
+  #PlParam "a.b.c.f" "xxx-olsr"
+  #PlParam "suffix" ".olsr"
+#}
+
+#LoadPlugin "olsrd_dot_draw.so.0.3"
+#{
+  # accept connection from IP:
+  # default 127.0.0.1 (localhost)  
+  #PlParam     "accept" "192.168.0.5"
+  #PlParam     "port" "2004"
+#}
+
+

sw/tools/parrot/ardrone2.py

@@ -122,6 +122,17 @@ def ardrone2_install_network_script():
     print(parrot_utils.execute_command(tn,"mv /data/video/wifi_setup.sh /bin/wifi_setup.sh"))
     print(parrot_utils.execute_command(tn,"chmod 777 /bin/wifi_setup.sh"))
 
+# Install olsr deamon
+def ardrone2_install_olsrd():
+    print('Uploading olsr deamon')
+    parrot_utils.uploadfile(ftp, "olsrd", file("ardrone2/olsrd", "rb"))
+    parrot_utils.uploadfile(ftp, "olsrd.conf", file("ardrone2/olsrd.conf", "rb"))
+    print(parrot_utils.execute_command(tn,"mv /data/video/olsrd /bin/olsrd"))
+    print(parrot_utils.execute_command(tn,"chmod 777 /bin/olsrd"))
+    print(parrot_utils.execute_command(tn,"mkdir -p /etc/olsrd"))
+    print(parrot_utils.execute_command(tn,"mv /data/video/olsrd.conf /etc/olsrd"))
+    print(parrot_utils.execute_command(tn,"rm -f /var/run && ln -s /tmp /var/run")) # olsrd needs /var/run folder, symlinked to /tmp
+
 # Set network SSID
 def ardrone2_set_ssid(name):
     write_to_config('ssid_single_player', name)
@@ -136,7 +147,7 @@ def ardrone2_set_ip_address(address):
 
 # Set wifi mode (0: master, 1: ad-hoc, 2: managed, *: master)
 def ardrone2_set_wifi_mode(mode):
-    modes = { 'master' : '0', 'ad-hoc' : '1', 'managed' : '2' }
+    modes = { 'master' : '0', 'ad-hoc' : '1', 'managed' : '2', 'ad-hoc-olsr' : '3' }
     try:
         val = modes[mode]
     except:
@@ -145,6 +156,11 @@ def ardrone2_set_wifi_mode(mode):
     write_to_config('wifi_mode', val)
     print('The Wifi mode of the ARDrone2 is changed to ' + mode + ' (' + val + ')')
 
+# Set network channel
+def ardrone2_set_wifi_channel(chan):
+    write_to_config('wifi_channel', chan)
+    print('The network channel of the ARDrone 2 is changed to ' + chan)
+
 def ardrone2_status():
     config_ini = parrot_utils.execute_command(tn,'cat /data/config.ini')
 
@@ -224,7 +240,8 @@ subparser_wifimode.add_argument('mode', help='the new Wifi mode', choices=['mast
 subparser_configure_network = subparsers.add_parser('configure_network', help='Configure the network on the ARDrone 2')
 subparser_configure_network.add_argument('name', help='the new network ID(SSID)')
 subparser_configure_network.add_argument('address', help='the new IP address')
-subparser_configure_network.add_argument('mode', help='the new Wifi mode', choices=['master', 'ad-hoc', 'managed'])
+subparser_configure_network.add_argument('mode', help='the new Wifi mode', choices=['master', 'ad-hoc', 'managed', 'ad-hoc-olsr'])
+subparser_configure_network.add_argument('--channel', help='the wifi channel (auto or 1 to 11)', default='auto')
 subparser_install_autostart = subparsers.add_parser('install_autostart', help='Install custom autostart script and set what to start on boot for the ARDrone 2')
 subparser_install_autostart.add_argument('type', choices=['native', 'paparazzi_raw', 'paparazzi_sdk'],
                                  help='what to start on boot')
@@ -285,6 +302,7 @@ elif args.command == 'configure_network':
     print('Host:\t\t' + args.host + ' (' + read_from_config('static_ip_address_base', config_ini) +
           read_from_config('static_ip_address_probe', config_ini) + ' after boot)')
     print('Mode:\t\t' + read_from_config('wifi_mode', config_ini))
+    print('Channel:\t' + read_from_config('wifi_channel', config_ini))
     print('=============================')
     if check_wifi_setup():
         print('Custom Wifi script already installed')
@@ -293,15 +311,19 @@ elif args.command == 'configure_network':
     else:
         if raw_input("Shall I install custom Wifi script (recommanded) (y/N) ").lower() == 'y':
             ardrone2_install_network_script()
+    if raw_input("Shall I install olsrd (ad-hoc wireless mesh routing deamon) (y/N) ").lower() == 'y':
+        ardrone2_install_olsrd()
     ardrone2_set_ssid(args.name)
     ardrone2_set_ip_address(args.address)
     ardrone2_set_wifi_mode(args.mode)
+    ardrone2_set_wifi_channel(args.channel)
     config_ini = parrot_utils.execute_command(tn,'cat /data/config.ini')
     print('== New network setup after boot ==')
     print('Network id:\t' + read_from_config('ssid_single_player', config_ini))
     print('Host:\t\t' + read_from_config('static_ip_address_base', config_ini) +
           read_from_config('static_ip_address_probe', config_ini))
     print('Mode:\t\t' + read_from_config('wifi_mode', config_ini))
+    print('Channel:\t' + read_from_config('wifi_channel', config_ini))
     print('==================================')
 
     if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':

sw/tools/parrot/ardrone2/olsrd.conf

@@ -0,0 +1,214 @@
+#
+# OLSR.org routing daemon config file
+# This file contains the necessary config options
+# for an RFC compatible mesh
+# (for other options see olsrd.conf.default.full)
+#
+# Lines starting with a # are discarded
+#
+
+#### ATTENTION for IPv6 users ####
+# Because of limitations in the parser IPv6 addresses must NOT
+# begin with a ":", so please add a "0" as a prefix.
+
+###########################
+### Basic configuration ###
+###########################
+# keep this settings at the beginning of your first configuration file
+
+# Debug level (0-9)
+# If set to 0 the daemon runs in the background, unless "NoFork" is set to true
+# (Default is 1)
+
+DebugLevel  0
+
+# IP version to use (4 or 6)
+# (Default is 4)
+
+# IpVersion 4
+
+#################################
+### OLSRd agent configuration ###
+#################################
+# this parameters control the settings of the routing agent which are not
+# related to the OLSR protocol and it's extensions
+
+# FIBMetric controls the metric value of the host-routes OLSRd sets.
+# - "flat" means that the metric value is always 2. This is the preferred value
+#   because it helps the linux kernel routing to clean up older routes
+# - "correct" use the hopcount as the metric value.
+# - "approx" use the hopcount as the metric value too, but does only update the
+#   hopcount if the nexthop changes too
+# (Default is "flat")
+
+# FIBMetric "flat"
+
+#######################################
+### Linux specific OLSRd extensions ###
+#######################################
+# these parameters are only working on linux at the moment, but might become
+# useful on BSD in the future
+
+# Activates (in IPv6 mode) the automatic use of NIIT
+# (see README-Olsr-Extensions)
+# (default is "yes")
+
+UseNiit no
+
+# Activates the smartgateway ipip tunnel feature.
+# See README-Olsr-Extensions for a description of smartgateways.
+# (default is "yes")
+
+SmartGateway no
+
+##############################
+### OLSR protocol settings ###
+##############################
+
+# For testing purposes it may be nice to use another port for olsrd
+# for using another port than the IANA assigned one 
+# for a production network, there should be a good reason!!
+# valid values are integers >1, please be careful with using reserved
+# port numbers
+# (default is 698, the IANA assigned olsr-port)
+
+# OlsrPort 698
+
+# The fixed willingness to use (0-7)
+# If not set willingness will be calculated
+# dynamically based on battery/power status
+# (default is 3)
+
+# Willingness     3
+
+# HNA (Host network association) allows the OLSR to announce
+# additional IPs or IP subnets to the net that are reachable
+# through this node.
+# Syntax for HNA4 is "network-address    network-mask"
+# Syntax for HNA6 is "network-address    prefix-length"
+# (default is no HNA)
+Hna4
+{
+# Internet gateway
+# 0.0.0.0   0.0.0.0
+# specific small networks reachable through this node
+# 15.15.0.0 255.255.255.0
+}
+Hna6
+{
+# Internet gateway
+#   0::                     0
+# specific small networks reachable through this node
+#   fec0:2200:106:0:0:0:0:0 48
+}
+
+# Hysteresis for link sensing (only for hopcount metric)
+# Hysteresis adds more robustness to the link sensing
+# but delays neighbor registration.
+# (defaults to yes)
+
+# UseHysteresis yes
+
+# Hysteresis parameters (only for hopcount metric)
+# Do not alter these unless you know what you are doing!
+# Set to auto by default. Allowed values are floating point
+# values in the interval 0,1
+# THR_LOW must always be lower than THR_HIGH!!
+# (default is 0.5/0.8/0.3)
+
+# HystScaling  0.50
+# HystThrHigh  0.80
+# HystThrLow 0.30
+
+# TC redundancy
+# Specifies how much neighbor info should be sent in
+# TC messages. Because of a design problem in the 0.5.x
+# dijkstra implementation this value must be set to 2.
+# 2 - send all neighbors
+# (default is 2)
+
+# TcRedundancy  2
+
+# MPR coverage specifies how many MPRs a node should
+# try select to reach every 2 hop neighbor. Because of
+# a design problem in the 0.5.x dijkstra algorithm this
+# value should be set to 7.
+# (default is 7)
+
+# MprCoverage 7
+
+################################
+### OLSR protocol extensions ###
+################################
+
+# Link quality level switch between hopcount and 
+# cost-based (mostly ETX) routing. Because of
+# a design problem in the 0.5.x dijkstra algorithm this
+# value should not be set to 1.
+# 0 = do not use link quality
+# 2 = use link quality for MPR selection and routing
+# (default is 2)
+
+LinkQualityLevel 2
+
+LinkQualityAlgorithm    "etx_ff"
+
+# Fisheye mechanism for TCs (0 meansoff, 1 means on)
+# (default is 1)
+
+LinkQualityFishEye  0
+
+#####################################
+### Example plugin configurations ###
+#####################################
+# Olsrd plugins to load
+# This must be the absolute path to the file
+# or the loader will use the following scheme:
+# - Try the paths in the LD_LIBRARY_PATH 
+#   environment variable.
+# - The list of libraries cached in /etc/ld.so.cache
+# - /lib, followed by /usr/lib
+#
+# the examples in this list are for linux, so check if the plugin is
+# available if you use windows/BSD.
+# each plugin should have a README file in it's lib subfolder
+
+# LoadPlugin "olsrd_txtinfo.dll"
+#LoadPlugin "olsrd_txtinfo.so.0.1"
+#{
+    # the default port is 2006 but you can change it like this:
+    #PlParam     "port"   "8080"
+
+    # You can set a "accept" single address to allow to connect to
+    # txtinfo. If no address is specified, then localhost (127.0.0.1)
+    # is allowed by default.  txtinfo will only use the first "accept"
+    # parameter specified and will ignore the rest.
+
+    # to allow a specific host:
+    #PlParam      "accept" "172.29.44.23"
+    # if you set it to 0.0.0.0, it will accept all connections
+    #PlParam      "accept" "0.0.0.0"
+#}
+
+######################################
+### OLSRd Interfaces configuration ###
+######################################
+# multiple interfaces can be specified for a single configuration block
+# multiple configuration blocks can be specified
+
+# WARNING, don't forget to insert your interface names here !
+Interface "ath0"
+{
+    # Emission intervals in seconds.
+    # If not defined, Freifunk network defaults are used
+    # (default is 2.0/20.0 for Hello and 5.0/300.0 for Tc/Mid/Hna)
+
+    # HelloInterval       2.0
+    # HelloValidityTime   6.0
+    # TcInterval          5.0
+    # TcValidityTime     30.0
+    # MidInterval         5.0
+    # MidValidityTime    30.0
+    # HnaInterval         5.0
+    # HnaValidityTime    30.0
+}

sw/tools/parrot/ardrone2/wifi_setup.sh

@@ -20,6 +20,9 @@ export ATH_MODULE_ARGS="ifname=$NETIF"
 
 WIFI_MODE=`grep wifi_mode /data/config.ini | awk -F "=" '{ gsub(/ */,"",$2); print $2}'` 
 
+# ad-hoc wireless mesh routing daemon disabled by default
+OLSR=false
+
 case $WIFI_MODE in
 0)
     WIFI_MODE=master
@@ -30,6 +33,10 @@ case $WIFI_MODE in
 2)
     WIFI_MODE=managed
     ;;
+3)
+    WIFI_MODE=ad-hoc
+    OLSR=true
+    ;;
 *)
     WIFI_MODE=master
     ;;
@@ -84,7 +91,17 @@ SSID=ardrone2_wifi
 echo "SSID=\"$SSID\""
 fi
 
+RANDOM_CHAN=`grep wifi_channel /data/config.ini | awk -F "=" '{print $2}'`
+RANDOM_CHAN=`echo $RANDOM_CHAN`
+# Default random channel
+if [ -n "$RANDOM_CHAN" ]
+then
+echo "RANDOM_CHAN=$RANDOM_CHAN"
+else
+#default RANDOM_CHAN.
 RANDOM_CHAN=auto
+echo "RANDOM_CHAN=\"$RANDOM_CHAN\""
+fi
 
 
 echo "Creating $WIFI_MODE Network $SSID"
@@ -181,11 +198,17 @@ echo $MAC_ADDR `date` `/bin/random_mac` > /dev/urandom
 telnetd -l /bin/sh
 
 # Check if not booting in master mode
-if [ "$WIFI_MODE" != "managed" ]
+if [ "$WIFI_MODE" != "managed" ] && [ "$OLSR" != "true" ]
 then
 	udhcpd /tmp/udhcpd.conf
 fi
 
+# Check OLSR deamon should be started
+if [ "$OLSR" = "true" ] && [ -f "/bin/olsrd" ] && [ -f "/etc/olsrd/olsrd.conf" ]
+then
+  olsrd
+fi
+
 # Adding route for multicast-packet
 route add -net 224.0.0.0 netmask 240.0.0.0 dev $NETIF