Add ethernet auto dhcp if no ip for some time + cleanup ros instal

install_ROS2.sh

@@ -86,8 +86,14 @@ if [[ $branch == "develop" || $branch == "main" ]]; then
 
 	# Install mirte ros packages with apt from github, since they take ages to compile and it's easier to update them.
 	# colcon ignore those packages
-
+	if [[ $branch == "develop" ]]; then
+		arch="${arch}_develop"
+	fi
 	echo "Using precompiled version of packages"
+	echo "deb [trusted=yes] $github_url/raw/ros_mirte_${ROS_NAME}_${ubuntu_version}_${arch}/ ./" | sudo tee /etc/apt/sources.list.d/mirte-ros-packages.list
+	echo "yaml $github_url/raw/ros_mirte_${ROS_NAME}_${ubuntu_version}_${arch}/local.yaml ${ROS_NAME}" | sudo tee /etc/ros/rosdep/sources.list.d/mirte-ros-packages.list
+	sudo apt update
+
 	cd /home/mirte/mirte_ws/src/ || exit 1
 	ignore=(mirte_telemetrix_cpp mirte_msgs mirte_teleop astra_camera astra_camera_msgs libuvc mirte_base_control mirte_master_arm_control mirte_control usb_cam)
 	packages=''
@@ -106,14 +112,16 @@ if [[ $branch == "develop" || $branch == "main" ]]; then
 		fi
 		touch $path/COLCON_IGNORE
 		i_dash=$(echo $i | tr '_' '-')
-		packages="$packages ros-$ROS_NAME-$i_dash"
+		pkg_name="ros-$ROS_NAME-$i_dash"
+		# check if dbgsym package exists
+		sudo apt-cache madison "$pkg_name-dbgsym"
+
+		if sudo apt-cache madison "$pkg_name-dbgsym" | grep -vqz "Unable to locate package"; then
+			echo "Adding debug package $pkg_name-dbgsym"
+			packages="$packages $pkg_name-dbgsym"
+		fi
+		packages="$packages $pkg_name"
 	done
-	if [[ $branch == "develop" ]]; then
-		arch="${arch}_develop"
-	fi
-	echo "deb [trusted=yes] $github_url/raw/ros_mirte_${ROS_NAME}_${ubuntu_version}_${arch}/ ./" | sudo tee /etc/apt/sources.list.d/mirte-ros-packages.list
-	echo "yaml $github_url/raw/ros_mirte_${ROS_NAME}_${ubuntu_version}_${arch}/local.yaml ${ROS_NAME}" | sudo tee /etc/ros/rosdep/sources.list.d/mirte-ros-packages.list
-	sudo apt update
 	sudo apt install -y -m $packages || fallback=false # TODO: disabled fallback for now as mirte-arm doesn't compile.
 fi
 
@@ -167,8 +175,6 @@ sudo adduser mirte dialout
 # Some nice extra packages: clean can clean workspaces and packages. No need to do it by hand. lint can check for errors in the cmake/package code.
 sudo pip3 install colcon-clean colcon-lint
 
-# Add colcon top level workspace, this makes it possible to run colcon build from any folder, it will find the workspace and build it. Otherwise it will create a new workspace in the subdirectory.
-
 if [[ $MIRTE_TYPE == "mirte-master" ]]; then
 	# TODO: need to check and edit the next part:
 	sudo apt install ros-$ROS_NAME-slam-toolbox -y
@@ -207,12 +213,9 @@ if [[ $MIRTE_TYPE == "mirte-master" ]]; then
 
 fi
 
-cd /tmp
-git clone https://github.com/rhaschke/colcon-top-level-workspace
-cd colcon-top-level-workspace
-pip install .
-cd ..
-rm -rf colcon-top-level-workspace
+# Add colcon top level workspace, this makes it possible to run colcon build from any folder, it will find the workspace and build it. Otherwise it will create a new workspace in the subdirectory.
+pip install git+https://github.com/arendjan/colcon-top-level-workspace.git
+
 # zsh does not work nicely with ros2 autocomplete, so we need to add a function to fix it.
 # ROS 2 Foxy should have this fixed, but we are using ROS 2 Humble.
 # TODO: check for ROS2 jazzy

install_arduino.sh

@@ -42,7 +42,7 @@ export PICO_SDK_PATH=$MIRTE_SRC_DIR/pico/pico-sdk
 add_rc "export PICO_SDK_PATH=$MIRTE_SRC_DIR/pico/pico-sdk"
 git clone https://github.com/raspberrypi/picotool.git --depth=1 # shallow clone to save space
 cd picotool || exit 1
-sudo cp udev/99-picotool.rules /etc/udev/rules.d/
+sudo cp udev/*.rules /etc/udev/rules.d/
 
 mkdir build
 cd build || exit 1

network_setup.sh

@@ -1,4 +1,7 @@
 #!/bin/bash
+MIRTE_SRC_DIR=/usr/local/src/mirte
+
+($MIRTE_SRC_DIR/mirte-install-scripts/services/mirte_auto_dhcp_eth.sh || true) &
 
 # wait for wlan0 to be up, with max 30 seconds
 TIMEOUT=30
@@ -131,8 +134,6 @@ function file_empty() {
 
 }
 
-MIRTE_SRC_DIR=/usr/local/src/mirte
-
 sudo ln -s /run/systemd/resolve/resolv.conf /etc/resolv.conf || true
 
 # Create unique SSID

services/mirte_auto_dhcp_eth.sh

@@ -0,0 +1,70 @@
+#!/usr/bin/env bash
+
+# nm dispatcher is whack and not running reliably or without the interface name.
+
+# this script repeatedly checks eth0, when it goes up, wait for a few seconds
+#           if no ip assigned: start dnsmasq
+#           if ip assigned:don't do anything
+# when eth0 goes down, kill dnsmasq if started
+
+set -xe
+
+# start dnsmasq
+SUBNET=45
+interface=eth0
+
+dnsmasq_pid=$(pgrep -f "dnsmasq --address=/#/192.168.$SUBNET.1") || true
+
+function cleanup {
+	has_dhcp=false
+	echo "Cleaning up..."
+	if [ -n "$dnsmasq_pid" ]; then
+		echo "Stopping dnsmasq with PID $dnsmasq_pid"
+		sudo kill "$dnsmasq_pid" || true
+		dnsmasq_pid=""
+	else
+		echo "No dnsmasq process found."
+	fi
+	sudo ip address del 192.168."$SUBNET".1/24 dev eth0 || true
+	#   exit 0
+	echo "Cleanup complete."
+	#   exit 0
+}
+
+function start_dhcp {
+	cleanup
+	has_dhcp=true
+	sudo ip address add 192.168."$SUBNET".1/24 dev eth0
+	sudo dnsmasq --address=/#/192.168."$SUBNET".1 --dhcp-range=192.168."$SUBNET".10,192.168."$SUBNET".100 --conf-file --domain-needed --bogus-priv --server=8.8.8.8 --dhcp-option=option:dns-server,8.8.8.8 --interface="$interface" --except-interface=lo --bind-interfaces -p0 --dhcp-leasefile=/tmp/dnsmasq.leases
+	dnsmasq_pid=$(pgrep -f "dnsmasq --address=/#/192.168.$SUBNET.1")
+}
+
+function check_up {
+	is_up=$(ip addr show $interface | grep -q "state UP" && echo true || echo false)
+	has_ip=$(ip addr show $interface | grep -q "inet " && echo true || echo false)
+	if [ "$is_up" = false ]; then
+		SECONDS=0
+	elif [ $SECONDS -gt 10 ] && [ "$has_ip" = false ]; then
+		echo "Interface $interface has been up for more than 10 seconds."
+		echo "No IP address assigned, starting DHCP server."
+		start_dhcp
+	fi
+}
+
+function check_down {
+	is_up=$(ip addr show $interface | grep -q "state UP" && echo true || echo false)
+	if [ "$is_up" = false ] && [ "$has_dhcp" = true ]; then
+		echo "Interface $interface is down, stopping DHCP server."
+		cleanup
+	fi
+}
+
+trap cleanup EXIT
+
+is_up=false
+has_dhcp=false
+while true; do
+	check_up
+	check_down
+	sleep 5
+done