def check_autoboot():
check_update = parrot_utils.execute_command(tn,'grep "START_PAPARAZZI" /bin/check_update.sh')
wifi_setup = parrot_utils.execute_command(tn,'grep "BASE_ADRESS" /bin/wifi_setup.sh')
if "START_PAPARAZZI" in check_update and "BASE_ADRESS" in wifi_setup:
return True
else:
return False
def ardrone2_install_vision():
print('Uploading GST')
parrot_utils.uploadfile(ftp, "arm_light.tgz", file("bin/arm_light.tgz", "rb"))
print(parrot_utils.execute_command(tn,"cd /data/video && tar -xzf arm_light.tgz"))
print(parrot_utils.execute_command(tn,"rm -rf /data/video/arm_light.tgz"))
print('Now Starting Vision')
ardrone2_start_vision()
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
def ardrone2_status():
config_ini = parrot_utils.execute_command(tn,'cat /data/config.ini')
print('======================== ARDrone 2 Status ========================')
print('Version:\t\t' + parrot_utils.check_version(tn, '/firmware'))
print('Host:\t\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('Currently running:\t' + parrot_utils.check_running(tn))
print('Serial number:\t\t' + read_from_config('drone_serial', config_ini))
print('Network id:\t\t' + read_from_config('ssid_single_player', config_ini))
print('Motor software:\t\t' +
read_from_config('motor1_soft', config_ini) + '\t' + read_from_config('motor2_soft', config_ini) + '\t' +
read_from_config('motor3_soft', config_ini) + '\t' + read_from_config('motor4_soft', config_ini))
print('Motor hardware:\t\t' +
read_from_config('motor1_hard', config_ini) + '\t' + read_from_config('motor2_hard', config_ini) + '\t' +
read_from_config('motor3_hard', config_ini) + '\t' + read_from_config('motor4_hard', config_ini))
autorun = {'': 'Native', '0': 'Native', '1': 'Paparazzi RAW', '2': 'Paparazzi SDK'}
if check_autoboot():
print('Autorun at start:\tInstalled booting ' + autorun[read_from_config('start_paparazzi', config_ini)])
else:
print('Autorun at start:\tNot installed')
# Check if the vision framework is installed and running
vision_framework = ""
if check_vision_installed():
vision_framework += "Installed"
if check_vision_running():
vision_framework += " and running"
print('Vision framework:\t' + vision_framework)
# Request the filesystem status
print('\n======================== Filesystem Status ========================')
print(parrot_utils.check_filesystem(tn))
def read_from_config(name, config=''):
if config == '':
config = parrot_utils.execute_command('cat /data/config.ini')
search = re.search(name + '[^=]+=[\r\n\t ]([^\r\n\t ]+)', config)
if search is None:
return ''
else:
return search.group(1)
def read_from_config(name, config=""):
if config == "":
config = parrot_utils.execute_command("cat /data/config.ini")
search = re.search(name + "[^=]+=[\r\n\t ]([^\r\n\t ]+)", config)
if search is None:
return ""
else:
return search.group(1)
def ardrone2_remove_vision():
parrot_utils.execute_command(tn,"rm -rf /opt/arm")
parrot_utils.execute_command(tn,"rm -rf /lib/dsp")
parrot_utils.execute_command(tn,"rm -rf /data/video/opt")
def check_wifi_setup():
check_wifi = parrot_utils.execute_command(tn,'grep "static_ip_address_base" /bin/wifi_setup.sh')
if "static_ip_address_base" in check_wifi:
return True
else:
return False
def check_vision_running():
du_opt = parrot_utils.execute_command(tn,'du -d 2 /opt')
return '/opt/arm/gst' in du_opt and '/opt/arm/lib' in du_opt and '/opt/arm/tidsp-binaries-23.i3.8' in du_opt
def ardrone2_remove_vision():
parrot_utils.execute_command(tn, "rm -rf /opt/arm")
parrot_utils.execute_command(tn, "rm -rf /lib/dsp")
parrot_utils.execute_command(tn, "rm -rf /data/video/opt")
def ardrone2_install_network_script():
print('Uploading Wifi script')
parrot_utils.uploadfile(ftp, "wifi_setup.sh", file("ardrone2/wifi_setup.sh", "rb"))
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"))
def ardrone2_install_autoboot():
print('Uploading autoboot script')
parrot_utils.uploadfile(ftp, "check_update.sh", file("ardrone2/check_update.sh", "rb"))
print(parrot_utils.execute_command(tn,"mv /data/video/check_update.sh /bin/check_update.sh"))
print(parrot_utils.execute_command(tn,"chmod 777 /bin/check_update.sh"))
# Connect with telnet and ftp
tn, ftp = parrot_utils.connect(args.host)
# Check the ARDrone 2 status
if args.command == 'status':
ardrone2_status()
# Reboot the drone
elif args.command == 'reboot':
parrot_utils.reboot(tn)
print('The ARDrone 2 is rebooting...')
# Kill a program
elif args.command == 'kill':
parrot_utils.execute_command(tn,'killall -9 ' + args.program + ' &')
print('Program "' + args.program + '" is now killed')
# Start a program
elif args.command == 'start':
parrot_utils.execute_command(tn,args.start + ' &')
print('Program "' + args.start + '" is now started')
# Change the network ID
elif args.command == 'networkid':
ardrone2_set_ssid(args.name)
if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
parrot_utils.reboot(tn)
# Change the IP address
def check_vision_installed():
du_opt = parrot_utils.execute_command(tn, 'du -d 2 /data/video/opt')
return '/data/video/opt/arm/gst' in du_opt or '/data/video/opt/arm/lib' in du_opt or '/data/video/opt/arm/tidsp-binaries-23.i3.8' in du_opt
def ardrone2_start_vision():
# Mount the directories
parrot_utils.execute_command(tn, "mkdir -p /opt/arm")
parrot_utils.execute_command(tn, "mkdir -p /lib/dsp")
parrot_utils.execute_command(tn,
"mount --bind /data/video/opt/arm /opt/arm")
parrot_utils.execute_command(
tn, "mount --bind /data/video/opt/arm/lib/dsp /lib/dsp")
# Start The DSP programs
parrot_utils.execute_command(tn, "kill -9 `pidof program.elf`")
parrot_utils.execute_command(tn, "kill -9 `pidof gst-launch-0.10`")
parrot_utils.execute_command(tn, "export PATH=/opt/arm/gst/bin:$PATH")
parrot_utils.execute_command(
tn, "export DSP_PATH=/opt/arm/tidsp-binaries-23.i3.8/")
parrot_utils.execute_command(
tn,
"/bin/dspbridge/cexec.out -T /opt/arm/tidsp-binaries-23.i3.8/baseimage.dof -v"
)
parrot_utils.execute_command(
tn,
"/bin/dspbridge/dynreg.out -r /opt/arm/tidsp-binaries-23.i3.8/m4venc_sn.dll64P -v"
)
# Show result
parrot_utils.execute_command(tn, "ls -altr /opt/arm/gst/bin")
def ardrone2_start_vision():
# Mount the directories
parrot_utils.execute_command(tn,"mkdir -p /opt/arm")
parrot_utils.execute_command(tn,"mkdir -p /lib/dsp")
parrot_utils.execute_command(tn,"mount --bind /data/video/opt/arm /opt/arm")
parrot_utils.execute_command(tn,"mount --bind /data/video/opt/arm/lib/dsp /lib/dsp")
# Start The DSP programs
parrot_utils.execute_command(tn,"kill -9 `pidof program.elf`")
parrot_utils.execute_command(tn,"kill -9 `pidof gst-launch-0.10`")
parrot_utils.execute_command(tn,"export PATH=/opt/arm/gst/bin:$PATH")
parrot_utils.execute_command(tn,"export DSP_PATH=/opt/arm/tidsp-binaries-23.i3.8/")
parrot_utils.execute_command(tn,"/bin/dspbridge/cexec.out -T /opt/arm/tidsp-binaries-23.i3.8/baseimage.dof -v")
parrot_utils.execute_command(tn,"/bin/dspbridge/dynreg.out -r /opt/arm/tidsp-binaries-23.i3.8/m4venc_sn.dll64P -v")
# Show result
parrot_utils.execute_command(tn,"ls -altr /opt/arm/gst/bin")
# Connect with telnet and ftp
tn, ftp = parrot_utils.connect(args.host)
# Check the Bebop status
if args.command == 'status':
print("Connected to Bebop at " + args.host)
bebop_status()
# Reboot the drone
elif args.command == 'reboot':
parrot_utils.reboot(tn)
print('The Bebop is rebooting...')
# Kill a program
elif args.command == 'kill':
parrot_utils.execute_command(tn, 'killall -9 ' + args.program)
print('Program "' + args.program + '" is now killed')
# Start a program
elif args.command == 'start':
parrot_utils.execute_command(tn, args.start + ' &')
print('Program "' + args.start + '" is now started')
elif args.command == 'insmod':
modfile = parrot_utils.split_into_path_and_file(args.file)
print('Uploading \'' + modfile[1])
parrot_utils.uploadfile(ftp, modfile[1], file(args.file, "rb"))
print(parrot_utils.execute_command(tn, "insmod /data/ftp/" + modfile[1]))
elif args.command == 'upload_file_and_run':
def check_vision_installed():
du_opt = parrot_utils.execute_command(tn,'du -d 2 /data/video/opt')
return '/data/video/opt/arm/gst' in du_opt or '/data/video/opt/arm/lib' in du_opt or '/data/video/opt/arm/tidsp-binaries-23.i3.8' in du_opt
def write_to_config(name, value):
if read_from_config(name) == '':
parrot_utils.execute_command('echo "' + name + ' = ' + value + '\" >> /data/config.ini')
else:
parrot_utils.execute_command('sed -i "s/\(' + name + ' *= *\).*/\\1' + value + '/g" /data/config.ini')
# Connect with telnet and ftp
tn, ftp = parrot_utils.connect(args.host)
# Check the ARDrone 2 status
if args.command == 'status':
ardrone2_status()
# Reboot the drone
elif args.command == 'reboot':
parrot_utils.reboot(tn)
print('The ARDrone 2 is rebooting...')
# Kill a program
elif args.command == 'kill':
parrot_utils.execute_command(tn, 'killall -9 ' + args.program + ' &')
print('Program "' + args.program + '" is now killed')
# Start a program
elif args.command == 'start':
parrot_utils.execute_command(tn, args.start + ' &')
print('Program "' + args.start + '" is now started')
# Change the network ID
elif args.command == 'networkid':
ardrone2_set_ssid(args.name)
if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
parrot_utils.reboot(tn)
# Change the IP address
