Fixing voltage display in glypse msgs + allow for other filesystems than vfat on sdcard + retry sdcard mounting on failure

disco/uavpal/bin/uavpal_disco.sh

@@ -1,8 +1,5 @@
 #!/bin/sh
 {
-# exports
-export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/data/ftp/uavpal/lib
-
 # variables
 cdc_if="eth1"
 # TODO: make the following dynamic if possible

disco/uavpal/bin/uavpal_globalfunctions.sh

@@ -1,3 +1,10 @@
+# exports
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/data/ftp/uavpal/lib
+
+# variables
+curl=/data/ftp/uavpal/bin/curl
+#curl=`which curl`
+
 hilink_api()
 {
 # Usage: hilink_api {get,post} url-context [json-data]
@@ -13,12 +20,12 @@ hilink_api()
 	data="$3"
 
 	hilink_router_ip=$(cat /tmp/hilink_router_ip)
-	sessionInfo=$(/data/ftp/uavpal/bin/curl -s -X GET "http://${hilink_router_ip}/api/webserver/SesTokInfo" 2>/dev/null)
+	sessionInfo=$(${curl} -s -X GET "http://${hilink_router_ip}/api/webserver/SesTokInfo" 2>/dev/null)
 	if [ "$?" -ne "0" ]; then ulogger -s -t uavpal_hilink_api "... Error connecting to Hi-Link API"; fi
 	cookie=$(echo "$sessionInfo" | grep "SessionID=" | cut -b 10-147)
 	token=$(echo "$sessionInfo" | grep "TokInfo" | cut -b 10-41)
 	if [ -f /tmp/hilink_login_required ]; then
-		sessionInfoLogin=$(/data/ftp/uavpal/bin/curl -s -X POST "http://${hilink_router_ip}/api/user/login" -d "<request><Username>admin</Username><Password>$(echo -n "admin" |base64)</Password><password_type>3</password_type></request>" -H "Cookie: $cookie" -H "__RequestVerificationToken: $token" --dump-header - 2>/dev/null)
+		sessionInfoLogin=$(${curl} -s -X POST "http://${hilink_router_ip}/api/user/login" -d "<request><Username>admin</Username><Password>$(echo -n "admin" |base64)</Password><password_type>3</password_type></request>" -H "Cookie: $cookie" -H "__RequestVerificationToken: $token" --dump-header - 2>/dev/null)
 		if echo -n "$sessionInfoLogin" | grep '<code>108006\|<code>108007' ; then
 			ulogger -s -t uavpal_hilink_api "... Hi-Link authentication error. Please disable password protection or set it to user=admin, password=admin"
 			return # break out function
@@ -28,7 +35,7 @@ hilink_api()
 		sessionInfoAdm=$(curl -s -X GET "http://${hilink_router_ip}/api/webserver/SesTokInfo" -H "Cookie: $cookie" 2>/dev/null)
 		token=$(echo "$sessionInfoAdm" | grep "TokInfo" | cut -b 10-41)
 	fi
-	result=$(/data/ftp/uavpal/bin/curl -s -X $method "http://${hilink_router_ip}${url}" -d "$data" -H "Cookie: $cookie" -H "__RequestVerificationToken: $token" 2>/dev/null)
+	result=$(${curl} -s -X $method "http://${hilink_router_ip}${url}" -d "$data" -H "Cookie: $cookie" -H "__RequestVerificationToken: $token" 2>/dev/null)
 	if echo "$result" | grep "<error>" ; then
 		if [ "$(echo $result | xmllint --xpath 'string(//error/code)' -)" -eq "100003" ]; then
 			ulogger -s -t uavpal_hilink_api "... Hi-Link authentication required. Trying to login using user=admin, password=admin"
@@ -90,7 +97,7 @@ send_message()
 	pb_access_token="$(conf_read pushbullet)"
 	if [ "$pb_access_token" != "XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX" ]; then
 		ulogger -s -t uavpal_send_message "... sending push notification (via Pushbullet API)"
-		/data/ftp/uavpal/bin/curl -q -k -u ${pb_access_token}: -X POST https://api.pushbullet.com/v2/pushes --header 'Content-Type: application/json' --data-binary '{"type": "note", "title": "'"$2"'", "body": "'"$1"'"}'
+		${curl} -q -k -u ${pb_access_token}: -X POST https://api.pushbullet.com/v2/pushes --header 'Content-Type: application/json' --data-binary '{"type": "note", "title": "'"$2"'", "body": "'"$1"'"}'
 	fi
 }
 
@@ -185,4 +192,4 @@ check_connection()
 	done
 	# none of the ping destinations could have been reached
 	return 1
-}
+}

disco/uavpal/bin/uavpal_glympse.sh

@@ -1,11 +1,10 @@
 #!/bin/sh
 
-# exports
-export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/data/ftp/uavpal/lib
-
 # variables
 platform=$(grep 'ro.parrot.build.product' /etc/build.prop | cut -d'=' -f 2)
 serial_ctrl_dev=`head -1 /tmp/serial_ctrl_dev |tr -d '\r\n' |tr -d '\n'`
+dc=/data/ftp/uavpal/bin/dc
+#dc=`which dc`
 
 # functions
 . /data/ftp/uavpal/bin/uavpal_globalfunctions.sh
@@ -20,9 +19,9 @@ function gpsDecimal()
 {
 	gpsVal=$1
 	gpsDir="$2"
-	gpsInt=$(echo "$gpsVal 100 / p" | /data/ftp/uavpal/bin/dc)
-	gpsMin=$(echo "3k$gpsVal $gpsInt 100 * - p" | /data/ftp/uavpal/bin/dc)
-	gpsDec=$(echo "6k$gpsMin 60 / $gpsInt + 1000000 * p" | /data/ftp/uavpal/bin/dc | cut -d '.' -f 1)
+	gpsInt=$(echo "$gpsVal 100 / p" | ${dc})
+	gpsMin=$(echo "3k$gpsVal $gpsInt 100 * - p" | ${dc})
+	gpsDec=$(echo "6k$gpsMin 60 / $gpsInt + 1000000 * p" | ${dc} | cut -d '.' -f 1)
 	if [[ "$gpsDir" != "E" && "$gpsDir" != "N" ]]; then gpsDec="-$gpsDec"; fi
 	echo $gpsDec
 }
@@ -61,6 +60,27 @@ function calc_volt()
         bat_volts=$(printf "%d.%02d" $(($val / 1000)) $(($val % 1000 / 10)))
 }
 
+function check_volt()                                                                                                                 
+{                                                                                                                   
+        local line=$1                                                                                               
+        local voltpos=4
+        volts_ok=1                                                                                             
+        if [ "$platform" == "ardrone3" ]; then                                                                      
+                voltpos=16                                                                                          
+        fi                                                                                                            
+        local msb=$(echo $line | cut -d " " -f $voltpos)                                                            
+        local lsb=$(echo $line | cut -d " " -f $(($voltpos+1)))                                                     
+        local val=$((0x$msb$lsb))                                                                                   
+	# values under 5V are considered bogus
+        if [ $val -lt 5000 ]; then
+                volts_ok=0
+        fi
+	# values over 15V are considered bogus, too
+	if [ $val -gt 15000 ]; then
+		volts_ok=0
+	fi
+}                                                                                                                   
+
 # main
 ulogger -s -t uavpal_glympse "... reading Glympse API key from config file"
 apikey="$(conf_read glympse_apikey)"
@@ -73,22 +93,22 @@ ulogger -s -t uavpal_glympse "... reading drone ID from avahi"
 droneName=$(cat /tmp/avahi/services/ardiscovery.service |grep name |cut -d '>' -f 2 |cut -d '<' -f 0)
 
 ulogger -s -t uavpal_glympse "... Glympse API: creating account"
-glympseCreateAccount=$(/data/ftp/uavpal/bin/curl -q -k -H "Content-Type: application/json" -X POST "https://api.glympse.com/v2/account/create?api_key=${apikey}")
+glympseCreateAccount=$(${curl} -q -k -H "Content-Type: application/json" -X POST "https://api.glympse.com/v2/account/create?api_key=${apikey}")
 
 ulogger -s -t uavpal_glympse "... Glympse API: logging in"
-glympseLogin=$(/data/ftp/uavpal/bin/curl -q -k -H "Content-Type: application/json" -X POST "https://api.glympse.com/v2/account/login?api_key=${apikey}&id=$(parse_json $glympseCreateAccount id)&password=$(parse_json $glympseCreateAccount password)")
+glympseLogin=$(${curl} -q -k -H "Content-Type: application/json" -X POST "https://api.glympse.com/v2/account/login?api_key=${apikey}&id=$(parse_json $glympseCreateAccount id)&password=$(parse_json $glympseCreateAccount password)")
 
 ulogger -s -t uavpal_glympse "... Glympse API: parsing access token"
 access_token=$(parse_json $(echo $glympseLogin |sed 's/\:\"access_token/\:\"tmp/g') access_token)
 
 ulogger -s -t uavpal_glympse "... Glympse API: creating ticket"
-glympseCreateTicket=$(/data/ftp/uavpal/bin/curl -q -k -H "Content-Type: application/json" -H "Authorization: Bearer ${access_token}" -X POST "https://api.glympse.com/v2/users/self/create_ticket?duration=14400000")
+glympseCreateTicket=$(${curl} -q -k -H "Content-Type: application/json" -H "Authorization: Bearer ${access_token}" -X POST "https://api.glympse.com/v2/users/self/create_ticket?duration=14400000")
 
 ulogger -s -t uavpal_glympse "... Glympse API: parsing ticket"
 ticket=$(parse_json $glympseCreateTicket id)
 
 ulogger -s -t uavpal_glympse "... Glympse API: creating invite"
-glympseCreateInvite=$(/data/ftp/uavpal/bin/curl -q -k -H "Content-Type: application/json" -H "Authorization: Bearer ${access_token}" -X POST "https://api.glympse.com/v2/tickets/$ticket/create_invite?type=sms&address=1234567890&send=client")
+glympseCreateInvite=$(${curl} -q -k -H "Content-Type: application/json" -H "Authorization: Bearer ${access_token}" -X POST "https://api.glympse.com/v2/tickets/$ticket/create_invite?type=sms&address=1234567890&send=client")
 
 ulogger -s -t uavpal_glympse "... Glympse link generated: https://glympse.com/$(parse_json ${glympseCreateInvite% *} id)"
 
@@ -104,54 +124,65 @@ elif [ "$platform" == "ardrone3" ]; then
 	# Parrot Bebop 2
 	tn_filename="bebop2.png"
 fi
-/data/ftp/uavpal/bin/curl -q -k -H "Content-Type: application/json" -H "Authorization: Bearer ${access_token}" -X POST -d "[{\"t\": $(date +%s)000, \"pid\": 0, \"n\": \"avatar\", \"v\": \"https://uavpal.com/img/${tn_filename}?$(date +%s)\"}]" "https://api.glympse.com/v2/tickets/$ticket/append_data"
+${curl} -q -k -H "Content-Type: application/json" -H "Authorization: Bearer ${access_token}" -X POST -d "[{\"t\": $(date +%s)000, \"pid\": 0, \"n\": \"avatar\", \"v\": \"https://uavpal.com/img/${tn_filename}?$(date +%s)\"}]" "https://api.glympse.com/v2/tickets/$ticket/append_data"
 
 ztVersion=$(/data/ftp/uavpal/bin/zerotier-one -v)
 
-ulogger -s -t uavpal_glympse "... Glympse API: reading out drone's GPS coordinates every 5 seconds to update Glympse via API"
+ulogger -s -t uavpal_glympse "... Glympse API: reading out drone's GPS coordinates, battery voltage, connection type and signal strength approx. every 5 seconds to update Glympse via WebAPI"
 
 # initializing vars
 bat_volts="n/a"
 bat_percent="n/a"
 
 while true
 do
+        crc_ok=0
+	volts_ok=0
+	# Try to get valid i2c data 5 times
+        for i in $(seq 1 5); do
+                i2cline=$(i2cdump -r 0x20-0x2f -y 1 0x08 |tail -n 1)
+                calc_crc "$i2cline"
+                if [ $crc_ok -gt 0 ]; then                                                           
+                        check_volt "$i2cline"
+                        if [ $volts_ok -gt 0 ]; then
+                                # correct voltage reading
+				break
+			fi                                        
+                fi                                                            
+        done
+
+	if [ $crc_ok -gt 0 -a $volts_ok -gt 0 ]; then
+	        bat_volts_prev="$bat_volts"
+                calc_volt "$i2cline"
+	        bat_percent_prev="$bat_percent"
+	        bat_percent=$(ulogcat -d -v csv |grep "Battery percentage" |tail -n 1 | cut -d " " -f 4)
+        else
+		bat_volts="$bat_volts_prev"
+	        bat_percent="$bat_percent_prev"
+        fi
+
 	gps_nmea_out=$(grep GNRMC -m 1 /tmp/gps_nmea_out | cut -c4-)
 	lat=$(echo $gps_nmea_out | cut -d ',' -f 4)
 	latdir=$(echo $gps_nmea_out | cut -d ',' -f 5)
 	long=$(echo $gps_nmea_out | cut -d ',' -f 6)
 	longdir=$(echo $gps_nmea_out | cut -d ',' -f 7)
-	speed=$(printf "%.0f\n" $(/data/ftp/uavpal/bin/dc -e "$(echo $gps_nmea_out | cut -d ',' -f 8) 51.4444 * p"))
+	speed=$(printf "%.0f\n" $(${dc} -e "$(echo $gps_nmea_out | cut -d ',' -f 8) 51.4444 * p"))
 	heading="$(printf "%.0f\n" $(echo $gps_nmea_out | cut -d ',' -f 9))"
 	altitude_abs=$(grep GNGNS -m 1 /tmp/gps_nmea_out | cut -c4- | cut -d ',' -f 10)
 
 	if [ -f /data/ftp/internal_000/*/academy/*.pud.temp ]; then
-		altitude_rel=$(/data/ftp/uavpal/bin/dc -e "$altitude_abs $(cat /tmp/alt_before_takeoff) - p")
+		altitude_rel=$(${dc} -e "$altitude_abs $(cat /tmp/alt_before_takeoff) - p")
 	else
 		echo $altitude_abs > /tmp/alt_before_takeoff
 		altitude_rel="0"
-  fi
-
-	if [ `cat /tmp/sc2ping | wc -l` -eq '1' ]; then
-		latency=$(/data/ftp/uavpal/bin/dc -e "$(cat /tmp/sc2ping) 2 / p")ms
-	else
-		latency="n/a"
 	fi
 
-        crc_ok=0
-        for i in $(seq 1 5); do
-                i2cline=$(i2cdump -r 0x20-0x2f -y 1 0x08)
-                calc_crc "$i2cline"
-                if [ $crc_ok -gt 0 ]; then break; fi
-        done
-        if [ $crc_ok -gt 0 ]; then
-	        bat_volts_prev=$bat_volts
-                calc_volt "$i2cline"
-	        bat_percent_prev=$bat_percent
-	        bat_percent=$(ulogcat -d -v csv |grep "Battery percentage" |tail -n 1 | cut -d " " -f 4)
-        else
-	        bat_percent="$bat_percent_prev";
-        fi
+	latency="n/a"
+	if [ -f /tmp/sc2ping ]; then
+		if [ `cat /tmp/sc2ping | wc -l` -eq '1' ]; then
+			latency=$(${dc} -e "$(cat /tmp/sc2ping) 2 / p")ms
+		fi
+	fi
 
 	ip_sc2=`netstat -nu |grep 9988 | head -1 | awk '{ print $5 }' | cut -d ':' -f 1`
 	ztConn=""
@@ -166,7 +197,7 @@ do
 			ztConn=" [R]"
 		fi
 
-		# reading out the modem's connection type and ignal strength
+		# reading out the modem's connection type and signal strength
 		if [ ! -f "/tmp/hilink_router_ip" ]; then
 			modeString=$(at_command "AT\^SYSINFOEX" "OK" "1" | grep "SYSINFOEX:" | tail -n 1)
 			modeNum=`echo $modeString | cut -d "," -f 8`
@@ -182,7 +213,7 @@ do
 			signalString=$(at_command "AT+CSQ" "OK" "1" | grep "CSQ:" | tail -n 1)
 			signalRSSI=`echo $signalString | awk '{print $2}' | cut -d ',' -f 1`
 			if [ $signalRSSI -ge 0 ] && [ $signalRSSI -le 31 ]; then
-				signalPercentage=$(printf "%.0f\n" $(/data/ftp/uavpal/bin/dc -e "$(echo $signalRSSI) 1 + 3.13 * p"))%
+				signalPercentage=$(printf "%.0f\n" $(${dc} -e "$(echo $signalRSSI) 1 + 3.13 * p"))%
 			else # including 99 for "Unknown or undetectable"
 				signalPercentage="n/a"
 			fi
@@ -199,10 +230,11 @@ do
 				mode="n/a"
 			fi
 			signalBars=$(hilink_api "get" "/api/monitoring/status" | xmllint --xpath 'string(//SignalIcon)' -)
-			signalPercentage=$(echo "$signalBars 20 * p" | /data/ftp/uavpal/bin/dc)%
+			signalPercentage=$(echo "$signalBars 20 * p" | ${dc})%
 			signal="$mode/$signalPercentage"
 		fi
 	fi
+
 	temp=""
 	tempfile="/sys/devices/platform/p7-temperature/iio:device1/in_temp7_p7mu_raw"
 	if [ -f $tempfile ]; then
@@ -212,16 +244,17 @@ do
 	droneLabel="${droneName} (${signal} ${altitude_rel}m ${bat_volts}V/${bat_percent}% ${temp} ${latency}${ztConn})"
 	ulogger -s -t uavpal_glympse "... updating Glympse label ($(date +%Y-%m-%d-%H:%M:%S)): $droneLabel"
 
-	/data/ftp/uavpal/bin/curl -q -k -H "Content-Type: application/json" -H "Authorization: Bearer ${access_token}" -X POST -d "[[$(date +%s)000,$(gpsDecimal $lat $latdir),$(gpsDecimal $long $longdir),$speed,$heading]]" "https://api.glympse.com/v2/tickets/$ticket/append_location" &
-	/data/ftp/uavpal/bin/curl -q -k -H "Content-Type: application/json" -H "Authorization: Bearer ${access_token}" -X POST -d "[{\"t\": $(date +%s)000, \"pid\": 0, \"n\": \"name\", \"v\": \"${droneLabel}\"}]" "https://api.glympse.com/v2/tickets/$ticket/append_data" &
+	${curl} -q -k -H "Content-Type: application/json" -H "Authorization: Bearer ${access_token}" -X POST -d "[[$(date +%s)000,$(gpsDecimal $lat $latdir),$(gpsDecimal $long $longdir),$speed,$heading]]" "https://api.glympse.com/v2/tickets/$ticket/append_location" &
+	${curl} -q -k -H "Content-Type: application/json" -H "Authorization: Bearer ${access_token}" -X POST -d "[{\"t\": $(date +%s)000, \"pid\": 0, \"n\": \"name\", \"v\": \"${droneLabel}\"}]" "https://api.glympse.com/v2/tickets/$ticket/append_data" &
 
 	if test -n "$ip_sc2"; then
 		ping -c 1 $ip_sc2 |grep 'bytes from' | cut -d '=' -f 4 | tr -d ' ms' > /tmp/sc2ping &
 	else
 		rm /tmp/sc2ping 2>/dev/null
 	fi
-	sleep 5
+
 	# make sure all curl processes have ended
-	while ps |grep curl |grep -v grep >/dev/null; do usleep 100000; done
+	while ps |grep curl |grep -v grep >/dev/null; do sleep 1; done
+
 done
 

disco/uavpal/bin/uavpal_sdcard.sh

@@ -59,7 +59,15 @@ if [ "$1" == "add" ]; then
 	fi
 	ulogger -s -t uavpal_sdcard "... disk ${disk} has been detected, trying to mount its last partition ${partition}"
 	title="SD card inserted"
-	mount -t vfat -o rw,noatime /dev/${partition} ${media_path}
+	for i in $(seq 1 5); do
+		mount -o rw,noatime /dev/${partition} ${media_path}
+		if [ $? -ne 0 ]; then
+			ulogger -s -t uavpal_sdcard "... could not mount sd card in try ${i}"
+			sleep 1
+		else
+			break
+		fi
+	done
 	if [ $? -ne 0 ]; then
 		message="could not mount SD card partition ${partition} - please ensure the SD card's file system is FAT32 (and not exFAT!)"
 		ulogger -s -t uavpal_sdcard "... ${message}. Exiting!"