From 2ef08443d79f91f83d92b81b91b741e05d63266d Mon Sep 17 00:00:00 2001 From: Artem30801 Date: Wed, 16 Oct 2019 19:30:17 +0300 Subject: [PATCH] Added changing hostname of copter --- Drone/client_config.ini | 4 +- Drone/copter_client.py | 95 +++++++++++++++++++++ Drone/doc_2019-10-16_17-57-17.bashrc | 119 +++++++++++++++++++++++++++ 3 files changed, 216 insertions(+), 2 deletions(-) create mode 100644 Drone/doc_2019-10-16_17-57-17.bashrc diff --git a/Drone/client_config.ini b/Drone/client_config.ini index 697fbfe..c98d5eb 100644 --- a/Drone/client_config.ini +++ b/Drone/client_config.ini @@ -1,7 +1,7 @@ [SERVER] port = 25000 broadcast_port = 8181 -host = 192.168.1.101 +host = 192.168.1.13 buffer_size = 1024 [FILETRANSFER] @@ -40,7 +40,7 @@ pitch = 0 yaw = -90 [PRIVATE] -id = /hostname +id = DESKTOP-H364ITR use_leds = True led_pin = 21 x0 = 0 diff --git a/Drone/copter_client.py b/Drone/copter_client.py index b1ac6b9..558bcb4 100644 --- a/Drone/copter_client.py +++ b/Drone/copter_client.py @@ -56,6 +56,8 @@ class CopterClient(client.Client): self.USE_LEDS = self.config.getboolean('PRIVATE', 'use_leds') self.LED_PIN = self.config.getint('PRIVATE', 'led_pin') + self.RESTART_DHCPCD = self.config.getboolean('PRIVATE', 'restart_dhcpcd') + def on_broadcast_bind(self): configure_chrony_ip(self.server_host) restart_service("chrony") @@ -97,6 +99,7 @@ class CopterClient(client.Client): def restart_service(name): os.system("systemctl restart {}".format(name)) + def configure_chrony_ip(ip, path="/etc/chrony/chrony.conf", ip_index=1): try: with open(path, 'r') as f: @@ -130,6 +133,98 @@ def configure_chrony_ip(ip, path="/etc/chrony/chrony.conf", ip_index=1): return True +def configure_hostname(hostname): + path = "/etc/hostname" + try: + with open(path, 'r') as f: + raw_content = f.read() + except IOError as e: + print("Reading error {}".format(e)) + return False + + current_hostname = str(raw_content) + + if current_hostname != hostname: + content = hostname + '\n' + try: + with open(path, 'w') as f: + f.write(content) + except IOError: + print("Error writing") + return False + + return True + + +def configure_hosts(hostname): + path = "/etc/hosts" + try: + with open(path, 'r') as f: + raw_content = f.read() + except IOError as e: + print("Reading error {}".format(e)) + return False + + index_start = raw_content.find("127.0.1.1", ) + index_stop = raw_content.find("\n", index_start) + + _ip, current_hostname = raw_content[index_start:index_stop].split() + if current_hostname != hostname: + content = raw_content[:index_start] + "{} {}".format(_ip, hostname) + raw_content[index_stop:] + try: + with open(path, 'w') as f: + f.write(content) + except IOError: + print("Error writing") + return False + + return True + + +def configure_bashrc(hostname): + path = "~/.bashrc" + try: + with open(path, 'r') as f: + raw_content = f.read() + except IOError as e: + print("Reading error {}".format(e)) + return False + + index_start = raw_content.find("ROS_HOSTNAME='", ) + 14 + index_stop = raw_content.find("'", index_start) + + current_hostname = raw_content[index_start:index_stop] + if current_hostname != hostname: + content = raw_content[:index_start] + hostname + raw_content[index_stop:] + try: + with open(path, 'w') as f: + f.write(content) + except IOError: + print("Error writing") + return False + + return True + + +@messaging.request_callback("id") +def _response_id(*args, **kwargs): + new_id = kwargs.get("new_id", None) + if new_id is not None: + old_id = client.active_client.client_id + if new_id != old_id: + cfg = client.ConfigOption("PRIVATE", "id", new_id) + client.active_client.write_config(True, cfg) + if new_id != '/hostname': + hostname = client.active_client.client_id + configure_hostname(hostname) + configure_hosts(hostname) + configure_bashrc(hostname) + if client.active_client.RESTART_DHCPCD: + restart_service("dhcpcd") + + return client.active_client.client_id + + @messaging.request_callback("selfcheck") def _response_selfcheck(*args, **kwargs): if check_state_topic(wait_new_status=True): diff --git a/Drone/doc_2019-10-16_17-57-17.bashrc b/Drone/doc_2019-10-16_17-57-17.bashrc new file mode 100644 index 0000000..bc7d27d --- /dev/null +++ b/Drone/doc_2019-10-16_17-57-17.bashrc @@ -0,0 +1,119 @@ +# ~/.bashrc: executed by bash(1) for non-login shells. +# see /usr/share/doc/bash/examples/startup-files (in the package bash-doc) +# for examples + +# If not running interactively, don't do anything +case $- in + *i*) ;; + *) return;; +esac + +# don't put duplicate lines or lines starting with space in the history. +# See bash(1) for more options +HISTCONTROL=ignoreboth + +# append to the history file, don't overwrite it +shopt -s histappend + +# for setting history length see HISTSIZE and HISTFILESIZE in bash(1) +HISTSIZE=1000 +HISTFILESIZE=2000 + +# check the window size after each command and, if necessary, +# update the values of LINES and COLUMNS. +shopt -s checkwinsize + +# If set, the pattern "**" used in a pathname expansion context will +# match all files and zero or more directories and subdirectories. +#shopt -s globstar + +# make less more friendly for non-text input files, see lesspipe(1) +#[ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)" + +# set variable identifying the chroot you work in (used in the prompt below) +if [ -z "${debian_chroot:-}" ] && [ -r /etc/debian_chroot ]; then + debian_chroot=$(cat /etc/debian_chroot) +fi + +# set a fancy prompt (non-color, unless we know we "want" color) +case "$TERM" in + xterm-color|*-256color) color_prompt=yes;; +esac + +# uncomment for a colored prompt, if the terminal has the capability; turned +# off by default to not distract the user: the focus in a terminal window +# should be on the output of commands, not on the prompt +force_color_prompt=yes + +if [ -n "$force_color_prompt" ]; then + if [ -x /usr/bin/tput ] && tput setaf 1 >&/dev/null; then + # We have color support; assume it's compliant with Ecma-48 + # (ISO/IEC-6429). (Lack of such support is extremely rare, and such + # a case would tend to support setf rather than setaf.) + color_prompt=yes + else + color_prompt= + fi +fi + +if [ "$color_prompt" = yes ]; then + PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w \$\[\033[00m\] ' +else + PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ ' +fi +unset color_prompt force_color_prompt + +# If this is an xterm set the title to user@host:dir +case "$TERM" in +xterm*|rxvt*) + PS1="\[\e]0;${debian_chroot:+($debian_chroot)}\u@\h: \w\a\]$PS1" + ;; +*) + ;; +esac + +# enable color support of ls and also add handy aliases +if [ -x /usr/bin/dircolors ]; then + test -r ~/.dircolors && eval "$(dircolors -b ~/.dircolors)" || eval "$(dircolors -b)" + alias ls='ls --color=auto' + #alias dir='dir --color=auto' + #alias vdir='vdir --color=auto' + + alias grep='grep --color=auto' + alias fgrep='fgrep --color=auto' + alias egrep='egrep --color=auto' +fi + +# colored GCC warnings and errors +#export GCC_COLORS='error=01;31:warning=01;35:note=01;36:caret=01;32:locus=01:quote=01' + +# some more ls aliases +#alias ll='ls -l' +#alias la='ls -A' +#alias l='ls -CF' + +# Alias definitions. +# You may want to put all your additions into a separate file like +# ~/.bash_aliases, instead of adding them here directly. +# See /usr/share/doc/bash-doc/examples in the bash-doc package. + +if [ -f ~/.bash_aliases ]; then + . ~/.bash_aliases +fi + +# enable programmable completion features (you don't need to enable +# this, if it's already enabled in /etc/bash.bashrc and /etc/profile +# sources /etc/bash.bashrc). +if ! shopt -oq posix; then + if [ -f /usr/share/bash-completion/bash_completion ]; then + . /usr/share/bash-completion/bash_completion + elif [ -f /etc/bash_completion ]; then + . /etc/bash_completion + fi +fi +LANG='C.UTF-8' +LC_ALL='C.UTF-8' +ROS_DISTRO='kinetic' +ROS_HOSTNAME='newname' +source /opt/ros/kinetic/setup.bash +source /home/pi/catkin_ws/devel/setup.bash