Merge pull request #18 from urpylka/master

Add image-make tools
2026-05-27 05:29:32 +00:00 · 2018-02-06 22:59:49 +03:00
parent c2c82cef80 6e9664e221
commit 0ffa6fd389
7 changed files with 1049 additions and 0 deletions
--- a/image/Jenkinsfile
+++ b/image/Jenkinsfile
@@ -0,0 +1,61 @@
+pipeline {
+  agent any
+  stages {
+    stage('Get image') {
+      agent any
+      environment {
+        RPI_DONWLOAD_URL = 'https://downloads.raspberrypi.org/raspbian_lite_latest'
+        RPI_ZIP_NAME = 'raspbian_lite_latest.zip'
+        RPI_IMAGE_NAME = '2017-11-29-raspbian-stretch-lite.img'
+      }
+      steps {
+        sh '$WORKSPACE/deploy/image-config.sh get_image $JENKINS_HOME $RPI_ZIP_NAME $RPI_DONWLOAD_URL $RPI_IMAGE_NAME $IMAGE_NAME'
+      }
+    }
+    stage('Resize FS') {
+      environment {
+        SIZE = '7G'
+      }
+      steps {
+        sh '$WORKSPACE/deploy/image-config.sh resize_fs $SIZE $JENKINS_HOME $IMAGE_NAME $DEV_ROOTFS'
+      }
+    }
+    stage('Configure interfaces') {
+      environment {
+        EXECUTE_FILE = 'iface.sh'
+      }
+      steps {
+        sh '$WORKSPACE/deploy/image-config.sh execute $JENKINS_HOME/$IMAGE_NAME $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT $WORKSPACE/deploy/$EXECUTE_FILE'
+      }
+    }
+    stage('Install Apps') {
+      environment {
+        EXECUTE_FILE = 'apps.sh'
+      }
+      steps {
+        sh '# $WORKSPACE/deploy/image-config.sh execute $JENKINS_HOME/$IMAGE_NAME $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT $WORKSPACE/deploy/$EXECUTE_FILE'
+      }
+    }
+    stage('Install ROS') {
+      environment {
+        EXECUTE_FILE = 'ros.sh'
+      }
+      steps {
+        sh '# $WORKSPACE/deploy/image-config.sh execute $JENKINS_HOME/$IMAGE_NAME $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT $WORKSPACE/deploy/$EXECUTE_FILE'
+      }
+    }
+    stage('Publish image') {
+      environment {
+        CONFIG_FILE = 'coex-ci.conf'
+      }
+      steps {
+        sh '$WORKSPACE/deploy/image-config.sh publish_image $JENKINS_HOME $IMAGE_NAME $WORKSPACE $CONFIG_FILE $RELEASE_ID $RELEASE_BODY'
+      }
+    }
+  }
+  environment {
+    PREFIX_PATH = '/mnt'
+    DEV_BOOT = '/dev/disk/by-uuid/CDD4-B453'
+    DEV_ROOTFS = '/dev/disk/by-uuid/72bfc10d-73ec-4d9e-a54a-1cc507ee7ed2'
+  }
+}
--- a/image/apps.sh
+++ b/image/apps.sh
@@ -0,0 +1,99 @@
+#!/bin/bash
+
+##################################################################################################################################
+# Установка необходимых программ
+##################################################################################################################################
+
+
+echo -e "\033[0;31m\033[1m$(date) | #1 apt update && apt upgrade\033[0m\033[0m"
+
+# install bootstrap tools
+apt-get update
+# && apt upgrade -y
+
+
+
+echo -e "\033[0;31m\033[1m$(date) | #2 Install programs\033[0m\033[0m"
+
+apt-get install --no-install-recommends -y \
+  ipython \
+  screen \
+  byobu \
+  nmap \
+  lsof \
+  python-pip \
+  git \
+  isc-dhcp-server \
+  tmux
+
+
+
+
+
+echo -e "\033[0;31m\033[1m$(date) | #3 Write to /etc/wpa_supplicant/wpa_supplicant.conf\033[0m\033[0m"
+
+echo "
+network={
+    ssid=\"CLEVER\"
+    mode=2
+    key_mgmt=WPA-PSK
+    psk=\"cleverwifi\"
+    frequency=2437
+}" >> /etc/wpa_supplicant/wpa_supplicant.conf
+
+
+
+
+
+echo -e "\033[0;31m\033[1m$(date) | #4 Write STATIC to /etc/dhcpcd.conf\033[0m\033[0m"
+
+echo "
+interface wlan0
+static ip_address=192.168.11.1/24" >> /etc/dhcpcd.conf
+
+
+
+
+echo -e "\033[0;31m\033[1m$(date) | #5 Write iface to /etc/default/isc-dhcp-server\033[0m\033[0m"
+
+# https://www.shellhacks.com/ru/sed-find-replace-string-in-file/
+sed -i 's/INTERFACESv4=\"\"/INTERFACESv4=\"wlan0\"/' /etc/default/isc-dhcp-server
+
+
+echo -e "\033[0;31m\033[1m$(date) | #6 Write dhcp declaration subnet to /etc/dhcp/dhcpd.conf\033[0m\033[0m"
+
+
+echo "subnet 192.168.11.0 netmask 255.255.255.0 {
+  range 192.168.11.11 192.168.11.254;
+  #option domain-name-servers 8.8.8.8;
+  #option domain-name "rpi.local";
+  option routers 192.168.11.1;
+  option broadcast-address 192.168.11.255;
+  default-lease-time 600;
+  max-lease-time 7200;
+}" >> /etc/dhcp/dhcpd.conf
+
+
+
+echo -e "\033[0;31m\033[1m$(date) | #7 Write start script for dhcpd to /etc/network/if-up.d/isc-dhcp-server\033[0m\033[0m"
+
+echo "#!/bin/sh
+if [ \"\$IFACE\" = \"--all\" ];
+then sleep 10 && systemctl start isc-dhcp-server.service &
+fi
+" > /etc/network/if-up.d/isc-dhcp-server \
+  && chmod +x /etc/network/if-up.d/isc-dhcp-server
+
+
+
+echo -e "\033[0;31m\033[1m$(date) | #8 Write magic script for rename SSID to /etc/rc.local\033[0m\033[0m"
+
+RENAME_SSID="sudo sed -i.OLD \"s/CLEVER/CLEVER-\$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e 's/[^0-9]//g' | cut -c 1-4)/g\" /etc/wpa_supplicant/wpa_supplicant.conf && sudo sed -i '/sudo sed/d' /etc/rc.local && sudo reboot"
+
+
+sed -i "19a$RENAME_SSID" /etc/rc.local
+
+
+
+echo -e "\033[0;31m\033[1m$(date) | #9 End of install programs\033[0m\033[0m"
+
--- a/image/git_release.py
+++ b/image/git_release.py
@@ -0,0 +1,38 @@
+#!/usr/bin/env python
+
+#
+# Simple github release body-editor
+# Smirnov Artem @urpylka
+#
+# Use:
+# python git_release.py CONFIG_FILE RELEASE_ID RELEASE_BODY
+#
+
+
+from ConfigParser import SafeConfigParser
+import requests, sys, urllib
+
+def json_wrapper(image_name, image_link, image_size, old_text):
+    old_text = urllib.unquote_plus(old_text)
+    buffer = "### Download\n* [" + image_name + ".zip](" + image_link + ") (" + image_size + ")\n\n" + old_text
+    js = {}
+    js["body"] = buffer
+    return js
+
+
+def main():
+
+    cfgParser = SafeConfigParser()
+    cfgParser.read(sys.argv[1])
+
+    js = json_wrapper(sys.argv[4], sys.argv[5], sys.argv[6], sys.argv[3])
+
+    r = requests.patch(cfgParser.get('github','url') + sys.argv[2], json=js, auth=(cfgParser.get('github','login'), cfgParser.get('github','password')))
+
+    if r.status_code == 200:
+        print("Message has been successfully added!")
+    else:
+        return 1
+
+if __name__ == '__main__':
+    main()
--- a/image/iface.sh
+++ b/image/iface.sh
@@ -0,0 +1,138 @@
+#!/bin/bash
+
+##################################################################################################################################
+# Настройка интерфейсов
+##################################################################################################################################
+
+# вот так все в принципе должно включиться
+# /usr/bin/raspi-config nonint do_i2c 0
+# /usr/bin/raspi-config nonint do_spi 0
+# /usr/bin/raspi-config nonint do_camera 0
+# /usr/bin/raspi-config nonint do_rgpio 0
+# /usr/bin/raspi-config nonint do_ssh 0
+
+# по идеи эти настройки должны проводиться до по другому как сделано в prepare_image.sh
+
+set_config_var() {
+  lua - "$1" "$2" "$3" <<EOF > "$3.bak"
+local key=assert(arg[1])
+local value=assert(arg[2])
+local fn=assert(arg[3])
+local file=assert(io.open(fn))
+local made_change=false
+for line in file:lines() do
+  if line:match("^#?%s*"..key.."=.*$") then
+    line=key.."="..value
+    made_change=true
+  end
+  print(line)
+end
+
+if not made_change then
+  print(key.."="..value)
+end
+EOF
+  mv "$3.bak" "$3"
+}
+
+BLACKLIST=/etc/modprobe.d/raspi-blacklist.conf
+CONFIG=/boot/config.txt
+
+# 2. Изменить необходимые настройки
+
+#   2.1. Включить sshd
+echo -e "\033[0;31m\033[1m$(date) | #11 Turn on sshd\033[0m\033[0m"
+touch /boot/ssh
+
+#   2.2. Включить GPIO
+# Включено по умолчанию
+
+#   2.3. Включить I2C
+echo -e "\033[0;31m\033[1m$(date) | #12 Turn on I2C\033[0m\033[0m"
+
+set_config_var dtparam=i2c_arm on $CONFIG &&
+  if ! [ -e $BLACKLIST ]; then
+    touch $BLACKLIST
+  fi
+  sed $BLACKLIST -i -e "s/^\(blacklist[[:space:]]*i2c[-_]bcm2708\)/#\1/"
+  sed /etc/modules -i -e "s/^#[[:space:]]*\(i2c[-_]dev\)/\1/"
+  if ! grep -q "^i2c[-_]dev" /etc/modules; then
+    printf "i2c-dev\n" >> /etc/modules
+  fi
+
+#   2.4. Включить SPI
+echo -e "\033[0;31m\033[1m$(date) | #13 Turn on SPI\033[0m\033[0m"
+
+set_config_var dtparam=spi on $CONFIG &&
+  if ! [ -e $BLACKLIST ]; then
+    touch $BLACKLIST
+  fi
+  sed $BLACKLIST -i -e "s/^\(blacklist[[:space:]]*spi[-_]bcm2708\)/#\1/"
+
+#   2.5. Включить raspicam
+echo -e "\033[0;31m\033[1m$(date) | #14 Turn on raspicam\033[0m\033[0m"
+
+get_config_var() {
+  lua - "$1" "$2" <<EOF
+local key=assert(arg[1])
+local fn=assert(arg[2])
+local file=assert(io.open(fn))
+local found=false
+for line in file:lines() do
+  local val = line:match("^%s*"..key.."=(.*)$")
+  if (val ~= nil) then
+    print(val)
+    found=true
+    break
+  end
+end
+if not found then
+   print(0)
+end
+EOF
+}
+
+# тут уже немного иначе, но по сути одно и тоже
+# https://github.com/RPi-Distro/raspi-config/blob/master/raspi-config#L1136
+# $1 is 0 to disable camera, 1 to enable it
+set_camera() {
+  # Stop if /boot is not a mountpoint
+  #if ! mountpoint -q /boot; then
+  #  return 1
+  #fi
+
+  [ -e $CONFIG ] || touch $CONFIG
+
+  if [ "$1" -eq 0 ]; then # disable camera
+    set_config_var start_x 0 $CONFIG
+    sed $CONFIG -i -e "s/^startx/#startx/"
+    sed $CONFIG -i -e "s/^start_file/#start_file/"
+    sed $CONFIG -i -e "s/^fixup_file/#fixup_file/"
+  else # enable camera
+    set_config_var start_x 1 $CONFIG
+    CUR_GPU_MEM=$(get_config_var gpu_mem $CONFIG)
+    if [ -z "$CUR_GPU_MEM" ] || [ "$CUR_GPU_MEM" -lt 128 ]; then
+      set_config_var gpu_mem 128 $CONFIG
+    fi
+    sed $CONFIG -i -e "s/^startx/#startx/"
+    sed $CONFIG -i -e "s/^fixup_file/#fixup_file/"
+  fi
+}
+
+if [ ! -e /boot/start_x.elf ];
+then echo "Your firmware appears to be out of date (no start_x.elf). Please update"
+else set_camera 1
+fi
+
+# Включение V4L драйвера http://robocraft.ru/blog/electronics/3158.html
+#echo "bcm2835-v4l2" >> /etc/modules
+if ! grep -q "^bcm2835-v4l2" /etc/modules; then
+  printf "bcm2835-v4l2\n" >> /etc/modules
+fi
+
+#   2.6. Настроить AP wifi
+#   2.7. Настроить сеть на wlan
+#   2.8. Настроить DHCPd на wlan
+
+
+echo -e "\033[0;31m\033[1m$(date) | #15 End of configuring interfaces\033[0m\033[0m"
--- a/image/image-config.sh
+++ b/image/image-config.sh
@@ -0,0 +1,467 @@
+#!/bin/bash
+#!/bin/sh
+
+#
+# Script for image configure
+# @smirart Smirnov Artem
+#
+
+
+# PREFIX_PATH=/mnt
+# IMAGE=/home/pi/2017-11-29-raspbian-stretch-lite.img
+# 
+# # blkid
+# UUID_BOOT=CDD4-B453
+# UUID_ROOTFS=72bfc10d-73ec-4d9e-a54a-1cc507ee7ed2
+# 
+# # /dev/disk/by-label/boot
+# DEV_BOOT=/dev/disk/by-uuid/$UUID_BOOT
+# # /dev/disk/by-label$2
+# DEV_ROOTFS=/dev/disk/by-uuid/$UUID_ROOTFS
+
+
+get_image() {
+
+# STATIC
+# TEMPLATE: get_image $JENKINS_HOME $RPI_ZIP_NAME $RPI_DONWLOAD_URL $RPI_IMAGE_NAME $IMAGE_NAME
+
+  echo 'Download RaspbianOS'
+  echo "$(date) | 1. Download raspbian lite"
+  if [ ! -e "$1/$2" ];
+  then wget -nv -O $1/$2 $3
+  fi
+  echo "$(date) | Downloading complete"
+  echo 'Unzip image'
+  echo "$(date) | 2. Unzip raspbian lite"
+  if [ ! -e "$1/$4" ];
+  then unzip -uo $1/$2 -d $1
+  fi
+  echo "$(date) | Unziping complete"
+  echo 'Duplicate image'
+  cp -f $1/$4 $1/$5
+}
+
+
+resize_fs() {
+
+  # STATIC
+  # TEMPLATE: resize_fs $SIZE $JENKINS_HOME $IMAGE_NAME $DEV_ROOTFS
+
+  # https://ru.wikipedia.org/wiki/%D0%A0%D0%B0%D0%B7%D1%80%D0%B5%D0%B6%D1%91%D0%BD%D0%BD%D1%8B%D0%B9_%D1%84%D0%B0%D0%B9%D0%BB
+
+  # https://raspberrypi.stackexchange.com/questions/13137/how-can-i-mount-a-raspberry-pi-linux-distro-image
+  # fdisk -l 2017-11-29-raspbian-stretch-lite.img
+  # https://www.stableit.ru/2011/05/losetup.html
+  # -f     : losetup сам выбрал loop (минуя занятые)
+  # -P     : losetup монтирует разделы в образе как отдельные подразделы,
+  #          например /dev/loop0p1 и /dev/loop0p2
+  # --show : печатает имя устройства, например /dev/loop4
+
+  # http://karelzak.blogspot.ru/2015/05/resize-by-sfdisk.html
+  # ", +" : расширяет раздел до размеров образа
+  # -N 2  : выбирает раздел 2 для работы
+
+  echo -e "\033[0;31m\033[1mTruncate image\033[0m\033[0m" \
+    && truncate -s$1 $2/$3 \
+    && echo "Mount loop-image: $2/$3" \
+    && local DEV_IMAGE=$(losetup -Pf $2/$3 --show) \
+    && sleep 0.5 \
+    && echo -e "\033[0;31m\033[1mMount loop-image: $1\033[0m\033[0m" \
+    && echo ", +" | sfdisk -N 2 $DEV_IMAGE \
+    && sleep 0.5 \
+    && echo -e "\033[0;31m\033[1mCheck & repair filesystem after expand partition\033[0m\033[0m" \
+    && e2fsck -fvy $4 \
+    && echo -e "\033[0;31m\033[1mExpand filesystem\033[0m\033[0m" \
+    && resize2fs $4 \
+    && echo -e "\033[0;31m\033[1mUmount loop-image\033[0m\033[0m" \
+    && losetup -d $DEV_IMAGE
+}
+
+publish_image() {
+
+# STATIC
+# TEMPLATE: publish_image $JENKINS_HOME $IMAGE_NAME $WORKSPACE $CONFIG_FILE $RELEASE_ID $RELEASE_BODY
+
+# https://developer.github.com/v3/repos/releases/
+#RELEASE_BODY="### Changelog\n* Add /boot/cmdline.txt net.ifnames=0 https://www.freedesktop.org/wiki/Software/systemd/PredictableNetworkInterfaceNames/\n* Updated cophelper\n* Installed copstat"
+
+  echo 'Zip image' \
+    && zip $1/$2.zip $1/$2 \
+    && echo 'Upload image' \
+    && local IMAGE_LINK=$($3/deploy/yadisk.py $1/$4 $1/$2.zip) \
+    && local IMAGE_SIZE=$(du -sh $1/$2.zip | awk '{ print $1 }') \
+    && $3/deploy/git_release.py $1/$4 $5 $6 $2 $IMAGE_LINK $IMAGE_SIZE
+}
+
+publish_image2() {
+
+# STATIC
+# TEMPLATE: publish_image $JENKINS_HOME $IMAGE_NAME $WORKSPACE $CONFIG_FILE $RELEASE_ID $RELEASE_BODY
+
+# https://developer.github.com/v3/repos/releases/
+#RELEASE_BODY="### Changelog\n* Add /boot/cmdline.txt net.ifnames=0 https://www.freedesktop.org/wiki/Software/systemd/PredictableNetworkInterfaceNames/\n* Updated cophelper\n* Installed copstat"
+
+  echo 'Zip image' \
+    && zip $1/$2.zip $1/$2 \
+    && echo 'Upload image' \
+    && local IMAGE_LINK=$($3/deploy/yadisk.py $1/$4 $1/$2.zip) \
+    && local IMAGE_SIZE=$(du -sh $1/$2.zip | awk '{ print $1 }') \
+    && local NEW_RELEASE_BODY="### Download\n* [$2.zip]($IMAGE_LINK) ($IMAGE_SIZE)\n\n$6" \
+    && local DATA="{ \"body\":\"$NEW_RELEASE_BODY\" }" \
+    && curl -d "$(echo $DATA)" -u "LOGIN:PASS" --request PATCH https://api.github.com/repos/ONWER/REPO/releases/$5
+}
+
+mount_system() {
+
+  # STATIC
+  # TEMPLATE: mount_system $IMAGE $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT
+
+  # https://www.stableit.ru/2011/05/losetup.html
+  # -f     : losetup выбирает незанятое имя устройства, например /dev/loop2
+  # -P     : losetup монтирует разделы в образе как отдельные подразделы,
+  #          например /dev/loop0p1 и /dev/loop0p2
+  # --show : печатает имя устройства, например /dev/loop4
+
+  echo -e "\033[0;31m\033[1mMount loop-image: $1\033[0m\033[0m"
+  DEV_IMAGE=$(losetup -Pf $1 --show)
+  sleep 0.5
+
+  echo -e "\033[0;31m\033[1mMount dirs $2 & $2/boot\033[0m\033[0m"
+  mount $3 $2
+  mount $4 $2/boot
+
+  echo -e "\033[0;31m\033[1mBind system dirs\033[0m\033[0m"
+  # https://github.com/debian-pi/raspbian-ua-netinst/issues/314
+  echo "Mounting /proc in chroot... "
+  if [ ! -d $2/proc ] ; then
+      mkdir -p $2/proc
+      echo "Created $2/proc"
+  fi
+  mount -t proc -o nosuid,noexec,nodev proc $2/proc
+  echo "OK"
+  
+  echo "Mounting /sys in chroot... "
+  if [ ! -d $2/sys ] ; then
+      mkdir -p $2/sys
+      echo "Created $2/sys"
+  fi
+  mount -t sysfs -o nosuid,noexec,nodev sysfs $2/sys
+  echo "OK"
+  
+  echo "Mounting /dev/ and /dev/pts in chroot... "
+  mkdir -p -m 755 $2/dev/pts
+  mount -t devtmpfs -o mode=0755,nosuid devtmpfs $2/dev
+  mount -t devpts -o gid=5,mode=620 devpts $2/dev/pts
+  # mount -t devpts none "$2/dev/pts" -o ptmxmode=0666,newinstance
+  # ln -fs "pts/ptmx" "$2/dev/ptmx"
+  echo "OK"
+
+
+  # mount -o bind /dev $2/dev
+  # mount -t proc proc $2/proc
+  # mount -t devpts devpts $2/dev/pts
+
+  # mount -t proc proc $2/proc
+  # mount -t sysfs sys $2/sys
+  # mount --bind /dev $2/dev
+
+  echo -e "\033[0;31m\033[1mCopy DNS records\033[0m\033[0m"
+  cp -L /etc/resolv.conf $2/etc/resolv.conf
+
+  # https://wiki.archlinux.org/index.php/Change_root_(%D0%A0%D1%83%D1%81%D1%81%D0%BA%D0%B8%D0%B9)
+  # http://www.unix-lab.org/posts/chroot/
+  # https://habrahabr.ru/post/141012/
+  # https://losst.ru/vosstanovlenie-grub2
+  # http://unixteam.ru/content/virtualizaciya-ili-zapuskaem-prilozhenie-v-chroot-okruzhenii-razmyshleniya
+  # http://help.ubuntu.ru/wiki/%D0%B2%D0%BE%D1%81%D1%81%D1%82%D0%B0%D0%BD%D0%BE%D0%B2%D0%BB%D0%B5%D0%BD%D0%B8%D0%B5_grub
+  echo -e "\033[0;31m\033[1mEnter chroot\033[0m\033[0m"
+  chroot $2 /bin/bash
+}
+
+mount_system2() {
+
+  # STATIC
+  # TEMPLATE: mount_system2 $IMAGE $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT
+
+  echo -e "\033[0;31m\033[1mMount loop-image: $1\033[0m\033[0m"
+  DEV_IMAGE=$(losetup -Pf $1 --show)
+  sleep 0.5
+
+  echo -e "\033[0;31m\033[1mMount dirs $2 & $2/boot\033[0m\033[0m"
+  mount $3 $2
+  mount $4 $2/boot
+
+  echo -e "\033[0;31m\033[1mBind system dirs\033[0m\033[0m"
+  echo "Mounting /proc in chroot... "
+  if [ ! -d $2/proc ] ; then
+      mkdir -p $2/proc
+      echo "Created $2/proc"
+  fi
+  mount -t proc -o nosuid,noexec,nodev proc $2/proc
+  echo "OK"
+  
+  echo "Mounting /sys in chroot... "
+  if [ ! -d $2/sys ] ; then
+      mkdir -p $2/sys
+      echo "Created $2/sys"
+  fi
+  mount -t sysfs -o nosuid,noexec,nodev sysfs $2/sys
+  echo "OK"
+  
+  echo "Mounting /dev/ and /dev/pts in chroot... "
+  mkdir -p -m 755 $2/dev/pts
+  mount -t devtmpfs -o mode=0755,nosuid devtmpfs $2/dev
+  mount -t devpts -o gid=5,mode=620 devpts $2/dev/pts
+  echo "OK"
+
+  echo -e "\033[0;31m\033[1mCopy DNS records\033[0m\033[0m"
+  cp -L /etc/resolv.conf $2/etc/resolv.conf
+
+  echo -e "\033[0;31m\033[1m$(date) | Enter chroot\033[0m\033[0m"
+  chroot $2 /bin/bash -c "$3"
+}
+
+umount_system() {
+
+  # STATIC
+  # TEMPLATE: umount_system $PREFIX_PATH
+
+  echo -e "\033[0;31m\033[1m$(date) | Umount recursive dirs: $1\033[0m\033[0m"
+  umount -R $1
+  echo -e "\033[0;31m\033[1m$(date) | Umount loop-image\033[0m\033[0m"
+  losetup -d $DEV_IMAGE
+}
+
+umount_system2() {
+
+  # STATIC
+  # TEMPLATE: umount_system $PREFIX_PATH
+  
+  echo -e "\033[0;31m\033[1m$(date) | Umount recursive dirs: $1\033[0m\033[0m"
+  umount -R $1
+  echo -e "\033[0;31m\033[1m$(date) | Umount loop-image\033[0m\033[0m"
+  losetup -D
+}
+
+set_config_var() {
+  lua - "$1" "$2" "$3" <<EOF > "$3.bak"
+local key=assert(arg[1])
+local value=assert(arg[2])
+local fn=assert(arg[3])
+local file=assert(io.open(fn))
+local made_change=false
+for line in file:lines() do
+  if line:match("^#?%s*"..key.."=.*$") then
+    line=key.."="..value
+    made_change=true
+  end
+  print(line)
+end
+
+if not made_change then
+  print(key.."="..value)
+end
+EOF
+  mv "$3.bak" "$3"
+}
+
+configure_system() {
+
+  # STATIC
+  # TEMPLATE: configure_system $IMAGE $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT
+
+  local BLACKLIST=/etc/modprobe.d/raspi-blacklist.conf
+  local CONFIG=/boot/config.txt
+
+  BLACKLIST=$2$BLACKLIST
+  CONFIG=$2$CONFIG
+
+  # 1. Примонитровать образ
+
+  # https://raspberrypi.stackexchange.com/questions/13137/how-can-i-mount-a-raspberry-pi-linux-distro-image
+  # mount -v -o offset=48234496 -t ext4 2017-11-29-raspbian-stretch-lite.img $PREFIX_PATH
+  # mount -v -o offset=4194304,sizelimit=29360128 -t vfat 2017-11-29-raspbian-stretch-lite.img $PREFIX_PATH/boot
+  #
+  # fdisk -l 2017-11-29-raspbian-stretch-lite.img
+  # https://www.stableit.ru/2011/05/losetup.html
+  # -f     : losetup сам выбрал loop (минуя занятые)
+  # -P     : losetup монтирует разделы в образе как отдельные подразделы,
+  #          например /dev/loop0p1 и /dev/loop0p2
+  # --show : печатает имя устройства, например /dev/loop4
+  echo -e "\033[0;31m\033[1mMount loop-image: $1\033[0m\033[0m"
+  DEV_IMAGE=$(losetup -Pf $1 --show)
+  sleep 0.5
+
+  echo -e "\033[0;31m\033[1mMount dirs $2 & $2/boot\033[0m\033[0m"
+  mount $3 $2
+  mount $4 $2/boot
+
+  # 2. Изменить необходимые настройки
+
+  #   2.1. Включить sshd
+  echo -e "\033[0;31m\033[1mTurn on sshd\033[0m\033[0m"
+  touch $2/boot/ssh
+
+  #   2.2. Включить GPIO
+  # Включено по умолчанию
+
+  #   2.3. Включить I2C
+  echo -e "\033[0;31m\033[1mTurn on I2C\033[0m\033[0m"
+
+  set_config_var dtparam=i2c_arm on $CONFIG &&
+    if ! [ -e $BLACKLIST ]; then
+      touch $BLACKLIST
+    fi
+    sed $BLACKLIST -i -e "s/^\(blacklist[[:space:]]*i2c[-_]bcm2708\)/#\1/"
+    sed $2/etc/modules -i -e "s/^#[[:space:]]*\(i2c[-_]dev\)/\1/"
+    if ! grep -q "^i2c[-_]dev" $2/etc/modules; then
+      printf "i2c-dev\n" >> $2/etc/modules
+    fi
+
+  #   2.4. Включить SPI
+  echo -e "\033[0;31m\033[1mTurn on SPI\033[0m\033[0m"
+
+  set_config_var dtparam=spi on $CONFIG &&
+    if ! [ -e $BLACKLIST ]; then
+      touch $BLACKLIST
+    fi
+    sed $BLACKLIST -i -e "s/^\(blacklist[[:space:]]*spi[-_]bcm2708\)/#\1/"
+
+  #   2.5. Включить raspicam
+  # Включена по умолчанию вроде как
+
+  #   2.6. Настроить AP wifi
+  #   2.7. Настроить сеть на wlan
+  #   2.8. Настроить DHCPd на wlan
+
+  # Отмонтировать образ
+  umount_system $2
+}
+
+
+prepare_fs() {
+
+  # STATIC
+  # TEMPLATE: prepare_fs $IMAGE $SIZE
+
+  date
+  #      Удаляем старый образ
+  # -f : не выводить ошибки, если файла нет
+  rm -f $1
+  #              Копируем origin образ
+  # --progress : Вывод прогресс-бара
+  rsync --progress -av $1.orig $1
+  expand_image $1 $2G
+  date
+}
+
+install_docker() {
+
+  # STATIC
+  # TEMPLATE: install_docker $IMAGE $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT
+
+  # https://askubuntu.com/questions/485567/unexpected-end-of-file
+  mount_system $1 $2 $3 $4 << EOF
+#!/bin/bash
+# https://www.raspberrypi.org/blog/docker-comes-to-raspberry-pi/
+curl -sSL https://get.docker.com | sh
+usermod -aG docker pi
+systemctl enable docker
+service docker start
+docker pull smirart/rpi-ros:sshd
+docker run -di --restart unless-stopped -p 192.168.0.121:2202:22 -t smirart/rpi-ros:sshd
+EOF
+  umount_system $2
+}
+
+test_docker() {
+
+  # STATIC
+  # TEMPLATE: test_docker $IMAGE $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT
+
+  mount_system $1 $2 $3 $4 << EOF
+#!/bin/bash
+# https://www.raspberrypi.org/blog/docker-comes-to-raspberry-pi/
+service docker start
+sleep 1
+docker images
+docker ps -a
+EOF
+  umount_system $2
+}
+
+enter() {
+
+  # STATIC
+  # TEMPLATE: enter $IMAGE $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT
+
+  mount_system $1 $2 $3 $4
+  umount_system $2
+}
+
+execute() {
+
+  # STATIC
+  # TEMPLATE: execute $IMAGE $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT $EXECUTE_FILE
+
+  mount_system2 $1 $2 $3 $4 "$(cat $5)"
+  umount_system2 $2
+}
+
+
+# очистить history
+# https://askubuntu.com/questions/191999/how-to-clear-bash-history-completely
+# cat /dev/null > ~/.bash_history && history -c && exit
+#
+# screen in chroot
+# getty tty
+# https://stackoverflow.com/questions/19104894/screen-must-be-connected-to-a-terminal/25646444
+#
+# docker in chroot
+# service docker start
+# https://forums.docker.com/t/cannot-connect-to-the-docker-daemon-is-the-docker-daemon-running-on-this-host/8925/17
+
+
+if [ $(whoami) != "root" ];
+then echo "" \
+  && echo "********************************************************************" \
+  && echo "******************** This should be run as root ********************" \
+  && echo "********************************************************************" \
+  && echo "" \
+  && exit 1
+fi
+
+
+echo "\$#: $#"
+echo "\$1: $1"
+echo "\$2: $2"
+echo "\$3: $3"
+echo "\$4: $4"
+echo "\$5: $5"
+echo "\$6: $6"
+
+
+# test_docker
+# install_docker
+# prepare_fs
+# configure_system
+
+case "$1" in
+  enter)
+    enter;;
+
+  get_image) # get_image $JENKINS_HOME $RPI_ZIP_NAME $RPI_DONWLOAD_URL $RPI_IMAGE_NAME $IMAGE_NAME
+    get_image $2 $3 $4 $5 $6;;
+
+  resize_fs) # resize_fs $SIZE $JENKINS_HOME $IMAGE_NAME $DEV_ROOTFS
+    resize_fs $2 $3 $4 $5;;
+
+  publish_image) # publish_image $JENKINS_HOME $IMAGE_NAME $WORKSPACE $CONFIG_FILE $RELEASE_ID $RELEASE_BODY
+    publish_image $2 $3 $4 $5 $6 $7;;
+
+  execute) # execute $IMAGE $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT $EXECUTE_FILE
+    execute $2 $3 $4 $5 $6;;
+
+  *)
+    echo "Enter one of: enter, get_image, resize_fs, publish_image, execute";;
+esac
--- a/image/ros.sh
+++ b/image/ros.sh
@@ -0,0 +1,191 @@
+#!/bin/bash
+
+##################################################################################################################################
+# ROS for user pi
+##################################################################################################################################
+
+# ros http://wiki.ros.org/action/fullsearch/ROSberryPi/Installing%20ROS%20Kinetic%20on%20the%20Raspberry%20Pi
+# maintainer @urpylka
+
+echo -e "\033[0;31m\033[1m$(date) | #0 Install ROS\033[0m\033[0m"
+
+
+
+
+echo -e "\033[0;31m\033[1m$(date) | #1 Install dirmngr & add key to apt-key\033[0m\033[0m"
+
+# по умолчанию dirmngr отсуствует на образе и требуется для установки ключа
+# http://wpblogger.su/tags/apt/
+apt install dirmngr
+# setup keys
+apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
+
+# setup sources.list
+echo "deb http://packages.ros.org/ros/ubuntu stretch main" > /etc/apt/sources.list.d/ros-latest.list
+
+
+
+
+echo -e "\033[0;31m\033[1m$(date) | #2 apt update && apt upgrade\033[0m\033[0m"
+
+# install bootstrap tools
+apt update
+# && apt upgrade -y
+
+
+
+
+echo -e "\033[0;31m\033[1m$(date) | #3 Install wget, unzip, python-rosdep, python-rosinstall-generator, python-wstool, python-rosinstall, build-essential, cmake\033[0m\033[0m"
+
+apt-get install --no-install-recommends -y \
+  wget \
+  unzip \
+  python-rosdep \
+  python-rosinstall-generator \
+  python-wstool \
+  python-rosinstall \
+  build-essential \
+  cmake \
+  libjpeg8-dev
+
+
+
+echo -e "\033[0;31m\033[1m$(date) | #4 rosdep init && rosdep update\033[0m\033[0m"
+
+# bootstrap rosdep
+rosdep init && rosdep update
+
+
+
+
+echo -e "\033[0;31m\033[1m$(date) | #5 Prepare ros_comm packages to kinetic-ros_comm-wet.rosinstall\033[0m\033[0m"
+
+# create catkin workspace
+mkdir -p /home/pi/ros_catkin_ws && cd /home/pi/ros_catkin_ws \
+    && rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall \
+    && wstool init src kinetic-ros_comm-wet.rosinstall
+
+
+
+echo -e "\033[0;31m\033[1m$(date) | #6 Install assimp-3.1.1 to /home/pi/ros_catkin_ws/external_src\033[0m\033[0m"
+
+# Unavailable Dependencies
+mkdir -p /home/pi/ros_catkin_ws/external_src \
+    && cd /home/pi/ros_catkin_ws/external_src \
+    && wget http://sourceforge.net/projects/assimp/files/assimp-3.1/assimp-3.1.1_no_test_models.zip/download -O assimp-3.1.1_no_test_models.zip \
+    && unzip assimp-3.1.1_no_test_models.zip \
+    && cd assimp-3.1.1 \
+    && cmake . \
+    && make \
+    && make install
+
+
+
+
+echo -e "\033[0;31m\033[1m$(date) | #7 Prepare other ROS-packages to kinetic-custom_ros.rosinstall\033[0m\033[0m"
+
+cd /home/pi/ros_catkin_ws \
+  && rosinstall_generator \
+  actionlib actionlib_msgs angles async_web_server_cpp bond bond_core bondcpp bondpy camera_calibration_parsers camera_info_manager catkin class_loader cmake_modules cpp_common cv_bridge cv_camera diagnostic_msgs diagnostic_updater dynamic_reconfigure eigen_conversions gencpp geneus genlisp genmsg gennodejs genpy geographic_msgs geometry_msgs geometry2 image_transport libmavconn mavlink mavros_msgs message_filters message_generation message_runtime mk nav_msgs nodelet orocos_kdl pluginlib python_orocos_kdl ros ros_comm rosapi rosauth rosbag rosbag_migration_rule rosbag_storage rosbash rosboost_cfg rosbridge_library rosbridge_server rosbridge_suite rosbuild rosclean rosconsole rosconsole_bridge roscpp roscpp_serialization roscpp_traits roscreate rosgraph rosgraph_msgs roslang roslaunch roslib roslint roslisp roslz4 rosmake rosmaster rosmsg rosnode rosout rospack rosparam rospy rospy_tutorials rosserial rosserial_client rosserial_msgs rosserial_python rosservice rostest rostime rostopic rosunit roswtf sensor_msgs smclib std_msgs std_srvs stereo_msgs tf tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_msgs tf2_py tf2_ros tf2_sensor_msgs tf2_tools topic_tools trajectory_msgs urdf urdf_parser_plugin usb_cam uuid_msgs visualization_msgs web_video_server xmlrpcpp mavros opencv3 mavros_extras \
+  --rosdistro kinetic --deps --wet-only --tar > kinetic-custom_ros.rosinstall \
+  && wstool merge -t src kinetic-custom_ros.rosinstall \
+  && wstool update -t src
+
+
+
+
+echo -e "\033[0;31m\033[1m$(date) | #8 Install dependencies apps with rosdep\033[0m\033[0m"
+
+# как я понял установка apt-get всяких зависимостей для ros-пакетов
+# Resolving Dependencies with rosdep
+cd /home/pi/ros_catkin_ws \
+  && rosdep install -y --from-paths src --ignore-src --rosdistro kinetic -r --os=debian:stretch
+
+
+
+
+echo -e "\033[0;31m\033[1m$(date) | #9 Refactor usb_cam in SRC\033[0m\033[0m"
+
+# добавление префикса с помощью двух define
+# #define PIX_FMT_RGB24 AV_PIX_FMT_RGB24
+# #define PIX_FMT_YUV422P AV_PIX_FMT_YUV422P
+
+sed -i '/#define __STDC_CONSTANT_MACROS/a\#define PIX_FMT_RGB24 AV_PIX_FMT_RGB24\n#define PIX_FMT_YUV422P AV_PIX_FMT_YUV422P' /home/pi/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp
+
+
+
+echo -e "\033[0;31m\033[1m$(date) | #10 Install GeographicLib datasets\033[0m\033[0m"
+
+/home/pi/ros_catkin_ws/src/mavros/mavros/scripts/install_geographiclib_datasets.sh
+
+
+
+
+echo -e "\033[0;31m\033[1m$(date) | #11 Build light packages on 2 threads\033[0m\033[0m"
+
+# Building the catkin Workspace
+cd /home/pi/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic -j2 --pkg actionlib actionlib_msgs angles async_web_server_cpp bond bond_core bondcpp bondpy camera_calibration_parsers camera_info_manager catkin class_loader cmake_modules cpp_common diagnostic_msgs diagnostic_updater dynamic_reconfigure eigen_conversions gencpp geneus genlisp genmsg gennodejs genpy geographic_msgs geometry_msgs geometry2 image_transport libmavconn mavlink mavros_msgs message_filters message_generation message_runtime mk nav_msgs nodelet orocos_kdl pluginlib python_orocos_kdl ros ros_comm rosapi rosauth rosbag rosbag_migration_rule rosbag_storage rosbash rosboost_cfg rosbridge_library rosbridge_server rosbridge_suite rosbuild rosclean rosconsole rosconsole_bridge roscpp roscpp_serialization roscpp_traits roscreate rosgraph rosgraph_msgs roslang roslaunch roslib roslint roslisp roslz4 rosmake rosmaster rosmsg rosnode rosout rospack rosparam rospy rospy_tutorials rosserial rosserial_client rosserial_msgs rosserial_python rosservice rostest rostime rostopic rosunit roswtf sensor_msgs smclib std_msgs std_srvs stereo_msgs tf tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_msgs tf2_py tf2_ros tf2_sensor_msgs tf2_tools topic_tools trajectory_msgs urdf urdf_parser_plugin usb_cam uuid_msgs visualization_msgs xmlrpcpp
+
+
+
+
+echo -e "\033[0;31m\033[1m$(date) | #12 Build heavy packages\033[0m\033[0m"
+
+# Building the catkin Workspace
+cd /home/pi/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic -j1 --pkg mavros opencv3 cv_bridge cv_camera mavros_extras web_video_server
+
+
+
+echo -e "\033[0;31m\033[1m$(date) | #13 Create catkin_ws\033[0m\033[0m"
+
+mkdir -p /home/pi/catkin_ws/src \
+  && cd /home/pi/catkin_ws \
+  && source /opt/ros/kinetic/setup.bash \
+  && catkin init \
+  && wstool init /home/pi/catkin_ws/src
+
+
+
+
+echo -e "\033[0;31m\033[1m$(date) | #14 Install CLEVER-BUNDLE\033[0m\033[0m"
+
+cd /home/pi/catkin_ws/src \
+  && git clone https://github.com/CopterExpress/clever_bundle.git clever \
+  && pip install wheel \
+  && pip install -r /home/pi/catkin_ws/src/clever/clever/requirements.txt \
+  && cd /home/pi/catkin_ws \
+  && source /opt/ros/kinetic/setup.bash \
+  && catkin_make -j1 \
+  && systemctl enable /home/pi/catkin_ws/src/clever/deploy/roscore.service \
+  && systemctl enable /home/pi/catkin_ws/src/clever/deploy/clever.service
+
+
+
+echo -e "\033[0;31m\033[1m$(date) | #15 Add mjpg-streamer at /home/pi\033[0m\033[0m"
+
+# https://github.com/jacksonliam/mjpg-streamer
+
+cd /home/pi \
+  && git clone https://github.com/jacksonliam/mjpg-streamer.git \
+  && cd /home/pi/mjpg-streamer/mjpg-streamer-experimental \
+  && make \
+  && make install
+
+
+
+echo -e "\033[0;31m\033[1m$(date) | #16 Add ENV vars\033[0m\033[0m"
+
+# setup environment
+echo "LANG=C.UTF-8" >> /home/pi/.bashrc
+echo "LC_ALL=C.UTF-8" >> /home/pi/.bashrc
+echo "ROS_DISTRO=kinetic" >> /home/pi/.bashrc
+echo "export ROS_IP=192.168.11.1" >> /home/pi/.bashrc
+
+echo "source /opt/ros/kinetic/setup.bash" >> /home/pi/.bashrc \
+  && echo "source /home/pi/catkin_ws/devel/setup.bash" >> /home/pi/.bashrc
+
+chown -Rf pi:pi /home/pi
+
+
+
+echo -e "\033[0;31m\033[1m$(date) | #17 END of ROS INSTALLATION\033[0m\033[0m"
--- a/image/yadisk.py
+++ b/image/yadisk.py
@@ -0,0 +1,55 @@
+#!/usr/bin/env python
+
+#
+# Simple python uploader to YaDisk
+# Smirnov Artem @urpylka
+#
+# Use:
+# python yadisk.py login password file server_dir
+#
+
+from YaDiskClient.YaDiskClient import YaDisk
+import os.path, sys
+
+def upload(_login, _password, _server_dir, _file):
+    if os.path.isfile(_file):
+        disk = YaDisk(_login, _password)
+        disk.upload(_file, _server_dir + '/' + os.path.basename(_file))
+        link = disk.publish_doc(_server_dir + '/' + os.path.basename(_file))
+        print link
+    else:
+        print "Error: file-path is bad"
+        return 1
+
+def main():
+    if (len(sys.argv) == 5):
+        print "login: " + sys.argv[1]
+        print "password: " + sys.argv[2]
+        print "server_dir: " + sys.argv[3]
+        print "file: " + sys.argv[4]
+        
+        upload(sys.argv[1], sys.argv[2], sys.argv[3], sys.argv[4])
+
+    elif (len(sys.argv) == 3):
+    	# print "config: " + sys.argv[1]
+        # print "file: " + sys.argv[2]
+        
+        if os.path.isfile(sys.argv[1]) and os.path.isfile(sys.argv[2]):
+
+            from ConfigParser import SafeConfigParser
+            cfgParser = SafeConfigParser()
+            cfgParser.read(sys.argv[1])
+            # print "login: " + cfgParser.get('yadisk','login')
+            # print "password: " + cfgParser.get('yadisk','password')
+            # print "server_dir: " + cfgParser.get('yadisk','server_dir')
+
+            upload(cfgParser.get('yadisk','login'), cfgParser.get('yadisk','password'), cfgParser.get('yadisk','server_dir'), sys.argv[2])
+        else:
+            print "Error: file-path or config-path is bad"
+            return 1
+    else:
+        print "Error: amount of args is incorrect"
+        return 1
+
+if __name__ == '__main__':
+    main()