image: add some todo

The previous method replaced all the dtoverlay variables to pi3-disable-bt, which is incorrect

.travis.yml

@@ -87,7 +87,13 @@ jobs:
         - ./check_unused_assets.py
         - gitbook install
         - gitbook build
-        - gitbook pdf ./ _book/clover.pdf
+        - for i in 1 2 3 4; do gitbook pdf ./ _book/clover.pdf && break || sleep 1; done
+        - sudo apt-get install ghostscript
+        - gs -sDEVICE=pdfwrite -dCompatibilityLevel=1.4 -dPDFSETTINGS=/default -dNOPAUSE -dQUIET -dBATCH -dDetectDuplicateImages -dCompressFonts=true -r150 -sOutputFile=_book/clover_ru_compressed.pdf _book/clover_ru.pdf
+        - gs -sDEVICE=pdfwrite -dCompatibilityLevel=1.4 -dPDFSETTINGS=/default -dNOPAUSE -dQUIET -dBATCH -dDetectDuplicateImages -dCompressFonts=true -r150 -sOutputFile=_book/clover_en_compressed.pdf _book/clover_en.pdf
+        - rm _book/clover_ru.pdf && mv _book/clover_ru_compressed.pdf _book/clover_ru.pdf
+        - rm _book/clover_en.pdf && mv _book/clover_en_compressed.pdf _book/clover_en.pdf
+        - ls -lah _book/clover*.pdf
       deploy:
         provider: pages
         local_dir: _book

builder/assets/hardware_setup.sh

@@ -65,7 +65,7 @@ echo_stamp "#6 Turn on UART"
 # https://github.com/RPi-Distro/raspi-config/pull/75
 /usr/bin/raspi-config nonint do_serial 1
 /usr/bin/raspi-config nonint set_config_var enable_uart 1 /boot/config.txt
-/usr/bin/raspi-config nonint set_config_var dtoverlay pi3-disable-bt /boot/config.txt
+echo dtoverlay=pi3-disable-bt >> /boot/config.txt
 systemctl disable hciuart.service
 
 # After adding to Raspbian OS
@@ -79,4 +79,10 @@ if ! grep -q "^bcm2835-v4l2" /etc/modules;
 then printf "bcm2835-v4l2\n" >> /etc/modules
 fi
 
-echo_stamp "#8 End of configure hardware interfaces"
+echo_stamp "#8 Check if Compute Module 4"
+if grep -q "Compute Module 4" "/proc/device-tree/model"; then
+  echo_stamp "Enable USB on Compute Module 4"
+  echo "dtoverlay=dwc2,dr_mode=host" >> /boot/config.txt
+fi
+
+echo_stamp "#9 End of configure hardware interfaces"

builder/image-build.sh

@@ -15,7 +15,7 @@
 
 set -e # Exit immidiately on non-zero result
 
-SOURCE_IMAGE="https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2020-02-14/2020-02-13-raspbian-buster-lite.zip"
+SOURCE_IMAGE="https://downloads.raspberrypi.org/raspios_lite_armhf/images/raspios_lite_armhf-2021-01-12/2021-01-11-raspios-buster-armhf-lite.zip"
 
 export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}

builder/image-network.sh

@@ -60,4 +60,25 @@ domain-needed
 quiet-dhcp6
 EOF
 
-echo_stamp "#4 End of network installation"
+echo_stamp "#4 Build the RTL8814AU Wi-Fi adapter driver"
+wget http://archive.raspberrypi.org/debian/pool/main/r/raspberrypi-firmware/raspberrypi-kernel-headers_1.20210108-1_armhf.deb
+dpkg -i raspberrypi-kernel-headers_1.20210108-1_armhf.deb
+cd /home/pi
+git clone https://github.com/aircrack-ng/rtl8812au.git --depth=1
+cd rtl8812au
+echo kernel version: $(uname -r)
+echo kernel version from procfs: $(cat /proc/version)
+echo version: $(git describe --tags --always)
+sed -i 's/CONFIG_PLATFORM_I386_PC = y/CONFIG_PLATFORM_I386_PC = n/g' Makefile # https://github.com/aircrack-ng/rtl8812au#for-raspberry-rpi
+sed -i 's/CONFIG_PLATFORM_ARM_RPI = n/CONFIG_PLATFORM_ARM_RPI = y/g' Makefile
+# sed -i 's/CONFIG_PLATFORM_ARM64_RPI = n/CONFIG_PLATFORM_ARM64_RPI = y/g' Makefile
+apt-cache policy raspberrypi-kernel-headers
+# apt-get install -y raspberrypi-kernel-headers=1.20210108 dkms
+apt-get install -y dkms
+ls /lib/modules
+echo make
+make KERNEL_VER=5.4.83-v7l+ KVER=5.4.83-v7l+ # TODO: determine kernel version from fs
+echo make install
+make install KERNEL_VER=5.4.83-v7l+ KVER=5.4.83-v7l+
+
+echo_stamp "#5 End of network installation"

builder/image-ros.sh

@@ -76,9 +76,11 @@ my_travis_retry sudo -u pi rosdep update
 
 export ROS_IP='127.0.0.1' # needed for running tests
 
-echo_stamp "Reconfiguring Clover repository for simplier unshallowing"
-cd /home/pi/catkin_ws/src/clover
-git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
+# echo_stamp "Reconfiguring Clover repository for simplier unshallowing" # TODO: bring back
+# cd /home/pi/catkin_ws/src/clover
+# git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
+echo_stamp "Remove .git from Clover to reduce the size"
+rm -rf /home/pi/catkin_ws/src/clover/.git # TODO: remove
 
 echo_stamp "Build and install Clover"
 cd /home/pi/catkin_ws

builder/image-software.sh

@@ -82,6 +82,7 @@ apt-get update
 
 # Let's retry fetching those packages several times, just in case
 echo_stamp "Software installing"
+my_travis_retry apt-get install --no-install-recommends -y cmake-data=3.13.4-1 cmake=3.13.4-1 # FIXME: using older CMake due to https://travis-ci.org/github/CopterExpress/clover/jobs/764367665#L6984
 my_travis_retry apt-get install --no-install-recommends -y \
 unzip \
 zip \
@@ -94,8 +95,8 @@ lsof \
 git \
 dnsmasq  \
 tmux \
+tree \
 vim \
-cmake \
 libjpeg8 \
 tcpdump \
 ltrace \
@@ -123,9 +124,10 @@ sed -i "s/updates_available//" /usr/share/byobu/status/status
 
 echo_stamp "Installing pip"
 curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
+curl https://bootstrap.pypa.io/pip/2.7/get-pip.py -o get-pip2.py
 python3 get-pip.py
-python get-pip.py
-rm get-pip.py
+python get-pip2.py
+rm get-pip.py get-pip2.py
 #my_travis_retry pip install --upgrade pip
 #my_travis_retry pip3 install --upgrade pip
 
@@ -135,6 +137,7 @@ pip3 --version
 
 echo_stamp "Install and enable Butterfly (web terminal)"
 echo_stamp "Workaround for tornado >= 6.0 breaking butterfly"
+export CRYPTOGRAPHY_DONT_BUILD_RUST=1
 my_travis_retry pip3 install tornado==5.1.1
 my_travis_retry pip3 install butterfly
 my_travis_retry pip3 install butterfly[systemd]

builder/standalone-install.sh

@@ -5,7 +5,7 @@ set -e
 # Step 1: Install pip
 apt update
 apt install -y curl
-curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
+curl https://bootstrap.pypa.io/pip/2.7/get-pip.py -o get-pip.py
 python ./get-pip.py
 
 # Step 1.5: Add deb.coex.tech to apt

builder/test/tests.sh

@@ -43,6 +43,8 @@ rosversion aruco_pose
 rosversion vl53l1x
 rosversion mavros
 rosversion mavros_extras
+rosversion ws281x
+rosversion led_msgs
 rosversion dynamic_reconfigure
 rosversion tf2_web_republisher
 rosversion compressed_image_transport