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feat(hardware-testing): Added hardware testing usb package (#13140)
The hardware-testing package is used for testing various parts of the Flex, however in order to use it you have to have a computer that has all of our packages, and dependencies and has been set up to run our software. This poses some friction as it requires a lot to get up and running. This pr solves this problem by creating a hardware-testing package, that can be run from a USB drive plugged directly into the Flex. - Added setup-usb-module to hardware-testing Makefile, which creates a USB package - Added hardware-testing entry to scripts/python_build_utils.py so we can get the package version - Added correct versioning based on git tags when producing sdist/wheel files
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hardware-testing/hardware_testing/tools/usb-package/readme.txt
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| ## OVERVIEW | ||
| The usb-package bundles up the hardware_testing module so it can run from a usb thumbdrive on the Flex. | ||
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| ## INSTRUCTIONS | ||
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| ### How to make package: | ||
| make -C hardware-testing setup-usb-module | ||
| This will produce a tar file **hardware_testing_usb-<version>.tar.gz** in **hardware-testing/dist/** | ||
| example: | ||
| hardware_testing_usb-0.0.1.tar.gz | ||
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| You can also make and install the tar file to a target with the **usb_dir** option | ||
| This will extract the contents to the specified location | ||
| make -C hardware-testing setup-usb-module usb_dir="/Volumes/ENFAIN/" | ||
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| ### How to deploy: | ||
| If you use the **usb_dir** option the usb-package will be installed on the usb drive | ||
| You can also manually extract the tar file onto a target like so | ||
| tar -xvf hardware_testing_usb-0.0.1.tar.gz -C "<drive-location>" | ||
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| ### How to install on the Flex: | ||
| Once you have an usb thumdrive with the usb-packge deployed you can plug in the thumbdrive to | ||
| a Flex and start the setup script to install the required files like so | ||
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| 0. Make sure the Flex is powered on | ||
| 1. ssh to the robot with | ||
| ssh root@<ip-address> | ||
| NOTE: You can also use screen or similar if you are using an FTDI connection | ||
| screen /dev/<ftdi-device> 115200 | ||
| 2. Plug in the hardware-testing thumbdrive to the Flex | ||
| The device should be mounted to **/media/sda** or similar | ||
| Note: You can also manually mount the thumbdrive with | ||
| a. From the Linux command line list usb devices with | ||
| blkid | ||
| Note: | ||
| Your drive address should be something like | ||
| **/dev/sda: LABEL="ENFAIN"...** | ||
| The LABEL should be the name of your usb thumbdrive | ||
| b. mount the drive | ||
| mount /dev/sda /mnt | ||
| c. the device should now be accessed thorugh /mnt | ||
| 3. Navigate to the mounted drive | ||
| a. if drive was automatically mounted, run | ||
| cd /media/sdx/hardware_testing_usb where x is the enumerated drive | ||
| b. or if mounted manually | ||
| cd /mnt/hardware_testing_usb | ||
| 4. Run the setup script | ||
| a. From the usb-packge dir **hardware_testing_usb** run | ||
| ./setup | ||
| 5. Re-logging to apply | ||
| a. from the command shell run | ||
| logout | ||
| b. use ssh or screen to log back in | ||
| see step 1 above. | ||
| 6. You should now see | ||
| **Hardware-Testing package enabled at <mount-location>/hardware_testing_usb** | ||
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| Note: **<mount-location>** is where the thumbdrive was mounted typically **/media/sdx** | ||
| but could also be **/mnt** or different if mounted manually | ||
| 7. Done | ||
| a. The hardware-testing package is now setup and can be used as normal | ||
| example: | ||
| python3 -m hardware_testing.scripts.module_calibration | ||
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| ### How to uninstall from the Flex: | ||
| With the usb thumbdrive plugged into the Flex | ||
| 1. Navigate to usb-packge dir | ||
| cd <mount-location>/hardware_testing_usb | ||
| 2. Run the setup script | ||
| ./setup teardown | ||
| You should see **Teardown Success** | ||
| 3. The usb drive can now be removed | ||
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| ### Troubleshoting | ||
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| If the usb thumbdrive is removed and replugged it could enumerate differently. | ||
| This means you will need to run the ./setup script again |
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hardware-testing/hardware_testing/tools/usb-package/setup.sh
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| #! /bin/bash | ||
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| # This script sets up the hardware-testing module to run from usb or some other dir on the Flex robot. Read the readme.txt file for setup and instructions. | ||
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| USB_DIR=$(pwd) | ||
| MOUNT_DIR=$(dirname ${USB_DIR}) | ||
| PACKAGE_VERSION="" | ||
| PACKAGE_NAME="hardware_testing" | ||
| PACKAGE_DIR=$(echo ${USB_DIR}/${PACKAGE_NAME}-*/) | ||
| PACKAGE_TAR_FILE=$(echo ${USB_DIR}/${PACKAGE_NAME}-*.tar.gz) | ||
| PKG_INFO_FILE=$PACKAGE_DIR/PKG-INFO | ||
| SYSTEM_VERSION_FILE="/etc/VERSION.json" | ||
| ENV_PROFILE="/etc/profile.d/ot-usb-environ.sh" | ||
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| # Script entry-point | ||
| main() { | ||
| echo "Validating files" | ||
| validate "$@" | ||
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| # execute action | ||
| case $1 in | ||
| teardown) | ||
| echo "Teardown" | ||
| teardown | ||
| ;; | ||
| *) | ||
| echo "Setup" | ||
| setup | ||
| ;; | ||
| esac | ||
| } | ||
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| # Make sure we have the correct files before doing anything | ||
| validate() { | ||
| # Check if we are running on the robot or not | ||
| if [ ! -f $SYSTEM_VERSION_FILE ]; then | ||
| echo "${SYSTEM_VERSION_FILE} not found, make sure you're running this from a robot!" | ||
| exit 1; | ||
| fi | ||
| is_flex=$(cat $SYSTEM_VERSION_FILE | grep -o OT-3) | ||
| if [ -z $is_flex ]; then | ||
| echo "Make sure robot is a Flex before running setup." | ||
| exit 1 | ||
| fi | ||
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| # Extract the tarball | ||
| usb_module_filename=$(ls $PACKAGE_TAR_FILE) | ||
| if [ ! -f "$usb_module_filename" ]; then | ||
| echo "Could not find package tarball - ${PACKAGE_TAR_FILE}" | ||
| exit 1; | ||
| fi | ||
| } | ||
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| _extract_tarball() { | ||
| echo "Extracting tarball ${usb_module_filename}" | ||
| tar -xvf $usb_module_filename -C $USB_DIR | ||
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| # Get the version of the package | ||
| if [ ! -f $PKG_INFO_FILE ]; then | ||
| echo "error: ${PKG_INFO_FILE} was not found!" | ||
| exit 1; | ||
| fi | ||
| PACKAGE_VERSION=$(cat ${PKG_INFO_FILE} | sed -n '/Version/{n;n;p}') | ||
| } | ||
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| # Helper function to write/delete environment variable profile script | ||
| _env_profile() { | ||
| # mount the filesystem rw | ||
| mount -o remount,rw / | ||
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| if [[ $1 =~ "delete" ]]; then | ||
| echo "Deleting usb-package env file - ${ENV_PROFILE}" | ||
| rm -rf $ENV_PROFILE | ||
| mount -o remount,ro / | ||
| return; | ||
| fi | ||
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| echo "Writing usb-package env profile - $ENV_PROFILE" | ||
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| cat <<EOF > $ENV_PROFILE | ||
| #!/usr/bin/env sh | ||
| # Do an auto-teardown if the usb device is not found | ||
| if [ ! -d $USB_DIR ]; then | ||
| mount -o remount,rw / | ||
| rm -rf $ENV_PROFILE | ||
| mount -o remount,ro / | ||
| return 1; | ||
| fi | ||
| echo "Hardware-Testing package enabled at $USB_DIR" | ||
| export PYTHONPATH=\$PYTHONPATH:$PACKAGE_DIR | ||
| # set OT_SYSTEM_VERSION if not set | ||
| if [ -z \$OT_SYSTEM_VERSION ]; then | ||
| export OT_SYSTEM_VERSION="0.0.0" | ||
| fi | ||
| # set the TESTING_DATA_DIR | ||
| export TESTING_DATA_DIR=$USB_DIR/testing_data | ||
| EOF | ||
| # remount filesystem as ro | ||
| mount -o remount,ro / | ||
| } | ||
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| # Sets up the hardware-testing module to be used from usb location | ||
| setup() { | ||
| echo "Setting up hardware-testing module ${PACKAGE_VERSION}" | ||
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| # lets extract that tarball | ||
| _extract_tarball | ||
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| # Lets set up the environment profile | ||
| _env_profile | ||
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| # TODO (ba, 2023-07-19): set the logging location for hardware-testing scripts to usb | ||
| # We need to consilidate hardware-testing logging before being able to do this. | ||
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| # Lets deal with plot-webpage since the sdist file only contains .py files | ||
| cp -r $USB_DIR/plot $PACKAGE_DIR/$PACKAGE_NAME/tools/ | ||
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| # Lets deal with hardware-testing-description file, is /data correct? | ||
| cp -r $USB_DIR/.hardware-testing-description /data/ | ||
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| echo "Hardware-Testing module has been setup, re-login to apply changes." | ||
| } | ||
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| # Tearsdown the hardare-testing module | ||
| teardown() { | ||
| echo "Tearing down hardare-testing module ${PACKAGE_VERSION}" | ||
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| # delete the environment profile | ||
| _env_profile delete | ||
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| # delete the description file | ||
| rm -rf /data/.hardware-testing-description | ||
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| echo "Teardown Success" | ||
| } | ||
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| set -eE -o pipefail | ||
| trap teardown ERR | ||
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| main "$@" |
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