Find a legacy tower's Leonardo and its old launcher, and refuse to install while the old program holds the port

hardware/common/kit.sh

@@ -69,12 +69,15 @@ probe_board() {
 #   RP2040 running the gimbal firmware (arduino-pico) : "Raspberry_Pi_Pico"
 #   RP2040 as shipped, still on MicroPython           : "MicroPython_Board"
 #   ATmega32U4 (Delta fleet)                          : "Arduino_LLC_Arduino_Leonardo"
+#   the same, running a legacy tower's firmware       : "Unknown_LattePanda_Leonardo"
 probe_mcu() {
     local d found=()
     for d in /dev/serial/by-id/*; do
         [[ -e $d ]] || continue
         case "$d" in
             *Raspberry_Pi_Pico*|*MicroPython_Board*|*Arduino_LLC_Arduino*|*Pico*) found+=("$d") ;;
+            # The Delta's onboard Leonardo, as a legacy tower's firmware names it.
+            *LattePanda_Leonardo*) found+=("$d") ;;
         esac
     done
     (( ${#found[@]} == 1 )) && { echo "${found[0]}"; return; }

scripts/install-tower

@@ -307,6 +307,21 @@ set -euo pipefail
 
 S_MCU="$(probe_mcu)"
 S_MCU_N=$(grep -c . <<< "$S_MCU" || true)
+# Another program on the motor MCU's port - a legacy tower's old program, started
+# by start_gimbal.service - would fight this one for it, and the flash would
+# fail half-way. Our own program is fine: it is stopped before anything needs
+# the port.
+if (( S_MCU_N == 1 )) && [[ -e $S_MCU ]]; then
+    for pid in $(fuser "$(readlink -f "$S_MCU")" 2>/dev/null); do
+        args="$(ps -o args= -p "$pid" 2>/dev/null)"
+        [[ $args == */fire_gimbal_control* ]] && continue
+        die "the motor MCU's port is held by another program: pid $pid ($args).
+Stop it for good before installing. On a legacy tower it is started by
+start_gimbal.service from ~/scripts/startup_gimbal.sh, which also runs the picture
+transfer: comment out the old program's line there, keep the transfer, then
+  sudo systemctl restart start_gimbal"
+    done
+fi
 S_CAM="$(probe_camera_id)"
 S_LPM="$(probe_camera_lpm_path)"
 S_USBFS="$(cat /sys/module/usbcore/parameters/usbfs_memory_mb 2>/dev/null || echo '?')"
@@ -326,7 +341,7 @@ S_MODE="none"
 case "$S_MCU" in
     *MicroPython*)             S_MODE="factory MicroPython image" ;;
     *Raspberry_Pi_Pico*|*Pico*) S_MODE="gimbal firmware" ;;
-    *Arduino*)                 S_MODE="gimbal firmware (Leonardo)" ;;
+    *Arduino*|*Leonardo*)     S_MODE="firmware on the Leonardo" ;;
 esac
 lsusb -d 2e8a:0003 >/dev/null 2>&1 && S_MODE="in its bootloader"
 

scripts/survey-legacy-tower

@@ -8,7 +8,7 @@
 #   bash survey-legacy-tower               the machine, the old install, the camera
 #   bash survey-legacy-tower --firmware    also ask the old firmware for its
 #                                          registers, travel and north calibration:
-#                                          pauses the old service for ~20 s
+#                                          pauses the old program for ~20 s
 #
 # The report is printed and saved to ~/legacy-survey-<date>.txt.
 #
@@ -37,8 +37,9 @@ echo "memory    : $(free -h | awk '/^Mem/ {print $2}')"
 echo "internet  : gitea:2222 $(reach git.ggs-solutions.eu 2222)  github $(reach github.com 443)  pypi $(reach pypi.org 443)  platformio $(reach dl.registry.platformio.org 443)"
 
 hr "USB"
-lsusb 2>/dev/null | grep -Ei '1ab2|2341|arduino|allied' || echo "(no Alvium or Arduino on lsusb)"
+lsusb 2>/dev/null | grep -viE 'root hub' | sed 's/^/  /'
 ls /dev/serial/by-id/ 2>/dev/null | sed 's/^/by-id: /'
+ls /dev/ttyACM* 2>/dev/null | sed 's/^/acm  : /'
 
 hr "Vimba X and the camera"
 ls -d /opt/VimbaX* 2>/dev/null || echo "no /opt/VimbaX*"
@@ -49,11 +50,44 @@ for tool in /opt/VimbaX*/bin/ListCameras_VmbC /opt/VimbaX*/bin/ListCameras; do
     break
 done
 
-hr "the old install"
+hr "the old install - how it runs"
-systemctl is-enabled fire-gimbal-control 2>/dev/null | sed 's/^/service enabled: /'
+echo "-- systemd units that look like it (system and user):"
-systemctl is-active fire-gimbal-control 2>/dev/null | sed 's/^/service active : /'
+{ systemctl list-unit-files --no-legend 2>/dev/null; systemctl --user list-unit-files --no-legend 2>/dev/null; } |
-systemctl cat fire-gimbal-control 2>/dev/null | grep -E '^(ExecStart|WorkingDirectory|User|Environment)=' | sed 's/^/  /'
+    grep -iE 'gimbal|fire[-_]|fwt|tower|camera|zkms' | sed 's/^/  /' || echo "  (none)"
-for c in /opt/fire_gimbal_control/config.ini "$HOME"/*/config.ini; do
+for u in $(systemctl list-unit-files --no-legend 2>/dev/null | awk '{print $1}' | grep -iE 'gimbal|fire[-_]|fwt|tower'); do
+    echo "  -- $u: $(systemctl is-active "$u" 2>/dev/null)"
+    systemctl cat "$u" 2>/dev/null | grep -E '^(ExecStart|WorkingDirectory|User)=' | sed 's/^/     /'
+    # The script a legacy unit runs (start_gimbal.service -> startup_gimbal.sh):
+    # it starts the old program AND the picture transfer, so it matters which.
+    for f in $(systemctl cat "$u" 2>/dev/null | sed -n 's/^ExecStart=//p' | tr ' ' '\n' | grep -E '\.sh$'); do
+        [[ -r $f ]] || continue
+        echo "     --- $f:"
+        grep -vE '^[[:space:]]*$' "$f" | head -25 | sed -E 's/(pass(word)?|pw)([=: ]).*/\1\3*****/I' | sed 's/^/       /'
+        for g in $(grep -oE '/[^ #&;]+\.sh' "$f" | sort -u); do
+            [[ -r $g && $g != "$f" ]] || continue
+            echo "     --- $g (first lines):"
+            grep -vE '^[[:space:]]*$' "$g" | head -8 | sed -E 's/(pass(word)?|pw)([=: ]).*/\1\3*****/I' | sed 's/^/       /'
+        done
+    done
+done
+echo "-- processes that look like it:"
+ps -eo pid,user,etime,args 2>/dev/null | grep -iE 'gimbal|fire_|fwt|vimba|zkms|tower|inotifywait' | grep -vE 'grep|survey-legacy|avahi' | sed 's/^/  /' || echo "  (none)"
+echo "-- what holds the serial ports:"
+for d in /dev/ttyACM*; do
+    [[ -e $d ]] || continue
+    pids="$(fuser "$d" 2>/dev/null | tr -s ' ')"
+    if [[ -n ${pids// /} ]]; then for p in $pids; do echo "  $d: pid $p  $(ps -o args= -p "$p" 2>/dev/null)"; done
+    else echo "  $d: free"; fi
+done
+echo "-- other ways it could start:"
+crontab -l 2>/dev/null | grep -v '^#' | sed 's/^/  cron: /'
+ls ~/.config/autostart/ 2>/dev/null | sed 's/^/  autostart: /'
+tmux ls 2>/dev/null | sed 's/^/  tmux: /'
+screen -ls 2>/dev/null | grep -E '^\s+[0-9]' | sed 's/^/  screen: /'
+docker ps --format '{{.Names}}  {{.Image}}  {{.Status}}' 2>/dev/null | sed 's/^/  docker: /'
+echo "-- home directory:"
+ls -1 "$HOME" 2>/dev/null | sed 's/^/  /'
+for c in /opt/fire_gimbal_control/config.ini "$HOME"/*/config.ini "$HOME"/*/*/config.ini; do
     [[ -r $c ]] || continue
     echo "-- $c (passwords masked)"
     grep -vE '^[[:space:]]*(;|#|$)' "$c" | sed -E 's/^(mqtt_pw[[:space:]]*=).*/\1 *****/' | sed 's/^/  /'
@@ -62,15 +96,31 @@ done
 [[ $FIRMWARE -eq 1 ]] || { hr "firmware"; echo "not asked (run with --firmware)"; echo; echo "saved: $OUT"; exit 0; }
 
 hr "the old firmware"
-PORT="$(ls /dev/serial/by-id/*Arduino* 2>/dev/null | head -1)"
+# The Leonardo by name: an Arduino-branded one, or the LattePanda's own ("Unknown_LattePanda_Leonardo").
-[[ -n $PORT ]] || { echo "no Arduino on /dev/serial/by-id"; exit 1; }
+PORT="$(ls /dev/serial/by-id/*Leonardo* /dev/serial/by-id/*Arduino* 2>/dev/null | head -1)"
-WAS_ACTIVE="$(systemctl is-active fire-gimbal-control 2>/dev/null || true)"
+[[ -n $PORT ]] || { echo "no Leonardo on /dev/serial/by-id - see the USB section above"; exit 1; }
-if [[ $WAS_ACTIVE == active ]]; then
+echo "port: $PORT"
-    echo "pausing the old service (it holds the port)"
+# Something may hold it: the old program. The two units known to start it are
-    sudo systemctl stop fire-gimbal-control
+# paused here and started again at the end - start_gimbal.service (the legacy
-    trap 'echo "restarting the old service"; sudo systemctl start fire-gimbal-control' EXIT
+# towers' launcher, which also runs the picture transfer) and
+# fire-gimbal-control. Anything else is named, and left for a person to stop.
+PAUSED=()
+for u in start_gimbal fire-gimbal-control; do
+    [[ $(systemctl is-active "$u" 2>/dev/null) == active ]] || continue
+    echo "pausing $u.service (it runs the program that holds the port)"
+    sudo systemctl stop "$u" && PAUSED+=("$u")
+done
+if (( ${#PAUSED[@]} )); then
+    trap 'for u in "${PAUSED[@]}"; do echo "restarting $u.service"; sudo systemctl start "$u"; done' EXIT
     sleep 2
 fi
+holders="$(fuser "$(readlink -f "$PORT")" 2>/dev/null | tr -s ' ')"
+if [[ -n ${holders// /} ]]; then
+    echo "the port is in use by:"
+    for p in $holders; do echo "  pid $p  $(ps -o args= -p "$p" 2>/dev/null)"; done
+    echo "stop that program first (it is the old one, reading the same port), then run this again."
+    exit 1
+fi
 
 python3 - "$PORT" <<'PYEOF'
 import os, sys, termios, time, math