Start the program at boot through fgc, so the dashboard still works
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@ -221,37 +221,53 @@ point at a different lockfile.
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## 7. Install the systemd service
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An **alternative** to section 6b, not a companion to it: systemd gives you start-at-boot and
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restart-on-crash, but no attachable dashboard — you get `journalctl` instead. Pick one. If you run both by
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accident the second one to start fails on the single-instance lock (section 6c), so the failure is loud
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rather than a pair of processes corrupting each other's state.
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`scripts/install-tower` does this (it asks first, and shows the unit it will
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write). The unit is the template `scripts/fire-gimbal-control.service`, and it
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runs the program **through `scripts/fgc`, inside tmux** - so a tower started at
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boot still has its dashboard (`scripts/fgc attach`), and `fgc status` / `peek` /
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`stop` work from any ssh session. It is not an alternative to the tmux workflow
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any more; it is how that workflow starts at boot.
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By hand, fill in `@USER@`, `@REPO@` and `@ARGS@` (normally `--init --start`) and:
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```bash
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sudo cp scripts/fire-gimbal-control.service /etc/systemd/system/
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sudoedit /etc/systemd/system/fire-gimbal-control.service
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sudo cp fire-gimbal-control.service /etc/systemd/system/
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sudo loginctl enable-linger ggs # NOT optional - see below
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sudo systemctl daemon-reload
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sudo systemctl enable fire-gimbal-control
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```
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Confirm/adjust these lines:
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**Lingering is required.** Without it `/run/user/<uid>` does not exist until
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someone logs in, so a program started at boot takes its single-instance lock in
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`/tmp`; a later ssh session looks in `/run/user`, finds nothing, reports "not
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running", and a second copy could start beside the first.
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```ini
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User=ggs
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WorkingDirectory=/opt/fire_gimbal_control
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ExecStart=/opt/fire_gimbal_control/fire_gimbal_control --start
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Environment=FGC_CONFIG=/opt/fire_gimbal_control/config.ini
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EnvironmentFile=/etc/fire_gimbal_control/credentials.env
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```
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**`--init` homes the gimbal unattended at every boot.** That is what a tower in
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service needs - the firmware keeps no position across a power cycle, so without
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it the gimbal sits un-homed and captures nothing - but it is a deliberate choice,
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and the installer asks for the arguments.
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(Use `ExecStart=... --init --start` for the first power-on if endstops must be found at boot.)
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MQTT credentials go in `/etc/fire_gimbal_control/credentials.env`
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(`FGC_MQTT_USER=` / `FGC_MQTT_PW=`, mode 0640 root:ggs). `fgc` reads it inside
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the tmux pane rather than taking it from the unit's environment: a tmux server
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that already exists hands a new session its own environment, not the caller's.
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## 8. Enable and verify
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```bash
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sudo systemctl daemon-reload
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sudo systemctl enable --now fire-gimbal-control
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systemctl status fire-gimbal-control
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journalctl -u fire-gimbal-control -f # live logs
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sudo systemctl start fire-gimbal-control
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scripts/fgc status # running, lockfile under /run/user/<uid>
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scripts/install-tower --verify # every check, including test hardware
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```
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`[verified]` on tower 121, 2026-09-23: the service came up by itself after a
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reboot with nobody logged in, with its lock under `/run/user/1000`; `fgc status`
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and the dashboard worked from a later ssh session; credentials reached the
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program intact (a password with `$`, a quote and a space); `systemctl stop` shut
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it down cleanly; and `install-tower --verify` passed after the reboot, USB
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preconditions included. 121 runs it with no arguments, so it does not home at
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boot - see the note on `--init` above.
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Confirm end to end:
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- Images accumulating under the configured `[Paths] output_dir` (default
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`~ggs/.local/share/fire_gimbal_control/images/RGB/`).
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@ -954,5 +954,6 @@ checks that the two files load together, and changes nothing.
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| Endstop survives homing | inspect the stop after a home; the axis must stall against it, not push through | ✅ at 189 mA, after failing at full torque |
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| Degree scale derived | startup logs `counts_per_deg` agreeing with the homed travel | ✅ 3552.87, saved with `;prev` history |
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| Images land | `.jxl` files appear under the configured output dir | ❌ needs a capture run |
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| Survives a disconnect | `scripts/fgc start`, close ssh, reconnect, `scripts/fgc status` | ❌ not attempted |
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| Survives a disconnect | `scripts/fgc start`, close ssh, reconnect, `scripts/fgc status` | ✅ runs under the boot service, independent of any ssh session |
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| Starts at boot | reboot with nobody logged in; `scripts/fgc status` from a later ssh | ✅ 2026-09-23, lock under `/run/user/1000` (lingering on) |
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| Reports to a broker | topics arrive at the configured broker | ❌ no broker on this tower yet |
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@ -1,10 +1,27 @@
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# systemd unit template for Fire Gimbal Control.
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# Copy to /etc/systemd/system/, adjust the paths/user, then:
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# sudo systemctl daemon-reload
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# sudo systemctl enable --now fire-gimbal-control
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# systemd unit for Fire Gimbal Control - a TEMPLATE. scripts/install-tower fills
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# in the @...@ fields and installs it; to do it by hand, replace them and copy it
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# to /etc/systemd/system/, then:
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# sudo loginctl enable-linger <user> # see below - not optional
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# sudo systemctl daemon-reload && sudo systemctl enable fire-gimbal-control
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#
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# Credentials are passed via the environment (not the config file). Prefer an
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# EnvironmentFile with 0600 perms over inline Environment= lines.
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# The unit runs the program through scripts/fgc, inside tmux, so a tower started
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# at boot still has the dashboard: `scripts/fgc attach` from any ssh session.
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# fgc returns once the program is up, hence oneshot + RemainAfterExit; stopping
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# the unit runs `fgc stop`, which shuts the camera and motors down cleanly.
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#
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# Lingering: without it /run/user/<uid> does not exist until someone logs in, so
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# a program started at boot takes its single-instance lock in /tmp, and a later
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# ssh session looks in /run/user, finds nothing, and `fgc status` says it is not
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# running - while a second copy could start beside it.
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#
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# @ARGS@ is normally `--init --start`: the firmware keeps no position across a
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# power cycle, so without --init the gimbal sits un-homed and captures nothing.
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# --init also means the gimbal HOMES UNATTENDED at every boot.
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#
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# MQTT credentials: /etc/fire_gimbal_control/credentials.env (FGC_MQTT_USER,
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# FGC_MQTT_PW), read by fgc inside the tmux pane rather than passed through this
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# unit - a tmux server that already exists would not hand a new session the
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# unit's environment.
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[Unit]
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Description=Fire Gimbal Control
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@ -12,17 +29,14 @@ After=network-online.target
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Wants=network-online.target
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[Service]
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Type=simple
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User=ggs
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WorkingDirectory=/opt/fire_gimbal_control
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# --init is REQUIRED, not a convenience: the firmware keeps no state across a
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# power cycle, so both axes boot into RESET and refuse to move until homed. Without
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# it the service comes up and sits there, capturing nothing, with no obvious cause.
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ExecStart=/opt/fire_gimbal_control/fire_gimbal_control --init --start
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Environment=FGC_CONFIG=/opt/fire_gimbal_control/config.ini
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# EnvironmentFile=/etc/fire_gimbal_control/credentials.env # FGC_MQTT_USER / FGC_MQTT_PW
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Restart=on-failure
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RestartSec=5
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Type=oneshot
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RemainAfterExit=yes
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User=@USER@
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WorkingDirectory=@REPO@
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ExecStart=@REPO@/scripts/fgc start @ARGS@
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ExecStop=@REPO@/scripts/fgc stop
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TimeoutStartSec=120
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TimeoutStopSec=60
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[Install]
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WantedBy=multi-user.target
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@ -621,34 +621,32 @@ fi
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plan test run "test hardware (moves nothing)"
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plan homing ask "asked at the end: home the gimbal and take a short capture"
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UNIT_TEXT="[Unit]
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Description=Fire Gimbal Control
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After=network-online.target
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Wants=network-online.target
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[Service]
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# fgc runs the program in a tmux session, so 'scripts/fgc attach' still opens
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# the dashboard. oneshot + RemainAfterExit: fgc start returns once it is up.
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Type=oneshot
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RemainAfterExit=yes
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User=$USER
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WorkingDirectory=$REPO
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# --init homes at every start: the firmware keeps no position across a power cycle.
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ExecStart=$REPO/scripts/fgc start --init --start
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ExecStop=$REPO/scripts/fgc stop
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TimeoutStartSec=120
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TimeoutStopSec=60
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[Install]
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WantedBy=multi-user.target"
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if [[ -r $UNIT ]] && [[ "$(cat "$UNIT")" == "$UNIT_TEXT" ]] && [[ $S_SVC_ENABLED == enabled && $S_LINGER == yes ]]; then
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plan service skip "installed and enabled"
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# The unit is scripts/fire-gimbal-control.service with its @...@ fields filled.
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render_unit() {
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sed -e "s|@USER@|$USER|g" -e "s|@REPO@|$REPO|g" -e "s|@ARGS@|$1|g" \
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"$REPO/scripts/fire-gimbal-control.service"
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}
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# What an installed unit starts the program with, so a re-run keeps it.
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installed_args() {
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[[ -r $UNIT ]] && sed -n 's|^ExecStart=.*/scripts/fgc start *||p' "$UNIT" | head -1
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}
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UNIT_TEXT=""
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SVC_ARGS_DEFAULT="--init --start"
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[[ -r $UNIT ]] && SVC_ARGS_DEFAULT="$(installed_args)"
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[[ -z $SVC_ARGS_DEFAULT ]] && SVC_ARGS_DEFAULT=none
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if [[ -r $UNIT && $S_SVC_ENABLED == enabled && $S_LINGER == yes && -z ${ANS[service_args]+x} ]] &&
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[[ "$(cat "$UNIT")" == "$(render_unit "$(installed_args)")" ]]; then
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plan service skip "installed and enabled (fgc start ${SVC_ARGS_DEFAULT/#none/})"
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else
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echo
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echo "The boot service starts the program at every boot WITH --init: it homes the"
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echo "gimbal unattended each time the tower powers up."
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echo "The boot service starts the program at every boot. With --init it HOMES THE"
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echo "GIMBAL UNATTENDED each time the tower powers up - which is what a tower in"
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echo "service needs, since the firmware keeps no position across a power cycle."
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if ask_yn service "Install and enable it?" y; then
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plan service change "write $UNIT, enable it, enable lingering for $USER"
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ask service_args "Arguments it starts the program with ('none' for none)" "$SVC_ARGS_DEFAULT"
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svc_args="$REPLY_VAL"; [[ $svc_args == none ]] && svc_args=""
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UNIT_TEXT="$(render_unit "$svc_args")"
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plan service change "write $UNIT (fgc start $svc_args), enable it, enable lingering for $USER"
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else plan service skip "declined"; fi
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fi
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@ -820,7 +818,9 @@ if [[ $TEST_RC != 0 ]]; then
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elif ask_yn home "Someone is at the rig with a hand on the power - home now and take a short capture?" n; then
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stop_app
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before="$(latest_log)"
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if [[ $SVC_ON -eq 1 ]]; then sudo systemctl start fire-gimbal-control
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# Through the service when the service is what homes it, so the tower ends
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# up running under it; otherwise the same run by hand.
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if [[ $SVC_ON -eq 1 && " $(installed_args) " == *" --init "* ]]; then sudo systemctl start fire-gimbal-control
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else ( cd "$REPO" && "$FGC" start --init --start ) > /dev/null; fi
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say "homing (this can take a few minutes)"
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log=""; for _ in $(seq 1 30); do log="$(latest_log)"; [[ -n $log && $log != "$before" ]] && break; sleep 1; done
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