Keep each tower's config, scan grid and camera profiles in ~/.config/fire_gimbal_control, out of a deploy's reach
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@ -88,7 +88,7 @@ Everything that makes one tower different from another is in two files:
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| File | Where | What goes in it | Who writes it |
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|---|---|---|---|
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| `hardware.ini` | `/etc/fire_gimbal_control/` | **What the tower IS** - the board, which axes and sensors are fitted, how the motor board is wired, each motor's currents, travel and speeds, the camera's id | the installer, once; a person when the hardware changes |
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| `config.ini` | beside the program | **What the tower DOES** - its name, the scan grid, capture settings, the broker, logging, and calibration such as which way is north | the installer (a first copy), the calibration commands, a person |
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| `config.ini` | `~/.config/fire_gimbal_control/`, with the scan grid and camera profiles | **What the tower DOES** - its name, the scan grid, capture settings, the broker, logging, and calibration such as which way is north | the installer (a first copy), the calibration commands, a person |
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Where both set the same thing, `hardware.ini` wins, and the program says so at
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start-up. Full reference: [docs/configuration.md](docs/configuration.md) and
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@ -481,7 +481,7 @@ settings the way the real firmware does.
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| Flag | Effect |
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|---|---|
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| `-c, --config <path>` | use this `config.ini` (otherwise `$FGC_CONFIG`, then `./config.ini`, ...) |
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| `-c, --config <path>` | use this `config.ini` (otherwise `$FGC_CONFIG`, then `~/.config/fire_gimbal_control/config.ini`, then `./config.ini`, ...) |
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| `--hardware <path>` | use this `hardware.ini` (otherwise `$FGC_HARDWARE`, then `/etc/fire_gimbal_control/hardware.ini`, then beside `config.ini`) |
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| `--test <selection>` | run one self-test and exit: 0 PASS, 4 FAIL, 5 could not start |
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| `--tui` / `--no-tui` | the dashboard / the plain console (overrides `[UI] enable_tui`) |
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@ -1,8 +1,10 @@
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# RGB camera profiles
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A profile is a **settings XML exported from the VimbaX Viewer**. A profile named
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`X` is `X.xml` in this directory, and `[Camera.rgb] profile = X` in `config.ini`
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selects it.
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`X` is `X.xml` in the profile directory, and `[Camera.rgb] profile = X` in
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`config.ini` selects it. On a tower that directory is
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`~/.config/fire_gimbal_control/camera_profiles/rgb/` (`[Camera.rgb] profile_dir`,
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relative to `config.ini`), not this one: this README is all that lives here.
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The program hands the XML straight to the Vimba X SDK (`LoadSettings`). Nothing
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else writes camera settings, and there is no fallback — a missing `X.xml` is a
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@ -16,9 +18,12 @@ combinations as you configure; that is the guardrail this design relies on.
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## These files live on the device only
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The XMLs are exported on the LattePanda, because that is where the camera is, so
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they exist nowhere in the repo. `deploy.sh` therefore excludes `*.xml` and
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`*.txt` under this directory from its `rsync --delete` — without that, the next
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deploy erases them. This README does sync; it is repo documentation.
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they exist nowhere in the repo. They live in the tower's own folder,
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`~/.config/fire_gimbal_control/`, which a deploy never reaches. A tower set up
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before that folder existed still has them in this directory; `deploy.sh`
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excludes `*.xml` and `*.txt` here from its `rsync --delete` until
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`scripts/tower-config move` has moved them. This README does sync; it is repo
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documentation.
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Keep a copy somewhere durable if a profile represents real tuning effort: a
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reflash or a rebuilt device starts with an empty directory.
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@ -27,7 +32,7 @@ reflash or a rebuilt device starts with an empty directory.
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1. Open the VimbaX Viewer and connect to the camera.
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2. Configure it. The Viewer will not let you pick an invalid combination.
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3. Save the settings XML over `<profile>.xml` here.
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3. Save the settings XML over `<profile>.xml` in the profile directory.
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4. Restart. The program notices the file changed, regenerates `<profile>.txt`,
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and logs every setting that moved.
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@ -1,7 +1,11 @@
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; Fire Gimbal Control - example configuration.
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;
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; Copy this file to "config.ini" and edit for your deployment:
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; cp config/config.example.ini config.ini
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; A tower keeps its config.ini in its own folder, ~/.config/fire_gimbal_control/,
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; together with its scan grid and camera profiles. That folder is outside the
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; project folder, so a deploy never overwrites or deletes anything in it.
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; Create it from this file with:
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; scripts/tower-config seed
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; The paths below (grid_file, profile_dir) are relative to that folder.
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;
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; WARNING: do not edit config.ini while the program is running. `gimbal heading
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; offset`, `gimbal heading setup` and `gimbal pitch setup` rewrite the [Motor]
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@ -69,7 +73,7 @@ enabled = true
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driver = vimba ; only vimba is implemented
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id = DEV_0000000000 ; USB DEV_ id, or a GigE IP
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label = RGB ; output subdir + CamEvent "cam"
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profile_dir = config/camera_profiles/rgb
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profile_dir = camera_profiles/rgb
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profile = standard ; <profile_dir>/standard.xml
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; Clockwise rotation applied to saved images: 0, 90, 180 or 270.
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rotation_deg = 0
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@ -239,12 +243,12 @@ homing_timeout_s = 65
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; leave it blank and auto-sweep stays off with a message saying so, rather than
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; the tower inventing an arc nobody chose.
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; A relative path resolves against the directory of the config file it is
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; written in (config.ini sits at the repo root, so: config/scan.csv).
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; written in (on a tower ~/.config/fire_gimbal_control/, so: scan.csv there).
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; The sweep always runs front to back, then returns to the first waypoint and
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; repeats, so every pass captures the waypoints in the same order. The return
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; leg is one long slew (the yaw arc cannot wrap), so order the grid with that
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; in mind.
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grid_file = config/scan.csv
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grid_file = scan.csv
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[Paths]
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; Directory for saved .jxl images. Supports leading ~ and $ENV expansion.
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104
deploy.sh
104
deploy.sh
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@ -14,18 +14,22 @@
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# ./deploy.sh --stop shut the running app down cleanly
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# ./deploy.sh --clean wipe the remote build dir first (fresh configure)
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# ./deploy.sh --push-config ALSO overwrite the device's config.ini with the local one
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#
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# NOTE: camera profile XMLs under config/camera_profiles/ are device-local and
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# are never synced or deleted - export them on the device with the VimbaX Viewer.
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# ./deploy.sh --check-deps only check the remote build dependencies
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# ./deploy.sh --run --force skip the placeholder-config guard before running
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# ./deploy.sh --run --foreground run attached to this terminal instead (debugging)
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#
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# Everything under config/ (the example, the camera-mode files, scan grids) is
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# mirrored on every deploy. The device's own config.ini at the repo root is NOT —
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# it holds the live calibration, camera IDs and credentials for that rig, so a
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# routine deploy must never clobber it. --push-config opts into overwriting it,
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# backing the device copy up to config.ini.bak-<timestamp> first.
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# What belongs to one tower - its config.ini (calibration, camera IDs), its scan
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# grid, the camera profile XMLs exported on it - lives in the tower's own folder,
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# ~/.config/fire_gimbal_control/, outside the project folder this script mirrors
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# (scripts/tower-config). A deploy never reaches it. A tower set up before that
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# folder existed still has them in the project folder; the excludes below keep
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# them safe there until `scripts/tower-config move` is run on it, and every
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# deploy says so.
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#
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# Everything under config/ in this repo (the example config, the example scan
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# grids) is mirrored on every deploy. --push-config opts into overwriting the
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# config.ini the tower reads with the local one, backing the tower's copy up to
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# config.ini.bak-<timestamp> beside it first.
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#
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# --run starts the app inside a tmux session on the device (scripts/fgc), so it
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# survives this ssh connection closing — reattach later with --attach. Only one
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@ -94,7 +98,7 @@ if [[ -n "$SESSION_CMD" && "$SESSION_CMD" != "attach" && "$RUN" == "1" ]]; then
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fi
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if [[ "$PUSH_CONFIG" == "1" && ! -f config.ini ]]; then
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echo "error: --push-config given but there is no local config.ini to push" >&2
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echo " (config.ini is gitignored; the device keeps its own at \$REMOTE_DIR/config.ini)" >&2
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echo " (config.ini is gitignored; the device keeps its own in ~/.config/fire_gimbal_control/)" >&2
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exit 1
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fi
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if [[ "$PUSH_CONFIG" == "1" && -n "$SESSION_CMD" && "$SESSION_CMD" != "attach" ]]; then
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@ -191,9 +195,12 @@ echo ">> build id: $GIT_REV"
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echo ">> ensuring remote dir exists"
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ssh "$REMOTE_HOST" "mkdir -p '$REMOTE_DIR'"
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# config.ini, the camera profile files and images/ are device-local (runtime
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# config, operator-exported camera settings, captured output) and are
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# deliberately NOT mirrored, so a deploy never clobbers them.
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# A tower's own files live in ~/.config/fire_gimbal_control/, out of reach of
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# this rsync. The config.ini and camera profile excludes below are for a tower
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# not moved there yet, which still keeps them in the project folder: they are
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# device-local (runtime config, operator-exported camera settings) and must not
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# be clobbered before `scripts/tower-config move` runs. config.ini.moved-* is
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# what that move leaves behind. images/ is captured output.
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#
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# hardware.ini is excluded for the same reason but one step further: it normally
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# lives in /etc/fire_gimbal_control/, out of reach of this rsync entirely, and
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@ -212,20 +219,6 @@ ssh "$REMOTE_HOST" "mkdir -p '$REMOTE_DIR'"
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# build*/ covers every local build tree, not just build/. They are machine-specific
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# and the device regenerates its own build/ remotely, so shipping build-tui/ etc.
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# just pushed tens of MB of x86 object files the device can never use.
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CONFIG_EXCLUDES=(--exclude 'config.ini')
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if [[ "$PUSH_CONFIG" == "1" ]]; then
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# The device config holds that rig's calibration, camera IDs and credentials -
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# things that exist nowhere else. Keep a copy before overwriting it.
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echo ">> backing up the device config.ini before overwriting it"
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ssh "$REMOTE_HOST" "cd '$REMOTE_DIR' && \
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if [ -f config.ini ]; then \
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cp -p config.ini \"config.ini.bak-\$(date +%Y%m%d-%H%M%S)\" && \
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echo ' saved as config.ini.bak-<timestamp>'; \
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else echo ' no existing device config.ini to back up'; fi"
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CONFIG_EXCLUDES=()
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echo ">> pushing local config.ini (overwrites the device's)"
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fi
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echo ">> syncing to $REMOTE_HOST:$REMOTE_DIR"
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rsync -avz --delete \
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--exclude 'build*/' \
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@ -236,8 +229,9 @@ rsync -avz --delete \
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--exclude '__pycache__' \
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--exclude '.deploy.env' \
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--exclude 'hardware.ini' \
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"${CONFIG_EXCLUDES[@]}" \
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--exclude 'config.ini' \
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--exclude 'config.ini.bak-*' \
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--exclude 'config.ini.moved-*' \
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--exclude 'config/camera_profiles/**/*.xml' \
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--exclude 'config/camera_profiles/**/*.txt' \
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--exclude 'images/' \
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@ -248,19 +242,37 @@ rsync -avz --delete \
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# shellcheck disable=SC2029
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ssh "$REMOTE_HOST" "printf '%s\\n' '$GIT_REV' > '$REMOTE_DIR/.revision'"
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# Seed a config.ini on the device from the example if it doesn't have one yet,
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# so the first run finds a config. Never overwrites an existing device config.
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# Skipped entirely under --push-config: the rsync above just placed one, and the
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# "keeping existing device config.ini" line would be actively misleading there.
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# The tower's folder, and the config.ini the program there will load - asked of
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# the tower, which searches the same places the program does.
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# shellcheck disable=SC2029
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tower_config() { ssh "$REMOTE_HOST" "cd '$REMOTE_DIR' && scripts/tower-config $*"; }
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TOWER_DIR="$(tower_config dir)"
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if [[ "$PUSH_CONFIG" == "1" ]]; then
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echo ">> device config.ini is the one just pushed (previous copy: config.ini.bak-*)"
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# The tower's config holds that rig's calibration, camera IDs and credentials -
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# things that exist nowhere else. Keep a copy before overwriting it.
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TOWER_CFG="$(tower_config where || echo "$TOWER_DIR/config.ini")"
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echo ">> pushing local config.ini to $TOWER_CFG (overwrites the tower's)"
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# shellcheck disable=SC2029
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ssh "$REMOTE_HOST" "mkdir -p \"\$(dirname '$TOWER_CFG')\" && \
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if [ -f '$TOWER_CFG' ]; then \
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cp -p '$TOWER_CFG' '$TOWER_CFG.bak-'\$(date +%Y%m%d-%H%M%S) && \
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echo ' previous copy saved as config.ini.bak-<timestamp> beside it'; \
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else echo ' the tower had no config.ini to back up'; fi"
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scp -q config.ini "$REMOTE_HOST:$TOWER_CFG"
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echo " relative paths in it (grid_file, profile_dir) now resolve from $(dirname "$TOWER_CFG")"
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else
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echo ">> ensuring remote config.ini exists"
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ssh "$REMOTE_HOST" "cd '$REMOTE_DIR' && \
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if [ ! -f config.ini ]; then \
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cp config/config.example.ini config.ini && \
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echo ' seeded config.ini from config/config.example.ini — edit it on the device'; \
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else echo ' keeping existing device config.ini'; fi"
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# A new tower gets its folder, with a config.ini from the example. Never
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# overwrites: an existing config.ini is kept wherever it is.
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echo ">> ensuring the tower has a config.ini"
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tower_config seed | sed 's/^>> / /'
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TOWER_CFG="$(tower_config where)"
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fi
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if [[ "$(dirname "$TOWER_CFG")" != "$TOWER_DIR" ]]; then
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echo "!! this tower's config.ini is still in the project folder ($TOWER_CFG)." >&2
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echo "!! Move it, with its scan grid and camera profiles, out of a deploy's reach:" >&2
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echo "!! ssh $REMOTE_HOST 'cd $REMOTE_DIR && scripts/fgc stop && scripts/tower-config move'" >&2
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fi
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if [[ "$CLEAN" == "1" ]]; then
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@ -277,6 +289,20 @@ ssh "$REMOTE_HOST" "$RESOLVE_CMAKE $CHECK_DEPS_CMD cd '$REMOTE_DIR' && \
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\"\$CMAKE\" --build build $JOBS_FLAG"
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echo ">> build complete: $REMOTE_DIR/build/fire_gimbal_control"
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# A pushed config.ini was written on another machine: check that it loads on
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# this one, with this tower's hardware.ini layered over it, before anyone runs it.
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if [[ "$PUSH_CONFIG" == "1" ]]; then
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echo ">> checking the pushed config.ini on the tower"
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# shellcheck disable=SC2029
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if ! ssh "$REMOTE_HOST" "cd '$REMOTE_DIR' && hw=/etc/fire_gimbal_control/hardware.ini && \
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if [ -f \$hw ]; then build/fgc-config check --config '$TOWER_CFG' --hardware \$hw; \
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else build/fgc-config check --config '$TOWER_CFG'; fi"; then
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echo "!! the pushed config.ini does not load on the tower; the previous one is" >&2
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echo "!! $TOWER_CFG.bak-<timestamp>" >&2
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exit 1
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fi
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fi
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# A boot service installed before [Startup] existed still starts the program
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# with --init/--start, which this build refuses: the tower would not come up at
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# its next boot. Only the installer can fix that (it moves them into config.ini
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@ -306,7 +332,7 @@ if [[ "$RUN" == "1" ]]; then
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echo ">> checking device config.ini for unedited placeholders"
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# shellcheck disable=SC2029
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if ! ssh "$REMOTE_HOST" "
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cfg='$REMOTE_DIR/config.ini'
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cfg='$TOWER_CFG'
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[ -f \"\$cfg\" ] || { echo \"error: \$cfg missing on device\" >&2; exit 2; }
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# Read an INI value (last assignment wins), strip inline ';' comment + ws, lowercase.
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ini_val() { grep -iE \"^[[:space:]]*\$1[[:space:]]*=\" \"\$cfg\" | tail -1 \
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@ -112,5 +112,5 @@ homed this power cycle.
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build/ CMake build output (gitignored)
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include/fgc/, src/ headers and implementations (see modules-reference.md)
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tests/ unit tests
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config/config.example.ini template (copy to config.ini)
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config/config.example.ini template (scripts/tower-config seed copies it to ~/.config/fire_gimbal_control/)
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```
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@ -9,16 +9,42 @@ There are no hardcoded paths. The file is resolved in this order ([src/core/Path
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1. `--config <path>` CLI flag
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2. `$FGC_CONFIG` environment variable
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3. `./config.ini` (current directory)
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4. `<executable dir>/config.ini`
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5. `$XDG_CONFIG_HOME/fire_gimbal_control/config.ini` (else `~/.config/...`)
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3. `$XDG_CONFIG_HOME/fire_gimbal_control/config.ini` (else `~/.config/...`) - **the tower folder**
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4. `./config.ini` (current directory)
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5. `<executable dir>/config.ini`
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If none exist, the program prints every location it searched and exits. Start from the template:
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If none exist, the program prints every location it searched and exits.
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### The tower folder
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Everything that belongs to one tower and is changed on it lives in one folder,
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`~/.config/fire_gimbal_control/`:
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| File | What |
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|---|---|
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| `config.ini` | what the tower does, and its calibration |
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| `scan.csv` (or whatever `[Scan] grid_file` names) | the scan grid chosen for this tower's view |
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| `camera_profiles/rgb/*.xml`, `*.txt` | the camera profiles exported on this tower |
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The folder is outside the project folder, which is what a deploy (`rsync --delete`) and an update
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replace, so neither can overwrite or delete anything in it. `hardware.ini`, which describes the
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assembly and is not changed, stays in `/etc/fire_gimbal_control/`. Relative paths in `config.ini`
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(`grid_file`, `profile_dir`) resolve from the folder `config.ini` is in.
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[scripts/tower-config](../scripts/tower-config) manages it:
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```bash
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cp config/config.example.ini config.ini
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scripts/tower-config seed # a new tower: config.ini, scan.csv and camera_profiles/rgb from the examples
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scripts/tower-config where # the config.ini the program will load
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scripts/tower-config move --dry-run # a tower set up before the folder existed: what would move
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scripts/tower-config move # ... and move it (stop the program first)
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```
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Places 4 and 5 are the old ones: a tower not moved yet still has `config.ini` in the project
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folder, and the program loads it from there and warns at every start. A development checkout may
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keep its own `./config.ini` there too; the program only warns on a machine with
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`/etc/fire_gimbal_control/hardware.ini`.
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## `config.ini` keys
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Parsed and validated by `ConfigLoader` ([src/core/Config.cpp](../src/core/Config.cpp)) into a typed
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@ -216,7 +242,8 @@ the tower can measure it. Yaw is untouched by it.
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The capture **scan grid** is the ordered `(yaw,pitch)` waypoints auto-sweep visits, always front to
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back, then round to the first again — never in reverse. `[Scan] grid_file` points at an editable CSV
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([config/scan.csv](../config/scan.csv)) and is the **only** source of waypoints.
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in the tower folder (`scan.csv`, first copied from the example [config/scan.csv](../config/scan.csv))
|
||||
and is the **only** source of waypoints.
|
||||
|
||||
**Nothing is generated.** Leave `grid_file` blank (or name a file that is missing, malformed or
|
||||
empty) and the program logs why and leaves auto-sweep off, showing the reason in the TUI's scan-grid
|
||||
|
|
|
|||
|
|
@ -16,16 +16,42 @@ between them; what differs lives in each tower's `hardware.ini`.
|
|||
|---|---|---|
|
||||
| `~ggs/projects/fwt_2a/software/` | this repository, and the program's build in `build/` | `deploy.sh` (sync + build), or the installer |
|
||||
| `~ggs/projects/fwt_2a/firmware/` | the firmware repository, built on the tower | `firmware/deploy.sh` |
|
||||
| `.../software/config.ini` | what the tower DOES: scan, capture, logging, calibration | the installer (seeded once), `gimbal ... setup` (calibration), a person |
|
||||
| `~ggs/.config/fire_gimbal_control/config.ini` | what the tower DOES: scan, capture, logging, calibration | the installer (seeded once), `gimbal ... setup` (calibration), a person |
|
||||
| `~ggs/.config/fire_gimbal_control/scan.csv` | the scan grid chosen for this tower (`[Scan] grid_file`) | the installer (the example grid), a person |
|
||||
| `/etc/fire_gimbal_control/hardware.ini` | what the tower IS: board, axes, sensors, pins, drivetrain | the installer; a person when the hardware changes |
|
||||
| `/etc/fire_gimbal_control/credentials.env` | `FGC_MQTT_USER=` / `FGC_MQTT_PW=`, mode 0640 root:ggs | the installer |
|
||||
| `/etc/fire_gimbal_control/install.log` | one line per installer run | the installer |
|
||||
| `~ggs/.local/share/fire_gimbal_control/logs/` | the program's log, test reports | the program |
|
||||
| `.../software/config/camera_profiles/rgb/*.xml` | the camera settings, exported ON the tower from its camera | the installer, or `scripts/export_camera_profile.py` |
|
||||
| `~ggs/.config/fire_gimbal_control/camera_profiles/rgb/*.xml` | the camera settings, exported ON the tower from its camera | the installer, or `scripts/export_camera_profile.py` |
|
||||
|
||||
`deploy.sh` never touches `config.ini`, `hardware.ini`, the camera profiles or
|
||||
the images: they exist only on the tower, and `rsync --delete` once erased a
|
||||
freshly exported profile before they were excluded.
|
||||
The rule: what a tower changes lives in `~/.config/fire_gimbal_control/`, what
|
||||
it never changes in `/etc/fire_gimbal_control/`, and the project folder holds
|
||||
only what a deploy or an update may replace. `deploy.sh` mirrors the project
|
||||
folder with `rsync --delete`, so nothing of the tower's own may live there -
|
||||
`rsync --delete` once erased a freshly exported profile that did.
|
||||
|
||||
### A tower set up before the tower folder existed
|
||||
|
||||
Its `config.ini`, scan grid and camera profiles are still in the project folder.
|
||||
The program loads them from there and warns at every start, and every deploy
|
||||
prints how to move them. Until then `deploy.sh`'s excludes keep them safe. Move
|
||||
them once, on the tower:
|
||||
|
||||
```bash
|
||||
ssh ggs@<tower>
|
||||
cd ~/projects/fwt_2a/software
|
||||
scripts/tower-config move --dry-run # what moves where, and what config.ini will say
|
||||
scripts/fgc stop # the program writes config.ini itself
|
||||
scripts/tower-config move
|
||||
scripts/fgc start # or: sudo systemctl start fire-gimbal-control
|
||||
```
|
||||
|
||||
It copies `config.ini`, the scan grid `[Scan] grid_file` names and every
|
||||
camera's profiles into the tower folder, and rewrites those two paths
|
||||
(`config/scan.csv` becomes `scan.csv`). `fgc-config` checks the result loads
|
||||
before it is written. The old `config.ini` is renamed
|
||||
`config.ini.moved-<timestamp>`, and the old grid and profiles stay where they
|
||||
were. `scripts/install-tower` does the same move as one of its steps.
|
||||
|
||||
## 1. Updating the program from the dev box
|
||||
|
||||
|
|
|
|||
|
|
@ -214,7 +214,7 @@ config at all, because **none of those values trip the placeholder guard in
|
|||
`DEV_0000000000`.
|
||||
|
||||
```bash
|
||||
ssh ggs@<tower-ip> 'grep -E "tower_name|zkms_server_ip|^id" ~/projects/fwt_2a/software/config.ini'
|
||||
ssh ggs@<tower-ip> 'grep -E "tower_name|zkms_server_ip|^id" ~/.config/fire_gimbal_control/config.ini'
|
||||
```
|
||||
|
||||
## 3. Host preconditions and build dependencies `[verified]`
|
||||
|
|
@ -671,7 +671,7 @@ a 32-byte buffer).
|
|||
## 8. Camera profiles `[verified]`
|
||||
|
||||
**Without a profile the program does not start** - `no camera profiles (*.xml)
|
||||
in config/camera_profiles/rgb` is a startup error, by design. A fresh tower has
|
||||
in ~/.config/fire_gimbal_control/camera_profiles/rgb` is a startup error, by design. A fresh tower has
|
||||
an empty profile directory, so this step is not optional.
|
||||
|
||||
The documented way to make one is the VimbaX Viewer, which is a GUI - awkward on
|
||||
|
|
|
|||
|
|
@ -14,10 +14,28 @@ std::string expandUser(const std::string& path);
|
|||
// Returns empty string if it cannot be determined.
|
||||
std::string executableDir();
|
||||
|
||||
// The folder that holds what belongs to ONE tower and is changed on it:
|
||||
// config.ini, the scan grid, the camera profile XMLs
|
||||
// ($XDG_CONFIG_HOME/fire_gimbal_control, else ~/.config/fire_gimbal_control).
|
||||
// It is outside the deployed project folder, so a deploy or an update never
|
||||
// overwrites or deletes anything in it. Empty if it cannot be determined.
|
||||
std::string towerConfigDir();
|
||||
|
||||
// The ordered list of locations searched for a config file, given an optional
|
||||
// explicit --config argument. Exposed so callers can report what was tried.
|
||||
//
|
||||
// --config <path> explicit
|
||||
// $FGC_CONFIG the environment
|
||||
// <towerConfigDir()>/config.ini the normal answer on a tower
|
||||
// ./config.ini the old place, and a development checkout
|
||||
// <dir of the executable>/config.ini
|
||||
std::vector<std::string> configSearchPaths(const std::string& cliArg = "");
|
||||
|
||||
// True when this is a tower (it has /etc/fire_gimbal_control/hardware.ini) and
|
||||
// the config was found by searching, but outside towerConfigDir(): a tower whose
|
||||
// files have not been moved yet (scripts/tower-config move).
|
||||
bool configInOldPlace(const std::string& cliArg, const std::string& configPath);
|
||||
|
||||
// Resolve the config file path using configSearchPaths(): the first existing,
|
||||
// readable file wins. Returns nullopt if none is found.
|
||||
std::optional<std::string> resolveConfigPath(const std::string& cliArg = "");
|
||||
|
|
|
|||
8
main.cpp
8
main.cpp
|
|
@ -120,8 +120,8 @@ int main(int argc, char* argv[]) {
|
|||
if (!cfg_path) {
|
||||
std::cerr << "No config.ini found. Searched:\n";
|
||||
for (const auto& p : paths::configSearchPaths(cli_cfg)) std::cerr << " - " << p << "\n";
|
||||
std::cerr << "Copy config/config.example.ini to one of these, pass --config, "
|
||||
"or set $FGC_CONFIG.\n";
|
||||
std::cerr << "Run scripts/tower-config seed to create one in "
|
||||
<< paths::towerConfigDir() << ", pass --config, or set $FGC_CONFIG.\n";
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
|
@ -198,6 +198,10 @@ int main(int argc, char* argv[]) {
|
|||
}
|
||||
|
||||
LOG_INFO << "Loaded config: " << *cfg_path;
|
||||
if (paths::configInOldPlace(cli_cfg, *cfg_path))
|
||||
LOG_WARN << "this tower's config.ini is still in the project folder, where a deploy "
|
||||
"can reach it: run scripts/tower-config move to put it in "
|
||||
<< paths::towerConfigDir();
|
||||
|
||||
// Only one instance may run: a second would fight the first over the motor's
|
||||
// serial port, the camera, and the exposure store. The lock is held for the
|
||||
|
|
|
|||
|
|
@ -20,7 +20,10 @@ anything the camera refused is reported rather than silently kept.
|
|||
Usage, on the tower:
|
||||
|
||||
GENICAM_GENTL64_PATH=/opt/VimbaX/cti ~/.venvs/vmbpy/bin/python \
|
||||
scripts/export_camera_profile.py --profile standard --out config/camera_profiles/rgb
|
||||
scripts/export_camera_profile.py --profile standard
|
||||
|
||||
It writes into the tower's own folder, ~/.config/fire_gimbal_control/
|
||||
camera_profiles/rgb, where a deploy cannot reach it; --out picks another.
|
||||
|
||||
... --dry-run report what would change, write nothing
|
||||
... --camera DEV_xxx pick a camera explicitly
|
||||
|
|
@ -153,7 +156,9 @@ def apply_feature(cam, name, value, dry_run):
|
|||
def main():
|
||||
ap = argparse.ArgumentParser()
|
||||
ap.add_argument("--profile", default="standard", choices=sorted(RECIPES))
|
||||
ap.add_argument("--out", default="config/camera_profiles/rgb",
|
||||
ap.add_argument("--out", default=os.path.join(
|
||||
os.environ.get("XDG_CONFIG_HOME") or os.path.expanduser("~/.config"),
|
||||
"fire_gimbal_control", "camera_profiles", "rgb"),
|
||||
help="directory to write <profile>.xml into")
|
||||
ap.add_argument("--camera", default=None, help="camera id (default: the first real one)")
|
||||
ap.add_argument("--dry-run", action="store_true")
|
||||
|
|
|
|||
|
|
@ -152,7 +152,8 @@ cmd_start() {
|
|||
# It is a *window* option, and a pane that dies immediately takes the window
|
||||
# with it before the option can be set — so create the session on a
|
||||
# placeholder, set the option, then respawn the pane with the real command.
|
||||
# -c: the program resolves ./config.ini and the output dir from the cwd. The
|
||||
# -c: a tower not moved to ~/.config/fire_gimbal_control yet still has its
|
||||
# config.ini here, which the program finds as ./config.ini. The
|
||||
# pane runs this script's hidden `_run`, so the Vimba environment is resolved
|
||||
# inside the pane; run.sh finds the binary, one place only.
|
||||
tmux new-session -d -s "$session" -c "$repo" 'sleep 86400'
|
||||
|
|
|
|||
|
|
@ -42,7 +42,12 @@ ETC="${INSTALL_TOWER_ETC:-/etc/fire_gimbal_control}"
|
|||
HW="$ETC/hardware.ini"
|
||||
CRED="$ETC/credentials.env"
|
||||
INSTALL_LOG="$ETC/install.log"
|
||||
CFG="${INSTALL_TOWER_CONFIG:-$REPO/config.ini}"
|
||||
# config.ini lives in the tower's own folder, outside the project folder a deploy
|
||||
# replaces (scripts/tower-config). A tower set up before that folder existed
|
||||
# still has it in the project folder: found there, and moved by the plan below.
|
||||
TOWER_CONFIG="$REPO/scripts/tower-config"
|
||||
TOWER_DIR="$("$TOWER_CONFIG" dir)"
|
||||
CFG="${INSTALL_TOWER_CONFIG:-$("$TOWER_CONFIG" where || echo "$TOWER_DIR/config.ini")}"
|
||||
UNIT="${INSTALL_TOWER_UNIT:-/etc/systemd/system/fire-gimbal-control.service}"
|
||||
LOGDIR="${XDG_DATA_HOME:-$HOME/.local/share}/fire_gimbal_control/logs"
|
||||
BIN="$REPO/build/fire_gimbal_control"
|
||||
|
|
@ -375,7 +380,7 @@ running firmware : ${S_FW_NOW:-unknown}
|
|||
camera : ${S_CAM:-not found}${S_LPM:+ (LPM $(cat "$S_LPM") at $S_LPM)}
|
||||
usbfs_memory_mb : $S_USBFS
|
||||
hardware.ini : $([[ -r $HW ]] && echo "present, $(hw_todos | grep -c . || true) TODO(s)" || echo absent)
|
||||
config.ini : $([[ -r $CFG ]] && echo "present, tower_name $(ini_get "$CFG" General tower_name 2>/dev/null || echo '?'), [Startup] home $(ini_get "$CFG" Startup home 2>/dev/null || echo unset), mode $(ini_get "$CFG" Startup mode 2>/dev/null || echo unset)" || echo absent)
|
||||
config.ini : $([[ -r $CFG ]] && echo "$CFG, tower_name $(ini_get "$CFG" General tower_name 2>/dev/null || echo '?'), [Startup] home $(ini_get "$CFG" Startup home 2>/dev/null || echo unset), mode $(ini_get "$CFG" Startup mode 2>/dev/null || echo unset)" || echo absent)
|
||||
app : $([[ $S_RUNNING -eq 1 ]] && echo "running (${S_ARGS:-no arguments})" || echo "not running")
|
||||
service : ${S_SVC_ENABLED:-absent} / ${S_SVC_ACTIVE:-inactive}, linger ${S_LINGER}
|
||||
PlatformIO : ${S_PIO:-not installed}
|
||||
|
|
@ -451,6 +456,9 @@ verify() {
|
|||
else
|
||||
check "config files load" 1 "fgc-config or config.ini missing"
|
||||
fi
|
||||
check "tower files" "$([[ $(dirname "$CFG") == "$TOWER_DIR" ]] && echo 0 || echo 1)" \
|
||||
"$([[ $(dirname "$CFG") == "$TOWER_DIR" ]] && echo "in $TOWER_DIR" ||
|
||||
echo "config.ini is in the project folder, where a deploy reaches: scripts/tower-config move")"
|
||||
local todo; todo="$(hw_todos | grep -c . || true)"
|
||||
check "hardware.ini complete" "$([[ $todo -eq 0 ]] && echo 0 || echo 1)" "$todo TODO(s)"
|
||||
local now; now="$(firmware_report)"
|
||||
|
|
@ -692,6 +700,16 @@ for f in "${HW_FILLS[@]}"; do # a TODO answered now counts too
|
|||
done
|
||||
declared_axes="$(ini_get "$HW_VIEW" Hardware axes 2>/dev/null | tr -d ' ' || echo yaw)"
|
||||
|
||||
# The tower's own files: a tower set up before ~/.config/fire_gimbal_control
|
||||
# existed keeps config.ini, its scan grid and its camera profiles in the project
|
||||
# folder, where a deploy can overwrite or delete them. Moved first, so every step
|
||||
# after works on the moved copy. Not when --config-like overrides point elsewhere.
|
||||
if [[ -z ${INSTALL_TOWER_CONFIG:-} && -r $CFG && $(dirname "$CFG") != "$TOWER_DIR" ]]; then
|
||||
plan "tower files" change "move config.ini, its scan grid and camera profiles to $TOWER_DIR"
|
||||
else
|
||||
plan "tower files" skip "$([[ -r $CFG ]] && echo "in $(dirname "$CFG")" || echo "new tower: created with config.ini")"
|
||||
fi
|
||||
|
||||
# config.ini: what this tower DOES.
|
||||
declare -a CFG_SETS=()
|
||||
CFG_SEED=0 CRED_WRITE=0
|
||||
|
|
@ -808,7 +826,18 @@ if [[ -n $S_PIO ]] && "$S_PIO" --version >/dev/null 2>&1; then plan platformio s
|
|||
else plan platformio change "install PlatformIO Core into ~/.platformio"; fi
|
||||
|
||||
# Camera profiles: the program will not start a real camera without them.
|
||||
PROFDIR="$REPO/config/camera_profiles/rgb"
|
||||
# Where the program looks for them: [Camera.rgb] profile_dir, relative to the
|
||||
# folder config.ini is in - the tower folder for a new tower.
|
||||
prof_dir() {
|
||||
local pd; pd="$(ini_get "$CFG" Camera.rgb profile_dir 2>/dev/null || true)"
|
||||
case "$pd" in
|
||||
"") echo "$TOWER_DIR/camera_profiles/rgb" ;;
|
||||
/*) echo "$pd" ;;
|
||||
\~*) echo "$HOME${pd#\~}" ;;
|
||||
*) echo "$(dirname "$CFG")/$pd" ;;
|
||||
esac
|
||||
}
|
||||
PROFDIR="$(prof_dir)"
|
||||
cams="$(ini_get "$HW_VIEW" Hardware cameras 2>/dev/null || echo none)"
|
||||
if [[ $cams == none || -z $cams ]]; then plan profiles skip "no camera declared"
|
||||
else
|
||||
|
|
@ -1007,10 +1036,21 @@ if [[ ${DO[credentials]:-} == create ]]; then
|
|||
say "wrote $CRED"; done_step credentials
|
||||
fi
|
||||
|
||||
if [[ ${DO[tower files]} == change ]]; then
|
||||
hr "tower files"
|
||||
stop_app
|
||||
"$TOWER_CONFIG" move
|
||||
CFG="$TOWER_DIR/config.ini"
|
||||
done_step "tower files"
|
||||
fi
|
||||
|
||||
if [[ ${DO[config.ini]} != skip ]]; then
|
||||
hr config.ini
|
||||
args=(); for s in "${CFG_SETS[@]}"; do args+=(--set "$s"); done
|
||||
if [[ $CFG_SEED -eq 1 ]]; then
|
||||
# The folder, the example scan grid and an empty camera_profiles/rgb;
|
||||
# the config.ini itself is written next, from the answers.
|
||||
[[ -n ${INSTALL_TOWER_CONFIG:-} ]] || "$TOWER_CONFIG" seed --no-config
|
||||
"$FGC_CONFIG" seed --example "$REPO/config/config.example.ini" --out "$CFG" --hardware "$HW" \
|
||||
"${args[@]}" \
|
||||
--drop "Network.mqtt_user=comes from $CRED (FGC_MQTT_USER)" \
|
||||
|
|
@ -1041,9 +1081,11 @@ if [[ ${DO[profiles]} == change ]]; then
|
|||
if { [[ -x $HOME/.venvs/vmbpy/bin/python ]] || {
|
||||
python3 -m venv "$HOME/.venvs/vmbpy" &&
|
||||
"$HOME/.venvs/vmbpy/bin/pip" install -q /opt/VimbaX/api/python/vmbpy-*.whl; }; }; then
|
||||
PROFDIR="$(prof_dir)" # the config may have moved since the plan was made
|
||||
mkdir -p "$PROFDIR"
|
||||
for prof in "${PROF_MISSING[@]}"; do
|
||||
( cd "$REPO" && GENICAM_GENTL64_PATH=/opt/VimbaX/cti "$HOME/.venvs/vmbpy/bin/python" \
|
||||
scripts/export_camera_profile.py --profile "$prof" ) ||
|
||||
scripts/export_camera_profile.py --profile "$prof" --out "$PROFDIR" ) ||
|
||||
warn "could not export the $prof profile; export it later (docs/tower-installation.md section 8)"
|
||||
done
|
||||
done_step profiles
|
||||
|
|
|
|||
|
|
@ -0,0 +1,176 @@
|
|||
#!/usr/bin/env bash
|
||||
#
|
||||
# tower-config - the folder that holds what belongs to ONE tower: its config.ini,
|
||||
# its scan grid and its camera profile XMLs. Run it ON the tower, as the user the
|
||||
# program runs as (ggs).
|
||||
#
|
||||
# scripts/tower-config dir print the folder
|
||||
# (~/.config/fire_gimbal_control)
|
||||
# scripts/tower-config where print the config.ini the program will
|
||||
# load; exit 1 if there is none
|
||||
# scripts/tower-config seed [--no-config]
|
||||
# a new tower: create the folder with a
|
||||
# config.ini from the example, the example
|
||||
# scan grid and an empty camera_profiles/rgb.
|
||||
# Never overwrites; --no-config leaves the
|
||||
# config.ini out (install-tower writes its own)
|
||||
# scripts/tower-config move [--dry-run] one time, on a tower set up before this
|
||||
# folder existed: move config.ini, the scan
|
||||
# grid and the camera profiles out of the
|
||||
# project folder and into it
|
||||
#
|
||||
# Why a folder of its own: the project folder is what a deploy (rsync --delete)
|
||||
# and an update replace. Anything the tower changes - its calibration in
|
||||
# config.ini, the scan grid chosen for its view, the profiles exported from its
|
||||
# camera - must live where neither can reach it. hardware.ini, which describes
|
||||
# the assembly and is never changed, stays in /etc/fire_gimbal_control/.
|
||||
#
|
||||
# `move` copies config.ini into the folder and rewrites the paths in it that
|
||||
# pointed into the project folder (grid_file, each camera's profile_dir), with
|
||||
# fgc-config, so the result is checked to load before it is written. The old
|
||||
# config.ini is then renamed config.ini.moved-<timestamp>, so nobody edits a copy
|
||||
# the program no longer reads. The old scan grid and profiles stay where they
|
||||
# were. It refuses while the program is running: the program writes config.ini
|
||||
# itself, and would write to the old copy.
|
||||
#
|
||||
set -euo pipefail
|
||||
|
||||
here="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
|
||||
REPO="$(cd "$here/.." && pwd)"
|
||||
DIR="${XDG_CONFIG_HOME:-$HOME/.config}/fire_gimbal_control"
|
||||
OLD="$REPO/config.ini"
|
||||
HW=/etc/fire_gimbal_control/hardware.ini
|
||||
FGC_CONFIG_BIN="$REPO/build/fgc-config"
|
||||
|
||||
say() { printf '>> %s\n' "$*"; }
|
||||
die() { printf 'tower-config: %s\n' "$*" >&2; exit 1; }
|
||||
usage() { awk 'NR>2 && /^#/ {sub(/^# ?/, ""); print; next} NR>2 {exit}' "${BASH_SOURCE[0]}"; }
|
||||
|
||||
# The same order the program searches, minus --config (src/core/Paths.cpp).
|
||||
cmd_where() {
|
||||
local c
|
||||
for c in "${FGC_CONFIG:-}" "$DIR/config.ini" "$OLD"; do
|
||||
[[ -n $c && -f $c ]] && { echo "$c"; return 0; }
|
||||
done
|
||||
return 1
|
||||
}
|
||||
|
||||
cmd_seed() {
|
||||
local with_config=1
|
||||
[[ ${1:-} == --no-config ]] && with_config=0
|
||||
if [[ $with_config -eq 1 ]]; then
|
||||
local have
|
||||
# An existing tower, wherever its config.ini is, is left alone: one not
|
||||
# moved yet must not get a second scan grid that `move` would trip over.
|
||||
if have="$(cmd_where)"; then
|
||||
say "keeping the existing $have"
|
||||
return 0
|
||||
fi
|
||||
mkdir -p "$DIR"
|
||||
cp "$REPO/config/config.example.ini" "$DIR/config.ini"
|
||||
say "created $DIR/config.ini from the example - edit it for this tower"
|
||||
fi
|
||||
mkdir -p "$DIR/camera_profiles/rgb"
|
||||
if [[ -e $DIR/scan.csv ]]; then
|
||||
say "keeping the existing $DIR/scan.csv"
|
||||
else
|
||||
cp "$REPO/config/scan.csv" "$DIR/scan.csv"
|
||||
say "created $DIR/scan.csv from the example grid - replace it with this tower's"
|
||||
fi
|
||||
}
|
||||
|
||||
# A path from config.ini that pointed into the project folder, as it reads from
|
||||
# the tower folder: the same path without its leading "config/".
|
||||
moved_path() { local p="$1"; echo "${p#config/}"; }
|
||||
is_relative() { [[ -n $1 && $1 != /* && $1 != \~* && $1 != \$* ]]; }
|
||||
|
||||
cmd_move() {
|
||||
local dry=0
|
||||
[[ ${1:-} == --dry-run ]] && dry=1
|
||||
|
||||
if [[ -f $DIR/config.ini ]]; then
|
||||
if [[ -f $OLD ]]; then
|
||||
die "$DIR/config.ini already exists, and so does $OLD.
|
||||
The program reads $DIR/config.ini; the copy in the project folder is unused.
|
||||
Compare the two, keep what is right in $DIR/config.ini, then rename the other."
|
||||
fi
|
||||
say "already moved: the program reads $DIR/config.ini"
|
||||
return 0
|
||||
fi
|
||||
[[ -f $OLD ]] || die "there is no $OLD to move (a new tower: scripts/tower-config seed)"
|
||||
[[ -x $FGC_CONFIG_BIN ]] || die "no $FGC_CONFIG_BIN - build first (./deploy.sh does)"
|
||||
if [[ -f $REPO/hardware.ini && ! -f $HW ]]; then
|
||||
die "this tower's hardware.ini is in the project folder ($REPO/hardware.ini).
|
||||
Put it in /etc first, where it belongs:
|
||||
sudo install -D -m 0644 $REPO/hardware.ini $HW"
|
||||
fi
|
||||
if [[ $dry -eq 0 ]] && "$here/fgc" status >/dev/null 2>&1; then
|
||||
die "the program is running and writes config.ini itself. Stop it first:
|
||||
scripts/fgc stop"
|
||||
fi
|
||||
|
||||
# What has to come along, and what config.ini will say afterwards.
|
||||
local -a sets=() copies=()
|
||||
local grid; grid="$("$FGC_CONFIG_BIN" get "$OLD" Scan.grid_file 2>/dev/null || true)"
|
||||
if is_relative "$grid"; then
|
||||
[[ -f $REPO/$grid ]] || die "[Scan] grid_file = $grid, but $REPO/$grid does not exist. Fix config.ini first."
|
||||
copies+=("$REPO/$grid|$DIR/$(moved_path "$grid")")
|
||||
[[ $(moved_path "$grid") != "$grid" ]] && sets+=("Scan.grid_file=$(moved_path "$grid")")
|
||||
fi
|
||||
local cam
|
||||
while read -r cam; do
|
||||
[[ -n $cam ]] || continue
|
||||
local pd; pd="$("$FGC_CONFIG_BIN" get "$OLD" "Camera.$cam.profile_dir" 2>/dev/null || true)"
|
||||
is_relative "$pd" || continue
|
||||
local f
|
||||
for f in "$REPO/$pd"/*.xml "$REPO/$pd"/*.txt; do
|
||||
[[ -f $f ]] && copies+=("$f|$DIR/$(moved_path "$pd")/$(basename "$f")")
|
||||
done
|
||||
[[ $(moved_path "$pd") != "$pd" ]] && sets+=("Camera.$cam.profile_dir=$(moved_path "$pd")")
|
||||
done < <(sed -nE 's/^[[:space:]]*\[Camera\.([^]]+)\][[:space:]]*$/\1/p' "$OLD")
|
||||
|
||||
say "moving this tower's files to $DIR"
|
||||
echo " $OLD -> $DIR/config.ini"
|
||||
local c
|
||||
for c in ${copies[@]+"${copies[@]}"}; do echo " ${c%%|*} -> ${c#*|}"; done
|
||||
for c in ${sets[@]+"${sets[@]}"}; do echo " config.ini: set ${c%%=*} = ${c#*=}"; done
|
||||
echo " $OLD renamed to config.ini.moved-<timestamp>"
|
||||
[[ $dry -eq 1 ]] && { say "dry run: nothing changed"; return 0; }
|
||||
|
||||
for c in ${copies[@]+"${copies[@]}"}; do
|
||||
local src="${c%%|*}" dst="${c#*|}"
|
||||
if [[ -e $dst ]] && ! cmp -s "$src" "$dst"; then
|
||||
die "$dst already exists and differs from $src. Nothing was moved; sort that out first."
|
||||
fi
|
||||
done
|
||||
mkdir -p "$DIR"
|
||||
for c in ${copies[@]+"${copies[@]}"}; do
|
||||
mkdir -p "$(dirname "${c#*|}")"
|
||||
cp -p "${c%%|*}" "${c#*|}"
|
||||
done
|
||||
cp -p "$OLD" "$DIR/config.ini"
|
||||
if (( ${#sets[@]} )); then
|
||||
local -a args=() hw_args=()
|
||||
for c in "${sets[@]}"; do args+=(--set "$c"); done
|
||||
[[ -f $HW ]] && hw_args=(--hardware "$HW")
|
||||
if ! "$FGC_CONFIG_BIN" set "$DIR/config.ini" --config "$DIR/config.ini" ${hw_args[@]+"${hw_args[@]}"} \
|
||||
"${args[@]}" --provenance "$(date -u +%Y-%m-%dT%H:%MZ), tower-config move"; then
|
||||
rm -f "$DIR/config.ini"
|
||||
die "the moved config.ini would not load; nothing was changed in $REPO"
|
||||
fi
|
||||
fi
|
||||
local moved; moved="config.ini.moved-$(date +%Y%m%d-%H%M%S)"
|
||||
mv "$OLD" "$REPO/$moved"
|
||||
say "done. The program now reads $DIR/config.ini"
|
||||
echo " the old copy is $REPO/$moved; the old scan grid and profiles are left where they were"
|
||||
}
|
||||
|
||||
sub="${1:-}"; shift || true
|
||||
case "$sub" in
|
||||
dir) echo "$DIR" ;;
|
||||
where) cmd_where ;;
|
||||
seed) cmd_seed "$@" ;;
|
||||
move) cmd_move "$@" ;;
|
||||
""|-h|--help|help) usage; [[ -z $sub ]] && exit 1 || exit 0 ;;
|
||||
*) die "unknown command: $sub (try 'tower-config --help')" ;;
|
||||
esac
|
||||
|
|
@ -68,6 +68,12 @@ std::string executableDir() {
|
|||
return self.parent_path().string();
|
||||
}
|
||||
|
||||
std::string towerConfigDir() {
|
||||
std::string xdg = envOr("XDG_CONFIG_HOME", expandUser("~/.config"));
|
||||
if (xdg.empty()) return {};
|
||||
return (fs::path(xdg) / "fire_gimbal_control").string();
|
||||
}
|
||||
|
||||
std::vector<std::string> configSearchPaths(const std::string& cliArg) {
|
||||
std::vector<std::string> paths;
|
||||
if (!cliArg.empty()) paths.push_back(expandUser(cliArg));
|
||||
|
|
@ -75,18 +81,30 @@ std::vector<std::string> configSearchPaths(const std::string& cliArg) {
|
|||
if (const char* env = std::getenv("FGC_CONFIG"); env && *env)
|
||||
paths.push_back(expandUser(env));
|
||||
|
||||
if (std::string dir = towerConfigDir(); !dir.empty())
|
||||
paths.push_back((fs::path(dir) / "config.ini").string());
|
||||
|
||||
// The old places: a tower whose files have not been moved yet, and a
|
||||
// development checkout with its own config.ini.
|
||||
paths.push_back("config.ini"); // current working directory
|
||||
|
||||
if (std::string dir = executableDir(); !dir.empty())
|
||||
paths.push_back((fs::path(dir) / "config.ini").string());
|
||||
|
||||
std::string xdg = envOr("XDG_CONFIG_HOME", expandUser("~/.config"));
|
||||
if (!xdg.empty())
|
||||
paths.push_back((fs::path(xdg) / "fire_gimbal_control" / "config.ini").string());
|
||||
|
||||
return paths;
|
||||
}
|
||||
|
||||
bool configInOldPlace(const std::string& cliArg, const std::string& configPath) {
|
||||
if (!cliArg.empty()) return false;
|
||||
if (const char* env = std::getenv("FGC_CONFIG"); env && *env) return false;
|
||||
std::error_code ec;
|
||||
if (!fs::is_regular_file("/etc/fire_gimbal_control/hardware.ini", ec)) return false;
|
||||
const std::string dir = towerConfigDir();
|
||||
if (dir.empty()) return false;
|
||||
return fs::absolute(fs::path(configPath), ec).parent_path().lexically_normal() !=
|
||||
fs::path(dir).lexically_normal();
|
||||
}
|
||||
|
||||
std::optional<std::string> resolveConfigPath(const std::string& cliArg) {
|
||||
std::error_code ec;
|
||||
for (const auto& p : configSearchPaths(cliArg)) {
|
||||
|
|
|
|||
|
|
@ -29,6 +29,29 @@ TEST_CASE("configSearchPaths honours the CLI argument first") {
|
|||
CHECK(p.front() == "/explicit/config.ini");
|
||||
}
|
||||
|
||||
TEST_CASE("the tower folder is searched before the old places") {
|
||||
unsetenv("FGC_CONFIG");
|
||||
setenv("XDG_CONFIG_HOME", "/home/tester/.config", 1);
|
||||
auto p = paths::configSearchPaths("");
|
||||
unsetenv("XDG_CONFIG_HOME");
|
||||
|
||||
// A copy left in the project folder - where a deploy can reach it - must
|
||||
// never win over the tower's own.
|
||||
REQUIRE(p.size() >= 2);
|
||||
CHECK(p[0] == "/home/tester/.config/fire_gimbal_control/config.ini");
|
||||
CHECK(p[1] == "config.ini");
|
||||
}
|
||||
|
||||
TEST_CASE("towerConfigDir falls back to ~/.config") {
|
||||
unsetenv("XDG_CONFIG_HOME");
|
||||
setenv("HOME", "/home/tester", 1);
|
||||
CHECK(paths::towerConfigDir() == "/home/tester/.config/fire_gimbal_control");
|
||||
}
|
||||
|
||||
TEST_CASE("an explicit config is never reported as being in the old place") {
|
||||
CHECK_FALSE(paths::configInOldPlace("/somewhere/config.ini", "/somewhere/config.ini"));
|
||||
}
|
||||
|
||||
TEST_CASE("hardwareSearchPaths looks in the documented order") {
|
||||
unsetenv("FGC_HARDWARE");
|
||||
auto p = paths::hardwareSearchPaths("", "/opt/fgc/config.ini");
|
||||
|
|
|
|||
Loading…
Reference in New Issue