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start-blueos-core
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start-blueos-core
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#!/usr/bin/env bash
# Immediately exit on errors
set -e
echo "BlueOS ${GIT_DESCRIBE_TAGS}"
BLUEOS_PATH=/home/pi
SERVICES_PATH=$BLUEOS_PATH/services
TOOLS_PATH=$BLUEOS_PATH/tools
# MAVLink configuration
MAV_SYSTEM_ID=1
## We use the last ID for the onboard computer component reserved address for our usage
MAV_COMPONENT_ID_ONBOARD_COMPUTER4=194
# Enable Rust backtrace for all programs
RUST_BACKTRACE=1
# Set BlueOS log folder
BLUEOS_LOG_FOLDER_PATH="/var/logs/blueos"
# The system may start with full disk, in this case resulting in an unstable behavior.
# As an attempt to recover the system, lets delete the log files before current boot
AVAILABLE_SPACE_MB=$(($(stat -f / --format="%a*%S/1024**2")))
CRITICAL_SPACE_LIMIT_MB=100
echo "Available disk space: ${AVAILABLE_SPACE_MB}MB"
(( AVAILABLE_SPACE_MB < CRITICAL_SPACE_LIMIT_MB )) && (
LOG_FOLDER_SIZE=$(($(du -sm ${BLUEOS_LOG_FOLDER_PATH} | awk '{print $1}')))
echo "Not enough free space for the system to run, limit is: ${CRITICAL_SPACE_LIMIT_MB}MB"
echo "Going to delete the logs folder as an attempt to recover: ${LOG_FOLDER_SIZE}MB"
rm -rf "$BLUEOS_LOG_FOLDER_PATH/*"
echo "Done!"
)
TOTAL_RAM_MB=$(free -m | awk '/Mem:/ {print $2}')
echo "Total RAM size: ${TOTAL_RAM_MB} MB"
# Update docker binds, if we need to restart, exit!
blueos_startup_update
# Set permission of docker unix socket file to be accessible by nginx
if [ -e "/var/run/docker.sock" ]; then
chmod 777 /var/run/docker.sock
else
echo "Error: Docker socket file does not exist!"
fi
# Generate hardware identification uuid
if [ -e "/etc/blueos" ]; then
machineid-cli --key blueos --parts cpu-cores cpuid mac-address > /etc/blueos/hardware-uuid
else
echo "Error: blueos static system configuration folder does not exist!"
fi
# This is a workaround to make the container's `resolv.conf` synchronized with the host's
# `resolv.conf`. To do that, we disallow docker from managing the container's DNS nameservers
# by unmounting the container's `/etc/resolv.conf`, and soft linking it to the binded host's
# `/etc/resolv.conf`.
# So for this to work, the container's `/etc/resolv.conf.host` file should be binded (read-only) to
# the host's `/etc/resolv.conf`, for our system, it's configured in `bootstrap/startup.json.default`,
# and a patch is added in `core/tools/blueos_startup_update` so systems with older bootstrap
# versions can also work with it.
# One detail is that because docker uses `mount` to bind the host's file to the container's file,
# if the file-descriptor of the file changes, the bind will be lost. To prevent this, the file being
# binded must be a hard link to the actual `/etc/resolv.conf`, and that hard link file is the one
# being binded. This hard link is being done in `core/tools/blueos_startup_update` as
# `/etc/resolv.conf.host`.
# To briefly understand why it is necessary, when the docker starts a container, it generates
# the container `/etc/resolv.conf` based on the host's one, or some docker configuration, however,
# during the container's lifetime, if the host's DNS configuration changes, the container's DNS
# doesn't follow it, making the container (possibly) unable to resolve DNSs correctly, failing
# the BlueOS Helper's internet connection check. By syncing the container's resolv.conf with the
# host's one, we make sure the container's DNS configuration follows the host's changes, thus,
# ensuring the container is able to resolve DNSs correctly.
HOST_RESOLV_CONF=/etc/resolv.conf.host
if [ -f "$HOST_RESOLV_CONF" ]; then
echo "Using host's resolv.conf instead of the one from the docker"
umount /etc/resolv.conf
rm /etc/resolv.conf
ln -s $HOST_RESOLV_CONF /etc/resolv.conf
else
echo "Waring: Using dockers's resolv.conf, this may cause DNS issues if the host's network configuration changes."
fi
# These services have priority because they do the fundamental for the vehicle to work,
# and by initializing them first we reduce the time users have to wait to control the vehicle.
# From tests with QGC and Pi3, the reboot time was ~1min42s when not using this strategy,
# and ~1min30s using this strategy.
# From that 1min30s, the startup time is about ~25s, and originally, ~37s, meaning that the
# remaining (~65 seconds) is the docker shutting down, and the Linux booting up.
PRIORITY_SERVICES=(
'autopilot',0,"nice --19 $SERVICES_PATH/ardupilot_manager/main.py"
'cable_guy',0,"$SERVICES_PATH/cable_guy/main.py"
'video',0,"nice --19 mavlink-camera-manager --default-settings BlueROVUDP --mavlink tcpout:127.0.0.1:5777 --mavlink-system-id $MAV_SYSTEM_ID --gst-feature-rank omxh264enc=0,v4l2h264enc=250,x264enc=260 --log-path /var/logs/blueos/services/mavlink-camera-manager --verbose"
'mavlink2rest',0,"mavlink2rest --connect=udpin:127.0.0.1:14000 --server 0.0.0.0:6040 --system-id $MAV_SYSTEM_ID --component-id $MAV_COMPONENT_ID_ONBOARD_COMPUTER4"
)
SERVICES=(
'beacon',250,"$SERVICES_PATH/beacon/main.py"
'kraken',250,"nice -19 $SERVICES_PATH/kraken/main.py"
'wifi',250,"nice -19 $SERVICES_PATH/wifi/main.py --socket wlan0"
'bridget',250,"nice -19 $SERVICES_PATH/bridget/main.py"
'commander',250,"$SERVICES_PATH/commander/main.py"
'nmea_injector',250,"nice -19 $SERVICES_PATH/nmea_injector/nmea_injector/main.py"
'helper',250,"$SERVICES_PATH/helper/main.py"
'iperf3',250," iperf3 --server --port 5201"
'linux2rest',250,"linux2rest"
'filebrowser',250,"nice -19 filebrowser --database /etc/filebrowser/filebrowser.db --baseurl /file-browser"
'versionchooser',250,"$SERVICES_PATH/versionchooser/main.py"
'pardal',250,"nice -19 $SERVICES_PATH/pardal/main.py"
'ping',250,"nice -19 $SERVICES_PATH/ping/main.py"
'user_terminal',0,"cat /etc/motd"
'ttyd',250,'nice -19 ttyd -p 8088 sh -c "/usr/bin/tmux attach -t user_terminal || /usr/bin/tmux new -s user_terminal"'
'nginx',250,"nice -18 nginx -g \"daemon off;\" -c $TOOLS_PATH/nginx/nginx.conf"
'log_zipper',250,"nice -20 $SERVICES_PATH/log_zipper/main.py '/shortcuts/system_logs/\\\\*\\\\*/\\\\*.log' --max-age-minutes 60"
'bag_of_holding',250,"$SERVICES_PATH/bag_of_holding/main.py"
)
tmux -f /etc/tmux.conf start-server
function create_service {
tmux new -d -s "$1" || true
SESSION_NAME="$1:0"
local command="$2" # Store the command as a string
local memory_limit_mb=$3
if [ -n "${BLUEOS_DISABLE_MEMORY_LIMIT}" ]; then
memory_limit_mb=$TOTAL_RAM_MB
fi
# Check if the service is disabled
if [[ $BLUEOS_DISABLE_SERVICES == *"$1"* ]]; then
echo "Service: $1 is disabled"
tmux send-keys -t $SESSION_NAME "echo 'Service $1 is disabled'; sleep infinity" C-m
return
fi
echo "Service: $NAME: $EXECUTABLE with memory limit: $memory_limit_mb MB"
# Set all necessary environment variables for the new tmux session
for NAME in $(compgen -v | grep -e MAV_ -e BLUEOS_); do
VALUE=${!NAME}
tmux setenv -t $SESSION_NAME -g $NAME $VALUE
done
# Use run_service to start the service with the memory limit
tmux send-keys -t $SESSION_NAME "run-service '$command' $memory_limit_mb" C-m
}
echo "Starting high priority services.."
for TUPLE in "${PRIORITY_SERVICES[@]}"; do
IFS=',' read -r NAME MEMORY_LIMIT_MB EXECUTABLE <<< "$TUPLE"
create_service "$NAME" "$EXECUTABLE" "$MEMORY_LIMIT_MB"
done
sleep 5
echo "Starting other services.."
for TUPLE in "${SERVICES[@]}"; do
IFS=',' read -r NAME MEMORY_LIMIT_MB EXECUTABLE <<< "$TUPLE"
create_service "$NAME" "$EXECUTABLE" "$MEMORY_LIMIT_MB"
done
echo "BlueOS running!"