220 lines
6.3 KiB
Bash
220 lines
6.3 KiB
Bash
#!/usr/bin/env bash
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set -Eeuo pipefail
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timestamp() {
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date '+%Y-%m-%d %H:%M:%S'
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}
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log() {
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printf '[%s] %s\n' "$(timestamp)" "$*"
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}
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fail() {
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log "ERROR: $*"
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exit 1
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}
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report_err() {
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local exit_code=$?
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local line_no=${1:-unknown}
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local cmd=${2:-unknown}
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log "ERROR: command failed at line ${line_no}: ${cmd} (exit=${exit_code})"
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exit "$exit_code"
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}
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trap 'report_err "${LINENO}" "${BASH_COMMAND}"' ERR
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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DEFAULT_APP_DIR="$(cd "${SCRIPT_DIR}/.." && pwd)"
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ENV_FILE="${ENV_FILE:-/etc/xmonitor/xmonitor.env}"
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if [[ -f "${ENV_FILE}" ]]; then
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# shellcheck disable=SC1090
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source "${ENV_FILE}"
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fi
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RUN_USER="${RUN_USER:-$(id -un)}"
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APP_DIR="${APP_DIR:-${DEFAULT_APP_DIR}}"
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LOG_DIR="${LOG_DIR:-${APP_DIR}/logs}"
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HOTSPOT_SSID="${HOTSPOT_SSID:-}"
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HOTSPOT_PASSWORD="${HOTSPOT_PASSWORD:-}"
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SERVER_IP="${SERVER_IP:-10.0.0.5}"
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SERVER_PORT="${SERVER_PORT:-9000}"
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ROS_SETUP="${ROS_SETUP:-/home/${RUN_USER}/ros2ws/install/setup.bash}"
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PYTHON_BIN="${PYTHON_BIN:-python3}"
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WIFI_RETRY_INTERVAL="${WIFI_RETRY_INTERVAL:-5}"
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PING_RETRY_INTERVAL="${PING_RETRY_INTERVAL:-5}"
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VENV_ACTIVATE="${APP_DIR}/.venv/bin/activate"
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LOG_RETENTION_COUNT="${LOG_RETENTION_COUNT:-20}"
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mkdir -p "${LOG_DIR}"
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LOG_FILE="${LOG_DIR}/monitor_sender_$(date '+%Y%m%d_%H%M%S').log"
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touch "${LOG_FILE}"
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exec > >(tee -a "${LOG_FILE}") 2>&1
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require_command() {
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local command_name=$1
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command -v "${command_name}" >/dev/null 2>&1 || fail "missing required command: ${command_name}"
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}
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prune_old_logs() {
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local prune_from
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local old_logs=()
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[[ "${LOG_RETENTION_COUNT}" =~ ^[0-9]+$ ]] || fail "LOG_RETENTION_COUNT must be a positive integer"
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(( LOG_RETENTION_COUNT >= 1 )) || fail "LOG_RETENTION_COUNT must be at least 1"
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prune_from=$((LOG_RETENTION_COUNT + 1))
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mapfile -t old_logs < <(ls -1dt "${LOG_DIR}"/monitor_sender_*.log 2>/dev/null | tail -n +"${prune_from}")
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if ((${#old_logs[@]} > 0)); then
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rm -f -- "${old_logs[@]}"
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log "Pruned ${#old_logs[@]} old log file(s); keeping latest ${LOG_RETENTION_COUNT}"
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fi
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}
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source_with_relaxed_mode() {
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local target_file=$1
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local shell_flags=$-
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local err_trap
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local source_status=0
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err_trap="$(trap -p ERR || true)"
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trap - ERR
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set +eu
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# shellcheck disable=SC1090,SC1091
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source "${target_file}"
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source_status=$?
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[[ "${shell_flags}" == *e* ]] && set -e || set +e
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[[ "${shell_flags}" == *u* ]] && set -u || set +u
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if [[ -n "${err_trap}" ]]; then
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eval "${err_trap}"
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fi
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return "${source_status}"
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}
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get_wifi_device() {
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nmcli -t -f DEVICE,TYPE device status | awk -F: '$2 == "wifi" { print $1; exit }'
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}
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get_active_connection_name() {
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local wifi_device=$1
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nmcli -g GENERAL.CONNECTION device show "${wifi_device}" 2>/dev/null | head -n1 | tr -d '\r'
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}
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get_active_ssid() {
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local wifi_device=$1
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local active_connection
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active_connection="$(get_active_connection_name "${wifi_device}" || true)"
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if [[ -z "${active_connection}" || "${active_connection}" == "--" ]]; then
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return 1
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fi
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nmcli -g 802-11-wireless.ssid connection show "${active_connection}" 2>/dev/null | head -n1 | tr -d '\r'
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}
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is_hotspot_connected() {
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local wifi_device=$1
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local active_ssid
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active_ssid="$(get_active_ssid "${wifi_device}" || true)"
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[[ -n "${active_ssid}" && "${active_ssid}" == "${HOTSPOT_SSID}" ]]
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}
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connect_hotspot() {
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local wifi_device=$1
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while true; do
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if is_hotspot_connected "${wifi_device}"; then
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log "Wi-Fi already connected to hotspot '${HOTSPOT_SSID}'"
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return 0
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fi
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log "Trying hotspot '${HOTSPOT_SSID}' on Wi-Fi device '${wifi_device}'"
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nmcli device wifi rescan ifname "${wifi_device}" >/dev/null 2>&1 || true
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if nmcli connection up "${HOTSPOT_SSID}" ifname "${wifi_device}" >/dev/null 2>&1; then
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sleep 2
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if is_hotspot_connected "${wifi_device}"; then
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log "Connected to hotspot '${HOTSPOT_SSID}' via saved NetworkManager profile"
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return 0
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fi
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fi
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if [[ -n "${HOTSPOT_PASSWORD}" ]]; then
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if nmcli device wifi connect "${HOTSPOT_SSID}" password "${HOTSPOT_PASSWORD}" ifname "${wifi_device}" >/dev/null 2>&1; then
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sleep 2
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if is_hotspot_connected "${wifi_device}"; then
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log "Connected to hotspot '${HOTSPOT_SSID}' via direct nmcli connect"
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return 0
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fi
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fi
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else
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log "HOTSPOT_PASSWORD is empty; skipping direct nmcli connect and relying on saved profile"
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fi
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log "Hotspot '${HOTSPOT_SSID}' is not ready yet; retrying in ${WIFI_RETRY_INTERVAL}s"
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sleep "${WIFI_RETRY_INTERVAL}"
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done
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}
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wait_for_server() {
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while true; do
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if ping -c 1 -W 2 "${SERVER_IP}" >/dev/null 2>&1; then
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log "Server '${SERVER_IP}' is reachable"
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return 0
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fi
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log "Server '${SERVER_IP}' is not reachable yet; retrying in ${PING_RETRY_INTERVAL}s"
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sleep "${PING_RETRY_INTERVAL}"
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done
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}
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log "Starting xMonitor sender bootstrap"
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log "Using APP_DIR='${APP_DIR}'"
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log "Log file: ${LOG_FILE}"
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if [[ -f "${ENV_FILE}" ]]; then
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log "Loaded environment from '${ENV_FILE}'"
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else
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log "Environment file '${ENV_FILE}' not found; using current shell environment/defaults"
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fi
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prune_old_logs
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[[ -n "${HOTSPOT_SSID}" ]] || fail "HOTSPOT_SSID must be set in '${ENV_FILE}' or exported before launching the script"
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[[ -d "${APP_DIR}" ]] || fail "APP_DIR does not exist: ${APP_DIR}"
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[[ -f "${APP_DIR}/monitor_sender.py" ]] || fail "monitor_sender.py not found in ${APP_DIR}"
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[[ -f "${ROS_SETUP}" ]] || fail "ROS setup file not found: ${ROS_SETUP}"
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[[ -f "${VENV_ACTIVATE}" ]] || fail "Python virtualenv activate script not found: ${VENV_ACTIVATE}"
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require_command nmcli
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require_command ping
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require_command tee
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require_command "${PYTHON_BIN}"
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if [[ "$(id -un)" != "${RUN_USER}" ]]; then
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log "Warning: script is running as '$(id -un)' but RUN_USER is '${RUN_USER}'"
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fi
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WIFI_DEVICE="$(get_wifi_device)"
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[[ -n "${WIFI_DEVICE}" ]] || fail "No Wi-Fi device was found by NetworkManager"
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log "Detected Wi-Fi device '${WIFI_DEVICE}'"
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connect_hotspot "${WIFI_DEVICE}"
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wait_for_server
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log "Sourcing ROS environment '${ROS_SETUP}'"
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source_with_relaxed_mode "${ROS_SETUP}"
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log "Activating Python virtualenv '${VENV_ACTIVATE}'"
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source_with_relaxed_mode "${VENV_ACTIVATE}"
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cd "${APP_DIR}"
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log "Launching monitor_sender.py --ip ${SERVER_IP} --port ${SERVER_PORT}"
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exec "${PYTHON_BIN}" monitor_sender.py --ip "${SERVER_IP}" --port "${SERVER_PORT}"
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