Visual Servoing for Pick and Place Demo

dimos/hardware/can_activate.sh

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+#!/bin/bash
+
+# The default CAN name can be set by the user via command-line parameters.
+DEFAULT_CAN_NAME="${1:-can0}"
+
+# The default bitrate for a single CAN module can be set by the user via command-line parameters.
+DEFAULT_BITRATE="${2:-1000000}"
+
+# USB hardware address (optional parameter)
+USB_ADDRESS="${3}"
+echo "-------------------START-----------------------"
+# Check if ethtool is installed.
+if ! dpkg -l | grep -q "ethtool"; then
+    echo "\e[31mError: ethtool not detected in the system.\e[0m"
+    echo "Please use the following command to install ethtool:"
+    echo "sudo apt update && sudo apt install ethtool"
+    exit 1
+fi
+
+# Check if can-utils is installed.
+if ! dpkg -l | grep -q "can-utils"; then
+    echo "\e[31mError: can-utils not detected in the system.\e[0m"
+    echo "Please use the following command to install ethtool:"
+    echo "sudo apt update && sudo apt install can-utils"
+    exit 1
+fi
+
+echo "Both ethtool and can-utils are installed."
+
+# Retrieve the number of CAN modules in the current system.
+CURRENT_CAN_COUNT=$(ip link show type can | grep -c "link/can")
+
+# Verify if the number of CAN modules in the current system matches the expected value.
+if [ "$CURRENT_CAN_COUNT" -ne "1" ]; then
+    if [ -z "$USB_ADDRESS" ]; then
+        # Iterate through all CAN interfaces.
+        for iface in $(ip -br link show type can | awk '{print $1}'); do
+            # Use ethtool to retrieve bus-info.
+            BUS_INFO=$(sudo ethtool -i "$iface" | grep "bus-info" | awk '{print $2}')
+
+            if [ -z "$BUS_INFO" ];then
+                echo "Error: Unable to retrieve bus-info for interface $iface."
+                continue
+            fi
+
+            echo "Interface $iface is inserted into USB port $BUS_INFO"
+        done
+        echo -e " \e[31m Error: The number of CAN modules detected by the system ($CURRENT_CAN_COUNT) does not match the expected number (1). \e[0m"
+        echo -e " \e[31m Please add the USB hardware address parameter, such as: \e[0m"
+        echo -e " bash can_activate.sh can0 1000000 1-2:1.0"
+        echo "-------------------ERROR-----------------------"
+        exit 1
+    fi
+fi
+
+# Load the gs_usb module.
+# sudo modprobe gs_usb
+# if [ $? -ne 0 ]; then
+#     echo "Error: Unable to load the gs_usb module."
+#     exit 1
+# fi
+
+if [ -n "$USB_ADDRESS" ]; then
+    echo "Detected USB hardware address parameter: $USB_ADDRESS"
+
+    # Use ethtool to find the CAN interface corresponding to the USB hardware address.
+    INTERFACE_NAME=""
+    for iface in $(ip -br link show type can | awk '{print $1}'); do
+        BUS_INFO=$(sudo ethtool -i "$iface" | grep "bus-info" | awk '{print $2}')
+        if [ "$BUS_INFO" = "$USB_ADDRESS" ]; then
+            INTERFACE_NAME="$iface"
+            break
+        fi
+    done
+
+    if [ -z "$INTERFACE_NAME" ]; then
+        echo "Error: Unable to find CAN interface corresponding to USB hardware address $USB_ADDRESS."
+        exit 1
+    else
+        echo "Found the interface corresponding to USB hardware address $USB_ADDRESS: $INTERFACE_NAME."
+    fi
+else
+    # Retrieve the unique CAN interface.
+    INTERFACE_NAME=$(ip -br link show type can | awk '{print $1}')
+
+    # Check if the interface name has been retrieved.
+    if [ -z "$INTERFACE_NAME" ]; then
+        echo "Error: Unable to detect CAN interface."
+        exit 1
+    fi
+    BUS_INFO=$(sudo ethtool -i "$INTERFACE_NAME" | grep "bus-info" | awk '{print $2}')
+    echo "Expected to configure a single CAN module, detected interface $INTERFACE_NAME with corresponding USB address $BUS_INFO."
+fi
+
+# Check if the current interface is already activated.
+IS_LINK_UP=$(ip link show "$INTERFACE_NAME" | grep -q "UP" && echo "yes" || echo "no")
+
+# Retrieve the bitrate of the current interface.
+CURRENT_BITRATE=$(ip -details link show "$INTERFACE_NAME" | grep -oP 'bitrate \K\d+')
+
+if [ "$IS_LINK_UP" = "yes" ] && [ "$CURRENT_BITRATE" -eq "$DEFAULT_BITRATE" ]; then
+    echo "Interface $INTERFACE_NAME is already activated with a bitrate of $DEFAULT_BITRATE."
+
+    # Check if the interface name matches the default name.
+    if [ "$INTERFACE_NAME" != "$DEFAULT_CAN_NAME" ]; then
+        echo "Rename interface $INTERFACE_NAME to $DEFAULT_CAN_NAME."
+        sudo ip link set "$INTERFACE_NAME" down
+        sudo ip link set "$INTERFACE_NAME" name "$DEFAULT_CAN_NAME"
+        sudo ip link set "$DEFAULT_CAN_NAME" up
+        echo "The interface has been renamed to $DEFAULT_CAN_NAME and reactivated."
+    else
+        echo "The interface name is already $DEFAULT_CAN_NAME."
+    fi
+else
+    # If the interface is not activated or the bitrate is different, configure it.
+    if [ "$IS_LINK_UP" = "yes" ]; then
+        echo "Interface $INTERFACE_NAME is already activated, but the bitrate is $CURRENT_BITRATE, which does not match the set value of $DEFAULT_BITRATE."
+    else
+        echo "Interface $INTERFACE_NAME is not activated or bitrate is not set."
+    fi
+
+    # Set the interface bitrate and activate it.
+    sudo ip link set "$INTERFACE_NAME" down
+    sudo ip link set "$INTERFACE_NAME" type can bitrate $DEFAULT_BITRATE
+    sudo ip link set "$INTERFACE_NAME" up
+    echo "Interface $INTERFACE_NAME has been reset to bitrate $DEFAULT_BITRATE and activated."
+
+    # Rename the interface to the default name.
+    if [ "$INTERFACE_NAME" != "$DEFAULT_CAN_NAME" ]; then
+        echo "Rename interface $INTERFACE_NAME to $DEFAULT_CAN_NAME."
+        sudo ip link set "$INTERFACE_NAME" down
+        sudo ip link set "$INTERFACE_NAME" name "$DEFAULT_CAN_NAME"
+        sudo ip link set "$DEFAULT_CAN_NAME" up
+        echo "The interface has been renamed to $DEFAULT_CAN_NAME and reactivated."
+    fi
+fi
+
+echo "-------------------OVER------------------------"