#! /bin/bash

curl --silent https://raw.githubusercontent.com/DexterInd/script_tools/master/install_script_tools.sh | bash

SCRIPT_DIR="$(readlink -f $(dirname $0))"

ROBOT_DIR="${SCRIPT_DIR%/*}"

PIHOME=/home/pi

DEXTERSCRIPT=$PIHOME/Dexter/lib/Dexter/script_tools

source $DEXTERSCRIPT/functions_library.sh

identify_cie() {

if ! quiet_mode

then

echo " _____ _ ";

echo " | __ \ | | ";

echo " | | | | _____ _| |_ ___ _ __ ";

echo " | | | |/ _ \ \/ / __/ _ \ '__| ";

echo " | |__| | __/> <| || __/ | ";

echo " |_____/ \___/_/\_\\\__\___|_| _ ";

echo " |_ _| | | | | (_) ";

echo " | | _ __ __| |_ _ ___| |_ _ __ _ ___ ___ ";

echo " | | | '_ \ / _\ | | | / __| __| '__| |/ _ \/ __| ";

echo " _| |_| | | | (_| | |_| \__ \ |_| | | | __/\__ \ ";

echo " |_____|_| |_|\__,_|\__,_|___/\__|_| |_|\___||___/ ";

echo " ";

echo " ";

echo " "

fi

}

identify_robot() {

echo " ______ _____ _____ _____ ______ _____ "

echo " | ____ | | |_____] | | ____ | |"

echo " |_____| |_____| | __|__ |_____| |_____|"

echo " "

feedback "Welcome to GoPiGo Installer."

echo " "

}

check_root_user() {

if [[ $EUID -ne 0 ]]; then

feedback "No root permissions: the update script will not install python libraries."

fi

echo " "

}

check_internet() {

if ! quiet_mode ; then

feedback "Check for internet connectivity..."

feedback "=================================="

wget -q --tries=2 --timeout=20 --output-document=/dev/null http://raspberrypi.org

if [ $? -eq 0 ];then

echo "Connected to the Internet"

else

echo "Unable to Connect, try again !!!"

exit 0

fi

fi

}

display_welcome_msg() {

feedback "Please ensure internet connectivity before running this script."

if ! quiet_mode

then

feedback "NOTE: Raspberry Pi will need to be rebooted after completion."

fi

feedback "Special thanks to Joe Sanford at Tufts University. This script was derived from his work. Thank you Joe!"

echo " "

}

install_dependencies() {

if ! quiet_mode ; then

sudo apt-get update

fi

echo " "

feedback "Installing Dependencies"

feedback "======================="

sudo apt-get install python-pip git libi2c-dev python-serial python-rpi.gpio i2c-tools python-smbus arduino minicom libnss-mdns python-dev build-essential libffi-dev -y

pip install -U RPi.GPIO

pip install pyusb

pip install numpy

pip install python-periphery==1.1.0

pip3 install -U RPi.GPIO

pip3 install pyusb

pip3 install numpy

pip3 install python-periphery==1.1.0

feedback "Dependencies installed"

}

install_DHT() {

# Install the DHT library

feedback "Installing DHT library"

pushd $ROBOT_DIR/Software/Python/sensor_examples/dht/Adafruit_Python_DHT > /dev/null

python setup.py install

python3 setup.py install

popd > /dev/null

}

install_wiringpi() {

# Check if WiringPi Installed

# using curl piped to bash does not leave a file behind. no need to remove it

# we can do either the curl - it works just fine

# sudo curl https://raw.githubusercontent.com/DexterInd/script_tools/master/update_wiringpi.sh | bash

# or call the version that's already on the SD card

sudo bash $DEXTERSCRIPT/update_wiringpi.sh

# done with WiringPi

# remove wiringPi directory if present

if [ -d wiringPi ]

then

sudo rm -r wiringPi

fi

# End check if WiringPi installed

echo " "

}

install_spi_i2c() {

feedback "Removing blacklist from /etc/modprobe.d/raspi-blacklist.conf . . ."

feedback "=================================================================="

if grep -q "#blacklist i2c-bcm2708" /etc/modprobe.d/raspi-blacklist.conf; then

echo "I2C already removed from blacklist"

else

sudo sed -i -e 's/blacklist i2c-bcm2708/#blacklist i2c-bcm2708/g' /etc/modprobe.d/raspi-blacklist.conf

echo "I2C removed from blacklist"

fi

if grep -q "#blacklist spi-bcm2708" /etc/modprobe.d/raspi-blacklist.conf; then

echo "SPI already removed from blacklist"

else

sudo sed -i -e 's/blacklist spi-bcm2708/#blacklist spi-bcm2708/g' /etc/modprobe.d/raspi-blacklist.conf

echo "SPI removed from blacklist"

fi

#Adding in /etc/modules

echo " "

feedback "Adding I2C-dev and SPI-dev in /etc/modules . . ."

feedback "================================================"

if grep -q "i2c-dev" /etc/modules; then

echo "I2C-dev already there"

else

echo i2c-dev >> /etc/modules

echo "I2C-dev added"

fi

if grep -q "i2c-bcm2708" /etc/modules; then

echo "i2c-bcm2708 already there"

else

echo i2c-bcm2708 >> /etc/modules

echo "i2c-bcm2708 added"

fi

if grep -q "spi-dev" /etc/modules; then

echo "spi-dev already there"

else

echo spi-dev >> /etc/modules

echo "spi-dev added"

fi

echo " "

feedback "Making I2C changes in /boot/config.txt . . ."

feedback "================================================"

sudo sh -c "echo dtparam=i2c1=on >> /boot/config.txt"

sudo sh -c "echo dtparam=i2c_arm=on >> /boot/config.txt"

sudo adduser pi i2c

echo " "

}

install_avr() {

#Adding ARDUINO setup files

echo " "

######################################################################

# Remove after the image is created for BrickPi3

######################################################################

# feedback "Making changes to Arduino . . ."

# feedback "==============================="

# cd /tmp

# wget http://project-downloads.drogon.net/gertboard/avrdude_5.10-4_armhf.deb

# sudo dpkg -i avrdude_5.10-4_armhf.deb

# sudo chmod 4755 /usr/bin/avrdude

# cd /tmp

# if [ -f /tmp/setup.sh ]; then

# rm /tmp/setup.sh

# fi

# wget http://project-downloads.drogon.net/gertboard/setup.sh

# chmod +x setup.sh

# sudo ./setup.sh

# #Enabling serial port in Arduino IDE

# crontab -l > file; echo '@reboot ln -sf /dev/ttyAMA0 /dev/ttyS0' >> file; crontab file

# rm file

######################################################################

source /home/pi/Dexter/lib/Dexter/script_tools/install_avrdude.sh

create_avrdude_folder

install_avrdude

cd $ROBOT_DIR

echo "done with AVRDUDE "

}

install_line_follower(){

feedback "--> Installing Line Follower Calibration"

# Install GoPiGo Line Follower Calibration

delete_file /home/pi/Desktop/line_follow.desktop

sudo cp /home/pi/Dexter/GoPiGo/Software/Python/line_follower/line_follow.desktop /home/pi/Desktop/

sudo chmod +x /home/pi/Desktop/line_follow.desktop

sudo chmod +x /home/pi/Dexter/GoPiGo/Software/Python/line_follower/line_sensor_gui.py

# if the configuration files exist in the home directory

# then move them to their new place

# otherwise create new ones

if file_exists "$PIHOME/black_line.txt"

then

sudo mv $PIHOME/black_line.txt $PIHOME/Dexter/black_line.txt

else

sudo cp $PIHOME/Dexter/GoPiGo/Software/Python/line_follower/black_line.txt $PIHOME/Dexter/black_line.txt

fi

if file_exists "$PIHOME/white_line.txt"

then

sudo mv $PIHOME/white_line.txt $PIHOME/Dexter/white_line.txt

else

sudo cp $PIHOME/Dexter/GoPiGo/Software/Python/line_follower/white_line.txt $PIHOME/Dexter/white_line.txt

fi

if file_exists "$PIHOME/range_line.txt"

then

sudo mv $PIHOME/range_line.txt $PIHOME/Dexter/range_line.txt

else

sudo cp $PIHOME/Dexter/GoPiGo/Software/Python/line_follower/range_line.txt $PIHOME/Dexter/range_line.txt

fi

sudo chmod 666 $PIHOME/Dexter/*line.txt

}

install_control_panel(){

sudo cp "$ROBOT_DIR/Software/Python/control_panel/gopigo_control_panel.desktop" $PIHOME/Desktop

}

call_for_reboot() {

if ! quiet_mode ; then

feedback " "

feedback "Please restart the Raspberry Pi for the changes to take effect"

feedback " "

feedback "Please restart to implement changes!"

feedback " _____ ______ _____ _______ _____ _______ "

feedback " | __ \| ____|/ ____|__ __|/\ | __ \__ __|"

feedback " | |__) | |__ | (___ | | / \ | |__) | | | "

feedback " | _ /| __| \___ \ | | / /\ \ | _ / | | "

feedback " | | \ \| |____ ____) | | |/ ____ \| | \ \ | | "

feedback " |_| \_\______|_____/ |_/_/ \_\_| \_\ |_| "

feedback " "

feedback "Please restart to implement changes!"

feedback "To Restart type sudo reboot"

fi

}

############################################################################

############################################################################

identify_cie

identify_robot

check_root_user

display_welcome_msg

check_internet

echo "Installing GoPiGo software in ${ROBOT_DIR}"

echo " "

install_dependencies

#Copy Software Servo

sudo cp -R $ROBOT_DIR/Firmware/SoftwareServo/ /usr/share/arduino/libraries/

sudo chmod +x gopigo

sudo cp gopigo /usr/bin

cd $ROBOT_DIR/Software/Python

python setup.py install

python3 setup.py install

install_DHT

install_wiringpi

install_spi_i2c

install_avr

install_line_follower

install_control_panel

#sudo rm -r /tmp/di_update

sudo chmod +x $ROBOT_DIR/Software/Scratch/GoPiGo_Scratch_Scripts/*.sh

call_for_reboot