195 lines
4.2 KiB
Bash
Executable File
195 lines
4.2 KiB
Bash
Executable File
#!/usr/bin/env bash
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set -euo pipefail
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PKG_NAME="controller"
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PKG_VERSION="$(date +%Y%m%d%H%M)"
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ARCH="arm64"
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MAINTAINER="LYQ<liyq@ntiov.com>"
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DESCRIPTION="Binary package of remote controller nodes for robot (ROS2 foxy)."
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INSTALL_DIR="/opt/${PKG_NAME}"
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WORKDIR="$(pwd)/deb_build"
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INSTALL_SRC="$(pwd)/install"
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# 清理工作目录
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rm -rf "${WORKDIR}"
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mkdir -p "${WORKDIR}/${INSTALL_DIR}"
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mkdir -p "${WORKDIR}/DEBIAN"
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# 复制 ROS2 install 文件
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cp -a "${INSTALL_SRC}/." "${WORKDIR}/${INSTALL_DIR}/"
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# control 文件
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cat > "${WORKDIR}/DEBIAN/control" <<EOF
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Package: ${PKG_NAME}
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Version: ${PKG_VERSION}
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Section: misc
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Priority: optional
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Architecture: ${ARCH}
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Essential: no
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Maintainer: ${MAINTAINER}
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Depends: ros-foxy-ros-base, logrotate
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Description: ${DESCRIPTION}
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EOF
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# ============================
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# 创建 can.sh (root 执行)
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# ============================
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cat > "${WORKDIR}/${INSTALL_DIR}/can.sh" <<'EOF'
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#!/bin/bash
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# Script: can.sh
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# Description: Configures CAN interface can0 on startup
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if [[ $EUID -ne 0 ]]; then
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echo "This script must be run as root"
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exit 1
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fi
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if ip link show can0 &> /dev/null; then
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ip link set can0 down
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fi
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modprobe can
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modprobe can_raw
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modprobe mttcan
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ip link set can0 type can bitrate 500000
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ip link set up can0
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if [[ $? -ne 0 ]]; then
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echo "Error configuring CAN interface can0"
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exit 1
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fi
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echo "CAN interface can0 configured successfully"
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exit 0
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EOF
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chmod +x "${WORKDIR}/${INSTALL_DIR}/can.sh"
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# ============================
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# 创建 start_all.sh (aiec 用户执行)
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# ============================
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cat > "${WORKDIR}/${INSTALL_DIR}/start_all.sh" <<EOF
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#!/bin/bash
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set -e
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# 加载 ROS2 系统环境
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source /opt/ros/foxy/setup.bash
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# 加载打包的工作空间环境
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source ${INSTALL_DIR}/local_setup.bash
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# 启动多个节点
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ros2 run radio_ctrl radio_ctrl_node &
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ros2 run mc mc_node &
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ros2 run ctrl_arbiter ctrl_arbiter_node &
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# ros2 run mqtt_report mqtt_report_node &
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# ros2 run rtk rtk_node &
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# ros2 run pub_gps pub_gps_node &
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wait
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EOF
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chmod +x "${WORKDIR}/${INSTALL_DIR}/start_all.sh"
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# ============================
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# systemd 服务目录
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# ============================
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mkdir -p "${WORKDIR}/etc/systemd/system"
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# CAN 配置服务 (root 执行)
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cat > "${WORKDIR}/etc/systemd/system/${PKG_NAME}-can.service" <<EOF
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[Unit]
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Description=Configure CAN interface can0
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After=network.target
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[Service]
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Type=oneshot
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ExecStart=${INSTALL_DIR}/can.sh
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RemainAfterExit=yes
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User=root
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[Install]
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WantedBy=multi-user.target
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EOF
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# ROS2 节点服务 (aiec 用户执行，日志写文件)
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cat > "${WORKDIR}/etc/systemd/system/${PKG_NAME}.service" <<EOF
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[Unit]
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Description=Remote Controller Nodes
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After=network.target ${PKG_NAME}-can.service
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Requires=${PKG_NAME}-can.service
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[Service]
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Type=simple
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User=aiec
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Environment="ROS_DISTRO=foxy"
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ExecStart=${INSTALL_DIR}/start_all.sh
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Restart=on-failure
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RestartSec=2
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StandardOutput=append:/var/log/${PKG_NAME}/${PKG_NAME}.log
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StandardError=append:/var/log/${PKG_NAME}/${PKG_NAME}.log
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[Install]
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WantedBy=multi-user.target
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EOF
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# ============================
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# logrotate 配置
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# ============================
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mkdir -p "${WORKDIR}/etc/logrotate.d"
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cat > "${WORKDIR}/etc/logrotate.d/${PKG_NAME}" <<EOF
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/var/log/${PKG_NAME}/${PKG_NAME}.log {
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daily
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rotate 14
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compress
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missingok
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notifempty
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copytruncate
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dateext
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dateformat -%Y%m%d
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}
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EOF
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# ============================
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# postinst 启用服务
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# ============================
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cat > "${WORKDIR}/DEBIAN/postinst" <<EOF
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#!/bin/bash
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set -e
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# 创建日志目录
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mkdir -p /var/log/${PKG_NAME}
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chown aiec:aiec /var/log/${PKG_NAME}
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systemctl daemon-reload
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systemctl enable ${PKG_NAME}-can.service
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systemctl enable ${PKG_NAME}.service
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exit 0
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EOF
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chmod 755 "${WORKDIR}/DEBIAN/postinst"
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# ============================
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# postrm 停用服务
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# ============================
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cat > "${WORKDIR}/DEBIAN/postrm" <<EOF
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#!/bin/bash
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set -e
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systemctl stop ${PKG_NAME}.service || true
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systemctl disable ${PKG_NAME}.service || true
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systemctl stop ${PKG_NAME}-can.service || true
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systemctl disable ${PKG_NAME}-can.service || true
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systemctl daemon-reload
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exit 0
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EOF
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chmod 755 "${WORKDIR}/DEBIAN/postrm"
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# ============================
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# 构建 deb 包
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# ============================
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dpkg-deb --build "${WORKDIR}" "${PKG_NAME}_${PKG_VERSION}_${ARCH}.deb"
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echo "生成 ${PKG_NAME}_${PKG_VERSION}_${ARCH}.deb"
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