[WIP] Multiboot pi + recovery or update partition

.companion.rc

@@ -13,6 +13,11 @@ for default_param_file in *; do
 done
 
 if [ ! -f /home/pi/.updating ]; then
+	sudo python $COMPANION_DIR/tools/PingEnumerator.py || true
+	if [ -d /dev/serial/ping ]; then
+		sudo -H -u pi screen -dm -S pingproxy python -m Ping/PingProxy --device $(ls -d /dev/serial/ping/* | head -1)
+		sudo -H -u pi screen -dm -S pingmav python $COMPANION_DIR/tools/Ping1DMavlinkDriver.py
+	fi
 	sudo -H -u pi screen -dm -S mavproxy $COMPANION_DIR/tools/telem.py
 	sudo -H -u pi screen -dm -S video $COMPANION_DIR/tools/streamer.py 
 	sudo -H -u pi screen -dm -S webui $COMPANION_DIR/scripts/start_webui.sh
@@ -22,6 +27,7 @@ if [ ! -f /home/pi/.updating ]; then
 	sudo -H -u pi screen -dm -S file-manager node --harmony $COMPANION_DIR/br-webui/node_modules/node-file-manager/lib/index.js -p 7777 -d /
 	sudo -H -u pi screen -dm -S nmearx $COMPANION_DIR/tools/nmea-receiver.py
 	sudo -H -u pi screen -dm -S wldriver $COMPANION_DIR/tools/underwater-gps.py --ip=192.168.2.94 --port=80
+	sudo -H -u pi screen -dm -S recovery $COMPANION_DIR/scripts/start-recovery-server.sh
 else
 	sudo -H -u pi echo 'UPDATE FAILED!' >> /home/pi/.update_log
 	rm -f /home/pi/.updating

br-webui/_includes/header.liquid

@@ -15,6 +15,9 @@
 		function shutdown() {
 			socket.emit('shutdown');
 		}
+		function recovery() {
+			socket.emit('recovery');
+		}
 		socket.on('companion version', function(data) {
 			document.getElementById('companion version1').innerHTML = data;
 			console.log('got version in header')
@@ -52,6 +55,7 @@
 				<form class="navbar-form navbar-right">
 					<button onclick="reboot()" class="btn btn-primary btn-sm navbar-btn">Reboot</button>
 					<button onclick="shutdown()" class="btn btn-error btn-sm navbar-btn">Shutdown</button>
+					<button onclick="recovery()" class="btn btn-error btn-sm navbar-btn">Update</button>
 				</form>
 			</div><!--/.nav-collapse -->
 		</div>

br-webui/index.js

@@ -1621,6 +1621,12 @@ io.on('connection', function(socket) {
 			logger.log(stdout + stderr);
 		});
 	});
+	socket.on('recovery', function(data) {
+		logger.log('recovery');
+		child_process.exec(home_dir+'/companion/scripts/rebootrecovery.sh', function (error, stdout, stderr) {
+			logger.log(stdout+stderr);
+		});
+	});
 
 	var uploader = new SocketIOFile(socket, {
 		// uploadDir: {			// multiple directories 

br-webui/recovery-client/app.js

@@ -0,0 +1,68 @@
+var socket = io();
+var uploader = new SocketIOFileClient(socket);
+var form = document.getElementById('form');
+
+uploader.on('ready', function() {
+	console.log('SocketIOFile ready to go!');
+});
+uploader.on('loadstart', function() {
+	console.log('Loading file to browser before sending...');
+});
+uploader.on('progress', function(progress) {
+	console.log('Loaded ' + progress.loaded + ' / ' + progress.total);
+});
+uploader.on('start', function(fileInfo) {
+	console.log('Start uploading', fileInfo);
+});
+uploader.on('stream', function(fileInfo) {
+	console.log('Streaming... sent ' + fileInfo.sent + ' bytes.');
+});
+uploader.on('complete', function(fileInfo) {
+	console.log('Upload Complete', fileInfo);
+});
+uploader.on('error', function(err) {
+	console.log('Error!', err);
+});
+uploader.on('abort', function(fileInfo) {
+	console.log('Aborted: ', fileInfo);
+});
+
+form.onsubmit = function(ev) {
+	ev.preventDefault();
+
+	// Send File Element to upload
+	var fileEl = document.getElementById('file');
+	// var uploadIds = uploader.upload(fileEl);
+
+	// Or just pass file objects directly
+	var uploadIds = uploader.upload(fileEl.files);
+};
+
+function updateNew() {
+	console.log("Update button pressed");
+};
+
+socket.on('terminal output', function(data) {
+	var terminalEl = document.getElementById("terminal-output");
+	var html = terminalEl.innerHTML + data;
+	var autoscroll = terminalEl.scrollHeight - terminalEl.scrollTop
+		=== terminalEl.clientHeight;
+	terminalEl.innerHTML = html.replace(/\n.*?\r/g, "\n");
+	if (autoscroll) {
+		terminalEl.scrollTop = terminalEl.scrollHeight;
+	}
+});
+
+socket.on('terminal-output', function(data) {
+	var terminalEl = document.getElementById("terminal-output");
+	var html = terminalEl.innerHTML + data;
+	var autoscroll = terminalEl.scrollHeight - terminalEl.scrollTop
+		=== terminalEl.clientHeight;
+	//terminalEl.innerHTML = html;
+	terminalEl.innerHTML = html.replace(/\n.*?\r/g, "\n");
+	if (autoscroll) {
+		terminalEl.scrollTop = terminalEl.scrollHeight;
+	}
+});
+
+

br-webui/recovery-client/index.html

@@ -0,0 +1,30 @@
+<html>
+<head>
+	<meta charset="UTF-8">
+	<title>Companion Recovery Server</title>
+	<link rel="stylesheet" type="text/css" href="styles.css">
+</head>
+<body>
+	<h1>Companion Recovery Server</h1>
+	<hr>
+	<div id="First">
+		Select an appropriate ".lrz" file to update Companion
+	</div><hr>
+	<div>
+		<form id="form">
+			<input type="file" id="file"/>
+			<input id= "submit-button" type="submit" class="button" value= "Upload" />
+		</form>
+		<div id="update-div">
+			<button id="update-button" onclick='updateNew()'> Update </button>
+		</div>
+		<div id="textarea1">
+			<textarea rows="30" cols="90" id="terminal-output" class="dynamic-parent-width" readonly></textarea>
+		</div>	
+	</div>
+
+	<script src="socket.io.js"></script>
+	<script src="socket.io-file-client.js"></script>
+	<script src="app.js"></script>
+</body>
+</html>

br-webui/recovery-client/styles.css

@@ -0,0 +1,93 @@
+<!-- CSS file for Companion Recovery Server -->
+
+html, body {
+	height: 100%;
+}
+
+html {
+	padding-top: 85px;
+	padding-bottom: 90px;
+	display: table;
+	margin: auto;
+}
+
+body {
+	border: medium solid grey;
+	margin-top: 100px;
+	margin-left: 600px;
+	margin-right: 600px;
+	margin-bottom: 100px;
+	border-radius: 10px;
+	display: table-cell;
+	vertical-align: middle;
+}
+
+h1 {
+	font-family: verdana;
+	font-size: 1.5em;
+	text-align: center;
+	padding: 20px;
+	padding-top: 30px;
+}
+
+hr {
+	text-align: center;
+	width: 80%;
+}
+
+#First {
+	font-size: 14pt;
+	font-family: verdana;
+	color: #2699d0;
+	padding: 10px;
+	text-align: center;
+}
+
+form {
+	padding: 20px;
+	text-align: center;
+	padding-bottom: 10px;
+}
+
+textarea {
+
+	font-family: verdana; 
+	resize: vertical;
+	border-radius: 10px;
+}
+
+#textarea1 {
+	margin-left: 30px;
+	margin-right: 30px;
+	padding-bottom: 30px;
+}
+
+#submit-button {
+	border-radius: 5px;
+	background-color: #2699d0;
+	border: thin solid #2699d0;
+	color: #ffffff;
+	width: 80px;
+	height: 30px;
+}
+
+#update-button {
+	border-radius: 5px;
+	background-color: #bbbbbb;
+	border: thin solid #bbbbbb;
+	color: #000000;
+	width: 80px;
+	height: 30px;
+}
+
+#update-div {
+	padding-bottom: 20px;
+	text-align: center;
+}
+
+
+<!-- Styles that are divs start with a # sign -->
+<!-- Styles that are classes start with a . -->
+
+
+

br-webui/recovery-server.js

@@ -0,0 +1,79 @@
+const express = require('express');
+const app = express();
+const SocketIOFile = require('socket.io-file');
+
+var server = app.listen(3000, function() {
+	console.log("Server running successfully on Port:3000");
+});
+var io = require('socket.io')(server);
+
+app.get('/', (req, res, next) => {
+	return res.sendFile(__dirname + '/recovery-client/index.html');
+});
+
+app.get('/app.js', (req, res, next) => {
+	return res.sendFile(__dirname + '/recovery-client/app.js');
+});
+
+app.get('/socket.io.js', (req, res, next) => {
+	return res.sendFile(__dirname + '/node_modules/socket.io-client/dist/socket.io.js');
+});
+
+app.get('/socket.io-file-client.js', (req, res, next) => {
+	return res.sendFile(__dirname + '/node_modules/socket.io-file-client/socket.io-file-client.js');
+});
+
+app.get('/styles.css', (req,res,next) => {
+	return res.sendFile(__dirname + '/recovery-client/styles.css'); // redirect CSS bootstrap
+});
+
+
+io.on('connection', function(socket) {
+	console.log('Socket connected.');
+
+	var count = 0;
+	var uploader = new SocketIOFile(socket, {
+		// uploadDir: {			// multiple directories
+		// 	music: 'data/music',
+		// 	document: 'data/document'
+		// },
+		uploadDir: '/mnt/Imagefile',							// simple directory
+		// accepts: ['application/octet-stream'],	// chrome and some of browsers checking mp3 as 'audio/mp3', not 'audio/mpeg'
+		// maxFileSize: 4294967296, 					// 4 GB. default is undefined(no limit)
+		chunkSize: 26214400,						// default is 10240(1KB) 94371840 52428800
+		transmissionDelay: 0,						// delay of each transmission, higher value saves more cpu resources, lower upload speed. default is 0(no delay)
+		overwrite: false, 							// overwrite file if exists, default is true.
+		/*rename: function(filename) {
+		 	var split = filename.split('.');	// split filename by .(extension)
+		 	var fname = split[0];	// filename without extension
+		 	var ext = split[1];
+
+		 	return `${fname}_${count++}.${ext}`;
+		}*/
+	});
+	uploader.on('start', (fileInfo) => {
+		console.log('Start uploading');
+		console.log(fileInfo);
+		socket.emit('terminal output', "\n" + "Start Uploading" + "\n" + "\n");
+		socket.emit('terminal output', JSON.stringify(fileInfo, null, 2) + '\n' + '\n');
+	});
+	uploader.on('stream', (fileInfo) => {
+		console.log(`${fileInfo.wrote} / ${fileInfo.size} byte(s)`);
+		socket.emit('terminal-output', '\r' + "Progress --> " + Math.round(fileInfo.wrote / fileInfo.size * 100) + " %");
+	});
+	uploader.on('complete', (fileInfo) => {
+		console.log('Upload Complete.');
+		console.log(fileInfo);
+		socket.emit('terminal output', "\n" + "\n" + "Upload Complete" + "\n");
+		socket.emit('terminal output', '\n' + JSON.stringify(fileInfo, null, 2) + '\n');
+	});
+	uploader.on('error', (err) => {
+		console.log('Error!', err);
+		socket.emit('terminal output', "\n" + err + "\n");
+	});
+	uploader.on('abort', (fileInfo) => {
+		console.log('Aborted: ', fileInfo);
+		socket.emit('terminal output', "\n" + JSON.stringify(fileInfo, null, 2) + "\n");
+	});
+});
+

scripts/rebootrecovery.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+#Replace the companion partition number with Recovery partition number in /boot/cmdline.txt
+#Enables booting into the Recovery partition and accessing the Recovery server.
+
+sudo -H -u root bash -c "sed -i -e 's/\-04/\-02/' /boot/cmdline.txt"
+
+#Reboot into Recovery partition
+sudo reboot now

scripts/start-recovery-server.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+
+cd /home/pi/companion/br-webui
+node recovery-server.js