First public release

disco/disco_install.sh

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+#!/bin/sh
+echo "=== Installing Disco4G on Disco ==="
+echo "Moving softmod files to target directory"
+mv -v /tmp/disco4g/disco/uavpal /data/ftp
+echo "Making binaries and scripts executable"
+chmod +x /data/ftp/uavpal/bin/*
+echo "Remounting filesystem as read/write"
+mount -o remount,rw /
+echo "Creating symlink for ppp-lte settings"
+ln -s /data/ftp/uavpal/conf/lte /etc/ppp/peers/lte |grep -v 'File exists'
+echo "Creating symlink udev rule"
+ln -s /data/ftp/uavpal/conf/70-huawei-e3372.rules /lib/udev/rules.d/70-huawei-e3372.rules |grep -v 'File exists'
+echo "Creating symlink for ntpd's config file"
+ln -s /data/ftp/uavpal/conf/ntp.conf /etc/ntp.conf |grep -v 'File exists'
+echo "Remounting filesystem as read-only"
+mount -o remount,ro /
+echo "Creating zerotier-one directory"
+mkdir -p /data/lib/zerotier-one
+echo "Creating symlink for zerotier-one's local config file"
+ln -s /data/ftp/uavpal/conf/local.conf /data/lib/zerotier-one/local.conf |grep -v 'File exists'
+echo "All done! :)"
+echo

disco/uavpal/bin/uavpal_disco.sh

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+#!/bin/sh
+ulogger -s -t uavpal_disco "Huawei USB device detected"
+ulogger -s -t uavpal_disco "=== Enabling LTE ==="
+
+ulogger -s -t uavpal_disco "... loading tunnel kernel module (for zerotier)"
+insmod /data/ftp/uavpal/mod/tun.ko
+
+ulogger -s -t uavpal_disco "... loading E3372s kernel modules (required for detection)"
+insmod /data/ftp/uavpal/mod/usbserial.ko 
+insmod /data/ftp/uavpal/mod/usb_wwan.ko
+insmod /data/ftp/uavpal/mod/option.ko
+
+ulogger -s -t uavpal_disco "... loading iptables kernel modules (required for security)"
+insmod /data/ftp/uavpal/mod/x_tables.ko
+insmod /data/ftp/uavpal/mod/ip_tables.ko
+insmod /data/ftp/uavpal/mod/iptable_filter.ko
+insmod /data/ftp/uavpal/mod/xt_tcpudp.ko
+
+# Security: block incoming connections on the Internet interfaces (ppp* for E3372s and eth1 for E3372h)
+# these connections should only be allowed on Wi-Fi (eth0) and via zerotier (zt0)
+ulogger -s -t uavpal_disco "... applying iptables security rules"
+if_block='ppp+ eth1'
+for i in $if_block
+do
+	iptables -I INPUT -p tcp -i eth1 --dport 21 -j DROP      # inetd (ftp:/data/ftp)
+	iptables -I INPUT -p tcp -i eth1 --dport 23 -j DROP      # telnet
+	iptables -I INPUT -p tcp -i eth1 --dport 51 -j DROP      # inetd (ftp:/update)
+	iptables -I INPUT -p tcp -i eth1 --dport 61 -j DROP      # inetd (ftp:/data/ftp/internal_000/flightplans)
+	iptables -I INPUT -p tcp -i eth1 --dport 873 -j DROP     # rsync
+	iptables -I INPUT -p tcp -i eth1 --dport 8888 -j DROP    # dragon-prog
+	iptables -I INPUT -p tcp -i eth1 --dport 9050 -j DROP    # adb
+	iptables -I INPUT -p tcp -i eth1 --dport 44444 -j DROP   # dragon-prog
+	iptables -I INPUT -p udp -i eth1 --dport 67 -j DROP      # dnsmasq
+	iptables -I INPUT -p udp -i eth1 --dport 5353 -j DROP    # avahi-daemon
+	iptables -I INPUT -p udp -i eth1 --dport 14551 -j DROP   # dragon-prog
+done
+
+ulogger -s -t uavpal_disco "... running usb_modeswitch"
+/data/ftp/uavpal/bin/usb_modeswitch -J -v 12d1 -p `lsusb |grep "ID 12d1" | cut -f 3 -d \:`
+
+ulogger -s -t uavpal_disco "... trying to detect 4G USB modem"
+while true
+do
+	# -=-=-=-=-= Hi-Link Mode =-=-=-=-=-
+	if [ -d "/proc/sys/net/ipv4/conf/eth1" ]; then
+		huawei_mode="hilink"
+		ulogger -s -t uavpal_disco "... detected Huawei USB modem in Hi-Link mode"
+		ulogger -s -t uavpal_disco "... unloading E3372s kernel modules (not required as Hi-Link was detected)"
+		rmmod option
+		rmmod usb_wwan
+		rmmod usbserial
+		ulogger -s -t uavpal_disco "... setting IP and route"
+		ifconfig eth1 192.168.8.100 netmask 255.255.255.0
+		ip route add default via 192.168.8.1 dev eth1
+		ulogger -s -t uavpal_disco "... enabling Hi-Link DMZ mode (1:1 NAT for better zerotier performance)"
+		export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/data/ftp/uavpal/lib
+		sessionInfo=`/data/ftp/uavpal/bin/curl -s -X GET "http://192.168.8.1/api/webserver/SesTokInfo"`
+		cookie=`echo "$sessionInfo" | grep "SessionID=" | cut -b 10-147`
+		token=`echo "$sessionInfo" | grep "TokInfo" | cut -b 10-41`
+		/data/ftp/uavpal/bin/curl -s -X POST "http://192.168.8.1/api/security/dmz" -d "<request><DmzStatus>1</DmzStatus><DmzIPAddress>192.168.8.100</DmzIPAddress></request>" -H "Cookie: $cookie" -H "__RequestVerificationToken: $token"
+		break 1 # break out of while loop
+	fi
+
+	# -=-=-=-=-= Stick Mode =-=-=-=-=-
+	if [ -c "/dev/ttyUSB0" ]; then
+		huawei_mode="stick"
+		ulogger -s -t uavpal_disco "... detected Huawei USB modem in Stick mode"
+		ulogger -s -t uavpal_disco "... loading ppp kernel modules"
+		insmod /data/ftp/uavpal/mod/crc-ccitt.ko
+		insmod /data/ftp/uavpal/mod/slhc.ko
+		insmod /data/ftp/uavpal/mod/ppp_generic.ko
+		insmod /data/ftp/uavpal/mod/ppp_async.ko
+		insmod /data/ftp/uavpal/mod/ppp_deflate.ko
+		insmod /data/ftp/uavpal/mod/bsd_comp.ko
+		ulogger -s -t uavpal_disco "... running pppd to connect to LTE network"
+		LD_PRELOAD=/data/ftp/uavpal/lib/libpam.so.0:/data/ftp/uavpal/lib/libpcap.so.0.8:/data/ftp/uavpal/lib/libaudit.so.1 /data/ftp/uavpal/bin/pppd call lte
+		break 1 # break out of while loop
+	fi
+	sleep 1
+done
+
+ulogger -s -t uavpal_disco "... setting DNS servers statically (to Google)"
+echo -e 'nameserver 8.8.8.8\nnameserver 8.8.4.4' >/etc/resolv.conf
+
+ulogger -s -t uavpal_disco "... waiting for Internet connection"
+while true; do
+	if ping -c 1 8.8.8.8 >/dev/null 2>&1; then
+		ulogger -s -t uavpal_disco "... Internet connection is up"
+		break # break out of loop
+	fi
+done
+
+ulogger -s -t uavpal_disco "... setting date/time using ntp"
+ntpd -n -d -q
+
+ulogger -s -t uavpal_disco "... starting glympse script for GPS tracking"
+/data/ftp/uavpal/bin/uavpal_glympse.sh $huawei_mode &
+
+ulogger -s -t uavpal_disco "... starting zerotier daemon"
+/data/ftp/uavpal/bin/zerotier-one -d
+
+ulogger -s -t uavpal_disco "... checking if zerotier needs to join a network"
+if [ ! -d "/data/lib/zerotier-one/networks.d" ]; then
+	ulogger -s -t uavpal_disco "... joining zerotier network ID"
+	sleep 1
+	ztjoin_response=`/data/ftp/uavpal/bin/zerotier-one -q join $(head -1 /data/ftp/uavpal/conf/zt_networkid |tr -d '\r\n' |tr -d '\n')`
+	if [ "`echo $ztjoin_response |head -n1 |awk '{print $1}')`" == "200" ]; then
+		ulogger -s -t uavpal_disco "... successfully joined zerotier network ID"
+	else
+		ulogger -s -t uavpal_disco "... ERROR joining zerotier network ID"
+	fi
+fi
+
+ulogger -s -t uavpal_disco "... looping to keep script alive. ugly, yes!"
+ulogger -s -t uavpal_disco "*** idle on LTE ***"
+while true; do sleep 10; done

disco/uavpal/bin/uavpal_glympse.sh

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+#!/bin/sh
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/data/ftp/uavpal/lib
+
+function parse_json()
+{
+	echo $1 | \
+	sed -e 's/[{}]/''/g' | \
+	sed -e 's/", "/'\",\"'/g' | \
+	sed -e 's/" ,"/'\",\"'/g' | \
+	sed -e 's/" , "/'\",\"'/g' | \
+	sed -e 's/","/'\"---SEPERATOR---\"'/g' | \
+	awk -F=':' -v RS='---SEPERATOR---' "\$1~/\"$2\"/ {print}" | \
+	sed -e "s/\"$2\"://" | \
+	tr -d "\n\t" | \
+	sed -e 's/\\"/"/g' | \
+	sed -e 's/\\\\/\\/g' | \
+	sed -e 's/^[ \t]*//g' | \
+	sed -e 's/^"//'  -e 's/"$//'
+}
+
+function gpsDecimal()
+{
+	gpsVal=$1
+	gpsDir="$2"
+	gpsInt=$(echo "$gpsVal 100 / p" | /data/ftp/uavpal/bin/dc)
+	gpsMin=$(echo "3k$gpsVal $gpsInt 100 * - p" | /data/ftp/uavpal/bin/dc)
+	gpsDec=$(echo "6k$gpsMin 60 / $gpsInt + 1000000 * p" | /data/ftp/uavpal/bin/dc | cut -d '.' -f 1)
+	if [[ "$gpsDir" != "E" && "$gpsDir" != "N" ]]; then gpsDec="-$gpsDec"; fi
+	echo $gpsDec
+}
+
+ulogger -s -t uavpal_glympse "... reading Glympse API key from config file"
+apikey="`head -1 /data/ftp/uavpal/conf/glympse_apikey |tr -d '\r\n' |tr -d '\n'`"
+	if [ "$apikey" == "AAAAAAAAAAAAAAAAAAAA" ]; then
+		ulogger -s -t uavpal_disco "... disabling Glympse, API key set to ignore"
+		exit 0
+	fi
+
+ulogger -s -t uavpal_glympse "... reading Disco ID from avahi"
+droneName=$(cat /tmp/avahi/services/ardiscovery.service |grep name |cut -d '>' -f 2 |cut -d '<' -f 0)
+
+ulogger -s -t uavpal_glympse "... Glympse API: creating account"
+glympseCreateAccount=$(/data/ftp/uavpal/bin/curl -q -k -H "Content-Type: application/json" -X POST "https://api.glympse.com/v2/account/create?api_key=${apikey}")
+
+ulogger -s -t uavpal_glympse "... Glympse API: logging in"
+glympseLogin=$(/data/ftp/uavpal/bin/curl -q -k -H "Content-Type: application/json" -X POST "https://api.glympse.com/v2/account/login?api_key=${apikey}&id=$(parse_json $glympseCreateAccount id)&password=$(parse_json $glympseCreateAccount password)")
+
+ulogger -s -t uavpal_glympse "... Glympse API: parsing access token"
+access_token=$(parse_json $(echo $glympseLogin |sed 's/\:\"access_token/\:\"tmp/g') access_token)
+
+ulogger -s -t uavpal_glympse "... Glympse API: creating ticket"
+glympseCreateTicket=$(/data/ftp/uavpal/bin/curl -q -k -H "Content-Type: application/json" -H "Authorization: Bearer ${access_token}" -X POST "https://api.glympse.com/v2/users/self/create_ticket?duration=14400000")
+
+ulogger -s -t uavpal_glympse "... Glympse API: parsing ticket"
+ticket=$(parse_json $glympseCreateTicket id)
+
+ulogger -s -t uavpal_glympse "... Glympse API: creating invite"
+glympseCreateInvite=$(/data/ftp/uavpal/bin/curl -q -k -H "Content-Type: application/json" -H "Authorization: Bearer ${access_token}" -X POST "https://api.glympse.com/v2/tickets/$ticket/create_invite?type=sms&address=1234567890&send=client")
+
+ulogger -s -t uavpal_glympse "... Glympse API: calling uavpal_sms"
+/data/ftp/uavpal/bin/uavpal_sms.sh $1 "`head -1 /data/ftp/uavpal/conf/phonenumber |tr -d '\r\n' |tr -d '\n'`" "You can track the location of your ${droneName} here: https://glympse.com/$(parse_json ${glympseCreateInvite%_*} id)"
+
+ulogger -s -t uavpal_glympse "... Glympse API: setting identifier to Disco ID"
+/data/ftp/uavpal/bin/curl -q -k -H "Content-Type: application/json" -H "Authorization: Bearer ${access_token}" -X POST -d "[{\"t\": $(date +%s)000, \"pid\": 0, \"n\": \"name\", \"v\": \"${droneName}\"}]" "https://api.glympse.com/v2/tickets/$ticket/append_data"
+
+ulogger -s -t uavpal_glympse "... Glympse API: setting Disco thumbnail image"
+/data/ftp/uavpal/bin/curl -q -k -H "Content-Type: application/json" -H "Authorization: Bearer ${access_token}" -X POST -d "[{\"t\": $(date +%s)000, \"pid\": 0, \"n\": \"avatar\", \"v\": \"https://uavpal.com/img/disco.png?$(date +%s)\"}]" "https://api.glympse.com/v2/tickets/$ticket/append_data"
+
+ulogger -s -t uavpal_glympse "... Glympse API: reading out Disco's GPS coordinates every 5 seconds to update Glympse via API"
+while true
+do
+   gps_nmea_out=$(grep GNRMC -m 1 /tmp/gps_nmea_out | cut -c4-)
+   lat=$(echo $gps_nmea_out | cut -d ',' -f 4)
+   latdir=$(echo $gps_nmea_out | cut -d ',' -f 5)
+   long=$(echo $gps_nmea_out | cut -d ',' -f 6)
+   longdir=$(echo $gps_nmea_out | cut -d ',' -f 7)
+   speed=$(echo $gps_nmea_out | cut -d ',' -f 8)
+   # speed is not working. fix in future release.
+   # /data/ftp/uavpal/bin/curl -q -k -H "Content-Type: application/json" -H "Authorization: Bearer ${access_token}" -X POST -d "[[$(date +%s)000,$(gpsDecimal $lat $latdir),$(gpsDecimal $long $longdir),0$(/data/ftp/dc -e "$speed 0.514444 * p")]]" "https://api.glympse.com/v2/tickets/$ticket/append_location"
+   /data/ftp/uavpal/bin/curl -q -k -H "Content-Type: application/json" -H "Authorization: Bearer ${access_token}" -X POST -d "[[$(date +%s)000,$(gpsDecimal $lat $latdir),$(gpsDecimal $long $longdir),0]]" "https://api.glympse.com/v2/tickets/$ticket/append_location"
+   sleep 5
+done
+

disco/uavpal/bin/uavpal_sms.sh

@@ -0,0 +1,14 @@
+#!/bin/sh
+if [ "$1" == "stick" ]; then
+	ulogger -s -t uavpal_sms "... sending SMS with Glympse link (via ttyUSB)"
+	echo -e "AT+CMGF=1\rAT+CMGS=\"$2\"\r$3\32" > /dev/ttyUSB0
+elif [ "$1" == "hilink" ]; then
+	ulogger -s -t uavpal_sms "... sending SMS with Glympse link (via Hi-Link API)"
+	export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/data/ftp/uavpal/lib
+	sessionInfo=`/data/ftp/uavpal/bin/curl -s -X GET "http://192.168.8.1/api/webserver/SesTokInfo"`
+	cookie=`echo "$sessionInfo" | grep "SessionID=" | cut -b 10-147`
+	token=`echo "$sessionInfo" | grep "TokInfo" | cut -b 10-41`
+	/data/ftp/uavpal/bin/curl -s -X POST "http://192.168.8.1/api/sms/send-sms" -d "<request><Index>-1</Index><Phones><Phone>$2</Phone></Phones><Sca></Sca><Content>$3</Content><Length>-1</Length><Reserved>-1</Reserved><Date>-1</Date></request>" -H "Cookie: $cookie" -H "__RequestVerificationToken: $token"
+else
+	ulogger -s -t uavpal_sms "ERROR: the first argument has to be stick|hilink"
+fi

disco/uavpal/conf/70-huawei-e3372.rules

@@ -0,0 +1 @@
+ACTION=="add", SUBSYSTEM=="usb", ATTRS{idVendor}=="12d1", RUN+="/data/ftp/uavpal/bin/uavpal_disco.sh"

disco/uavpal/conf/apn

@@ -0,0 +1,2 @@
+myapn
+# Enter your mobile network operator's APN on the first line. If unsure, consult your mobile provider to try this: https://www.hw-group.com/products/HWg-Ares/HWg-Ares_GSM_APN_en.html

disco/uavpal/conf/chatscript

@@ -0,0 +1,39 @@
+# You can use this script unmodified to connect to cellular networks.
+# The APN is specified in the peers file as the argument of the -T command
+# line option of chat(8).
+
+# For details about the AT commands involved please consult the relevant
+# standard: 3GPP TS 27.007 - AT command set for User Equipment (UE).
+# (http://www.3gpp.org/ftp/Specs/html-info/27007.htm)
+
+ABORT		BUSY
+ABORT		VOICE
+ABORT		"NO CARRIER"
+ABORT		"NO DIALTONE"
+ABORT		"NO DIAL TONE"
+ABORT		"NO ANSWER"
+ABORT		"DELAYED"
+ABORT		"ERROR"
+
+# cease if the modem is not attached to the network yet
+ABORT		"+CGATT: 0"
+
+""		AT
+TIMEOUT		12
+OK		ATH
+OK		ATE1
+
+# +CPIN provides the SIM card PIN
+#OK		"AT+CPIN=1234"
+
+# +CFUN may allow to configure the handset to limit operations to
+# GPRS/EDGE/UMTS/etc to save power, but the arguments are not standard
+# except for 1 which means "full functionality".
+#OK		AT+CFUN=1
+
+#OK		AT+CGDCONT=1,"IP","\T","",0,0
+OK		AT\^NDISDUP=1,1,"\T"
+OK		ATD*99#
+TIMEOUT		22
+CONNECT		""
+

disco/uavpal/conf/glympse_apikey

@@ -0,0 +1,2 @@
+AAAAAAAAAAAAAAAAAAAA
+# Enter your Glympse API key on the first line. This is used for GPS tracking (Glympse). Leave it set to AAAAAAAAAAAAAAAAAAAA, if you don't want to use Glympse.

disco/uavpal/conf/local.conf

@@ -0,0 +1,5 @@
+{
+    "settings": {
+        "interfacePrefixBlacklist": [ "eth0" ]
+    }
+}

disco/uavpal/conf/lte

@@ -0,0 +1,13 @@
+connect "/data/ftp/uavpal/bin/chat -v -f  /data/ftp/uavpal/conf/chatscript -T `head -1 /data/ftp/uavpal/conf/apn |tr -d '\r\n' |tr -d '\n'`"
+/dev/ttyUSB1
+noipdefault
+defaultroute
+replacedefaultroute
+hide-password
+noauth
+persist
+usepeerdns
+maxfail 0
+lcp-echo-failure 10
+lcp-echo-interval 6
+holdoff 5

disco/uavpal/conf/ntp.conf

@@ -0,0 +1,4 @@
+server 0.debian.pool.ntp.org iburst
+server 1.debian.pool.ntp.org iburst
+server 2.debian.pool.ntp.org iburst
+server 3.debian.pool.ntp.org iburst

disco/uavpal/conf/phonenumber

@@ -0,0 +1,3 @@
++XXYYYYYYYYY
+# Enter your phone number on the first line. This is used to send you the GPS tracking link (Glympse) upon powering on the Disco.
+# +XX is the international prefix.

disco/uavpal/conf/zt_networkid

@@ -0,0 +1,2 @@
+0123456789abcdef
+# Enter your ZeroTier Network ID on the first line - this is the same value for disco's zt_networkid and skycontroller2's zt_networkid.

installation.txt

@@ -0,0 +1 @@
+Please go to https://github.com/uavpal/disco4g/wiki/Installation for detailed instructions.

skycontroller2/skycontroller2_install.sh

@@ -0,0 +1,32 @@
+#!/bin/sh
+echo "=== Installing Disco4G on Skycontroller 2 ==="
+# ip_sc2=`grep -i 'a0:14:3d' /var/lib/misc/dhcp_eth0.leases | head -1 | awk '{ print $3 }'`
+ip_sc2=`netstat -nu |grep 9988 | head -1 | awk '{ print $5 }' | cut -d ':' -f 1`
+until /data/ftp/uavpal/bin/adb connect ${ip_sc2}:9050 2>/dev/null;
+do
+	echo "Trying to connect from Disco to Skycontroller 2 via Wi-Fi"
+done
+echo "Copying softmod files from Disco to Skycontroller 2"
+/data/ftp/uavpal/bin/adb push /tmp/disco4g/skycontroller2/uavpal /data/lib/ftp/uavpal/ 2>/dev/null
+echo "Making binaries and scripts executable"
+/data/ftp/uavpal/bin/adb shell "chmod +x /data/lib/ftp/uavpal/bin/*" 2> /dev/null
+echo "Remounting filesystem as read/write"
+/data/ftp/uavpal/bin/adb shell "mount -o remount,rw /" 2>/dev/null
+echo "Creating init script for softmod"
+/data/ftp/uavpal/bin/adb shell "cat << '' > /etc/boxinit.d/99-uavpal.rc
+service uavpal /data/lib/ftp/uavpal/bin/uavpal_sc2.sh
+    class main
+    user root
+" 2>/dev/null
+echo "Setting file permissions for init script"
+/data/ftp/uavpal/bin/adb shell "chmod 640 /etc/boxinit.d/99-uavpal.rc" 2>/dev/null
+echo "Remounting filesystem as read-only"
+/data/ftp/uavpal/bin/adb shell "mount -o remount,ro /" 2>/dev/null
+echo "Creating zerotier-one directory"
+/data/ftp/uavpal/bin/adb shell "mkdir -p /data/lib/zerotier-one" 2>/dev/null
+echo "Creating symlink for zerotier-one's local config file"
+/data/ftp/uavpal/bin/adb shell "ln -s /data/lib/ftp/uavpal/conf/local.conf /data/lib/zerotier-one/local.conf" 2>/dev/null |grep -v 'File exists'
+echo "Rebooting Skycontroller 2"
+/data/ftp/uavpal/bin/adb shell "reboot" 2>/dev/null
+echo "All done! :)"
+echo