Use single modern node version for front&backend

install_mirte.sh

@@ -122,6 +122,13 @@ sudo systemctl disable --now unattended-upgrades.service || true # either no net
 # update time in /etc/fake-hwclock.data
 sudo fake-hwclock save
 
+# mark some apt packages as hold to not break when upgrading
+# when using overlay, we don't want to update the kernel, as it will break some things
+# updates are in the overlay, while kernel is started from underlay.
+
+# wildcards and non-existing packages are ignored, so this is safe to run on all images.
+sudo apt-mark hold "linux-dtb-*" "linux-image-*" "linux-u-boot-*" "linux-headers-*" "armbian-plymouth-theme" "armbian-firmware"
+
 # remove force ipv4
 sudo rm /etc/apt/apt.conf.d/99force-ipv4 || true
 sudo rm /etc/resolv.conf || true # remove resolv.conf to use the one from the network.

install_mirte_master.sh

@@ -18,17 +18,25 @@ mkdir build
 cd build
 cmake ..
 make -j
-sudo ln -s $MIRTE_SRC_DIR/mirte-install-scripts/services/mirte-usb-switch.service /lib/systemd/system/
-sudo systemctl daemon-reload
-sudo systemctl stop mirte-usb-switch.service || /bin/true
-sudo systemctl start mirte-usb-switch.service
-sudo systemctl enable mirte-usb-switch.service
-
-sudo ln -s $MIRTE_SRC_DIR/mirte-install-scripts/services/mirte-shutdown.service /lib/systemd/system/
-sudo systemctl daemon-reload
-sudo systemctl stop mirte-shutdown.service || /bin/true
-sudo systemctl start mirte-shutdown.service
-sudo systemctl enable mirte-shutdown.service
+
+function add_service() {
+	service_name=$1
+	# check if service file exists in install scripts, if not, exit with error
+	if [[ ! -f $MIRTE_SRC_DIR/mirte-install-scripts/services/$service_name ]]; then
+		echo "Service file $service_name does not exist in $MIRTE_SRC_DIR/mirte-install-scripts/services/"
+		exit 1
+	fi
+	sudo rm -f /lib/systemd/system/$service_name
+	sudo ln -s $MIRTE_SRC_DIR/mirte-install-scripts/services/$service_name /lib/systemd/system/
+	sudo systemctl daemon-reload
+	sudo systemctl stop $service_name || /bin/true
+	sudo systemctl start $service_name
+	sudo systemctl enable $service_name
+}
+
+add_service mirte-battery-watcher.service # check that battery is not empty and shutdown if it is
+add_service mirte-shutdown.service        # show a message on the screen when shutting down and trigger a shutdown of the robot
+add_service mirte-usb-switch.service      # turn on/off depth cam usb port.
 
 # create a gpio group and add mirte to it. This is needed to access the gpio ports, otherwise only sudo is allowed.
 sudo groupadd gpiod
@@ -41,19 +49,6 @@ pip install gpiod==1.5.4 # python3.8 version
 pip install gtts playsound openai==0.28.0 sounddevice scipy SpeechRecognition soundfile transformers datasets pyyaml pydub Elevenlabs || true # some strange package versions
 pip install numpy==1.23.1                                                                                                                     # python3.8 fix
 
-# mkdir ~/uboot_fix/
-# cd ~/uboot_fix/
-# # audio fix uboot for orange pi 3b
-# if [[ ${type:=""} == "mirte_orangepi3b" ]]; then
-# 	wget https://mirte.arend-jan.com/files/fixes/uboot/linux-u-boot-orangepi3b-edge_24.2.1_arm64__2023.10-S095b-P0000-H264e-V49ed-B11a8-R448a.deb
-# 	sudo apt install ./linux-u-boot-orangepi3b-edge_24.2.1_arm64__2023.10-S095b-P0000-H264e-V49ed-B11a8-R448a.deb
-# 	rm linux-u-boot-orangepi3b-edge_24.2.1_arm64__2023.10-S095b-P0000-H264e-V49ed-B11a8-R448a.deb
-# 	cd ../
-# 	rm -rf uboot_fix/
-# fi
-
-# cd ~/mirte_ws/src
-# git clone --recurse-submodules https://github.com/arendjan/mirte-telemetrix-cpp.git
 cd ~/mirte_ws
 source /opt/ros/humble/setup.bash
 rosdep install -y --from-paths src/ --ignore-src --rosdistro humble

install_web.sh

@@ -9,17 +9,17 @@ sudo apt update || true
 sudo apt install -y python3-pip python3-setuptools python3-wheel
 sudo -H pip install nodeenv
 
-# Install backend (node 18.0)
-nodeenv --node=18.0.0 $MIRTE_SRC_DIR/mirte-web-interface/node_env
+# TODO: around april 2027, update node versions.
+# Newer nodeenv (1.11?) will have option for --node=22 instead of exact version
+nodeenv --node=22.12.0 $MIRTE_SRC_DIR/mirte-web-interface/node_env
 . $MIRTE_SRC_DIR/mirte-web-interface/node_env/bin/activate
+
+# Install backend packages
 cd $MIRTE_SRC_DIR/mirte-web-interface/nodejs-backend || exit 1
 npm install .
-deactivate_node
 
-# Install frontend (node 22.12)
+# Build front-end
 cd $MIRTE_SRC_DIR/mirte-web-interface/vue-frontend || exit 1
-nodeenv --node=22.12.0 $MIRTE_SRC_DIR/mirte-web-interface/vue-frontend/node_env
-. $MIRTE_SRC_DIR/mirte-web-interface/vue-frontend/node_env/bin/activate
 npm install
 NUXT_APP_BASE_URL=/ npm run generate
 rm -rf node_modules || true

services/mirte-battery-watcher.service

@@ -0,0 +1,13 @@
+[Unit]
+Description=Mirte-shutdown
+After=mirte-ros.service
+
+[Service]
+User=mirte
+Type=oneshot
+RemainAfterExit=true
+ExecStart=/usr/local/src/mirte/mirte-install-scripts/services/mirte_battery_watcher.sh
+TimeoutSec=30
+[Install]
+WantedBy=multi-user.target
+WantedBy=mirte-ros.service

services/mirte-shutdown.service

@@ -6,7 +6,6 @@ After=mirte-ros.service
 User=mirte
 Type=oneshot
 RemainAfterExit=true
-ExecStart=/usr/local/src/mirte/mirte-install-scripts/services/mirte_boot.sh
 ExecStop=/usr/local/src/mirte/mirte-install-scripts/services/mirte_shutdown.sh
 TimeoutSec=30
 [Install]

services/mirte_battery_watcher.sh

@@ -0,0 +1,89 @@
+#!/bin/bash
+set -x
+. /home/mirte/.mirte_settings.sh
+. /opt/ros/humble/setup.bash
+. /home/mirte/mirte_ws/install/setup.bash
+SECONDS=0
+LAST_SECONDS=0
+WARN_LVL=0
+
+# if battery <= 10%, shutdown in 2 min.
+# otherwise if longer than 15 min no message, shutdown.
+
+mirte_space=$(cat /etc/hostname | tr '[:upper:]' '[:lower:]' | tr '-' '_')
+BATTERY_FILE=/tmp/batteryState
+STOP=false
+trap 'echo "Stopping mirte_master_check"; kill $ECHO_PID; STOP=true' SIGTERM SIGINT
+# ros2 topic echo restarts when the topic appears again, so we can just echo always
+# on every check, it will read the file, take the last reading and then clear the file
+# if the sensor is off, then the file will be empty and will trigger shutdown after some time.
+topic=/io/power/power_watcher
+if [ "$MIRTE_USE_MULTIROBOT" = "true" ]; then
+	topic=/$mirte_space/io/power/power_watcher
+fi
+ros2 topic echo $topic sensor_msgs/msg/BatteryState --field percentage >$BATTERY_FILE &
+ECHO_PID=$!
+while ! systemctl list-jobs | grep -q -E 'shutdown.target.*start' && ! $STOP; do
+	OK=false
+	# echo "topics"
+	percentage=$(
+		tail -2 $BATTERY_FILE | head -1
+	) || true
+	echo $percentage
+	true >$BATTERY_FILE
+	# percentage=$(echo "$percentage" | tail -1)
+	# echo $percentage
+	# echo $( echo $percentage | wc -c)
+	if [ "$(echo $percentage | wc -c)" -gt 1 ]; then
+		# echo "percentage"
+		percentage=$(echo "$percentage" | awk '{print $NF}')
+		# echo $percentage
+		if (($(echo "$percentage > 0.1" | bc -l))); then
+			OK=true
+		elif (($(echo "$percentage <= 0.1" | bc -l))); then
+			wall "Battery is low, shutting down in 2min"
+			date >>/home/mirte/.shutdown_battery
+			sudo shutdown +2
+			STOP=true
+		fi
+	fi
+
+	if $OK; then
+		# echo "latest percentage: "
+		# echo $percentage
+		SECONDS=0 # update time since last ok
+		LAST_SECONDS=0
+		WARN_LVL=0
+	fi
+	# if there is a time jump and seconds is more than last_seconds+2, reset seconds
+	# time jumps happen when the time is updated (on connecting to wifi)
+	next_second=$((LAST_SECONDS + 20))
+	if [ $SECONDS -gt $next_second ]; then
+		echo "time jump"
+		SECONDS=0
+		LAST_SECONDS=0
+		WARN_LVL=0
+	fi
+	LAST_SECONDS=$SECONDS
+
+	if [ $SECONDS -gt 300 ] && [ $WARN_LVL -eq 0 ]; then
+		wall "No ROS for longer than 5min"
+		WARN_LVL=1
+	fi
+	if [ $SECONDS -gt 600 ] && [ $WARN_LVL -eq 1 ]; then
+		wall "No ROS for longer than 10min, shutting down in 5min"
+		WARN_LVL=2
+	fi
+	if [ $SECONDS -gt 900 ] && [ $WARN_LVL -eq 2 ]; then
+		wall "shutting down"
+		WARN_LVL=3
+		date >>/home/mirte/.shutdown_power
+		sudo shutdown now
+		STOP=true
+	fi
+	sleep 10
+done
+
+kill $ECHO_PID || true
+jobs -p
+ros2 daemon stop || true # deamon is sometimes started by ros2 topic echo, otherwise the shutdown will get stuck and wait for 30+ seconds