setup.sh

#!/bin/bash

if [ "$EUID" -ne 0 ]; then
    echo "This script must be run with sudo."
    echo "Use 'sudo ./setup.sh' instead of './setup.sh'"
    echo "Exiting..."
    exit 1
fi

# Default value for using other source
use_index=false

# Parse command line arguments
while [[ $# -gt 0 ]]; do
  key="$1"
  case $key in
    -i|--index)
      use_index=true
      shift
      ;;
    *)
      # Unknown option
      echo "Usage: $0 [-i | --index] (to use other source)"
      exit 1
      ;;
  esac
done

if [ -e /boot/firmware/config.txt ] ; then
  FIRMWARE=/firmware
else
  FIRMWARE=
fi
CONFIG=/boot${FIRMWARE}/config.txt

is_pi () {
  ARCH=$(dpkg --print-architecture)
  if [ "$ARCH" = "armhf" ] || [ "$ARCH" = "arm64" ] ; then
    return 0
  else
    return 1
  fi
}

if is_pi ; then
  if [ -e /proc/device-tree/chosen/os_prefix ]; then
    PREFIX="$(cat /proc/device-tree/chosen/os_prefix)"
  fi
  CMDLINE="/boot${FIRMWARE}/${PREFIX}cmdline.txt"
else
  CMDLINE=/proc/cmdline
fi

is_pifive() {
  grep -q "^Revision\s*:\s*[ 123][0-9a-fA-F][0-9a-fA-F]4[0-9a-fA-F][0-9a-fA-F][0-9a-fA-F]$" /proc/cpuinfo
  return $?
}


# Config cmdline.txt
sed -i $CMDLINE -e "s/console=ttyAMA0,[0-9]\+ //"
sed -i $CMDLINE -e "s/console=serial0,[0-9]\+ //"


# Config config.txt
set_config_var() {
  lua - "$1" "$2" "$3" <<EOF > "$3.bak"
local key=assert(arg[1])
local value=assert(arg[2])
local fn=assert(arg[3])
local file=assert(io.open(fn))
local made_change=false
for line in file:lines() do
  if line:match("^#?%s*"..key.."=.*$") then
    line=key.."="..value
    made_change=true
  end
  print(line)
end

if not made_change then
  print(key.."="..value)
end
EOF
mv "$3.bak" "$3"
}

set_config_var dtparam=uart0 on $CONFIG

# if is_pifive ; then
#   echo "# pi5: skip step"
# else
echo "# Add dtoverlay=disable-bt to /boot/firmware/config.txt"
if ! grep -q 'dtoverlay=disable-bt' /boot/firmware/config.txt; then
  echo 'dtoverlay=disable-bt' >> /boot/firmware/config.txt
fi
# fi

# echo "# Add dtoverlay=ov5647 to /boot/firmware/config.txt"
# if ! grep -q 'dtoverlay=ov5647' /boot/firmware/config.txt; then
#   echo 'dtoverlay=ov5647' >> /boot/firmware/config.txt
# fi

sudo systemctl disable hciuart.service
sudo systemctl disable bluetooth.service


# Change sources
if $use_index; then
  # Backup the original sources.list file
  if ! [ -e /etc/apt/sources.list.bak ]; then
    sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak
  fi

  # Create a new sources.list file with other mirrors, keeping the release name "bookworm"
  echo "Updating sources.list with other mirrors..."
  sudo sh -c 'echo "deb https://mirrors.tuna.tsinghua.edu.cn/debian bookworm main contrib non-free non-free-firmware\ndeb https://mirrors.tuna.tsinghua.edu.cn/debian-security bookworm-security main contrib non-free non-free-firmware\ndeb https://mirrors.tuna.tsinghua.edu.cn/debian bookworm-updates main contrib non-free non-free-firmware" > /etc/apt/sources.list'


  if ! [ -e /etc/apt/sources.list.d/raspi.list.bak ]; then
    sudo cp /etc/apt/sources.list.d/raspi.list /etc/apt/sources.list.d/raspi.list.bak
  fi

  sudo sh -c 'echo "deb https://mirrors.tuna.tsinghua.edu.cn/raspberrypi bookworm main" > /etc/apt/sources.list.d/raspi.list'


  # Update the package list
  echo "Updating package list..."
  sudo apt update

  echo "Done! Your sources.list has been updated with Aliyun mirrors while keeping the release name 'bookworm'."
else
  echo "# Using default sources."
fi



# Install required software
echo "# Install required software."
sudo apt update
sudo apt upgrade -y
sudo apt install -y libopenblas-dev libatlas3-base libcamera-dev python3-opencv portaudio19-dev
sudo apt install -y util-linux procps hostapd iproute2 iw haveged dnsmasq iptables espeak


echo "# Create a Python virtual environment."
# Create a Python virtual environment
cd $PWD
python -m venv --system-site-packages ugv-env

echo "# Activate a Python virtual environment."

echo "# Install dependencies from requirements.txt"
# Install dependencies from requirements.txt
if $use_index; then
  sudo -H -u $USER bash -c 'source $PWD/ugv-env/bin/activate && pip install -i https://pypi.tuna.tsinghua.edu.cn/simple -r requirements.txt && deactivate'
else
  sudo -H -u $USER bash -c 'source $PWD/ugv-env/bin/activate && pip install -r requirements.txt && deactivate'
fi

echo "# Add current user to group so it can use serial."
sudo usermod -aG dialout $USER

# Audio Config
echo "# Audio Config."
sudo cp -v -f /home/$(logname)/ugv_rpi/asound.conf /etc/asound.conf

# OAK Config
sudo cp -v -f /home/$(logname)/ugv_rpi/99-dai.rules /etc/udev/rules.d/99-dai.rules
sudo udevadm control --reload-rules
sudo udevadm trigger

echo "Setup completed. Please to reboot your Raspberry Pi for the changes to take effect."

echo "Use the command below to run app.py onboot."

echo "sudo chmod +x autorun.sh"

echo "./autorun.sh"