Verison 1.0.3 Release

Based on Buildbotics 0.4.14
2020-08-27 23:20:27 -04:00
parent 6137475077
commit 24dfa6c64d
302 changed files with 58865 additions and 0 deletions
--- a/scripts/11-automount.rules
+++ b/scripts/11-automount.rules
@@ -0,0 +1,10 @@
+KERNEL!="sd[a-z]*", GOTO="automount_end"
+IMPORT{program}="/sbin/blkid -o udev -p %N"
+ENV{ID_FS_TYPE}=="", GOTO="automount_end"
+ENV{ID_FS_LABEL}!="", ENV{dir_name}="%E{ID_FS_LABEL}"
+ENV{ID_FS_LABEL}=="", ENV{dir_name}="usb-%k"
+ACTION=="add", ENV{mount_options}="relatime"
+ACTION=="add", ENV{ID_FS_TYPE}=="vfat|ntfs", ENV{mount_options}="$env{mount_options},utf8,gid=100,umask=002,sync"
+ACTION=="add", RUN+="/bin/mkdir -p /media/%E{dir_name}", RUN+="/bin/mount -o $env{mount_options} /dev/%k /media/%E{dir_name}"
+ACTION=="remove", ENV{dir_name}!="", RUN+="/bin/umount -l /media/%E{dir_name}", RUN+="/bin/rmdir /media/%E{dir_name}"
+LABEL="automount_end"
--- a/scripts/avr109-flash.py
+++ b/scripts/avr109-flash.py
@@ -0,0 +1,206 @@
+#!/usr/bin/env python3
+
+import sys
+import time
+import serial
+import binascii
+
+
+dev = '/dev/ttyAMA0'
+baud = 921600
+boot_id = 'bbctrl '
+verbose = False
+
+
+def crc16(data):
+    crc = 0xffff
+
+    for x in data:
+        crc = crc ^ int(x)
+        for bit in range(8):
+            if crc & 1: crc = (crc >> 1) ^ 0xa001
+            else: crc = crc >> 1
+
+    return crc
+
+
+def avr_crc32(data, length):
+    mem = [0xff] * length
+
+    for addr, chunk in data:
+        for x in chunk:
+            mem[addr] = x
+            addr += 1
+
+    return binascii.crc32(bytes(mem))
+
+
+def read_intel_hex(f):
+    base = 0
+    pos = 0
+    start = 0
+    chunk = None
+
+    for line in f:
+        line = line.strip()
+        if not line or line[0] != ':': continue
+
+        count = int(line[1:3], 16)
+        addr = int(line[3:7], 16)
+        type = int(line[7:9], 16)
+        data = line[9:-2]
+        checksum = int(line[-2:], 16)
+
+        if type == 0:
+            addr += base
+            data = binascii.unhexlify(bytes(data, 'utf8'))
+
+            if chunk is None or pos != addr:
+                if chunk is not None: yield (start, chunk)
+                start = addr
+                chunk = data
+
+            else: chunk += data
+
+            pos = addr + len(data)
+
+        if type == 2: base = int(data, 16) * 16
+
+    if chunk is not None: yield (start, chunk)
+
+
+def send(data):
+    if verbose: print('Sending:', data)
+    sp.write(bytes(data, 'utf8'))
+
+
+def send_int(x, size):
+    if verbose: print('Sending: %d', x)
+    sp.write((x).to_bytes(size, byteorder = 'big'))
+
+
+def recv(count):
+    data = sp.read(count).decode('utf8')
+    if count and verbose: print('Received:', data)
+    return data
+
+
+def recv_int(size):
+    x = int.from_bytes(sp.read(size), byteorder = 'big')
+    if verbose: print('Received:', x)
+    return x
+
+
+# Read firmware hex file
+data = list(read_intel_hex(open(sys.argv[1], 'r')))
+
+# Open serial  port
+sp = serial.Serial(dev, baud, timeout = 10)
+
+# Reset AVR
+import RPi.GPIO as gpio
+gpio.setwarnings(False)
+gpio.setmode(gpio.BCM)
+gpio.setup(27, gpio.OUT)
+gpio.output(27, 0)
+gpio.output(27, 1)
+gpio.setup(27, gpio.IN, pull_up_down = gpio.PUD_UP)
+time.sleep(0.1)
+
+# Sync
+for i in range(10): send('\x1b')
+
+# Flush serial
+try:
+    recv(sp.in_waiting)
+except: pass
+
+# Get bootloader ID
+send('S')
+if boot_id != recv(len(boot_id)):
+    raise Exception('Failed to communicate with bootloader')
+
+# Get version
+send('V')
+major = int(recv(1))
+minor = int(recv(1))
+print('Bootloader version: %d.%d' % (major, minor))
+
+# If bootloader is new enough compare checksums
+if 0 < major or 1 < minor:
+    # Get flash length
+    send('n')
+    flash_len = recv_int(3)
+
+    # Get current flash CRC
+    send('X')
+    new_crc = avr_crc32(data, flash_len)
+    old_crc = recv_int(4)
+    if old_crc == new_crc:
+        print('Flash already up to date')
+        sys.exit(0)
+
+    print('CRC: old=0x%08x new=0x%08x' % (old_crc, new_crc))
+
+    # Erase
+    send('e')
+    if recv(1) != '\r': raise Exception('Flash erase failed')
+
+# Get page size
+send('b')
+if recv(1) != 'Y': raise Exception('Cannot get page size')
+page_size = recv_int(2)
+print('Page size:', page_size)
+
+
+# Program
+print('Programming', end = '')
+count = 0
+retry = 0
+for addr, chunk in data:
+    # Set address
+    send('H')
+    send_int(addr, 3)
+    if recv(1) != '\r': raise Exception('Failed to set address')
+
+    while len(chunk):
+        sys.stdout.flush()
+        page = chunk[0:512]
+
+        # Block command
+        send('B')
+
+        # Send block size
+        send_int(len(page), 2)
+
+        # Send memory type
+        send('F')
+
+        # Send block
+        sp.write(page)
+
+        if recv(1) != '\r': raise Exception('Failed to write block')
+
+        # Get and check block CRC
+        send('i')
+        crc = recv_int(2)
+        expect = crc16(page)
+        if crc != expect:
+            retry += 1
+            if retry == 5:
+                raise Exception('CRC mismatch %d != %d' % (crc, expect))
+
+            print('x', end = '')
+            continue
+
+        count += len(page)
+        chunk = chunk[512:]
+        retry = 0
+        print('.', end = '')
+
+
+print('done')
+print('Wrote %d bytes' % count)
+
+# Exit bootloader
+send('E')
--- a/scripts/bbctrl.service
+++ b/scripts/bbctrl.service
@@ -0,0 +1,15 @@
+[Unit]
+Description=Buildbotics Controller
+After=network.target
+
+[Service]
+User=root
+ExecStart=/usr/local/bin/bbctrl -l /var/log/bbctrl.log
+WorkingDirectory=/var/lib/bbctrl
+Restart=always
+StandardOutput=null
+Nice=-10
+KillMode=process
+
+[Install]
+WantedBy=multi-user.target
--- a/scripts/browser
+++ b/scripts/browser
@@ -0,0 +1,15 @@
+#!/usr/bin/env python3
+
+import os
+import sys
+import subprocess
+
+
+def enter_cgroup():
+    with open('/sys/fs/cgroup/memory/chrome/tasks', 'w') as f:
+        f.write(str(os.getpid()))
+
+
+# Start browser
+args = ['/usr/lib/chromium-browser/chromium-browser'] + sys.argv[1:]
+subprocess.Popen(args, preexec_fn = enter_cgroup).wait()
--- a/scripts/check-config-vars.py
+++ b/scripts/check-config-vars.py
@@ -0,0 +1,37 @@
+#!/usr/bin/env python3
+
+'''Check that the configuration variable template used on the RPi matches the
+variables used in the AVR'''
+
+import sys
+import json
+
+templ = json.load(open('src/resources/config-template.json', 'r'))
+vars = json.load(open('avr/build/vars.json', 'r'))
+
+
+def check(section):
+    errors = 0
+
+    for name, entry in section.items():
+        if 'type' in entry:
+            ok = False
+
+            # TODO check that defaults are valid
+            # TODO check that types match
+
+            if 'code' in entry and not entry['code'] in vars:
+                print('"%s" with code "%s" not found' % (name, entry['code']))
+
+            else: ok = True
+
+            if not ok: errors += 1
+
+        else: errors += check(entry)
+
+    return errors
+
+
+errors = check(templ)
+print('\n%d errors' % errors)
+sys.exit(errors != 0)
--- a/scripts/config-screen
+++ b/scripts/config-screen
@@ -0,0 +1,32 @@
+#!/bin/bash
+
+if [ $# != 3 ]; then
+  echo "Usage: $0 <width> <height> <rotation>"
+  exit 1
+fi
+
+WIDTH="$1"
+HEIGHT="$2"
+ROTATION="$3"
+
+if [[ ! "$WIDTH" =~ ^[0-9]+$ ]]; then
+  echo "Invalid width '$WIDTH'."
+  exit 1
+fi
+
+if [[ ! "$HEIGHT" =~ ^[0-9]+$ ]]; then
+  echo "Invalid height '$HEIGHT'."
+  exit 1
+fi
+
+if [[ ! "$ROTATION" =~ ^[0-3]$ ]]; then
+  echo "Invalid rotation '$ROTATION'."
+  exit 1
+fi
+
+
+OPTIONS="framebuffer_width=$WIDTH "
+OPTIONS+="framebuffer_height=$HEIGHT "
+OPTIONS+="display_rotate=$ROTATION"
+
+edit-boot-config $OPTIONS
--- a/scripts/config-wifi
+++ b/scripts/config-wifi
@@ -0,0 +1,259 @@
+#!/bin/bash -e
+
+AP=false
+DISABLE=false
+SSID=
+PASS=
+CHANNEL=7
+REBOOT=false
+
+WLAN0_CFG=/etc/network/interfaces.d/wlan0
+HOSTAPD_CFG=/etc/hostapd/hostapd.conf
+DNSMASQ_CFG=/etc/dnsmasq.conf
+DHCPCD_CFG=/etc/dhcpcd.conf
+WPA_CFG=/etc/wpa_supplicant/wpa_supplicant.conf
+
+
+function query_config() {
+    if [ -e $WLAN0_CFG ]; then
+        SSID=$(grep wpa-ssid $WLAN0_CFG |
+                   sed 's/^[[:space:]]*wpa-ssid "\([^"]*\)"/\1/')
+        echo "{\"ssid\": \"$SSID\", \"mode\": \"client\"}"
+
+    else
+        if [ -e $HOSTAPD_CFG -a -e /etc/default/hostapd ]; then
+            SSID=$(grep ^ssid= $HOSTAPD_CFG | sed 's/^ssid=\(.*\)$/\1/')
+            CHANNEL=$(grep ^channel= $HOSTAPD_CFG |
+                          sed 's/^channel=\(.*\)$/\1/')
+
+            echo -n "{\"ssid\": \"$SSID\", "
+            echo "\"channel\": $CHANNEL, \"mode\": \"ap\"}"
+
+        else
+            echo "{\"mode\": \"disabled\"}"
+        fi
+    fi
+
+}
+
+
+function disable_wifi() {
+    rm -f $WLAN0_CFG $HOSTAPD_CFG /etc/default/hostapd
+}
+
+
+function configure_wlan0() {
+    echo "auto wlan0"
+    echo "allow-hotplug wlan0"
+    echo "iface wlan0 inet dhcp"
+    echo "  wpa-scan-ssid 1"
+    echo "  wpa-ap-scan 1"
+    echo "  wpa-key-mgmt WPA-PSK"
+    echo "  wpa-proto RSN WPA"
+    echo "  wpa-pairwise CCMP TKIP"
+    echo "  wpa-group CCMP TKIP"
+    echo "  wpa-ssid \"$SSID\""
+
+    if [ ${#PASS} -ne 0 ]; then
+      echo "  wpa-psk \"$PASS\""
+    fi
+}
+
+
+function configure_wpa() {
+    echo "country=US"
+    echo "ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev"
+    echo "update_config=1"
+
+    if [ ${#PASS} -eq 0 ]; then
+        echo "network={"
+        echo "  ssid=\"$SSID\""
+        echo "  key_mgmt=NONE"
+        echo "}"
+    fi
+}
+
+
+function configure_dhcpcd() {
+    echo "hostname"
+    echo "clientid"
+    echo "persistent"
+    echo "option rapid_commit"
+    echo "option domain_name_servers, domain_name, domain_search, host_name"
+    echo "option classless_static_routes"
+    echo "option ntp_servers"
+    echo "option interface_mtu"
+    echo "require dhcp_server_identifier"
+    echo "slaac private"
+
+    if $AP; then
+        echo
+        echo "interface wlan0"
+        echo "  static ip_address=192.168.43.1/24"
+    fi
+}
+
+
+function configure_wifi() {
+    disable_wifi
+    echo "source-directory /etc/network/interfaces.d" > /etc/network/interfaces
+    configure_wlan0  > $WLAN0_CFG
+    configure_wpa    > $WPA_CFG
+    configure_dhcpcd > $DHCPCD_CFG
+}
+
+
+function configure_dnsmasq() {
+    echo "interface=wlan0"
+    echo "domain-needed"
+    echo "bogus-priv"
+    echo "dhcp-range=192.168.43.2,192.168.43.20,255.255.255.0,12h"
+}
+
+
+function configure_hostapd() {
+    echo "interface=wlan0"
+    echo "driver=nl80211"
+    echo "ssid=$SSID"
+    echo "hw_mode=g"
+    echo "channel=$CHANNEL"
+    echo "wmm_enabled=0"
+    echo "macaddr_acl=0"
+    echo "auth_algs=1"
+    echo "ignore_broadcast_ssid=0"
+    echo "wpa=2"
+    echo "wpa_passphrase=$PASS"
+    echo "wpa_key_mgmt=WPA-PSK"
+    echo "wpa_pairwise=TKIP"
+    echo "rsn_pairwise=CCMP"
+}
+
+
+function is_installed() {
+    dpkg-query -W --showformat='${Status}' $1 |
+        grep "install ok installed" >/dev/null
+    if [ $? -eq 0 ]; then echo true; else echo false; fi
+}
+
+
+function configure_ap() {
+    disable_wifi
+
+    # Install packages
+    (
+        $(is_installed dnsmasq) &&
+        $(is_installed hostapd) &&
+        $(is_installed iptables-persistent)
+
+    ) || (
+        export DEBIAN_FRONTEND=noninteractive
+        apt-get update
+        apt-get install -yq dnsmasq hostapd iptables-persistent
+    )
+
+    configure_dhcpcd  > $DHCPCD_CFG
+    configure_dnsmasq > $DNSMASQ_CFG
+    configure_hostapd > $HOSTAPD_CFG
+
+    echo "DAEMON_CONF=\"/etc/hostapd/hostapd.conf\"" > /etc/default/hostapd
+
+    # Enable IP forwarding
+    sed -i 's/#net.ipv4.ip_forward=1/net.ipv4.ip_forward=1/' /etc/sysctl.conf
+    echo 1 > /proc/sys/net/ipv4/ip_forward
+
+    # Enable IP masquerading
+    iptables -t nat -F
+    iptables -t nat -A POSTROUTING -o eth0 -j MASQUERADE
+    iptables-save > /etc/iptables/rules.v4
+}
+
+
+function usage() {
+    echo "Usage: config-wifi [OPTIONS]"
+    echo
+    echo "Configure wifi as either a client or access point."
+    echo
+    echo "OPTIONS:"
+    echo
+    echo "  -a             Configure access point."
+    echo "  -d             Disable wifi."
+    echo "  -r             Reboot when done."
+    echo "  -s <SSID>      Set SSID."
+    echo "  -p <PASS>      Set password."
+    echo "  -c <CHANNEL>   Set wifi channel."
+    echo "  -j             Report wifi config as JSON data."
+    echo
+}
+
+
+# Parse args
+while [ $# -ne 0 ]; do
+    case "$1" in
+        -a) AP=true ;;
+        -d) DISABLE=true ;;
+        -r) REBOOT=true; ;;
+        -s) SSID="$2"; shift ;;
+        -p) PASS="$2"; shift ;;
+        -c) CHANNEL="$2"; shift ;;
+        -j) query_config; exit 0 ;;
+
+        -h)
+            usage
+            exit 0
+            ;;
+
+        *)
+            usage
+            echo "Unknown argument '$1'"
+            exit 1
+    esac
+
+    shift
+done
+
+
+if $DISABLE; then
+    disable_wifi
+
+else
+    # Check args
+    function clean_str() {
+        echo "$1" | tr -d '\n\r"'
+    }
+
+    SSID=$(clean_str "$SSID")
+    PASS=$(clean_str "$PASS")
+
+    LANG=C LC_ALL=C # For correct string byte length
+
+    if [ ${#SSID} -eq 0 -o 32 -lt ${#SSID} ]; then
+        echo "Invalid or missing SSID '$SSID'"
+        exit 1
+    fi
+
+    if [ ${#PASS} -ne 0 ]; then
+      if [ ${#PASS} -lt 8 -o 128 -lt ${#PASS} ]; then
+        echo "Invalid passsword"
+        exit 1
+      fi
+    fi
+
+    echo "$CHANNEL" | grep '^[0-9]\{1,2\}' > /dev/null
+    if [ $? -ne 0 ]; then
+        echo "Invalid channel '$CHANNEL'"
+        exit 1
+    fi
+
+    # Execute
+    if $AP; then
+        echo "Configuring Wifi access point"
+        configure_ap
+
+    else
+        echo "Configuring Wifi"
+        configure_wifi
+    fi
+fi
+
+
+if $REBOOT; then nohup reboot & fi
--- a/scripts/demo-chroot
+++ b/scripts/demo-chroot
@@ -0,0 +1,17 @@
+#!/bin/bash -ex
+
+ROOT="$PWD/demo"
+
+# Clean up on EXIT
+function cleanup {
+    umount "$ROOT"/{dev/pts,dev,sys,proc} 2>/dev/null || true
+}
+trap cleanup EXIT
+
+# mount binds
+mount --bind /dev "$ROOT/dev/"
+mount --bind /sys "$ROOT/sys/"
+mount --bind /proc "$ROOT/proc/"
+mount --bind /dev/pts "$ROOT/dev/pts"
+
+chroot "$ROOT" "$@"
--- a/scripts/edit-boot-config
+++ b/scripts/edit-boot-config
@@ -0,0 +1,12 @@
+#!/bin/bash
+
+cp /boot/config.txt /tmp/
+
+edit-config /tmp/config.txt "$@"
+
+diff /boot/config.txt /tmp/config.txt >/dev/null
+if [ $? -eq 1 ]; then
+  mount -o remount,rw /boot
+  mv /tmp/config.txt /boot/
+  mount -o remount,ro /boot
+fi
--- a/scripts/edit-config
+++ b/scripts/edit-config
@@ -0,0 +1,83 @@
+#!/usr/bin/env python3
+
+import sys
+import argparse
+import re
+
+
+def option_type(s, pat = re.compile(r'\w+=.*')):
+  if not pat.match(s): raise argparse.ArgumentTypeError
+  return s
+
+
+parser = argparse.ArgumentParser(description = 'Edit config file.')
+parser.add_argument('config', help = 'The configuration file to edit.')
+parser.add_argument('options', nargs = '*', type = option_type,
+                    metavar = '<name>=<value>', help = 'An option to set.')
+args = parser.parse_args()
+
+
+# Parse config lines and options
+lines = []
+options = {}
+optRE = re.compile(r'(\w+)\s*=\s*([^#]+)(#.*)?')
+
+
+class Line:
+  def __init__(self, text, name = None, value = None, comment = None):
+    self.text = text
+    self.name = name
+    self.value = value
+    self.comment = comment
+
+
+  def __str__(self):
+    if self.name is not None:
+      if self.value.strip():
+        text = '%s=%s' % (self.name, self.value)
+        if self.comment: text += ' # ' + self.comment
+        text += '\n'
+        return text
+
+      else: return ''
+
+    return self.text
+
+
+with open(args.config, 'r') as f:
+  for line in f:
+    m = optRE.match(line.strip())
+
+    if m: name, value, comment = m.groups()
+    else: name, value, comment = None, None, None
+
+    l = Line(line, name, value, comment)
+    lines.append(l)
+    if name is not None: options[name] = l
+
+
+# Save original config
+config = ''.join(map(str, lines))
+
+
+# Set options
+first = True
+for opt in args.options:
+  name, value = opt.split('=', 1)
+
+  if name in options: options[name].value = value
+  else:
+    if first and len(lines) and str(lines[:-1]).strip() != '':
+      first = False
+      lines.append(Line('\n'))
+
+    lines.append(Line(None, name, value, None))
+
+
+# Assemble new config
+new_config = ''.join(map(str, lines))
+
+
+if new_config != config:
+  with open(args.config, 'w') as f:
+    f.write(new_config)
--- a/scripts/gplan-build.sh
+++ b/scripts/gplan-build.sh
@@ -0,0 +1,6 @@
+#!/bin/bash -ex
+
+cd /mnt/host
+scons -C cbang disable_local="re2 libevent"
+export CBANG_HOME="/mnt/host/cbang"
+scons -C camotics gplan.so with_gui=0 with_tpl=0
--- a/scripts/gplan-init-build.sh
+++ b/scripts/gplan-init-build.sh
@@ -0,0 +1,59 @@
+#!/bin/bash -ex
+
+IMG_DATE=2017-11-29
+IMG_BASE=${IMG_DATE}-raspbian-stretch-lite
+BASE_URL=https://downloads.raspberrypi.org/raspbian_lite/images
+IMG_URL=$BASE_URL/raspbian_lite-2017-12-01/$IMG_BASE.zip
+GPLAN_IMG=gplan-dev.img
+
+# Create dev image
+if [ ! -e $GPLAN_IMG ]; then
+
+    # Get base image
+    if [ ! -e $IMG_BASE.img ]; then
+        if [ ! -e $IMG_BASE.zip ]; then
+            wget $IMG_URL
+        fi
+
+        unzip $IMG_BASE.zip
+    fi
+
+    # Copy base image
+    cp $IMG_BASE.img $GPLAN_IMG.tmp
+
+    # Init image
+    mkdir -p rpi-share
+    cp ./scripts/gplan-init-dev-img.sh rpi-share
+    sudo ./scripts/rpi-chroot.sh $GPLAN_IMG.tmp /mnt/host/gplan-init-dev-img.sh
+
+    # Move image
+    mv $GPLAN_IMG.tmp $GPLAN_IMG
+fi
+
+# Get repos
+function fetch_local_repo() {
+    mkdir -p $1
+    git -C $1 init
+    git -C $1 fetch -t "$2" $3
+    git -C $1 reset --hard FETCH_HEAD
+}
+
+mkdir -p rpi-share || true
+
+if [ ! -e rpi-share/cbang ]; then
+    if [ "$CBANG_HOME" != "" ]; then
+        fetch_local_repo rpi-share/cbang "$CBANG_HOME" master
+    else
+        git clone https://github.com/CauldronDevelopmentLLC/cbang \
+            rpi-share/cbang
+    fi
+fi
+
+if [ ! -e rpi-share/camotics ]; then
+    if [ "$CAMOTICS_HOME" != "" ]; then
+        fetch_local_repo rpi-share/camotics "$CAMOTICS_HOME" master
+    else
+        git clone https://github.com/CauldronDevelopmentLLC/camotics \
+            rpi-share/camotics
+    fi
+fi
--- a/scripts/gplan-init-dev-img.sh
+++ b/scripts/gplan-init-dev-img.sh
@@ -0,0 +1,11 @@
+#!/bin/bash -e
+
+export LC_ALL=C
+cd /mnt/host
+
+# Update the system
+apt-get update
+#apt-get dist-upgrade -y
+
+# Install packages
+apt-get install -y scons build-essential libssl-dev python3-dev
--- a/scripts/install.sh
+++ b/scripts/install.sh
@@ -0,0 +1,121 @@
+#!/bin/bash
+
+UPDATE_AVR=true
+UPDATE_PY=true
+REBOOT=false
+
+while [ $# -gt 0 ]; do
+    case "$1" in
+        --no-avr) UPDATE_AVR=false ;;
+        --no-py) UPDATE_PY=false ;;
+    esac
+    shift 1
+done
+
+
+if $UPDATE_PY; then
+    systemctl stop bbctrl
+
+    # Update service
+    rm -f /etc/init.d/bbctrl
+    cp scripts/bbctrl.service /etc/systemd/system/
+    systemctl daemon-reload
+    systemctl enable bbctrl
+fi
+
+if $UPDATE_AVR; then
+    ./scripts/avr109-flash.py src/avr/bbctrl-avr-firmware.hex
+fi
+
+# Update config.txt
+./scripts/edit-boot-config max_usb_current=1
+./scripts/edit-boot-config config_hdmi_boost=8
+
+# TODO Enable GPU
+#./scripts/edit-boot-config dtoverlay=vc4-kms-v3d
+#./scripts/edit-boot-config gpu_mem=16
+#chmod ug+s /usr/lib/xorg/Xorg
+
+# Fix camera
+grep dwc_otg.fiq_fsm_mask /boot/cmdline.txt >/dev/null
+if [ $? -ne 0 ]; then
+    mount -o remount,rw /boot &&
+    sed -i 's/\(.*\)/\1 dwc_otg.fiq_fsm_mask=0x3/' /boot/cmdline.txt
+    mount -o remount,ro /boot
+    REBOOT=true
+fi
+
+# Enable memory cgroups
+grep cgroup_memory /boot/cmdline.txt >/dev/null
+if [ $? -ne 0 ]; then
+    mount -o remount,rw /boot &&
+    sed -i 's/\(.*\)/\1 cgroup_memory=1/' /boot/cmdline.txt
+    mount -o remount,ro /boot
+    REBOOT=true
+fi
+
+# Remove Hawkeye
+if [ -e /etc/init.d/hawkeye ]; then
+    apt-get remove --purge -y hawkeye
+fi
+
+# Decrease boot delay
+sed -i 's/^TimeoutStartSec=.*$/TimeoutStartSec=1/' \
+    /etc/systemd/system/network-online.target.wants/networking.service
+
+# Change to US keyboard layout
+sed -i 's/^XKBLAYOUT="gb"$/XKBLAYOUT="us" # Comment stops change on upgrade/' \
+    /etc/default/keyboard
+
+# Setup USB stick automount
+diff ./scripts/11-automount.rules /etc/udev/rules.d/11-automount.rules \
+     >/dev/null
+if [ $? -ne 0 ]; then
+  cp ./scripts/11-automount.rules /etc/udev/rules.d/
+  sed -i 's/^\(MountFlags=slave\)/#\1/' \
+      /lib/systemd/system/systemd-udevd.service
+  REBOOT=true
+fi
+
+# Increase swap
+grep 'CONF_SWAPSIZE=1000' /etc/dphys-swapfile >/dev/null
+if [ $? -ne 0 ]; then
+    sed -i 's/^CONF_SWAPSIZE=.*$/CONF_SWAPSIZE=1000/' /etc/dphys-swapfile
+    REBOOT=true
+fi
+
+# Install xinitrc
+cp scripts/xinitrc ~pi/.xinitrc
+chmod +x ~pi/.xinitrc
+chown pi:pi ~pi/.xinitrc
+
+# Install bbserial
+MODSRC=src/bbserial/bbserial.ko
+MODDST=/lib/modules/$(uname -r)/kernel/drivers/tty/serial/bbserial.ko
+diff -q $MODSRC $MODDST 2>/dev/null >/dev/null
+if [ $? -ne 0 ]; then
+    cp $MODSRC $MODDST
+    depmod
+    REBOOT=true
+fi
+
+# Install rc.local
+cp scripts/rc.local /etc/
+
+# Install bbctrl
+if $UPDATE_PY; then
+    rm -rf /usr/local/lib/python*/dist-packages/bbctrl-*
+    ./setup.py install --force
+    service bbctrl restart
+    HTTP_DIR=$(find /usr/local/lib/ -type d -name "http")
+    chmod 777 $HTTP_DIR
+fi
+
+sync
+
+if $REBOOT; then
+    echo "Rebooting"
+    reboot
+fi
+
+echo "Install complete"
--- a/scripts/log-position-to-gcode
+++ b/scripts/log-position-to-gcode
@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+
+import json
+import sys
+
+p = [0, 0, 0]
+
+
+print('F400 G21')
+
+for line in sys.stdin:
+    try:
+        if not line.startswith('I:Comm:> '): continue
+        line = line[9:]
+
+        data = json.loads(line)
+
+        changed = False
+        for axis in range(3):
+            var = 'xyz'[axis] + 'p'
+            if var in data:
+                p[axis] = data[var]
+                changed = True
+
+        if changed: print('G1 X%d Y%d Z%d' % tuple(p))
+
+    except json.decoder.JSONDecodeError: pass
--- a/scripts/next-rc
+++ b/scripts/next-rc
@@ -0,0 +1,19 @@
+#!/usr/bin/env python3
+
+import os
+import json
+
+if os.path.exists('dist/latest-beta.txt'):
+    with open('dist/latest-beta.txt', 'r') as f:
+        latest_beta = f.read().strip()
+
+else: latest_beta = ''
+
+with open('package.json', 'r') as f:
+    version = json.load(f)['version']
+
+if latest_beta.startswith(version + '-rc'):
+    print(int(latest_beta[len(version) + 3:]) + 1)
+
+else:
+    print(1)
--- a/scripts/ratpoisonrc
+++ b/scripts/ratpoisonrc
@@ -0,0 +1 @@
+startup_message off
--- a/scripts/rc.local
+++ b/scripts/rc.local
@@ -0,0 +1,31 @@
+#!/bin/bash
+
+# Mount /boot read only
+mount -o remount,ro /boot
+
+# Load bbserial
+echo 3f201000.serial > /sys/bus/amba/drivers/uart-pl011/unbind
+modprobe -r bbserial
+modprobe bbserial
+
+# Set SPI GPIO mode
+gpio mode 27 alt3
+
+# Create browser memory limited cgroup
+if [ -d sys/fs/cgroup/memory ]; then
+    CGROUP=/sys/fs/cgroup/memory/chrome
+    mkdir $CGROUP
+    chown -R pi:pi $CGROUP
+    echo 650000000 > $CGROUP/memory.soft_limit_in_bytes
+    echo 750000000 > $CGROUP/memory.limit_in_bytes
+fi
+
+# Reload udev
+/etc/init.d/udev restart
+
+# Stop boot splash so it doesn't interfere with X if GPU enabled and to save CPU
+plymouth quit
+
+# Start X in /home/pi
+cd /home/pi
+sudo -u pi startx
--- a/scripts/reset-video
+++ b/scripts/reset-video
@@ -0,0 +1,23 @@
+#!/usr/bin/env python3
+
+import sys
+import subprocess
+import os.path
+import time
+
+if not os.path.exists('/dev/video0'):
+    print('/dev/video0 not found')
+    sys.exit(1)
+
+p = subprocess.Popen('udevadm info -q path /dev/video0'.split(),
+                     stdout = subprocess.PIPE)
+s = p.communicate()[0].decode('utf-8')
+dev = s.split('/')[7]
+
+with open('/sys/bus/usb/drivers/usb/unbind', 'w') as f:
+    f.write(dev)
+
+time.sleep(1)
+
+with open('/sys/bus/usb/drivers/usb/bind', 'w') as f:
+    f.write(dev)
--- a/scripts/rpi-chroot.sh
+++ b/scripts/rpi-chroot.sh
@@ -0,0 +1,63 @@
+#!/bin/bash -ex
+
+ROOT="$PWD/rpi-root"
+LOOP=9
+
+if [ $# -lt 1 ]; then
+    echo "Usage: $0 <image> <exec>"
+    exit 1
+fi
+
+IMAGE="$1"
+LOOP_DEV=/dev/loop${LOOP}
+EXEC=
+
+if [ $# -gt 1 ]; then
+    shift
+    EXEC="$@"
+fi
+
+# install dependecies
+if [ ! -e /usr/bin/qemu-arm-static ]; then
+    apt-get update
+    apt-get install -y qemu qemu-user-static binfmt-support
+fi
+
+# Clean up on EXIT
+function cleanup {
+    umount "$ROOT"/{dev/pts,dev,sys,proc,boot,mnt/host,} 2>/dev/null || true
+    losetup -d $LOOP_DEV 2>/dev/null || true
+    rmdir "$ROOT" 2>/dev/null || true
+}
+trap cleanup EXIT
+
+# set up image as loop device
+losetup $LOOP_DEV "$IMAGE"
+partprobe $LOOP_DEV
+
+# check and fix filesystems
+fsck -f ${LOOP_DEV}p1
+fsck -f ${LOOP_DEV}p2
+
+# make dir
+mkdir -p "$ROOT"
+
+# mount partition
+mount -o rw ${LOOP_DEV}p2 -t ext4 "$ROOT"
+mount -o rw ${LOOP_DEV}p1 "$ROOT/boot"
+
+# mount binds
+mount --bind /dev "$ROOT/dev/"
+mount --bind /sys "$ROOT/sys/"
+mount --bind /proc "$ROOT/proc/"
+mount --bind /dev/pts "$ROOT/dev/pts"
+if [ -e ./rpi-share ]; then
+    mkdir -p "$ROOT/mnt/host"
+    mount --bind ./rpi-share "$ROOT/mnt/host"
+fi
+
+# copy qemu binary
+cp /usr/bin/qemu-arm-static "$ROOT/usr/bin/"
+
+# chroot to raspbian
+chroot "$ROOT" $EXEC
--- a/scripts/sethostname
+++ b/scripts/sethostname
@@ -0,0 +1,26 @@
+#!/bin/bash -e
+
+HOSTNAME="$(echo "$1" | tr '[:upper:]' '[:lower:]')"
+
+if [ "$HOSTNAME" == "" ]; then
+    echo "Usage: $0 <hostname>"
+    exit 1
+fi
+
+if [ "$HOSTNAME" == "localhost" ]; then
+    echo "Cannot set hostname to 'localhost'"
+    exit 1
+fi
+
+if [ "$HOSTNAME" =~ ^.*\.local$ ]; then
+    echo "Hostname cannot end with '.local'"
+    exit 1
+fi
+
+if [[ ! "$HOSTNAME" =~ ^[a-zA-Z][a-zA-Z0-9-]{0,62}$ ]]; then
+    echo "Invalid hostname '$HOSTNAME'"
+    exit 1
+fi
+
+sed -i "s/^127.0.1.1\([[:space:]]*\).*$/127.0.1.1\1$HOSTNAME/" /etc/hosts
+echo "$HOSTNAME" > /etc/hostname
--- a/scripts/setup_rpi.sh
+++ b/scripts/setup_rpi.sh
@@ -0,0 +1,110 @@
+#!/bin/bash -e
+
+export LC_ALL=C
+cd /mnt/host
+
+# Update the system
+apt-get update
+apt-get dist-upgrade -y
+
+# Install packages
+apt-get install -y avahi-daemon avrdude minicom python3-pip python3-smbus \
+  i2c-tools python3-rpi.gpio libjpeg8 wiringpi dnsmasq hostapd \
+  iptables-persistent chromium-browser xorg rpd-plym-splash samba
+pip3 install --upgrade tornado sockjs-tornado pyserial
+
+# Clean
+apt-get autoclean
+
+# Enable avahi
+update-rc.d avahi-daemon defaults
+
+# Change hostname
+sed -i "s/raspberrypi/bbctrl/" /etc/hosts /etc/hostname
+
+# Create bbmc user
+useradd -m -p $(openssl passwd -1 buildbotics) -s /bin/bash bbmc
+sed -i 's/pi$/pi,bbmc/g' /etc/group
+passwd -l pi
+
+# Disable console on serial port
+sed -i 's/console=[a-zA-Z0-9]*,115200 \?//' /boot/cmdline.txt
+
+# Disable i2c HAT ID probe
+echo -n " bcm2708.vc_i2c_override=1" >> /boot/cmdline.txt
+
+# Enable I2C
+sed -i 's/#dtparam=i2c/dtparam=i2c/' /boot/config.txt
+#echo 'dtparam=i2c_vc=on' >> /boot/config.txt
+echo i2c-bcm2708 >> /etc/modules
+echo i2c-dev >> /etc/modules
+
+# Install bbctrl w/ init.d script
+cp bbctrl.init.d /etc/init.d/bbctrl
+chmod +x /etc/init.d/bbctrl
+update-rc.d bbctrl defaults
+
+# Disable Pi 3 USART BlueTooth swap
+echo -e "\ndtoverlay=pi3-disable-bt" >> /boot/config.txt
+rm -f /etc/systemd/system/multi-user.target.wants/hciuart.service
+
+# Install hawkeye
+dpkg -i hawkeye_0.6_armhf.deb
+sed -i 's/localhost/0.0.0.0/' /etc/hawkeye/hawkeye.conf
+echo 'ACTION=="add", KERNEL=="video0", RUN+="/usr/sbin/service hawkeye restart"' > /etc/udev/rules.d/50-hawkeye.rules
+adduser hawkeye video
+
+# Disable HDMI to save power and remount /boot read-only
+sed -i 's/^exit 0$//' /etc/rc.local
+echo "mount -o remount,ro /boot" >> /etc/rc.local
+echo "gpio mode 27 alt3" >> /etc/rc.local # Enable serial CTS on pin 27
+
+# Dynamic clock to save power
+echo -e "\n# Dynamic clock\nnohz=on" >> /boot/config.txt
+
+# Shave 2 sec off of boot time
+echo -e "\n# Faster boot\ndtparam=sd_overclock=100" >> /boot/config.txt
+
+# Enable ssh
+touch /boot/ssh
+
+# Fix boot
+sed -i 's/ root=[^ ]* / root=\/dev\/mmcblk0p2/' /boot/cmdline.txt
+sed -i 's/^PARTUUID=.*\/boot/\/dev\/mmcblk0p1 \/boot/' /etc/fstab
+sed -i 's/^PARTUUID=.*\//\/dev\/mmcblk0p2 \//' /etc/fstab
+
+# Enable browser in xorg
+sed -i 's/allowed_users=console/allowed_users=anybody/' /etc/X11/Xwrapper.config
+echo "sudo -u pi startx" >> /etc/rc.local
+cp /mnt/host/xinitrc /home/pi/.xinitrc
+cp /mnt/host/ratpoisonrc /home/pi/.ratpoisonrc
+cp /mnt/host/xorg.conf /etc/X11/
+
+# Set screen resolution
+sed -i 's/^#disable_overscan/disable_overscan/' /boot/config.txt
+sed -i 's/^#framebuffer_/framebuffer_/' /boot/config.txt
+
+# Boot splash
+mkdir -p /usr/share/plymouth/themes/buildbotics/
+cp -av /mnt/host/splash/* /usr/share/plymouth/themes/buildbotics/
+echo -n " quiet splash logo.nologo plymouth.ignore-serial-consoles" >> /boot/cmdline.txt
+plymouth-set-default-theme -R buildbotics
+
+# Samba
+# TODO install custom smb.conf
+smbpasswd -a bbmc
+
+# Install bbctrl
+tar xf /mnt/host/bbctrl-*.tar.bz2
+cd $(basename bbctrl-*.tar.bz2 .tar.bz2)
+./setup.py install
+cd ..
+rm -rf $(basename bbctrl-*.tar.bz2 .tar.bz2)
+
+
+# Allow any user to shutdown
+chmod +s /sbin/{halt,reboot,shutdown,poweroff}
+
+# Clean up
+apt-get autoremove -y
+apt-get autoclean -y
--- a/scripts/ssh-bbctrl
+++ b/scripts/ssh-bbctrl
@@ -0,0 +1,16 @@
+#!/bin/bash
+
+USER=bbmc
+HOST=bbctrl.local
+
+if [ $# -eq 1 ]; then
+    if [[ "$1" = *@ ]]; then
+        LOGIN="$1"
+    else
+        LOGIN=$USER@"$1"
+    fi
+else
+    LOGIN=$USER@$HOST
+fi
+
+ssh -o UserKnownHostsFile=/dev/null -o StrictHostKeyChecking=no "$LOGIN"
--- a/scripts/svg2abs.js
+++ b/scripts/svg2abs.js
@@ -0,0 +1,64 @@
+function convertToAbsolute(path) {
+  var x0, y0, x1, y1, x2, y2, segs = path.pathSegList;
+
+  for (var x = 0, y = 0, i = 0, len = segs.numberOfItems; i < len; i++) {
+    var seg = segs.getItem(i), c = seg.pathSegTypeAsLetter;
+
+    if (/[MLHVCSQTA]/.test(c)){
+      if ('x' in seg) x = seg.x;
+      if ('y' in seg) y = seg.y;
+
+    } else {
+      if ('x1' in seg) x1 = x + seg.x1;
+      if ('x2' in seg) x2 = x + seg.x2;
+      if ('y1' in seg) y1 = y + seg.y1;
+      if ('y2' in seg) y2 = y + seg.y2;
+      if ('x'  in seg) x += seg.x;
+      if ('y'  in seg) y += seg.y;
+
+      switch(c) {
+      case 'm':
+        segs.replaceItem(path.createSVGPathSegMovetoAbs(x, y), i);
+        break;
+      case 'l':
+        segs.replaceItem(path.createSVGPathSegLinetoAbs(x, y), i);
+        break;
+      case 'h':
+        segs.replaceItem(path.createSVGPathSegLinetoHorizontalAbs(x), i);
+        break;
+      case 'v':
+        segs.replaceItem(path.createSVGPathSegLinetoVerticalAbs(y), i);
+        break;
+      case 'c':
+        segs.replaceItem(
+          path.createSVGPathSegCurvetoCubicAbs(x, y, x1, y1, x2, y2), i);
+        break;
+      case 's':
+        segs.replaceItem(
+          path.createSVGPathSegCurvetoCubicSmoothAbs(x, y, x2, y2), i);
+        break;
+      case 'q':
+        segs.replaceItem(
+          path.createSVGPathSegCurvetoQuadraticAbs(x, y, x1, y1), i);
+        break;
+      case 't':
+        segs.replaceItem(
+          path.createSVGPathSegCurvetoQuadraticSmoothAbs(x, y), i);
+        break;
+      case 'a':
+        segs.replaceItem(
+          path.createSVGPathSegArcAbs(x, y, seg.r1, seg.r2, seg.angle,
+                                      seg.largeArcFlag, seg.sweepFlag), i);
+        break;
+
+      case 'z': case 'Z':
+        x = x0;
+        y = y0;
+        break;
+      }
+    }
+
+    // Record the start of a subpath
+    if (c == 'M' || c == 'm') x0 = x, y0 = y;
+  }
+}
--- a/scripts/update-bbctrl
+++ b/scripts/update-bbctrl
@@ -0,0 +1,27 @@
+#!/bin/bash
+
+(
+    flock -n 9
+
+    UPDATE=/var/lib/bbctrl/firmware/update.tar.bz2
+
+    if [ ! -e "$UPDATE" ]; then
+      echo "Missing $UPDATE"
+      exit 1
+    fi
+
+    systemctl stop bbctrl
+
+    rm -rf /tmp/update
+    mkdir /tmp/update
+    cd /tmp/update
+
+    LOG=/var/log/bbctrl.$(date +%Y%m%d-%H%M%S).install
+    tar xf "$UPDATE"
+    cd *
+    ./scripts/install.sh "$*" 2>&1 > $LOG
+
+    cd -
+    rm -rf /tmp/update $UPDATE
+
+) 9> /var/lock/bbctrl.update.lock
--- a/scripts/upgrade-bbctrl
+++ b/scripts/upgrade-bbctrl
@@ -0,0 +1,25 @@
+#!/bin/bash -e
+
+(
+    flock -n 9
+
+    VERSION=$(curl -s https://raw.githubusercontent.com/OneFinityCNC/onefinity/master/latest.txt)
+    PKG_NAME=onefinity-$VERSION
+    PKG=/var/lib/bbctrl/firmware/update.tar.bz2
+    PKG_URL=https://https://raw.githubusercontent.com/OneFinityCNC/onefinity/master/release/$PKG_NAME.tar.bz2
+
+    logger Installing bbctrl firmware $VERSION
+
+    cd /var/lib/bbctrl
+    mkdir -p firmware
+
+    echo Downloading $PKG_URL
+    curl -s $PKG_URL > $PKG
+
+    /usr/local/bin/update-bbctrl
+
+    echo Success
+
+    logger bbctrl firmware $VERSION installed
+
+) 9> /var/lock/bbctrl.upgrade.lock
--- a/scripts/xinitrc
+++ b/scripts/xinitrc
@@ -0,0 +1,22 @@
+hostinfo.sh &
+ratpoison &
+
+xset -dpms
+xset s off
+xset s noblank
+
+while true; do
+    tvservice -s 2>&1 | grep "state 0x40001" >/dev/null
+    if [ $? -ne 0 ]; then
+        # Clear browser errors
+        PREFS='/home/pi/.config/chromium/Default/Preferences'
+        sed -i 's/"exited_cleanly":false/"exited_cleanly":true/' $PREFS
+        sed -i 's/"exit_type":"Crashed"/"exit_type":"Normal"/' $PREFS
+
+        # Start browser
+        /usr/local/bin/browser --no-first-run --disable-infobars \
+         --noerrdialogs --disable-3d-apis http://localhost/
+    fi
+
+    sleep 1
+done
--- a/scripts/xorg.conf
+++ b/scripts/xorg.conf
@@ -0,0 +1,3 @@
+Section "ServerFlags"
+    Option "DontVTSwitch" "on"
+EndSection