Add create3 usb0 subnet setting

etc/systemd/system/webserver.service

@@ -6,7 +6,7 @@ StartLimitIntervalSec=0
 Type=simple
 Restart=always
 RestartSec=1
-ExecStart=/usr/bin/socat TCP-LISTEN:8080,fork,reuseaddr tcp:192.168.186.2:80
+ExecStart=/etc/turtlebot4/webserver.sh
 
 [Install]
 WantedBy=multi-user.target

etc/turtlebot4/aliases.bash

@@ -7,7 +7,7 @@ TurtleBot 4 User Manual: https://turtlebot.github.io/turtlebot4-user-manual \n\
 TurtleBot 4 Github: https://github.com/turtlebot/turtlebot4"'
 
 # Restart ntpd on Create 3
-alias turtlebot4-ntpd-sync='curl -X POST http://192.168.186.2/api/restart-ntpd'
+alias turtlebot4-ntpd-sync='curl -X POST http://${CREATE3_IP:-192.1168.186.2}/api/restart-ntpd'
 
 # Restart turtlebot4 service
 alias turtlebot4-service-restart='sudo systemctl restart turtlebot4.service'

etc/turtlebot4/webserver.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+source /etc/turtlebot4/setup.bash
+/usr/bin/socat TCP-LISTEN:8080,fork,reuseaddr tcp:${CREATE3_IP:-192.1168.186.2}:80

scripts/create_update.sh

@@ -27,4 +27,5 @@ done
 
 echo "Image path: $1";
 
-curl -X POST --data-binary @$1 http://192.168.186.2/api/firmware-update
+source /etc/turtlebot4/setup.bash
+curl -X POST --data-binary @$1 http://${CREATE3_IP:-192.1168.186.2}/api/firmware-update

turtlebot4_setup/conf.py

@@ -35,13 +35,15 @@ class BashOptions(str, Enum):
     DIAGNOSTICS = 'TURTLEBOT4_DIAGNOSTICS'
     WORKSPACE = 'WORKSPACE_SETUP'
     SUPER_CLIENT = 'ROS_SUPER_CLIENT'
+    CREATE3_IP = 'CREATE3_IP'
 
 
 class DiscoveryOptions(str, Enum):
     ENABLED = 'ENABLED'
     IP = 'IP'
     PORT = 'PORT'
     SERVER_ID = 'SERVER_ID'
+    SUBNET = 'CREATE3_USB0_SUBNET'
 
 
 class Conf():
@@ -74,19 +76,22 @@ class Conf():
         BashOptions.RMW: 'rmw_fastrtps_cpp',
         BashOptions.DIAGNOSTICS: '1',
         BashOptions.WORKSPACE: '/opt/ros/humble/setup.bash',
-        BashOptions.SUPER_CLIENT: False
+        BashOptions.SUPER_CLIENT: False,
+        BashOptions.CREATE3_IP: '192.168.186.2',
     }
 
     default_discovery_conf = {
         DiscoveryOptions.ENABLED: False,
         DiscoveryOptions.IP: '127.0.0.1',
         DiscoveryOptions.PORT: '11811',
         DiscoveryOptions.SERVER_ID: '0',
+        DiscoveryOptions.SUBNET: '186',
     }
 
     def __init__(self) -> None:
         self.system_file = os.path.join(self.setup_dir, 'system')
         self.setup_bash_file = os.path.join(self.setup_dir, 'setup.bash')
+        self.netplan_eth_file = os.path.join(self.netplan_dir, '40-ethernets.yaml')
         self.netplan_wifis_file = os.path.join(self.netplan_dir, '50-wifis.yaml')
         self.discovery_sh_file = os.path.join(self.setup_dir, 'discovery.sh')
         self.hostname_file = '/etc/hostname'
@@ -133,15 +138,17 @@ def apply_default(self, conf):
             self.discovery_conf = copy.deepcopy(self.default_discovery_conf)
 
     def read(self):
-        self.read_system()
         self.read_wifi()
         self.read_bash()
         self.read_discovery()  # Must come after read_bash in order to have the discovery server envar
+        self.read_subnet()
+        self.read_system()  # Must come after read_subnet in order to mask the USB0 IP address
 
     def write(self):
         self.write_system()
         self.write_wifi()
         self.write_discovery()
+        self.write_subnet()
         self.write_bash()
 
     def read_system(self):
@@ -151,9 +158,9 @@ def read_system(self):
                     if k in line:
                         self.system_conf[k] = line.split(':')[1].strip()
 
-        self.system_conf[SystemOptions.IP] = subprocess.run(
-            shlex.split('hostname -I'),
-            capture_output=True).stdout.decode('ascii').replace('192.168.186.3', '').strip()
+        subnet = self.get(DiscoveryOptions.SUBNET)
+        output = subprocess.run(shlex.split('hostname -I'), capture_output=True).stdout
+        self.system_conf[SystemOptions.IP] = output.decode('ascii').replace(f'192.168.{subnet}.3', '').strip()
 
         with open(self.hostname_file, 'r') as f:
             self.set(SystemOptions.HOSTNAME, f.readline().strip())
@@ -307,6 +314,52 @@ def write_bash(self):
             else:
                 os.environ[k] = str(v)
 
+    def read_subnet(self):
+        netplan = yaml.load(open(self.netplan_eth_file, 'r'), yaml.SafeLoader)
+        # wlan0 Config
+        usb0 = netplan['network']['ethernets']['usb0']
+        address = list(usb0['addresses'])[0]
+        subnet = address.split('.')[2]
+
+        # Get Subnet
+        self.set(DiscoveryOptions.SUBNET, subnet)
+        self.set(BashOptions.CREATE3_IP, f'192.168.{subnet}.2')
+
+    def write_subnet(self):
+        subnet = self.get(DiscoveryOptions.SUBNET)
+
+        # Update the usb0 subnet using netplan
+        netplan = {
+            'network': {
+                'ethernets': {
+                    'eth0': {
+                        'addresses': ['192.168.185.3/24'],
+                        'dhcp4': True,
+                        'optional': True,
+                    },
+                    'usb0': {
+                        'addresses': [f'192.168.{subnet}.3/24'],
+                        'dhcp4': False,
+                        'optional': True,
+                    },
+                },
+                'version': 2,
+            }
+        }
+
+        with open('/tmp' + self.netplan_eth_file, 'w') as f:
+            f.write('# This file was automatically created by the turtlebot4-setup tool and should not be manually modified\n\n')
+
+        yaml.dump(netplan,
+                  stream=open('/tmp' + self.netplan_eth_file, 'a'),
+                  Dumper=yaml.SafeDumper,
+                  indent=4,
+                  default_flow_style=False,
+                  default_style=None)
+
+        subprocess.run(shlex.split(f'sudo mv /tmp{self.netplan_eth_file} {self.netplan_eth_file}'))
+
+
     def read_discovery(self):
         discovery_server = self.get(BashOptions.DISCOVERY_SERVER)
         if discovery_server is None or discovery_server == '':
@@ -348,7 +401,9 @@ def write_discovery(self):
         else:
             self.set(BashOptions.DISCOVERY_SERVER, None)
             self.set(BashOptions.SUPER_CLIENT, False)
+            self.set(DiscoveryOptions.SUBNET, self.default_discovery_conf[DiscoveryOptions.SUBNET])
 
+        self.write_subnet()
         self.write_bash()
 
     @staticmethod

turtlebot4_setup/ros_setup.py

@@ -176,6 +176,8 @@ def __init__(self, configs: Conf) -> None:
                                   function=self.set_port),
                         MenuEntry(entry=self.format_entry('Server ID', DiscoveryOptions.SERVER_ID),
                                   function=self.set_server_id),
+                        MenuEntry(entry=self.format_entry('Create3 USB0 Subnet', DiscoveryOptions.SUBNET),
+                                  function=self.set_subnet),
                         MenuEntry('', None),
                         MenuEntry(entry='Apply Defaults', function=self.apply_defaults),
                         MenuEntry(entry='Save', function=self.save_settings)]
@@ -221,6 +223,18 @@ def set_server_id(self):
         server_id = max(0, min(int(server_id), 255))
         self.conf.set(DiscoveryOptions.SERVER_ID, server_id)
 
+    def set_subnet(self):
+        p = Prompt(prompt='Create3 Subnet [{0}]: '.format(self.conf.get(DiscoveryOptions.SUBNET)),
+                   default_response=self.conf.get(DiscoveryOptions.SUBNET),
+                   response_type=int,
+                   note='Create3 Subnet (0-184, 186-255)')
+        subnet = p.show()
+        subnet = max(0, min(int(subnet), 255))
+        if (subnet == 185):  # Avoid Pi Ethernet subnet (prevent potential routing issues)
+            subnet = 184
+        self.conf.set(DiscoveryOptions.SUBNET, subnet)
+        self.conf.set(BashOptions.CREATE3_IP, f'192.168.{subnet}.2')
+
     def apply_defaults(self):
         self.conf.apply_default(self.conf.discovery_conf)
 

turtlebot4_setup/turtlebot4_setup

@@ -64,7 +64,7 @@ class Turtlebot4Setup():
                 if self.conf.get(option) == '' and self.initial_conf.get(option) == None or \
                    self.conf.get(option) == None and self.initial_conf.get(option) == '':
                     pass
-                elif (self.conf.get(option) != self.initial_conf.get(option)):
+                elif (str(self.conf.get(option)) != str(self.initial_conf.get(option))):
                     diff.append(option)
 
         return diff
@@ -128,6 +128,7 @@ class Turtlebot4Setup():
                           menu_entries=['Okay'])
                 options.show()
                 return
+            self.apply_pi_network_settings()
             self.initial_conf = copy.deepcopy(self.conf)
 
     def apply_ros_settings(self):
@@ -149,6 +150,9 @@ class Turtlebot4Setup():
                 reinstall_job = True
 
         if update_create3:
+            initial_subnet = self.initial_conf.get(DiscoveryOptions.SUBNET)
+            new_subnet = self.conf.get(DiscoveryOptions.SUBNET)
+
             ros_domain_id = 'ros_domain_id=' + os.environ[BashOptions.DOMAIN_ID]
             ros_namespace = '&ros_namespace=' + os.environ[BashOptions.NAMESPACE]
             rmw_implementation = '&rmw_implementation=' + os.environ[BashOptions.RMW]
@@ -157,7 +161,7 @@ class Turtlebot4Setup():
             port = self.conf.get(DiscoveryOptions.PORT)
             ip = self.conf.get(DiscoveryOptions.IP)
             if ip == '127.0.0.1':
-                ip = f'192.168.186.3'
+                ip = f'192.168.{new_subnet}.3'
             discovery_server = f'&fast_discovery_server_value={self.conf.get_discovery_str(id, ip, port)}'
 
             if self.conf.get(DiscoveryOptions.ENABLED):
@@ -171,17 +175,27 @@ class Turtlebot4Setup():
                                                    rmw_implementation,
                                                    discovery_server,
                                                    discovery_server_enabled)) + \
-                shlex.split('-X POST http://192.168.186.2/ros-config-save-main')
+                shlex.split(f'-X POST http://192.168.{initial_subnet}.2/ros-config-save-main')
 
             result = subprocess.run(command, capture_output=True)
 
             # If the curl command fails then return and do not set any more settings.
             if (result.returncode != 0):
                 return (result.returncode, "Error writing ROS settings to Create3\n\n" + result.stderr.decode("utf-8"))
 
+            # Set subnet on Create3
+            new_wired_subnet =  f'new_wired_subnet={self.conf.get(DiscoveryOptions.SUBNET)}'
+            command = shlex.split(f'curl -d "{new_wired_subnet}" -X POST http://192.168.{initial_subnet}.2/beta-wired-subnet-save')
+
+            result = subprocess.run(command, capture_output=True)
+
+            # If the curl command fails then return and do not set any more settings.
+            if (result.returncode != 0):
+                return (result.returncode, "Error writing subnet settings to Create3\n\n" + result.stderr.decode("utf-8"))
+
             # Set time syncing to Raspberry PI
-            config = f'config=server 192.168.186.3 prefer iburst minpoll 4 maxpoll 6  # Use RPi4 server'
-            command = shlex.split(f'curl -d "{config}" -X POST http://192.168.186.2/beta-ntp-conf-save')
+            config = f'config=server 192.168.{new_subnet}.3 prefer iburst minpoll 4 maxpoll 6  # Use RPi4 server'
+            command = shlex.split(f'curl -d "{config}" -X POST http://192.168.{initial_subnet}.2/beta-ntp-conf-save')
 
             result = subprocess.run(command, capture_output=True)
 
@@ -190,7 +204,7 @@ class Turtlebot4Setup():
                 return (result.returncode, "Error writing NTP settings to Create3\n\n" + result.stderr.decode("utf-8"))
 
             # Reboot the Create3
-            result = subprocess.run(shlex.split('curl -X POST http://192.168.186.2/api/reboot'), capture_output=True)
+            result = subprocess.run(shlex.split(f'curl -X POST http://192.168.{initial_subnet}.2/api/reboot'), capture_output=True)
 
             # If the curl command fails then return and indicate the error.
             if (result.returncode != 0):
@@ -202,9 +216,9 @@ class Turtlebot4Setup():
 
         return (0, "Success")
 
-    def apply_wifi_settings(self):
-        # Run netplan apply if WiFi options have changed
-        if len(self.get_settings_diff(WifiOptions)) > 0:
+    def apply_pi_network_settings(self):
+        if len(self.get_settings_diff(WifiOptions)) > 0 or len(self.get_settings_diff(DiscoveryOptions)) > 0:
+            # Run netplan apply if WiFi options or Discovery options (for subnet) have changed
             subprocess.run(shlex.split('sudo netplan apply'))
             os.system('sudo reboot')