Add bash script for running on Raspberry Pi.

README.md

@@ -5,8 +5,14 @@
 
 Dockerfile and scripts to run the required [T07](https://github.com/107-systems/T07) control software on the [Pika Spark](https://pika-spark.io/).
 
-#### How-to-Docker
+#### How-to-run on [Pika Spark](https://pika-spark.io/)
 ```bash
 ./docker-build.sh
-sudo ./docker-run.sh
+sudo ./docker-run-pika-spark.sh
 ```
+
+#### How-to-run on Raspberry Pi via Zubax Babel
+```bash
+./docker-build.sh
+sudo ./docker-run-babel.sh
+```

docker-run-babel.sh

@@ -0,0 +1,18 @@
+#!/bin/bash
+set -euo pipefail
+IFS=$'\n\t'
+
+if [ "$(id -u)" != "0" ]; then
+  echo "This script must be run as root."
+  exit 1
+fi
+
+if ! [ -e /sys/class/net/can0 ]; then
+    sudo ./setup_slcan.sh --remove-all --basename can --speed-code 5 /dev/serial/by-id/usb-Zubax*Babel*
+fi
+
+docker run -it \
+   -u 0 \
+   --privileged \
+   --network host \
+   pika_spark_t07_docker

setup_slcan.sh

@@ -0,0 +1,155 @@
+#!/bin/bash
+# Pavel Kirienko <[email protected]>
+
+HELP="Register slcan-enabled serial-to-CAN adapters as network interfaces.
+Usage:
+    `basename $0` [options] <tty0> [[options] <tty1> ...]
+
+Interface indexes will be assigned automatically in ascending order, i.e., the
+first device will be mapped to slcan0, second to slcan1, and so on.
+Each added option affects only the interfaces that follow it,
+which means that options must be properly ordered (see examples below).
+This tool requires superuser privileges.
+
+The package 'can-utils' must be installed. On Debian/Ubuntu-based systems it
+can be installed via APT: apt-get install can-utils
+
+Options:
+  --speed-code <X> (where X is a number in range [0, 8]; default: 8)
+  -s<X>
+      Set CAN speed to:
+      0 - 10  Kbps
+      1 - 20  Kbps
+      2 - 50  Kbps
+      3 - 100 Kbps
+      4 - 125 Kbps (UAVCAN recommended)
+      5 - 250 Kbps (UAVCAN recommended)
+      6 - 500 Kbps (UAVCAN recommended)
+      7 - 800 Kbps
+      8 - 1   Mbps (UAVCAN recommended, default)
+
+  --remove-all
+  -r
+      Remove all SLCAN interfaces.
+      If this option is used, it should be provided first, otherwise it
+      will remove the interfaces added earlier.
+
+  --basename <X> (where X is a string containing [a-z], default: slcan)
+  -b<X>
+      Base name to use for the interfaces that follow this option.
+
+  --baudrate <X> (where X is an integer, default: 921600)
+  -S<X>
+      Configure baud rate to use on the interface.
+      This option is mostly irrelevant for USB adapters.
+
+  --silent
+  -l
+      Open the CAN interface in silent mode (listen-only, SLCAN command 'L\\r').
+
+Example 1:
+    `basename $0` --remove-all /dev/ttyUSB3 --basename can --baudrate 115200 \\
+                     /dev/ttyUSB0 --speed-code 4 /dev/ttyACM0
+The example above initializes the interfaces as follows:
+    /dev/ttyUSB3  -->   slcan0     1 Mbps          baudrate 921600
+    /dev/ttyUSB0  -->   can0       1 Mbps          baudrate 115200
+    /dev/ttyACM0  -->   can1       125 kbps        baudrate 115200
+
+Example 2:
+    `basename $0` --remove-all
+The example above only removes all SLCAN interfaces without adding new ones."
+
+function die() { echo $@ >&2; exit 1; }
+
+if [ "$1" == '--help' ] || [ "$1" == '-h' ]; then echo "$HELP"; exit; fi
+
+[ -n "$1" ] || die "Invalid usage. Use --help to get help."
+
+[ "$(id -u)" == "0" ] || die "Must be root."
+
+which slcand > /dev/null || die "Please install can-utils first."
+
+# ---------------------------------------------------------
+
+function deinitialize() {
+    echo "Stopping slcand..." >&2
+    # Trying SIGINT first
+    killall -INT slcand &> /dev/null
+    sleep 0.3
+    # Then trying the default signal, which is SIGTERM, if SIGINT didn't help
+    slcand_kill_retries=10
+    while killall slcand &> /dev/null
+    do
+        (( slcand_kill_retries -= 1 ))
+        [[ "$slcand_kill_retries" > 0 ]] || die "Failed to stop slcand"
+        sleep 1
+    done
+}
+
+function handle_tty() {
+    tty=$(readlink -f $1)
+    iface_index=0
+    while ip link show "$IFACE_BASENAME$iface_index" &> /dev/null
+    do
+        iface_index=$((iface_index + 1))
+    done
+    iface="$IFACE_BASENAME$iface_index"
+    echo "Attaching '$tty' to '$iface' speed code '$SPEED_CODE' baudrate '$BAUDRATE' mode '$MODE'" >&2
+    slcand -f -$MODE -s$SPEED_CODE $tty $iface || return 5
+    sleep 1
+    ip link set up $iface txqueuelen 500 || return 6
+}
+
+IFACE_BASENAME='slcan'
+SPEED_CODE=8
+BAUDRATE=921600
+MODE='o'
+
+next_option=''
+while [ -n "$1" ]; do
+    case $1 in
+    -r | --remove-all)
+        deinitialize
+        ;;
+
+    -b*)
+        IFACE_BASENAME=${1:2}
+        ;;
+
+    -S*)
+        BAUDRATE=${1:2}
+        ;;
+
+    -s[0-8])
+        SPEED_CODE=${1:2}
+        ;;
+
+    -l | --silent)
+        MODE='l'
+        ;;
+
+    --*)
+        next_option=${1:2}
+        ;;
+
+    -*)
+        die "Invalid option: $1"
+        ;;
+
+    *)
+        if   [ "$next_option" = 'basename' ];   then IFACE_BASENAME=$1
+        elif [ "$next_option" = 'speed-code' ]; then SPEED_CODE=$1
+        elif [ "$next_option" = 'baudrate' ];   then BAUDRATE=$1
+        elif [ "$next_option" = '' ]
+        then
+            handle_tty $1 || die "Failed to configure interface $1"
+        else
+            die "Invalid option '$next_option'"
+        fi
+        next_option=''
+        ;;
+    esac
+    shift
+done
+
+[ "$next_option" = '' ] || die "Expected argument for option '$next_option'"