89 lines
4.1 KiB
Python
89 lines
4.1 KiB
Python
"""Versioned, idempotent VESC profile; no packages downloaded and no motor I/O."""
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import fcntl
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import hashlib
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import json
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import os
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from pathlib import Path
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import platform
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import subprocess
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import sys
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import time
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import uuid
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sys.path.insert(0, str(Path(__file__).resolve().parent))
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from runtime.serial import discover
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from runtime.service import atomic
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STATE = Path("/var/lib/mission-core-node-profiles/vesc")
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def prepare():
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if os.geteuid() != 0 or sys.argv[1:]:
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raise RuntimeError("Fixed system profile only")
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release = platform.freedesktop_os_release()
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if (release.get("ID"), release.get("VERSION_ID"), platform.machine()) != ("ubuntu", "24.04", "x86_64"):
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raise RuntimeError("Ubuntu 24.04 amd64 required")
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STATE.mkdir(mode=0o755, parents=True, exist_ok=True)
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for directory in (STATE.parent, STATE):
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info = directory.lstat()
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if directory.is_symlink() or info.st_uid != 0 or info.st_mode & 0o022:
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raise RuntimeError("Untrusted profile state")
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lock = os.open(STATE / "prepare.lock", os.O_CREAT | os.O_RDWR | os.O_NOFOLLOW, 0o600)
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fcntl.flock(lock, fcntl.LOCK_EX | fcntl.LOCK_NB)
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report = {"schema": "missioncore.node.device-preparation/v1", "model_id": "vesc.controller",
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"version": "0.6.3", "run_id": uuid.uuid4().hex, "started_at": time.time(),
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"monotonic_started": time.monotonic(), "state": "running", "steps": []}
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def publish():
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atomic(STATE / "preparation.json", report)
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os.chmod(STATE / "preparation.json", 0o644)
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def run(name, label, args):
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step = {"id": name, "label": label, "state": "running"}
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report["steps"].append(step)
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publish()
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result = subprocess.run(args, capture_output=True, timeout=45,
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env={"PATH": "/usr/sbin:/usr/bin:/sbin:/bin", "LANG": "C.UTF-8"})
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step["state"] = "complete" if result.returncode == 0 else "error"
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publish()
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if result.returncode:
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raise RuntimeError("Не завершён этап: " + label)
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try:
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import pwd
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try:
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pwd.getpwnam("mission-core-vesc")
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except KeyError:
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run("account", "Подготовка доступа", ["/usr/sbin/adduser", "--system", "--group", "--home",
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"/var/lib/mission-core-vesc", "--no-create-home", "--disabled-login", "mission-core-vesc"])
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run("native", "Проверка VESC Tool", ["/usr/sbin/runuser", "-u", "mission-core-vesc", "--",
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"/usr/bin/python3", "-I", "/usr/lib/mission-core-vesc/native_check.py"])
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source = Path("/usr/share/mission-core-node/profiles/vesc/70-mission-core-vesc.rules")
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rules = source.read_bytes()
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report["udev_sha256"] = hashlib.sha256(rules).hexdigest()
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target = Path("/etc/udev/rules.d/70-mission-core-vesc.rules")
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if target.is_symlink():
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raise RuntimeError("Untrusted udev destination")
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target.write_bytes(rules)
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target.chmod(0o644)
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run("rules", "Настройка USB-доступа", ["/usr/bin/udevadm", "control", "--reload-rules"])
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for i, device in enumerate(discover()):
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run("usb" + str(i), "Применение USB-доступа", ["/usr/bin/udevadm", "trigger", "--action=change",
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"/sys/class/tty/" + device.tty])
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run("settle", "Проверка USB-доступа", ["/usr/bin/udevadm", "settle", "--timeout=10"])
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run("enable", "Подготовка службы", ["/usr/bin/systemctl", "enable", "mission-core-vesc.service"])
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run("runtime", "Запуск чтения контроллеров", ["/usr/bin/systemctl", "restart", "mission-core-vesc.service"])
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report["state"] = "complete"
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except (OSError, RuntimeError, subprocess.SubprocessError) as error:
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report.update(state="error", message=str(error)[:300])
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finally:
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report["duration_seconds"] = time.monotonic() - report["monotonic_started"]
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publish()
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os.close(lock)
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return report["state"] == "complete"
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if __name__ == "__main__":
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sys.exit(0 if prepare() else 1)
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