Custom rootfs and batch

[eMrazSVK]

Add functionality regarding OEM installation of Discovery UAV. Might be used as a template for other vendors regarding installing their own custom root filesystems etc.

Feature list:

• --setup_doodle_radio <doodle_radio_ip> - doodle Radio setup, CLI argument
  • This automatically setups doodle radio module connected to the DroneCore board. It setups basic config such as frequency etc.
• --batch_counter <batch_counter> CLI argument - this setups few things:
  • In general, when using this argument, it sets up counter to and the value is increased after each successful flash. When not using this argument, batch_counter is taken from the counter file (~/.dcs-deploy/flash/<config_id>/batch_counter). The value depends on number of successful flashes between the last time when --batch_counter argument was used.
  • This sets up Mavlink SYS_ID ( batch_counter == SYS_ID) and also UAV's IP inside Doodle network. The pattern is: 10.223.0.SYS_ID or 10.223.0.conter_value
  • This is meant for OEM production of UAV's which requires unique IP's and SYS_ID's inside doodle network when producing batch of UAVs for one customer.
• --app_size - this argument sets size for APP partition. This needs to be inputed manually, according to custom rootfs used while flashing (see next point)
• --rootfs - path to bz2 archive of customized rootfs -> process of creating (backing up) such filesystem is not part of this PR and will not be explained here. It should however be part of dcs-deploy, but I am planning to implement it in a future.
• Various first_boot functionalities have been added, please see the diff, it's just minor things which are self-explanatory

Technical details

• In OEM setup, images are created EACH FLASH, because of batching functionality which requires slight alter of each rootfs (different ID's)
• full/minimal specifier when using --rootfs option is useless, but should be there to not break up the script (might be solved in the future)
• Doodle setup is done using submodule of https://github.com/airvolute/airvolute-doodle-setup
• Mavlink SYS_ID is done by deb application built on Jetson, repo is here https://github.com/airvolute/mavlink-serial-sys-id-set
• Currently, there can only be 254 UAVs inside one batch. Mavlink SYS_ID limitation. However Mavlink should be able to operate in subnets. This is marked for future work.
• nvpmodel currently does not work, so there is a limitation where we set power model to the highest one, but not in dcs-deploy process, but we need to create roots where /etc/nvpmodel.conf is defaulted to max power model.
• https://github.com/airvolute/mavlink-serial-sys-id-set is not tied (versioned) anyhow to this repo. It's just a built package, but the version is not saved anywhere. But there is a huge predisposition that this tool will not ever change.

Example showing full potential of OEM branch

python3 dcs_deploy.py flash xavier_nx 512_stribog 1.2 nvme full --setup_doodle_radio 10.223.200.66 --batch_counter 11 --app_size 40 --rootfs /home/edo/.dcs_deploy/rootfs_merged.tar.bz2

You can try it out without --rootfs option if you do not know how to create it. _NOTE: 512stribog is Airvolute internal config!

EDIT 1: formatting EDIT 2: add example EDIT 3: add note EDIT 4: add coorect SYS ID range

[MartinSedlacek]

I approve, can be merged.

[eMrazSVK]

I add one more comment - the modes in various nvpmodels have not been tested. Please use with caution when flashing less occuring devices like orin nano 8 GB etc.