Esmalt pane igale kontrollerplaadi usb'le FTprog utiliidi abil seerianumber

Järgida juhendit: http://home.roboticlab.eu/et/examples/setup/eclipse/install/linux

Paigaldada hlinit

Kui Kodulabori plaat ühendatud käivitada hlinit

Kasutamine:

Kui kasutad faili nime asemel “-” märki, siis loetakse fail sisse standard inputist (kasulik ssh'ga üle võrgu programmeerimisel).

Mitme kontrolleri puhul saad faili nime taha lisada soovitud kontrolleri usb serial numbri.

Mjpg streamer

Install the pre-requisites:

$ sudo apt-get install g++ curl pkg-config libv4l-dev libjpeg-dev build-essential libssl-dev vim cmake imagemagick

Download mjpg-streamer

$ wget https://github.com/shrkey/mjpg-streamer/raw/master/mjpg-streamer.tar.gz
$ tar -xvf ./mjpg-streamer.tar.gz

Compile the mjpg-streamer

$ cd mjpg-streamer
$ make
$ sudo make install

Run a test.

$ sudo ./mjpg_streamer -i “./input_uvc.so” -o “./output_http.so -w ./www”

Seadista automaatne käivitumine

Install the mjpg-streamer

$ sudo cp mjpg_streamer /usr/local/bin
$ sudo cp output_http.so input_file.so /usr/local/lib/
$ sudo cp -R www /usr/local/www

If the MJPG-streamer needs to be started automatically at system startup, you can create the configuration file /etc/init/mjpg_streamer.conf for Upstart :

description "MJPG-streamer /dev/video0"
start on runlevel [2345]
stop on runlevel [016]
script
   /usr/local/bin/mjpg_streamer -i "/usr/local/lib/input_uvc.so" -o "/usr/local/lib/output_http.so -w /usr/local/www/www" >> /var/log/mjpg_streamer_upstart.log 2>&1
end script

The script for starting a multiple cameras:

description "MJPG-streamer START"
start on runlevel [2345]
stop on runlevel [016]
script
/usr/local/bin/mjpg_streamer -b -i "/usr/local/lib/input_uvc.so -d /dev/video0 -r 1280x720" -o "/usr/local/lib/output_http.so -p 8080 -w /usr/local/www/www/" >> /var/log/mjpg_streamer_upstart.log 2>&1
/bin/sleep 5
/usr/local/bin/mjpg_streamer -b -i "/usr/local/lib/input_uvc.so -d /dev/video1 -r 1280x720" -o "/usr/local/lib/output_http.so -p 8081 -w /usr/local/www/www/" >> /var/log/mjpg_streamer_upstart.log 2>&1
/bin/sleep 5
/usr/local/bin/mjpg_streamer -b -i "/usr/local/lib/input_uvc.so -d /dev/video2 -r 1280x720" -o "/usr/local/lib/output_http.so -p 8082 -w /usr/local/www/www/" >> /var/log/mjpg_streamer_upstart.log 2>&1
/bin/sleep 5
/usr/local/bin/mjpg_streamer -b -i "/usr/local/lib/input_uvc.so -d /dev/video3 -r 1280x720" -o "/usr/local/lib/output_http.so -p 8083 -w /usr/local/www/www/" >> /var/log/mjpg_streamer_upstart.log 2>&1
/bin/sleep 5
end script

The script must be executable:

sudo chmod u+x /etc/init/mjpg_streamer.conf  

Käivitusfail /etc/rc.local

Faili sisu:

#!/bin/sh -e
#
# rc.local
#
# This script is executed at the end of each multiuser runlevel.
# Make sure that the script will "exit 0" on success or any other
# value on error.
#
# In order to enable or disable this script just change the execution
# bits.
#
# By default this script does nothing.  
echo "scsi remove-single-device 2 0 0 0" > /proc/scsi/scsi 
/sbin/rmmod uvcvideo
/sbin/modprobe uvcvideo
/bin/sleep 15
/usr/bin/mjpg_streamer -b -i "input_uvc.so -d /dev/video0 -y" -o "output_http.so -p 8090 -w /home/robot/mjpgs_compiled/mjpg-streamer-r63/www/" &
/bin/sleep 5
/usr/bin/mjpg_streamer -b -i "input_uvc.so -d /dev/video1 -y" -o "output_http.so -p 8091 -w /home/robot/mjpgs_compiled/mjpg-streamer-r63/www/" &
/bin/sleep 5
/usr/bin/mjpg_streamer -b -i "input_uvc.so -d /dev/video2 -y" -o "output_http.so -p 8092 -w /home/robot/mjpgs_compiled/mjpg-streamer-r63/www/" &
exit 0

Faili sisu enne muutmist ja ilmselt veaga:

#!/bin/sh -e
#
# rc.local
#
# This script is executed at the end of each multiuser runlevel.
# Make sure that the script will "exit 0" on success or any other
# value on error.
#
# In order to enable or disable this script just change the execution
# bits.
#
# By default this script does nothing.
echo "scsi remove-single-device 2 0 0 0" > /proc/scsi/scsi 
/sbin/rmmod uvcvideo
/sbin/modprobe uvcvideo
/bin/sleep 15
/usr/bin/mjpg_streamer -b -i "input_uvc.so -d /dev/video0 -y" -o "output_http.so -p 8090 -w /data/mjpg-streamer-r63/www/" &
/bin/sleep 5
/usr/bin/mjpg_streamer -b -i "input_uvc.so -d /dev/video1 -y" -o "output_http.so -p 8091 -w /data/mjpg-streamer-r63/www/" &
/bin/sleep 5
/usr/bin/mjpg_streamer -b -i "input_uvc.so -d /dev/video2 -y" -o "output_http.so -p 8092 -w /data/mjpg-streamer-r63/www/" &
exit 0

Kui remote masinas pole enne tehtud, siis teha esmalt kataloog:

mkdir .ssh

Kauglabori veebiserveris www-data kasutaja alt:

sudo -s
su www-data
bash

(kui korra juba tehtud võib vahele jätta)

ssh-keygen -t rsa
cat ~/.ssh/id_rsa.pub | ssh [remote-kasutaja]@[remote-masin] "cat - >> ~/.ssh/authorized_keys"

Kui key olemas, aga vana host, siis teha enne remove, nt:

ssh-keygen -f "/var/www/.ssh/known_hosts" -R usora-artica.noip.me

Kontrollida, kas remote host õigused on paigas: Kataloogi õigus:

chmod 700 ~/.ssh

faili õigus:

chmod 600 ~/.ssh/authorized_keys