hardware

Where all schematics, PCBs, and electronics live

https://github.com/cli/cli/blob/trunk/docs/install_linux.md

run gh auth login and following text and GUI instructions:

1. Select "GitHub.com" and then hit enter key - not "GitHub Enterprise SErver"
2. Select HTTPS and then hit enter key
3. Type "Y"
4. Select "Login with a web browser" and then hit enter key. Browser will open. Copy the 8 character long code in termal into the browser

Order for camera plug in is: Front Left, Front, Front Right, Rear Left, Rear, Rear Right

To ONLY Debug Hardware (using SSH access to OBCs)

Log off SSH access as soon as you are done with your session.

1. Turn on wifi using software team's help:

   sudo nmcli radio wifi on
   

2. You can now ssh using the OBC's credentials.

   ssh halo@OBC-X
   

   Enter password

3. Set of commands to debug hardware.

   DO NOT go outside this umbrella of tested commands, used purely for debug info only.

   • GPS connection: Command to check if GPS deevice is connected to OBC. GPS connects over a serial port. Can be checked by:

     ls -l /dev/ttyACM*
     

     If you see a device named ttyACM0/ttyACM1, GPS is connected.

   • GPS data: Check if NMEA sentences are received. Run:

     sudo cat /dev/ttyACM0|grep GNGGA
     

     If you see lat, long data, GPS is functional.

   • Modem connection: Command to check how many modems connected to any OBC. Run:

     nmcli d
     

     To see device names of connected modems. If you see 3 devices starting with 'Device' names enp, enx, usb having 'Type' Ethernet, all modems are connected

   • Modem statistics: Command to check bandwidth usage, latency, etc. for each connected modem. Run:

     nload -m
     

   • Cameras connected: Command to check how many cameras connected to the OBC. Run:

     lsusb | grep Microdia
     

     This will return USB cameras and the USB Bus they are on.

   • After every instance that you unplug and plug the cameras, you have to make sure they are plugged back in the right order, and then run

     sudo systemctl restart teleop
     

     After this you are supposed to run a script to arrange the cameras in the right order for the RP console. Contact the Software team for this.

   • To keep checking what cameras are connected, and their behavior in terms of dropping off and coming back, Run:

     watch -n 0.1 'lsusb | grep Microdia'
     

     where -n,--interval is the interval between output updates and 0.1s is the fastest this command will execute. Followed by the command inserted in quotes, especially if cascaded commands.

   • Some more commands to get status info:

     To check all running nodes and their status:

     sudo systemctl status
     

     To check an individual node's status

     sudo systemctl status <node_name>
     

     After every unplug and replug of cameras

     sudo systemctl restart teleop
     

     If the network services are not working with the modems being healthy.

     sudo systemctl restart doppelganger@-*