Add network connection scripts

jsk_spot_robot/jsk_spot_startup/scripts/deploy-scripts-and-services.sh

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+#!/bin/bash
+
+PACKAGE_PATH=$(rospack find jsk_spot_startup)
+SERVICE_SOURCE_PATH=$PACKAGE_PATH/services
+SERVICE_DESTINATION_PATH=/etc/systemd/system
+
+# install systemd unit files
+cd $SERVICE_SOURCE_PATH
+for service_file in $(ls ./*);
+do
+    sudo cp $service_file $SERVICE_DESTINATION_PATH/$service_file
+    sudo chmod 644 $SERVICE_DESTINATION_PATH/$service_file
+    sudo chown root:root $SERVICE_DESTINATION_PATH/$service_file
+done
+sudo systemctl daemon-reload

jsk_spot_robot/jsk_spot_startup/scripts/update-network-connection.sh

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+#!/bin/bash
+
+IF_ETH=enxa0cec875af37
+IF_WIFI=wlxc006c31b1a80
+IF_LTE=enxf8b7975c750a
+WIFI_PROFILE=sanshiro
+CURRENT_CONNECTION=
+
+function existIF() {
+    interface_name=$1
+    for DEV in `find /sys/devices -name net | grep -v virtual`
+    do
+        if [ `ls $DEV/` = $interface_name ]; then
+            echo 0
+            return 0
+        fi
+    done
+    echo 1
+    return 1
+}
+
+function restartWIFI() {
+    sudo nmcli connection down $WIFI_PROFILE
+    #sudo ip l set $IF_WIFI down
+    #sudo ip l set $IF_WIFI up
+    sudo nmcli connection up $WIFI_PROFILE
+}
+
+function updateRouteToETH() {
+    sudo ifmetric $IF_ETH 100
+    sudo ifmetric $IF_WIFI 101
+    sudo ifmetric $IF_LTE 101
+}
+
+function updateRouteToWIFI() {
+    sudo ifmetric $IF_WIFI 100
+    sudo ifmetric $IF_ETH 102
+    sudo ifmetric $IF_LTE 101
+}
+
+function updateRouteToLTE() {
+    sudo ifmetric $IF_LTE 100
+    sudo ifmetric $IF_WIFI 101
+    sudo ifmetric $IF_ETH 102
+}
+
+# get default route interface name which has most priority
+function get_default_route() {
+    ip route | grep default | awk '{print $5}' | head -n 1
+}
+
+function updateConnectionToETH() {
+    if [ $(existIF $IF_ETH) = 0 ]; then
+        ping -c 1 -W 1 1.1.1.1 -I $IF_ETH > /dev/null 2>&1
+        if [ $? = 0 ]; then
+            echo "Ethernet is online. switched to ethernet."
+            CURRENT_CONNECTION=$IF_ETH
+            updateRouteToETH
+        else
+            echo "Ethernet is offline.: $?"
+        fi
+    else
+        echo "No ethernet device is found."
+    fi
+}
+
+function updateConnectionToWiFi() {
+    if [ $(existIF $IF_WIFI) = 0 ]; then
+        ping -c 1 -W 1 1.1.1.1 -I $IF_WIFI > /dev/null 2>&1
+        if [ $? = 0 ]; then
+            echo "Wifi is online. switched to wifi."
+            CURRENT_CONNECTION=$IF_WIFI
+            updateRouteToWIFI
+        else
+            echo "Wifi is offline.: $?"
+        fi
+    else
+        echo "No wifi device is found."
+    fi
+}
+
+function updateConnectionToLTE() {
+    if [ $(existIF $IF_LTE) = 0 ]; then
+        echo "Connection type switched to lte"
+        CURRENT_CONNECTION=$IF_LTE
+        updateRouteToLTE
+    else
+        echo "No lte device is found"
+    fi
+
+    echo "No network device found."
+}
+
+function updateConnection() {
+    echo "Connection updating."
+
+    # Check default route is current connection
+    default_route=$(get_default_route)
+    if [ $default_route = $CURRENT_CONNECTION ]; then
+        echo "Current connection $CURRENT_CONNECTION is default route. No need to update."
+    else
+        echo "Current connection $CURRENT_CONNECTION is not default route. Trying to update."
+        if [ $CURRENT_CONNECTION = $IF_ETH ]; then
+            updateConnectionToETH
+        elif [ $CURRENT_CONNECTION = $IF_WIFI ]; then
+            updateConnectionToWiFi
+        elif [ $CURRENT_CONNECTION = $IF_LTE ]; then
+            updateConnectionToLTE
+        else
+            echo "Unknown current connection: $CURRENT_CONNECTION"
+        fi
+    fi
+
+    # Reconnect WIFI
+    if [ $(existIF $IF_WIFI) = 0 ]; then
+        ping -c 1 -W 1 1.1.1.1 -I $IF_WIFI > /dev/null 2>&1
+        if [ $? = 0 ]; then
+            if [ $CURRENT_CONNECTION = $IF_WIFI ]; then
+                echo "wifi connected"
+            else
+                echo "wifi connected. But current connection $CURRENT_CONNECTION is not wifi $IF_WIFI. So update"
+                updateConnectionToWiFi
+            fi
+        else
+            echo "wifi not connected. trying to connect $WIFI_PROFILE"
+            restartWIFI
+            updateConnectionToWiFi
+        fi
+    else
+        echo "wifi device not found. skipped wifi reconnection."
+    fi
+
+    # Check internet connection
+    ping -c 1 -W 1 1.1.1.1 > /dev/null 2>&1
+    if [ $? = 0 ]; then
+        echo "Network connected"
+        return 0
+    else
+        echo "Network disconnected. Trying to reconnect."
+    fi
+
+    # First, try ethernet to connect with Ethernet if available
+    updateConnectionToETH
+
+    # Second, try wifi to connect with Wi-Fi if available
+    updateConnectionToWiFi
+
+    # connect with LTE if available
+    updateConnectionToLTE
+}
+
+CURRENT_CONNECTION=$IF_ETH
+while :
+do
+    sleep 5
+    updateConnection
+done

jsk_spot_robot/jsk_spot_startup/services/jsk-spot-utils-network.service

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+[Unit]
+Description=JSK Network Service
+
+[Service]
+Type=simple
+ExecStart=/bin/bash -c ". /opt/ros/melodic/setup.bash && . /home/sktometometo/ros/ws_main_extend/devel/setup.bash && rosrun jsk_spot_startup update-network-connection.sh"
+ExecStop=/bin/kill -WINCH ${MAINPID}
+KillMode=control-group
+KillSignal=SIGTERM
+
+[Install]
+WantedBy=multi-user.target