TODO This is untested and possibly incomplete.

TODO: RTI Connext 6 Update

First Time Setup

• https://www.raspberrypi.org/downloads/raspbian/
• Install Raspbian Lite
• Change password by using:

  passwd pi

• Install and configure NTP
• Install tmux, sudo apt install tmux
• "Install" the RTI Connext libraries under /usr/local/lib/

...

• by copying the arm folder from opt/rti_connext_dds-6.0.0/lib/armv6vfphLinux3.xgcc4.7.2/

...

• on the main computer. This should be done after the ARM libraries have been installed on the main computer (which should already be the case). 

It should look like this afterward:

pi@raspberrypi-06:~ $ find /usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscppd.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscd.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddstransporttcpzd.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp2z.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcppz.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtimonitoringd.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddstransporttcp.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp2.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp2d.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtimonitoringz.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddstransporttcpd.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscz.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscppzd.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddsc.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddstransporttcpz.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcpp.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscore.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtimonitoringzd.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscorez.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscppz.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscored.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcppd.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddsjava.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscpp2zd.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddsczd.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddscorezd.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/libnddsjavad.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtimonitoring.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcz.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcppzd.a
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlc.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlcd.so
/usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2/librtidlczd.a

Read-only filesystem

For the following steps, you may need writing access to the file system, which you should else have set to read only (because of the power situation, as the vehicles can be switched on and off without shutting down the system properly). To get writing access, use:

sudo mount -o remount,rw /

to remount the system. More information can be found at: https://www.mehr4u.de/raspberry-pi-mit-readonly-filesystem.html.

'Register' the libraries

Make the libraries available. Insert /usr/local/lib/rti_connext_dds-6.0.0/armv6vfphLinux3.xgcc4.7.2 into /etc/ld.so.conf. Then run sudo ldconfig.

Configure bootup behaviour

Copy the file git:software/vehicle_raspberry_firmware/bootloader_raspberry.bash to /root/bootloader_raspberry.bash on the Raspberry.

...

tmux new-session -d -s "bootloader_raspberry" "bash /root/bootloader_raspberry.bash"

ID-related settings

Edit the /etc/hostname file to give the Raspberry a unique name. The name should correspond to the vehicle ID, for example raspberrypi-06 or raspberrypi-42.

Create a DHCP reservation for the Raspberry on the router. The vehilce ID is derived from the IP. The IP is 192.168.1.1XX where XX are the digits of the vehicle ID.

TODO: Configure the system to be read-only (e.g. https://www.mehr4u.de/raspberry-pi-mit-readonly-filesystem.html) (comment as this is evidently the case but I do not know which method was used here).

Perform changes after setting the system to be read-only

Take a look at the rw alias in https://www.mehr4u.de/raspberry-pi-mit-readonly-filesystem.html (aliasrw='mount -o remount,rw / ; mount -o remount,rw /boot'). This command can be used if you need writing access to the filesystem (using sudo).

Cross Compilation and Software Distribution

...