Release candidate 2.2.0 to main

.github/workflows/tii-mesh-com.yaml

@@ -16,15 +16,27 @@ on:
 jobs:
   tii-mesh-com:
     runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
     steps:
+      - name: Free Disk Space (Ubuntu)
+        uses: jlumbroso/free-disk-space@main
+        with:
+          tool-cache: false
+
+      - uses: actions/checkout@v4
 
-      - uses: actions/checkout@v2
+      - uses: docker/setup-buildx-action@v3
 
-      - uses: docker/setup-buildx-action@v1
+      - name: Setup QEMU
+        uses: docker/setup-qemu-action@v3
+        with:
+          platforms: amd64,arm64,riscv64
 
       - name: Docker meta
         id: meta
-        uses: docker/metadata-action@v3
+        uses: docker/metadata-action@v5
         with:
           images: ghcr.io/tiiuae/tii-mesh-com
           tags: |
@@ -34,16 +46,17 @@ jobs:
             type=raw,value=latest
 
       - name: Login to GitHub Container Registry
-        uses: docker/login-action@v1
+        uses: docker/login-action@v3
         with:
           registry: ghcr.io
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Build tii-mesh-com image and push
-        uses: docker/build-push-action@v2
+        uses: docker/build-push-action@v5
         with:
           context: .
+          platforms: linux/amd64,linux/arm64,linux/riscv64
           file: ./modules/mesh_com/Dockerfile
           push: true
           tags: ${{ steps.meta.outputs.tags }}

common/scripts/default-mesh.sh

@@ -0,0 +1,82 @@
+#!/bin/bash -eu
+
+# Check if proper default mesh class is set
+if [[ "$MESH_CLASS" != "gs" && "$MESH_CLASS" != "edge" ]]; then
+  echo "Wrong mesh class, check container env parameters"
+  exit 1
+else
+  echo "Mesh class: " "$MESH_CLASS"
+fi
+
+# Function to check if drone is provisioned
+check_drone_provisioned() {
+    echo "INFO: Checking if drone is provisioned..."
+    while true; do
+        if [ "$DRONE_DEVICE_ID" = "bootstrap" ]; then
+            sleep 10
+        else
+            echo "INFO: Drone is provisioned, continuing"
+            break
+        fi
+    done
+}
+
+# Function to start mesh executor to publish ROS topic
+start_mesh_executor() {
+    sleep 120
+    echo "INFO: Starting ROS topic"
+    ros-with-env /opt/ros/"${ROS_DISTRO}"/lib/mesh_com/mesh_executor
+}
+
+#Function to start mesh-11s.sh
+start_mesh-11s() {
+    /opt/ros/"${ROS_DISTRO}"/share/bin/mesh-11s.sh "$MESH_MODE" "$MESH_IP" "$MESH_MASK" "$MESH_MAC" "$MESH_KEY" "$MESH_ESSID" "$MESH_FREQ" "$MESH_TX" "$MESH_COUNTRY"
+    echo "mesh setup done"
+}
+
+
+# Set IP based on drone role/type.
+if [[ "$DRONE_TYPE" == "recon" ]]; then
+    # 192.168.240.1-192.168.246.255
+    MESH_IP="$EDGE_IP"
+    start_mesh-11s
+    gateway_ip="$FOG_GW_VIP" # VRRP FOG virtual IP for the Default mesh
+    route add default gw "$gateway_ip" bat0
+    check_drone_provisioned
+    # Start executor. Required to publish ROS2 topic.
+    start_mesh_executor
+elif [ "$DRONE_TYPE" == "groundstation" ]; then
+    MESH_IP="$GS_IP"
+    start_mesh-11s
+    check_drone_provisioned
+    # Start executor. Required to publish ROS2 topic.
+    start_mesh_executor
+elif [[ "$DRONE_TYPE" == "fog" || "$DRONE_TYPE" == "cm-fog" ]]; then
+    if [ "$MESH_CLASS" == "edge" ]; then # mesh class is edge
+        MESH_IP=$EDGE_IP
+    else
+        # mesh class is gs; single cm-fog or fog: 192.168.248.10; multiple cm-fog: 192.168.248.2-9
+        MESH_IP=$FOG_IP_IN_GS_MESH
+    fi
+    start_mesh-11s
+    if [ "$MESH_CLASS" == "gs" ]; then
+        gateway_ip="$GS_GW_VIP" # VRRP GS virtual IP for the Default mesh
+        route add default gw "$gateway_ip" bat0
+    fi
+    check_drone_provisioned
+    # Start executor. Required to publish ROS2 topic.
+    start_mesh_executor
+elif [[ "$DRONE_TYPE" == "singlemesh" ]]; then
+    # singlemesh: 192.168.248.11-254
+    MESH_IP="$RECON_IP_IN_GS_MESH"
+    start_mesh-11s
+    # mesh class is gs
+    gateway_ip="$GS_GW_VIP" # VRRP GS virtual IP for the Default mesh
+    route add default gw "$gateway_ip" bat0
+    check_drone_provisioned
+    # Start executor. Required to publish ROS2 topic.
+    start_mesh_executor
+else
+    echo "drone type not implemented: $DRONE_TYPE"
+    exit 1
+fi