From ce10e9e802fe02e29d7040ff6c9280adfa9d9083 Mon Sep 17 00:00:00 2001
From: Corwin Perren <caperren@gmail.com>
Date: Sat, 3 Mar 2018 17:21:38 -0800
Subject: [PATCH 1/4] Added auto startup and poweroff scripts.

---
 .../rover/auto_poweroff/auto_poweroff.py      | 15 +++-
 software/environment/rover/startup/screenrc   | 86 +++++++++++++++++++
 software/environment/rover/startup/startup.sh |  6 ++
 3 files changed, 105 insertions(+), 2 deletions(-)
 create mode 100644 software/environment/rover/startup/screenrc
 create mode 100755 software/environment/rover/startup/startup.sh

diff --git a/software/environment/rover/auto_poweroff/auto_poweroff.py b/software/environment/rover/auto_poweroff/auto_poweroff.py
index 609ae19..b5071e7 100755
--- a/software/environment/rover/auto_poweroff/auto_poweroff.py
+++ b/software/environment/rover/auto_poweroff/auto_poweroff.py
@@ -4,8 +4,9 @@
 #####################################
 # Python native imports
 from time import time, sleep
-from os.path import exists
-from os import system
+from os.path import exists, dirname, realpath
+from os import system, chdir
+import sys
 
 #####################################
 # Global Variables
@@ -15,12 +16,22 @@ UDEV_RULES_PATHS = ["../UDEV_rules/99-rover-usb-serial.rules", "../UDEV_rules/99
 SHUTDOWN_TIMEOUT = 5
 
 
+#####################################
+# get_script_path Definition
+#####################################
+def get_script_path():
+    return dirname(realpath(sys.argv[0]))
+
+
 #####################################
 # udev_parser Definition
 #####################################
 def udev_parser(rules_paths):
     device_paths = {}
 
+    script_path = get_script_path()
+    chdir(script_path)
+
     for current_file in rules_paths:
         lines = open(current_file).readlines()
 
diff --git a/software/environment/rover/startup/screenrc b/software/environment/rover/startup/screenrc
new file mode 100644
index 0000000..fba14dd
--- /dev/null
+++ b/software/environment/rover/startup/screenrc
@@ -0,0 +1,86 @@
+# the following two lines give a two-line status, with the current window highlighted
+hardstatus alwayslastline
+hardstatus string '%{= kG}[%{G}%H%? %1`%?%{g}][%= %{= kw}%-w%{+b yk} %n*%t%?(%u)%? %{-}%+w %=%{g}][%{B}%m/%d %{W}%C%A%{g}]'
+
+# huge scrollback buffer
+defscrollback 5000
+
+# no welcome message
+startup_message off
+
+# 256 colors
+attrcolor b ".I"
+termcapinfo xterm 'Co#256:AB=\E[48;5;%dm:AF=\E[38;5;%dm'
+defbce on
+
+# mouse tracking allows to switch region focus by clicking
+mousetrack on
+
+# default windows
+screen -t RoverMain  1 bash -c "/home/nvidia/Github/Rover_2017_2018/software/environment/rover/startup/startup.sh"
+screen -t Shell  2 bash
+select 1
+bind c screen 1 # window numbering starts at 1 not 0
+bind 0 select 10
+
+# get rid of silly xoff stuff
+bind s split
+
+# layouts
+layout autosave on
+layout new one
+select 1
+layout new two
+select 1
+split
+resize -v +8
+focus down
+select 4
+focus up
+layout new three
+select 1
+split
+resize -v +7
+focus down
+select 3
+split -v
+resize -h +10
+focus right
+select 4
+focus up
+
+layout attach one
+layout select one
+
+# navigating regions with Ctrl-arrows
+bindkey "^[[1;5D" focus left
+bindkey "^[[1;5C" focus right
+bindkey "^[[1;5A" focus up
+bindkey "^[[1;5B" focus down
+
+# switch windows with F3 (prev) and F4 (next)
+bindkey "^[OR" prev
+bindkey "^[OS" next
+
+# switch layouts with Ctrl+F3 (prev layout) and Ctrl+F4 (next)
+bindkey "^[O1;5R" layout prev
+bindkey "^[O1;5S" layout next
+
+# F2 puts Screen into resize mode. Resize regions using hjkl keys.
+bindkey "^[OQ" eval "command -c rsz" # enter resize mode
+
+# use hjkl keys to resize regions
+bind -c rsz h eval "resize -h -5" "command -c rsz"
+bind -c rsz j eval "resize -v -5" "command -c rsz"
+bind -c rsz k eval "resize -v +5" "command -c rsz"
+bind -c rsz l eval "resize -h +5" "command -c rsz"
+
+# quickly switch between regions using tab and arrows
+bind -c rsz \t    eval "focus"       "command -c rsz" # Tab
+bind -c rsz -k kl eval "focus left"  "command -c rsz" # Left
+bind -c rsz -k kr eval "focus right" "command -c rsz" # Right
+bind -c rsz -k ku eval "focus up"    "command -c rsz" # Up
+bind -c rsz -k kd eval "focus down"  "command -c rsz" # Down
+
+# Clean up screen display with files
+altscreen on
diff --git a/software/environment/rover/startup/startup.sh b/software/environment/rover/startup/startup.sh
new file mode 100755
index 0000000..8b240c2
--- /dev/null
+++ b/software/environment/rover/startup/startup.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+source /opt/ros/kinetic/setup.bash
+source /home/nvidia/catkin_workspace/devel/setup.bash
+/home/nvidia/Github/Rover_2017_2018/software/environment/rover/auto_poweroff/auto_poweroff.py &
+roslaunch rover_main rover.launch
+exec bash

From b585eaab5031fb5ed6c10ee852427cb43f7e584a Mon Sep 17 00:00:00 2001
From: Corwin Perren <caperren@gmail.com>
Date: Sat, 3 Mar 2018 17:42:59 -0800
Subject: [PATCH 2/4] Added extra line to poweroff to kill scripts first.

---
 software/environment/rover/auto_poweroff/auto_poweroff.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/software/environment/rover/auto_poweroff/auto_poweroff.py b/software/environment/rover/auto_poweroff/auto_poweroff.py
index b5071e7..bb725cc 100755
--- a/software/environment/rover/auto_poweroff/auto_poweroff.py
+++ b/software/environment/rover/auto_poweroff/auto_poweroff.py
@@ -76,6 +76,7 @@ class AutoPoweroffWatchdog(object):
         if self.do_poweroff:
             system("sudo wall -n No devices seen for %s seconds. Powering down. Poweroff script exiting." %
                    self.shutdown_timeout)
+            system("sudo systemctl stop screen@nvidia")
             system("sudo poweroff")
             exit()
         else:

From 997a3e99ea62f98419906eaf653ecd7afd6b5b36 Mon Sep 17 00:00:00 2001
From: Corwin Perren <caperren@gmail.com>
Date: Sat, 3 Mar 2018 17:56:06 -0800
Subject: [PATCH 3/4] Removed cameras from auto power off as apparently they
 don't disappear on poweroff

---
 software/environment/rover/auto_poweroff/auto_poweroff.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/software/environment/rover/auto_poweroff/auto_poweroff.py b/software/environment/rover/auto_poweroff/auto_poweroff.py
index bb725cc..2641cd3 100755
--- a/software/environment/rover/auto_poweroff/auto_poweroff.py
+++ b/software/environment/rover/auto_poweroff/auto_poweroff.py
@@ -11,7 +11,7 @@ import sys
 #####################################
 # Global Variables
 #####################################
-UDEV_RULES_PATHS = ["../UDEV_rules/99-rover-usb-serial.rules", "../UDEV_rules/99-rover-cameras.rules"]
+UDEV_RULES_PATHS = ["../UDEV_rules/99-rover-usb-serial.rules"]
 
 SHUTDOWN_TIMEOUT = 5
 

From 8cd438de9a18c32bb5976ef5e32d270c3f2b9778 Mon Sep 17 00:00:00 2001
From: Corwin Perren <caperren@gmail.com>
Date: Sat, 3 Mar 2018 18:11:28 -0800
Subject: [PATCH 4/4] Removed extra systemctl stop command that killed the
 script before the jstson could shut down.

---
 software/environment/rover/auto_poweroff/auto_poweroff.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/software/environment/rover/auto_poweroff/auto_poweroff.py b/software/environment/rover/auto_poweroff/auto_poweroff.py
index 2641cd3..3e1257a 100755
--- a/software/environment/rover/auto_poweroff/auto_poweroff.py
+++ b/software/environment/rover/auto_poweroff/auto_poweroff.py
@@ -76,7 +76,6 @@ class AutoPoweroffWatchdog(object):
         if self.do_poweroff:
             system("sudo wall -n No devices seen for %s seconds. Powering down. Poweroff script exiting." %
                    self.shutdown_timeout)
-            system("sudo systemctl stop screen@nvidia")
             system("sudo poweroff")
             exit()
         else: