264 lines
7.2 KiB
Bash
Executable File
264 lines
7.2 KiB
Bash
Executable File
#!/usr/bin/env sh
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set -eu
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INSTALL_DIR="${PLATFORM_AGENT_DIR:-/opt/platform-agent}"
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SERVICE_NAME="${PLATFORM_AGENT_SERVICE:-platform-agent}"
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CONFIG_PATH="${AGENT_CONFIG:-${INSTALL_DIR}/agent.config.json}"
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SERVICE_FILE="/etc/systemd/system/${SERVICE_NAME}.service"
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log() {
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printf '%s\n' "$*"
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}
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need_cmd() {
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command -v "$1" >/dev/null 2>&1
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}
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as_root() {
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if [ "$(id -u)" -eq 0 ]; then
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"$@"
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elif need_cmd sudo; then
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sudo "$@"
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else
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log "Root privileges are required: $*"
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exit 1
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fi
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}
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prompt_value() {
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var_name="$1"
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label="$2"
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current_value="$3"
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secret="${4:-false}"
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if [ "$secret" = "true" ]; then
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printf '%s [hidden, Enter keeps current]: ' "$label"
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stty -echo 2>/dev/null || true
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IFS= read -r answer || answer=""
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stty echo 2>/dev/null || true
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printf '\n'
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else
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printf '%s [%s]: ' "$label" "$current_value"
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IFS= read -r answer || answer=""
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fi
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if [ -n "$answer" ]; then
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eval "$var_name=\"\$answer\""
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fi
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}
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prompt_yes_no() {
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label="$1"
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default="${2:-no}"
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suffix="[y/N]"
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[ "$default" = "yes" ] && suffix="[Y/n]"
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printf '%s %s ' "$label" "$suffix"
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IFS= read -r answer || answer=""
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answer="$(printf '%s' "$answer" | tr '[:upper:]' '[:lower:]')"
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if [ -z "$answer" ]; then
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[ "$default" = "yes" ]
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return
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fi
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[ "$answer" = "y" ] || [ "$answer" = "yes" ]
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}
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json_get() {
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key_path="$1"
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fallback="${2:-}"
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python3 - "$CONFIG_PATH" "$key_path" "$fallback" <<'PY'
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import json
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import sys
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path, key_path, fallback = sys.argv[1], sys.argv[2], sys.argv[3]
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try:
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with open(path, "r", encoding="utf-8") as fp:
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value = json.load(fp)
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except Exception:
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print(fallback)
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raise SystemExit
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for key in key_path.split("."):
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if not isinstance(value, dict):
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value = None
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break
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value = value.get(key)
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if value is None:
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print(fallback)
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elif isinstance(value, bool):
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print("true" if value else "false")
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else:
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print(value)
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PY
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}
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service_user() {
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if [ -f "$SERVICE_FILE" ]; then
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user_line="$(sed -n 's/^User=//p' "$SERVICE_FILE" | head -n 1)"
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[ -n "$user_line" ] && {
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printf '%s' "$user_line"
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return
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}
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fi
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id -un
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}
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expand_path_for_user() {
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path="$1"
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run_user="$2"
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case "$path" in
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"~")
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if [ "$run_user" = "root" ]; then printf '/root'; else printf '/home/%s' "$run_user"; fi
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;;
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"~/"*)
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if [ "$run_user" = "root" ]; then printf '/root/%s' "${path#~/}"; else printf '/home/%s/%s' "$run_user" "${path#~/}"; fi
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;;
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*)
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printf '%s' "$path"
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;;
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esac
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}
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write_config() {
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tmp_file="$(mktemp)"
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WORKSPACE_ROOT="$WORKSPACE_ROOT" \
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ROBOT_STACK="$ROBOT_STACK" \
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ROS_DOMAIN_ID="$ROS_DOMAIN_ID" \
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CAMERA_ENABLED="$CAMERA_ENABLED" \
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CAMERA_VIDEO_DEVICE="$CAMERA_VIDEO_DEVICE" \
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CAMERA_SIGNALING_URL="$CAMERA_SIGNALING_URL" \
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KASMVNC_GEOMETRY="$KASMVNC_GEOMETRY" \
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AGENT_GATEWAY_TOKEN="$AGENT_GATEWAY_TOKEN" \
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python3 - "$CONFIG_PATH" "$tmp_file" <<'PY'
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import json
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import os
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import sys
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source, target = sys.argv[1], sys.argv[2]
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with open(source, "r", encoding="utf-8") as fp:
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cfg = json.load(fp)
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cfg.setdefault("workspace", {})
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cfg.setdefault("ros", {})
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cfg.setdefault("camera", {})
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cfg.setdefault("desktop", {})
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cfg.setdefault("security", {})
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cfg["workspace"]["root"] = os.environ["WORKSPACE_ROOT"]
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cfg["ros"]["stack"] = "nav2" if os.environ["ROBOT_STACK"].lower() == "nav2" else "autoware"
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cfg["ros"]["domainId"] = os.environ["ROS_DOMAIN_ID"] if os.environ["ROS_DOMAIN_ID"].isdigit() else "0"
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cfg["camera"]["enabled"] = os.environ["CAMERA_ENABLED"].lower() in ("true", "1", "yes", "y", "on")
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cfg["camera"]["videoDevice"] = os.environ["CAMERA_VIDEO_DEVICE"]
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cfg["camera"]["signalingUrl"] = os.environ["CAMERA_SIGNALING_URL"]
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cfg["desktop"]["geometry"] = os.environ["KASMVNC_GEOMETRY"]
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if os.environ["AGENT_GATEWAY_TOKEN"]:
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cfg["security"]["gatewayToken"] = os.environ["AGENT_GATEWAY_TOKEN"]
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with open(target, "w", encoding="utf-8") as fp:
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json.dump(cfg, fp, ensure_ascii=False, indent=2)
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fp.write("\n")
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PY
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as_root cp "$tmp_file" "$CONFIG_PATH"
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rm -f "$tmp_file"
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}
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restart_service() {
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if need_cmd systemctl; then
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as_root systemctl restart "$SERVICE_NAME"
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elif need_cmd service; then
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as_root service "$SERVICE_NAME" restart
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else
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log "No service manager found. Restart the agent manually."
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fi
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}
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if ! need_cmd python3; then
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log "python3 is required to edit ${CONFIG_PATH}."
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exit 1
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fi
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if [ ! -f "$CONFIG_PATH" ]; then
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log "Config not found: ${CONFIG_PATH}"
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log "Set AGENT_CONFIG=/path/to/agent.config.json or install the agent first."
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exit 1
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fi
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RUN_USER="$(service_user)"
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WORKSPACE_ROOT="$(json_get workspace.root '~/autonomy-studio/workspaces')"
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ROBOT_STACK="$(json_get ros.stack autoware)"
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ROS_DOMAIN_ID="$(json_get ros.domainId 0)"
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CAMERA_ENABLED="$(json_get camera.enabled false)"
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CAMERA_VIDEO_DEVICE="$(json_get camera.videoDevice /dev/video0)"
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CAMERA_SIGNALING_URL="$(json_get camera.signalingUrl ws://127.0.0.1:3000)"
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KASMVNC_GEOMETRY="$(json_get desktop.geometry 1600x900)"
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AGENT_GATEWAY_TOKEN="$(json_get security.gatewayToken '')"
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while :; do
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clear
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log "Autonomy Studio Platform Agent Settings"
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log "======================================="
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log "Config : ${CONFIG_PATH}"
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log "Service : ${SERVICE_NAME}"
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log ""
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log "1. Workspace root ${WORKSPACE_ROOT}"
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log "2. ROS stack ${ROBOT_STACK}"
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log "3. ROS_DOMAIN_ID ${ROS_DOMAIN_ID}"
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log "4. Camera enabled ${CAMERA_ENABLED}"
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log "5. Camera device ${CAMERA_VIDEO_DEVICE}"
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log "6. Camera signaling ${CAMERA_SIGNALING_URL}"
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log "7. KasmVNC resolution ${KASMVNC_GEOMETRY}"
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log "8. Gateway token $(if [ -n "$AGENT_GATEWAY_TOKEN" ]; then printf 'configured'; else printf 'empty'; fi)"
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log ""
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log "s. Save and restart"
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log "q. Quit"
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log ""
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printf 'Select: '
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IFS= read -r choice || choice=""
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case "$choice" in
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1)
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prompt_value WORKSPACE_ROOT "Workspace root" "$WORKSPACE_ROOT"
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;;
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2)
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prompt_value ROBOT_STACK "ROS stack (autoware/nav2)" "$ROBOT_STACK"
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case "$ROBOT_STACK" in
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nav2|NAV2) ROBOT_STACK="nav2" ;;
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*) ROBOT_STACK="autoware" ;;
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esac
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;;
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3)
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prompt_value ROS_DOMAIN_ID "ROS_DOMAIN_ID" "$ROS_DOMAIN_ID"
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ROS_DOMAIN_ID="$(printf '%s' "$ROS_DOMAIN_ID" | tr -cd '0-9')"
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[ -n "$ROS_DOMAIN_ID" ] || ROS_DOMAIN_ID="0"
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;;
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4)
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prompt_value CAMERA_ENABLED "Camera enabled true/false" "$CAMERA_ENABLED"
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;;
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5)
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prompt_value CAMERA_VIDEO_DEVICE "Camera device" "$CAMERA_VIDEO_DEVICE"
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;;
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6)
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prompt_value CAMERA_SIGNALING_URL "Camera signaling URL" "$CAMERA_SIGNALING_URL"
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;;
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7)
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prompt_value KASMVNC_GEOMETRY "KasmVNC resolution" "$KASMVNC_GEOMETRY"
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;;
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8)
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prompt_value AGENT_GATEWAY_TOKEN "Gateway token" "$AGENT_GATEWAY_TOKEN" true
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;;
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s|S)
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write_config
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workspace_path="$(expand_path_for_user "$WORKSPACE_ROOT" "$RUN_USER")"
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if prompt_yes_no "Create workspace directory ${workspace_path} if missing?" "yes"; then
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as_root mkdir -p "$workspace_path"
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as_root chown -R "$RUN_USER":"$RUN_USER" "$workspace_path" || true
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fi
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restart_service
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log ""
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log "Settings saved and service restarted."
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exit 0
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;;
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q|Q)
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log "Canceled."
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exit 0
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;;
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esac
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done
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