#!/bin/bash
# Pi side of the USB link (HANDOFF package 0b). Run as root from this directory. Re-runnable.
# Needs a reboot afterwards for the dwc2 mode change to take effect.
set -euo pipefail
cd "$(dirname "$0")"

install -m 755 usb-gadget.sh /usr/local/sbin/robot-usb-gadget
install -m 644 robot-usb-gadget.service /etc/systemd/system/robot-usb-gadget.service
install -m 600 netplan-usb0.yaml /etc/netplan/60-usb0.yaml
echo libcomposite > /etc/modules-load.d/robot-usb-gadget.conf

cfg=/boot/firmware/config.txt
[ -e "$cfg.bak-usbgadget" ] || cp "$cfg" "$cfg.bak-usbgadget"
if grep -qx 'dtoverlay=dwc2' "$cfg"; then
  sed -i 's/^dtoverlay=dwc2$/dtoverlay=dwc2,dr_mode=peripheral/' "$cfg"
elif ! grep -qx 'dtoverlay=dwc2,dr_mode=peripheral' "$cfg"; then
  printf '\n[all]\ndtoverlay=dwc2,dr_mode=peripheral\n' >> "$cfg"
fi

netplan generate
systemctl daemon-reload
systemctl enable robot-usb-gadget.service
systemctl enable serial-getty@ttyGS0.service
echo "installed; reboot to apply"