97 lines
3.6 KiB
Bash
Executable File
97 lines
3.6 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Robot setup for Raspberry Pi OS Lite (64-bit) on a Pi Zero 2 W.
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# Run as your normal user (not root) from inside this "pi" folder:
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#
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# ./install.sh <omarchy-machine-ip> [--servos]
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#
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# Safe to re-run. Reboot afterwards so the I2S sound card overlay takes effect.
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set -euo pipefail
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HOST_IP="${1:-}"
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SERVOS=0
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[[ "${2:-}" == "--servos" ]] && SERVOS=1
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if [[ -z "$HOST_IP" || ! "$HOST_IP" =~ ^[0-9]{1,3}(\.[0-9]{1,3}){3}$ ]]; then
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echo "usage: $0 <omarchy-machine-ipv4> [--servos]" >&2
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exit 1
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fi
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if [[ $EUID -eq 0 ]]; then
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echo "Run this as your normal user; it calls sudo where needed." >&2
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exit 1
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fi
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HERE="$(cd "$(dirname "$0")" && pwd)"
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ME="$(id -un)"
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CONFIG_TXT=/boot/firmware/config.txt
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[[ -f $CONFIG_TXT ]] || CONFIG_TXT=/boot/config.txt
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echo "==> Installing packages"
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sudo apt-get update
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sudo apt-get install -y --no-install-recommends \
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python3-picamera2 python3-venv \
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pipewire pipewire-pulse pipewire-alsa wireplumber libspa-0.2-modules \
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pulseaudio-utils alsa-utils nftables openssl
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echo "==> Enabling the I2S microphone/amplifier overlay in $CONFIG_TXT"
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add_line() { grep -qxF "$1" "$CONFIG_TXT" || echo "$1" | sudo tee -a "$CONFIG_TXT" >/dev/null; }
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add_line "dtparam=i2s=on"
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add_line "dtoverlay=googlevoicehat-soundcard"
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if [[ $SERVOS -eq 1 ]]; then
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add_line "dtparam=i2c_arm=on"
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fi
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echo "==> Installing the MCP server to /opt/robot-mcp"
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sudo mkdir -p /opt/robot-mcp
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sudo chown "$ME:$ME" /opt/robot-mcp
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cp "$HERE/robot_mcp_server.py" /opt/robot-mcp/
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# --system-site-packages so the venv can see the apt-installed picamera2/libcamera
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[[ -d /opt/robot-mcp/venv ]] || python3 -m venv --system-site-packages /opt/robot-mcp/venv
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/opt/robot-mcp/venv/bin/pip install --upgrade pip >/dev/null
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/opt/robot-mcp/venv/bin/pip install -r "$HERE/requirements.txt"
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if [[ $SERVOS -eq 1 ]]; then
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/opt/robot-mcp/venv/bin/pip install adafruit-circuitpython-servokit
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fi
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echo "==> Writing /etc/robot-mcp.env"
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if ! sudo test -f /etc/robot-mcp.env; then
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TOKEN="$(openssl rand -hex 32)"
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sudo tee /etc/robot-mcp.env >/dev/null <<EOF
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ROBOT_MCP_TOKEN=$TOKEN
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ROBOT_MCP_PORT=8765
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ROBOT_CAM_SIZE=1280x720
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ROBOT_CAM_HFLIP=0
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ROBOT_CAM_VFLIP=0
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ROBOT_SERVOS=$SERVOS
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EOF
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sudo chown root:"$ME" /etc/robot-mcp.env
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sudo chmod 640 /etc/robot-mcp.env
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else
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sudo sed -i "s/^ROBOT_SERVOS=.*/ROBOT_SERVOS=$SERVOS/" /etc/robot-mcp.env
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fi
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echo "==> Installing the systemd service"
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sed "s/__USER__/$ME/g" "$HERE/robot-mcp.service" | sudo tee /etc/systemd/system/robot-mcp.service >/dev/null
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getent group i2c >/dev/null || sudo groupadd --system i2c
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sudo systemctl daemon-reload
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sudo systemctl enable robot-mcp.service
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echo "==> Configuring PipeWire to serve audio to $HOST_IP"
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mkdir -p ~/.config/pipewire/pipewire-pulse.conf.d
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cp "$HERE/pipewire/50-network-server.conf" ~/.config/pipewire/pipewire-pulse.conf.d/
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# Run the audio stack at boot without anyone logging in.
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sudo loginctl enable-linger "$ME"
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systemctl --user enable pipewire.socket pipewire-pulse.socket wireplumber.service 2>/dev/null || true
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echo "==> Restricting ports 4713 and 8765 to $HOST_IP"
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sed "s/__HOST_IP__/$HOST_IP/g" "$HERE/nftables-robot.nft" | sudo tee /etc/nftables-robot.nft >/dev/null
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grep -qxF 'include "/etc/nftables-robot.nft"' /etc/nftables.conf \
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|| echo 'include "/etc/nftables-robot.nft"' | sudo tee -a /etc/nftables.conf >/dev/null
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sudo systemctl enable nftables.service
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sudo systemctl restart nftables.service
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echo
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echo "Done. Reboot now: sudo reboot"
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echo
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echo "Your MCP token (put this in ~/.hermes/.env on the Omarchy machine as ROBOT_MCP_TOKEN):"
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sudo grep '^ROBOT_MCP_TOKEN=' /etc/robot-mcp.env | cut -d= -f2
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