Resolve "Create a Wifi Access Point on groundstation"

groundStation/README.md

@@ -92,14 +92,6 @@ There are a couple of already written bash scripts in the `scripts/` folder.
 
  - [Getting Started](./documentation/getting_started.md)
  - [Packet Information](./documentation/packets.md)
- - [Manual Assist Mode](./src/manual_assist/README.md)
-
-## Adapters
-
-Adapters are the MicroCART way of connecting to generic trackables that are not one of the MicroCART quads. There is one
-adapter created in house that allows the use of a Crazyflie through the Matt_test branch of [Custom_Crazyflie_Software](https://git.ece.iastate.edu/danc/Custom_CrazyFlie_Software/tree/Matt_test_branch) repo.
-This repository is part of the DANC lab and can be access similar to the MicroCART repositry. This branch makes their ground 
-station allow connects in the same manner that our backend does. In order to use this adapter
-you must first start the lateral on quad ground station in the repository mentioned above, then run the crazyflie adapter.
-After this process is setup make sure that the backend config is set properly for this new trackable and it can be controlled
-as if it were one of our quads.
+ - [Adapters](adapters/README.md)
+ - [WiFi Access Point](wifiap/README.md)
+ - [Manual Assist Mode](./src/manual_assist/README.md)
\ No newline at end of file

groundStation/adapters/README.md

 # ADAPTERS
-Adapters are what allows for the current microcart groundstation to communicate with other vehicles. The adapters act as a translator by receiving packets from groundstation and then call the packets corrisponding callback. The developer can then modify callback functions to communicate.
+Adapters are what allows for the current microcart groundstation to communicate with other vehicles. The adapters act as a translator by receiving packets from groundstation and then call the packets corresponding callback function. The developer can then modify callback functions to communicate.
+
+There is one
+adapter created in house that allows the use of a Crazyflie through the Matt_test branch of [Custom_Crazyflie_Software](https://git.ece.iastate.edu/danc/Custom_CrazyFlie_Software/tree/Matt_test_branch) repo.
+This repository is part of the DANC lab and can be access similar to the MicroCART repositry. This branch makes their ground 
+station allow connects in the same manner that our backend does. In order to use this adapter
+you must first start the lateral on quad ground station in the repository mentioned above, then run the crazyflie adapter.
+After this process is setup make sure that the backend config is set properly for this new trackable and it can be controlled
+as if it were one of our quads.
 
 ## CREATE NEW:
 There are 3 major components that are provided for creation of a new custom adapter.
+
  - adapterlib - has functions to retrieve single groundstation packets from a socket
  - callbacks - has predefined functions for every type of instruction supported by groundstation
  - demoadapter - example code to set up a unix socket, read from it, and call the corresponding callback function
 
-These files rely upon groundstation header files and c files which are linked in the ./inc directory and should be included when compiling (for example see the crazyflie adapter makefile)
+These files rely upon groundstation header files and c files which are linked by the makefile and should be included when compiling (for example see the crazyflie adapter makefile)
 
 To create your own adapter:
 
@@ -26,7 +35,7 @@ This is a list of what groundstation and quad software functions are required.
  - commands.c - MessageTypes, findCommand()
  - callbacks.h - Typedef for command_cb
   
-###INCLUDES LOCATIONS:
+### INCLUDES LOCATIONS:
 This is a list of all the required files to include to be able to use the function listed above. *(Note these paths are relative to this README)*
 
  - ../../quad/inc/biquad_filter.h

groundStation/adapters/crazyflie/.gitignore

+inc/*
+bin/*

groundStation/adapters/crazyflie/Makefile

@@ -23,7 +23,6 @@ all: inc obj lib
 	mkdir bin/
 	$(CC) obj/*.o -o bin/cf_adapter
 
-
 obj: inc
 	$(CC) -c $(C) $(H) $(CFLAGS)
 	mkdir obj
@@ -62,5 +61,3 @@ clean:
 	rm -rf *.o
 	rm -rf inc/*.gch
 	rm -rf src/*.gch
-
-

groundStation/src/backend/backend.c

@@ -413,11 +413,13 @@ void sendVrpnPacket(struct ucart_vrpn_TrackerData *info) {
 
 void getVRPNPacket(struct ucart_vrpn_TrackerData *td) {
     int status;
-    //for (int i = 0; i < NUM_TRACKABLES; i++) {
-    //    if (strcmp(trackable, trackables[i].name) == 0) {
-    //        break;
-    //    }
-    //}
+#if VRPN_DEBUG_PRINT == 1
+    for (int i = 0; i < NUM_TRACKABLES; i++) {
+        if (strcmp(trackable, trackables[i].name) == 0) {
+            break;
+        }
+    }
+#endif
     //if ((status = ucart_vrpn_tracker_getData(trackables[i].tracker, td)) < 0) {
     // TODO - remove tracker instance
     if((status = ucart_vrpn_tracker_getData(tracker, td)) < 0) {
@@ -557,14 +559,15 @@ static ssize_t writeQuad(const uint8_t * buf, size_t count) {
     for (int i = 0; i < NUM_TRACKABLES; i++) {
         if (strcmp(trackables[i].name, trackable) == 0) {
             index = i;
-            //printf("Index: %d\tName: %s\n", index, trackables[index].name);
-            //printf("packetToQuad = '");
-            //for(int i = 0; i < (int)count; ++i) {
-            //    printf(" %.2x ", buf[i]);
-            //}
-            //printf("'\n");
+#if BACKEND_DEBUG_PRINT == 1
+            printf("Index: %d\tName: %s\n", index, trackables[index].name);
+            printf("packetToQuad = '");
+            for(int i = 0; i < (int)count; ++i) {
+                printf(" %.2x ", buf[i]);
+            }
+            printf("'\n");
+#endif
             return writeQuadIndex(buf, count, index);
-            //break;
         }
     }
     //FIXME - Should never reach here
@@ -574,11 +577,13 @@ static ssize_t writeQuad(const uint8_t * buf, size_t count) {
 static ssize_t writeQuadIndex(const uint8_t * buf, size_t count, int index) {
     ssize_t retval;
     
-    //printf("packetToQuad = '");
-    //for(int i = 0; i < (int)count; ++i) {
-    //    printf(" %.2x ", buf[i]);
-    //}
-    //printf("'\n");
+#if BACKEND_DEBUG_PRINT == 1
+    printf("packetToQuad = '");
+    for(int i = 0; i < (int)count; ++i) {
+        printf(" %.2x ", buf[i]);
+    }
+    printf("'\n");
+#endif
 
     if (trackables[index].isAdapter == 0 && getenv(NOQUAD_ENV)) {
         return count;
@@ -760,10 +765,13 @@ static void client_recv(int fd) {
 
         char * first_word;
         char * tmp = strdup(buffer);
-        // printf("tmpbuff = '%s'\n", tmp);
+#if BACKEND_DEBUG_PRINT == 1
+        printf("tmpbuff = '%s'\n", tmp);
+#endif
         first_word = strtok(tmp, " ");
-        // printf("first word = '%s'\n", first_word);
-    
+#if BACKEND_DEBUG_PRINT == 1
+        printf("first word = '%s'\n", first_word);
+#endif
         ssize_t msg_type, i;
         for (i = 0; i < MAX_TYPE_ID; ++i) {
             if ((msg_type = findCommand(first_word)) != -1)
@@ -928,11 +936,13 @@ static void quad_recv(int index) {
     }
     respBufLen += respLen;
 
-    // printf("packetFromQuad = '");
-    // for(int i = 0; i < (int)respBufLen; ++i) {
-    //  printf(" %.2x ", respBuf[i]);
-    // }
-    // printf("'\n");
+#if BACKEND_DEBUG_PRINT == 1
+    printf("packetFromQuad = '");
+    for(int i = 0; i < (int)respBufLen; ++i) {
+        printf(" %.2x ", respBuf[i]);
+    }
+    printf("'\n");
+#endif
 
     while(respBufLen) {
         datalen = DecodePacket(&m, data, CMD_MAX_LENGTH, respBuf, respBufLen);

groundStation/src/backend/backend_adapter.c

@@ -19,12 +19,14 @@
  * count - number of bytes
  */
 int adapterWrite(struct adapter_conn *conn, const char * line, size_t count) {
+#if ADAPTER_DEBUG_PRINT == 1
     //Print out packet being sent to the adapter.
-    //printf("packetToAdapter = '");
-    //for(int i = 0; i < count; ++i) {
-    //  printf(" %.2x ", ((const uint8_t *) line)[i]);
-    //}
-    //printf("'\n");
+    printf("packetToAdapter = '");
+    for(int i = 0; i < count; ++i) {
+      printf(" %.2x ", ((const uint8_t *) line)[i]);
+    }
+    printf("'\n");
+#endif
     return fwrite((const uint8_t *) line, sizeof(uint8_t), count, conn->socket);
 }
 

groundStation/src/backend/config.h

@@ -16,6 +16,11 @@
 #include <pthread.h>
 #include <stdint.h>
 
+#define FRONTEND_DEBUG_PRINT 0
+#define ADAPTER_DEBUG_PRINT 0
+#define VRPN_DEBUG_PRINT 0
+#define BACKEND_DEBUG_PRINT 0
+
 /**
  * Socket used to communicate with the backend.
  */

groundStation/src/frontend/frontend_nodes.c

@@ -5,6 +5,7 @@
 #include <inttypes.h>
 
 #include "frontend_nodes.h"
+#include "config.h"
 
 /* Get the block_id, type_id and name of
  * all of the nodes in the current comp_graph.
@@ -17,80 +18,86 @@
  * 
  */
 int frontend_getnodes(
-		struct backend_conn * conn,
-		struct frontend_node_data ** node_data,
-		size_t * num_nodes) {
-	if ((node_data == NULL) || (num_nodes == NULL)) {
-		return 1;
-	}
-
-	if ((*node_data != NULL) || (*num_nodes != 0)) {
-		return 1;
-	}
-
-	char msg[64] = "";
-	int written;
-
-	snprintf(msg, 64, "getnodes\n");
-
-	if((written = ucart_backendWrite(conn, msg)) < 0) {
-		return 1;
-	}
-
-	size_t pendingResponses = 1;
-	char * response;
-
-	while (pendingResponses) {
-		response = ucart_backendGetline(conn);
-		if (response == NULL) {
-			warnx("Line not returned from backend");
-			return 1;
-		}
-
-		if (strncmp(response, "getnodes", 8) != 0) {
-			continue;
-		}
-
-		size_t num_nodes_ret = 0;
-		size_t offset = 0;
-
-		sscanf(response, "getnodes %lu %n", &num_nodes_ret,  (int * )&offset);
-		response += offset;
-
-		/* Resize if necessary */
-		if (num_nodes_ret != *num_nodes) {
-			*num_nodes = num_nodes_ret;
-			*node_data = realloc(*node_data, sizeof(**node_data) * (*num_nodes));
-			if (!*node_data) {
-				return 1;
-			}
-		}
-
-		struct frontend_node_data * arr = *node_data;
-		for (size_t i = 0; i < *num_nodes; ++i) {
-			sscanf(response, "%" SCNd16 " %n", &arr[i].block, (int*)&offset);
-			// printf("found block %d\n", arr[i].block);
-			response += offset;
-		}
-
-		for (size_t i = 0; i < *num_nodes; ++i) {
-			sscanf(response, "%" SCNd16 " %n", &arr[i].type, (int*)&offset);
-			// printf("found type %d\n", arr[i].type);
-			response += offset;
-		}
-
-		for (size_t i = 0; i < *num_nodes; ++i) {
-			char tmp_name[512];
-			sscanf(response, " '%[^\t\n']' %n", (char *)&tmp_name, (int *)&offset);
-			arr[i].name = malloc(sizeof(*arr[i].name) * strlen(tmp_name) + 1);
-			strcpy((char*)arr[i].name, tmp_name);
-			// printf("found name '%s'\n", arr[i].name);
-			response += offset;
-		}
-		pendingResponses--;
-	}
-	
-	return 0;
+        struct backend_conn * conn,
+        struct frontend_node_data ** node_data,
+        size_t * num_nodes) {
+    if ((node_data == NULL) || (num_nodes == NULL)) {
+        return 1;
+    }
+
+    if ((*node_data != NULL) || (*num_nodes != 0)) {
+        return 1;
+    }
+
+    char msg[64] = "";
+    int written;
+
+    snprintf(msg, 64, "getnodes\n");
+
+    if((written = ucart_backendWrite(conn, msg)) < 0) {
+        return 1;
+    }
+
+    size_t pendingResponses = 1;
+    char * response;
+
+    while (pendingResponses) {
+        response = ucart_backendGetline(conn);
+        if (response == NULL) {
+            warnx("Line not returned from backend");
+            return 1;
+        }
+
+        if (strncmp(response, "getnodes", 8) != 0) {
+            continue;
+        }
+
+        size_t num_nodes_ret = 0;
+        size_t offset = 0;
+
+        sscanf(response, "getnodes %lu %n", &num_nodes_ret,  (int * )&offset);
+        response += offset;
+
+        /* Resize if necessary */
+        if (num_nodes_ret != *num_nodes) {
+            *num_nodes = num_nodes_ret;
+            *node_data = realloc(*node_data, sizeof(**node_data) * (*num_nodes));
+            if (!*node_data) {
+                return 1;
+            }
+        }
+
+        struct frontend_node_data * arr = *node_data;
+        for (size_t i = 0; i < *num_nodes; ++i) {
+            sscanf(response, "%" SCNd16 " %n", &arr[i].block, (int*)&offset);
+#if FRONTEND_DEBUG_PRINT == 1
+            printf("found block %d\n", arr[i].block);
+#endif 
+            response += offset;
+        }
+
+        for (size_t i = 0; i < *num_nodes; ++i) {
+            sscanf(response, "%" SCNd16 " %n", &arr[i].type, (int*)&offset);
+#if FRONTEND_DEBUG_PRINT == 1
+            printf("found type %d\n", arr[i].type);
+#endif 
+            response += offset;
+        }
+
+        for (size_t i = 0; i < *num_nodes; ++i) {
+            char tmp_name[512];
+            sscanf(response, " '%[^\t\n']' %n", (char *)&tmp_name, (int *)&offset);
+            arr[i].name = malloc(sizeof(*arr[i].name) * strlen(tmp_name) + 1);
+            strcpy((char*)arr[i].name, tmp_name);
+#if FRONTEND_DEBUG_PRINT == 1
+            printf("found name '%s'\n", arr[i].name);
+#endif
+            response += offset;
+        }
+        pendingResponses--;
+    }
+    
+    return 0;
 }
 
 /* Set the value of block.param
@@ -98,46 +105,46 @@ int frontend_getnodes(
  * Returns 0 on success, 1 on error
  */
 int frontend_addnode(
-		struct backend_conn * conn,
-		struct frontend_node_data * node_data) {
-	
-	char msg[16 + strlen(node_data->name)];
-	int written;
-
-	snprintf(msg, 16 + strlen(node_data->name), "addnode %" PRId16 " %s\n", node_data->type, node_data->name);
-
-	if((written = ucart_backendWrite(conn, msg)) < 0) {
-		return 1;
-	}
-
-	size_t pendingResponses = 1;
-	char * response;
-
-	while (pendingResponses) {
-		response = ucart_backendGetline(conn);
-		if (response == NULL) {
-			warnx("Line not returned from backend");
-			return 1;
-		}
-
-		if (strncmp(response, "addnode", 7) != 0) {
-			continue;
-		}
-
-		sscanf(response, "addnode %" SCNd16, &node_data->block);
-
-		pendingResponses--;
-	}
-	
-	return 0;
+        struct backend_conn * conn,
+        struct frontend_node_data * node_data) {
+    
+    char msg[16 + strlen(node_data->name)];
+    int written;
+
+    snprintf(msg, 16 + strlen(node_data->name), "addnode %" PRId16 " %s\n", node_data->type, node_data->name);
+
+    if((written = ucart_backendWrite(conn, msg)) < 0) {
+        return 1;
+    }
+
+    size_t pendingResponses = 1;
+    char * response;
+
+    while (pendingResponses) {
+        response = ucart_backendGetline(conn);
+        if (response == NULL) {
+            warnx("Line not returned from backend");
+            return 1;
+        }
+
+        if (strncmp(response, "addnode", 7) != 0) {
+            continue;
+        }
+
+        sscanf(response, "addnode %" SCNd16, &node_data->block);
+
+        pendingResponses--;
+    }
+    
+    return 0;
 }
 
 void frontend_free_node_data(
-		struct frontend_node_data *nd,
-		size_t num_nodes)
+        struct frontend_node_data *nd,
+        size_t num_nodes)
 {
-	for (size_t i = 0; i < num_nodes; i++) {
-		free(nd[i].name);
-	}
-	free(nd);
+    for (size_t i = 0; i < num_nodes; i++) {
+        free(nd[i].name);
+    }
+    free(nd);
 }

groundStation/wifiap/README.md

+# WiFi Access Point
+## Basic Setup
+1.  First install the necessary pacakges to the system  
+    On Red Hat:  
+    
+    ```bash
+        sudo yum install dhcp hostapd
+    ```  
+2.  Next navigate to the Microcart/groundStation/wifiap/ directory  
+
+3.  Once you are in the directory make sure you have the necessary files  
+     ```bash
+        ls
+     ```  
+
+4.  The output should look something like the following image.  
+
+    TODO image.  
+
+5.  Next we will want to check for and backup the hostapd.conf file. The installer script will move the golden version of this file to the correct location.  
+
+    ```bash
+         ls /etc/hostapd/hostapd.conf
+    ```  
+    
+    If the file exists you will see output that looks  like the following move on to step 6  
+    
+    ```bash
+        /etc/hostapd/hostapd.conf
+    ```  
+    If you get the following double check that hostapd is installed and if it is move on to step 7  
+    
+    ```bash
+    ls: cannot access '/etc/hostapd/hostapd.conf': No such file or directory
+    ```  
+    
+6.  Make a backup of the file with the following
+
+    ```bash
+        sudo mv /etc/hostapd/hostapd.conf /etc/hostapd/hostapd.conf.backup
+    ```  
+    
+7.  Next we will do the same for the dhcpd.conf file. Check that the file exists  
+
+    ```bash
+        ls /etc/dhcp/dhcpd.conf
+    ```  
+    
+    If the file exists you will see output that looks  like the following move on to step 8  
+    
+    ```bash
+        /etc/dhcp/dhcpd.conf
+    ```  
+    
+    If you get the following double check that dhcpd is installed and if it is move on to step 9  
+    
+    ```bash
+        ls: cannot access '/etc/dhcp/dhcpd.conf': No such file or directory
+    ```  
+    
+8.  Make a backup of the file with the following
+
+    ```bash
+        sudo mv /etc/dhcp/dhcpd.conf /etc/dhcp/dhcpd.conf.backup
+    ```  
+    
+
+9.    Next run the installerScript.sh with sudo rights
+    ```bash
+        sudo ./installerScript.sh
+    ```  
+
+10. You should now see output with all "OK" meaning that the script succeeded.
+
+## How to Use
+1.    Run the start script with the following 
+
+    ```bash
+        sudo ./startAP.sh
+    ```  
+    
+    You should now see a WiFi access point Microcart.  
+    
+2.    Make sure when you are done to run the following to stop  
+
+    ```bash
+        sudo ./stopAP.sh
+    ```  

groundStation/wifiap/golden_dhcpd.conf

+INTERFACES="wlp2s0";
+
+option domain-name "microcart.org";
+
+subnet 192.168.1.0 netmask 255.255.255.0 {
+    range 192.168.1.10 192.168.1.20;
+    option subnet-mask 255.255.255.0;
+    option broadcast-address 192.168.1.255;
+}
+
+host quad1 {
+    hardware ethernet b8:d7:63:00:fe:ef;
+    fixed-address 192.168.1.2;
+}
+host quad2 {
+    hardware ethernet B8:D7:63:00:FE:F0;
+    fixed-address 192.168.1.3;
+}
+host phone {
+    hardware ethernet F4:09:D8:F1:6E:0E;
+    fixed-address 192.168.1.25;
+}

groundStation/wifiap/golden_hostapd.conf

+#change wlan0 to your wireless device
+interface=wlp2s0
+driver=nl80211
+ssid=MicroCART
+hw_mode=g
+channel=6
+
+auth_algs=1
+wpa=2
+wpa_passphrase=m1cr0cart
+wpa_key_mgmt=WPA-PSK

groundStation/wifiap/installerScript.sh

+#!/bin/bash
+if [[ $EUID -ne 0 ]]; then
+   printf "\nThis script must be run as root to move files around in etc and also run the hostapd service\n"
+   printf "\tRUN AS ROOT!\n"
+   exit 1
+fi
+
+printf "checking for hostapd..."
+
+if ! type "hostapd" > /dev/null ; then 
+    printf "\n\thostapd not found\n"
+    printf "\tINSTALL HOSTAPD PACKAGE!\n"
+    exit 1
+fi
+
+printf "\t OK!\n"
+
+printf "moving golden_hostpad.conf to /etc/hostapd/hostapd.conf..."
+
+if [ -f /etc/hostapd/hostapd.conf ]; then
+    printf "\n\tfile already exists! Please remove the hostapd.conf from the /etc/hostapd/ directory and try again!\n"
+    exit 1
+fi
+
+if [ ! -f ./golden_hostapd.conf ]; then
+    printf "\n\tcannot find the golden_hostapd.conf file in installer script's directory\n"
+    printf "\tRESTORE OR CREATE golden_hostapd.conf\n"
+    exit 1
+fi
+
+cp golden_hostapd.conf /etc/hostapd/hostapd.conf
+#config must be owned by root root otherwise we get an SELinux violation
+chown root /etc/hostapd/hostapd.conf
+chgrp root /etc/hostapd/hostapd.conf
+
+printf "\t OK!\n"
+
+printf "checking for dhcpd..."
+
+if ! type "dhcpd" > /dev/null ; then 
+    printf "\n\tdhcpd not found\n"
+    printf "\tINSTALL DHCPD PACKAGE!\n"
+    exit 1
+fi
+
+printf "\t OK!\n"
+
+printf "moving golden_dhcpd.conf to /etc/dhcp/dhcpd.conf..."
+
+if [ -f /etc/dhcp/dhcpd.conf ]; then
+    printf "\n\tfile already exists! Please remove the dhcpd.conf from the /etc/dhcpd/ directory and try again!\n"
+    exit 1
+fi
+
+if [ ! -f ./golden_dhcpd.conf ]; then
+    printf "\n\tcannot find the golden_dhcpd.conf file in installer script's directory\n"
+    printf "\tRESTORE OR CREATE golden_dhcpd.conf\n"
+    exit 1
+fi
+
+cp golden_dhcpd.conf /etc/dhcp/dhcpd.conf
+#config must be owned by root root otherwise we get an SELinux violation
+chown root /etc/dhcp/dhcpd.conf
+chgrp root /etc/dhcp/dhcpd.conf
+
+printf "\t OK!\n"
+

groundStation/wifiap/startAP.sh

+#!/bin/bash
+
+#SETTINGS
+IP=192.168.1.1
+
+
+
+
+
+if [[ $EUID -ne 0 ]]; then
+   printf "\nThis script must be run as root to run the hostapd service\n"
+   printf "\tRUN AS ROOT!\n"
+   exit 1
+fi
+
+printf "checking for hostapd...\n"
+if ! type "hostapd" > /dev/null ; then 
+    printf "\n\thostapd not found\n"
+    printf "\tINSTALL HOSTAPD PACKAGE AND RUN THE INSTALLER SCRIPT\n"
+    exit 1
+fi
+printf "\t OK!\n"
+
+printf "checking for dhcpd...\n"
+if ! type "dhcpd" > /dev/null ; then 
+    printf "\n\thostapd not found\n"
+    printf "\tINSTALL DHCPD PACKAGE AND RUN THE INSTALLER SCRIPT\n"
+    exit 1
+fi
+printf "\t OK!\n"
+
+printf "checking settings...\n"
+if [ ! -f /etc/hostapd/hostapd.conf ]; then
+    printf "\n\tMISSING /etc/hostapd/hostapd.conf\n\tmodify golden_hostapd.conf and run the installer script\n"
+    exit 1
+fi
+printf "\t OK!\n"
+
+printf "checking settings...\n"
+if [ ! -f /etc/dhcp/dhcpd.conf ]; then
+    printf "\n\tMISSING /etc/dhcpd/dhcpd.conf\n\tmodify golden_dhcpd.conf and run the install script\n"
+    exit 1
+fi
+printf "\t OK!\n"
+
+#printf "Setting ip to $IP\n"
+#ifconfig wlp2s0 $IP
+#printf "\t OK!\n"
+
+printf "setting up wifi radio...\n"
+nmcli radio wifi off
+if [ $? -eq 0 ]; then
+    printf "\t OK!\n"
+else
+    printf "\t FAIL!\n"
+    printf "\t \"nmcli radio wifi off\" command failed\n"
+    exit 1
+fi
+
+sleep 2
+
+printf "setting up unblocking wifi...\n"
+rfkill unblock wifi
+if [ $? -eq 0 ]; then
+    printf "\t OK!\n"
+else
+    printf "\t FAIL!\n"
+    printf "\t \"rfkill unblock wifi\" command failed\n\treverting wifi state\n"
+    nmcli radio wifi on
+fi
+
+printf "running the hostapd service...\n"
+systemctl start hostapd.service
+if [ $? -eq 0 ]; then
+    printf "\t OK!\n"
+else
+    printf "\t FAIL!\n"
+    printf "\t failed to start hostapd service check run sudo systemctl start hostapd.service and check error messages\n\t reverting wifi state\n"
+    nmcli radio wifi on
+    exit 1
+fi
+
+printf "Setting ip to $IP\n"
+ifconfig wlp2s0 $IP
+printf "\t OK!\n"
+
+printf "running the dhcpd service...\n"
+systemctl start dhcpd.service
+if [ $? -eq 0 ]; then
+    printf "\t OK!\n"
+else
+    printf "\t FAIL!\n"
+    printf "\t failed to start dhcpd service check run sudo systemctl start dhcpd.service and check error messages\n\t reverting wifi state and stopping hostapd\n"
+    systemctl stop hostapd.service
+    nmcli radio wifi on
+    exit 1
+fi
+    
+printf "hostapd and dhcpd should now be running, see if you can connect!\n"

groundStation/wifiap/stopAP.sh

+#!/bin/bash
+
+#SETTINGS
+IP=192.168.0.1
+
+
+
+
+
+if [[ $EUID -ne 0 ]]; then
+   printf "\nThis script must be run as root to run the hostapd service\n"
+   printf "\tRUN AS ROOT!\n"
+   exit 1
+fi
+
+printf "checking for and stopping running hostapd...\n"
+if (( $(ps -ef | grep -v grep | grep hostapd | wc -l) > 0 )); then
+    systemctl stop hostapd.service
+    if [ $? -eq 0 ]; then
+        printf "\t OK!\n"
+    else
+        printf "\t FAIL!\n"
+        printf "\t failed to stop hostapd service may need to restart\n"
+        exit 1
+    fi
+fi
+
+printf "checking for and stopping the dhcpd service...\n"
+if (( $(ps -ef | grep -v grep | grep dhcpd | wc -l) > 0 )); then
+    systemctl stop dhcpd.service
+    if [ $? -eq 0 ]; then
+        printf "\t OK!\n"
+    else
+        printf "\t FAIL!\n"
+        printf "\t failed to stop dhcpd service check run sudo systemct start dhcpd.service and check error messages\n"
+        exit 1
+    fi
+fi
+
+printf "setting up wifi radio...\n"
+nmcli radio wifi on
+if [ $? -eq 0 ]; then
+    printf "\t OK!\n"
+else
+    printf "\t FAIL!\n"
+    printf "\t \"nmcli radio wifi on\" command failed\n"
+    exit 1
+fi
+    
+printf "hostapd should now be off check to see if wifi is working!\n"