diff --git a/documentation/images/ls_output_wifiap.png b/documentation/images/ls_output_wifiap.png
new file mode 100644
index 0000000000000000000000000000000000000000..792500431df829ab1188934688a67d6fdc18ad10
Binary files /dev/null and b/documentation/images/ls_output_wifiap.png differ
diff --git a/groundStation/README.md b/groundStation/README.md
index 5444c06b095d7ec9c7e4d2ffbdd493ac02419803..a2905ea0ed79c6aca36fc006dbf4e31a4bc0cba5 100644
--- a/groundStation/README.md
+++ b/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
diff --git a/groundStation/adapters/README.md b/groundStation/adapters/README.md
index 86e7c5a5e8d1888fc878ee5ccbcd460c66c31c94..b7a6474c907a172c660cdc23c771c319c45f1188 100644
--- a/groundStation/adapters/README.md
+++ b/groundStation/adapters/README.md
@@ -1,13 +1,22 @@
# 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
diff --git a/groundStation/adapters/crazyflie/.gitignore b/groundStation/adapters/crazyflie/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..2e0b5d5849cf5028b09afed3481a79a2da115f35
--- /dev/null
+++ b/groundStation/adapters/crazyflie/.gitignore
@@ -0,0 +1,2 @@
+inc/*
+bin/*
diff --git a/groundStation/adapters/crazyflie/Makefile b/groundStation/adapters/crazyflie/Makefile
index 60b42e7702cf306e935e375252a9f86d19278358..e73c02da950946787ddb2c018b72ecea53ea54b1 100644
--- a/groundStation/adapters/crazyflie/Makefile
+++ b/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
-
-
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index e8500ca51201514d5170426cbe638c6b24fe2475..af32a16407831f4a4ff07857b55f0acb5c000315 100644
--- a/groundStation/src/backend/backend.c
+++ b/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);
diff --git a/groundStation/src/backend/backend_adapter.c b/groundStation/src/backend/backend_adapter.c
index 11de7f81b836ef8b7122b6dc4610b1ccdc013745..9fb927f27a3a4ad8f416877643032ab8454e3d7f 100644
--- a/groundStation/src/backend/backend_adapter.c
+++ b/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);
}
diff --git a/groundStation/src/backend/config.h b/groundStation/src/backend/config.h
index 3bdc2209b4b2f411155e93ad409ddf2a8646918e..85f00492dbd0666e0e4257c9c5a4c73d0b24e192 100644
--- a/groundStation/src/backend/config.h
+++ b/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.
*/
diff --git a/groundStation/src/frontend/frontend_nodes.c b/groundStation/src/frontend/frontend_nodes.c
index ffa7c188edebd67006a16343fdd7860b65649d8e..981147169ae819e64d8bd69399892cb62b2a62f4 100644
--- a/groundStation/src/frontend/frontend_nodes.c
+++ b/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);
}
diff --git a/groundStation/wifiap/README.md b/groundStation/wifiap/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..2dba5f6d5f7599cbe4af2e9d6ef2d56c9a72e70e
--- /dev/null
+++ b/groundStation/wifiap/README.md
@@ -0,0 +1,88 @@
+# 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
+ ```
diff --git a/groundStation/wifiap/golden_dhcpd.conf b/groundStation/wifiap/golden_dhcpd.conf
new file mode 100644
index 0000000000000000000000000000000000000000..9a8fb41dfe92fb3039093930a64081a044ce0598
--- /dev/null
+++ b/groundStation/wifiap/golden_dhcpd.conf
@@ -0,0 +1,22 @@
+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;
+}
diff --git a/groundStation/wifiap/golden_hostapd.conf b/groundStation/wifiap/golden_hostapd.conf
new file mode 100644
index 0000000000000000000000000000000000000000..d3f3e6527105d602a5c76aad86fb8fa3f62f7bad
--- /dev/null
+++ b/groundStation/wifiap/golden_hostapd.conf
@@ -0,0 +1,11 @@
+#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
diff --git a/groundStation/wifiap/installerScript.sh b/groundStation/wifiap/installerScript.sh
new file mode 100755
index 0000000000000000000000000000000000000000..0bf7c6f9cf4356d8d4c1efd144581f85d99ea63d
--- /dev/null
+++ b/groundStation/wifiap/installerScript.sh
@@ -0,0 +1,67 @@
+#!/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"
+
diff --git a/groundStation/wifiap/startAP.sh b/groundStation/wifiap/startAP.sh
new file mode 100755
index 0000000000000000000000000000000000000000..85e0736e22e3aa4c5369fbca61aa224d258f52c9
--- /dev/null
+++ b/groundStation/wifiap/startAP.sh
@@ -0,0 +1,99 @@
+#!/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"
diff --git a/groundStation/wifiap/stopAP.sh b/groundStation/wifiap/stopAP.sh
new file mode 100755
index 0000000000000000000000000000000000000000..4f5c94255e8794558bcda24aa440401657a811f8
--- /dev/null
+++ b/groundStation/wifiap/stopAP.sh
@@ -0,0 +1,50 @@
+#!/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"