commit bc82433da12cb4d119485b79d5265376244730c0
author James Kuszmaul <jabukuszmaul@gmail.com> Fri Feb 25 19:58:55 2022 -0800
committer James Kuszmaul <jabukuszmaul@gmail.com> Fri Feb 25 20:57:44 2022 -0800
tree 51d09290799c9a0b98997f5d9d6d7ab91c8438eb
parent c5fa6d9d4b07f090dc99454a97898b92f284dfb6

Set read permissions for imu_main to run as non-root user

Change-Id: I5af7d9367643ef53680a8bf862ec7e7f442cccb6
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

y2022/localizer/imu.cc

diff --git a/y2022/localizer/imu.cc b/y2022/localizer/imu.cc
index eb76e00..fed9ceb 100644
--- a/y2022/localizer/imu.cc
+++ b/y2022/localizer/imu.cc
@@ -20,6 +20,8 @@
       imu_sender_(
           event_loop_->MakeSender<frc971::IMUValuesBatch>("/localizer")) {
   event_loop->SetRuntimeRealtimePriority(30);
+  PCHECK(system("sudo chmod 644 /dev/adis16505") == 0)
+      << ": Failed to set read permissions on IMU device.";
   imu_fd_ = open("/dev/adis16505", O_RDONLY | O_NONBLOCK);
   PCHECK(imu_fd_ != -1) << ": Failed to open SPI device for IMU.";
   aos::internal::EPoll *epoll = event_loop_->epoll();