Small cleanup of a few items
Added mount_rootfs.sh helper script for easy mount & check of SD card
Added thresholding of images and suppress drawing axes in charuco_lib
Modified some of the settings in y2022 roborio config
Change-Id: I65633089692e92cf823bf0d97da54a86714f556e
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>
diff --git a/frc971/raspi/rootfs/mount_rootfs.sh b/frc971/raspi/rootfs/mount_rootfs.sh
new file mode 100755
index 0000000..6673808
--- /dev/null
+++ b/frc971/raspi/rootfs/mount_rootfs.sh
@@ -0,0 +1,39 @@
+#!/bin/bash
+
+### Helper script to mount a Raspberry Pi SD card
+### Optionally run change_hostname if given pi name as argument
+
+set -e
+
+MOUNT_PT="tmp_mount"
+DEVICE="/dev/sda"
+
+if mount | grep "${DEVICE}" >/dev/null ;
+then
+ echo "Overwriting a mounted partition, is ${DEVICE} the sd card?"
+ exit 1
+fi
+
+PARTITION="${MOUNT_PT}.partition"
+
+mkdir -p "${PARTITION}"
+sudo mount "${DEVICE}2" "${PARTITION}"
+
+function target() {
+ HOME=/root/ USER=root sudo proot -0 -q qemu-aarch64-static -w / -r "${PARTITION}" "$@"
+}
+
+if [ "${1}" == "" ]; then
+ echo "No hostname specified, so skipping setting it."
+ echo "You do this manually on the pi by running /root/bin/change_hostname.sh PI_NAME"
+else
+ target /root/bin/change_hostname.sh "${1}"
+fi
+
+
+echo "Starting a shell for any manual configuration"
+target /bin/bash --rcfile /root/.bashrc
+
+# Found I had to do a lazy force unmount ("-l" flag) to make it work reliably
+sudo umount -l "${PARTITION}"
+rmdir "${PARTITION}"