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LANGKAH AWAL :

ssh hydroships@192.168.2.2
password : (spasi 1 kali)

cara cek

sudo systemctl start rov-agent (start service)
sudo systemctl restart rov-agent (reload service kalau ada perubahan)
sudo systemctl stop rov-agent (stop rov-agent)
sudo systemctl status rov-agent (cek status rov-agent)
journalctl -u rov-agent -f (cara melihat log)
nano ~/rov-agent/rov_agent.py (edit file.py)

cara shutdown

sudo power off 
sudo systemctl restart rov-agent
journalctl -u rov-agent -f

Topologi Jaringan

# Cek IP Pi
ip a

# Pastikan bisa ping dari laptop
# (laptop)  ping -c 3 192.168.2.2

Topologi standar: laptop di 192.168.2.1, Pi di 192.168.2.2. Telemetry (14551) dan command (14550) lewat UDP. Jika IP berubah, update di .env (LAPTOP_IP).

Variabel Environment (.env)

# File konfig lokal (jangan di-commit — lihat .gitignore)
nano ~/rov-agent/.env

# Reload systemd agar EnvironmentFile terbaca setelah edit
sudo systemctl restart rov-agent

Variabel penting di sisi Pi:

Variabel Default Deskripsi
LAPTOP_IP 192.168.2.1 IP tujuan telemetry stream
UDP_IN 14551 Port telemetry DARI Pi KE laptop
UDP_OUT 14550 Port command DARI laptop KE Pi
PIXHAWK_PORT /dev/ttyACM0 Port serial Pixhawk
PIXHAWK_BAUD 115200 Baud rate serial

Di systemd unit, .env dimuat via EnvironmentFile=.

Unit Systemd

# Lihat unit file
sudo systemctl cat rov-agent

# Edit unit (jika perlu ganti port/path/EnvironmentFile)
sudo systemctl edit --full rov-agent

# Auto-start saat boot
sudo systemctl enable rov-agent

# Non-aktifkan auto-start
sudo systemctl disable rov-agent

Unit standar (referensi):

[Unit]
Description=ROV Agent (rov_agent.py)
After=network.target

[Service]
User=hydroships
WorkingDirectory=/home/hydroships/rov-agent
EnvironmentFile=/home/hydroships/rov-agent/.env
ExecStart=/usr/bin/python3 /home/hydroships/rov-agent/rov_agent.py
Restart=always
RestartSec=3

[Install]
WantedBy=multi-user.target

Jalankan Agent Manual (Debug)

# Matikan service otomatis
sudo systemctl stop rov-agent

# Jalankan langsung — lihat output, tidak lewat journalctl
python3 ~/rov-agent/rov_agent.py

# Pakai tmux agar tetap berjalan setelah SSH putus
tmux new -s rov
python3 ~/rov-agent/rov_agent.py
# Ctrl+B, D  -> detach;  tmux attach  -> kembali

Setelah debug, jalankan sudo systemctl start rov-agent agar agent kembali berjalan otomatis di systemd.

Cek Hardware

# Pastikan Pixhawk terdeteksi di port serial
ls -l /dev/ttyACM*

# Cek device USB yang terhubung
dmesg | grep tty
lsusb

# Cek dependency Python
python3 -c "import pymavlink; print(pymavlink.__version__)"
pip3 show pymavlink

Test Koneksi UDP (dari Laptop)

# Kirim perintah langsung ke Pi port 14550
echo '{"name":"light","value":true}' | nc -u -w1 192.168.2.2 14550

# Lihat di Pi apakah command diterima:
# journalctl -u rov-agent -f

Perilaku Link & Reconnect

  • Link timeout: jika tidak ada pesan MAVLink selama LINK_TIMEOUT (3 detar) dari Pixhawk, agent anggap link terputus dan mencoba sambung ulang otomatis (lihat connect_pixhawk() / drop_link() di rov_agent.py).
  • Heartbeat GCS: agent mengirim heartbeat GCS 1 Hz ke Pixhawk. Tanpa ini ArduSub akan disarm otomatis (FS_GCS_ENABLE).
  • Auto-restart: jika process crash, systemd restart otomatis (Restart=always, RestartSec=3).

Troubleshooting

Gejala Solusi
ssh: connect to host 192.168.2.2 Cek kabel ethernet, ip a di laptop & Pi
status → failed journalctl -u rov-agent -e --no-pager — cek error Python / port bentrok
Pixhawk tidak terdeteksi ls /dev/ttyACM* kosong → kabel/USB rusak; cek dmesg
Permission denied pada /dev/ttyACM0 sudo usermod -a -G dialout $USER lalu logout/login
Port 14550 bentrok sudo lsof -i:14550 — hanya boleh satu rov_agent.py
Telemetry tidak sampai ke GUI Cek LAPTOP_IP di .env sesuai IP laptop
Agent restart berulang journalctl -u rov-agent --no-pager -n 50